Home

©2006 Myostat MC Inc www.coolmuscle.com EM

1. payloads eui sjes o YBIH 1ndino d zv zs peyioeds ay pue yueg duunf uonduoseq uomoun Pusuiuoo Pg 101 Cool Muscle Instruction Manual 8jejs 99Jj e ui Jojou eu sejqeu3 99JJ e eui SUIN Uonoui Juano UBYM eui dois JOJON e qeu3 2924 xueq jueuno ui snoad y gt 4ueq 151 34 sejnoex3 u1e4604d 4ueq sejnoex3 15 S 4ueq ujeJ60Jd eu sjseJ pue eu Jejue ay ay 0 0 uonisod uano eu 5192 2 Quonisod y y exey y snoraaud y sejnoox3 Jueq y ui eui 3xeu eui sejnoex3 uo uBiu peuroeds yndjno y sjes jueuno Jaye dois esneg dojs gt lt ubuo 09 p 9jnoox3 1xeu ejno9x3 ueJ6oJd uogduoseg weuuoj uogounj pueuiuoo spueuluJo uornoex3 ueJ60Jgd Pg 102 Cool Muscle Instruction Manual 1
2. 3ndino g pee 2 Josuas asf uonoy ON 0 asuodsay S eBeyo eBeyjo 42612 oy e suDissy 0000 9999 0000 je yndu LTA YBIH 0 01607 sies 0000 LLLL 0000 92M EUld jeubis esuodses Em SI JopJo 1ndu jeuBis esuodsai 104 Aejap 5 2951 0 Pere MO S JO Aejap y 104 jejejur e uejsip eu sjes sesind 000 7972 USA JWA 0 USAUG 1u9 3 JO y 5195 0 L uonisod ui jeeju peut _____ sneis MEM pesoj o Ajeyep ERN uedo ue y jun ejep euin eui sies 0i oj J0128A 9 pesoj Ini 0 epoui pesojo ni suunjeJ JOJOW 34 U9IUM 10j29A eu pue 0 JOJOW SU 5195 Q uey Jeuyo jes ueuM POW PASO D JO 4 0 aU sjes Lo peso o gy 26 Z 96 1 v 9 0 yey pneg au 5195 sieied ynejed ayey pneg suonduoseg e xip
3. tT Legend Cool Muscle TTL 485 F 3 Network Card TTL network or Via Custom Wire Harness a 485 485 485 485 3 5 d 4 m pl 4 4 E pa 4 4 485 1 m Master Network Card RS 485 aster Ne ME an TTL C Purpose built RS 485 driver Hub 1 2 TTL 1 3 a TTL TTL TTL 2 43 4 5 3 3 3 3 ve ho Pg 109 Cool Muscle Instruction Manual RS 485 Wiring Schematic PC to CM1DC1 MBS Jo 19945 2002 LL eunt eyveq o 3M L 99zdWW SBSH L 99zdIN Asea enu ed amp d6 ansq adhy 1exoos Se ansq ed amp d ansa edAj 1e xpos 56 t9 ALY ALY E vH WW woeay Laz zaz ONT PANES 4 u ZON 9924 VON L 992dN 4 Ave z z Madwnr t 1 tar p Are
4. DIMENSIONS D 90 Cool M uscle Speciflcations ute cue asa earl pascat dure glee 91 Input Output Signal 92 Connection Diagram eters ener 93 Appendix 2 ot A re alt attende ueris 94 Parameters xor a eed te 94 S cit ei m e Hae eee ed ea 100 Program Mode Motion Commands 100 Program Mode Execution Commands 102 Other cormimlarids DERE ERE capa des caged 103 Dynamic Mode Motion Commands ssssssssssssssesesssese eene 103 Dynamic Mode Execution Commands sse eene nennen nennen 103 Save and Inquiry Commands epe erede Epiri p ap caso Pea Pb Rad 104 A Sega eget es 105 Network Card Speciflcations iicet paure LR SED Eee eer uiia 105 Appendix citta ae e tive d a tete e ede pida e e Erste tx otia 106 Custom Interface tren E ee D eU de ocu ie id cet ee det etc 106 S 107 Index Sigtial 5 Eb 107 Ta n ett EE er ed ectetur e oem e E e tends 108 RS 485 Communications 5 eo Be edd e RD e RR D EROR RE HERR RR RET ATERS 108 Appendbi 8 edu indic CR
5. Line 2 In network Program Banks commands directed to different mo tors in the same line of CML code are executed simultaneously In this case Motor 1 and Motor 2 will start to rotate towards their respective target positions P1 1 P1 2 same time Each motor will accelerate to its individual desired speed 51 1 51 2 at the defined rate A1 1 A1 2 Line 3 Once each motor has reached its initial target position the mo tion commands defined in Line 3 are executed simultaneously Both motors move to their respective positions P2 1 P2 2 at their individual speed and acceleration defined in Line 2 Line 4 After both motors reach their target position P2 1 P2 2 Motor 1 rotates to position P3 1 and Program Bank 1 ends Pg 76 Cool Muscle Instruction Manual SECTION 9 da N Dynamic Mode Commands In this section motion commands execution commands for dy namic mode are introduced Parameters Commands Motion Commands Dynamic Mode Motion Commands Dynamic Commands cause immediate action This mode is typi cally used for debugging and non repetitive movements Position Description Set position P 10000 Unit Pulses Speed Description Set Speed 5 250 Unit 100pps 10pps set by parameter K37 Pg 77 Cool Muscle Instruction Manual Acceleration Description Set Acceleration A 250 Unit Kpps Execution Commands PTP mo
6. Pg 54 Cool Muscle Instruction Manual Analog Input func tions are now part of the C Type mo tor interface The V type Cool Muscle has been discontinued When the motor is set to semi closed loop the Cool Analog Input Control Analog Interface Type Description This parameter sets the motor to either Speed or position control when K64 is set to 9 V type Cool Muscle O default Speed Analog Speed Range This parameter sets the speed at 4 8V for Speed type analog Cool Muscle Increase an analog input voltage from 2 6 to 4 8V to increase the speed in a CW direction Decrease an analog input voltage from 2 4V to 0 2V to increase the speed in a CCW direction Note that an area between 2 4V and 2 6V is a dead zone within which no motion will occur Min Max Default Unit 200 4000 3000 rpm Analog Distance Range An increase in an analog input voltage from OV to 4 8V changes position in proportion to the input voltage This parameter sets the maximum travel distance at 4 8V Pg 55 Cool Muscle Instruction Manual Example Resolution 2000 set by parameter 37 Maximum movement range 90 degrees 2000 90 360 degrees 500 pulses Example Resolution 2000 set by parameter 37 Pitch 5mm Maximum travel distance 30mm 30mm 5mmcoerotations x 2000 12000 pulses Min Max Default Unit 32767 32767 2000 pulses Low Pass Filter Voltage Filter Gain
7. UISUO 11215 015 asuodsay jo Jeddoisg g upuees UIBUO se suonoun Suisu eui uonpuny 0000 0 UND 8 enbuo 0g 9 Ray uonisog b Jua UNd eau peg pues p ds eau peq pues uonisod eau peq pues 3 81 peeds peq pues euoN 0 En Y uo ISD 8 a3b4 195 euis esuodsey UuonooJtc IS JO se suonoun 1e8uei ye uonpuny 3ndu oney uonedo o2e feudis O00SX uoneJe s o v 2010 9 qeu3 z asuodsay PINO Jo e3pe pul jenuej uiSiu 1deoxe 974 se ay ye 3ndu 000Sxe 9 u9u ueg einoex3 ANDO Bof jenuEW 6 paads uuo oo Z 9E gt xueg ein2ex3 AAD Bof enuew g 9 adh 1917 01 A BALL eg deis ein2ex3 S SNOW JS poads xeu a e b s l Suiureang 2320 days XEN SEY E Jeu8is 8001 8 wely asuodsay jo espe uep 39114 aseyoA uopy Suisu eui uonpunj 3ndu JOuJUOD uonisog ed 9035 n Aapa dois oue amp ueuu3 00008 001
8. E T a 5 E Pmi Far str rm 2 x E inoa Flu 4 rj LB umm gt 3 1 ay 1 I Fisch rl perius ura 1 uir o Teriny Ei id raider aues ere Pot Step gers Ha leds em ee een a The Main Steps in Designing an H Infinity Controler Input or estimate the load inertia Choose a suitable Response Rate d1 and Robustness d2 Design controller by click Design Gains button Evaluate the design results through simulation Send the design results to motor and activate step and frequen cy response tests When you change d1 and d2 the controller gains are recalcu lated automatically The intermediate results are shown in the Instruction Message and Results window and graphic window Pg 112 Cool Muscle Instruction Manual There are three inertias that will be used in this doucment Load inertia for design is the inertia value used during Hinf con troller design Load inertia for simulation is inertia value used when displaying a simulation with the designed Hinf controller Estimated inertia is the inertia of your payload estimated by auto tunning module 5 1 Design example of a 17L motor We will begin by designing a Hinf controller for a 17L motor First we need to estimate the payload attached to the motor Click the Determine Load Inertia button you will get the follow ing window Auto
9. Please refer to Ap pendix 9 to learn about tuning the new system K52 K54 are no longer used in V2 or greater firmware Manual Motion Manual Jog speed Description This parameter sets the rotational speed for manual jog feed Min Defaut Unit me fro qwoms _ Manual Jog distance Description This parameter sets the travel distance for manual jog Min Defaut Unit p qm qo _ Gain Adjustment Position P Gain Description This parameter sets the position loop proportional gain There are two modes constant and variable Position P gain Enter an even value to apply constant P gain Enter an odd value to auto matically vary P gain depending on speed Variable gain is typi cally useful when using a belt driven system Constant P gain 1 5 Variable P gain 300r pe Variable P gain starts dropping at 600RPM At 1200RPM 1 5 the value set will be applied Pg 52 Cool Muscle Instruction Manual Min Max ___ Unit p __ on Fe moor ype 1256 Speed P Gain Description This parameter sets the speed loop proportional gain There are two modes constant and variable Speed P gain Enter an even value to apply constant P gain Enter an odd value to automati cally vary P gain depending on speed Ec Variable P gain Constant P gain 600 pn pm Variable P tain increases gradually unti
10. peeds 5 96 eouejsip sjes N peeds pee jenuew sjes JejeueJed 195 peeds se y si pue awes y pue CQ 01198 s JejeuJeJed eui ueuM Bulyoee Joye BU 11 S SI 99UP SIp JOSHO y ueuM pue eouejsip 5 sjes SE UNI uonounj uo uoneuuojur 6 xipueddy 995 04 19497 usng OWI uJe v Eas MOJO EM uonisodu ApoeA uonisog zol sesnd or oor eoue renen Gor enuen os 54400 Ol 00095 peeds peejjenue 6vM ses nd 00L 0 29 7 1497c 3un smejeq uj o o 000 ses nd M 08 ses nd pue euigoeui eoueljsip JASHO Pg 99 Cool Muscle Instruction Manual pue zg sije zo d zv zs Sejnoexe pue yueq payloads e seg ipjueq 9 aly TID e
11. 596 96 zsddy 58800 ses nd E o yun dd 0 d 001 P oos 0002 497 2 9Z2 0 0 L Ol OL 0002 O00 002 8cOl ynejeq 19497 1eddojs uoJees l uogoeuiq NE ones uoneJeoeq EN pee un LS peeds 09 ed A ed A 104 peeds xeyy 4934 eBeyoA suondusseq s 1979074 Pg 98 Cool Muscle Instruction Manual usnd ui seusnd y YOIYM uoneJnp sjes 195 uonoeunp eui JO 3ueJino 195 eui 5 e Buiusnd sdee 9u epoul uosng 10 jua uno Buy sjes EE ou uo me 5 O 0 0116s ueuM epis 2 94 uo sjes jun BIEMYOS seJouDi o 0011es ueuM 5 MO uo sjes 3098 si ao O pue s ej p euul ue spues y SI Aq 198 enjeA ay uey JeBue si 10119 uonisod ueuM 9 9 uJe v 195 uonisodu 195 y 5196 uonisod ey peuoeai seu yey JOJOW 294 uonisodu sies
12. Description Cut off frequency for Low Pass Filter for AD converter unit 5OO0 times sec 1024 5 rad sec Push Mode Push Current Description Current level applied when the motor is in push mode The cur rent level is set by 9o of peak current lii Pg 56 Cool Muscle Instruction Manual Push Time Description The time that the motor keeps pushing for when it is in push mode Min Default Unit Creeping Speed Creeping Speed Description Sets creeping speed You can adjust motor response time by changing creeping speed Setting creeping speed too high may cause the motor to vibrate Min __ Default Unit creeping speed 1 a Instead of gradually reaching the target speed or comes to a stop the motor quickly reaches the target speed or stops improving motor response time Pg 57 Cool Muscle Instruction Manual Communication Speed Baud Rate Description This parameter sets the baud rate that your PC and the Cool Muscle communicate at O default 38 4k 1 9 6k Semi Closed Full Close Loop Mode Semi Close Loop Vector Angle Description You can set the Cool Muscle to either semi closed or full closed loop In semi closed loop mode the Cool Muscle becomes open loop during holding eliminating hunting problems This parameter allows you to switch between full colose loop mode When the Cool Muscle is set to Semi Closed Loop you can us
13. 1 5 General Use 2 6 In Position Output in Merge Mode Pg 20 Cool Muscle Instruction Manual Analog Output Position Error magnified by 8 Current Velocity Current Velocity magnified by 8 Current Torque Current Torque magnified by 8 COIN c Serial Output Serial Transmit to Host Serial Transmit to Slave Output ports and assignable Output types 1 0 Digital Out Analog Out Serial Out Output 1 OK OK OK Output 2 OK assignable Pg 21 Cool Muscle Instruction Manual Wiring Examples CWICCW or Step Direction 1 Linedriver Lana e TET CW Pula CW Pulse Step ul 3 6 e t n CCW Pulse p cowPul Direction r use A Controller 3 Cool Muscle 2 Open Collector DES Fan 2i 1 ia C art CW Pulse e C CW Pulse Step 2 SEAE CCW Pulse CCW Pulse _ Direction Controller Cool Muscle Pg 22 Cool Muscle Instruction Manual Digital Input Switch and PLC Input 1 Switch Lo BV e ANE e 10 Photo Coupler d WA Switch 5 we DM Controller LIE Cool Muscle PLC DC EV 24V 2 den i Photo Coupler un L_ ENT T Signal t T Mg Lr d y Controller 4 amp Cool Muscle Input 2 Switc
14. 3 WA H ie Cool Muscle Output2 Digital Output DC 5V 24V bc uM as CN Photo Coupler x11 i Q Oh n 4 Controller Cool Muscle Analog Output TD 5 Probe 4 DA Oscilloscope AAA H 1 Ed o Sq GND alt oe Cool Muscle Pg 26 Cool Muscle Instruction Manual SECTION 5 7m STRUCTURE What is CML ENT CML Cool Muscle Language consists of a set of ASCII com mands that provide a means to easily create motion programs for single or multi axis systems As the CML command structure allows commands to be identified by Motor ID multiple net worked Cool Muscles can be controlled via or from a PC Parameters Commands Motion Commands Program Commands Execution Commands Dynamic Mode Save Inquery Commands Motion Commands Execution Commands Parameters Set parameters using CML You can easily change parameters to suit your specifications Parameter Definition Parameter definitions take the form of K VALUE K signifies the parameter number to be set and VALUE rep resents the data to be assigned to K A list of parameters and their corresponding numbers are outlined in the Setting Pa rameter Section Section 7 Pg 27 Cool Muscle Instruction Manual Commands CML Structure ie K37 4 This parameters sets motor resolution to 2000 pulses per ro
15. Instruction Manual Including acceleration changes at each point and increasing the speed prior to the last point may create motion similar to the chart below Point to Point motion with different deceleration The deceleration rate is always equal to the last acceleration rate specified taking into account the value of parameter K44 This can be modified in two ways The first way is to set the Acceleration Deceleration Ratio parameter This results in is a set ratio for every motion The second way is to place multiple commands within a single line of CML it is possible to specify both an acceleration and a deceleration Suppose the final desti nation is P2 and a quick acceleration followed by a slow decel eration is required B5 1 51 1 2 2 Resulting in the following motion Keeping the speed across two points equal and changing the acceleration value will give you a different deceleration to reach the final destination Push Mode Using the Q command makes the motor perform a push mode A push mode mimics a typical pneumatic cylinder and would keep pushing for a given time and at a set current level when the mo tor finds a resistance such as stopper or bumper Parameters K60 and K61 also need to be set to values best fitting your re quirments Pg 73 Cool Muscle Instruction Manual B6 1 53 2 51 03 Speen Fush ride Networking Cool Muscles Multiple Cool Muscle motors can be connected in a se
16. K27 0050 Set QTVfuncitons K28 0007 Set QR funcitons K31 0210 Set SR functions K32 0200 Set SF functions K33 11 set output logic for port 2 1 to high in true K34 21 set output functions K46 0 find origin by stopper bumper K42 15 set Origin search speed K43 150 set origin Search acceleration K45 0 directin of origin set to CW K47 30 current level when pushing a bumper Input ___ __ ____ Input 1 Origin Search Origin Signal e Input 2 Index Signal Alarm Reset Input 3 jMotorFre Enable Motor Pg 82 Cool Muscle Instruction Manual Output Output 1 Inposition Output 2 Alarm Motion descriptions The previous example showed how to search for origin using an origin sensor As an alternative you can use a bumper or stop per to make the motor search for an origin The motor starts to search for an origin when input 1 goes high at the rising edge of a quick response signal The motor turns in a CW direction at the speed and with the acceleration set by parameter 42 and 43 The motor determines that it has found or reached an origin when its current reaches 309 of its peak current Example 3 Manual Feed and jog Parameters K25 1122 set time delay between quick and slow response to 0 1sec 0 1 sec 0 2sec 0 2sec for input 4 3 2 1 K26 1111 Set input logic for port 4 3 2 1 to high in true K28 0198 Set quick rising funcitons K30 0043 set STV func ti
17. K61 to 3001 Stop the motor from pushing by executing a new action using commands such as gt or Example B1 beginning of program bank 1 51 1 2 52 03 The motor performs a push mode between P2 and P3 at Pg 65 Cool Muscle Instruction Manual speed defined by S2 and for the time and at the current level de fined by push mode parameters Shaded area represents a push mode Loop Description You can specify the number of times that you want a specific program bank to loop A value of Ozinfinite loops Not specifying an X command results in a single execution of the program Example B1 X3 Loop B1 three times 1 51 1 2 command without a wait Description When the Cool Muscles are networked a master motor waits for in position signals from slave motors before it executes the next step in a program bank with the P command Using the Y command instead of the P command you can make networked motors to execute motion without waiting for other motors Example B1 1 1 51 1 1 1 1 2 51 2 1 2 1 2 P2 1 Y2 2 Motor 2 execute the next line without waiting for position signal from Motor 1 Pg 66 Cool Muscle Instruction Manual Q command without a wait Description When the Cool Muscles are networked a master motor waits for in position signals from slave motors before it executes the next step in a program bank with the P command Using the Z command instead
18. dca Her dem ERR va posses TR RED Re E EIER 111 Analog Input Functions in the C Type Cool Muscle nee 111 m 112 Analog Input Functions in the C Type Cool Muscle sssseen men 112 Pg 5 Cool Muscle Instruction Manual ait EB PREFACE TO THE USER MANUAL Welcome to the Cool Muscle integrated motor The Cool Muscle User Manual provides you with hands on instructions to help you set up your hardware set parameters create or edit command programs and make the most of the Cool Muscle motors Cool Muscle The Cool Muscle is a fully integrated closed loop vector drive servo system With an intelligent driver a 32 bit RISC CPU a magnetic encoder and power management built onto the motor the Cool Muscle excels in performance size and cost Supporting a wide variety of communication interfaces includ ing USB RS 232 Pulse CW CCW and Step Direction and Variable Voltage the Cool Muscle can be used not only for new products but also for replacing or upgrading the current systems The Cool Muscle s high resolution encoder gives you the excep tional resolution of 50 000pulses rotation Combined with vector drive control the Cool Muscle is an incredibly smooth and quiet motor Using CML Cool Muscle Language you can easily set pa rameters and create motion programs that can be downloaded directly o
19. e jo y sayiubis 341 yueg au 9 L L Aq peuyep poued y JO Ld Bulyoeed Jeyy LL 5 L 095 000 91 LL 195 10 OOOL LL jeg desu en eA 4 oule w ELY Aq peuyep pue peeds je Ld 01 JOJOW y Ld LS ELV 2588 0029 ELV 195 3 JO OOZ ELV TWD pasn JO Jepjou Z8ddMI ELS Aq peugep peeds eui Ld 01 BU Ld LS sddyz 01 215 sies INOSd33 ul 10 OZ ELS WO ur peeds 104 Japjoy 59900 _ ez uonisod JOJOW By peeds y Zd MOD uin OL AAD snouguoo suids JOJOW y 000000000 enjeA e ses nd 222062 0 5 95 uew si d Jl IWONd33 IWO 10 plZE06Z E2d p sn ejnjosqe 104 uonisog sadux e a iun LET E uono epojy c xipuoddy Pg 100 Cool Muscle Instruction Manual JOJOW pepeojuMop SI e 5 Iv e OU 151 eu e ouJ Lg ure1
20. line B1 1 A1 P1 P2 P3 If the command is entered when the motor is moving from P1 to P2 the motor will stop somewhere inbetween the two points Pg 68 Cool Muscle Instruction Manual If 1 is entered to resume the program third command line will be executed making the motor direcly go to P3 CR pauses the motor and resets the program to its first com mand line Stop after Completing Motion Description Stops after completing current motion Motor Free Description De enegizes the motor windings leaving the rotor free to rotate The motor s circuit board and encoder remain active Enable motor Description Use this command to enable the motor in a free state Save to EEPROM Description Saves CML Program Banks and P S A and T values to the EE PROM on the Cool Muscle Changes to K parameter values are automatically saved when changed B1 1 A1 P1 P1 1000 51 100 1 100 Pg 69 Cool Muscle Instruction Manual Query Description Shows motor information Displays Inputs high 1 2 input 1 2 input2 4 input 3 8 input 4 Multiple inputs add numbers ie input 1 and 3 are high 5 1 4 5 If the total is more than 10 A input 2 and 4 Bzinput 1 2 and 4 C input 3 and 4 Dzinput 1 3 and 4 E input 2 3 and 4 F input 1 2 3 and 4 input status D8 D15 reserved for expansion Displays Outputs high 1 Output 1 current speed 0 Running overflow overspeed regenerative voltag
21. stored in the motor Speeds displays speed data stored in the motor Accelerations displays acceleration data stored in the motor Timers displays timer data stored in the motor Dynamic Values displays daynamic values of P S and A Motor settings displays motor parameters from K25 to K63 Current Status Pg 34 Select Program Bank Cool Muscle Instruction Manual Alarm displays alarm state Torque displays current torque Position displays current position Error displays posiiton error Speed displays current speed Execute Bank Program Stop Pause Immediately Immediately Vd lt gt 2 Select Bank Program Execute Stop after Execute Next current motion Line previous line Execute Bank Program Bank Program Content Pause after current motion Opening from existing CML files You can open exiting CML files Go the Menu Bar and select Files and Open Select the file you want to use in Cool Works and click Open The content of the file will be displayed in the Entry window Click Send to send to the motor Files need to be saved as a txt file Switching to another window By clicking the icons on the menu bar you can easily switch win dows Pg 35 Cool Muscle Instruction Manual How Use Jog Window In the Jog Window you can manually operate the Cool Muscle The max speed Acceleration are defined by the resolution and speed unit you set in this window x tet o
22. tion that the real load is equal to the load used in control design However there are many cases in which the Hinf controller can tolerate inertia uncertainty Moving the slider labeled Load inertia for simulation changes the simulation to show the step response for the designed controller using your chosen simulat ed inertia We have set Load inertia for simulation to 38gcm 2 The simulated step response is shown as the red trace Test and verification Test of step response To verify the design result click the Send to Motor button This sends the designed gains in the Instruction Message and Re sults window to motor Choose the Step Response option in the right bottom corner and click Start Experiment button This will force the motor to move a step with an altitude of 1000 pulse 50000pulse rev The result is as follows Two step responses match very well The red lineis the simulated one and green one is the real response from motor The close trace of the green line representing the actual move shows our design is successful Designing the Hinf controller is that simple Test of frequency response Choose the option Frequency Response in the right and bot tom corner To compare of the simulated frequency response to the real one we must calculate the frequency response one time This can be done by choosing the Complementary sensi Pg 115 Cool Muscle Instruction Manual tivity in t
23. to make the Cool Muscle suit your specification Learn how to set the parameters This section also lists all the parameters available See Section 7 Step 6 Create Edit Execute Motion Programs Learn all Programe mode CML commands and how to create motion programs with parameters I Os and commands Useful basic examples are described See Section 8 Step 7 Operate Cool Muscle with Dynamic Commands E Lean how to operate Cool Muscle using Dynamic CML commands See section 9 Pg 9 Cool Muscle Instruction Manual Do you have SECTION 2 WHEN YOU RECEIVE COOL MUSCLE When you receive a Cool Muscle package please make sure that you have all the components you ordered You may then proceed to the next step and connect the motor to your PC to make sure that you have proper communications The components that you need to operate the Cool Muscle are listed in the green area in the table below The components listed in the pink area are optional components used for network ing the Cool Muscles Components Pulse Type Analog Type Computer Type Cool Muscle Type CE Ce a Cool Muscle Motor Motor Cable Y Cable Option 24V Cool Muscle Power Supply Option Option Option Network Card master set Option Network Card slave set Option D sub 9pin network cable Option Option Option straight male female Oz included with the motor Option optional c
24. too long The recommended length of motor cable is 3m and the power cable is 2m If longer cables are required please follow the in structions in this manual Do not connect or disconnect the motor connector when the mo tor is powered on This may damage the motor Pg 7 Cool Muscle Instruction Manual Refer to the sections applicable to your Motor Type Pulse Type Analog Type Computer Type SECTION 1 SET UP PROCESS This section takes you through a typical Cool Muscle set up pro cess Since this User Manual is organized to follow the set up process described in this section you can always refer back to this section Step 1 When you receive the Cool Muscle When you receive Muscle package make sure that you have all the components you need or ordered Connect the motor to your PC and make sure that there is proper communication between the motor and your PC See Section 2 Step 2 Connect Cool Muscle Cables See how the Cool Muscle is connected using supplied cables Learn about each component included in a standard Cool Muscle package See Section 3 Learn I O settings Learn how to control I O ports and set funtions for each I O port See Section 4 Pg 8 Cool Muscle Instruction Manual Step 4 Lean about CML Learn how CML Cool Muscle Language is structured See Section 5 6 Step 5 Set Parameters P 6 Set parameters
25. 0 SSSS 000 sed e georddy sieyeq yum xeWw suonduoseg Pg 96 Cool Muscle Instruction Manual JOUOD uonisog peeds o uonisog 10 peeds 1euie eq A sjes 0000S 0 4 62 00092 82 00001 22 0009 92 00SZ Sz 0002 72 000L c 009 22 00 1 00 02 Jo euo esn yun peeds y OL 00009 0 6 00092 8 00001 2 0009 9 00SZ S 0002 7 000L 009 2 002 0 sBumes uonniosoJ ye Jo euo esn 5 00 0 un peeds y jes OL BU UO peeds pue uonnjoseiJ sjeg uonnooxe pue yueq sejqeue z 9josn N 002 adh 9 uonoeJg deis 0 uonoeJiq 199 JO 194419 ed 195 Aq enbJo 5 6 1ueun2 g Aq 1u9Jn2 9 Aq 10413 uonisoq g JOA UONISOd 7 Aq uonisog 1u8un2 e uonissog JUBLIND Z Aq uonisod uonisod 0 seuing Aq Jo 9215 jenpe ui peJojuouJ eq Dojeuy sedA y jo euo nding Bojeuy 198 s pg ueuM saad simed n eea uw edK B
26. 00 12 0005 9 yun peeds LEEA 9 n2 9 EXel4 005 25 000C 0001 005 OOF 00C0 pue uonn osey Je 4oiu 4988u uon esneduj ajqeiq ejqeu3 doysuy 9116 SNIS 8 noexe pue 7 jueq sejqeue z 4 gt SNIS PAINO uolpauiq deys smyeys 3nduj 7 ANDOINND O onbuoi 92e Suiusnd pue uonpunj ajd SOdNI uen peo1 paads UAC MOJ HAQ SNS Suiuuny 0 Sju9 3 SNES JOJO 7 DOJA WND 000 Xew 9 OJA ND 9 m pesop iues 10 eui 8 Aq 40 43 uonisog G oj8ue 9 Joug uonisog tp doo pasop n4 0 8 Aq paylusew uonisog JUBIUND uonisog JUBUND Z Aq paylusew uonisod uon unj indino So euy BE y pneg
27. 5 y Se qeu3 5 99JJ J0jouJ OY suun eoo 151 S 4ueq ay 51592 pue eu sesneg esneg dois Jejue y ay 0 0 uonisod Juano eui sjes zl Quonisod eui exe y exel 09 Sejnoexe 5 41 91no9x3 000L 2d d Ld ul orueu p sIU v seus uopdusseg _ uomoun SPUBLUWOD 00Z V ui 94 Y uogejeje v ____ 0z S apow oiweuAp peeds y eugeg 564400 peeds s 5 plZE06Z d uonisod uojisod d seiduiex aduoseg wun ieuuo4 uopound pueuuuoo uolo apo 21 Jeuo Pg 103 Cool Muscle Instruction Manual uonisodu 9 Z Buluuny 0 Snjels 1010 66 1 2 864 peeds juauno 7
28. 60Jd e jueuJuloo P s no x y 440 SI yndul j Buryyue op jou UO SI 1nduJ JI 0432 01 cO Ol Jepiou e si 3 eui esr OL LO HI ON 10 usnd sejnoexe Z 2030 Ceo usnd 214215 Ld O Jo peejsur yem ig zeuesn siojoul y ueuM Z z 2 D NN B UOnouJ 9je duJoo JO nOUJIA Z sojnoexe Z C CA V ed Ajjenpiaipur Zid Z LS V Ld LLS exeul Jo 84 BSN y ueuM d A X m E peyioeds e doo jo Jequunu y Ajoeds X peuinbeJ SI usnd e d 3y JO jueujeoejdeJ e si D eu guonisog ejnoexe esiMJeujo 1215 eyueq ejnoexe uo s ndu ay uo peseq ue pue jndui payloads 94 esjeJj v o 0 payloads jndjno y sjes 1NdjnoO 4
29. 64 uonisod 2 964 uonisod G6 1511 6b 154 E6 15 peeds 264 18 uonisod 64 064 Jejunoo G Jejunoo G7 indui 2 uoisuedxe GLG gqd snyejs Z jndur 077 1 29 91 0 X speeds y 104 e esn JOJOW BU o e eouejsip eAnejeJ e d Aq enjeA eu 99 Apoeulp au uoyduoseg uowounj pueuxuo Spuewwoy pue aves Pg 104 Cool Muscle Instruction Manual Appendix 4 Network Card Specifications Metwork Card nimis i Cie RP Tuik i iaei ppe Interface Card Pg 105 Cool Muscle Instruction Manual Appendix 5 Custom Interface Cable The Cool Muscle can be connected to a RS232 port on your controller or PC via the Y cable or the Master Motor set Net work Card Interface card that can be purchased from Muscle Corporation PC RS 232 ports generate 12V signals which are not directly compatible with the Cool Muscle serial input You can also make your own cable to connect the Cool Muscle to a controller running
30. 998 addressed all even number ID nodes 999 addressed all odd number ID nodes 1000 addresses all nodes A RS 485 motor ID is stored in parameter K62 If K62 0 the mo tor works as if it is on an RS 232 connection As RS 485 devices share the communications wires automatic ID selection is not possible as it is with the daisy chain network This requires the motor s ID to either be set prior to inclusion into the network or via the D command The D command allows unaddressed mo tors to be addressed by using the motor s serial number as the identifying feature Sending Did serial across the network will request the motor with the matching serial to assign itself the id 0 is a software handshaking command that opens the RS 485 communications channel so that a motor can send data When a motor sends data the communications channel is automatically closed to other motors This system prevents communications conflict over the shared wires Pg 108 Cool Muscle Instruction Manual RS 485 Communications Example 1 generated by host PC 1 2 1 0 1 generated by motor 1 Ux 1 8 2 generated by motor 2 Ux 1 8 Possible Combined RS 485 RS 232 Network Layout The Cool Muscle networking scheme allows for both RS 485 de vices and daisy chained devices Each RS 485 device becomes a node with the RS 485 ID becoming a supernet address for the motors conencted under it node 1 2 node 3 node 4 node 5
31. A Quick Reference sheet is provided at the back of this manual or as a PDF that can be downloaded from www coolmuscle com in the Download Docu ments section Pg 38 Cool Muscle Instruction Manual Parameter Structure Parameters The target voltage level can be either less than 0 8V or more than 3V When input logic is set to true low the target voltage is less than 0 8 When it is set as true high the target level is more than 3V 7mA min Parameters are defined at the beginning of a CML program file Each parameter is assigned a memory location To set a parameter follow the structure below K Value Example K50 15 Distance for Manual Jog is set to 15 pulses This section provides detailed information on each parameter For a quick reference please use the parameter summary table in Appendix 2 Input Output Input Logic Descriptions This ik sets the input logic Default 1 Nonne closed Each number represents Input pin 4 3 2 1 ordered from the right to left ie K26 0100 Input 4 normally open Input 3 normally closed Input 2 normally open Input 1 normally open Pg 39 Cool Muscle Instruction Manual Offset for Slow Response Signals Descriptions This parameter sets the time delay to create two sets of signals quick response and slow response signals If the signal is com pleted within the set time delay period it is only recognized as a quick response signal and not rec
32. AOSIWOZZ AOSIWOZZ M zo 8630 1z 0 p 6L edi s b d qnsa Ave Mel ML Sues Los b 4 ba E edAj 3exoos sean oF qe si C sy 4 elo reubis TLNO i p TIO ot pxL di 7 0 V TNI 9 p t o N AS N vb 5 INI NO 19 z i T3 L AS siM N YNO ES LU 9 55 M N 5 c T a OONODRONS wsanar AS Mes INI Zi H3avaH LNO o Wadwnr Z o ZNI TINO tdf WadWnr Z TNI dr Pg 110 Cool Muscle Instruction Manual Appendix 8 Using the Analog Inputs with a C Type Motor Starting with Firmware Version 1 12 it is possible to use the analog inputs on the C Type Cool Muscle to vary the motor s op eration All of the analog functions are tired to Input 4 on the mo tor K39 is used to set Input 4 s software low pass filter Please refer to page 16 for wiring information Input 4 can be accessed via the Network Card Please refer to page 111 for this wiring in formation K64 is the parameter that is used to pick the function of the Ana log input K64 0 No analog function K64 1 Input 4 varies the value of SO Use K40 to set the speed range and K64 2 Input 4 varies the value of PO Use K41 to set the pos tion range from 0 to 100xK41 K64 3 Input 4 varies the value of S13 Use K40 to se
33. C and a 24VDC power supply refer to Section 3 Setting Up Cool Muscle Make sure that the power is turned OFF 2 Start up your PC 3 Start up Cool Works Lite Cool Works Lite is available on the CD provided with the Cool Msucle or can be downloaded from our websited at www coolmuscle com 4 Power the motor on Motor information should appear If mo tor information is displayed you are ready to talk to the motor Motor Response ID1 GoolMuscle v1 00 4 01234 5 Check the preloaded parameters by entering 90 and press the Enter key Parameters starting with K25 should appear in the motor reply window These are the preloaded parameters 6 Turn off the motor and close Cool Works Lite Pg 12 Cool Muscle Instruction Manual Trouble Shooting Nothing appears when the motor is powered on ls the Cool Muscle Powered on Make sure that the motor is not in motor free state If it is turn the power off and then turn it on Bo you have multiple terminal applications running in the back ground Or do you have software for PDAs or other programs that occupy COM ports running Make sure that these programs are disabled and not running in the back ground Nothing appears when 790 is entered Parameters are not properly displayed Turn the motor off and on If the motor responds with its version information commu nication is established You can load default parameters with the MotorReset software provided on the C
34. COOL MUSCLE Integrated Servo System 9 MUSCLE USER S GUIDE 2006 Myostat MC Inc www coolmuscle com EM 060324 For V2 Firmware Cool Muscle Instruction Manual Copyright Copyright 1982 2005 Myostat Motion Control Inc All rights re served This User Manual is copyrighted by Myostat Motion Control Inc All rights reserved Information on this document is subject to change without notice Cool Muscle is a trade mark of Muscle Corporation Microsoft and Windows 98 2000 ME are registered trade marks of Micro soft Corporation All other product names are copyrighted and registered trademarks or trade marks of their respective hold ers All computer and software names identified by TM are trade marks of their respective manufactures Printed in Canada Pg 2 Cool Muscle Instruction Manual Oo PREFACE TO THE USER MANUAL 6 nti eee rte 6 Disclaimers TUI UTE 6 SECTION 1 SEICUPTPROGESS ted er te doris bee ecce vii Of Ve cra odo aa e ae ER 8 SECTION 2 WHEN YOU RECEIVE COOL nnne nennen nnne nn ns s ireren 10 Do inet te and ER dee b e e dde dte te eee i 10 Components avian ee tede D eR erede eo er e eec voi aed a 11 Communi
35. D 1 Start MotorReset software on the CD included with the Cool Muscle 2 Click Reset Motor to load the default parameters Then click Test Motor to make sure that the Cool Muslce operates properly Click Stop Motor to stop the Cool Muscle GomnPort Setting Come Gomm 7 Comm C Comm SotandTest Motor Injormation Moder Product Dite Eon _ Product ID Wer Serial Number fi Sue Motor select Motor Type and Click Parcel Moor Bulben to Conlnus Pg 13 Cool Muscle Instruction Manual p A SECTION 3 SETTING UP COOL MUSCLE How To Connect The Cool Muscle Using Y cable amp Power RS 232 A Connect to user Rire RS 292 port Do NOT connect or pply SEC disconnect the motor while it is powered on Motor Connector Connect to the Cool Muscle The connector only fits one way For pin layout refer to the Pin Layout and Assignment section Using Network Cards You can network multiple motors by using network cards What Do need to Create a Daisy Chain 1 Network Card Instead of using the Y 2 Serial Interface Card cable you can use the 3 Motor Cables network card and the intartace card fc cone 4 D Sub 9 pin Straight cables nect the Cool Muscle n a to a PC You need a pepe v DOWD Network Card Serial Interface D Sub 9 pin straight 6 Power Cable Card cable
36. Interval for Timed Trigger Description This parameter lets you set the distance interval for timed trigger Min _ Defautt ____ Analog Outout Functiona Description This parameter lets you select an analog output type that you can monitor with an oscilloscope Make sure that you have selected Analog Out by parameter 34 The range of analog output is 0 5 V 2 5V is the baseline The overall value is cummuitive but the ana log output is displayed in the set range 0 5V Example Example current postion 3000 pulses current postion 3000 pulses Br d 1024 pulses 5V A 0 pulse 2 5V m 1024 pulses 0V p Analog Output Types O Target Position Target Position manified by 8 Current Position Current Velocity manified by 8 300rpm pulses 2 5V Current Torque 9 3kgfcm pulses 2 5V CM1 x 23L20 5 1kgfcm pulses 2 5V CM1 x 17L30 Current Torque manified by 8 1 16kgfcm pulses 2 5V CM1 x 23L20 0 64kgfcm pulses 2 5V CM1 x 17L30 4 Max Default poo Bi Each number separated by a comma represents Output pin 72 1 ordered from the right to left ie 34 21 Pg 46 Cool Muscle Instruction Manual Parameter values between 20 and 30 should be used when extreamly slow speeds are required NEW K37 100 Improvements in V2 firmware now allow for a resolu tion of 50000 with a 1pps speed unit The Cool Msuc
37. Pg 14 Cool Muscle Instruction Manual Jumpers Before you connect the network and interface cards you need to set the jumpers Network Card Jumper 1 amp 2 These jumpers are for switching the DC 24V line on the card Leave JP1 amp JP2 open when power is supplied through the ter minal block on the card Close JP1 amp JP2 when power is supplied via the serial cable Jumper 3 4 amp 5 Connect Pin 2 and 3 of each Jumper when a Serial Daughter Card is attached to the network card Master Network Card CM1DC1 MBS Conect Pin 1 and 2 when a Serial Daughter Card is NOT at tached to the network card Slave Network Card CM1DC1 SBS JP5 JP3 JP4 JP2 JP1 Pg 15 Cool Muscle Instruction Manual Mterface Card JP1 and JP2 on the interface board allow you to switch between RS232 and RS485 Pin1Pin2 Pin3 RS232 Y Y Y Connect Pin 1 amp 2 Connect Pin 2 amp 3 RS485 Connect Pin 2 amp 3 Connect Pin 1 amp 2 JP1 Interface Card Pin1Pin2 Pin3 How to Connect the Network Card and the Interface Card To daisy chain the Cool Muscles you need network cards and an interface card A master motor which will be connected to a host computer needs both the network card and the interface card Slave motors need only the network card Master Motor Attach the interface card to the network card Network Card ISerial nterface Card Network Card with Interface Card Master Set Pg 16 Cool Muscle I
38. Semi Closed Full Close Loop Mode sennee eene eere nre 58 Motor Status Report Style eto de eA ee OR Heec e Pee pb teda Dove ed 59 PROGRAM MODE COMMANDS iriiritia onei aseara agten nennen AN agaaga E ERAEN nennen nnns 60 Motion Commands define Motion n T ee UE Re ee ES 60 Basic Program Examples aea a eg epe Uode dee pe 71 Basic Point to Point motion nennen nennen 71 Continuous Point to Point motion with different 72 Continuous Point to Point motion with different speeds and accelerations 72 Point to Point motion with different deceleration ssm 73 PUSH MOd6 De ipe ee reet enn ene as 73 Networking Cool Muscles ite ii ete p tie n Ei dia Ree eal innit 74 Defining Motion for multiple motors eene nen 74 How to create network programs ssssssseesseeeen eene eene nennen nennen nennen 75 SECTION 9 Dynamic Mode Commiands tede ende daten lest daa Eae ER LRL eve dece Don PETERE ED EL ye pis at 77 Motion dte e teli de e d eee eie dete Ses 77 Execution nir e ditata tod dg be Red 78 Pg 4 Cool Muscle Instruction Manual SECTION 10 th dt RE e cat DER AREE TER Edna 81 90 COO
39. TO moves the cursor to the next line and executes it When bank 1 is completed it goes back to line 1 in Bank 1 When Input 1 is true it jumps to Bank 2 and execute it Once B2 is completed it goes back to line 2 in Bank 1 B1 Input 1 is False 11 C2 TO line 1 A1 S1 P3 line 2 B2 1 51 Input 1 is Pg 64 Cool Muscle Instruction Manual Set Output High Set Output Low Description The O command makes the specified output high on and the F command turns the specified output low off Example B1 beginning of program bank 1 1 A2 P1 01 P2 F1 P3 this program commands the motor to go to P3 without stopping at P1 and P2 Output 1 goes high when the motor passes P1 and goes low when it passes P2 Push Mode Description The Q command takes the position value defined in a position memory location and commands the motor to perform a push mode A push mode is a special type of motion designed for appli cations typically performed by pnematic cylinders When moving to a final destination if the motor encounters resistance it may trigger an alarm In push mode a certain amount of resistance at the final destination is expected or anticipated and the motor does not produce an alarm The motor based on the parameter settings will push into or apply pressure at the destination for a given time at a set current level or torque You can make the motor push an object continuously by setting parameter
40. TTL level signals as shown below D Sub 9pin Cool Muscle A Socket CN1 Wot p pep DC424V O 1 1 T 1 1 i i 1 1 1 I 1 Controller i Cool Muscle 1 1 18 jd 19 1 1 zu a e ui i 4 a ac T 3 Casella adm FAP me Coc Much Pg 106 Cool Muscle Instruction Manual Appendix 6 Index Signal Instead of an in posiiton signal you can have the Cool Msucle output index signals during origin search Set K27 or K30 to 5 and K34 to 1 Index Signal OFF bd 10msec Max lt 10msec ON Origin Search Start Signal Index Sigpal is sent out during origin Search AF UU UU IU Inposition Signal Origin Search Motion Inposition Signal True In low lt 10 10msec Pg 107 Cool Muscle Instruction Manual Appendix 7 RS 485 Communications In order to connect a Cool Muscle to a RS 485 serial connection the motor s parameters need to be adjusted and a CM1DC1 MBS Master Network Card needs to be connected as an inter face to the motor Please take care to set jumpers 1 and 2 on the Master Card s Serial Daughter Card to the appropriate settings This can be found on page 16 of this manual The ID scheme with the RS 485 system is different from that of the RS 232 daisy chain network is used to preface the motors ID as follows 1 256 can be used as motor IDs
41. Tunning Module Tuning Setting of Motor Side Experimental Results Starting Freg HZ no Current Freg HZ s Ending Freq HZ 100 Iq Sampling Value 32 Amplitude pulse 500 Amplitude Pulse 437 5 ampling Estimated Inertia g cm 2 1 11 002 Value Accept Using the default setting click the Start Auto Tuning Button The Auto tuning module starts to work The auto tuning process continues for 56 seconds as the motor oscilates in frequencies ranging from 1 to 100Hz The final estimated inertia in this de scription is 110 gcm 2 You can run the auto tuning routine sev eral times You should find that all the estimated inertia results are very close Remark In this example the payload for the motor is a coupling with an inertia is 9 0gcm 2 The inertia of the position sen sor is around 30gcm 2 The standard inertia of the 17L rotor is 76gcm 2 The total payload is 9 30 76 115 72 Pg 113 Cool Muscle Instruction Manual Clicking the Accept button will set the load inertia in Hinf design to 111 76 349 2 Remark You can choose different inertia for design Usually if you design a controller for heavier load inertias it works fine if the real load inertia is smaller than that For the 17L case we can even set the load inertia for design to 760gcm 2 which is 10 times greater than that of the 17L rotor Choos
42. Works is free software designed to work with CML You can also use Hyper terminal which usually is included with your Windows installation disk Default Serial Communication specs are 38 4Kbs 1 Stop bit No Parity No Handshaking Changing Parameters execute program banks drive motor in dynamic command mode Directly enter commands in a terminal program such as Cool Works or Hyper terminal Creating and editing program banks It is recommended that a text editor is used to create and edit complicated program files Make sure you save program files as a plain text file You can download program files to the Cool Muscle via a terminal program by importing text files You can also load parameters in the same method Any parameters specified in the file are changed in the motor without affecting unspecified parameters All program banks are erased and replaced with the program banks specified in the CML file When you want to write the program into the Motor s EEPROM enter Parameters are stored automatically Pg 32 Cool Muscle Instruction Manual Select COM port This is where you select COM port that the Cool Muscle is connected to SECTION 6 HOW TO USE COOL WORKS 1 Start up Cool Works by clicking on the Cool Works icon GoolWnorks 2 The window below will appear Select the COM port that the Cool Muscle using By selecting the COM port the Terminal Window Setting Window Jog Window buttons will be activ
43. ameter sets the direction that the origin is located Direction O Default CCW 3k If origin search is activated at the point where the origin switch is on the motor will move in the oposit direction until it sees the edge of the origin switch signal Origin search direction Y If origin search is activated this point then the motro will move in the oposit direction to the origin search direction until it sees the edge of the signal Origin Search Method Description This parameter specifies the method used during an origin search Origin can be determined using hard stop bumper or an origin switch The motor hits the bumper at very low speed and keeps pushing until it reaches a specified current level preset by parameter 47 When the current level has reached the set current level the motor determines that it has found origin This method eliminates the need for origin switches Pg 48 Cool Muscle Instruction Manual You need to set the following related parameters Stopper Go Origin speed K42 Acceleration K43 Current Level K47 Origin Switch Go Origin speed K42 Acceleration K43 Method Default Stopper Bumper Stopper Bumper Automatically start origin search when powered on Origin Switch Origin Switch Automatically start origin search when powered on Current level when searching for origin using a stopper Description Sets the current level at whic
44. ample B1 12 C2 C3 When input 2 is true then execute bank2 oth erwise execute bank3 Origin Sensor JL ______________ Motor turns in a CW direction for the duration of the signal Manual Feed CCW Motor turns in a CCW direction for the dura eo edad eo Switch in position When an output is set to in position by param signal to Index signal eter 34 it signals in position when the motor reaches the target position When the motor reaches the origin it sends out index signal Execute Bank 1 Used to Execute Bank 1 on startup of motor Emergency Stop Stops the motor immediately and inhibits mo tion execution E Min __ Each number represents Input pin 4 3 2 1 ordered from the right to left ie K27 0100 Pg 42 Cool Muscle Instruction Manual A Functions that create motion should be lim ited to Input 3 and 4 for safety reasons In puts 1 and 2 are also used for serial com munications When connected to a serial port the voltage used in the serial protocol might activate any function assigned to these ports Input Function at the Rising Edge Quick Response Signal QR Input Function at the Falling Edge Quick Response Signal QF Input Function at the Rising Edge Slow Response Signal SR Input Function at the Falling Edge Slow Response Signal SF Description This parameter assigns a function performed at the edges of a signal Functions or events should
45. and their structures are outlined the CML Command Listing Pg 30 Cool Muscle Instruction Manual CML Program File Example K26 1111 SET INPUT LOGIC K49 15 SET MANUAL SPEED K58 500 SET SOFTWARE LIMIT CW K59 500 SET SOFTWARE LIMIT CCW P1 1000 SET POSITION MEMORY CONTENTS P2 2000 P3 5000 1 200 SET SPEED MEMORY CONTENTS 2 1000 A1 200 SET ACCELERATION MEMORY CONTENTS A2 100 B1 FIRST PROGRAM BANK C2 C3 JUMP TO THE BEGINNING OF PROGRAM BANK 3 B2 SECOND PROGRAM BANK S1 A2 P1 SET SPEED ACCELERATION AND POSITION 52 2 P3 P2 81 P1 PERFORMS A SMOOTH MOVEMENT FROM POINT TO POINT WITH STOPPING AND WITH A CHANGE IN SPEED BETWEEN P2 AND P1 B3 THIRD PROGRAM BANK S1 P3 For more detailed information please refer to Programming with CML CML File Structure Dynamic Command Mode Dynamic Commands cause immediate action This mode is typi cally used for debugging and non repetitive movements Dynamic Command structure S value A value P value execute Pg 31 Cool Muscle Instruction Manual In Program mode you need to define position speed accel eration and timer In Dynamic Command mode you can directly drive the motor by entering motion profiles ie 5 1000 200 10000 CML File Command Downloading There are a number of ways to use CML to set parameters define motion create programs execute programs drive mo tors and download programs onto the motor Cool
46. ated In the Terminal window you can communicate with tthe Cool Muscle directly In the Motor Browser window parameters spe cific to each motor type P C can be easily set The Jog Win dow lets you manually operate the Cool Muscle n TTTTTTT re bee 3 Check the RS 232 port to ensure the Cool Muscle is con nected Power the Cool Muscle Pg 33 Cool Muscle Instruction Manual How To Use Terminal Window After selecting the COM port a teminal window will appear In this window you can manually set parameters create mo tion programs save to EEPROM read parameters in the Cool Muscle and operate the Cool Muscle in dynamic mode LE ues Deme Chem Lee Us MU 2 eco noy eS SO Single Line Window Enter a EE single line command and press the Enter key Entry Window You can type multiple line commands and edit text you enter Once it is ready to be sent to the Motor click Run CML Script can also be executed from this window Sent Window Commands and parameters you sent to the motor are displayed in this window Motor Response Window This Window shows motor resonses Terminal Window Function Buttons Go to Origin Make the motor go origin Positon 0 Set as Origin Set the current position to 0 Enable motor Enable motor in a motor free state Free Motor Turn the motor into a motor free state CML Values Positions displays posiiton data
47. be assigned to event triggers in such a way as to make sense For example it may create undesirable movements if you assign Motor Free to the rising edge of a quick signal and Go origin to the duration of a slow response signal With this input function assignment when the motor is commanded to go back to origin as it goes into a free state at the rising edge of a quick response signal it will not be able to go back to origin _ Ring coe Duration Ii rud Pg 43 Cool Muscle Instruction Manual Assignable Functions at the rising and falling edges of an in put signal Functions with indicate functions for the falling edge only __ O Reset Alarm Pause Reset Alarm When alarm is on it resets the alarm Pause Pauses the motor Send a start signal to resume the motion Motor Free Makes the motor go into a motor free state oma mtr fe sae 3 Counter Reset Makes the current position O Execute next step Execute the next program line This function 5 Execute previous is used when executing line by line within program bank Executes the previous program line 6 ExecueBank1 ee a Motor turns in a CW direction the distance set by parameter 50 Set speed by parameter 49 Acceleration set by 42 Also used for Origin Search acceleration is applied When K36 is set to 2 8 becomes Exe
48. cation with the Cool Muscle cccccccccssssssseceeeeeeeeeeseaeeeseceeeesecesecauaaeesseeceeeeeteeeaaaueeseceeeeeenees 12 SECTION 3 SETTING UP COOL n nennen nennen nennen eren eere n nnn n esr sene nena 14 How To Connect The Cool Muscle cccccccecccecccceeceeeseseseccceceesecauaeessseceeeeseeeesaaaneseeceeeeeeeeeaaennseeeeeeetees 1 SECTION 4 INPUTAND OUTPUT RP 18 Pin Assignment arid en ee poit iret de eda Eau n iada pce Ida dia d De eR 18 Wiring Examples s M EES 22 SECTION 5 eM 27 STRUCTURE ___ 27 DEINER 27 vo OE QE EE vc 27 28 CMLESSIT CIUF6 0 22 rise cs 28 CML FIle SITUCIUEO sisi eere aude te C ee v rie ebbe Maia cien Gavan eadera da LER ERE MEER A Fir 30 File EX Mple 31 CML File Structure Dynamic Command 31 CML File Command Downloading eessseeeeeeeenneeneeem eee nennen nnne nn nennen nens 32 SECTION 6 HOWTO YUSEF COOL WORKS e ie ere tradere ta et ote E de bec deu Ur dert 33 How 1o Use Terminal MIndOW etcetera tute eie od e ER E d re de
49. ctions K28 0167 Set QR functions K33 00 set output logic for port 2 1 to high in true K34 21 set output functions K46 1 find origin by switch K42 15 set speed at which the motor searches or goes to ori gin K43 150 set acceleration with which the motor searches for or goes to origin K45 0 direction of origin set to CW K48 100 set mechanical and electric origin offset to 10000 pulses Input STV Input 1 Origin Search Origin Signal Input 2 Input 3 Pause Alarm __________ Output Output 1 Inposition Output 2 General Use Motion program B1 51 1 1 52 2 53 Motion descriptions By setting the offset distance between the mechanical and elec tric origins you can make the motor automatically move to the electric origin after it finds or goes to a mechanical origin In this example the electric origin is set to 10000 pulses away from the mechanical origin A program in Bank 1 is executed at the target voltage level of a quick response signal on Input 1 Output 2 goes high when the motor passes P1 and stays high until it passes P2 This type Pg 85 Cool Muscle Instruction Manual of signal is different from in position signals and can be used to signal your controller or other motors to perform tasks Example 5 Pause Cow j eee T 1 1D 4 Mipu Parameters K25 1122 set time delay between quick and slow response to 0 1
50. cute Bank 2 instead of Manual Jog CW Motor turns in a CCW direction the distance set by parameter 50 Manual Jog CCW Execute Bank 3 When K36 is set to 2 9 becomes Execute Bank 3 instead of Manual Jog CCW Manual Jog CW Execute Bank 2 Min __ Defautt Each number represents Input pin 4 3 2 1 ordered from the right to left ie K28 0100 Input 4 0 Input 371 Input 2 0 Input1 0 Pg 44 Cool Muscle Instruction Manual Output logic Descriptions This parameter sets the output logic Max Default 11 11 0 Normally Open 1 Normally Closed Each number separated by a comma represents Output pin 2 1 ordered from the right to left When typing in parameters you don t need commas ie K33 01 Output Functions Description This parameter assigns a function to an output Assignable functions are as below Function Descriptions 0 Comman 0 0 0 0 1 In Position Sends out an in position signal when the motor reaches the tar get position 2 J 5 j 3 Out Outputs analog waves for moni pem toring Choose a type of informa tion by parameter 35 avs 5 General Use 2 vals Timing is set by K24 8 _ Motor Free E _______ 9 Torque Limit Reached Min oo ___ 66 Each number separated by a comma represents Output pin 312 1 ordered from the right to left ie K33 01 Pg 45 Cool Muscle Instruction Manual
51. d d ea 34 Terminal Window Function Buttons eeeeeesessssssseseeenne E a a nene 34 Pg 3 Cool Muscle Instruction Manual SECTION 7 SETTING PARAMETERS 38 5 2 aae eya aget 38 Parameter StT Ct le tree tta n iren FEL Ep EE ep e Pet 39 acl m 39 Input Output rai atte Rel ain inet Geel Asani aed alana ie 39 Input Logic Resolutions EE 47 ep 47 8 EE 50 ome CET 50 Making the motor Stop eere EUREN RR Rd E Rae eR IRR E E ER PER 50 D celeratiori vz e ERE RORIS EU Per rc REN NET ERR 51 M nual MOtlOh 5 ner eee HR Er ER RE RIAM ND OH RN e IH ERFHREGE 52 Gain s mio Leoben e ED d a mee sabes ID ETE e ERIS 52 Pulse Type Gool M sCIe 3 tiroteo deret eere REL peu De eR Rude 54 Analog Type Cool M scle irsin t i suo teen onore b ad cedat 55 Analog Distance crei c dax 55 LOW Brad 56 Mode PHOT 56 Creeping Speedin n tisse tee dere emis ie nck 57 Communication d e ERU n Pe ERR ee ERE RR RES Eee ER d Rex ra 58
52. dNLYVLS NO ueg 39710x E E uonisodu 8 xepu 000 1 04 Pees enue indupeposuj 9 0008 69 0009 89 0009 9 000 99 AAD pao jenue x a as Essi SS IS SIS Z ELV9 6T I S 89 1e peads 91456 0617 961 8520 8 3 uo So euy amp Jeidunj uonisog g peeds 195 0 peeds std9 15 6 IS 04 0 1 SuoN O pue y eseugz Ajuo v aseud uoun 140daJ one OU S8r Su 950 1 Gl 589 53 950 TET SH 0 OPON 58 54 1000 xe 29506 usng ET 9 9 UBUND sasind 001 Curr eue jos LOLTEXE sasind 00 antur eue gos keq Deas um 9 9 v MOLHO sesing e ueJo o1 uonisodu sddoo peeds 8uideau e ueisip jane 80 enuey 4o1o 4 uonounj 1nu So euy 005 1 59 00 I 9 008 9 009 29 002 09 4osueg UIBLIC Puig esuodsey 00005 08 95 5 JO 98e3o 000SC 8C 0000 1 27 000 amp 9 00SC SC ON ye uorpunj ndu O00Cvc 000 1 57 00 27 OOF IZ 00COC 1 90 9t 95124 000 1 05 0 2816 3ndu 0008 67 0009 8 7 000 0002 9 ELIE STA 91 GXEW 20815 asuodsoy 00S 1 Sb 00C E 008 2 009 Tr OOE Or MOIS 10 Kejap 00005 01 000SZ 8 00
53. e overload Inposition Pg 70 Cool Muscle Instruction Manual Basic CML Program Examples Most machine movement is repetitive and makes use of only a few positions speeds accelerations and timers This type of in formation makes up part of the header of a CML file The following motion definitions are used for the examples in this section P1 20000 P2 72000 P3 120000 P4 500000 1 5500 52 7000 53 8500 54 10000 1 200 2 500 A3 800 Basic Point to Point motion B1 1 51 1 S2 P2 S3 P3 This creates the motion below Starting at the origin position the motor moves from point to Pg 71 Cool Muscle Instruction Manual point stopping and starting at each point with equal acceleration reaching different speeds Notice that the same acceleration is applied to P1 P2 and P3 You can leave out S and A when the same Speed or Acceleration are applied to different target positions saving the number of steps Continuous Point to Point motion with different speeds B2 1 51 1 52 2 53 By combining same motion commands on line the fol lowing motion is created As compared to program bank B1 B2 has no stops in its motion between Origin and P3 Speed was changed at each point and the acceleration and deceleration remained equal throughout Continuous Point to Point motion with different speeds and accelerations B3 1 51 1 2 52 2 3 54 Pg 72 Cool Muscle
54. e this parameter to set the vector angle at which the Cool Muscle returns to closed loop O default full Closed Loop 4 36 W x 0 1 degree Pg 58 Cool Muscle Instruction Manual Tiriger Timing for semi closed loop mode Description This parameter lets you set a triger timing for semi closed loop This trigger timing is a time delay between in position signal and the moment that the Cool Muslce becomes open loop Max Default Unit Motor Status Report Style Polling Event Driven Mode Description This parameter lets you select a motor status report style Poll ing or Event Driven Polling 1 running status Overflow Over Load In Position Circle function Pushing Torque Input Status represented as a HEX value Output Status Status for Start Stop Enable Disable Pause Pg 59 Cool Muscle Instruction Manual e SECTION 8 PROGRAM MODE COMMANDS This section contains CML commands for creating program banks along with examples Commands for creating and execut ing programs banks query commands are explained in Section 8 Parameters Commands Motion Commands Program Commands Motion Commands define motion Positions Speeds Accelerations and Timers need to be defined before motion is executed Position Definition Description This parameter can define multiple positions Max 25 The po sitions set by the P command i
55. e ETIN Motor petii Mecca x Seeman ete the Mass pet 00 MEPPS o 500 0 1 Changing the resolution or speed unit in the Job Window im mediatedly overwrites the existing setting in the motor Hold and drag the speed scrol bar to operate the motor To move the mo tor to position 0 click the Go Origin button Pg 36 Cool Muscle Instruction Manual Pg 37 Cool Muscle Instruction Manual SECTION 7 ge SETTING PARAMETERS Before setting parameters To set parameters on the Cool Muscle you need to connect the motor to a PC via the Y cable or the network card You can set parameters on multiple motors when the motors are network via network cables Using Y cable Connect the Cool Muscle refer to Section 3 How to connect Cool Muscle Start up Cool Works or a terminal program and turn the motor on Make sure that there is communication estab lished between the Cool Muscle and your PC Please refer to Section 6 How to use Cool Works Using Network cable Connect the Cool Muscle refer to Section 3 How to connect Cool Muscle Start up Cool Works or a terminal program and turn the motor on Each motor is automatically given a motor ID Make sure that there is communication established between the Cool Muscle and your PC Please refer to Section 6 How to use Cool Works Quick Reference Guide
56. e d1 and d2 for controller design We choose 41 100 amp d2 1 55 by moving the sliders on the top right of the window The resulting gains of the Hinf controller are as follows H1 46 H2 2427 3 3460 H4 170 H5 57 54 H7 133 The HO default is set to 100 The step response of the closed loop system is shown in the step response window It says that the motor works fine alag Th pE Pus pish Cii jpa gi Hel Mese Daga Faina m kir m ad En chem mm ard LM Al 5 eerie re ausi aj Iesus THAD deg 41 1 1913 m dna f pT mH aeu a TIN Dairine ienga Lae erie gol s imet hep M Tan Local rmm um n s La E cime red Tn oni al E Ht as ale HE Bh mist TETH H d LL DT stai Es mr Pje mmm rj amm ET Io y meme we amp 3 s o Dip meen Hc aaga T preme E der bee Due Cane Heer sete ite OR ceed Euonm adl decerdgrh erect c b c debl Pg 114 Cool Muscle Instruction Manual p Simulation for a special load The simulation of the step response is done under the assump
57. e load inertia servo gain needs to be adjusted Within the above range adjustable by parameters Outside the range please contact us 7 6x10 1 08x107 3 810 5 39 107 Input Supply Current Rated 1 2A 1 8A 1 2A 1 8A Continous Rated peak Resolution Pulse Rotation 200 400 500 1000 2000 2500 5000 10000 25000 50000 pulse rotation Set by parameter Environmental Conditions Operation Storage between 0 C and 40 C between 20 C and 60 C Operating Humidity Less than 90 RH Impact Vibration Less than 10G Less than 1G CM1 23 30 Load Inertia Allowance Kg cm s ozf in s Depending on the load inertia servo gain needs to be adjusted Within the above range adjustable by parameters Outside the range please contact us 4 61x10 6 5x107 Input Supply Current Rated 2 6A 3 4A 3 9A 5 1A Continous Rated peak Resolution Pulse Rotation 200 400 500 1000 2000 2500 5000 10000 25000 50000 pulse rotation Set by parameter Environmental Conditions Operation Storage between 0 C and 40 C between 20 C and 60 C Operating Humidity Less than 90 RH mpact Vibration Less than 10G Less than 1G Pg 91 Cool Muscle Instruction Manual Pin Layout Default PIN Type Function CW CCW _ Step Dir Analog Computer 24VDC IN GROUND 1 INPUT 2 Direction OUTPUT 2 Didigal Out Analog Out Serial TX Serial Port2 OUTPUT 1 Didigal Out Analog Out Serial TX Serial INPUT 4 Digital Input Analog Input INPUT 3 Di
58. ection to Counter Clockwise 51 1 200 Set Speed 1 on Motor 1 to 2000 pulse sec 51 2 400 Set Speed 1 on Motor 2 to 4000 pulse sec 1 Save Motor 1 parameters to EEPROM 2 Motor 2 Dynamic Command Execution When using Cool Works to define multiple motion parameters for a particular networked motor there is a convenient alternative to the Motor ID postfix style of addressing To direct a consecutive series of CML definitions to a Cool Muscle with Motor ID N simply precede the block of statements with the command N Until another Motor ID is asserted in this manner all CML commands will be directed to the motor with ID N For clarity an example is given below 1 P1 1000 Set Position 1 on Motor 1 to 1000 pulses K33 00 Set Motor 1 Output Logic to Normally Open Save Motor 1 parameters to EEPROM 2 P1 2000 Set Position 1 on Motor 2 to 2000 pulses K33 11 Set Output Logic on Motor 2 to Normally Closed Save Motor 2 parameters to EEPROM Pg 75 Cool Muscle Instruction Manual Creating Network Motion Programs In order to create a motion program for networked Cool Muscles the Master motor must contain Program Banks which define mo tion profiles for all Slave motors An example of this in practice is laid out below Y 2 P2 1 P2 2 P3 1 P2 2 P1 1 P1 2 X Motor 1 B1 1 A1 1 51 1 P1 1 A1 2 51 2 P1 2 P2 1 P22 P3 1 Line 1 Begin definition of Program Bank 1 on Motor 1 Master
59. eq ed Pg 95 Cool Muscle Instruction Manual ul jeuBi s uonisodu yndjno 9 Bojeuy g ZSS Ie19099 5 Lasn JeJeueo c uJely z uonisoduy 0116s e ueuw pueulul02 0 uonouny yndjno subissy z 9 xueg Z 9Ey z ueg Bor 8 09 4 yueg ejnoexa3 g snoi 8Jg 91n29X3 G 1XeN e1no9x3 p Jojuno jesew g 994 J0 OJA Z esneg 1eseJ uonoy ON 0 ZUld s jeBurs 2 A d esuodseij mojs Buisu y uonouny e sufBissy uonounJ 1ndino A JEWJION uedo Aj euuoN 0 err 016071 91607 1ndino 51956 jeu amp is esuodses jo 0 y UOHOUNY asuodsay Mojs Jo 0020 9999 0000 eu uonouny yndu Z 9 9 xueg ejn28x3 M 209 6 Z 9Ey z ueg Bor jenuew g 09 7 yueg 91n99X3 9 deis 91n29X3 G 1X9N 5 1959 4 3 2 esned jesed ON 0 Zuld pUld s 3nduj 2 N d esuodseiJ 5 jo ay uonounj e suBissy 00
60. er sets a max value for the error counter If the er ror exceeds the set value then the motor goes in to a motor free state Defaut _ Unit ___ Overload time Pg 50 Cool Muscle Instruction Manual Description This parameter sets the time delay between the detection of overload and alarm signal output If you set an even number the motor will ignore regenarated voltage alarm __ Defautt Unit Software Overrun protection side Software Overrun protection side Description This parameter sets the overrun protection on both CW and CCW sides When the motor hits the overrun point it immediately stops When the distance is set to 0 default the overrun set ting is ignored ____ pein 100 pulses K58 32767 0 100 pulses K59 Deceleration Deceleration ratio Description This parameter sets the deceleration based on acceleration defined by the A command The deceleration can be set as a percentage of acceleration Note that the percentage set by this parameter will be applied to all deceleration in the CML program files If you wish to set deceleration independent from acceleration you need to use CML commands please refer to the command section Min Max Default Unit 10 500 100 9o Pg 51 Cool Muscle Instruction Manual With V2 firmware the Cool Muscle now uses a mod ern control theory called H Infinity
61. gital Input INPUT 1 Step INPUT 2 Digital Input Pulse Counter Serial RX Direction Serial Port2 INPUT 1 Digital Input Pulse Counter Serial RX Step Serial Port GROUND 2 5VDC OUT 5V Out Input Output Signal P type Pulse STEP DIRECTION Input Signal CW CCW Pulse Step Pulse Maximum Frequencyl500Kpps Maximum Frequencylo00Kpps Minimum Pulse Widthl0 8usec Minimum Pulse Widthi0 8pusec Voltage Level H gt 3 0V 24VMAX 7mA 15mA Voltage Level H gt 3 0V 24VMAX 7mA 15mA Voltage Level L 0 8V Voltage Level L 0 8V V type These functions have been included into the C Type motor Pulse Input Input Signal Speed Control setting Increase from 2 6 V to 4 8DC increases speed CW Decrease from 2 4V to increases speed CCW Variable Voltage Input Use OP AMP for max resolution Position Control setting Travel distance is proportinate the the input voltage Set the max distance by parameter C type Computer Controlere LL Via supplied Cable Voltage Level H gt 3 0V 24VMAX 7mA 15mA Voltage Level L lt 0 8V Pg 92 Cool Muscle Instruction Manual Connection Diagram Controller example ned rim dr Cool Msucle DC 5 a mum T x mma 1 La LIES F mi n m d 17 Pg 93 Cool Muscle Instruction Manual uonisoduj jo peejsur
62. h ETEEN ode g Photo Coupler L Switch B Cr OU Controller Cool Muscle DEM da PLC M cai c Photo Coupler L r h AF AN Ton Signal 1 p Au Controller Cool Muscle Pg 23 Cool Muscle Instruction Manual Digital Input Switch and PLC Analog Input Input 3 Max 5V Switch Switch 5 E 4 DOMO X ta ATO k pl AAT ATOPF Cool Muscle 5 11 P ce ov PETI PLC HIW a es bos A 5 ATDLI AAT pope VIV Y des STORE i e v ontroller i Cool Muscle i 11 o he ov 4t ul Analog syl By 470PF UE OZEATKO 4700 0 www Tay Cool Muscle 2 41 a m Pg 24 Cool Muscle Instruction Manual Input 4 Max 5V Switch gt Switch e Vu hi TL sore M ov ri ou Controller 77 Cool Muscle PLC T gt 1 uv bd ATRN 2 47001 ANT Q WW ATOPF 11 de ov Controller Cool Muscle Analog di EN 1 a ATKO 4700 oowh 1 44 y de 25 Cool Muscle Instruction Manual Output Output1 Digital Output am T Photo Coupler i41 doy o Q i Controller Cool Muscle Analog Output p Probe 5 TKI DIA Oscilloscope
63. h the motor will determine that the origin position has been reached during a hard stop origin search routine It is set by a percentage of the peak current of the motor Default 100 of the peak current Offset Distance Between Machine Origin and Electrical Origin Description This parameter sets the offset distance between the mechani cal and electrical origin This parameter is used when you want the motor to find the origin and automatically go to the electrical origin starting point If you set the parameter to 0 default the Pg 49 Cool Muscle Instruction Manual In position Signal is sent out when the motor is within the error tolerance set by K55 If the motor is running at a very low speed and the error toler ance is large you may see in posi tion signals even before the motor reaches the target position motor stays at the mechanical origin The speed for moving from the mechanical origin to the electrical origin is set to 2 times as fast as the speed for return to origin Min __ Default Unit 32767 32767 0 00 pulses In position In position signal Description This parameter sets the error tolerance for an In Position signal When the motor is within the specified error tolerance then an in position signal will be sent out Min Max Default Unit 1 100 5 pulses Alarms and Limits Error Counter Over Flow Description This paramet
64. he combo box Plot types in the left bottom corner Click on the Start Experiment Button You get the frequency responses as follows Complementary Sensitivigies L 1 They match well too Test the real motion Going to Chart window you can do the following test by setting a motion of p 100000 s 500 a 100 k37 3 This will rotate the motor 100 times Execute the motion by sending 8 Camarat pat TU E oot 1 g UM i pi Ai ni A T 1 LI LG remus D eren 5 xvm j reas m dppecere p reeXp 30 3 Pg 116 YSN yur enbuo 6 9944 JOJON 8 Je88u 00092 yeas uo 1ndino 9 pull 58800 peeds pee enue 3ndino lt UIBO TUTO iueu ouu pue 9 1 X84 u m q 9 1 uyA sesind 001 eouejsip 19510 g uoun 3ndino 00194 5 8 uedo uo paue puSis YUPAS LEIS YMS JOO 9Jqeu3 7 asuodsay jo eSpa x m er Sui Suiueeas 2120 YMS 1de xe gc se suonoun 991 12 Buug oym BAND o pais YUM 0 20815 mod
65. ime delayed virtual signal based on a real signal Quick Response signal Actions can be performed for the duration or at the target voltage level of the input or at both the rising and the fall ing edges of either the quick or the slow response signals This provides 6 different states Each state also has multiple features that can be assigned to it Assignable input functions at the target voltage level NoActon 1 1 10 0 y Switch in position signal to Index signal Assignable input functions at the rising and falling gt edges Function y Execute Bank 1 o e 8 9 Manual jog CCW Example Input 1 is configured to be K28 0008 K30 0003 1 Manual Jog on the rising edge of a quick response signal 2 Manual Feed for the duration of a slow response signal When a quick response input signal is detected the motor will jog a distance defined by K50 When a slow response signal is detected the motor feeds for the duration of the signal K49 Pg 19 Cool Muscle Instruction Manual Pulse Counter CW CCW Step Direction Serial Input Serial Communication Analog In Speed Position Input ports and assignable Input types OK assignable NO not assignable Assignable functions Output Digital Output Assignable Output Functions Function 35 0 Command 1 1 1 0 2 Alarm 3 Analog Out 4 General Use
66. l the motor reaches 600RPM The set value is increased by 50 at 600RPM Defaut Unit p pe _ i6 Speed Gain Description This parameter sets the speed loop proportional gain There are two modes constant and variable Speed gain Enter an even value to apply constant P gain Enter an odd value to automati cally vary gain depending on speed In the variable gain mode the relationship between the speed at which gain will not be applid Value 0 and the set gain are as below Speed I gain becomes 0 set gain x 120 Pg 53 Cool Muscle Instruction Manual When the gain is set to 5 the speed that gain becomes 0 is 600RPM If the gain is se to 10 the speed that the gain be comes 0 is 1200RPM S pp ae Constant P gain Variable P gain Diir pa 1200 pm 3o00rpm __ ___ 12 depens on the motor type 1 1024 Pulse Type Cool Muscle Pulse type Description This parameter sets Pulse Type Cool Muscle to either CW CWW or Pulse Direction If you are uing C Type Cool Muslce this pa rameter allows you to assign Exeute Bank 2 and 3 to rising and falling edges of input signals P type Cool Muscle _ O default CW CCW Step Direction C type Cool Muscle changes the assignlable input functions Jog Manual CW and Jog Manual CCW to Execute Bank 2 and 3 K28 29 31 32
67. le will stop during origin search if it does not reach an origin within 5 minuite or 80 rota tions Resolution Motor Resolution Description This parameter sets the motor s resolution pulses rotation This parameter also sets the speed unit used by the speed command S 0 10 sets the speed unit to 100pps and 20 30 sets the speed unit to 10pps Resolution Resolution Resolution f Resolution o 200 ____ 6 15000 20 200 026 500 2 500 25000 2 500 028 25000 ___ __ 1 23 toO 9 _____ 5 1250 ___ Setting K37 100 sets the resolution to 50000 and the speed unit to 1pps The entire range of speed is acheivable with this setting Homing Origin Search There are two types of origin search routines 1 Mechanical origin determined either by an origin switch or bumper 2 Electrical origin set by the offset distance from the me chanical origin Typically used as a home position or starting point Return to Origin Speed Description This parameter sets the speed when the motor goes back to ori gin __ ____ _ Unit Pg 47 Cool Muscle Instruction Manual Origin Search Manual Feed Acceleration Description This parameter sets the acceleration used when the motor re turns to origin This acceleration is also used for manual feed 5000 100 Kpps Origin Direction Description This par
68. lue defined in the command structure above is absolute Values are typically used at the beginning of a CML program file to place values into the motors permanent memory As an example P14 3 10000 would place the value of 10000 into the Position memory location 14 of motor 3 Spaces Spaces should not be used in a command line Upper or Lower Case All the commands in CML program files are not case sensitive Pg 29 Cool Muscle Instruction Manual CML File Structure CML files are made of 2 different parts The first part defines memory contents while the second part defines motion pro grams Some aspects of a motor s movement or control are defined by parameters Speed and Acceleration data must be stated before the first target position Subsequent moves will be based on previously stated Acceleration and Speed unless otherwise commanded 1 30000 P2 250000 Define Motion 51 2300 1 200 B1 S1 A2 P1 Define Program B2 S1 A2 P3 Motion Definitions Position Speed Acceleration and Timer definitions take the form of P VALUE S VALUE A VALUE T VALUE Program Banks made up of Motion Commands gram Banks can be stored in the motor s EEPROM A program bank is defined as follows B carriage return B specifies the program bank number Each program bank can be regarded as an object Program Banks may contain up to approximately 100 steps CML Commands
69. motion values are defined you can start creating motion programs The command structure using the P S A and T is as below S1 A1 P1 go to P1 with the speed and acceleration defined by S1 and A1 Motion commands are separated by a comma The speed and acceleration that you want to apply to reach the target position must be placed before the P command The maximum steps that each motor can store is 100 Each command is counted as one step For example the above ex ample is consisted of 3 steps Program Bank Description This command defines the beginning of a program bank It also defines a program bank number The maximum number of pro gram banks that you can use is 16 Note that when you enter the B command all the existing programs will be erased Example B1 beginning of program bank 1 S1 A1 P1 Go to position 1 at the speed and acceleration de fined by 51 and A1 S2 A1 P3 Go to position 3 at the speed and acceleration de fined by S2 and A1 Pg 62 Cool Muscle Instruction Manual When the program bank called by the C command is com pleted it goes to the next line of the line in which the C com mand was executed Call Program Bank Description This command calls and executes specific program banks The following program will execute Bank 1 and once Bank2 is com pleted it will execute bank 3 and then come back to the first line of Bank 1 which will execute Bank 2 Example B1 beginni
70. ng of program bank 1 C2 call B2 and execute C3 call B3 and execute B2 beginning of program bank 2 S3 A1 P1 B3 beginning of program bank 3 S2 A2 P3 Jump to Program Bank Description This command jumps to and executes specific program banks The following program will execute Bank 1 and jump to and ex ecute Bank2 The program ends at the end of Bank 2 It will not go back to the program bank in which the jump command was originally executed B1 beginning of program bank 1 1 51 J2 jump to B2 and execute B2 beginning of program bank 2 x10 loop 10 times S3 A1 P1 P2 It does not go back to B1 Pg 63 Cool Muscle Instruction Manual Using the and TO commands you can create nesting with ing banks Nest ing can be used to select banks The maximum nesting level is 10 A nesting example is described in the applied CML program examples section Input Description This command makes the motor perform specific actions or pro gram banks based on the specified input status This command takes the following form IZ True False Example B1 beginning of program bank 1 11 C3 C2 If Input 1 is true execute bank 3 otherwise execute bank 2 No Action Description This command is used with the command Example B1 I1 C2 TO zero If Input 1 is true the motor executes bank 2 otherwise it does nothing When the command line is followed by another com mand line
71. nstruction Manual Connect the Network card as below Connect to host computer via a serial cable Connect the lt Cool Muscle via a motor cable Connect to the next Cool Muscle via a serial cable Slave Motor Connect to the previous Cool Muscle via a serial cable Connect the lt lt Cool Muscle via a motor cable Connect to the next Cool Muscle via a serial cable Note Power may be transfered from card to card via the DB9 connectors as noted on page 16 Pg 17 Cool Muscle Instruction Manual SECTION 4 lt lt INPUT AND OUTPUT Pin Assignment and Layout The Cool Muscle has 4 inputs and 2 outputs that are user defin able Each I O port can be assigned multiple functions by set ting motor parameters using CML Please refer to the Param eter section Connector Pin Layout Pin Function Return Pin Assinable I O types foc NA 2 NA 3 __ INA Output 2 11 Digital Out Serial Transimit TX Output 1 11 Digital Out Serial Transimit TX Input 4 11 Digital In _ n Input 3 11 men LN Input 1 5 7 9 3 Digital In Pulse Counter Serial Receive RX 10 Digital In Pulse Counter Serial Receive RX 1 j BND2 J Pg 18 Cool Muscle Instruction Manual Assignable functions Input Bigital Input Multiple functions can be assigned to a digital input port A time delay can be set to create a slow response signal or a t
72. nto the motor C type motors only Disclaimer Before operating the Cool Muscle it is very important that you read this User Manual thoroughly The Cool Muscle can cause bodily injury and or equipment damage if it is misused Proper safety means and measures should be provided to prevent any misuse and or improper operations The user assumes all liabili Pg 6 Cool Muscle Instruction Manual gt PPP gt gt gt ty for its use The Cool Muscle shall not be used for mission criti cal applications without explicit written permission from Muscle Corporation Do not impact the motor Impacting the motor may cause the driver case and the sensor mounted on the back of the motor to move resulting in align ment errors Do not rotate the shaft of the motor when it is not powered on Rotating the shaft over 400RPM when the Cool Muscle is not powered on may cause regenerated voltage within the motor This regenerated voltage may damage the driver board Use Regulated power supply Please make sure to use a regulated DC24V power supply Sudden spikes from non regulated power supplies may cause damage to the motor Do not use the motor in wet conditions Standard Cool Muscle motors are not environmentally sealed Using the motor in wet conditions may damage the motor Use the motor within its specification Please refer to the spec section of this manual and ensure that the motor is used within these specifications Are your cables
73. of the Q command you can make networked motors to perform push mode action without waiting for other motors Example B1 1 1 51 1 1 1 1 2 51 2 1 2 1 2 P2 1 Q2 2 Motor 2 performs push mode action without waiting for in position signal from Motor 1 Comment Description You can enter comments in the CML program files Comments can be entered after Comments entered by are not downloaded to the Cool Muscle They are used for your ref erence in a text file Execution Commands Execute Program Bank Description Execute the specified program Bank 1 executes Bank 1 Pg 67 Cool Muscle Instruction Manual Execute Next Line Description Execute line by line in a program bank This command is useful when debugging programs Entering gt will execute the first line in Bank 1 Enter again to execute the next line To execute a line in banks other than bank 1 you need to execute the bank program using the command and stop Then enter gt Execute Previous Line Description Execute previous line Go origin it is a bar not an alphabet I Description Goes back to or searches for origin Origin method is set by pa rameter 46 makes the motor do origin search 1 makes the motor go to position O 2 sets the current position to 0 Pause Description pauses the motor Enter bank to resume the program Note that the program is resumed with the next executable
74. ognized as a slow response signal __ ____ __ Unit Each number represents Input pin 4 3 2 1 ordered from the right to left ie K25 0100 Quick and Slow response time offset A quick response signal starts when it hits the high point A slow response signal starts after the time offset set by the pa rameter in this example it is set to 0 2sec neo ikw mme Quick and Slow response event triggers Events functions can be assigned to the rising and falling edges and the target voltage level of a quick and slow response signals Pg 40 Cool Muscle Instruction Manual Conch Responsa Vargel Volage Lev Short Signal When a signal is completed within the offset time only a quick response signal is recognized Sennal Cah Forsgorde Tasei yokka Legal Hea Fain Mob 2 iph Input Functions at theTarget Voltage Level Quick Response Signal QTV Input Functions at theTarget Voltage Level Slow Response Signal STV Description This parameter assigns a function performed for the duration of a signal Assignable functions are listed in the table on the next page Pg 41 Cool Muscle Instruction Manual Assignable Functions for the target voltage level Function Descriptions 5 General Use Typically used for the command For ex
75. ojeuy peeds pue uonnjoses es ng O M uonounJ 1ndino suonduoseq Pg 97 Cool Muscle Instruction Manual Juano yeed ay eBejueoJed e q 5111 uiuo eui Sey JEU eui YOIUM je AA eBeyo By 195 peeu O Aq uoJees 20 01195 SI 9px uo u ym uoJees 5 YAMS YOUMS uo u ym uouJees yejs eddois Jeddojs 0 uoJees sjes MO 0 uonoauip sjes JO 950 01195 s uoneJejeoeqg O vVM 0 5 95 peeJ O Ad enuey pue sjes O A d peeds sies 1ndu uonuodoud ul uonisod 01 AZO Woy BurseaeJou Al edA A JO eui sies peeds MOO y seuoeeJ AZ O peeds SeseaJoul AZO 01 Ap cz WO siy Aq 195 peeds eui JOJOW Ag p e ul peeds seseoeJoul Ag A9 z BurseaeJou 005 adj A peeds y sies eBe3oA
76. omponent Intelligent USB comes with a power cable You need a standard USB cable to connect the Hub to your PC Pg 10 Cool Muscle Instruction Manual Components Motor Cable The Cool Muscle comes with one motor ca ble The standard length of the motor cable is 40cm Longer cables are available from your local Muscle distributor Y Cable A Y cable is required to connect the Cool to a RS 232C port on a PC This cable is required when downloading motor pa rameters and motion programs onto the Cool Muscle or when you wish to control a single motor via serial communication A Y cable can be ordered from your Muscle dis tributor Power Supply A regulated 24V DC power supply Re quired power supplies may be available from your local Muscle representative Network Card and Serial Daughter Card The Network Card allows you to daisy chain the Cool Muscles A master motor requires a serial daugher board in addition to the network Card The Network Card can also be used as a voltage clipper D Sub 9 pin cables straight are required to inter con nect the Cool Muscles and to connect a PC and a master motor Pg 11 Cool Muscle Instruction Manual Communication with the Cool Muscle Connect the Cool Muscle to your PC to make sure that your PC can communicate with the motor Please follow the steps below A trouble shooting section is included on the next page 1 Connect the Y cable to the Cool Muscle your P
77. ons K30 0043 Set STV functions K33 00 set output logic for port 2 1 to high in true K34 21 set output functions K46 1 find origin by switch K42 15 set speed at which the motor searches or goes to ori gin K43 150 set acceleration with which the motor searches for or goes to origin K45 0 direction of origin set to CW Pg 83 Cool Muscle Instruction Manual K49 15 set Manual speed K50 20 set Manual jog pulses Input STV Input 1 Manual Jog Manual Feed CW Input 2 Manual Jog CCW Manual Feed CCW Input 3 Alarm Reset Output Output 1 Output 2 Motion descriptions This examples shows manual jog and manual feed The travel distance for the manual jog is set to 20 pulses by parameter 50 The manual speed is set to 1500 pps by parameter 49 The ac celeration for manual operation is the same as the acceleration of go origin A short signal less than 0 2sec will trigger manual jog which turns the motor 20 pulses If a signal longer than 0 2 is sent the motor turns continuously for the duration of the signal In this case manual jog and manual feed are merged Example 4 Electric orientation with continuous PTP program Cut Cul 2 Parameters K25 1122 set time delay between quick and slow response to 0 1sec 0 1 sec 0 2sec 0 2sec for input 4 3 2 1 K26 1111 Set input logic for port 4 3 2 1 to high in true Pg 84 Cool Muscle Instruction Manual K27 0002 Set STV fun
78. rial net work that communicates via the RS 232 or RS 485 protocol In this configuration CML commands are passed from motor to motor along the device network At power up each Cool Muscle is assigned a unique Motor ID which is numbered consecutively from the first Master motor on the network Note that the Mas ter motor is always assigned a Motor ID of 1 FI Master Motor Slave Motors a E bna 5 P In the standard RS 232 network configuration only the Master motor is capable of executing stored Program Banks Conse quently all motion routines which are to be perfomed by Slave motors must be stored in the Master motor Note Motion pa rameters P S A called by the Master motor in a Program Bank must be defined in the memory of the referenced Slave motor Pg 74 Cool Muscle Instruction Manual Defining Motion for Multiple Motors As previously mentioned a unique Motor ID is assigned to each Cool Muscle motor on a device network Each Motor ID is used to reference a particular motor when motion commands are executed or parameters are defined for that motor Commands and parameters are directed to an individual motor by attaching the corresponding Motor ID as a postfix to any CML statement in the fashion outlined below 1 1 1000 Set Position 1 on Motor 1 to 1000 pulses P1 2 2000 Set Position 1 on Motor 2 to 2000 pulses K45 1 0 Set Motor 1 Origin Direction to Clockwise K45 2 1 Set Motor 2 Origin Dir
79. ription Energizes the motor windings and resets any error states after an alarm Pg 80 SECTION 10 di Applied CML Program Examples This section shows you applied CML program examples using the parameters and commands Example 1 Setting l Os Pulse type Parameters K25 1122 set time delay between quick and slow response to 0 1sec 0 1 sec 0 2sec 0 2sec for input 4 3 2 1 K26 1111 Set input logic for port 4 3 2 1 to high in true K27 0052 Set QTV funcitons K31 0210 Set SR functions K32 0200 Set SF functions K33 00 set output logic for port 2 1 to high in true K34 21 set output functions Input ee F Origin Signal Index Signal Alarm Reset Motor Free Enable Motor Output Output 1 Inposition Output 2 Alarm Pg 81 Cool Muscle Instruction Manual Motion descriptions This example shows how you can assign multiple functions to a single input K25 sets the time delay between quick and slow response signals Origin is searched or defined by an origin switch When the target voltage level on Input 2 is high it Switches output 2 from In position signal to index signal This is how you can differentiate in position from on origin signals Example 2 Search origin using a bumper Pulse type Parameters K25 1122 set time delay between quick and slow response to 0 1sec 0 1 sec 0 2sec 0 2sec for input 4 3 2 1 K26 1111 Set input logic for port 4 3 2 1 to high in true
80. s absolute To make the value relative add after memory location Once positions are de fined you can call the stored position If the value is larger than 1000000000 the motor will turn continuously CW as defined by speed setting To turn the motor continuously in a CCW direction wet the speed to a negative value Examples 23 2500 sets P23 to 2500 1000000000 sets the motor to turn continuously 23 commands the motor to go relatively incrementally the distance of 2500 Memory Min Max Unit pues _ Pg 60 Cool Muscle Instruction Manual Speed Definition Description This parameter can define multiple speeds Max 15 The speed unit can be set to either 100pps or 10pps by parameter K37 Examples 510 20 sets S10 to 2000pps Memory Min Unit 15 1 82767 100 pps or 10pps Acceleration Definition Description This parameter can define multiple accelerations Max 8 The accelerations set by this command are absolute This com mands in combination with K44 also defines deceleration Examples A2 200 sets A2 to 200Kpps Memory Min Max Unit B p pas ee Timer Definition Description This parameter can define multiple timers Max 8 Examples T1 1000 sets T1 to 1000msec Memory Min Unit Bj puer Pg 61 Cool Muscle Instruction Manual Program Commands create programs After parameters and
81. s to origin K45 0 direction of origin set to CW Pg 87 Cool Muscle Instruction Manual __ Origin Search Motor Free Enable Motor Motion program B1 T1 12 C2 C3 B2 13 C4 T0 2 A1 P3 B3 13 C5 T0 1 A3 P2 B4 3 A1 P4 BS 1 A1 P1 Motion descriptions You can select a bank via digital Inputs by using a nesting tech nique The above motion program shows how you can program in a such a way as to allow for bank select using two input ports When both Input 2 and Input 3 are low Bank 1 will be executed The motor will go to P1 at the speed and acceleration defined by 1 and A1 When Input 2 is high and input 3 is low it jumps to Bank 2 and excutes the program When Input 2 is low and Input 3 is high it jumps to Bank 3 and executes it When both inputs are high then it jumps to Bank 4 and executes the program Pg 88 Cool Muscle Instruction Manual E mus ____ Bank 1 zane 2 is High Pg 89 Cool Muscle Instruction Manual Appendix1 Cool Muscle Dimensions CM1 17L30 145 n TETTE CM1 23L20 i i El a 67 uc 11 M oL A i WA i Lie Model 1 E CM1 x 23830 1 653 42 3 625 0 039 92 1 1 Pg 90 Z8 Cool Muscle Instruction Manual Cool Muscle Specifications CM1 0 170 30 18W 3000rpm 0 082 11 61 0 117 16 56 Load Inertia Allowance Kg cm s ozf in s 3 8x10 5 39x10 Depending on th
82. sec 0 1 sec 0 2sec 0 2sec for input 4 3 2 1 K26 1111 Set input logic for port 4 3 2 1 to high in true K27 0002 Set QTV level functions K28 0761 Set QR functions K33 00 set output logic for port 2 1 to high in true K34 21 set output functions K46 1 find origin by switch K42 15 set speed at which the motor searches or goes to ori gin K43 150 set acceleration with which the motor searches for goes to origin K45 0 direction of origin set to CW p Origin Search Origin Signal Execute Bank Alarm Reset pause Output 1 Output 2 Alarm Pg 86 Cool Muscle Instruction Manual Motion program B1 1 A1 P1 Motion descriptions This example shows how you can pause a program During the execution of Bank 1 the motor is paused somewhere inbetween the origin and P1 By making Input 2 high the paused program will be resumed Example 6 Bank Select using nesting Parameters K25 1122 set time delay between quick and slow response to 0 1sec 0 1 sec 0 2sec 0 2sec for input 4 3 2 1 K26 1111 Set input logic for port 4 3 2 1 to high in true K27 0112 Set QTV functions K28 2667 Set QR functions K29 2000 Set level functions K33 00 set output logic for port 2 1 to high in true K34 21 set output functions K46 1 find origin by switch K42 15 set speed at which the motor searches or goes to ori gin K43 150 set acceleration with which the motor searches for or goe
83. t the speed range and K64 4 Input 4 varies the value of P24 Use K41 to set the pos tion range from 0 to 100xK41 K64 7 Input 4 varies all speeds by muliplying the target speed by a value The multiplier s value s range is defined by K40 The range is from 0 to K41 100 K41 s values can be between 0 and 4000 K64 8 Input 4 varies all postions by muliplying the target pos tion by a value The multiplier s value s range is defined by K41 The range is from 0 to K41 100 K41 s values can be between 32767 K64 9 Mimics the V Type motor settings When K38 0 Input 4 controls speed with K40 setting the speed range When K38 1 Input 4 controls position with K41 setting the po sition range Please refer to page 55 and 56 for a more detailed description Pg 111 Cool Muscle Instruction Manual Appendix 9 Using the H Infinity Auto Tuning Module V2 Firmware The AutoTuning Hinf designing module within Cool Works Lite V4 is as follows a elo B Dh e deren eb Comins inpo Le 7737 Tahal Pm bimari binti ah Frais Vl fuge Francis andan n JamE I XO EU DR ial ere Cue Toe 12 deris 1 15453 ano a CU dum CUNT e a 2 Pd Lb ur Er 5 5160
84. ta tion There are two command modes 1 Program Command mode used to create motion pro grams that can be downloaded to the Cool Muscle 2 Dynamic Command mode directly operate the motor via a PC to cause immediate action Command Structure and Rules The basic structure of a CML command is C HM ID Value Memory 1 Modifier Motor ID Command Value Period Memory Location Some commands have a limited number of memory locations For example Position and Speed can be stored in 25 and 15 memory locations respectively Specify the memory location for the corresponding value P14 3 1000 The defined value 1000 is stored in position memory location 14 on Motor 3 The value set by the parameter is absolute Modifier Modifiers exist in limited cases The most common modifier is the relative motion modifier which is used with the P com Pg 28 Cool Muscle Instruction Manual mand Adding after the memory location makes the value relative P14 3 would command motor 3 to move relatively or incrementally the distance of 10000 which has been previously stored in Position Memory location 14 Motor ID When you wish to program multiple motors you can specify a Motor ID as part of the CML command The commands and parameters will be placed in the memory locations of the speci fied motor When Motor ID is omitted it is assumed to be either motor 1 or the last ID value used Walue The va
85. ueddy Pg 94 Cool Muscle Instruction Manual jeuBis uonisodu jo peajsur xepuj jndjno s MO Josueg uifugo z esf uonov ON 0 S JepJo y e sufissy 2 92 xueg 2 6 Z 9Ey z xueg MO Bor jenuew g 09 7 yueg ejnoexa3 9 9jn29X3 G ejnoex3 p Jejuno2 19594 2 JOJOIN 3 2 esneg 1eseJ uuel v uonoy ON 0 EUld S JepJo 3ndu 2 A d esuodsai xoinb jo au je e sufissy Z 9Ey e xueg ejn2ex3 M O2 jenuey 6 2 927 z ueg Bor 8 09 7 yueg ejnoexa3 g snoi 8Jg 91n29X3 G da s X9N Jejunoo 1989 4 2 9914 2 esneg 1eseJ Wel uonoy ON 0 ZUld putg s jeus jo eui ye e sufissy sed m 0000 0000 0010 ynejeq 6666 ES 0000 jeuBis asuodsay MOJS J249 eBeyoA je8Jej je uonounj yndu asulodsay Buisu y 1nduJ suonduos
86. vement Description Directly type in commands to cause immediate PTP movement 1000000 5 2000 A 200 CP movement Description This command makes the motor to move between specified points at the maximum speed with maximum acceleration The values are incremental P 2 P 5 10 Pg 78 Cool Muscle Instruction Manual Go Origin it is a bar not an alphabet 4 Description Goes back to or searches for origin Origin method is set by pa rameter 46 makes the motor do origin search 1 makes the motor go to position 0 2 sets the current position to 0 Pause Description pauses the motor Enter bank to resume the program Note that the program is resumed with the next executable line B1 1 A1 P1 P2 P3 If the command is entered when the motor is moving from P1 to P2 the motor will stop somewhere inbetween the two points If 1 is entered to resume the program third command line will be executed making the motor direcly go to P3 CR pauses the motor and resets the program to its first com mand line Pg 79 Cool Muscle Instruction Manual When executing this command after an alarm please first send a to stop any program execution Enabling the motor after an alarm or after a command is sued during operation may result in immidate resumption of motion Motor Free Description De energizes the motor windings leaving the rotor free Enable motor Desc

©2006 Myostat MC Inc www.coolmuscle.com EM

Contents

Download Pdf Manuals

Related Search

Related Contents

&copy;2006 Myostat MC Inc www.coolmuscle.com EM

Contents

Download Pdf Manuals

Related Search

Related Contents

©2006 Myostat MC Inc www.coolmuscle.com EM