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SMC75

1. M is 109 Programming euet torto bord et eid rere eee ba i Mie place a s aae Oe OR Ee are cR end 110 How to build DFOgF almi rene reete eterne reae III General programming eit i a cer p eee EA A aa aai 114 Command toolbox description 115 Graphic programming command reference sse nennen trennen 116 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS231 232 234 3 I CANopen Introduction eeeeeeees eee eene e neenon asas e sese tensa nasse s sete s esos 135 11 1 General information about CANopen seen nnennennennennennenntnnee nn enint innen 136 11 2 Connection and setup of the CAN bus oo sse en 140 11 3 Using rte tete s ir ies ARE aE pE REE 144 14 Objects in the 05301 standard 5 5 einen ntne seti tnnt one thon chat rre Kes ei e eaae enda eaa gan 149 11 5 Objects used in the DSP 402 standard sse 157 11 6 details of CANOpen Theory ccccccssssssssessssecsessssssssscsssssssssssessessesssssessessesesssssssssssessessessesseseessess 164 12 Sornpdgqem
2. 10 7 10 Unconditional jump Icon amp Dialog None After selecting this command the mouse cursor changes The next program line that you click on will become the destination for the jump Function Jumps to another line in the program 10 7 11 Conditional jump single input Icon dl Dialog Input Input condition Input 1 Low Input 2 High Input 3 Falling Edge nput 4 C Rising Edge Input 5 Input 6 Input 7 Input 8 Motor Error n Position Function Tests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Single the command can test a single input for one of four possible conditions the input is low the input is high the input has transitioned to low Falling Edge or the input has transitioned to high Rising Edge If transitions are tested for the transition must have taken place during the last 30 microseconds After pressing the OK button the dialog will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 123
3. 45 Serial Interface oi eroe oo oid Pal Fa te dad ER va ERR EDEN EO 47 RS485 Interface ie e eite oe esera DER Ov ao 49 Using MacTalk qu 51 Using the MacTalk software esses nete enne enne nennen nennen nenne 52 Adjustment of motor phase current senes toon 61 63 Passive Mode nien mee nU REN DOR ee rere 64 M ois T 65 Positioning Mode BIOS e eee Ie d tree dr Set eee o ad de pe UO Aaa teas 66 cpu rp 67 ZEPO SEANCHMOMEYS A steven e 68 Error Handling 73 Registers 75 Introduction and register overview eene nne 77 Register Descriptions e egere RP E NO TO E DP E ences 8l Programming 107 Getting started with programming essent nennen nne nne 108 2
4. 16bit RW 0 511 128 5 87 mA Standby Current 10 P_IST 32bit R W 231 231 1 Steps Actual Position 12 V IST 16bit R 0 1023 RPM Actual Velocity 13 V START 16bit R W 1 1023 100 RPM Start Velocity 14 GEAR1 16bit R W 215 215 1 1600 Steps Output 15 GEAR2 16bit R W 215 215 1 2000 Counts Input 16 ENCODER POS 32bit R W 231 231 1 Steps Encoder position 18 INPUTS 16bit R Special Inputs 19 OUTPUTS 16bit R W 0 Special Outputs 20 FLWERR 32bit R 231 231 4 Steps Follow Error 22 FLWERRMAX 32bit R W 231 231 1 0 Steps Follow Error Max 24 COMMAND 16bit RW uc ME N A 25 STATUSBITS 16bit R Special Run Status 2 27 26 TEMP 16bit R uses Temperature offset 27 Reserved 28 MIN_P_IST 32bit R W 231 231 1 0 Steps Position Limit Min 30 MAX P IST 32bit R W 231 231 4 0 Steps Position Limit Max 32 ACC EMERG 16bit R W 1 65535 10000 9 54 RPM s2 Error Acceleration JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 77 Default MacTalk name IN POSITION WINDOW Steps IN POSITION COUNT Counts ERR BITS Special Errors WARN BITS Special Warnings STARTMODE Startup Mode P HOME 231 291 1 Steps Zero Search Posi tion V HOME 1023 1023 RPM Zero Search Veloc ity Reserved HOMEMODE 0 13 14 Zero Search Mode Reserved Pn 2
5. Reserved JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 79 Reg Name Size Access Range Default Unit MacTalk name 169 Reserved 16bit 170 EXT ENCODER 32bit 281 231 1 Counts External Encoder EXT ENCODER 154 515 External Encoder The following parameters are only available when the CanOpen option is installed and only used for DSP 402 Reg Size Access Range Default Description 180 ControlWord 16bit R W 0 65535 0 Object 6040 subindex 0 181 StatusWord 16bit R 0 65535 0 Object 6041 subindex 0 182 ModeOfOperation 16bit R W 0 255 0 Object 6060 subindex 0 183 ModeOfOperationDisplay 16bit R 0 255 0 Object 6061 subindex 0 184 TargetPosition 32bit R W 231 231 1 0 Object 607A subindex 0 186 ActualPosition 32bit R 231 231 1 0 Object 6064 subindex 0 188 TargetVelocity 32bit R W 231 231 1 0 Object 60FF subindex 0 190 ActualVelocity 32bit R 231 231 1 0 Object 606C subindex 0 192 DigitalOutputs 16bit R W 0 65535 0 Object 60FE subindex 1 Low 16bit 194 Digitallnput 16bit R 0 65535 0 Object 60FD subindex 1 Low 16bit 80 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 1 Prog Vers MacTalk Access Default Unit name Major 16 PROG_VERSION
6. Collector Current mA EN 8 40 50 60 Duty Cycle 70 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 29 2 5 User Outputs 2 5 1 2 5 2 19618199898 NB For actual connections see SMC75 Controller connections page 13 General The Controller is equipped with a total of 8 digital outputs Each output can be used for a variety of purposes depending on the Controller s basic mode of operation The Out puts are not optically isolated from other Controller circuitry The output circuitry is powered from the internal power supply CVI The output circuitry operates with volt ages in the range 5 28VDC Each output can supply a continuous current up to 350mA The Outputs are all source drivers i e if a given Output is activated contact is made be tween the control voltage CVI and the respective output terminal See above illustra tion Overload of User Outputs All of the Outputs are short circuit protected which means that the program and the motor is stopped and the output is automatically disconnected in the event of a short circuit The Output will first function normally again when the short circuit has been re moved Note Do not connect a voltage greater than 30VDC to the CVI terminal as the output circuitry may be seriously damaged and the unit will require fa
7. JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 109 10 3 Programming menu The menu found at the top of the main window gives access to the following options Setup Updates New program Described elsewhere in this chapter Program setup Upload program Upload the program from the module to MacTalk Program information Print program Clear program 4 Program Source Shows the memory usage if the program compiled source program and remarks is downloaded into the module Program information Program Source REM Same as above but without remarks Sizes Program only Program Source REM Program Source Program only Same as above but without source program and remarks General Information Checksum Checksum Shows the checksum of the complete Lines 1 program downloaded into the module Program type Absolute and relative The checksum is unique and can be used to verify whether the program in the module matches the original program or not Lines The number of program lines used in the source program MacTalk Mode Specify the program type actually used Setup Skip initialization advanced Settings Bypasses internal initialization routines after powerup Skip initialization advanced Only for very special use EE Transfer settings Program Source Remarks Program Source Rematks Default Choosing this will transfer everything dow
8. Operator gt Greater or equal v Cancel Reg x Function Compares two registers with each other before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program Any two registers can be compared with each other but the command does not do anything beyond comparing the registers numerical values measured in native motor units To ensure that comparisons are meaningful it is preferable to compare registers that hold the same type of information in the same binary format In the example above two position registers are compared Both hold position information both are 32 bit wide and both measure position in encoder counts Such a comparison will always yield meaningful predictable results For other types of registers see the relevant register sections 134 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 CANopen Introduction This chapter deals with JVL s Step motor controller SMC75 which is used with the MIS231 MIS232 and MIS234 motors on a CANopen network The chapter covers the following main topics General introduction a section with general information about CANopen See section 11 1 1 to section 11 1 5 Setting up the Bau
9. TT2121GB 192 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 13 4 Trouble shooting guide 13 4 1 Problems related to communication with the motor Problem RS232 MacTalk is not communicating with the motor The status at the bottom of the screen shows No Connection but the power LED on the motor is lit and the serial cable is connected Action Check that the correct COM port is selected in the MacTalk Setup menu Check using Control Panel System Hardware Device Manager Ports COM amp LPT Check that the connection to the motor is made according to specifications If only one motor is used on the RS232 bus TX PD must be shorted to TX otherwise com munication can be very unstable Ensure that a firmware update has not been interrupted before the communication problem was observed If such an update is aborted interrupted it must be restarted and completed before the internal processor is back to normal and can handle com munication JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 193 194 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 14 Connection to other Equipment The SMC75 can be connected to other JVL products These connections are described in the following chapter JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 195 14
10. The device type register is composed of 2 6 bit registers One register describes which device profile the module supports and the other states which type of motors the mod ule supports and possible I O module The default value 0192h denotes that the DSP402 Device profile is supported and the value 0004h denotes that the SMC75 Controller supports stepper motors 11 4 2 Emergency object The EMCY emergency object is used to transfer an error message to the CANopen master or also to another node which can process the error message The reaction on the emergency object is not specified An emergency object is transmitted only once per error event The SMC75 supports the EMC object Emergency The following error codes can be generated Errorcode 1001h Generic error Motor error Errorcode 1002h Generic error Position error Errorcode 1003h Generic error Follow error Errorcode 1004h Generic error Low Transmit PDO25 Use Transmit PDO25 in asynchronous mode to read the status of the error In the SMC75 no error control is enabled when the modules are started up because if there is any fault in the system it is impossible to get in contact with the module After the module has started up and there is communication between the master and the slave turn on the required error control mechanism in the communication objects see section 11 4 1 150 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231
11. MAC140 Motor with MACOO B1 B2 or B4 Power N Allways use shielded cables Supply The screen must be connected to common ground at Control voltage O the power supply Only MAC50 141 with B2 or B4 Optional QuickStep motor or SMC75 Controller Power Supply 2 1 7 Select Your Power Supply We recommend the use of 48VDC or the highest possible voltage to supply the motor As seen in the chart below it is clear that the torque below 100 RPM is independent of supply voltage But above 300 500 RPM the torque at 24VDC is half compared to the torque at 48VDC Additionally higher voltage gives better current and filter regulation and thereby better performance If there is a tendency for motor resonance a lower supply voltage can be a solution to the problem 20 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 2 SMC75 Inputs 2 2 1 The SMC75 has 8 inputs outputs that each can be set individually to input output or an alog input 0 5VDC via MacTalk or software commands See Using MacTalk page 51 for setup This means for example that it is possible to have 4 inputs 3 outputs and one analog in put Input output functional diagram Digital input Inputs Inputs are TTL to 28VDC compliant Over current protection and thermal shut down 10 kOhm input resistance No galvanic isolation High speed Pulse direction on Input and Input
12. Receive PDO 24 This PDO updates the outputs Bye p 6 7 Data Output data Reserved Reserved Reserved Res Res Res Object 2014 sub 19 152 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 4 Objects in the DS301 standard 11 4 6 Transmit PDOs The PDOs 1 20 are reserved for use with DSP 402 All of the transmit PDOs support synchronous transmission PDO 25 also supports asyn chronous transmission From firmware V2 8 some new features has been developed in the CanOpen support From MacTalk both a 16 and 32 bit user selectable register can be setup to be trans mitted in PDO22 when using DSP 301 Register 10 is selected as 32 bit xy PDO22 PDDO 4 Beckhoff Register setup that is IST actual position 32 bit Register 10 10 B gt Register 5 is selected as 16 bit that is V IST actual velocity TT2266GB Transmit PDO 21 With this PDO the actual position can be read Byte 0 2 J3 15 6 7 Data P IST V IST Motor error Object 2012h sub 10 2014h sub 12 2014h sub 35 Transmit PDO 22 With this PDO the actual velocity can be read V IST Reserved Reserved User selectable 16 bit User selectable 32 bit register exc 2014h sub 12 register exc ENCODER POS STATUSBITS register16 register 25 Transmit PDO 23 With this PDO the value of the analog inputs 4 can be read Bye
13. Registers affected Register 33 IN POSITION WINDOW specifies how many steps from the target position the encoder must report before AutoCorrection is attempted Register 34 IN POSITION COUNT specifies the maximum number of retries A value of 0 zero effectively disables AutoCorrection Register 110 SETTLING TIME specifies the number of milli seconds to wait after a movement before testing the encoder position against IN POSITION WINDOW In the present firmware versions SETTLING TIME will be used in AutoCorrection mode only Register 25 STATUSBITS will still set bit 4 after the pulse generator has output all the pulses to reach the target position a theoretical In Position In AutoCorrection mode bit 2 will be set to reflect if the internal encoder position is within IN POSITION WINDOW steps from the target position P SOLL a physical In Po ition Also bit will be set when AutoCorrection is active Higher layer software can use this bit to detect when AutoCorrection has either completed or given up Register 124 SetupBits bit can be set to have the firmware maintain the InPhysi cal Position bit in register 25 all the time also during a movement If this bit is not set the InPhysicalPosition bit will only be maintained after the motor has stopped moving Register 137 INPOS Mask is used to select the outputs to reflect the status of the two bits InPosition bit 4 in the STATUSBITS register and InPhysic
14. Velocity 6 V6 Velocity 7 IT Velocity 8 8 SMC7S Version 2 5 5N 1 Connected These registers can be used with FastMac commands For example the motor can run to position P2 using velocity V2 acceleration deceleration A2 running current T2 using only a one byte command These values are not updated automatically To update place the cursor at the specific register value to the left of the box for new values and click Otherwise they only update at motor reset or power up JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 57 5 1 Using the MacTalk software 5 1 7 Advanced Screen If it is desired to run the motor in the opposite direction it can be done by marking Invert motor direction When this field is marked the motor runs to the AP Actual position from the encoder position when the motor goes from passive to position mode Remove the mark in this field and the motor will start the program at start up Here it is possible to select different ways of running a turntable and define number of steps It is possible to have a certain number of motors doing the same by giving them the same group id TI2184CB 5 1 8 Test Screen Fle View Motor Programming Setup Updates Hep A p 5 3 3L PRSE Open Save Saveinffash Reset poston Clear Reset motor 1 0 Setup Registers Advanced Tesis Programming Status Moter stalus Actual m
15. 10 7 Graphic programming command reference 10 7 12 Conditional jump multiple inputs Icon 4 Dialog Input type cedes Or Cancel Input 1 High Don t care Input 2 C High C Don t care Input 3 C High C Don t care Input 4 C High C Don t care Input 5 C High C Don t care Input 6 C High C Don t care Input 7 High Don t care Input 8 C High C Don t care Motor error High Don t care In position High Don t care Function Tests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to Don t care are not tested After pressing the OK button the dialog will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command 124 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 G
16. B r7 Data ANALOG1 ANALOG2 ANALOG3 ANALOG4 Object 2014h sub 89 2014h sub 90 2014h sub 91 2014h sub 92 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 153 11 4 Objects in the DS301 standard 11 4 7 11 4 8 Transmit PDO 24 With this PDO the value of the analog inputs 4 8 can be read Bye Data ANALOG5 ANALOG6 ANALOG7 ANALOG8 Object 2014h sub 93 2014h sub 94 2014h sub 95 2014h sub 96 Transmit PDO 25 With this PDO the motor status inputs and last error can be read This PDO also supports asynchronous transmission If this PDO is in asynchronous mode it will be transmitted every time the run status or inputs are changed Bye r7 Data Inputs Motor error i Res Res Res Object 2014h sub 18 2014h sub 35 Beckhoff support The SMC75 supports running CAN with Beckhoff PLC In this mode 4 receive and transmit PDO s are enabled from startup and are configured as PDO 1 4 COB ID 0x800000xxx NOT ENABLED COB ID 0x000000xxx ENABLED PDO setup in Beckhoff mode Normally each selected PDO needs to be enabled after powerup and initialization but in Beckhoff mode PDO l 4 is automatically enabled at powerup The 2 dynamical registers are put into PDO4 Default the 16 bit register is set to 35 motor error and the 32 bit register is set to 170 ext encoder To setup and use
17. Changing main parameters such as speed motor current zero search type etc Monitoring in real time the actual motor parameters such as supply voltage input status etc Changing protection limits such as position limits Saving all current parameters to disc Restoring all parameters from disc Saving all parameters permanently in the motor Updating the motor firmware or MacTalk software from the internet or a file The main window of the program changes according to the selected mode thus only showing the relevant parameters for operation in the selected mode The following pages describe the actual window for each mode and how the parameters affect MIS motor operation 52 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 5 1 Using the MacTalk software 5 1 2 Toolbar description The toolbar at the top of MacTalk contains the most commonly used features 5 b 8a OA Open Save Seve flesh Reset postion Clear errors Resetmotor Filter setup STOP Motor COM scam FTitziGE Open Opens a setup file from disc and downloads the setup to the motor If no motor is con nected the setup is shown in MacTalk and can be edited and saved to disc again Save Saves the actual setup from the motor to a file If no motor is connected the actual off line settings including module setups and program are saved Save in flash The complete actual setup in the basic mot
18. Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 8 is to be used for the Positive Input Limit write 27 128 to this register 9 2 67 Home Mask Reg Name Size Access Range Default Unit MacTalk name Dedicated inputs Home Input 132 HOME MASK 16bit R W 0 IO Mask Description Selects which one of the eight pins to use for the dedicated function of Home Input Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 2 is to be used for the Home Input write 21 2 to this register 9 2 68 Setupl Reg Name Size Access Range Default Unit MacTalk name 133 CAN Setup 16bit R W 16bit 35 32 bit Register Description Register 33 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register 33 10 will transfer register 10 P IST actual position 32bit value in PDO22 or PDO4 9 2 69 Setup2 Reg Name Size Access Range Default Unit MacTalk name 134 CAN Setup2 16bit R W 16bit 170 16 bit Register Description Register 34 holds the user selectable 6 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example 133 5 will transfer register 5 V IST actual velocity 6bit value
19. Operational Pre operational Only one communication monitoring service may be activated This is either Node Guarding Life Guarding or Heartbeat If the Heartbeat Producer Time is configured on a device the Heartbeat Protocol begins immediately If a device starts with a value of the Heartbeat Producer Time different from 0 the Heartbeat Protocol starts with the state transition from Initialising to Pre operational In this case the Bootup Message is regarded as the first heartbeat message If the Heartbeat producer time is not 0 the heartbeat pro tocol is used In the SMC75 none of the error control mechanisms is enabled when the modules are started up because if there is any fault in the system it is impossible to contact the mod ule After the module has started up and there is communication between the master and the slave activate the required error control mechanism in the object Dictionary See section 11 4 1 174 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 12 Appendix JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 175 12 1 Velocity accuracy When setting a velocity in V SOLL the motor will not run at that exact velocity The exact velocity can be calculated with the following formula 93750 1 196 resulting velocity 93750 Round V SOLI TT2293GB Note The Round function rounds the number
20. t is the toggle bit It alternates between 2 consecutive responses from the NMT Slave The value of the toggle bit of the first response after the guarding protocol becomes ac tive is 0 The Toggle Bit in the guarding protocol is only reset to 0 when the NMT mes sage Reset Communication is passed no other change of state resets the toggle bit Ifa response is received with the same value of the toggle bit as in the preceding response then the new response is handled as if it was not received Heartbeat With the Heartbeat protocol a Heartbeat Producer cyclically sends its communications state to the CAN bus One or more Heartbeat Consumers receive the indication The relationship between producer and consumer is configurable via the object dictionary The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer time If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be generated JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 173 11 6 More details of CANOpen Theory Heartbeat producer Heartbeat consumer COB ID 700h Node ID Request 60 Indication S Heartbeat Heartbeat producer time consumer time Request Indication Heartbeat consumer time Heartbeat Event TT1084GB Where r is reserved always 0 s is the state of the Heartbeat producer NMT state Boot up Stopped
21. 1Connecting SMI30 SMC35 to MIS SMC75 The SMI3x or the SMC35B can control the MIS SMC75 in gear mode Pulse and directio are send from SMi3x to control position and speed To do this some parameters in both the SMI3x and SMC35B must be set up correctly In the SMI3x the definition of the number of pulses pr revolution PR can be selected freely So normally it is recommended to set PR 1600 The SMI3x has inputs from ex ternal drivers for alarm and in Position signals If these are not connected set CBI5 0 and 6 0 The SMC75 must also be configured correctly The mode must be set to Gear Mode Reg 2 3 If gear factor input and gear factor output 1 then the motor will run at 100 rpm if velocity 100 the SMI3x SMC35B The connection between the SMI3x Indexer or SMC35B Controller should be made ac cording to the following diagram SMI3x SMC35B MIS 101 4 SMC75 Cik 2 e 101 Dir 4 e Gnd 5 e TT2218GB The Controller SMC75 must be set to gear mode and the input and output for gear factor must be adjusted according to the actual application 196 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 14 2 Connecting MISxx SMC75 to SMD73 The MISxx SMC75 can control an external driver with pulse and direction signals for pre cise positioning
22. 20 for 20 metre cable Versions with cable glands and 5 m cable Colour Code Description Red P 12 28VDC Black P Blue Direction White Pulse Shield Signal ground JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 7 1 2Features positioning speed control SM C75 SMC75 SMC75 mounted in a housing The compact step motor controller SMC75 is designed for positioning and speed control of stepper motors SMC75 is a PCB with di mensions 57x57mm and mounted with SMD electronics on both sides It is mounted directly in the housing of the JVL QuickStep motors MIS 231 232 and 234 forming a complete integrated step motor It may also be used with other types of step motors according to customers requirements The basic features of the controller are Serial RS485 or 5V serial position control ler Position controller with graphic program ming Option for CANbus CANopen DS 301 DSP 402 or DeviceNet under develop ment A dual supply facility is available so that position and parameters are maintained at emergency stop Gear mode MACmotor protocol so MACmotor and Quickstep motors can be connected on the same RS485 bus Command for easy PLC PC setup and communication Power supply 12 48VDC Fixed 1600 pulses rev Built in processor with 8 In Out that be configured as inputs PNP outputs or analogue inp
23. 232 234 11 4 Objects in the DS301 standard 11 4 3 Object dictionary Sub Index Default Description rameters 2012 0 Unsigned8 x 254 Subindex count Access to the 32 bit motor regis n Unsigned32 ter n Motor pa rameters 2014 0 Unsigned8 x 254 Subindex count Access to the motor register n n Unsigned16 but as 16bit Writing to these objects in CANopenExplorer is done by pressing W on the keyboard when the register in folder Manufacturer is selected Reading is done by pressing R Object 2012h Motor parameters With this object all the registers of the MIS motor can be accessed All the registers are accessed as 32 bit When reading and writing to 6 bit registers the values are automat ically converted in the module Object 2014h Motor parameters 16 bit Works as 2012h but the parameters are accessed as l6 bit If writing to a 32bit param eter the l6 bit value will be treated as signed 11 4 4 Enable and Disable PDOs In the CANOpen profile it is only possible to have four transmit and four receive PDOs enabled at the same time In the SMC75 controller all PDOs are disabled when the mod ule is booted up The user must choose which PDOs the application will use and enable these To enable or disable a PDO it is necessary to write to the MSB bit 31 in the PDO COB ID entry in the PDO communication parameter Record The COB ID register is sub in dex Ih and the value ran
24. 234 93 9 2 Register Descriptions 9 2 50 PulseDirM ask Ee eer PulseDirMask 16bit 0 65535 Bitmask Pulse signal Direction signal Description When enabled by register 108 this register defines which of the eight digital outputs are used to transmit the pulse and direction signals The lowest eight bits select which outputs will carry the pulse signal while the highest eight bits select the outputs that carry the direction signal More than one output can be selected for each type of signal but the MacTalk program supports only one output for each signal The outputs selected here must be manually configured to operate as outputs using register 125 losetup page 96 9 2 51 PulseDirM od Default i MacTalk name Pulse Direction mode PulseDirMode i 0 Description The pulse and direction signals used to control the motor directly attached to the SMC75 board can also be optionally output to digital outputs and used to control other step per motors The value in this register selects one of three operating modes Mode 0 in which the pulse direction signals are used only internally to control the motor attached directly to the SMC75 board Mode in which the signals are not used internally but output to the digital outputs selected in register 109 Mode 2 where the signals are used both internally and sent out on the digital outputs See register 109 PulseDirMod page 94 for more information 9 2 52
25. IST is set to 500 The motor will move 500 steps for ward and P IST will again be 1000 9 2 10 V Ist Reg Name Size Access Range Default Unit MacTalk name 12 V IST 16bit R 0 1023 RPM Actual Velocity Description This register shows the actual velocity of the motor The velocity is positive when run ning in a positive direction and negative when running in a negative direction Example If V SOLL 400 and a movement of 10000 steps is done V IST will be 400 during the move and when the move is complete V IST will be O 84 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 11 V Start Reg Name Size Access Range Default Unit MacTalk name 13 V START 16bit R W 1 1023 100 RPM Start Velocity Description The start velocity The motor will start the acceleration at this velocity It will also stop the deceleration at this velocity If V SOLL is lower that V START the motor will not accelerate at all but start to run at V SOLL instantly The motor will actually start the movement with an internal V START V SOLL If V START is changed during a movement it will first be active when the motor stops or changes direction This also means that if V SOLL is changed to a value below V START while the motor is in motion the motor will decelerate to V START and run at that velocity Example V START 100 V SOLL 200 MODE REG The motor wil
26. R 16384 Status bar Description The firmware version The Bit 4 is set to indicate that the type is SMC75 Bit 0 3 is the minor version and bit 4 7 is the major version Example The firmware version 1 7 will have the value 0x4017 16407 9 2 2 M ode Reg Access Range Default MacTalk name 0 1 2 3 11 Mode Reg R W 13 14 15 0 Current Mode Description Controls the operating mode of the motor The following modes can be selected 0 Passive I Velocity mode 2 Position mode 3 Gear mode 13 Zero search type 14 Zero search type 2 15 Safe mode Passive mode 0 In this mode the motor current is turned off and the motor will not react to any position velocity commands Velocity mode 1 When the motor is in velocity mode the controller accelerates the motor to the velocity in V SOLL V SOLL can be changed at any time and the move will decelerate accelerate accordingly It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until P IST P SOLL The movement will follow the profile specified by V SOLL A SOLL and V START P SOLL can be changed at any time and the motor will move
27. Sae D el rr pere m Moda a enm Motor status This field shows the actual motor load position and speed etc Run status Shows what the status of the motor is The Bus voltage for the motor and the tempe rature of the driver is also shown Inputs The status of the digital inputs are shown her and the analogue value Outputs The status of the outputs are shown here and can be activated by the cursor Errors If a fatal error occurs information will be displayed here Warnings Here different warnings are shown Help Line Left area If parameters entered are outside their normal values errors are shown here Right area Here it is possible to see if a motor is connected the type version and serial no Communication The actual address of the motor can be entered here Zero Search Autocorrection All the parameters The parameters used regarding the position to get the correct position zero search can if it is a motor with encoder be specified here The distance the motor has to run is entered here TT2145GB JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 5l 5 1 Using the MacTalk software 5 1 1 MacTalk introduction The MacTalk software is the main interface for setting up the MIS motor for a specific application The program offers the following features Selection of operating mode of the MIS motor
28. User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 76 Save threshold voltage Reg Name Size Access Range Default Unit MacTalk name 141 SaveThresholdVolt 16bit RW 16bit Save Threshold age Voltage Description When voltage drops below the selected value the absolute position information and oth er information is instantly saved to flash memory Save Threshold Voltage selects the voltage threshold that will trigger the flash save op eration and stop all other motor operation When register 142 has the value 12 the scaling unit of register 141 is the same as register 97 BusVoltage 1023 111 4V The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V The scaling of this value follows the one of the Acceptance Voltage register 139 9 2 77 Analog input selection Reg Name Size Access Range Default Unit MacTalk name Analog Input Selec AnalogInputSelec tion tion 142 16bit R W 16bit 0 Description Analog input selection selects which analogue input to use for measuring the power sup ply It can be to 8 for analogue inputs IO to IO8 using the unfiltered values for fast response 81 to 88 for analogue inputs IO to 1O8 using the filtered values for noise immunity 12 for the bus voltage used for motor supply and finally 13 for measurement from HW rev 1 7 and Any
29. accordingly V SOLL can also be changed during a movement It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be active JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 8l 9 2 Register Descriptions Gear mode 3 The GEAR mode works as position mode but has an additional feature The input on the external encoder is multiplied with GEARI GEAR2 and added to SOLL Any remain der of the result is saved and used next time the external encoder changes The result is that this mode can be used as an electronic gear When using gear mode it is not recommend to set V START below 10 rpm This can gives problems at low speeds because the motor will lag behind when doing the first step It will then accelerate in order to catch up NOTE Time from the first input pulse to the first step is typically 30 60us if not on standby 72 102us if on standby Zero search type 1 13 When the operation mode is set to 13 the controller will start the search for the zero point See Sensor type Zero search page 70 for details Zero search type 2 14 When the operation mode is set to 15 the controller will start the search for the zero point See Sensor type 2 Zero search page 70 for details
30. and speed control The 8 outputs can be used to generate pulse direction for up to 4 drivers This can be used for accurate syncronization of two or more motors based on the same source sig nal Use MacTalk I O Setup to set up the outputs to pulse direction signals SMC75 SMD73 with PNP inputs OE pulse Motor 1 O2 direction O pulse Motor 2 O4 direction pulse Motor 3 O6 direction OF ples Motor 4 O8 direction JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 197 14 3 Connecting MISxx SM C75 to SMD41 The MISxx SMC75 can control an external driver with pulse and direction signals for pre cise positioning and speed control MISxx or SMC75 SMD41xx or SMD42xx O1 Pulse 18 Direction O2 Direction 19 Stepclock GND 198 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 14 4 Connecting MISxx SM C75 to MACOO Bx The stepper motor MIS23x and Controller SMC75 can also be connected with the MACOO B I MACOO B2 and MACOOB4 Expansion Modules See the MAC motor manual chapter 4 2 10 for further information JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 199 14 5 Connection to PLC PC Boards 200 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 15 Accessories The following accessories are available for the MIS motor
31. distributors To set up the master download the EDS file from the JVL web page see section 11 2 2 This file contains all register set up data for the SMC75 For details of the node ID and the Baud rate see section 11 2 4 The power supply must be con nected to the motor as shown in section 11 2 6 If CanOpenExplorer is used see the following method for testing the motor communication Install CanOpenExplorer Connect the motor to the USB port via the Dongle Connect power supply see section section 1 2 6 or section 2 Run the CanOpenExplorer program on the PC l Select the correct node ID in the slave using MacTalk See section 1 2 4 2 Select the EDS file For all the MIS motors this file is SMC75 eds 3 Load the EDS file by pressing load 144 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 3 Using CanOpenExplorer TTIIOOGB JVL CanOpen Explorer Sync Time 0 EnableSyne Stop Guard time 200 Enable guarding Stop Communication Receive PDO Setup Transmit PDO Setup Manufacturer Specific Profile Specific Interface Profile User SDO List RAW Name index si MODE REG 0 2012 2 SOLL 00012 5 V SOLL 00012 5 MODE REG 02012 2 0 0x0 MODE REG 02012 2 2 032 MODE REG 02012 2 3 0x3 3 3 5 5 5 3 ub 1 0x1 2000 0x7D0 200 0 C8 P SOLL 0 2012 200 008 P SOLL 02012 0 0x0 V soLL 0 2012 20000 0x4E20 V SOLL 002
32. error tracking information is saved This is very help ful for later troubleshooting Registers involved Register 142 Analog Input Selection selects which analogue input to use for measuring the power supply It can be to 8 for analogue inputs IO to IO8 using the unfiltered values for fast response 81 to 88 for analogue inputs IO to 1O8 using the filtered values for noise immunity 12 for the 12 48V power supply P and finally 13 for a special input developed for this feature alone from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V Register 141 Save Threshold Voltage selects the voltage threshold that will trigger the flash backup save operation and stop all other motor operation When register 142 has the value 12 the scaling unit of register 141 is the same as register 97 BusVoltage 1023 111 4V The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V Register 139 Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing flash memory after powe
33. for transition from either Pre Operational to stopped or from Op erational to Stopped In the stopped state the nodes can only process NMT instructions Enter Pre Operational This is an instruction for transition from either Operational or Stopped state to Pre Op erational In the Pre Operational state the node cannot process any PDOs However it can be parameterized or operated via SDO This means set point can also be entered JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 171 11 6 More details of CAN Open Theory Reset Node This is an instruction for transition from the Operational Pre Operational or Stopped states to Initialization After the Reset Node instruction all objects 000h 9FFFh are re set to the Voltage On stage Reset Communication This is an instruction for transition from Operational or Stopped to Initialization After the Reset Communication instruction all communication objects 1000h I FFFh are re set to the initial state In the various communication states nodes can only be accessed via CAN Open using specific communication services Further the nodes in the various states only send spe cific telegrams This is clearly shown in the following table Initializing Pre Operational Operational Stopped PDO SDO Synchronization Object Emergency Object Boot Up Object Network Management object 11 6 7 Error Con
34. it is possible to key in new values After pressing enter the value will be transferred to the motor and thereafter be read again from the controller and be shown at point a Because of digitalizing of the keyed in value the returned value in a can be c By pressing the unit field it is possible to change between internal unit in the control different from the value in b ler and the unit shown to the user E g If user unit for current is ARMS and the internal unit is 5 87mA 300ARMS cor respond to 511 units Not all registers have different internal and user unit Speed 21826 for example is alway specified in RPM 5 1 5 IO Screen Active level can be chosen to high or low on inputs Selection of Inputs for Dedicated Inputs HM NL and PL Selection for Inputs HM NKL and PL An external encoder can also be selected here and defined as either quadrature or pulse direction type z Status of the inputs Selection if it shall be Inputs or Outputs Selection of output for In Position and Errors Status of the outputs Dedicated Outputs w 3 2096 pd Foe Selection for outputs In position 7 Ca In Physical Position Error 4 m output It can also be selected if the pulses generated shall be used internally externally or both and which output should be used for pulse and direction signals p Input filters Selection if IO s Filter time constant can b
35. maintained by the SMC75 firmware in the registers 89 96 as raw unfiltered values with the fastest possible update frequency and additionally in the registers 81 88 as filtered values The firmware does not use any of the values for dedicated functions It is always up to the program in the motor to read and use the values The analog filtered values are typically used to suppress general noise or to define how quickly the input value is allowed to change or in some cases to limit the input voltage range A typical example is an analog input that is connected to a manually controlled po tentiometer so an operator can regulate the speed of the machine by turning a knob In many environments this setup is subject to noise which could make the motor run un evenly and cause too sharp accelerations or decelerations when the knob is turned The filter functions supported in the SMC75 firmware always use three different steps Confidence check First the raw input value is compared to two Confidence limits Confidence Min and Confidence Max If the new value is either smaller than the Confidence Min limit or larger then the Confidence Max limit it is simply discarded not used at all and the value in its associated register is unchanged This is done to eliminate noise spikes Confidence limits can only be used if not all of the measurement range is used Values of 0 for Confidence Min and 1023 for Confidence Max will effectively disable the c
36. mouse cursor over the image of the motor in the lower right of the main win dow JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 103 9 2 Register Descriptions 9 2 89 Available 10 Size Access Range Default Unit MacTalk name 158 AVAILABLE IO 16bit R IO MASK N A Description Defines what IO that are available on the connector This value is read only and is programmed into the motor during manufacturing Service personnel may ask for this value to identify the type of connector board mounted on the motor The values are not documented here 9 2 90 Bootloader Ver Access Default Unit MacTalk name Major 16 R Minor 16384 BOOTLOADER_ VER Tooltip on Motor Description The version of the boot loader This value is read only and is programmed into the motor during manufacturing 9 2 91 otsaved Reg Name Size Access Range Default Unit MacTalk name 160 NOTSAVED 16bit R W 0 65535 0 Description This register is not used internally but will always be 0 after power on Please note that MacTalk uses this register 9 2 92 Option Bits Default MacTalk name OPTION BITS Tooltip on motor Description This register contains information about what options are available Bit 0 7 defines the options available in the hardware or licensed Bit 8 15 defines the options available in the firmware Bit 0 8 CanOpen fie
37. movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless given other instructions by the program JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 117 10 7 Graphic programming command reference 10 7 5 M ove Relative velocity change at a distance Icon Dialog Move type Relative Relative velocity change at distance 25 Cancel C Relative set outputs C Absolute C Sensor General parameters Change velocity parameters Distance 0 v Counts Distance 0 v Counts Acceleration 0 RPM s New velocity 0 RPM Velocity 0 RPM r Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a relative movement and changes velocity at a specified distance before reaching the new position The distances are measured in encoder counts and can either be entered directly or taken from three memory registers in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that motor register no 5 V SOLL will always be overwritten with the value specified in the New velocity field Also if you specify an acceleration motor register no 6 SOLL wil
38. name 38 P HOME 32bit R W 231 231 1 0 Steps Zero Search Position Description The zero point found is offset with this value 88 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 29 V Home Reg Name Size Access Range Default Unit MacTalk name 40 V_HOME 16bit R W 1023 1023 50 RPM Zero Search Velocity Description The velocity used during zero search Set a negative velocity to search in the negative direction 9 2 30 Homemode Reg Name Size Access Range Default Unit MacTalk name 42 HOMEMODE 16bit R W 0 13 14 0 Zero Search Mode Description Selects the zero search that should start on power up A value of 13 will use sensor type while a value of 14 will use sensor type 2 9 2 31 Absolute encoder position Access Default MacTalk name Abs Encoder Posi tion ABSWNCODER R 0 Description This is the absolute magnetic encoder position this is only a singleturn value and the resolution is Obit That is 360 deg 1023 count appx 0 35 deg 9 2 32 SSI encoder value Reg Name Size Access Range Default Unit MacTalk name 47 ABSWNCODER 16bit R 0 1023 0 iui Description This is the actual encoder position data received from the external SSI encoder This value is typically gray coded The firmware offers the possibility to do the Gray conversion but requires that some RxP programming is done a
39. of their slope errors The filter status is updated each second The confidence error bit will be set if more than half of the samples within the last second fell outside either of the confidence limits The slope errors will be set if more than half of the samples within the last second were slope limited 9 2 49 551 SETUP1 Access Default i MacTalk name 25bit 100kHz frequency pre pare time 100ys SSI Setup1 i R W Number of data bits Clock frequency Disable interrupts when Reading SSI Description This register contains status bits for the analog input filters The lowest eight bits hold Register 107 SSI Setupl 16 bits The low byte selects the number of data bits in each SSI transfer The valid range is 0 to 31 corresponding to to 32 data bits The high byte selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Due to the nature of the firmware timing some timing jitter can occur while reading SSI data Some encoders doesnt allow this or run with a very tight bit timing so that the firmware timing jitter causes trouble To prevent this interrupts during SSI reading can be disabled by setting the MSB of the high byte In this way the timing is strictly control led If the timing isn t critical and the motor velocity is high we recommend that the in terrupts isn t disabled JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232
40. other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V 9 2 78 New Reg Name Size Access Range Default Unit MacTalk name 144 P_NEW 32bit R W 231 231 1 0 Counts N A Description This register can be used to change both of the registers P SOLL and P IST in one op eration This can be used to correct or offset the current position without performing a movement The register value can be copied to P IST and P SOLL using FastMac com mand 23 or it can be added with sign to both of these registers using FastMac command 24 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 101 9 2 Register Descriptions 9 2 79 Baud Rate Description The baud rate on the serial port 0 9600 baud 19200 baud default 2 38400 baud 3 57600 baud 4 115200 baud 5 230400 baud 6 460800 baud 7 921600 baud The firmware will automatically update the baud rate after this value is changed over the serial interface RS485 once the motor has finished transmitting all data bytes that are queued 9 2 80 Tx Delay Reg Name Size Access Range Default Unit MacTalk name 147 TX D
41. saved permanently in memory and the program will be executed each time the motor is switched on 2 Before beginning to program ensure that the basic parameters for controlling accel eration torque safety limits etc are set to proper values When saving the program on the hard disk or to floppy disc all of these basic parameter settings will be saved together with the program as a complete motor setup package 3 A program line can be edited by double clicking on the command text 4 When the cursor is placed on top of the command icon an edit menu will be shown by right clicking 114 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 6 Command toolbox description The toolbox used for programming covers 4 different command types The basic idea of the commands is to provide easy access to the most common functions of the motor Some functions may seem to be missing at first glance but the buttons Set register in the QuickStep motor or Wait for a register value before continuing give direct access to 50 registers in the basic QuickStep motor such as the gear ratio or the actual torque register In total this gives a very powerful programming tool since gt 95 of a typical program can be built using the simple command icons while the remaining 596 is typically achieved by accessing the basic motor registers directly The following gives a short description of all 14 command ico
42. series JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 201 15 1 Cables 202 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 15 2 Power Supplies 15 2 1 15 2 2 15 2 3 PSUOO PD1 Combined power dump resistor and capacitor unit For a complete power supply sys tem only a transformer with a secondary winding supplying 32VAC is required For systems with up to 5 8 QuickStep motors this unit can serve as a central power dump unit The capacitor offers an efficient and economical way of storing the energy returned from the motors during deceleration of high inertias See also www jvl dk PSU48 240 A compact switch mode power supply with 240W output power at 48VDC The power supply is UL and CSA approved It is protected against overvoltage overtem perature and short circuit or overload of the output The power supply can either be mounted on a DIN rail or wall mounted See also the data sheet LD0047 which can be downloaded from www jvl dk Other power supplies JVL offers a wide range of power supplies in the power range 45W to 5kW with output voltages 24 and 48VDC They all uses switch mode technology in order to minimize physical dimensions and for easy adaptation to mains voltages in the range 90 to 240VAC The product range covers the following types PSUO5 045 PSU24 075 PSU24 240 PSU48 240 PSU48 800 PSUA48 1000 P
43. standard proposal and might be changed in the future JVL there fore reserves the right to change future firmware versions to conform to new versions of the standard Not all of the functionality described in DSP 402 is supported but all mandatory func tions are supported The following operation modes are supported Profile position mode Velocity mode Homing mode Preconditions The start mode of the motor must be set to passive No power up zero searches must be selected When using the DSP 402 mode manipulating parameters with object 2012h or 2014h can corrupt the behaviour of the DSP 402 functions Also be aware that manipulating pa rameters in MacTalk should be avoided when using DSP 402 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 157 11 5 Objects used in the DSP 402 standard Supported objects The following table gives the additional object dictionary defined for DSP 402 support Sub In dex Default 6402 Motor catalog number 6403 Motor manufacturer 6404 http motor catalog address 6405 Supported drive modes 6502 Drive catalog number 6503 Drive manufacturer 6504 http drive catalog address 6505 Digital I O Digital inputs 60FD UNSIGNED32 Digital_outputs 60FE UNSIGNED8 Digital_outputs_Physical_ou tputs 60FE UNSIGNED32 Digital_outputs_Bit_mask 60FE UNSIGNED32 Device Control Abort_connection_option_co de 6007 INTEGER16 Error code 603F UNSIGNED16 Con
44. such as servofilter I O setup etc Everything is stored in a file with the extension MAC Later it can be opened and restored in the motor TTO0985GB 9 MacTalk Noname File View Motor MACOO RxP Setup Updates Help b 8 Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor Main Registers Advanced Filter parameters Tests Scope MACOO AxP Module Checksum 3025 Status Paused Single Step 2 Move Rel dist 10000 Counts acc 1500 RPM s vel 2000 RPM 3 Wait 500 ms 4 Set output 1 high 5 Jump to 1 E MacTalk Noname File View Motor MACOO RxP Setup Updates Help 4 Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor Main Registers Advanced Filter parameters Tests Scope MACOO RxP r MACOO Ax Programmable Module Checksum 3025 Transfer amp Start S Single St Missus s fuesen Status Paused 1 Wait until input 5 high 2 Move Rel dist 10000 Counts acc 1500 RPM s vel 2000 RPM 3 Wait 500 ms 4 Set output 1 high 5 Jump to 1 6 T n Start bh JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 113 10 5 General programming hints When programming and saving programs the following hints may be useful to ensure that the program behaves as expected When transferring the program to the module it is
45. system with limit switches without having position limit problems to go to the opposite side of the sensor and use this position as zero position useaposition limit as reference position In this case the zero search position must be be different from 0 or the motor enters passive mode ignore the reference switch input and use the actual position or index pulse as zero position before using the zero search position JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 69 7 5 Zero search modes 7 5 5 Sensor type 1 Zero search Sensor type zero search is carried out according to the following illustration Select the mechanical zero Zero search i Mt Zero search mode Power up Sensor ty search mode using this field The position is sampled in the exact 4000 position where the sensor was activated The motor the decelerates ero search velocity 140 140 RPM and moves the reverse distance back to the position where the sensor was activated Velocity Zero search position is an optional offset See description in other chapter Zero search velocity defines the velocity used during Zero search t Zero search The sign of the specified velocity Sensor status started i defines the zero search direction Time Time 2175 The Zero sensor must be connected to a user input For connection information see SMC75 User Inputs page 22
46. the case of a simple variable this index references the value of the variable directly In the case of records and arrays however the index addresses the whole data structure To allow in dividual elements of structures of data to be accessed via the network a sub index has been defined For single object dictionary entries such as Unsigned8 Boolean Integer32 the value of the sub index is always zero For complex object dictionary entries such as arrays or records with multiple data fields the sub index refers to fields within a data structure pointed to by the main index Index counting starts with one The DS 30 standard constitutes the application and the communications profile for CANopen bus and is the interface between the devices and the CAN bus It defines the standard for common data and parameter exchange between other bus devices and it controls and monitors the devices in the network The table below lists some of the com munications profile objects Data Parameter Special Transfer Transfer functions Process Data Objects Service Data Objects Synchronisation Emergency The access from the CAN network is done through data objects PDO Process Data Ob ject and SDO Service Data Object 11 6 2 Boot up telegram After the initialization phase a CANopen slave logs on with a boot up message The node address of the slave is contained in this This allows a CANopen master to know which sla
47. the outputs but it is more difficult It can be done by using short cables from the motor to the filters and then using longer cables from the fileers to the output targets It may be easier to use a short cable from the motor to a splitter box and then split the I Os in one cable and the RS 485 signals in another cable Use termination resistors on the RS 485 signals RS 485 is typically used to connect a single master PC or PLC to one or more motors in a chain Both ends of the chain must have a 120 Ohms termination resistor connected between the A and B signals There is typically a terminating resistor in the master PC or PLC but there is no termination inside the motors Therefore an external resistor must be connected at the end of the cable out of the last motor in the chain If the last motor has no connection cable a connector with a resistor soldered between the A and B pins should be used JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 43 2 12 Handling noise in cables 2 12 6 As an alternative a connector with a short cable can be used with the resistor soldered between the two wires carrying A and B Use individually shielded cables In some installations it will be necessary to have RS 485 signals in the same multi wire cables as fast switching digital signals In addition to keeping cable lengths to a minimum and using termination resistors high quality cables where
48. they can perform various tasks either as communications objects or as device spe cific objects where they are directly related to the device A communication object can transport data to the bus control and establish connection or supervise the network de vices The application layer makes it possible to exchange meaningful real time data across the CAN network The format of this data and its meaning must be known by the producer and the consumer s There are encoding rules that define the representation of values of data types and the CAN network transfer syntax for the representations Values are represented as bit sequences Bit sequences are transferred in sequences of octets byte For numerical data types the encoding is with the lowest byte first Every object is described and classified in the object dictionary or index and is accessible via the network Objects are addressed using a 6 bit index so that the object dictionary may contain a maximum of 65536 entries Supported by Index Hex MAC00 FC2 FC4 0000 Not used 0001 001F Static data types 0020 003F Complex data types 0040 005F Manufacturer specific Data Types 0060 OF FF Reserved for further use 1000 1FFF Communication Profile area DS301 2000 5FFF Manufacturer specific profile area 6000 9FFF Standardised Device Profile area DSP 402 A000 FFFF Reserved for further use Index 0001 001F Static data types contain type definitions for standard data types like boolean
49. to load the EDS file and operate with the motor The CanOpenExplorer software must use a special dongle for communication with the PC For further information about the dongle see An overall method for communication test page 144 The PC must be provided with a CANopen communications module EDS Electronic data Sheet In order to give the user of CANopen more support the device description is available in a standardised way and gives the opportunity to create standardised tools for config uration of CANopen devices designing networks with CANopen devices and managing project information on different platforms The EDS file are ASCII coded Setting the node id and baud rate The node id is set using MacTalk It is located in register 162 The baud rate is also set using MacTalk and is located in register 163 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 141 11 2 Connection and setup of the CAN bus 11 2 5 Bus termination In order to guarantee correct operation of the CAN bus bus terminating resistors must be provided at both ends of the bus cable CAN bus connectors The SMC75 does not use 9 pin D sub connectors and none of the cables JVL supplies are provided with a 9 pin D sub connector but the PIN configuration is also shown in the table below Signal Description SMC75 Reserved CAN L CAN L bus line Low Pin 5 CAN GND CAN Ground Pin 3 Rese
50. to the nearest integer Also note that the lowest possible velocity is 1 43 RPM and the highest is 1023 RPM 176 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 12 2 Command timing Each command has a certain execution time The specified execution time in the following table is the maximum execution time if not using CANopen serial com munication and the motor is disabled The actual execution may be faster Icon Name Execution time us EN Remarks 0 4 Set operation mode 60 Move relative no velocity no acceleration 90 Move relative set velocity no acceleration 150 Move relativetset velocity set acceleration 210 G Move absolute no velocity no acceleration 60 Move absolute set velocity no acceleration 120 Move absolute set velocity set acceleration 180 Set single output high low 30 E Set multiple outputs 30 number of outputs P 2 Unconditional jump 30 9 Conditional jump inputs 60 v Set a register 60 3 Conditional jump register 120 paeem IET Save position 60 fs Set position 90 Send fastMAC command 30 vb Binary command 30 1 The time for all move commands is shown without waiting for in position JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 177 12 3 More about program timing The firmware is structured so th
51. with one com mand The command includes a sequence number which must be changed for each write This is used so that the same command can be written several times to ensure that all con trollers received it The last received sequence id can be read in register 148 Controller sends GWrite Group Sequence RegNum Len Data End None SMC75 Response Block description Block Name Protected Example Description lt GWrite gt No 59h 59h 59h Group write command lt Group gt Yes 07h F8h Address 7 The group id of the SMC75s to write to lt Sequence gt Yes 04h FBh Sequence 4 The sequence number of the write lt RegNum gt Yes 05h FAh RegNum 5 The register number to write to lt Len gt Yes 02h FDh Len 2 The number of data bytes lt Data gt Yes bua ey The data to write to the register End No AAh AAh Command termination 12 6 10 Program status and command Using this command different actions can be executed The command also returns some information about the program state The table below shows the possible commands Com mand Data 1 Data 2 Description 0 No operation 1 Start program execution 2 Stop program execution 3 Pause program execution Run the program until the program pointer is outside the area 4 Start Address End Address Address End Addresa PE 16bit 16bi
52. 012 100 0 54 V SOLL 0 2012 30000 047530 P SOLL 02012 20000 0x4E20 gt Read User SDDs Write User SDDs Send NMT command to node Start Pre operational Stop Close IBcccececeecceee 4 Select here on the the manufacturer specific register 5 Select thereafter the object 0x2012 Object 0x2012 contains the motor parameters JVL CanOpen Explorer IbMersion NodelD 5 Sync Time 50 Enable Sync Stop Guard time EDS File smc 5 eds Load 200 Enable guarding Stop Communication Receive PDO Setup Transmit PDO Setup SMa Sub Gx Tof eriries 253 0 FD Sub 0x01 PROG_VERSION 0 0x0 Sub 0x02 MODE_REG 0 0x0 Sub 0x03 P SOLL 0 0x0 Sub 0x04 Parameter 4 0 0x0 Sub 0x05 V SDLL D 0x0 Sub 0x06 A SDLL D 0x0 Sub 0407 RUN CURRENT D 0x0 Sub 0x08 STANDBY TIME 0 0x0 Sub 0409 STANDBY CUR 0 0x0 Sub Ox04 P IST 0 0x0 Sub 0908 Parameter 11 0 0x0 Sub O 0C V IST 0 0x0 Sub 0900 V START D 0x0 User SDO List Sub DE Parameter 14 D 0x0 Sub OxOF Parameter 15 D 0x0 Sub 0x10 ENCODER_POS 0 0x0 Sub 0x11 Parameter 17 0 0x0 Sub 0x12 INPUTS D 0x0 Sub 0x13 OUTPUTS 0 0x0 Sub 0x14 FLWERR 0 0x0 Sub 0x15 Parameter 21 0 0x0 Sub 0x16 FLWERRMAX 0 0x0 Sub 0x17 Parameter 23 0 0x0 MODE_REG 0x2012 1 0x1 V SDLL 032012 2000 0700 V SDLL 0 2012 200 0 C8 REG 032012 0 0x0 MODE REG 042012 2 0x2 02012 31083
53. 02012 200 0 C8 032012 0 040 Dx2012 20000 0 4 20 Sub 0x18 COMMAND 0 0x0 none payin Sub 0x19 STATUS BITS 0 0x0 Dx2012 20000 0x4E20 8 Sub 01 TEMP D 0x0 m N m Sub 1B Parameter 27 0 0x0 Sub Ox1C MIN P IST 0 0x0 Read User SDOs Write User 500 t a BB Corel fi GRAFIK JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 145 11 3 Using CanOpenExplorer 6 Point to the sub register 0x02 which is the register that determines in which mode the motor will operate TTII02GB JVL CanOpen Explorer DER IbiVersion NodelD 5 X Sync Time 50 Enable Sync Stop Guard time P EDS File smc75 eds 200 EXE Communication A MessagelD Length Data Petiod Count Receive PDO Setup Transmit PDO Setup 6 Manufacturer Specific E 042012 Motor parameters Sub 0x00 Number of entries 253 0 0 E ib D401 PROG VERGI Sub 0K03 P SULL 0 0x0 Sub 0x04 Parameter 4 0 0x0 Sub 0x05 V SOLL 0 0x0 Sub 0x06 A SOLL 0 0x0 Sub 007 RUN CURRENT 0 0x0 Sub 0x08 STANDBY TIME 0 00 Sub 0409 STANDBY CUR 0 0x0 Sub Ox04 P IST 0 0x0 Sub 0 0 Parameter 11 0 0x0 Sub OxOC V IST 0 0x0 Sub 000 V START 0 0x0 User SDO List Sub OxOE Parameter 14 0 0x0 Sub OxOF Parameter 15 0 0x0 Sub 0x10 ENCODER_POS 0 030 Sub 0x11 Parameter
54. 1 232 234 181 2 Serial communication 12 6 3 Read register block Using this command it is possible to read 64 consecutive registers at once Master sends ReadB Address RegNum End SMC75 Response Write MAddress RegNum Len Data End Block description Block name Protected Example Description lt ReadB gt No 51h 51h 51h Read block command Address Yes 07h F8h Address 7 The address of the SMC75 lt RegNum gt Yes 05h FAh RegNum 5 The first register to read lt End gt No AAh AAh Command termination lt Write gt No 52h 52h 52h Write command lt MAddress gt Yes O0h FFh Address 0 This will always be 0 because this is the Address of the master lt RegNum gt Yes 05h FAh RegNum 5 This will always be the same as requested The length will always be 128 so 64 Yes 80h 7Fh Len 128 registers is read in each block lt Data gt Yes E8h 17h 03h FCh The data read from the registers 12 6 4 Write Register Using this command a register can be written Controller sends SMC75 Response Write Address RegNum Len Data End Accept Block description Block Name Protected Example Description Write No 52h 52h 52h Write command Address Yes 07h F8h Address 7 The address of the SMC75 lt RegNum gt Yes 05h FAh RegNum 5
55. 17 0 0x0 Sub 012 INPUTS D 0x0 Sub 0x13 OUTPUTS 0 0x0 Sub 014 FLWERR 0 0x0 Sub 0x15 Parameter 21 0 0x0 Sub 0x16 FLWERRMAX D 0x0 Sub 0x17 Parameter 23 D 0x0 Sub 0418 COMMAND 0 0x0 Sub 0x19 STATUS BITS 0 0x0 Index Value 042012 1 0x1 0x2012 2000 0x7D0 0x2012 200 0 C8 02012 0 0x0 02012 2 0x2 0 2012 3 0x3 042012 200 0 C8 042012 0 0x0 02012 20000 054 20 02012 100 0x64 0 2012 30000 07530 0 2012 20000 054 20 ww Sub 0x14 TEMP 0 0x0 E m Sub 0 1 Parameter 27 0 0x0 Sub Ox1C MIN P IST 0 0x0 Read User 500 White User SDOs Sub 0 10 Parameter 29 0 0x0 8 indbak 12 Not WL Ind 7 fl GRAFIK Write Value Object Index 02012 Sub Index 0x02 Value 0 00 Add to list Bees 7 02 the window and press OK 8 Click on the sub register 0x05 which is the register to choose the velocity the motor will use Press W on the keyboard type 100 in the window and press OK The value 100 is in RPM 9 Click on the sub register 0x03 which is the register to choose the distance the motor will run Press W on the keyboard type 20000 in the window and type OK The val ue 20000 is in Steps 146 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 3 Using CanOpenExplorer Now the motor shaft will rotate slowly unt
56. 175 Velocity accuracy he ale deinen ect eh 176 12 2 Command timing EP CRY TANT E E he S Eq NO veep bases ee eoa ete aaepe ERE e ERUNT 177 2 3 More abo t program timing tte a Foe Taste e dne e aD NAKO 178 124 Mot r rise RE totes 179 p ME M M uibvoastea 180 126 Serial COMMUNICATION 181 12 7 MIS Ordering Information rte E RA oer eta de e etina 186 12 8 SMC75 Ordering Information sse 187 13 MIS Motor Technical Data ore ERO NAME ebd N rre Re RR 189 5 75 Technical Data m 190 EAE nie m M 191 13 3 Physical Dimensions NPIEITTU 192 I3 4 Trouble shooting guide ce eite neret eina ere nnb Rena Lente epe Roni aora desada 193 I4 Connection to other Equipment ee ette nnn nenne etna nasa se sot asas seen 195 14 1 Connecting SMI30 SMC35 to MIS SMC75 196 14 2 Connecting MISxx SMC75 to SMD73 sse 197 14 3 Connecting MISxx SMC75 to SMDMA ertet tron et eon e P
57. 2 for gear mode High speed incremental counter on Input and Input 2 Positive and negative limit can be selected to any input to 8 Zero search input can be selected to any input to 8 Digital filter can be enabled for each input selectable from 0 to O0ms If disabled the response time is OQps Analog filter can be selected for all Analog inputs JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 21 2 3 SMC75 User Inputs Note that End of travel inputs 11 8 and HM share a Select external common ground GND or internal power All three ground terminals GND and supply to sensors are connected together or similar Inductive sensor or similar This diagram is used if an NPN output is connected NB For actual connections see SMC75 Controller connections page 13 2 3 1 General The Controller is equipped with a total of 8 digital inputs Each input can be used for a variety of purposes depending on the actual application Each of the inputs can be detect ed from the actual program that has been downloaded to the Controller or via serial commands The Inputs are not optically isolated from other Controller circuitry All of the Inputs have a common ground terminal denoted GND Each Input can operate with voltages in the range 5 to 30VDC Note that the Inputs should normally be connected to a PNP output since a positive current must be appli
58. 3 23 1 Steps Position n Pn Vn 0 1023 RPM Velocity n Vn An 1 65535 9 54 RPM s Acceleration n An Tn 0 511 5 87 mA Current n Tn AnalogFiltered 0 1023 4 888mV N A Analoginput 0 1023 4 888 mV N A BUSVOL 0 1023 109 mV Bus Voltage MIN BUSVOL 0 1023 109 mV Min Bus Voltage ENCODER TYPE 0 10 Tooltip on motor AFZUP_WriteBits Special N A handled on the Filter Setup screen AFZUP_Read Index Special N A handled on the Filter Setup screen AFZUP Conf Min 4 888 mV Confidence Min AFZUP_Conf Max 4 888 mV Confidence Max AFZUP_ Max Slope 4 888 mV Max Slope AFZUP_Filter 64 of new sample Filter on the Filter setup screen FilterStatus N A shown grafi cally Reserved PulseDirMask Bitmask Pulse signal Direction signal PulseDirMode Pulse Direction mode SettlingTime Settling time between retries Reserved SAMPLE1 4 N A REC_CNT N A S TIME N A S CONTROL NA BUF SIZE N A INDEX OFFSET Steps Tests HOME BITS Special Advanced Zero Search Reserved N A JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Default MacTalk name SETUP BITS Special Don t start pro gram after power up I
59. 32 elocity encoder factor Div isor UNSIGNED32 Acceleration factor UNSIGNED8 Acceleration_factor_Numera tor UNSIGNED32 Acceleration factor Divisor UNSIGNED32 Polarity UNSIGNED8 11 5 2 Factors Position factor The position factor is the relation between the user unit and the internal position unit steps The position factor is automatically calculated when the feed constant Obj 6092h and gear ratio Obj 609 Ih are set Example A MIS232 Motor with a 3 5 gear box is connected to a belt drive The diameter of the drive wheel is 12 4 cm The unit of position is required to be in millimetres The perimeter of the drive wheel is 389 56mm 124 The parameters should be set as follows 6091 subindex 1 Gear ratio Motor revolutions 6091 subindex 2 Gear ratio Shaft revolutions 6092 subindex 1 Feed constant Feed 6092 subindex 2 Feed constant Shaft revolutions 160 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 5 Objects used in the DSP 402 standard Velocity encoder factor This factor is used to convert the user unit into the internal unit RPM The factor is adjusted with the object 6094h Example 1 An MIS232 hasl600 counts revolution We want the user unit of velocity to be in RPM This is the same as the internal unit The parameters should be set as follows Dea 6094 subin
60. 5SS1 WI1008 MI2M8SSI M12 cables 5m WI1000 MI2M8TO5SN WII000 MI2M8TO5N WI1000 MI2M5TOS5N WI1006 MI2F5SO5R WI1000 MI2M8TO5N Only gt 50pcs order x INm 2 1 6Nm 3 2 5Nm z 6 35mm shaft 3 10 0mm shaft only if x 3 No encoder H2 built in encoder JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 15 l6 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Connections SM C75 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 17 2 1 Power Supply SMC75 2 1 1 General Aspects of Power Supply Powering of the Controller is relatively simple To ensure that powering of the Controller is as simple as possible only a driver and con trol voltage are connected to the Controller Internal supply circuitry ensures the correct supply voltages for the driver control circuits etc The motor can be operated with the same power supply if using 12 28VDC for both Driver and control voltage SMC75 Power Supply ControlVoltage gt Power Supply 12 28VDC 12 48VDC 7 VOLI NB for actual connections see drawing SMC75 Controller connections page 13 2 1 2 Power Supply P The Driver section requires a supply voltage in the range 12 48VDC nominal It is strong ly recommended to use a voltage as high as possible since it will give the b
61. 61 Standby time 61 Standby Current 84 Standby Time 83 Startmode 88 Statusbits 34 87 Step pulse and direction inputs 23 Step pulse inputs 23 SYNC Synchronisation Object 170 T Technical Data 189 190 192 Temp 87 Temperature protection 31 Termination 140 142 Termination resistors 43 Tn 90 Torque 42 61 Transmit PDOs 153 163 Trouble shooting 193 Turntable Mode 97 U Unconditional jump 123 Unipolar Motors 41 Upload SDO protocol 168 User inputs SMC75 22 User outputs 29 V V 130 V Home 89 V Ist 84 153 156 V Soll 10 63 83 117 121 130 147 152 155 176 V Start 81 82 85 Velocity accuracy 176 Velocity encoder factor 161 Velocity mode 10 65 162 Vn 90 Voltage Overload 25 Wait for x ms before continuing 125 Wait for a register value before continuing 128 Wait for an input combination before continuing multiple inputs 126 Wait for an input combination before continuing single input 125 Write Register 182 Write to flash 183 2 Zerosearch 129 Zero search mode 68 72 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS231 232 234 211
62. 64 97 44 units Sample 83 100 Confidence OK no slope limitation needed result 100 8 64 97 44 56 64 97 76 units 98 04 98 28 98 49 98 68 98 85 99 00 99 12 99 23 99 33 99 41 99 48 99 55 99 60 99 65 99 70 99 74 99 77 99 80 99 82 99 84 99 86 99 88 99 90 99 91 99 92 99 93 99 94 99 95 99 95 99 96 99 96 99 97 99 97 99 98 99 98 99 98 99 98 99 99 99 99 99 99 100 0 28 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 5 SMC75 User Outputs The SMC75 has 8 inputs outputs that each can be set individually to input output or an alog input 0 5V via MacTalk or software commands This means that it for example is possible to have 4 inputs 3 outputs and one analog in put Input output functional diagram Overcurrent protection Digital input Analog input e Outputs are Source PNP outputs and 5 28VDC compliant No galvanic isolation Short circuit to ground protected that shuts down all outputs and sets Error bit in software In Position and Error signal can be selected to be on any outputs to 8 Optional Encoder outputs 75 to 350 mA output current that depends on number of outputs activated and on duty cycle See diagram e Internal ground clamp diodes Allowable output current as a function of duty cycle Nurnber of outputs conducting simultaneously 8 7 6 8 8 A N
63. 64 SMC75 65 MIS23 66 MIS232 67 MIS234 This value is read only and is programmed into the motor during manufacturing 9 2 85 Serial_ Number Access i MacTalk name SERIAL NUMBER R Status Bar Description The serial number of the motor This value is read only and is programmed into the motor during manufacturing 9 2 86 Checksum Reg Name Size Access Range Default Unit MacTalk name 154 CHECKSUM 32bit R 0 65535 Description Firmware checksum This value is read only and is programmed into the motor during firmware update 9 2 87 Hardware Rev Default Unit MacTalk name Major 16 Tooltip on HARDWARE_REV i Motor 16384 Description The revision of the hardware This value is read only and is programmed into the motor during manufacturing 9 2 88 Max Voltage Reg Name Size Access Range Default Unit MacTalk name Tooltip on 157 MAX VOLTAGE 16bit R 0 100 Volt Motor Description The maximum allowed voltage on the bus If the bus voltage exceeds this value the mo tor will enter an error state This value is read only and is programmed into the motor during manufacturing It re flects the rating of the hardware components Supplying a higher voltage can damage the electronics components permanently If in doubt it is strongly recommended to first supply 24 Volts and connect the motor to MacTalk In MacTalk this value can be read by holding the
64. 7 5 6 Sensor type 2 Zero search Sensor type 2 zero search is carried out according to the following illustration Zero search Select the mechanical Zero Zero search mode Sensor type 2 Caa search format in this menu I Find index after zero search When the zero search sensor is activated the search 1000 1000 Counts motor decelerates and starts to move in 50 50 RPM the reverse direction with 64 of Zero search px Velocity When the edge of the Zero search sensor is passed the motor stops and the zero position is found Velocity Zero search velocity Zero search torque Acceleration specified by the general acceleration parameter under the Profile Pd data in MAC Talk Zero search position is an optional offset See description in other chapter Zero search velocity defines the velocity used during Zero search Sensor 1 i The sign of the specified velocity status Zero search defines the zero search direction started Time In this example the active sensor level _ is set to high Home Torque 1 Time 2187 The Zero sensor must be connected to a user input For connection information see SMC75 User Inputs page 22 70 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 7 5 Zero search modes 7 5 7 M aking a Zero point offset Common for all the zero search modes it is possible to optionall
65. 7Fh Inputs 00h FFh Outputs lt End gt No AAh AAh Command termination The returned data has the following format Data offset Size Description 0 8 bit Program state See table below for states 1 16 bit Program pointer The current location of the program pointer 3 8 bit Stack pointer 4 16 bi Program checksum This checksum is calculated when the program is it started 6 8 bit Input status 7 8 bit Output status Program states Program state Name Description 0 Passive The program execution is stopped This state is only entered shortly at power up 1 Running The program execution is running 2 Single Step A single step is in progress The program will run until the selected program position is reached 3 Paused The program execution is paused but can be resumed again 4 Stack Ovf The stack pointer has overflowed 5 Program Ovf The program pointer has overflowed 6 Invalid Ins An invalid instruction is encountered in the program 7 Stopped The program execution is stopped 8 Com Error Internal communication error has occurred This cannot happen on SMC75 9 Starting Prg Program execution is being prepared After this is completed the state will change to running 10 Flash Error The program data is corrupted 11 Flash Checksum Error The program data checksum is incorrect JVL Industri Elektronik A S User Manual Integrated
66. 94 PulseDirMod 94 Register descriptions 81 89 91 95 100 Register overview 77 80 Run_Current 83 152 155 Serial Number 103 Setup_Bits 96 105 Standby Current 84 Standby Time 83 Startmode 88 Statusbits 34 87 Temp 87 Tn 90 Turntable Mode 97 V Home 89 V Ist 84 153 156 V Soll 10 63 83 117 121 130 147 152 155 176 V Start 81 82 85 Vn 90 Remarks 116 Reset controller 183 Reset motor 53 Reset position 53 Resistors termination 43 Resonances 12 RS232 RS485 181 RS485 interface 47 49 Run Current 83 152 155 S Save in flash 53 Save position 128 Saving a file 54 Scope function 59 Screened cable 40 SDO Service Data Objects 167 Send FastMAC command 130 131 Serial communication 181 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 800 210 Index Serial connection of motor phases 41 42 Serial connection of motors 42 Serial interface 47 Serial Number 103 Set a register in the MIS motor 127 Set operation mode 116 Set outputs 122 Set position 129 Setup Bits 96 105 Short block length 138 Slope alarms 27 Slope limitation 26 SMC35 196 SMC35B 196 SMC75 8 9 12 196 198 CANopen slave 136 Inputs 21 User inputs 22 SMC75 analogue inputs 25 SMC75 connector 13 SMC75 Power Supply 18 SMC75 special outputs 31 SMC75 user outputs 29 5 041 198 SMD73 197 198 Pulse Direction driver 7 SMI30 196 199 Special outputs SMC75 31 Specifications 189 190 192 Standby current
67. ELAY 16bit R W 1 255 15 Bits Transmit Delay Description The time to wait before the response is transmitted The unit corresponds to the time of one bit at the current baud rate Many PLCs and communications processors require a minimum delay after they have sent a command to the motor before they are able to receive the response 9 2 81 Group Id Reg Name Size Access Range Default Unit MacTalk name 148 GROUP ID 16bit R W 0 255 Group Id Description The group ID of the motor The motor will accept data from a group write command only if the group ID number in the command matches this number The idea is that several motors can have the same group ID so they can be updated with new register values in parallel to save transmission time 9 2 82 Group Seq Reg Name Size Access Range Default Unit MacTalk name 149 GROUP SEQ 16bit R 0 255 Description The last received group write sequence 9 2 83 My Addr Reg Name Size Access Range Default Unit MacTalk name 150 MY ADDR 16bit R W 0 254 Motor Address Description The motor address Data communicated over the serial interface will only be accepted if the address byte in the command is either equal to this value or has the value 255 which means broadcast to all motors 102 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 84 Motortype Description The motor type
68. IGNED8 Homing_speeds_Speed_duri ng search for switch 6099 UNSIGNED32 Homing speeds Speed duri ng search for zero 6099 UNSIGNED32 Homing acceleration 609A UNSIGNED32 Factors Position notation index 6089 INTEGER8 Position dimension index 608A UNSIGNED8 elocity_notation_index 608B INTEGER8 elocity dimension index 608C UNSIGNED8 Acceleration_notation_index 608D INTEGER8 Acceleration_dimension_ind 608E UNSIGNED8 Position_encoder_resolution 608F UNSIGNED8 Position_encoder_resolution Encoder_increments 608F UNSIGNED32 Position_encoder_resolution Motor_revolutions 608F UNSIGNED32 elocity encoder resolution 6090 UNSIGNED8 elocity_encoder_resolution Encoder_increments_per_s 6090 UNSIGNED32 elocity_encoder_resolution Motor_revolutions_per_sec 6090 UNSIGNED32 6091 UNSIGNED8 Gear_ratio_Motor_revolution 6091 UNSIGNED32 Gear_ratio_Shaft_revolutions 6091 UNSIGNED32 Feed_constant 6092 UNSIGNED8 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 159 11 5 Objects used in the DSP 402 standard Sub In dex Default Feed constant Feed UNSIGNED32 Feed constant Shaft revolu tions UNSIGNED32 Position factor UNSIGNED8 Position_factor_Numerator UNSIGNED32 Position_factor_Feed_const ant UNSIGNED32 elocity encoder factor UNSIGNED8 elocity_encoder_factor_Nu merator 6 UNSIGNED
69. IP67 connector and IP55 motor housing for applications in demanding environments Thermally protected against current overload and short circuit Reacts instantaneously The motor starts within microseconds e 5Vor 24V PNP NPN inputs ensure compatibil ity with any controller Stepresolution of 200 400 800 1000 or 1600 pulses revolution Supply voltage 12 28 VDC Possibility for encoder feedback All the required electronics are integrated in the motor itself in a single compact unit The motor can be supplied with the connector either on the back or side of the housing M12 connector is standard but cable glands or DSUB connector can be deliv ered on request For further information on the pulse direction driver see SMD73 Data sheet and Technical Note 6 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 1 1 Features pulse direction SMD73 1 1 1 Block diagram Pulse Direction Version SMD73 Encoder Output E fel 0 9 gt Qa 2 a Bus Supply 12 28V Ground 1 1 2 Driver Connections Versions with pulse and direction control Connections for versions with M12 connector See also SMD73 data sheet M12 5 pin male Description JVL cable WI1000M12 F5TxxN P 12 28VDC Brown Pulse White P Blue Direction Black Signal Ground Grey xx 05 for 5 metre and
70. M ove operations Icon Function The Move command is very flexible with five different operating modes Each mode is described in its own section below 116 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programming command reference 10 7 4 M ove Relative Icon S Dialog Move type Relative Relative velocity change at distance C Relative set outputs C Absolute C Sensor General parameters Distance i v Counts Register 1 Acceleration Register 2 RPM s Register 3 Velocity D RPM Wait for in position Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a movement relative to the current position The distance moved is measured in encoder counts and can either be entered directly or taken from three registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register 49 is always overwritten by this command If the Wait for in position option is checked the program will wait until the motor has finished the
71. MIS231 MIS232 and MIS234 Integrated Step M otors QuickStep and Step M otor Controller SMC75 User Manual J VL Industri Elektronik A S LB0053 12GB Revised 5 8 2009 Important User Information Warning AN The MIS and SMC series of products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Please contact your nearest JVL representative in case of technical assist ance Your nearest contact can be found on our web site www jvl dk Copyright 1998 2008 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Blokken 42 DK 3460 Birker d Denmark TIf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl Q jvl dk Internet http www jvl dk Contents 10 1 10 2 10 3 10 4 10 5 10 6 10 7 Liisqere loin Meme D 5 Features pulse direction SMD73 sse
72. P Control Voltage CV Analog Input General Purpose I O Communication Motion Software Thermal Voltage Range 12 to 48VDC Ampere no motor 5mA Resolution Power supply current requirements 2A max Refer to illustration Actual power supply currents will depend on voltage and load 12 to 28VDC maintains power to control output driver and feed back circuits only when input voltage is removed If no motor connected or passive mode 00mA 10 Bit Voltage Range Number Type 0 to 5VDC 8 Sources of output or input Logic Range Inputs and Outputs tolerant to 24VDC Inputs TTL level compatible Output Source Current Up to 350 mA per Channel See Chart section 2 5 Protection Over Temp Short Circuit Transient Over Voltage Inductive Clamp Input Filter Type Standard 0 1 or to 100 ms RS485 Type Optional RS422 Baud Rate 9 6 to 921 6 kbps Type Optional CANopen DSP402 V2 0 DS301 VS3 0 2 0B Active Isolation None Features Open Loop Configuration Node Guarding heartbeat SDOs PDOs Static mapping Number of settings 2 Steps per revolution 1600 Internal Encoder optional Type Internal magnetic absolute rev Steps per Revolution 1024 Resolution 256 Lines Counters Type Position Encoder 32 Bit Edge Rate Max 27 280 kHz Velocity Range 1 43 to 1023 RPM Res
73. PM Edge tigged Bitcondtion In postion vw C High Low Time Samples 512 ET Total sample tme 512 ms Trig point setup ria 3 Time before Time after 512 ms Channels Channel 12 Actual velocity 7 Channel2 10 Actual position gt Channel 3 Channel 4 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 59 60 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Adjustment of motor phase current The current supplied to each of the step motor s phases can be adjusted for standby and running currents by changing the values of standby and running currents under Driver parameters Driver parameters Running Current 3 00 ARMS Standby Current 0 75 EN ARMS Standby time 500 ms The Driver automatically switches between the two currents by detecting the presence of step pulses If a rising edge is detected at the step clock the Move current is select ed If no rising edge is detected during the period specified by Standby time at the step clock input the current is automatically switched back to Standby current Values for the two currents are typically adjusted so that the Operating Current is signif icantly higher than the Standby Current since the motor must be supplied with more power to drive its load during acceleration and constant operation than when it is sta tionary Note that the m
74. RPM Max velocity Description The maximum velocity allowed When in velocity mode the motor will run constantly at this velocity Specify a negative velocity to invert the direction This value can be changed at any time Example V_SOLL 250 will limit the velocity to 250 RPM 9 2 5 A_SOLL Reg Name Size Access Range Default Unit MacTalk name 6 A_SOLL 16bit R W 1 65535 131 9 54 RPM s2 Acceleration Description The acceleration deceleration ramp to use If this value is changed during at movement it will first be active when the motor stops or changes direction Example A SOLL 105 will set the acceleration to 1000 RPM s 9 2 6 Run Current Reg Name Size Access Range Default Unit MacTalk name 7 RUN CURRENT 16bit R W 0 511 511 5 87mA Running Current Description This register sets the running current for the motor 51 1 is the maximum possible cur rent corresponding to 3A RMS The running current is active when the motor is running and after it stops until the specified standby time has elapsed See Standby Time page 83 When the RUN CURRENT is changed the new motor current will be set instantly Example RUN CURRENT 100 will set the running current to 0 59A RMS 9 2 7 Standby Time Reg Name Size Access Range Default Unit MacTalk name 8 STANDBY_TIME 16bit R W 1 65535 500 ms Standby Time Description This register sets the standby time This time is the time from the last step has been pe
75. Reg Name Size Access Range Default Unit MacTalk name 125 IOSETUP 16bit R W 0 Special Inputs Outputs Description This register controls the eight lOs IO to Ol 8 These pins can be used either in input mode as combined digital and analog inputs or used in output mode as digital out puts The lowest eight bits in this register can be used to individually invert the active lev el of the digital inputs The highest eight bits are used to select the corresponding pin as an output 96 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 63 Turntable M ode een m uuo Lm Description In turntable mode the motor controls the revolution of a turntable that has the number of positions specified in register 127 TurntableSize This means the same position will be reached after rotating this number of steps in either direction This register selects one of three modes that define how the motor should move to a new position when the SOLL register is changed If the value of this register is zero the motor will not operate in turntable mode In mode the motor will always move to new position by turning in a positive direc tion So to move one step backwards it must instead move TurntableSize steps forward In mode 2 the motor will always move to a new position by turning in a negative direction In mode 3 the motor will move in
76. SU48 1500 See also the data sheet LD0058 overview or LD0053 detailed which can be down loaded from www jvl dk JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 203 15 3 Brakes and shaft reinforcement 2 brake units are available for the MIS23 and MIS232 motors MIS234 has a 10 mm out put shaft and the MAB23 can therefore not be mounted The MAB23x 01 offers a I 0mm output shaft and MAB23x 02 offers a 6 35mm output shaft Both types can be mounted directly on all the MIS231 and MIS232 motors and require 24VDC applied to release the motor See also the data sheet LD0055 xx which can be downloaded from www jvl dk 204 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 16 CE Declaration of Conformity EU Declaration of Conformity Manufacturer Company Name JVL Industri Elektronik A S Address Blokken 42 DK 3460 Birker d Denmark Telephone 45 45 82 44 40 E mail jvl jvl dk Web www jvl dk Hereby declare that Product No MIS231 232 and 234 Name Integrated Hybrid stepper motor Type Series from Al to A incl subversions is in conformity with COUNCIL DIRECTIVE of 3 May 1989 on the approximation of the laws of the Member States relating to electromagnetic compatibility 89 336 EEC was manufactured in conformity with the following national standards that implements a harmonised standard EN 61800 3 Adjustable speed electrical p
77. Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE REG 2 will set the motor in position mode When SOLL is changed the motor will move to this position with the specified max velocity V SOLL and accel eration A SOLL Writing MODE REG 13 will start a zero search for a sensor When the search is com pleted the MODE REG will automatically be changed to the mode specified in START MODE P Soll Description The desired position When in position mode the motor will move to this position This value can be changed at any time The maximum possible position difference is 231 1 If relative movement is used the P SOLL will just wrap at 231 1 and the motor will move correctly Please note that the turntable function changes the behaviour of P SOLL See Turntable Mode page 97 Example If P SOLL 800 and then SOLL is set to 800 the motor moves one revolution forward If P IST 231 100 2147483548 and P SOLL is set to 231 100 2147483548 the motor will move 200 steps in the positive direction 82 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 4 V Soll Reg Name Size Access Range Default Unit MacTalk name 5 V_SOLL 16bit R W 1023 1023 250
78. SettlingTime Access Default i MacTalk name Settling time between retries SettlingTime i R W Description When the internal encoder option is installed and register 34 InPositionCount is non zero so AutoCorrection is enabled the value in this register defines how many millisec onds to wait after each movement attempt before testing whether the encoder po sition is within the target window as defined in register 33 This waiting time is often necessary to allow mechanical oscillations to die out 9 2 53 551 SETUP2 MacTalk Default i name 25bit 100kHz SSI Setup2 i i frequency pre pare time 100uUs Prepare time CIk to Data Description Register SSI Setup2 16 bits The low byte selects the prepare time in micro sec onds at the start of an SSI transfer corresponding to tl in the figure The valid range is 0 255 corresponding to 256 microseconds 94 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 54 Sample 1 4 een Un uuo Lg Description Up to four registers can be set up to be sampled into buffers for diagnostic purposes These registers define which registers are sampled All of the registers 255 can be sampled A value of zero in any of these four registers will cause the corresponding sam ple buffer to contain zeroes See registers 116 119 for more information on the sampling system Most users w
79. Step Motors MIS 231 232 234 185 12 7 MIS Ordering Information Motor Type Usize Connection X Driver Technology Step Resolution Standby current ratio in driver IP and shaft mInput format P Generation A Feedback 5 3 Revision September26 2007 01 to 3l Standby current ratio 03 1 3 standby current D 24V NPN inputs E 24V PNP inputs F 5V inputs xx xx specifies mA 100 phase See SMD73 data sheet 0 No driver 1 1 step with 200step rev motor 200 pulses rev 2 1 2 step with 200step rev motor 400 pulses rev 4 1 4 step with 200step rev motor 800 pulses rev 5 5 step with 200step rev motor 1000 pulses rev 8 1 8 step with 200step rev motor 1600 pulses rev 73 SM73 driver 15 28VDC Pulse and direction driver Only orders more than 10 pcs 74 Driver 12 48VDC based on SMC75 technology Future option 75 SMC75 controller with MAC protocol 2 48VDC and optional encoder hall sensor feedback 76 Controller based on SMD41 driver and SMC75 controller functionality 4 SMD41 driver technology 20 80VDC Pulse and direction driver Only MIS34x Future option 42 SMD42 driver technology 30 160VDC Pulse and direction driver Only MIS34x Future option NO No feedback HI Magnetic encoder feedback 32 pulses rev Only if controller supports this feature Future option H2 Magnetic encoder feedback 256x4 pulses rec Only if controller suppo
80. T2207GB 2 11 2 Connection of Step Motor Various types of step motor are available 2 phase Bipolar 4 connectors 2 4 phase Bipolar Unipolar 8 connectors 3 4 phase Unipolar 6 connectors Note that Type 3 motors indicated above Unipolar motors produce 4096 less torque This motor type can be used with success but is not recommended if a 4 or 8 wire motor is available instead This section will not describe the unipolar type further 2 phase or 4 phase motors can be connected to the Controllers as follows 2 phase Motors 4 wires This type of motor can be directly connected to the Controller s motor terminals The Controller current adjustment must not exceed the manufacturer s specified rated current for the motor 4 phase Motors 8 wires This type of motor can be connected to the Driver in one of the following two ways 1 Serial connection of phases 2 Parallel connection of phases Selection of serial or parallel connection of the motor phases is typically determined by the speed requirements of the actual system If slow speeds are required typically less than kHz the motor phases can be connect ed in serial For operation at higher speeds greater than kHz the motor phases can be connected in parallel JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 4l 2 11 SM C75 Connection of motor 2 11 3 2 11 4 Serial Connection Using serial connectio
81. The register number to write to lt Len gt Yes 02h FDh Len 2 The number of data bytes E8h 17h 03h FCh Data Yes Data 1000 The data to write to the register lt End gt No AAh AAh Command termination lt Accept gt No 11h 11h 11h Accept from SMC75 12 6 5 Enter safe mode When this command is sent the SMC75 switches to safe mode In safe mode no pro gram or commands can enable the motor The mode can only be exited using either an Exit safe mode or Reset command Controller sends EntSafe Address End SMC75 response Accept Block description Block Name Protected Example Description lt EntSafe gt No 54h 54h 54h Enter safe mode command lt Address gt Yes 07h F8h Address 7 The address of the SMC75 lt End gt No AAh AAh Command termination lt Accept gt No 11h 11h 11h Accept from SMC75 182 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 12 6 Serial communication 12 6 6 Exit safe mode When this command is sent the SMC75 switches back to normal mode Controller sends SMC75 response lt ExitSafe gt lt Address gt lt End gt Block description Block Name Protected Example Description lt ExitSafe gt No 55h 55h 55h Exit safe mode command lt Address gt Yes 07h F8h Address 7 The address of the SMC75 lt End gt No AAh AAh Command termin
82. V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the program JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 121 10 7 Graphic programming command reference 10 7 9 Set outputs Icon Dialog C Multiple Output state Low C Qutput 2 C High C Qutput 3 C Low pulse ms C Qutput 4 High pulse ms C Qutput 5 C Qutput 6 C Qutput 7 C Output 8 Output type C Single Multiple Outputs Output 1 C Low Don t Output 2 C Low Don t care Output 3 C Low Don t care Output 4 Low Don t Output 5 C Low Don t care Output 6 C Low Don t care Output 7 C Low Don t care Output 8 C Low Don t care Function Sets one or more outputs When setting a single output you can set it to high low or you can specify the length in milliseconds of a pulse to send out on that output When setting multiple outputs you can specify whether to set each output high low or leave it in its current state 122 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programming command reference
83. VL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 23 2 3 SMC75 User Inputs 2 3 5 2 3 6 Step occurs on the Min 5uS Min 5uS leading flank wa O RENE Step clock 101 0 Min 2 5uS Min 2 5uS Direction 102 ZZ DA Vd The Direction signal must be well defined in this interval PLC or Pulse Generator Note screenonly connectedonsignal source Home Input Any of the 8 inputs can be used as Home input for the zero search function A zero search occurs when the Controller receives the seek zero search command by changing Mode Reg Section 9 2 2 page 81 The Home Input can be set from MacTalk or via register Home Mask Section 9 2 67 page 98 It is possible to see when a zero search is finished by reading a bit in Status bits Section 9 2 20 page 87 Digital inputs All of the eight I O signals can be used as digital inputs The sampled and possibly filtered value of each input is stored the Input s register register 18 Unlike the analog inputs there is only one value for each digital input so it must be configured to be either unfil tered or filtered Unfiltered high speed digital inputs are sampled every 100 uS micro seconds Filtered digital inputs are sampled every milli second and the filter value can be set in the range tol00 mS so the filtered input must be sampled to have the same logical value for that number of samples in a row Once a
84. al Position bit 2 in the STATUSBITS register The 8 lowest bits will select the mask for InPosition and the 8 highest bits will select the mask for InPhysicalPosition Any combination of bits can be set to have zero one or more outputs reflect each of the two InPosition bits The MacTalk program only supports setting a single output for each bit however since this is the normal case 34 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 9 Absolute position back up system 2 9 1 The absolute position backup system is activated when a voltage goes under a preset val ue Then all absolute multiturn information is saved to flash at once All data are then recalled from flash memory at startup and the motor has the absolute position information saved at power down The input on which the voltage drop is monitored is selected between all standard l O s the P 12 48V power supply and a special input see the registers involved section later in this chapter When the operation is triggered the motor will not be able to work at all until the power has been cycled off and on again It is required that the supply control voltage drops relatively slowly to allow time to save the values to flash memory This can be secured by adding if necessary a large capacitor on the CV supply voltage and powering on off the external power supply on the AC side Beside the position information also
85. al communication and few local I O MIS23xAZMByy75 RS485 serial communication in network Up to 32 MAC and QuickStep on the same network Few local I O MIS23xAzM4yy75 RS485 serial communication and many local MIS23xAzM9yy75 MIS23xAzMb5yy75 RS485 and SSI encoder Few local I O RS485 serial communication in network Up to 32 MAC and QuickStep on the same network Many I O MIS23xAzM6yy75 MIS23xAZMI7yy75 RS485 and CANopen Devicenet operation Many local IO PWR 551 8 101 4 RS485 TT2259GB PWR 5 pin male RS485 5 pin female CAN 5 pin male 1 1 4 8 pin female 5 8 8pin female SSI 8 pin male Versions with positioning and speed control Quick Step MI2 101 4 RS485 1O5 8 Connector over Female 8pin Female 8pin RS485 CANopen De Female 5pin viceNet SSI Encoder Male 8pin RS485 410 2xRS485 410 5485 8 2xRS485 810 CANopen 5485 81O DeviceNet RS485 SSI 610 IOI 105 B RS485 CAN_SHLD 105 Zero setting 102 106 A RS485 CAN V 106 Counting Direction 103 107 B RS485 CAN_GND A Clock GND IO GND IO A RS485 CAN_H GND B RS485 Not used CAN L B Data in A RS485 Not used B Data in 108 A Clock M12 connector sol der terminals WI1008 MI2M8SS1 CVO Out WI1008 MI2M8SSI WII008 MI2MSSSI WI1008 MI2F
86. alog filters in this manual To use the unfiltered values of the inputs for faster updates but with no noise immunity use registers 89 96 instead Analogln page 91 An input voltage of 5 00 Volts corresponds to a register value of 1023 90 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 38 Analogin Description These eight registers hold the unfiltered analog value of each of the eight I Os to 8 Their values are updated approximately every 182 micro seconds To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead AnalogFiltered page 90 An input voltage of 5 00 Volts corresponds to a register value of 1023 9 2 39 Busvol Reg Name Size Access Range Default Unit MacTalk name 97 BUSVOL 16bit R 0 1023 109 mV Bus Voltage Description The supply voltage inside the motor is continually measured and stored in this register This value is the basis for the warnings and errors of Low Bus Voltage and Over Voltage 9 2 40 Min Busvol Reg Name Size Access Range Default Unit MacTalk name 98 MIN_BUSVOL 16bit R W 0 1023 15 109 mV Min Bus Voltage Description Trigger point for under voltage 9 2 41 Encoder_Typ Access MacTalk name ENCODER_TYPE Tooltip on motor 9 2 42 Afzup WriteBits Access Default Unit MacTalk name N A handled on the Filter Setup screen AFZUP_Wr
87. at one program instruction is executed for each pass of the main loop which takes approximately 30 microseconds us without CANopen without serial communications and when the motor is not running The Main Loop Time is termed MLT in the following text A single program line in MacTalk can generate more than one instruction For example assigning a constant value to a register uses two instructions First load the value to the internal stack and then Store from the stack to the target register The above table in sec tion 12 2 reflects this operation The main loop time will vary depending on a number of factors The motor velocity the serial communications speed and load whether CANopen is installed and the CANopen communications speed and load Simply running the motor will load the motor up to 1796 so the MLT becomes 37 Hs at full speed 1023 RPM Serial communications on the RS 485 line can load the motor up to 1 at 19 200 baud which is insignificant but at the maximum baud rate of 921 600 the communications can load the motor up to 4596 which would result in an MLT of 60 us When CANopen firmware is installed the basic MLT will change from 30 to 90 us with no communications When loading the CANbus with communications the MLT can rise significantly For ex ample when using seven transmit PDOs with an event timer value of ms and a CANbus link speed of 500 kbits s the MLT can rise to 150 200 us Also using RS 485 comm
88. ation lt Accept gt No 11h 11h 11h Accept from SMC75 12 6 7 Write to flash This command writes the register values to flash memory The values will then be re tained after a power down The command will only work if the motor is in Safe mode After the command is executed the motor will reset The response will only be trans mitted if the command failed e g if the motor is not in safe mode Controller sends SMC75 response lt WriteFlash gt lt Address gt lt End gt lt Accept gt Block description Block Name Protected Example Description lt WriteFlash gt No 56h 56h 56h Write to flash command lt Address gt Yes 07h F8h Address 7 The address of the SMC75 lt End gt No AAh AAh Command termination lt Accept gt No 11h 11h 11h Accept from SMC75 12 6 8 Reset controller This command resets the SMC75 No response will be transmitted from the SMC75 Controller sends SMC75 response lt Reset gt lt Address gt lt End gt None Block description Block Name Protected Example Description lt Reset gt No 5 h 5 h 57 h Reset command Address Yes 07h F8h Address 7 The address of the SMC75 End No AAh AAh Command termination JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 183 12 6 Serial communication 12 6 9 Group write register Using this command it is possible to write a register in several SMC75s
89. aximum Standby Current normally will be set to 5096 or lower of the maximum current for the actual driver type The only overriding consideration that must be made in the adjustment of motor phase currents is that the thermal output of the mo tor must not exceed the maximum operating temperature of the step motor Standby time 2 mss Mis2322 mis234 Unit Standby Current 0 3000 0 3000 0 3000 mA Running Current 0 3000 0 3000 0 3000 mA Nm If a MIS232 motor is used and the current is set to 3000 mA the motor will be able to deliver a torque of 1 6 Nm at low speed If the current is set to 1000 mA the motor will be able to deliver 0 53Nm See Run Current page 83 for information about Running Current and Standby Current page 84 for information about Standby Current JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 61 62 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 M odes The QuickStep motor offers the following modes of operation Passive motor will be in a completely passive state but communication is active and internal registers can be set up Velocity The motor velocity can be controlled using MacTalk software or by setting register 5 V SOLL using serial or program commands Position The motor position can be controlled using MacTalk software or by setting register 3 P SOLL using serial or pr
90. ce 10 7 18 Wait for a register value before continuing Icon i Dialog Register condition Reg No 10 Actual position Operator x Cancel Value 0 Revs v Function Tests a register in the motor against a specified value and waits until the specified condition is met The value can either be entered as native motor units or can be entered as generic engineering units The dialog above provides an example register no 10 P_IST or Actual position depending on your preference must be less than 0 revolutions before the program will continue The position that the register is tested against can be specified as an integer number of encoder counts or can be specified as a non integer number of revolutions 10 7 19 Save position Icon IDE TS Dialog Save position Position Register 1 5 Register 2 Register 3 Function Saves the current position from register no 10 P IST to one of three locations in the user memory area The saved position s can then be used whenever a position or distance is needed in a move command 128 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programming command reference 10 7 20 Set position Icon amp v Dialog Set position Position v Counts Register 1 Register 3 Function Sets the current position stored in register no 10 IST to one of three
91. ch modes which can be selected from the MacTalk main window or by sending a command via one of the serial interfaces Select the Zero search mode Zero search using this field The selected format will Zero search mode Disabled be used as follows Immediately after ther motor is powered up only the Power up Formats If asearch is initiated via the serial RPM interface Use index after zero search Zero search position 1000 1000 Counts Zero search velocity Zero search Zero search mode Disabled Disabled Power up Sensor type 1 Power up Sensor type qunts Zero search velocity 140 100 RPM Use index after zero Zero search position TT2170GB The menu offers 3 options Disabled default The Zero search is disabled Power up Sensor type Similar to Sensor type but the Zero search will auto matically be started after power up Power up Sensor type 2 Similar to Sensor type 2 but the Zero search will auto matically be started after power up The following sections explain in detail the functionality of the 2 fundamental Zero search modes Starting a Zero search If the Zero search mode is set to Disabled no Zero search is done at any time unless writ ten in a program If one of the 2 modes Power up Sensor type or Sensor type 2 is selected the respective Zero search mode will be executed every time the MIS motor is powered up if no pro gram is started up I
92. city value Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acceleration value specified Register no 49 P1 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the program JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 119 10 7 Graphic programming command reference 10 7 7 M ove Absolute Icon Dialog Move type C Relative Relative velocity change at distance C Relative set outputs General parameters Position 0 Counts Acceleration 0 RPM s Velocity 0 RPM Wait for in position Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Moves to an absolute non relative position The position is given in encoder counts and can either be entered directly or can be taken from one of three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register 6 SOLL will be overwritten with the acceleration value specified If the Wait for in position option is checked the program will wait un
93. completed The default values select 25 data bits 100 kHz and a tl value of 100 us SSI and Mactalk From Mactalk all configurations and settings are accessible Choosing the Advanced Tab gives access to the SSI encoder value and the SSI en coder setup SSI encoder value Command 321 for sample 551 Encoder value 0 Counts SSI Encoder setup Number of Data bits 24 Bits Clock frequency 3 Value Prepare time to Data 150 uS v Disable intr when reading SSI The SSI encoder value is sampled by typing in the 321 into the command field Because of the special timing requirements of the SSI standard it is sometimes required to disable all interrupts in the quickstep processor in order to prevent false encoder data when reading To Disable all interrupts in the processor while reading the encoder value simply check the Disable intr when reading SSI The SSI encoder reading is supported in QuickStep firmware from V2 7 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 39 2 11 SMC75 Connection of motor 2 11 1 Terminate screen only at SMC75 TT2168GB Cabling For SMC75 controllers that supply a phase current in the range 0 to 3 A it is recom mended that 0 5mm cable minimum is used to connect the motor to the controller 0 75mm is recommended Motor cable lengths should not exceed 10 metres because of impedance loss It is possi ble to use long
94. ctory repair If one or more outputs are short circuited MacTalk will show Error Output Driver and Bit2 will be set in Err Bits Section 9 2 25 page 88 30 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 6 SMC75 Special Outputs 2 6 1 Error Output Error output can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register Error Mask Section 9 2 73 page 99 The Driver s Error Output enables a PLC or other equipment in a motion control system to verify that the Driver is functioning correctly Under normal operation the Error Output has a status of logic I but if the Driver is short circuited or the temperature exceeds 85 degrees Centigrade the Output is switched to logic 0 2 6 2 In Position Output In Position Output can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register 137 bit 0 7 InPos Mask Section 9 2 72 page 99 When the motor is running the output will be inactive When the motor is at stand still the output will be active 2 6 3 In Physical Position Output In physical position can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register 137 bit 8 15 InPos Mask Section 9 2 72 page 99 This signal is used together with MIS motors with an internal or external encoder for po sitioning This signal can be selecte
95. current supplied to the motor The applied voltage is regulated by the Controller so that the phase current is adjusted to the selected value In practice this means that if a motor with a large self inductance e g 00mH is used the Controller cannot supply the required phase current at high speeds high rotational frequencies since the output voltage is limited 42 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 12 Handling noise in cables 2 12 1 2 12 2 2 12 3 2 12 4 2 12 5 About noise problems The MIS family of motors eliminates the traditional problems with noise from long motor cables that emit noise and feedback cables that are sensitive to noise from external sources However it is still necessary to be aware of noise problems with communications cables and the 8 general purpose inputs and outputs Whenever a digital signal changes level quickly a noise spike is generated and is trans ferred to the other wires in the same cable and to a lesser degree to wires in other ca bles located close to the cable with the switching signal A typical example is when a digital output from the MIS motor changes from low to high to drive a relay If this digital output signal is transmitted in a multi wire cable together with the RS 485 signals there is a high risk that the RS 485 signal will be affected to the extent that the communication will fail and require software retr
96. d 136 CiA membership 136 Clear errors 53 COB ID 139 152 155 Command 86 Command timing 177 Conditional jump multiple inputs 124 Conditional jump single input 123 Confidence alarms 27 Confidence check 26 Connecting the SMC75 Controller to the CAN bus 140 Connection of motor 41 42 Connection of motor phases 42 Connections Driver 7 MI2 7 MIS23x 14 Motor 41 SMC75 13 Connectors 143 MI2 143 Control voltage 19 Current motor phase current 61 CVI control voltage 19 D Declaration of Conformity 205 Digital inputs 24 Dimensions 192 Direction inputs 23 Download SDO 167 Driver connections 7 05 301 136 149 DS301 specified Communications objects 149 DSP 402 80 DSP 402 136 DSP 402 Support 157 E EDS file 140 EMCY 150 Emergency object 150 Enable and Disable PDOs 151 Encoder outputs 32 Encoder Pos 85 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS231 232 234 207 Index Encoder Type 91 End of travel inputs 23 Enter safe mode 182 Err Bits 30 88 Error acceleration 73 Error Control Services 172 Error handling 73 Error output 31 Error Mask 99 Errors clearing 53 Exit safe mode 183 Ext_Encoder 105 Ext_Encoder Vel 105 F Factors 160 Fbus Baud 105 Fbus Node ld 104 Filtering 26 Filters 43 53 Filters analog input 26 FilterStatus 93 Flash 53 Flwerr 86 Flwerrmax 86 Follow error 73 Fuse dimensioning 19 G Galvanic isolation 22 25 30 G
97. d Step Motors MIS 231 232 234 2 9 Absolute position back up system Additional information saved when position backup is activated Error tracking where the number of times each type of error has occurred since the last reset error operation is remembered together with a timestamp for the last time the er ror occurred The timestamp is in Runseconds Monitoring of total run time in seconds called RunSeconds Counting of the number of times A new PLC program has been saved The motor parameters have been saved 2 9 3 The Flash backup feature support in MacTalk All setup values are accessible from MacTalk Flash Backup Acceptance Count 10000 Times Acceptance count Register 140 Acceptance voltage 0 81 r Volt Acceptance voltage Register 139 Save threshold voltage 0 67 r Volt Save threshold voltage reg 141 Analog Input Selection Disabled Input selection Register 142 Value of P IST after powerup PLIST 0 C Absolute Singleturn Encoder 1 SetupRegister Register 124 C Absolut Multitum Encoder TT2265GB The QuickStep series offers many ways of position control using encoders From firmware V 2 6 SSI standard encoder is supported and linear absolute positioning is pos sible using SSl encoder JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 37 2 10 SS encoder sensor interface 2 10 1 2 10 2 General informa
98. d rate node id and termination of the CAN bus Covers also the wiring of the CAN bus See section 11 2 1 to section 11 2 6 Using CanOpenExplorer See section 11 3 1 to section 11 3 3 Survey of Communication specific objects and manufacturer specific objects in the DS301Istandard Communication objects consist of the general information about the settings in the module while the Manufacturer specific objects consist of the settings of input output and the motor parameters This section also covers the settings of the transmit and receive PDOs the module See section 11 4 1 to section 1 4 6 Survey of objects which are used in the DSP 402 standard See section 11 5 1 to section 11 5 7 Section with more detailed explanations of the CANopen theory particularly DS 301 See section 11 6 1 to section 1 6 7 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 135 11 1 General information about CAN open 11 1 1 11 1 2 11 1 3 Introduction A CanOpen option is available for the SMC75 When this option is installed the SMC75 includes a CANopen slave Through the CANopen slave all the registers of the SMC75 can be accessed The SMC75 implements an object dictionary that follows the CiA DS 301 standard The SMC75 contains a number of statically mapped PDOs that can be used to access the most common registers It also supports the DSP 402 motion profile standard and the m
99. d to be continuously updated and will then indicate if the motor is inside the In Position Window all the time If continuous update of the In Physical Position is not selected and the autocorrection is used this signal is changed after a move and when a check has been made of the posi tion after the settling time between retries if the motor is inside the In Position Win dow In Physical Position Example Actual Position In Position In Phys Position w update w Update IPVV 1 ives nu CWU TrT2206GB See also Auto Correction page 34 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 3l 2 6 SMC75 Special Outputs 2 6 4 2 6 5 Pulse Direction Outputs Any number of the outputs can be configured to follow the pulse and direction signals used internally in the motor This can be used for accurate synchronization of two or more motors See the register description for registers 108 and 109 in PulseDirMask page 94 and Pul seDirMod page 94 Encoder Outputs only from version 2 0 If the motor is equipped with a built in encoder it is possible to obtain the incremental signal and the index pulse out on the user outputs Please note that the voltage typically is 24VDC PNP Therefore a resistor to ground should be connected A 2 channel encoder with 256 pulses revolution will give a total of 1024 pulses revolution If a magnet i
100. dex 1 Velocity encoder factor Numerator 1600 6094 subindex 2 Velocity encoder factor Divisor 1600 Example 2 We have an MIS232 that uses RPM as the internal velocity and the same belt drive as in the above Position factor example We want the user unit of velocity to be in mm s The parameters should be set as follows Velocity encoder factor Numera 60 3 5 389 56 6094 subindex 1 tor 0 53907 6094 subindex 2 Velocity encoder factor Divisor 1 Acceleration factor This factor is used to convert the user unit into the internal unit 9 54 RPM s The factor is adjusted with the object 6097h Example 1 We have an MIS232 with 1600 counts revolution We want the user unit of acceleration to be in RPM s The parameters should be set as follows wm 7 6097 subindex 1 Acceleration encoder factor Numerator 100 6097 subindex 2 Acceleration encoder factor Divisor 954 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 161 11 5 Objects used in the DSP 402 standard 11 5 3 11 5 4 11 5 5 11 5 6 Example 2 We have an MIS232 with 1600 counts revolution and the same belt drive as in the above Position factor example We want the user unit of acceleration to be in mm s2 The parameters should be set as follows Acceleration factor Numera 3 5 60 389 56 6097 subindex 1 tor 0 53907 6097 subindex 2 Acc
101. e Size Access Range Default Unit MacTalk name 102 AFZUP Conf Min 16bit R W 0 1022 0 4 888 mV Confidence Min Description The minimum confidence limits for analog inputs are set and read back using this register in combination with the read and write command registers 100 and 101 If a new raw sample value is less than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of zero in this register will effectively disable the minimum confidence check 9 2 45 Afzup ConfM ax Reg Name Size Access Range Default Unit MacTalk name 103 AFZUP Conf Max 16bit R W 1 1023 1023 4 888 mV Confidence Max Description The maximum confidence limits for analog inputs are set and read back using this register in combination with the read and write command registers 100 and 101 If a new raw sample value is larger than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of 1023 in this register will effectively disable the maximum confidence check 9 2 46 Afzup MaxSlope Reg Name Size Access Range Default Unit MacTalk name 104 AFZUP_Max Slope 16bit R W 2 1023 1023 4 888 mV Max Slope Description The maximum slopes per sample for analog inputs are set and read back using this register in combination with the read and write command registers 100 and 101 If a new raw sample val
102. e adjusted here Here the filter for the shall use filters The same value is used for all inputs if filter TT2183GB digital inputs can be selected inputs are enabled The analogue value of certain inputs can be read Click at the input lamp and the ana logue value will be shown The upper value is the actual value and the lower value the filtered value 56 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 5 1 Using the MacTalk software 5 1 6 Register Screen 5 MacTalk Noname Ele Motor Programming Setup Updates Heb G W lt gt a 2 Q e Open Save Save Reset position Clearerrors setup STOP Motor COM scan Main 1 0 Setup Registers Advanced Tests Scope Progamming Status Y Positions V Acceleration Motor status Postion 1 3 Acceleration 1 AT 250 Actual mode Actual velocity Position 2 P2 s Acceletaion 2 A2 2 Actual position Run Status Position 3 P3 Acceleration 3 A3 ibas Postion 4 P4 s Acceleration 4 Aa Postion 5 PS V Ruming owents Cuert 1 T1 Position 3 Bus voltage Pe 25 Vols mer 2 T2 ri M Postion 7 P7 Ommaga Temperature 5 Poston 8 PS EQ Inputs 87654321 00Vot Y Velocities 0 01 Volts Velocity 1 1 aol E ares 4321 Velocky 22 Entemal Encoder 0 Counts Velocty INI 2 Enlem Encoder Velocity 0 Counts Velocity 4 4 E Velocity 5 5
103. e application objects Data type and mapping of application objects into a PDO are determined by a corresponding PDO mapping structure within the Device object Dictionary The number and length of PDOs of a device are application specific and must be specified within the device profile Write PDO service The Write PDO service is unacknowledged A PDO producer sends its PDO to the PDO consumer There can be 0 or more consumers in the network For receive PDOs the SMC75 Controller is the consumer and for Transmit PDOs the producer The following figure shows a Write PDO service PDO Producer PDO Consumers Request 0 L 0 8 Proces data Indication TT1086GB 166 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 6 More details of CAN Open Theory 11 6 4 Read PDO service The read PDO service is an acknowledged service One of the several PDO consumers send an RTR message to the network After it has received the RTR message the PDO producer sends the requested PDO This service is used for RTR queries Using this serv ice an actual value can be interrogated independently of the selected cycle time The fol lowing figure shows a read PDO service PDO Producer PDO Consumers Indication Request Response Confirmation Proces data TT1087GB PDO identifier In the CAN Open profile it is only possible to have four transmit and four receive PDOs enabled at th
104. e bus at the same time an arbitra tion process allocates each participant the bus access right in line with the priority of the message they want to send at that particular moment Each participant can therefore communicate directly with every other participant As the transmission of a message can be initiated by the message source itself then in the case of event controlled transmis sion of messages the bus is only occupied when a new message is on hand No loss bus arbitration As the bus is accessed at random under the CAN protocol it is possible that several par ticipants try to occupy the bus at the same time In other random bus access routines this causes the destruction of suppressed messages In order to solve such a bus access conflict a repeated occupation of the bus is required using an appropriate triggering strategy The CAN protocol therefore deploys a routine to ensure that the message with the highest priority at any given time is sent without any destruction of message contents Short block length The maximum data length of a CAN message is limited to 8 bytes This data length is usu ally sufficient to transmit the information occurring in the lowest field area in a CAN mes sage Header A CAN message transmits the communications object and a variety of management and control information The management and control information bits are used to ensure error free data transmission and are automatically removed from th
105. e limitation is in effect the result will keep a constant slope even when using a filter When the slope limitation is no longer in effect the filter will cause the value to approach the final result more slowly as it approaches the result Confidence Min 0 Confidence Max 500 Max Slope 10 Filter 8 Old filtered value 0 Sample 100 Confidence OK slope limit to 0 10 10 result 10 8 64 0 56 64 1 25 units Sample 2 100 Confidence OK slope limit to 1 25 10 11 25 result 1 25 8 64 1 25 56 64 2 5 units Sample 3 100 Confidence OK slope limit to 2 5 10 12 5 result 12 5 8 64 2 5 56 64 3 75 units Sample 4 800 Confidence error keep old value result 3 75 units and so on until the result gets 95 0 units Sample 78 100 Confidence OK no slope limitation needed result 100 8 64 95 56 64 95 625 units Sample 79 100 Confidence OK no slope limitation needed result 100 8 64 95 625 56 64 96 171875 units Sample 80 100 Confidence OK no slope limitation needed result 00 8 64 96 171875 56 64 96 65 units Sample 81 100 Confidence OK no slope limitation needed result 00 8 64 96 65 56 64 97 07 units JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 27 2 4 SMC75 Analogue Inputs Sample 82 100 Confidence OK no slope limitation needed result 100 8 64 97 07 56
106. e received message and inserted before a message is sent A simplified CANopen message could be as in the figure below 11 bit Header Data frame TT1093GB The two bit fields Header and Data form the simplified CANopen message The l bit Header is also designated as the identifier or as the COB ID Communication Object identifier 138 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 1 General information about CAN open JVL uses the bit format type CAN A but not the 29 bit format type CAN B The COB ID carries out two tasks for the controller communications object Busarbitration Specification of transmission priorities ldentification of communications objects The COB ID comprises two sections Function code 4 bits in size 0 15 Node address Node ID 7 bits in size 0 127 The function code classifies the communications objects and controls the transmission priorities Objects with a small function code are transmitted with high priority For ex ample in the case of simultaneous bus access an object with the function code before an object with the function code 3 Node address is sent Every device is configured before network operation with a unique 7 bit long node ad dress between and 127 The device address 0 is reserved for broadcast transmis sions in which messages are sent
107. e same time In the SMC75 controller all PDOs are disabled when the mod ule is booted up The user must choose which PDOs the application will use and enable these The PDO configuration can be seen either in the EDS file or in the CanOpen Explorer program where the communication and the mapping parameters are shown There are two standard methods to map the PDOs in CANopen static mapping and dy namic mapping In static PDO mapping all PDOs are mapped in accordance with some fixed non modifiable setting in the relevant PDO In dynamic PDO mapping the setting of a PDO can be modified It is also allowable to have a flexible combination of different process data during operation The SMC75 controller uses only static mapping SDO Service Data Objects SDO can access all entries in the object directory but they are normally used in the ini tialization during the boot up procedure Some SDOs characteristics are Confirmed transfer of objects Data transfer exchange is always non synchronous Values greater than 4 bytes are transferred Normal transfer Values not more than 4 bytes are transferred Expedited transfer Basically an SDO is transferred as a sequence of segments Prior to transferring the seg ment there is an initialization phase where client and server prepare themselves for transferring the segment For SDOs it is also possible to transfer a dataset of up to four bytes during the initialisation phase This mecha
108. e second rising edge of the Clock 2 the first data bit is read from the Data line Shortly after reading the bit value the SMC75 will set the Clock high and execute another cycle where the data bit is sampled just before each rising Clock After the last data bit has been sampled the Clock stays high The following parameters can be set up in the SMC75 registers Register 107 SSI Setupl 16 bits The low byte selects the number of data bits in each SSI transfer The valid range is 0 to 31 corresponding to to 32 data bits The high byte selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Register I 11 SSI Setup2 16 bits The low byte selects the prepare time in micro sec onds at the start of an SSI transfer corresponding to tl in the figure The valid range is 0 255 corresponding to 256 micro seconds The High byte is not currently used but is reserved for the minimum waiting time between reads 38 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 10 SS encoder sensor interface Register 47 551 Data 32 bits The data from the last SSI transfer are placed at the low bits in this register The high bits are always set to zero Register 24 Command 16 bits Write a value of 321 decimal to this register to per form a single SSI read operation This register will automatically be set to zero after the command has
109. e transferred or stored to the application 0800 0021h Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device 0800 0022h state Object dictionary dynamic generation fails or no object dictionary is present e g object 0800 0023h dictionary is generated from file and generation fails because of a file error 11 6 5 SYNC Synchronisation Object A SYNC producer sends the synchronization object cyclically a broadcast telegram The SYNC telegram defines the basic clock cycle of the network The time interval of the SYNC telegram is set using the object Communication Cycle period 1006h In order to obtain a precise accurate cycle between the SYNC signals the SYNC telegram is sent with a high priority identifier This can be modified using the object 1005h The SYNC transfer applies the producer consumer push model and is non confirmed SYNC Producer SYNC Consumers Request NE 3 Indication TTIO9IGB The SYNC does not carry any data L 0 The identifier of the SYNC object is located at object 1005h 170 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 6 More details of CANOpen Theory 11 6 6 NMT Network Management services The Network Management is structured according to nodes and follows a master slave structure NMT objects are used for
110. e version 2 MI MI2 2pcs 5pin male power 8 pin female RS485 4IOA SMC75 M2 MI2 2 pcs 5 pin male power 8 pin female RS485 4IOA SMC75 2 3 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 SMC75 M12 3 pcs 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial 5 8 SMC75 male Device SMC75 WI PGI6 and 2m cable Flying leads with shield No fieldbus default Only PCB Fieldbus CANopen Only PCB Fieldbus DeviceNet Only PCB M5 M124 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 8 pin female 5V serial IOA M6 MI2 4 pcs CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin M7 MI2 4 pcs DeviceNet 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin HI Magnetic encoder chip H2 Magnetic encoder chip2 mounted 256 4 1024 counts AS5040 SMC 75 1 M4 HI Examples SMC75 A Steppermotor controller only PCB No housing and encoder chip SMC75 A AC Steppermotor controller only PCB CANopen No housing and encoder chip SMC75 A AA H2 Stepper motor controller only PCB with magnetic encoder chip type H2 mounted No housing SMC75 A AC H2 Stepper motor controller only PCB with Fieldbus CANopen and magnetic encoder chip type H2 SMC75 A M7 Stepper motor controller in a box with connector M7 and CANop
111. each wire is shielded from the other wires in the cable should be used This is typically done using a metal foil wrapped around each wire These types of cables are more expensive but the overall cost and noise immunity requirements may justify the solution instead of splitting cables Use simple shielding Using cables with only a single shield shared by all the signal wires will also improve noise problems to some degree but will not guarantee completely stable operation for mixed signal cables If a cable carries only RS 485 or only digital I O this simple and inexpensive form of shielding is recommended 44 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 13 Quick Start SM 75 1 LF 2 Sep maor 54 pin male 5 pin female XA 155 5 8 pin female 8 CVO Loo le 101 bue yellow 2 13 1 Getting started with the SM C75A1M MacTalk 1 Connect the cables and Power supply as shown above Use RS485 M12 1 5 5 cable if the PC has RS485 interface or use the converter RS485 USB ATC 820 if the PC has a USB interface Please note that other models use an 8 pin female connector and therefore use RS485 M 2 1 5 8 cable 2 Switch on the SMC75 3 Start MacTalk and wait 5 seconds until it automatically is connected to the motor If no connection occurs check the serial cab
112. ear mode 67 GEARI 10 63 82 85 GEAR2 10 63 82 85 GND 143 Ground 22 Grounding 143 Grounding power supply 19 Group write register 184 Group Id 102 Group Seq 102 H Hardware Rev 103 Heartbeat 172 173 Home input 24 Home sensor 70 Home Bits 96 Homemode 89 Homing mode 162 In physical position output 31 In position output 31 Index_Offset 96 Indexer SMI30 199 Inpos Mask 99 Input_Filter_Cnt 99 Input Filter Mask 99 Inputs 86 Analogue 25 Digital 24 End of travel 23 Home 24 SMC75 21 Step pulse and direction 23 User inputs 22 Interface RS485 49 Serial 47 losetup 86 96 IP67 143 J Jump 123 Jump according to a comparison 134 Jump according to a register in the MAC motor 127 Jumps 123 124 127 134 L Life Guarding 172 M MI2 143 2 connector 7 23 01 204 23 02 204 MACOO BI B4 198 MacTalk 51 52 56 59 Main Loop Time 178 Max P Ist 87 Max Voltage 103 Min bus voltage 73 Min Busvol 91 Min P Ist 87 Ministeps 12 MIS23x connections 14 MLT 178 MODE_REG 152 155 Mode Reg 24 81 147 152 155 Modes of operation 10 63 116 162 Gear mode 67 Passive mode 64 Positioning mode 66 Velocity mode 65 Zero search mode 68 72 Motor Connection 41 42 Motor Connections 179 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 800 208 Index Motor phase current 61 MotorPhases 41 Motortype 103 Move Absolute 120 Move Relative set outputs 119 Move Re
113. ed Reserved Res Res Object 2014h sub 19 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 155 11 4 Objects in the DS301 standard 11 4 10 Beckhoff transmit PDO setup Transmit PDO With this PDO the actual position can be read Byte jo 11 2 1 5 16 Data P IST V IST Motor error Object 2012h sub 10 2014h sub 12 2014h sub 35 Transmit PDO 2 With this PDO the value of the analog inputs 4 can be read Bye B Data ANALOG1 ANALOG2 ANALOG3 ANALOG4 Object 2014h sub 89 2014h sub 90 2014h sub 91 2014h sub 92 Transmit PDO 3 With this PDO the value of the analog inputs 4 8 can be read Bye B p Data ANALOGS ANALOG6 ANALOG7 ANALOG8 Object 2014h sub 93 2014h sub 94 2014h sub 95 2014h sub 96 Transmit PDO 4 With this PDO the actual velocity can be read V IST Reserved Reserved User selectable 16 bit User selectable 32 bit register exc 2014h sub 18 register exc ENCODER POS STATUSBITS register16 register 25 156 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 5 Objects used in the DSP 402 standard 11 5 1 DSP 402 Support Introduction The SMC75 supports the DSP 402 standard from CiA http www can cia com Please refer to this standard for details of the functions The DSP 402 is only a
114. ed Step Motors MIS 231 232 234 RS485 Interface 4 1 1 RS485 General description when using a QuickStep motor The RS485 interface offers more noise immune commu nication compared to the RS232 interface Up to 32 RS485 network with 1 x QuickStep 1 x MAC140 and 1 x MAC800 mounted with MACOO B1 B2 or B4 modules Central Make sure that all motors can be connected to involved units are Power supply connected to the same the same interface bus for example PC potentia 282 Opto isolation E gt When connecting the 5485 AE interface to a central control ler the following rules must Exe ed be followed F QuickStep motor or SMC75 Controller q Use twisted pair cable CH 5485 2 Use shielded cable Interface P 3 Make sure that the GND is ups also connected 4 Ensure that all units have a proper connection to safety ground earth in order to refer to the same potential Address 2 5 The last unit in each end of RS485 the network must be termi Interface nated with a 120 Ohm re N sistor between A and B Supply Control voltage 6 Ensure that the supply lines Oniy MACSO ng B2 or B4 Optional are made individually in or der to reduce the voltage drop between the motors MAC800 7 Central Controller RS485 interface If available it is strongly rec p mene ommended a type with op tical isolation is u
115. ed for an input to be activated Note that CVO is available as CVI on the I O connectors This provides the facility that local sensors can be supplied directly from the controller 2 3 2 Connection of NPN Output If an Input is connected to an NPN output a Pull Up resistor must be connected be tween the Input and the supply See the illustration above The value of the resistance used depends on the supply voltage The following resistances are recommended Supply Voltage Recommended Resistance R 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W 22 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 3 SMC75 User Inputs 2 3 3 End of Travel Limit Inputs General Any of the 8 inputs can be used as limit inputs The input can be set from MacTalk or via register NL Mask page 97 or PL Mask page 98 Positive limit PL Activation of the Positive limit PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Negative limit NL Activation of the Negative limit NL Input will halt motor operation if the motor is mov ing in a negative direction The motor can however operate in a positive direction even if the NL Input is activated A bit will be set in the Controller s warning register if either the NL or PL Inputs has been activated or are act
116. eeeseseseeseeeeeeeee nne neenn ente netnetnetnetn enne tette enne tne nn eterne tne 6 Features positioning speed control SMC75 sessesesseeeseeeseeeeene eee nente nennen nenne 8 General description E P 10 Step Motor Controller SM Z5 o Bess debere ret eere ette tee tnr oid ene 12 SMC75 Controller connections sisses orgs 13 Connections SMC75 17 Power Supply SMC 75 iter eo RH EE REPORT BOOUB UE ae URS 18 NMIeTEMD cse 21 SMG75 User Inp tS EE 22 5 75 Inputs aa 5i aeieea e e a Eaa nigris desee og Ea ESTAS 25 SMC75S User Outputs ssiri 29 Mi eyeEenI ariRelfutp MM 3l Special connectioris ER OO es ipee esee er e Pee HR RISO ERR ERR 33 Auto Gorrectioni be erae dts ere Ere eva repos ve ente ee eee eese te eee Reina diee eR TEAN 34 Absolute position back up system esee eene nete nennen nenne 35 SSl encoder sensor interface tren re teg LEA E ERE ettet ee na oaa e E Per Eur eda 38 SMG75 henseae 40 Handling noise in cables ax re a UI Ene aX 43 LO TI eS aS Dd GrP MXAA
117. eleration factor Divisor 9 54 Changing operation mode Change of operation mode is only possible when the operation mode is not enabled There is one exception and that is when changing from homing mode to profile position mode This is possible when the homing sequence is completed and can be done even though the operation mode is enabled Profile position mode This mode can be used for positioning in which a move profile can be set up The accel eration and maximum velocity can be programmed In this mode both absolute and relative movement is supported This is selected using bit 6 abs rel in the status word It is also possible to select different movement modes This is done with bit 5 change set immediately in the status word When this bit is 0 and a move is in progress the new set point is accepted but the new set point and profile are not activated until the previous movement is finished When this bit is the new set point is activated instantly and the motor will move to the new position with the new profile parameters Velocity mode In this mode the motor runs at a selected velocity A new velocity can be selected and the motor will then accelerate decelerate to this velocity The maximum slippage error is not supported in this mode Homing mode Using this mode different homing sequences can be initiated The standard homing modes from 34 are supported Before starting the homing the inputs must be config
118. elocity registers are referred to as VI V8 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 9 2 35 An Reg Name Size Access Range Default Unit MacTalk name 73 76 An 16bit R W 1 65535 131 9 54 RPM s2 Acceleration n An Description These four general purpose Acceleration registers are referred to as Al A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 9 2 36 Tn Reg Name Size Access Range Default Unit MacTalk name 77 80 Tn 16bit R W 0 511 511 5 87 mA Current n Tn Description These four general purpose Torque registers are referred to as Tl T4 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands They select the current in the motor windings used during movement 9 2 37 AnalogFiltered Reg Name Size Access Range Default Unit MacTalk name 81 88 AnalogFiltered 16bit R 0 1023 0 4 888mV N A Description These eight registers hold the software filtered analog value of each of the eight I Os 1 1 to IO 8 Their values are updated every ten milliseconds See the AFZUP xx reg isters 100 106 for the filter parameters Important Also read the section on An
119. en and DeviceNet Stepper motor controller in a box with connector M7 and CANopen and magnetic SMC75 A HI sensor JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 187 12 SM C75 Ordering Information QuickStep MST motor selection chart MST Stepper motor with housing but without electronics IP55 230 NEMA23 Stepper motor 23 NEMA23 Stepper motor 232 NEMA23 Stepper motor 234 NEMA23 Stepper motor 340 NEMA23 Stepper motor Future option 341 NEMA23 Stepper motor Future option 342 NEMA23 Stepper motor Future option A For 3Amp driver controller B For 6 Amp driver controller C For 9 or 12 Amp driver controller 6 35mm shaft and IP42 2 6 35mm shaft and IP55 motor shaft and body IP65 Rear end and connector 3 10 0mm shaft and IP42 4 10 0mm shaft and IP55 motor shaft and body IP65 Rear end and connector 5 4mm shaft and IP42 6 4mm shaft and IP55 motor shaft and body IP65 Rear end and connector 3 Motor type MI 12 connector WO 16 and no cable WI PGI6 and 2m cable MST 232 3 MI Examples MST 232A 3 Stepper motor NEMA23 with housing MST 234 A 3 3 MI Stepper motor NEMA23 with housing MST 340 B 5 3 WI Stepper motor NEMA34 with housing 188 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 13 MIS Motor Technical Data Supply Voltage
120. eneral setting Velocity in MacTalk under Profile data Zero search in progress velocity etc depends on the actual zero search mode y Time Zero search t After the basic zero search has t Actual position counter started been done the actual position counter is now zero position 0 is set to the value specified in the Zero search complete Zero search position register Zero search Zero search mode Power up Sensof ty v Zero search position 1000 1000 Counts Zero search velocity 140 140 RPM TT2171GB Ensure several tests are made to ensure the white dot is located in the acceptable interval each time JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 71 7 5 Zero search modes Example Zero search velocity 128 rpm Zero search position 10000 counts Position before zero search Sensor Type 2 X 128 rpm a x Actual position zero search position 2mm Max Velocity 7 5 8 Zero search with index pulse Zero search velocity uu pulse Index pulse range amp 1 rev of motor mos If the MIS motor is equipped with an encoder it is also possible to use the index pulse of the encoder This gives a much more precise zero position than just running for a sensor The accuracy of the sensor signal depends on how far the sensor is located away from the measuring item and on the velocity The
121. er cables but motor performance will decrease Cables should be securely connected since a poor connection can cause heating and de struction of the connector Similarly tinned conductors should be avoided Important To minimise spurious noise emission from the motor cables and to fulfil CE require ments shielded cable must be used If shielded cable is not used other electronic equipment in the vicinity may be adversely affected The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector Note also that the connector s life time is reduced by repeated connecting disconnecting since the contact resistance of the pins is increased Note that P is connected to the chassis and functions as the main ground on the Con troller See also Motor Connections Section 12 4 page 179 which describes how various models of motor should be connected to the Controller 40 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 11 SMC75 Connection of motor Serial connection of phases Velocity Current for Serial or Parallel connection Maximum current settting Example motor 4 2A Motor 4 phase 1 1 41 4 2 1 41 5 9 parallel Motor 1 4 ETT serial T Motor 2 phase 2 Nominal current per phase in accordance with manufacturer s specifications T
122. essage types have higher priority and are sent first for time critical applications New devices can easily be inte grated on an existing bus without the need to reconfigure the entire network The de vices are connected through a 2 wire bus cable with ground and data is transmitted serially 136 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 1 General information about CAN open Terminator Terminator CAN H CAN Node CAN Node CAN Node master slave slave CAN network CAN_L 1 926 11 1 4 CANopen general information CANopen is a CAN based higher level protocol The purpose of CANopen is to give an understandable and unique behaviour on the CAN network The CAN network is the hardware level of the system and CANopen is the software level CANopen is based on the communication profile described in CiA 05 301 and specifies all of the basic com munication mechanisms CiA 05 30 1 message types on the lowest software level The DSP 402 CAN open standard defines the device profile and the functional behaviour for servo drive controllers frequency inverters and stepper motors The DSP 402 constitutes a higher software level and it uses the 05 301 communication but makes the device independ ent of the manufacturer Not all JVL functionality is available The CANbus with real time capabilities works in accordance with the ISO 1898 stand a
123. essing the load button Note that the EDS view large centre left panel will add the new file at the bottom but will not clear any existing file s that are loaded Normal operation will be to select an object in the EDS view pane and press either R for read or W for write Pressing R should read the value successful if no error pops up Pressing W for write will pop up a small window in which the present value is displayed in both decimal and hex It is then possible to write a new value either in decimal or hex using a Ox prefix such as 0x185 to enable the first TPDO on node 5 by clearing the high bit If the Add to list checkbox is checked the object will be added to the user SDO list as a write SDO Pressing A performs a read and adds it to the user SDO list pane low er right as a read SDO The SDOs in the user SDO pane can be rearranged by dragging them with the mouse Double clicking on a user SDO list will execute the operation either reading or writing The bus state can be changed using the NMT buttons lower left e g to Operational to enable PDOs JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 147 11 3 Using CanOpenExplorer The button Read User SDOs will read all of the R type objects in the user SDO list This is useful for updating a large number of values in the EDS view The button Write User SDOs will write all of the W type objects in the user SDO list This is u
124. est torque per formance of the motor at high speeds For optimum performance it is recommended that a capacitance of minimum OOQUF is connected to the power supply It should be mounted as close as possible to the motor Similarly it is recommended that 0 75mm cable is used to connect the power supply to the Controller If the Controller supply voltage falls below OV the internal reset circuitry will reset the driver Provision should therefore be made to ensure that the supply volt age is always maintained at a minimum of 12 even in the event of a mains voltage drop The Controller is protected against incorrect polarity connection but not over voltage Warning Power supply voltage higher than 50VDC will damage the controller 18 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 4 Power Supply SMC75 2 1 3 Control Voltage CVI The control voltage should be in the rangel 2 28VDC and is used to supply the micro processor circuit and the user output driver This input is used as supply to the microprocessor encoder and output driver To ensure that position and parameters are maintained after an emergency stop the control voltage should be maintained under the emergency stop Warning Control voltage higher than 30VDC will damage the controller CV current vs voltage t 30 35 CV voltage V TT2294GB 2 1 4 Power Supply Grou
125. executing NMT services Through NMT services nodes are initialised started monitored reset or stopped All nodes are regarded as NMT slaves An NMT slave is uniquely identified in the network by its Node ID NMT requires that one device in the network fulfils the function of the NMT master The NMT master controls the state of the NMT slaves The state attribute is one of the values Stopped Pre operational Operational Initialising The module control services can be performed with a certain node or with all nodes simultaneously The NMT master con trols its own NMT state machine via local services which are implementation dependent The Module Control Service except Start Remote Node can be initiated by the local ap plication A general NMT protocol NMT master NMT Slave s 0 l 2 CS Node ID Request Indication COB ID 0 Indication Indication TT1082GB Where CS is the NMT command specified The Node ID of the NMT slave is assigned by the NMT master in the Node Connect protocol or 0 If 0 the protocol addresses all NMT slaves Operation 1 Start Remote Node 2 Stop Remote Node 128 Enter Pre Operational 129 Reset Node 130 Reset Communication Start Remote Node This is an instruction for transition from the Pre Operational to Operational communi cations state The drive can only send and receive process data when it is in the Opera tional state Stop Remote Node This is an instruction
126. f a program has been made and is running the Zero search command must be executed within the program to execute a Zero search The MIS motor s zero search facility is very flexible The inputs for reference and limit switches must be set up correctly before use The active levels must also be set up correctly 68 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 7 5 Zero search modes 7 5 3 I O Set Up Scope Prog amereng Dede stated irp Home ret Negare Lem neat Postre Lint eos E stema E nc oxdes Dect stated Output In postor Eno iros Fee Input fiber time 1 Er 02 Er 03 En 4 Er 05 Er O6 Er Fitec Er Er TT2290GB Important information Each of the 8 pins can be defined as inputs or outputs The ac tive digital input level for each input is also defined in the above screen Furthermore it is possible to set up a filter for each input to avoid noise interfering with the program The inputs for Home Negative Limit and Positive Limit and outputs for In Position and Error are also selected here If an external encoder is used it must be enabled here 7 5 4 Advanced Zero Search Change direction on position limit Find opposite side of sensor Use position limit input as sensor Ignore switch TT2292GB There are several ways to perform a Zero search Start from both sides of the reference sensor in a
127. ference can either be set to an integer number of encoder counts or it can be set to a non integer number of revolutions 10 7 17 Jump according to a register in the MAC motor Icon 2 x Dialog Register condition amp Reg No 10 Actual position Operator Equal v Cancel Value 0 v Function Tests a register in the motor against a specified value before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program The value can either be entered as native motor units or it can be entered as generic engineering units The dialog above provides an example register no 10 P_IST or Actual position depending on your preference must be equal to 0 revolutions if the jump is to be executed The position that the register is tested against can be specified as an integer number of encoder counts or can be specified as a non integer number of revolutions After pressing the OK button the dialog will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 127 10 7 Graphic programming command referen
128. from CViLux Crimp contact 50079 8000 x 10 Housing 10 pin 51021 1000 x 1 or CViLux Crimp contact Cl44T011PEO x 10 Housing 10 pin Cl4410 SOOO x 1 Recommended connector Molex or equivalent from CViLux CViLux Housing Crimp terminals contact 50079 8000 x 6 Crimp contact CIAATO11PEO x6 Molex 09 91 0300 Molex 08 50 106 Housing 6 pin 51021 0600 x 1 Housing 6 pin Cl4406 SO00 x 1 Nylon UL94 40 Pitch 3 96mm The figure below shows the generation 2 connector for future or special purposes Please contact JVL for further information Generation 2 interface User I O Devicenet sense Encoder outputs SQPOFQ 36S2 B 1 Plastron Precision co Ltd Female header TT2221GB JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 13 1 5 SM C75 Controller connections 1 5 2 MIS23x M12 connections MI2 connectors 5 pin female 5 pin male PWR 5 pin male RS485 5 pin female VO1 4 8 pin female VOS 8 8pin female Shield 5 pole connector 8 pole connector Pin no Colour Pin no Colour White Brown Green Yellow Grey Pink Blue Red COIN o0 OH Colour code for standard cables 14 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 1 5 SMC75 Controller connections MIS23xAZM2yy75 RS485 seri
129. ge of this register is UNSIGNED32 The PDOs are enabled when bit 31 is 0 and is disabled when bit 31 is 1 11 4 5 Receive PDOs The PDO 1 20 are reserved for use with DSP 402 The following receive PDOs are available Receive PDO 21 This PDO can be used to update the position velocity and acceleration The data in the PDO is written directly to the position register and if the motor is in position mode it will start moving to that position JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 151 11 4 Objects in the DS301 standard The table below shows default values of the COB ID Type Description Default Receive COB ID Nodeid 0x80000200 Transmit COB ID Nodeid 0x80000180 Receive Nodeid 0x80000300 Transmit Nodeid 0x80000280 Receive Nodeid 0x80000400 Transmit Nodeid 0x80000380 Receive Nodeid 0x80000500 Transmit Nodeid 0x80000480 Transmit Nodeid 0x80000480 Byte 0 11 2 J3 J4 5 6 j 7 Data P SOLL V SOLL A SOLL Object 2012h sub 3 2014h sub 5 2014h sub 6 Receive PDO 22 With this PDO it is possible to update the running current and operating mode Byte 0 Ji 2 ds J4 15 16 7 Data RUN_CURRENT MODE_REG Object 2014h sub 7 2014h sub 2 Receive PDO 23 This PDO can be used to issue a Motor command Bye o bepp Data Motor Command Reserved Reserved Reserved Res Res Res Object 2014h sub 24
130. h motor is communicated with JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 53 5 1 Using the MacTalk software 5 1 3 Saving or opening a setup file to from disc The complete motor setup can be saved to disc or opened from disc and transferred to the motor The setup files can be saved anywhere Offline on the hard disc a floppy disc Saving and opening a file over a net work is also possible ed The setup files use the extension MAC By default the setup filesare saved the same directory which MacTalk itself is also installed cae Other directories can be selected 3 Demo2 MAC 4 Demo1 MAC Exit case velocity ge In case a motor is present and a disc file is opened the user is prompted for keeping the connection or going offline and displaying the file content The following message box appears Warning The selected Filedata is about to be transfered to the motor and existing user data in the motor will be overwritten Continue with transfer Transfers Data to the motor Going off line and displays and displays the data in the data in MacTalk MacTalk afterwards If the user decides to go offline the following textbox is presented Information The motor will now be disconnected and the userdata can be edited without changes in the motor Pressing OK disconnects the motor from the PC application and all data can be edited without any interru
131. hat is used setup using register 142 Due to the HW variation on inputs different threshold values must be used The follow ing table will indicate which values to be used in combination with which input that is used For IOI1 IO8 Filtered or Nonfiltered an analog voltage of 0 5V is sampled Anything above this will result in a 5V reading IOI IO8 5V 1023 Counts For Bus voltage and the CVI selection the scaling is as follows 1023 111 2 in theory so 48V 441 6 appx due to component tolerances etc Please observe that CVI measurements are only available from HW Rev 7 and up The HW rev can be observed in the tooltip over the motor displayed in MacTalk 9 2 75 Acceptance count Reg Name Size Access Range Default Unit MacTalk name 140 AcceptanceCount 16bit R W 16bit 10000 Acceptance Count Description Acceptance Count selects the number of times the Acceptance Voltage must be meas ured after power up before the flash erase operation is started When using values 8 or 12 for register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds The flash memory sector holding the absolute position information is erased at startup to save critical time when the absolute information is about to be saved to flash memory again This register selects when to consider the startup as completed and supply voltage as sta ble 100 JVL Industri Elektronik A S
132. hing that can be done with SMC75 programs can be done with a binary command If special needs arise that are not covered by the other commands contact JVL for assistance JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 131 10 7 Graphic programming command reference 10 7 25 Calculator basic Icon Dialog Velocity Reg 5 Velocity Reg 5 1 Basic Options Debug 69 Velocity Reg 5 v 69 velocity Reg 5 1 m z z E zl ma Function Performs a calculation using register values constants and the four basic arithmetic operations and The result is stored in a register Arithmetic operations take place in the order that they are specified Operands arguments can be either integer constants or registers The caption of the dialog box shows the resulting expression in traditional infix format It is continuously updated as you type in the expression Note that if you write a value to a register using this command that value is always measured in native motor units Conversion from generic engineering units is only supported for the commands Set a register in the MAC motor Jump according to a register in the MAC motor and Wait for a register value before continuing 132 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programmi
133. ies If communication is used during operation and operation includes either digital input sig nals or digital output signals some precautions must be taken to avoid noise problems The following sections describe a number of measures which can be taken to solve noise problems In most installations no special measures will be required but if noise prob lems are experienced and or must be avoided it is highly recommended the instruc tions below are followed Use short cables The shorter a cable is the less noise problems it will induce Be sure to keep the cables as short as possible Instead of curling up the cables cut them off at the minimum re quired length Use separate cables Avoid running digital signals in the same multi wire cables as RS 485 communication sig nals On some models of the MIS motors the same connector contains both RS 485 signals and I O signals typically the I Os 1 4 In many applications far from all inputs and outputs are used If only up to four I Os are required consider using only I Os 5 8 which are typically available via another connector on the motor Use filters If more than 4 I Os are needed consider using I Os 1 4 for inputs and I Os 5 8 for out puts It is normally possible to install a hardware filter on the digital input signals before they enter the cable With such a good filter noise on the RS 485 signals will not be a problem It is also possible to use filters on
134. il the motor has counted 20000 Encoder puls es If you want to stop the motor then click on sub register 0x02 and write 0 in the win dow and the motor will switch to passive mode If using other software the test could be described as using object 2012h Sub register Operation Set up the motor in position mode V SOLL 16 bit Sets up the desired velocity The motor rotates the P SOLL 32 bit desired numbers of encoder pulses Mode Reg 16 bit Sets the motor Mode Reg 16bit to passive mode Returning the motor with higher velocity Set up the motor in position mode V_SOLL 16 bit Sets up the desired velocity The motor rotates the desired numbers of Steps Mode_Reg 16 bit P_SOLL 32 bit Sets the motor in passive mode Mode_Reg 16 bit 11 3 3 How to use CanOpenexplorer After startup the name and details of the HW interface such as PCAN_USB should ap pear upper left When you turn on a motor CAN node after having started CanOpenexplorer the Data Window large centre right will contain a message with the number 0x7xx where xx is the node ID For example 0x704 will indicate node 4 Set the Node ID field top centre to that value 4 Ensure that the correct EDS file is loaded The program loads a hard coded default file either smc75 eds or mac00 fc eds It is also possible to load another EDS file by writing the file name in the EDS file field top centre and pr
135. ill use MacTalk to handle sampling 9 2 55 Rec Cnt Reg Name Size Access Range Default Unit MacTalk name 116 REC_CNT 16bit R W 0 N A Description This value specifies the number of samples to take for each of the sampled registers selected in registers 112 115 This value must never be set larger than the value in the read only register 19 Sampling will stop automatically after the specified number of samples has been taken 9 2 56 S Time Reg Name Size Access Range Default Unit MacTalk name 117 S TIME 16bit R W 1 N A Description This value selects the time in milliseconds between samples of the registers selected in registers 112 115 9 2 57 S Control Reg Name Size Access Range Default Unit MacTalk name 118 S CONTROL 16bit R W 0 NA Description This value controls the sample system It can assume three different values A value of zero is set by the firmware after all sampling has completed A value of one will initialize the sample system A value of two will start a new sample sequence and set this register to zero at comple tion The sampled values are read back using the command hex 53 SMC75 READSAMPLE 9 2 58 Buf Size Reg Name Size Access Range Default Unit MacTalk name 119 BUF_SIZE 16bit R N A Description This read only register contains the maximum length of the sample buffers used to sam ple the registers selected in registers 112 115 Register 16 shou
136. in PDO22 or PDO4 98 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 70 Input Filter Mask Access Default Unit MacTalk name INPUT FILTER IOx digital input fil MASK R W 0 IO Mask ter enabled Description This register controls filtering of each of the eight IO pins that are used as digital inputs If the bit corresponding to the input number is set in this register the input value will be filtered to a new logical level is only accepted after that level has been measured on the hardware pin for the number of milliseconds specified in register 36 If the bit is not set the input will be updated directly from the hardware value every 100 microseconds Please read the section on Digital Input filters in this manual 9 2 71 Input Filter Cnt Reg Name Size Access Range Default Unit MacTalk name Ce e ee 16bit RW 5 ms Input filter time Description The filtering of all of the eight digital inputs is controlled by the value in this register together with register 135 The input must be sampled at the same value for the specified number of milliseconds in this register to be accepted as the new filtered value See also the section on Digital Input Filters in this manual 9 2 72 Inpos Mask Reg Name Size Access Range Default Unit MacTalk name 137 INPOS MASK 16bit R W 0 IO MASK Dedicated Outputs In Position Descripti
137. index pulse can be used with or without the sensor This must be defined on the advanced tab If the MIS motor is set to use the index pulse the MIS motor always runs to the sensor first and then index pulse The sensor must be placed at the right position This can be done using MacTalk Select the type of sensor movement to be used in the main tab screen In the advanced tab choose not to start the program automatically after reset Then select Save in Flash Go to the Test tab and press Start Zero Search The motor now rotates at the zero search velocity towards the sensor and when this has been found the motor continues to the index pulse The circle at the Test tab indicates the location of the index pulse according to the sensor The index pulse must be in the green area If the index pulse is in the red area the sensor must be moved slightly and the procedure repeated 72 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Error Handling Error Handling Use these fields to define error limits for the maximum follow error etc Error handling Follow error 0 Counts Position limit min 0 Counts Position limit max 0 Hz Counts Error acceleration 3997 RPM S Min bus voltage 15 Volts TT2174GB The MIS motor contains 5 fundamental parameters which are used for protection related purposes They all have effect regardless of which mode of operation the motor is set to use Fol
138. integer floating point etc These entries are included for reference only they cannot be read or written Index 0020 003F Complex data types are predefined structures that are composed out of standard data types and are common to all devices Index 0040 005F Manufacturer specific data types are also structures composed of standard data types but are specific to a particular device Index 1000 I FFF The communication Profile area contains the parameters for the communication profile on the CAN network These entries are common to all devices Index 2000 5FFF The manufacturer specific profile area for truly manufacturer specific functionality 164 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 6 More details of CANOpen Theory Index 6000 9FFF The standardised device profile area contains all data objects common to a class of de vices that can be read or written via the network The drives profile uses entries from 6000h to 9FFFh to describe the drive parameters and the drive functionality Within this range up to 8 devices can be described In such a case the devices are denominated Mul ti Device Modules Multi Device Modules are composed of up to 8 device profile seg ments Using this feature it is possible to build devices with multiple functionality The different device profile entries are shifted with 800h A l6 bit index is used to address all entries within the object dictionary In
139. ion and gear modes JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 85 9 2 Register Descriptions 9 2 15 Inputs meurs rot R P speciat OO O O Description This register shows the status of the digital inputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSETUP See losetup page 96 Bits 8 15 are not used and will always be 0 The inputs can be filtered or unfiltered See Input Filter Mask page 99 Note that all of the inputs have a digital state and an analog value at the same time This register shows their digital state only Note that the digital inputs can be filtered by set ting bits in register 135 Input Filter Mask page 99 Bit 7 6 5 4 3 2 0 Function 108 107 106 105 104 103 102 IOI 9 2 16 Outputs Reg Name Size Access Range Default Unit MacTalk name 19 OUTPUTS 16bit R W 0 Special Outputs Description This register shows the status of the outputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSETUP See losetup page 96 Please note that the output driver for each output also has to be enabled This is also done using IOSETUP The register can be changed in order to change the status of the outputs 9 2 17 Flwerr Reg Name Size Access Range Default Unit MacTalk name 20 FLWERR 32bit R 231 231 1 Step
140. iteBits R W 0 Special Description When changing values for the analog input filter parameters this register is used in combination with registers 102 106 First all of the registers 102 106 must be loaded with the values to be used for one or more analog input filters Then the lower eight bits in this register are set to select which inputs the parameters in registers 102 106 should control The firmware will detect this and copy the parameter values from registers 102 106 to internal storage Once this has been completed the firmware sets bit 15 this register to show that registers 102 106 are free to receive new values for program ming the remaining inputs with other filter parameters To use the same filtering for all analog inputs this register can be loaded with 255 hex FF JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 9 2 Register Descriptions 9 2 43 Afzup Readindex EL 1 8 MEETS Rel handled on the 101 AFZUP Read Index 16bit R W 32768 Special Filter Setup screen 32775 Description This register makes it possible to read back the analog input filter parameters for one an alog input at a time To select a new input write a value of to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used by that analog input 9 2 44 Afzup_ConfMin Reg Nam
141. ive See Section 9 2 26 page 88 2 3 4 Step Pulse and Direction Inputs If gear mode is selected then IO and IO2 can be used as Step Pulse and Direction Inputs Thereby speed or position can be controlled proportional to the signal properties The Step Pulse Input IO is used for applying pulse signals which make the motor move One signal pulse corresponds to a single ministep The Direction Input IO2 determines the direction of the motor movement If logic I is applied to the Direction Input the motor moves forward If logic 0 is applied to the Input the motor moves backwards The Step Pulse and Direction Inputs are not optically isolated from other Driver circuitry and must be driven either by a push pull driver or a PNP source driver The Inputs can handle voltages in the range 0 to 30 V which makes the controller well suited for indus trial applications for example in PLC systems Indexer Direction Electronic gearing is possible in the range 1 32767 to 32767 It is recommended that shielded cable is always used for connection to the Step Pulse and Direction Inputs Both inputs must be controlled from a Source driver This means that they share a common ground see above illustration The Driver executes the step on the leading flank of the Step Input pulse see above illustration If gear mode is selected then IO IO2 can be used as step pulse and Direction Inputs or encoder inputs J
142. ktronik A S User Manual Integrated Step Motors MIS 231 232 234 107 10 1 Getting started with programming When using the SMC75 almost any kind of program can be created using a set of user friendly icons Make the required choice on the Programming tab Fle View Motor Programming Setup Updates Hep y 1 4 t o lt fre on Open Seve Seven flash Reset postor eer errors Main 1 0 Setup Registers Advanced Tests MACDO Rx Programmable New program Choose here to make a new program New program I Program Optionally uploads the actual progra Upload trom modde Use this to uplcad a program previoushy previously stored in the module dowloaded 10 the module TT2188GB After making one of these 2 choices the program window will be opened 108 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 2 Programming M ain window The main window for creating a new program or editing a program is shown below SMC75 Status texts The message Program not transferred means that there is a difference between the program seen on the screen and the actual program in the module This can happen if the program Programming menu Main menu for creating a new program Verifying program size and other basic details for the SMC75 Controller AS MacTalk Nonan e File View Motor have been edited but not transferred Status Running or Stopped refe
143. l Input Vg VB1 Input leakage current Output Vj a Output source current RS485 Input Vg Input leakage current Output Output source current CAN ISO 11898 24V Voltage at any input Input VcAN VcAN 1 Dominant Input VcAN D Recessive Output VcAN VcAN 1 Dominant Output VcAN VcAN 1 Recessive 190 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 13 2 Torque Curves Quickstep motor torque versus speed and supply voltage Torque Nm 3 5 Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 240 48V 240W regulated PSU Room temperature 20 C MIS234 48V MIS234 924V MIS232 48V X MIS232 24V MIS231 48V MIS231 24V 900 1000 Speed RPM JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 191 13 3 Physical Dimensions 13 3 1 Physical dimensions MIS231 MIS232 and MIS234 Length including connector and plug 140 All dimensions in mm 5 s 8 8
144. l accelerate from 100 RPM to 200 RPM V SOLL is now changed to 50 The motor will decelerate to 100 RPM and continue at 100 RPM V_SOLL is now changed to 50 RPM The motor will stop and start at 50 RPM 9 2 12 GEAR1 Reg Name Size Access Range Default Unit MacTalk name 14 GEAR1 16bit R W 215 215 4 1600 Steps Output Description When the gear mode is active the input from the external encoder is multiplied by GEARI and divided by GEAR2 Example GEARI 1600 GEAR2 2000 If 2000 steps are applied to the input the motor will turn revolution If one step is applied the motor will not move but the remainder will be 0 8 If another step is applied the motor will move step and the remainder will be 0 6 If another step is applied the motor will move step and the remainder will be 0 4 And so on 9 2 13 GEAR2 Reg Name Size Access Range Default Unit MacTalk name 15 GEAR2 16bit R W 215 215 4 2000 Counts Input Description The denominator of the gear factor See GEARI for details 9 2 14 Encoder_Pos Range Default MacTalk name ENCODER_POS 231 231 4 Encoder position Description If the internal encoder option is installed this register shows the position feedback from the encoder This value is initialized to zero at power up and modified by the firmware when a zero search is performed The value can be used internally by the AutoCorrection system to retry a movement in posit
145. l be overwritten with the acceleration value specified Register no 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the program 118 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programming command reference 10 7 6 M ove Relative set outputs Icon Dialog Move type Relative Relative velocity change at distance _ Cancel Relative set outputs C Absolute C Sensor General parameters Output type Multipl Distance 0 v Counts nds Dutput No Dutput state Acceleration 0 RPM s gs i C Output 1 Low Velocity 0 RPM C Output 2 High 7 Output 3 C Low pulse ms Enter 0 in velocity or acceleration to use Output 4 High pulse ms the current velocity or acceleration Dutput 5 Output 6 Output 7 Output 8 Function Performs a movement relative to the current position and sets one or more outputs when the operation is completed The distance moved is given in encoder counts and can either be entered directly or can be taken from one of three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velo
146. lative velocity change at a distance 118 Move Relative 117 Move Sensor 121 Move current 61 Move operations 116 Multi Master capability 138 My Addr 102 N Negative limit 23 NL negative limit 23 NL Mask 97 NMT Network Management services 171 Node address 139 Node Guarding Life Guarding 172 Nodeid 141 Noise 40 Noise emission 40 No loss bus arbitration 138 Notsaved 104 NPN output 22 Object dictionary 151 Object dictionary defined for DSP 402 support 158 Opening a file 54 Operating modes 10 63 72 116 162 Optical isolation 22 25 30 Option Bits 104 Ordering Information 186 Outputs 86 Encoder 32 Error output 31 In position 31 In pyhsical position 31 Pulse Direction 32 SMC75 special outputs 31 SMC75 user outputs 29 P P terminal 18 P terminal 18 P Home 88 P Ist 84 86 101 153 156 P New 90 101 P Soll 10 34 63 133 152 155 Parallel connection of motor phases 41 42 Parallel connection of motors 42 Passive mode 64 PDOs 136 151 153 163 166 167 Phase current 61 Phases 41 PL positive limit 23 PLC systems 31 PLC PC 200 Pn 90 PNP 23 PNP output 22 Position factor 160 Position limit min and max 73 Position mode 10 Positioning mode 66 Positioning Speed Control 8 9 Positive limit 23 Power Supplies 203 Power Supply Capacitor 18 Power supply Grounding 19 Power supply SMC75 18 Profile position mode 162 Prog Vers 81 Program comments 116 Program jumps 123 124 127 134 Program statu
147. ld never be set to a value higher than the value in this register un JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 9 2 Register Descriptions 9 2 59 Index Offset Description This register can be selected to receive the absolute value of the internal encoder where the Zero search home position was found during homing This is selected by bit 0 Use Index in register 122 It requires that the internal encoder option is installed 9 2 60 Home Bits Access Default Unit MacTalk name Advanced Zero HOME BITS R W 0 Special Search Description Bit 0 Search for index Bit Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Use Limit switch as sensor Bit 4 Ignore switch Used for searching only for index Contains configuration bits that define how Zero search homing should be carried out 9 2 61 Setup Bits Access Default MacTalk name Don t start program after power up Invert motor direc tion SETUP BITS Special External Encoder Enable DSP 402 Support Auto encoder syn chronize Description Bit 0 Invert direction Bit Don t start program after power up Bit 3 2 Select encoder input type 0 Disabled Quadrature 2 Pulse direction Bit 4 Enable DSP 402 support Bit 5 Synchronize to encoder after passive These individual bits are used to control various functions in the firmware 9 2 62 losetup
148. ldbus Bit 1 9 DeviceNet fieldbus 9 2 93 Fbus Node Id Reg Name Size Access Range Default Unit MacTalk name 166 FBUS NODE ID 16bit R W 0 255 5 Fieldbus Node ID Description The node id on the fieldbus interface 104 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 94 Fbus Baud Reg Name Size Access Range Default Unit MacTalk name 167 FBUS_BAUD 16bit R W 0 8 2 Fildbus Baud Rate Description The baudrate used on the fieldbus interface 0 1000 kbit s 800 kbit s unsupported 2 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s 20 kbit s 10 kbit s 9 2 95 Ext Encoder Reg Name Size Access Range Default Unit MacTalk name 170 EXT_ENCODER 32bit R W 231 231 1 Counts External Encoder Description This register counts the encoder input on INI IN2 The type of input is selected using SETUP BITS bit 2 3 9 2 96 Ext Encoder Vel Access Default MacTalk name External Encoder EXT ENCODER _ VEL Velocity R Description This register is updated with the velocity of the external encoder input The velocity is measured every l6ms JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 105 106 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 Programming JVL Industri Ele
149. les and the Mactalk set up The Baud rate should be 19200 and the correct com port selected 4 When a connection has been established key in values of running current and standby current under Driver Parameters Remember to press Enter after each parameter is keyed in Actual motor values can be seen to the left of the input field 5 Set Startup mode to select Position to enable the motor driver There should now be current in the motor phases Depending on the standby current the motor shaft will be fixed Some current regulation noise should be heard from the motor 6 The motor and I O status can be seen to the left under Status 7 At Motion Parameter key in 1600 counts at Position The motor will now turn one revolution at the speed specified by Max Velocity JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 45 46 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Serial Interface 3 1 1 Serial Interfaces The Controller has 2 serial interfaces RS485 A and B balanced for up to 32 units in multi axis applications and MODBUS communication Standard e CANbus CANopen DS 301 DSP 402 e DeviceNet under development CANbus and RS485 can be used at the same time JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 47 48 JVL Industri Elektronik A S User Manual Integrat
150. load request response CCS Client command specified SCS Server commander specified 168 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 6 More details of CANOpen Theory Table for upload and download SDO protocol continued Reserved e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be downloaded Byte 4 contains the Isb and byte 7 contains the not used Reserved for further msb always 0 use always 0 e 1 s 1 d contains the data of length 4 n to be download ed the encoding depends on the type of the data referenced by index and sub index Download e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be uploaded Byte 4 contains the Isb and byte 7 contains the msb e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data ref erenced by index and sub index not used Reserved for further always 0 use always 0 Abort SDO transfer protocol SDO tasks which the SMC75 controller cannot process are responded to using an abort SDO protocol If the module does not respond in the expected time the CANopen mas ter also sends an abort SDO The following figure shows an abort SDO transfer protocol Client Server Server Client Request Indication TTI090GB There are various abort codes in CANopen These are li
151. low error Only for MIS with internal encoder Follow error is the difference between the target position and the encoder position The target position is the position generated Default is 0 Function disabled Position limit min and max Same as physical limit switches but implemented in software Default is 0 meaning that the feature is disabled If one parameter is different from 0 both values are activated Error acceleration If a fatal error occurs it can be convenient to use a controlled deceleration instead of a sudden stop If the inertia in the system is high and the mechanical parts are weak a sud den stop can cause damage and unintended behaviour Use this parameter to define the deceleration used during a fatal error Default is 0 meaning that the feature is disabled Min bus voltage This is the level of P at which the motor goes into error state low bus voltage JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 73 74 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Registers JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 75 76 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 1 Introduction and register overview All of the motor registers can be accessed either through the RS485 interface or over CANopen When accessing registers ove
152. m wee Pen Meme 1 COM we Mer rani Fb pum Tess MAC Naon egets i The relative move command just I 2 Ue Piah dei 10001 Cos ac Ma PM nt IO entered is converted into a program line eomm t Multiple program lines are entered by the user forming the last part of the program des uem nm erm A n j J Now the program is finished 1 Wine at na gs 2 Move Fl dut 1000 scc THEE REMI v 200 FEM Press the Transfer amp Start mend button Now the program will be transfered and stored permanently the module The program will be executed immidiately 1 Pera By n TT0984GB y Continued 112 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 4 How to build a program Now the program is running continuously The actual program line which is executed is shown by the small red arrow 1 By choosing the Pause button the program is paused After it is paused it is possible to single step through each program line which can be a useful feature to debug the program since the action in each line can be closely observed 3 When the program is finished it can be saved on the harddisc or floppy disc Please be aware that when saving the program it is the complete program including the overall setup of the motor
153. motor and driver e EMC safe Switching noise remains within motor Noise can however be introduced in the DI DO Compact Does not take space in cabinet Low cost alternative to separate step or servo motor and driver In the past decade pulse direction interfaces have be come increasingly popular for the control of step and servo motors This is due to the fact that pulse direction signals provide a simple and reliable interface which is 10096 digital precise and offers immediate response When a pulse is sent the motor instantaneously moves step forward For example if the motor has a resolution of MIS231 with pulse direction 200 steps revolution it will move 1 8 degrees By changing the frequency of the applied pulse signal it is possible to accelerate the motor By counting the number of pulses the motor s po sition can be determined without any error what soever The direction input is used to determine the motor s direction of rotation JVL s QuickStep motors with pulse direction interface offer the fol lowing advantages Very simple technology that is easy to under stand and apply High stability and low cost because the tech nology is simple with few components Only one cable with 4 wires is required so cabling costs are a minimum Nocontroller in the control cabinet All positioning and control is performed by the PLC so there is no duplication of software or cabling e Robust
154. mperature 4 Communication Overrun 5 Device profile specific 6 Reserved 7 Manufactor specific Reservation 4004 Reservation of PDOs register 0 X Reserved numbers of PDOs 1 X Reserved numbers of syncPDOs 2 X Reserved numbers of asyncPDOs Manufactur VISIBLE er device 1008 STRING X JVL A S name Manufactur er hardware 1009 SANE X version Manufactur VISIBLE software 100A STRING X Example Version x x version JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 149 11 4 Objects in the DS301 standard Name Data Type Default Description Informs about the Guard time in milliseconds Is only mandatory if the module does not support heartbeat Guard time UNSIGNED16 Life time Is the factor that guard time is multi UNSIGNED8 plied with to give the life time for factor the node quarding protocol Heartbeat UNSIGNED8 If the Heartbeat timer is not 0 time Heartbeat is used Contain general information about Identity object IDENTITY the module 1 4 4h Number of entries Mandatory Vendor ID contains a unique value UNSIGNED32 0x0117 allocated to each manufactor 117h is JVLs vendor ID Mandatory Product Code identifies a specific UNSIGNED32 0x0200 device version SMC75 has the product code 200H UNSIGNED32 Revision number UNSIGNED32 Serial number Note regarding device type index 1000
155. n input has changed state after passing the filtering it will again take the same number of samples of the opposite logical level to change it back For example if the filter is set to 5 mS and the start value is 0 zero the input will remain at zero until three samples in succession have been read as one If the signal immediately drops down to 0 again it will take three samples of zero in suc cession before the register bit gets set to zero Note that filtering of the digital inputs does load the micro controller so if filtering of the digital inputs is not needed ALL the inputs can be selected as high speed to reduce the load 24 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 4 SMC75 Analogue Inputs Note connectedtosignal source E NB For actual connections see SMC75 Controller connections page 13 2 4 1 General The 0 5V Analogue Inputs are used for example when the Controller is operated as a stand alone unit In this kind of application it can be an advantage to use a potentiometer joystick or other device for adjusting speed position acceleration etc In these modes of operation the motor is controlled to produce a velocity or position etc which is determined by and proportional to the voltage applied to the Analogue Input The Analogue Inputs share a common internal supply with the GND and P terminal and are
156. n into the module memory This can be an advantage if remarks and source program must be uploaded to MacTalk later Program Source Same as above but without remarks Program only Only the compiled program is transfered 21736 C Program Source C Program only 110 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 4 How to build a program When choosing New program in the Programming menu or entering MacTalk for the first time programming can be started Press the button at line and a tool box will pop up mn pere Press the first button to create the first program line The Select command box will pop up Q Choose the desired command In this example it is desired to wait for an input to be activated before further program execution Choose to wait until input 5 is high and press OK The command is inserted at the previous selected program line TT0983GB Y Continued JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 III 10 4 How to build a program Press the second button to create the second program line Choose the movement type needed Relative Move x counts forward with reference to the actual position Absolute Move to the x position with reference to the zero search position p ta e eset tertiu
157. n of the phases a motor provides the same performance up to I kHz as parallel connection but using only approximately half the current This can in fluence the selection of Controller model and enables a Controller rated for a lower mo tor current to be used See illustration on previous page If the phases of a 4 phase step motor are connected in series the motor s rated phase current should be divided by 1 41 For example if the rated current is 4 2A the maxi mum setting of the Controller phase current must not exceed 3 when the motor phas es are connected in series Parallel Connection With parallel connection of motor phases a motor will provide better performance at frequencies greater than IkHz compared to serially connected phases but requires ap proximately twice the current This can influence the choice of Controller since it is nec essary to select a Controller that can supply twice the current used for serial phase connection See illustration on previous page When the phases of a 4 phase motor are connected in parallel the specified rated cur rent of the motor must be multiplied by a factor of 1 41 For example if the rated current is 2 0A the maximum setting of the Controller phase current must not exceed 2 83A when the phases are connected in parallel It should be noted that the lower the self induction of the motor the better since this influences the torque at high speeds The torque is proportional to the
158. ncoder only It is only used in position mode to re try a movement if the decoder position is too far from the target after the pulse generator has stopped moving the motor this will happen for instance if the movement was physically blocked the torque of the motor was insufficient or a bad val ue for start velocity or acceleration were used It might also be used to handle occasional mechanical oscillations The AutoCorrection system will first wait unconditionally for a certain time to allow the initial movement to settle mechanically before testing for the target position It will then attempt a normal movement using the same values for velocities and acceleration as the movement that failed It will continue until the encoder position is within the target win dow or the selected number of retries has expired Note that AutoCorrection will only start after the value of the SOLL register is changed In other words changing SOLL not just writing the same value again will reload the maximum number of retries and set the Auto Correction Active status bit The Auto Correction Active status bit will remain set until either the position is within the target window or the max number of retries has been exhausted Also note that if the motor is used to control other motors by sending out the pulse and direction signals on digital outputs any extra movements caused by AutoCorrection will send out additional steps to the other motors
159. nd JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 143 11 3 Using CanOpenExplorer 11 3 1 The CanOpenExplorer program The CanOpenExplorer is a program that was developed for internal use only especially in production but the program offers features that are very convenient and which make it very easy to start up the MIS motor when this is supplied with an SMC75 CANopen Controller module The program can write and send SDOs PDOs SYNC and heartbeat messages and also can read EDS files 11 3 2 An overall method for communication test Depending on the type of master and software solution available the following compo nents must be available PLC PLC with a CANopen module and software that can communicate with this module The CANopen module must be connected to a CAN bus as shown in section 11 2 6 To set up the master download the EDS file from the JVL web site see section 1 2 2 This file contains all register set up data for the SMC75 Control ler For details of the node ID and the Baud rate see section 1 2 4 The power supply must be connected to the motor as shown in section 1 2 6 PC PC with a CAN adaptor and software that can communicate with this module or if the CanOpen Explorer software is used the PCAN USB Dongle from Peak system that is connected to a USB port on the PC The Peak systems web site address is http www peak system com This includes a list of
160. nding It is recommended that the housing is connected to ground or common 0 VDC The overall earthing of the system must be done at a central point close to the power supply 2 1 5 Dimensioning power supply and fuse The power supply must be dimensioned according to the actual motor size The size of the pre fuse also depends on the actual model of the MIS motor Use the following table to select the power supply and fuse ratings Desired MIS231 MIS232 MIS234 voltage Supply Fuse size Supply Fuse size Supply Fuse size rating rating rating 20W T4A 40W T6 3A 60W T10A 40W T4A 80W T6 3A 160W T10A 80W T4A 160W T6 3A 320W T10A PSU24 075 PSU24 240 PSU24 240 di oboe PSU48 240 PSU48 240 PSU48 240 power supply PSU40 4 PSU40 4 PSU40 4 See also the appendix which shows the standard power supplies that JVL offers 2 1 6 General power supply description The supply voltage can be chosen in the range 12VDC to 48VDC However the maxi mum torque is based on 48VDC A lower voltage will decrease the speed torque per formance and in general it is not recommended to run the motor at more than 300RPM if for example 24VDC is used as supply JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 19 2 1 Power Supply SMC75 Power supply connections to a MAC140 or a QuickStep motor Make sure that all Power supply involved units are connected to the same potential 12 48VDC Bus voltage 12 28VDC control voltage
161. ng command reference 10 7 26 Calculator options Icon m Dialog Basic Options Calculation precision Register listing and naming Numbered list with long MacTalk names C Simple list with short firmware names Function The options tab contains various settings that affect the operation of the Calculator command Calculation precision is currently preset to 32 bit precision and cannot be changed This is not an error and should not be reported Register listing and naming provides an alternative method of entering data into the dialog by selecting Simple list with short firmware names Instead of selecting for example 3 Requested position to access register no 3 you can simply type P SOLL If you wish to enter a constant you simply enter the digits the dialog will not mistake the constant for a register number If you are in doubt about a register name look at the expression in the caption of the dialog box A recognized register name will appear in the expression An unrecognized register name will appear as a zero You can switch between the two methods of data entry at any time JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 133 10 7 Graphic programming command reference 10 7 27 J ump according to a comparison Icon Mu Dialog Jump condition Reg 3 Requested position
162. nism is called an expedited transfer Download SDO protocol The download SDO protocol is used to write the values of the object directory into the drive JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 167 11 6 More details of CANOpen Theory Request Indication Confirm p Response TT1088GB Upload SDO protocol The upload SDO protocol is used to read the values in the object directory of the drive Client 8 Request Indication Confirm P Response TTI088GB Table for upload and download SDO protocol Multiplexer It repren sents the index sub index of the data to be transfer by the SDO Multiplexer It repren sents the index sub index of the data to be transfer by the SDO Only valid if e 1 s 1 Transfer Size indica otherwise O If valid it type 07 tor 0 data 3 Initiate indicates the number of normal set size is download bytes in d that do not transfer not indicat response contain data Bytes 12 ed 1 data 8 n 7 do not contain expedited set size is data transfer indicated 1 Initiate down load request Only valid if e 1 s 1 Transfer Size indica otherwise O If valid it type 07 tor 0 data indicates the number of normal set size is bytes in d that do not transfer not indicat contain data Bytes 12 ed 1 data 8 n 7 do not contain expedited set size is data transfer indicated 2 Initiate 2 Initiate upload up
163. not optically isolated from all other inputs and outputs The Analogue Inputs are pro tected against voltage overload up to 30V peak and have a built in filter which removes input signal noise See Analog input filters page 26 Always use shielded cable to connect the source used to control an Analogue Input since the motor etc can easily interfere with the analogue signal and cause instability The Controller is equipped with 8 analog to digital converters ADC which convert the detected analogue signal level The ADCs have a resolution of Obit In order to use the Analogue Inputs as 0 20 mA inputs a 250 1 resistor must be connected between IO 1 8 and GND JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 25 2 4 SMC75 Analogue Inputs 2 4 2 Analog input filters The SMC75 based products like the MIS motors have 8 general purpose l Os that can be used as both digital inputs digital outputs and analog inputs When an I O is configured to be an input it simultaneously has both a digital value high or low and an analog value in the range 0 00 to 5 00 Volts Input voltages higher than 5 0 Volts will be internally lim ited and read as 5 00 Volts The inputs use a resolution of 10 bits which means that in the raw motor units a value of 5 00 Volts reads out as the value 1023 This gives a resolution of 5 00 1023 4 8876 mV per count The eight values from the analog inputs are
164. ns Use Initiates any motor movement relative or absolute Use Unconditional jump from one program line to another Use Inserts a delay in the program specified in milliseconds Use Write a value to almost any register in the basic MAC MIS motor Use Wait until a certain register in the basic MAC MISmotor reaches a certain value Use Initiates a zero search to a sensor Use Send a FastMac commandto the motor FastMac commands can be used to send complex instructions very quickly Use When a remark Comment must be inserted in the program Select command Enter your own remarks Use Set the motor in the desired mode such as position or velocity mode Set operation mode Move operations Set outputs Unconditional jump p Conditional jump Wait for ms before continuing Set a register in the MAC motor Wait for an input combination before continuing Jump according to a register in the MAC molor Wait for a register value before continuing Save position Set position Send FastMAC command Binaty command Calculator Jump according to a comparison Use Performs a calculation using constants and register values and stores the result in a motor register TT2222GB Use Conditional Jump according to a comparison between the values of two registers Use Set a certain state at one or multiple digital
165. nvert motor direc tion External Encoder Enable DSP 402 Support Auto encoder synchronize IOSETUP Special Inputs Outputs TURNTABLE _ MODE Special Turn Table Mode TURNTABLE _ SIZE Steps Turn Table Size NL_MASK IO Mask Dedicated Inputs Negative Limit In put PL MASK IO Mask Dedicated Inputs Positive Limit Input Reserved HOME MASK IO Mask Dedicated inputs Home Input Reserved INPUT FILTER MASK IO Mask digital input fil ter enabled INPUT FILTER CNT ms Input filter time INPOS MASK IO MASK Dedicated Outputs In Position ERROR MASK IO Mask Dedicated Outputs Error Reserved P NEW 231 231 1 Counts N A BAUD RATE 0 5 Baud Rate TX DELAY 0 255 Bits Transmit Delay GROUP 1 0 255 Group ID GROUP SEQ 0 255 N A MY ADDR 0 254 Motor Address MOTORTYPE 64 xx Status Bar SERIAL NUMBER Status Bar CHECKSUM HARDWARE REV Major 16 Minor 16384 Tooltip on Motor MAX_VOLTAGE Volt Tooltip on Motor AVAILABLE IO IO MASK N A BOOTLOADER VER Major 16 Minor 16384 Tooltip on Motor NOTSAVED N A Reserved OPTION_BITS Tooltip on motor FBUS_NODE ID Fieldbus Node ID FBUS_BAUD Fieldbus Baud Rate
166. ode Actual velocily Actua postion Encoder positon Folow enor Run Statue in Poston Zero Search Sensor stop position vs Index position Bus voltage The circle Bustrates a motor rev Temperature Inputs 87654321 Outputs the extemal zero search 87654321 sensor ot mecherical zero poirt unii Ihe citcie is in the green External Encoder 0 Counts Acceptable range tange unacceptable range Extemal Encoder Velocity 0 Counts s Sensoe stop postion Stat Zero Seach Index position 1 per sev Enos This screen is used for adjusting the Zero search sensor to the correct position when us ing the index pulse of an encoder The index pulse should be in the green area If not the sensor has to be adjusted 58 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 5 1 Using the MacTalk software 5 1 9 Scope Function The Scope function is an excellent and necessary function for testing a new application or finding errors in an existing system The Setup has to be selected to set up the Scope function correctly before use Most reg isters in SMC75 can be selected for viewing different trigger functions can be selected saving and loading scope pictures is possible etc Sample setup Trig type C Single move Distance 10006 Forward and backward move Max distance 5000000 Manual Regster condition 12 Actual velocity B fo R
167. oe 198 144 Connecting MISxx SMC75 to sess eenneenne nennen tetn enne nennen 199 14 5 Connection to PEC PC Boards terere Haee Y Ree pP e PR nb rang Reese tee eut 200 I5 Accessories E 201 15 1 CableS 5d aT veil te o a A A 202 15 2 PoWwer SUpplies 3 4s oci rere ot ettet ttt raten tease eene bv eve oeedenet vete tats 203 15 3 Brakes and shaft reinforcement sse 204 l6 Declaration of Conformity eee eee eeee eee eene nnns aes asas esee 205 4 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 800 Introduction This user manual describes the set up and use of the Integrated step motors Quick Step types MIS231 MIS232 and MIS234 and the SMC75 Step Motor Controller The QuickStep motors types MIS231 232 and 234 can be delivered either for pulse di rection control or for positioning and speed control For pulse direction control the QuickStep motors are delivered with the Step Motor Driver SMD73 built in For further information on this driver reference should be made to the data sheet for these drivers LD0057 and the Technical Note LS0003 For positioning and speed control the Quick Step motors are delivered with Step Mo tor Controller SMC75 built in Both the driver SMD73 and the controller SMC75 can al
168. of 0 25 to 0 34 mm would be an appropriate choice in many cases For bus lengths greater than km a bridge or repeater device is recommended Galvanic isolation between the bus nodes is optional 11 2 2 Necessary accessories for SMC75 Controller The EDS file for the SMC75 is available for download at JVL s web site http www jvl dk under the downloads menu Field bus Interface Specifications Files EDS means Electronic Data Sheet This file contains the information about SMC75 settings that are required to configure the setup and program in the master The SMC75 is a slave module on the CAN bus The master can for example be a PLC or a PC If you are using a PLC as master then make sure it is provided with a CANopen commu nications module and that the correct programming tools are available For support of the PLC master the PLC vendor is recommended If you are using a PC as master JVL provides some tools that can help when installing and using the SMC75 Controller 140 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 2 Connection and setup of the CAN bus 11 2 3 11 2 4 The latest firmware for the SMC75 is available at JVL s web site under the menu down loads firmware In the site s programs menu the software CanOpen Explorer is also available but note that this is not a free ware program Please contact your JVL repre sentative for further information CanOpen Explorer can be used
169. ogram commands Gear The motor position and velocity can be controlled by pulse and direction or encoder signals at INI and IN2 The gear ratio can be set to a large ratio using register 4 GEARI and register 15 GEAR2 Zero search type and type2 Searches for sensor to define a zero position Reference point JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 7 1 Passive M ode 7 1 1 Passive Mode After power up the controller will start up in passive mode This means that it is possible to communicate and read write to from registers but no current is supplied to the mo tor It should thus be possible to turn the motor shaft as no voltage is connected to the motor If there is encoder feed back the encoder counter will always register the cor rect position Startup mode Passive C Velocity C Position C Gear Change actual mode Profile data Max velocity 250 x RPM Start velocity 100 24 RPM Acceleration 1250 RPM S Driver parameters Running Current 3 00 ARMS Standby Current 0 75 ARMS Standby time 500 ms 64 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 7 2 Velocity M ode 7 2 1 Velocity M ode In this mode the QuickStep motor controls the motor velocity via the Max Velocity set ting This mode is typically used for simple tasks or for applications in which an overall unit such as a PC boa
170. olution RPM Accel Decel 3x10 RPM s Range Resolution 9 54 RPM s Electronic Gearing Program Storage Range Resolution Threshold Ex ternal Clock In 0 00003 to 32768 32 Bit Flash 3072 Bytes Type Size User Registers 2248 Bytes 32 bits User program variables Up to 224 Math Functions x gt lt lt gt AND OR XOR NOT I amp Branch Functions Branch amp Call General Purpose I O Functions Home Limit Plus Limit Minus Analog In Inputs General Purpose Outputs Moving Fault general Purpose Party Mode Addresses 254 Encoder Functions Operating Temperature Stall Detection Position maintenance Find Index 0 45 C ambient JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 189 13 1 SMC75 Technical Data Power supply Condition P P PP supply current 24V No load 48V Cv CV supply current 12V Unconnected I O 24V V for CAN V supply current for CAN User outputs OI O8 Output source current pr channel CV 35V 8 sourcing 4 sourcing sourcing Output sink current Output voltage User inputs 11 18 Input impedance Voltage applied to any input Analog input nominal Logic 0 Logic RS232 5V Tx output low level Tx output high level Tx output source current Tx output sink current Rx input low leve
171. on Selects which one of the eight IO pins to use for the dedicated function of In Position Output Exactly one bit must be set and the pin must be configured in register 125 as output The In Position output will then be set after a movement has completed Example If output is to be used for the In Position Output write 20 to this register 9 2 73 Error Mask Default Unit MacTalk name Dedicated Outputs ERROR MASK 0 IO Mask Error Description Selects which one of the eight IO pins to use for the dedicated function of Error Output Exactly one bit must be set and the IO pin must be configured in register 125 as an output The Error Output will set be set when any error is set See register 35 Err Bits page 88 for more information on errors Example If output 3 is to be used for the Error Output write 22 4 to this register JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 99 9 2 Register Descriptions 9 2 74 Acceptance voltage Reg Name Size Access Range Default Unit MacTalk name Acceptance 139 AcceptanceVoltage 16bit R W 16bit 18 Counts Voltage Description Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing the used flash memory sector after power up The scaling unit is as follows 1023 111 4V this is ofcause a theoretical value and will greatly depends on which input t
172. onfidence limits Slope limitation After a new sample has passed the Confidence limit checks its value is compared with the last filtered value in its associated register If the difference between the old and the new value is larger than the Max Slope Limit the new value is modified to be exactly the old value plus or minus the Max Slope Limit This limits the speed of change on the signal Since the samples come at fixed intervals of 10 mS it is easy to determine the number of Volts per millisecond A value of 1023 will effectively disable slope limitation Filtering After a new sample has both passed the confidence limits checks and has been validated with respect to the slope limitation it is combined with the last filtered value by taking a part of the new sample and a part of the old filtered value adding them together and writing the result back to the final destination register one of the registers 81 88 For instance a filter value of 14 would take 14 64 of the new sample plus 50 64 of the old value A filter of 64 would simply copy the new sample to the rule thus disabling the fil tering This completes the filtering of the analog inputs 26 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 4 SMC75 Analogue Inputs Confidence alarms If either of the Confidence Min or Confidence Max limits is used it may be possible that no new samples are accepted which means that the fil
173. or Cable user Isolation Signalname Description supplied group Shield for the CAN interface internally con 2 CAN_SHLD nected to the motor housing CAN_V Reserved for future purpose do not connect CAN_GND CAN interface ground CAN_H CAN interface Positive signal line CAN_L CAN interface Negative signal line BUS2 CANopen interface M12 5 pin female connector Cable user Isolation Signal name Description supplied group Shield for the CAN interface internally connected to the CAN_SHLD motor housing 2 CAN_V Reserved for future purpose do not connect CAN_GND CAN interface ground CAN_H CAN interface Positive signal line CAN_L CAN interface Negative signal line IO I Os and R485 interface M12 8 pin female connector JVL Cable WI1000 M12 Isolation Signal name Description M8A05N group 101 I O terminal 1 White 3 102 I O terminal 2 Brown 103 10 terminal 3 Ground for I O RS485 5V serial RS485 5V serial I O terminal Out Green Yellow Grey Pink Blue Red ce oj o 5 coi m Cable Screen Some standard cables with M12 connector offer a screen around the cable This screen on some cables is fitted to the outer metal at the M12 connector When fitted to the SMC75 controller this means that the screen will have contact with the complete motor housing and thereby also the power ground main grou
174. or will be saved permanently in the flash memory If the motor is powered down or reset the saved setup will be used Reset position Resets the position counter to 0 The content of the position counter can be monitored in the right side of the main screen as Actual position Clear errors Clears all the errors if any Please note that if an error is still present the motor will remain in the actual error state Reset motor Reset the motor Same as performing a power off on operation Filter Setup For specifying the filter setup of the analogue inputs STOP motor Stops the motor immediately using a controlled deceleration ramp and puts the motor into passive mode If a program is present this is stopped as well This button shall be considered a functional stop button and is available using the keyboard shortcut CTRL F8 Pressing the Stop button will immediately stop the motor by changing the currently running mode to passive using a fast controlled deceleration curve Using a quickstep motor or a module that enables the user to execute RxP programs this execution is also halted to prevent the motor from starting up if a startup mode is setup from a program Warning Do not consider this button as an appropriate Emergency stop Al ways fit an Emergency stop circuitry to your motor setup MacTalk Address Only if more than one motor is connected to the same interface The address specified in this field will determine whic
175. otor can be controlled using this as well The SMC75 Controller is designed to be used on a CANbus CANopen DS 301 and CANopen DSP 402 Do not use the module together with CANKingdom or DeviceNet CiA membership CiA CAN in Automation is a non profit society The object of the society is to promote CAN Controller Area Network and to provide a path for future developments of the CAN protocol CiA specifications cover physical layer definitions as well as application layer and device profile descriptions In order to receive the CAN standard is it necessary to obtain membership The membership fee depends on a company s number of employees Membership runs from January 1 until December 3 1 and is renewed automatically unless cancelled in writing by the end of a calendar year Companies applying for membership after July 1 pay 5096 of annual membership A PDF application form can be downloaded from http www can cia org cia applica tion html Note Once you have received a license from CIA standards will be sent on a CD and are downloadable via member login All of the CiA specifications can be ordered from the following URL www can cia org downloads ciaspecifications CANopen network The CAN bus is a serial bus with multi master capabilities where different products from different manufacturers can communicate with each other These include for example devices such as PLCs motors sensors and actuators Some m
176. outputs Use Conditional jump from one program line to another Input dependent Use Wait for a certain state at one or multiple digital inputs Use Conditional jump from one program line to another Register dependent Use Save the actual motor position to an intermediate register Use Preset the position counter to a certain value Use Sends a command in binary format that enables various non standard operations JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 115 10 7 Graphic programming command reference 10 7 1 Enter your own remarks Icon x Dialog Enter remark Remark Jl Function Inserts a remark comment in the source code The program line will not do anything but can make the source code easier to read This can be very important if other programmers have to review or work on the code or if the program is only worked on infrequently 10 7 2 Set operation mode Icon 29 Dialog Set mode Function Sets the operating mode of the motor When the program encounters a program line with this command the motor s operating mode will be set to the specified mode This allows you to use different operating modes in different parts of the program For a detailed description of the individual operating modes refer to section 1 3 1 Basic modes functions in the QuickStep motor page 10 10 7 3
177. ower drives systems part 3 EMC product standard including specific test methods Januar 2008 Bo V Jessen Technical Director JVL Industri Elektronik A S LX0020 01GB JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 205 206 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Index A A SOLL 83 117 121 152 155 Abort SDO 169 Acc_Emerg 87 Acceleration factor 161 Address CANopen 139 Address MacTalk 53 Afzup_ConfMax 92 Afzup_ConfMin 92 Afzup Filter 93 Afzup MaxSlope 92 Afzup Readlndex 92 Afzup WriteBits 91 An 90 Analog input filters 26 AnalogFiltered 90 Analogin 91 Analogue inputs 25 Auto correction 34 Available 104 B Baud rate 45 86 102 141 178 189 Binary command 131 Bipolar motors 41 Boot up telegram 165 Bootloader Ver 104 Brakes and shaft reinforcement 204 Busvol 91 C Cables 202 Cabling 40 140 Calculator basic 132 Calculator options 133 CANA 139 CANB 139 CAN bus connectors 142 CANbus 47 CANopen 12 15 47 77 104 135 154 156 174 178 CAN bus connectors 142 CanOpen Explorer 141 144 148 Communication test 144 Connecting the SMC75 Controller to the CANbus 140 05 301 136 DS 301 device profiles 164 DSP 402 136 Node id and baud rate 141 PDOs 136 slave 136 CanOpen 80 CANopen network 136 Capacitor 18 CE requirements 40 205 Checksum 103 CiA 05 301 standar
178. position values stored in the user memory area This is the reverse of the Save position command 10 7 21 Zero search Icon 3 Dialog Zero search Mode C Sensor type 1 zero search C Sensor type 2 zero search Function Initiates a zero search The program waits until the zero search has completed before proceeding to the next command For a detailed description of how to set up a zero search refer to Zero search modes page 68 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 129 10 7 Graphic programming command reference 10 7 22 Send FastMAC command change mode and activate register Icon e Dialog Mode Register Number C Passive Position Number Velocity Velocity Cancel Position Acceleration Command Torque Load n position window Function FastMAC commands are also sometimes referred to as FlexMAC commands The advantage of these commands is a very low communication overhead FastMAC FlexMAC commands are described in detail in section 4 5 7 of the MAC user manual JVL publication no LB0047 20GB However a brief summary is in order If Mode is set to Passive Velocity or Position the motor will switch to that mode Also one of the passive motor registers will be activated in the sense that its value will be written to the corresponding active motor register which actually controls motor behaviou
179. ption in the motor 54 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 5 1 Using the MacTalk software The following MacTalk view is presented V Mac Talk C Wocuments and Settings VicVSkiiveor PAFS WAAC 140 MAC f e View Motor Setup Updater Open Save Mash Reset postion Clear eno Reset meter Fiter seme STOP Mott scan Man pareeratner Teste Scape Status Stan node 7 Ena haedieg F Changeactusimode A line Function en 0 Go Online Poston im mn e Vier Actual ma torque a Motor ipsd meni Vecais anslogus torque atem boat aue Y Inpute Outcure x ace ER wet Diipa 1 01 Analogue npa twee Dipa 2 02 Emm VD Sei Data Foston bre ner Eno socelerstion Profile det Accu aon Toae Load 10000 f Y Motion puameters Posion In poaten wndow 100 In poston court a inet molor diecon Pewncronce poston aher mode V Zee Zero search mode Dinabhed F Ure inden sher omo search Zaro search poston 0 Zero search velocty 50 Zaro torque al V Undervollage handing Men volage 15 F gt Set ans b F gt Go In pareve Undervakage gt Set welocty to 0 Motor adden gt Working offline Press
180. que versus speed and supply voltage Torque Nm 3 5 TT2223GB Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 240 48V 240W regulated PSU Room temperature 20 C MIS234 48V MIS234 p24V MIS232 48V X MIS232 24V MIS231 48V MIS231 24V Speed RPM 10 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 1 4 Step Motor Controller SMC75 Step Motor Controller SMC75 is a mini step driver with fixed 1600 pulses rev which has been designed for driving step motors with phase currents of up to 3 Amp phase RMS The Controller SMC75 is available in 2 different versions for various applications It is built into the QuickStep Integrated Step Motors but for OEM and low cost applications it can be delivered as a PCB or in its own housing with MI2 connectors For easy mount ing and service the version with M12 connectors is recommended A version with cable glands can be used for high volume and low cost applications Order no Cable Glands SMC75AI X 8 1 SMC75AIAC X X 8 1 SMC75AIM3 x 4 2 X 8 1 SMC75AIM5 X X SMC75AIM6 X 8 a SMC75AIWO X 8 1 X Other combinations and features are also possible fo
181. r 0x51 0x52 Read register block 0x52 0x11 Ack Write register 0x54 0x11 Ack Enter safe mode 0x55 0x11 Ack Exit safe mode 0x56 0x11 Ack Write to flash 0x57 None Reset controller 0x59 None Group write register 0x61 0x61 Program status and command 0x62 0x11 Ack Write program flash 0x63 0x63 Read program flash 12 6 2 Read register This command can read a register All registers are read as 32 bit If the register is only 16 bit the high part must be discarded Master sends SMC75 Response lt Read gt lt Address gt lt RegNum gt lt End gt lt Write gt lt MAddress gt lt RegNum gt lt Len gt lt Data gt lt End gt Block description Block name Protected Example Description lt Read gt No 50h 50h 50h Read command Address Yes 07h F8h Address 7 The address of the SMC75 lt RegNum gt Yes 05h FAh RegNum 5 The register number to read End No AAh AAh Command termination Write No 52h 52h 52h Write command This will always be 0 because this is the lt MAddress gt Yes 00h FFh Address 0 address of ihe master lt RegNum gt Yes 05h FAh RegNum 5 er Len Yes 04h FBh Len 4 The length will always be 4 E8h 17h 03h FCh lt Data gt Yes 00h FFh 00h FFh The data read from the register Data 1000 End No AAh AAh Command termination JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 23
182. r In the example above the value in register no 65 VI will be written to register no 5 V SOLL Move operations will then take place at that velocity 130 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programming command reference 10 7 23 Send FastM AC command macro command Icon e Dialog Mode C Passive C Velocity Command NOP D1 Reset error 02 P_SOLL 0 and IN_POS 0 03 P_IST 0 04 0 and IN_POS 0 05 _SOLL 0 nc T Function If Mode is set to Command the motor does not necessarily change mode C Position Command but it can be commanded to carry out a series of predetermined operations Describing all of the FastMAC commands is beyond the scope of this section but for example using a single command it is possible to activate four different sets of registers each controlling position velocity acceleration torque load factor and in position window For further details refer to section 4 5 7 of the MAC user manual 10 7 24 Binary command Icon Wks Ww Dialog Enter binary code Binary code Se Function MacTalk SMC75 programs are sent to the motor in a compact binary format which is then interpreted by the SMC75 s firmware The existing set of graphic commands covers most situations but when special needs arise anyt
183. r CANopen they are mapped to object indexes 2012 and 2014 hex with the sub index equal to the register number 1 255 Use index 2012 for the 32 bit registers and index 2014 for the 16 bit registers For example to access register 3 P_SOLL use index 2012 subindex 3 To access reg ister 5 V_SOLL use index 2014 subindex 5 This is described in more detail in CAN open Introduction page 135 All of the registers can be accessed over CANopen with the same Read Write access re strictions as when using the RS485 interface Some registers are tagged as R for Read only There are different reasons for this such as protecting the serial number from being changed or indicating that the value in regis ters such as Analog Inputs will never be read by the motor but always overwritten using the latest sampled values In the following sections and examples positions velocity and acceleration are based on a 200 step motor running with 1 8 steps 9 1 1 Register Overview Access Default MacTalk name 1 PROG VERSION 16bit R Major 16 Status bar 2 Reg 16bit RW ives 0 Current Mode 3 P SOLL 32bit R W 231 231 1 0 steps Position 5 V SOLL 16bit R W 1023 1023 250 RPM Max velocity 6 A SOLL 16bit R W 1 65535 131 9 54 RPM s2 Acceleration 7 RUN CURRENT 16bit 0 511 511 5 87mA Running Current 8 STANDBY TIME 16bit R W 1 65535 500 ms Standby Time 9
184. r OEM use See MIS23x MI2 con nections on page 14 for further information The box version which is built into a black aluminium casing provides a very robust construction that is insensitive to mechanical vibration and electrical noise The advantage of using a ministep driver instead of a conventional full step or half step driver is that mechanical resonance problems are significantly minimised Resonance most often occurs at slow motor speeds and results either in loss of motor torque or the appearance of significant harmonics The principle of the ministep technique is to drive the motor using a sinusoidal current in the interval between 2 physical full steps This re duces the step velocity between each step and thus damps any resonance significantly Comparison between ministep and full step Resonance during full step operation Position Current Full steps 50 Overshoot gt 4 Full steps Both 2 phase and 4 phase step motors can be connected to the Controller which utilises the Bipolar Chopper principle of operation thus giving optimum motor performance 12 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 1 5 SMC75 Controller connections 1 5 1 SMC75 Connector overview The connections to the various connectors of the SMC75 PCB board is shown below Note that GND and P are connected together internally Molex or equivalent
185. r motor 231 NEMA23 stepper motor 232 NEMA23 stepper motor 234 NEMA23 stepper motor 340 NEMA34 stepper motor Future option 341 NEMA34 step motor Future option 342NEMA34 step motor Future option MIS MISxxx Motor Integrated Stepper Motor Examples MIS 231A IWI NO 73 8 25D Motor 6 35 shaft flying leads SMD73 driver MIS 233A 3MI NO 73 2 30D Motor lOmm shaft M12 SMD73 MIS 232A M3 NO 75 Motor 6 35mm shaft SMC75 3 pcs MI2 connectors MIS 234A 3M6 NO 75 Motor Omm shaft SMC75 4 pcs MI2 connectors CANopen MIS 232A 1M7 H2 75 Motor 6 35mm shaft SMC75 4 pcs MI2 connectors DeviceNet Encoder H2 option MIS 340B 5MI NO 41 Motor 14 0 mm shaft pcs MI2 connector 80V driver MIS 342B 5M7 NO 76 Motor 4 0 mm shaft 4 pcs MI2 connectors 80V controller DeviceNet Encoder H2 option End of number No more le tters or numbers should be added For orders less than 10 pcs use Controller SMC75 instead allowing current and gear ratio to be freely programmed 186 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 12 8 SMC75 Ordering Information SMC75 selection chart SMC Step motor controller 75 Version 3ARMS 12 48VDC with 8IOA and optional CANopen DeviceNet and encoder 85 Version 12 160VDC with 8IOA and optional CANopen Devicenet and encoder PCB 3ARMS default B PCB 6ARMS C PCB 9ARMS Hardware version default 2 Hardwar
186. r position internal magnetic encoder A command of 265 will result in PI Last timestamp in RunSeconds the Follow Error was set P2 Last timestamp in RunSeconds the Output Driver Error was set P3 Last timestamp in RunSeconds the Position Limits Exceeded Error was set P4 Last timestamp in RunSeconds the Low Bus Voltage Error was set P5 Last timestamp in RunSeconds the Over Voltage Error was set P6 Last timestamp in RunSeconds the Temperature Too High Error was set P7 Last timestamp in RunSeconds the Internal Error memory test error was set VI Number of times the Follow Error was set since the last Error Reset command V2 Number of times the Output Driver Error was set since the last Error Reset com mand V3 Number of times the Position Limits Exceeded Error was set since the last Error Reset command V4 Number of times the Low Bus Voltage Error was set since the last Error Log Reset command V5 Number of times the Over Voltage Error was set since the last Error Log Reset command V6 Number of times the Temperature Error was set since the last Error Log Reset command V7 Number of times the Internal Error was set since the last Error Log Reset com mand The command 266 will set all error timestamps and all error counters to zero All commands are entered in register 24 or in the Command field in Mactalk Test C d 0 TT2287GB 36 JVL Industri Elektronik A S User Manual Integrate
187. r up The scaling unit is the same as register 141 Register 140 Acceptance Count selects the number of times the Acceptance Voltage must be measured after power up before the flash erase operation is started When using values 1 8 or 12 for register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds Register 124 SetupBits selects to use Flash based Absolute Multiturn Encoder func tionality when bit 11 is set JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 35 2 9 Absolute position back up system 2 9 2 Reading the Flash Backup data The Error tracking and diagnostics counters can be copied to the general purpose regis ter P 8 and V 1 8 by writing to the Command register 24 This can also be done by writ ing the value into MacTalk Command field on the Advanced tab and pressing Enter Saved positions RunSeconds and counters A command value of 260 will result in Last saved values of the Actual Position P IST P2 Total number of times motor has been powered down P3 Total number of seconds the PCB has been running with a valid CV supply voltage P4 Total number of times a PLC program has been uploaded P5 Total number of times the motor parameters have been saved to flash button in MacTalk P6 Last saved external encoder value P7 Last saved SSI encoder value V3 Last saved Encode
188. raphic programming command reference 10 7 13 Wait for x ms before continuing Icon Dialog xj uu Cancel Function Causes the program to pause for a number of milliseconds before continuing The maximum pause that can be specified is 65535 milliseconds The minimum pause that can be specified is 0 milliseconds Note that this command overwrites Timer in the RxP module s memory 10 7 14 Wait for an input combination before continuing single input Icon b 3 Dialog Input type Input condition Low High Input 3 Falling Edge Input 4 C Rising Edge Input 5 Input 6 Input 7 Input 8 Motor Error In Position Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Single the command will wait for one of four things to happen on the specified input that the input tests as high that the input tests as low that the input transitions from high to low Falling Edge or that the input transitions from low to high Rising Edge The input is tested with 30 microsecond intervals JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 125 10 7 Graphic programming command reference 10 7 15 Wait for an input combination before continuing multiple inputs Icon b 3 Dialog Cancel Don t ca
189. rd The major performance features and characteristic of the CAN protocol are de scribed below Message oriented protocol The CAN protocol does not exchange data by addressing the recipient of the message but rather marks each transmitted message with a message identifier All nodes in the network check the identifier when they receive a message to see whether it is relevant for them Messages can therefore be accepted by none one several or all participants Prioritisation of messages As the identifier in a message also determines its priority for accessing the bus it is pos sible to specify a correspondingly rapid bus access for messages according to their im portance Especially important messages can thus gain access to the bus without a prolonged wait time regardless of the loading on the bus at any instant This characteristic means that important messages are transmitted with high priority even in exceptional situations thereby ensuring proper functioning of a system even dur ing phases of restricted transmission capacity JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 137 11 1 General information about CAN open 11 1 5 Multi Master capability Bus access rights are not issued by a mean level control unit bus master per network Instead each network node can start to send a message with equal rights as soon as the bus has become free If several participants access th
190. rd or PLC controls velocity and positioning Startup mode C Passiv Position C Gear Profile data Max velocity Start velocity Acceleration Driver parameters Running Current Standby Current Standby time Change actual mode 250 RPM 100 RPM 1250 24 RPM S 3 00 ARMS 0 75 ARMS 500 ms JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 65 743 Positioning M ode 7 3 1 Positioning M ode In this mode the QuickStep motor positions the motor via commands sent over the se rial interface Various operating parameters can be changed continuously while the mo tor is running This mode of operation is used primarily in systems where the Controller is permanently connected to a PC PLC via the interface This mode is also well suited for setting up and testing systems The mode is also used when programming is done Startup mode Passive Velocity Change actual mode Profile data Max velocity 250 RPM Start velocity 100 r RPM Acceleration 1250 5 Driver parameters Running Current 3 00 r ARMS Standby Current 0 75 ARMS Standby time 500 ms Motion parameters Position 66 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 7 4 Gear M ode 7 4 1 Gear M ode In this mode the QuickStep motor functions as in a step motor driver The motor moves one step each time a voltage pulse i
191. re Don t care Don t care ES Don t care Don t care Don t care Don t care Don t care Motor error 1 Don t In position 1 Don t care Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to Don t care are not tested The inputs are tested with 30 microsecond intervals 126 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programming command reference 10 7 16 Set a register in the MIS motor Icon Q Dialog Set register Reg No 3 Requested position Value 0 Revs Cancel Function Sets a register in the motor to a specified value The register is selected from a list of known user accessible registers The value can either be entered as native motor units or it can be entered as generic engineering units The dialog above provides an example register no 3 P_SOLL or Requested position depending on your pre
192. rformed until the current changes from running to standby When a new request for a move is received the current changes from standby to running with no delay Example STANDBY_TIME 200 will result in the controller switching to the standby current after 200ms JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 83 9 2 Register Descriptions 9 2 8 Standby Current Sire Access Range Default Unit MacTalk name STANDBY _ DEC CURRENT 16bit mw 0 511 5 87 mA Standby Current Description This register set the standby current for the motor 51 is the maximum possible value corresponding to 3A RMS The standby current is active when the motor has stopped and the specified Standby time has elapsed See Standby Time page 83 When the STANDBY CURRENT is changed the new motor current will be set instantly Example STANDBY CURRENT 50 will set the running current to 0 29A RMS 9 2 9 P Ist Access Range Default i MacTalk name R W 231 231 4 Actual Position Description This register shows the actual position of the motor This is updated each time the motor makes a step If P IST is changed when in position mode or gear mode the motor will move until P IST P SOLL When P_IST reaches 23 it will wrap around to 2 Please note that the turntable function changes the behaviour of P IST See Turntable Mode page 97 Example P IST 1000 P SOLL 1000 P
193. rs to the program in the module Programmng Setup Updates Help Transfer amp Start Will transfer the complete program and start it Use Stop or Pause to stop it G W Open Seve Main 1 0 Setup Register MACOD Rx Programmable Transfer Stat Save in flash Reset position errors Reset motor Advanced Tests Programming Module Checksum 3490 Program Status Running Stop Use this botton if the program must be stopped Program lines Each Botton represent a program line By pushing the botton a com mand can be entered at the program line Skp ntisizaton advanced Transfer setting R Progam Source Remak C Progam Source Program oriy New program Program setup Pause Use this botton if the program must be paused By paused means that actual program line executed is temporary paused When paused the single step feature can be used to debug the program a O Man UO Seng Advanced Teste Nem pogar vdd puti bof steckte aa eae sites posting Upload program Program information Print program Clear program Seer Progam Souce REM Progam Source Progam oniy Germes Infomation TT2189GB 1 REM Demonstration 2 Set outputs 2 high a 3 Move Rel dist 40 4 Wait 500 ms 5 Set outputs 2 low an P 5 Jumpto 2
194. rts this feature El Encoder feedback 1024 lines 4096 pulses rev Only if controller supports this feature Future option MI MI2 Ipcs 5pin male SMD73 pulse direction driver M2 MI2 2 pcs 5 pin male power 8 pin female RS485 4IOA M3 M12 3 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 SMC75 M4 MI2 3 pcs 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA5 8 SMC75 M5 MI2 4 pcs M6 MI2 4 pcs M7 MI2 4 pcs WO PGI6 and WI PGI6 and 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 8 pin female 5V serial IOA 5 8 SMC75 CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male CAN SMC75 DeviceNet 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male Device SMC75 no cable 2m cable Flying leads with shield EX Long hosing ready for MACOO xx expansion board Future option 6 4mm shaft and 6 35 mm shaft and IP42 2 6 35mm shaft and IP55 motor shaft and body IP65 Rear end and connector 3 10 0 mm shaft and IP42 4 10 0mm shaft and IP55 motor shaft and body IP65 Rear end and connector 5 4mm shaft and IP42 IP55 motor shaft and body IP65 Rear end and connector 7 8mm shaft 52mm long for HFOS worm gear Motor driver for 3 0A phase B Motor driver for 5 2A phase Future option 230 23 steppe
195. rved CAN SHLD Optional CAN Shield Pin 1 GND Optional CAN Ground CAN H CAN H bus line High Pin 4 Reserved error line CAN Optional CAN ext supply Pin 2 The figure below shows the 9 pin D sub and 5 pin style connectors 5 pin style connector 9 pin D sub connector 12345 54321 5 3 4 jo OE sees 6789 9876 Male front view Female front view Male front view Female front view TT1096GB 142 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 2 Connection and setup of the CAN bus 11 2 6 SM C75 connectors rear plate layout The MIS motors offer IP67 protection and MI2 connectors which make them ideal for automation applications where no additional protection is desired The MI2 connectors offer solid mechanical protection and are easy to unplug The connector layout PWR Power input M12 5 pin male connector JVL Cable WI1000M12 Isolation Signalname Description F5A05N group Main supply 12 48VDC Connect with pin2 1 Brown 1 Main supply 12 48VDC Connect with pin 1 White 1 Main supply ground Connect with pin 5 Blue 1 Control voltage 12 28VDC Black 1 Main supply ground Connect with pin 3 Grey 1 Note P and P are each available at 2 terminals Ensure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connect
196. s Follow Error Description When the encoder option is installed this register shows the encoder deviation from the calculated position P IST 9 2 18 Flwerrmax Reg Name Size Access Range Default Unit MacTalk name 22 FLWERRMAX 32bit R W 231 231 1 0 Steps Follow Error Max Description The maximum allowed value in FLWERR before an error is triggered If FLWERRMAX 0 the error is disabled See register 35 Err_Bits page 88 for a description of the error bit 9 2 19 Command Access Default Unit MacTalk name Size Range COMMAND 0 127 256 257 0 N A 16bit R W Description Used to issue commands to the motor 0 128 are the normal FastMac commands The values 128 255 are reserved Command 256 will activate a new baud rate on the serial ports and command 257 will synchronize the internal encoder position to the actual motor position 86 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 20 Statusbits Description Status bits Bit 0 Reserved Bit AutoCorrection Active Bit 2 In Physical Position Bit 3 At velocity Bit 4 In position Bit 5 Accelerating Bit 6 Decelerating Bit 7 Zero search done Bit 8 15 Reserved Actual run status bits for the motor 9 2 21 Temp Reg Name Size Access Range Default Unit MacTalk name 26 TEMP 16bit R 0 127 2 27 USES Temperature offset Description Temperature mea
197. s and command 184 Programming 107 134 PSU05 045 203 PSU24 075 203 PSU24 240 203 PSU48 1000 203 PSU48 1500 203 PSU48 240 203 PSU48 800 203 Pull up resistor 22 Pulse Direction driver 6 Pulse direction outputs 32 PulseDirMask 94 PulseDirMod 94 Q Quick start 45 QuickStep motors 10 R Readregister 181 Read register block 182 Receive PDOs 151 163 Register overview 77 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS231 232 234 209 Index Registers 75 89 91 95 100 A Soll 83 117 121 152 155 Acc Emerg 87 Afzup ConfMax 92 Afzup ConfMin 92 Afzup MaxSlope 92 93 Afzup Readindex 92 Afzup WriteBits 91 An 90 AnalogFiltered 90 Analogln 91 Available 104 Bootloader Ver 104 Busvol 91 Checksum 103 Command 86 Encoder Pos 85 Encoder Type 91 Err Bits 30 88 Error Mask 99 Ext Encoder 105 Ext Encoder Vel 105 Fbus Baud 105 Fbus Nodeld 104 FilterStatus 93 Flwerr 86 Flwerrmax 86 GEARI 10 63 82 85 GEAR2 10 63 82 85 Group ld 102 Group Seq 102 Hardware Rev 103 Home Bits 96 Homemode 89 Index Offset 96 Inpos Mask 99 Input Filter Cnt 99 Input Filter Mask 99 Inputs 86 losetup 86 96 Max P Ist 87 Max Voltage 103 Min Busvol 91 Min P Ist 87 Mode Reg 24 81 147 152 155 Motortype 103 My Addr 102 NL Mask 97 Notsaved 104 Option Bits 104 Outputs 86 P Home 88 P Ist 84 86 101 153 156 P New 90 101 P Soll 10 34 63 135 152 155 Pn 90 Prog vers 81 PulseDirMask
198. s applied to the step pulse input Velocity accelera tion and deceleration are determined by the external frequency but can be limited and controlled by the QuickStep motor In addition the QuickStep motor also provides a fa cility for electronic gearing at a keyed in ratio in the interval 1 32767 to 32767 Start velocity is not used in this mode The digital input filter is not used in this mode at input and 2 Startup mode Passive V Change actual mode C Velocity Position Profile data Max velocity Start velocity Acceleration Driver parameters Running Current Standby Current Standby time Gear factor Input Pulses Output Pulses Motion parameters Position Counts Example The motor has a resolution of 600 pulses rev and the encoder 500 pulses rev If one revolution of the encoder should result in one motor revolution the Input must be set to 500 and the Output tol 600 If the motor must run 5 revolutions because there is a gear with a reduction of 5 1 the output must be set to 5x1600 8000 instead JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 67 7 5 Zero search modes 7 5 1 7 5 2 M echanical zero search modes In all positioning systems there is a requirement to be able to find a mechanical zero po sition after the system is powered up or at specific times during operation For this pur pose the MIS motor offers 2 different Zero sear
199. s mounted on the rear end of the motorshaft and this is placed in close dis tance to the SMC75 PCB a 1023 pulses rev incremental A B index signal will be avail able on 3 of the output pins Encoder position will also be available at an internal register and can be used in a PLC program Encoder designation 32 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 2 7 S pecial connections QuickStep motor MIS23 AICINO75 Motor with 2 cable glands PGI 2 out of the side for low cost applications where a short total length is required Can also be delivered with 5m cables as MIS231A1C2NO075 Option for IP65 Function Color 101 White 102 Brown 103 Green 104 Yellow Red Grey B Pink Black Not used Function Color 105 Blue 106 Violet 107 Grey Pink 108 Red Blue Not used Function Color Not used CAN_H White Green CAN_L Brown Green White Yellow 6 Yellow Brown Connector J8 Screen Cable WG1005 for MIS23 IAI C2N075 and mounted cable on MIS231al CINO075 Power Cable Connector J2 Function Color Red Blue Black Screen JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 33 2 8 Auto Correction AutoCorrection is used in motors with a built in e
200. s this feature is only available as a RxP program command Example An SSI encoder is chosed using 25 bit data We want to sample and convert the SSI data value from register 47 and put the convert ed value into Register 61 P2 To get the actual value from the SSI encoder we use a special command 321 The new data is placed in register 47 Now we want to convert the data from Gray code to con ventional binary format To do this we use a Binary command instruction The command is OxOC 12d From register Ox2F 47d To register 0x3D 61d 25bits 0x19 25d Get the actual value from 6 Set Special Command to 321 the SSI encoder fe 8 Binary command Ox0C Ox2F 0x3D 0x19 Convert from binary TT2268GB JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 89 9 2 Register Descriptions 9 2 33 Pn Access Range Default MacTalk name R W 231 231 1 0 Position n Pn Description These eight general purpose position registers are referred to as P8 and can be used to make absolute or relative movements in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands and the P NEW register description P New page 101 9 2 34 Vn Reg Name Size Access Range Default Unit MacTalk name 65 72 Vn 16bit R W 0 1023 250 RPM Velocity n Vn Description These eight general purpose V
201. sed Supply Max 32VDC Mains 230VAC 4 Up to 32 Main supply Motors TI218168 Opto isolation is recommended The last unit in each end of the line must be terminated The MACOO B1 B2 and B4 contain this feature See the individual module descriptions The QuickStep motor does not have a resistor built in the resistor has to be mounted externally for instance in the M12 connector Each unit connected must be setup with an address via The MacTalk program If only one unit is connected no address is needed JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 49 50 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 Using MacTalk Setup save open The complete setup can be either saved or reloaded from a file using these buttons Startup mode The basic functionality of the unit is setup in this field Profile Data All the main para meters for control ing the motor behaviour are setup in this field Driver Parameter These fields are used to define standby and running current Gear Factor The gear ratio can be entered here Motion Parameters System control Use these buttons to save data permanently reset the motor etc Error Handling Use these fields to define error limits for the position range etc 4 Mnt Vers iO Soma Tom
202. seful for automated testing Entries can be deleted from the user SDO list by selecting them with the mouse and pressing the delete key The sync Time field top right sets the time in milliseconds for the SYNC messages to be sent out SYNCS can be started and stopped using the buttons Enable Sync and the Stop button to the right The Guard Time field below the Sync Time field works like SYNC just for the Guarding message The close button exits the program after saving the list of user SDOs which will be au tomatically reloaded at the next program start 148 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 4 Objects in the DS301 standard 11 4 1 DS301 specified Communications objects The 05301 specified Communications objects are shown in the table below To obtain the default value in CanOpenExplorer press R on the keyboard and the actual value will be shown Index Sub Read Name he Index Data Type only Default Description Contains information about the Device type 1000 UNSIGNED32 x 0x40192 device type See note at top of next page Mandatory This is the mapping error register Error and it is part of the emergency ob Regi 1001 UNSIGNED8 X ject If any of the sub indices are egister high an error has occured See also section 11 4 2 Mandatory 0 Generic error Mandatory 1 Current 2 Voltage 3 Te
203. set the motor is in a state of error and will not move until all the errors have been cleared Some of the errors can be cleared by writing zero to this reg ister Other errors will require hardware fixes or intervention such as allowing the motor cool down or adjusting the power supply voltage 9 2 26 Warn Bits Reg Name Size Access Range Default Unit MacTalk name 36 WARN BITS 16bit R W 0 Special Warnings Description Warning bits Bit 0 Positive limit active This bit will be set as long as the positive limit is active Bit Negative limit active This bit will be set as long as the negative limit is active Bit 2 Positive limit has been active Bit 3 Negative limit has been active Bit 4 Low bus voltage Bit 5 reserved Bit 6 Temperature has been above 80 C These bits provide information on both the actual state and remembered state of the end position limits the supply voltage and the temperature These are used for diagnostic purposes as well as handling position limit stops also after the motor may have left the end position mechanically 9 2 27 Startmode Reg Name Size Access Range Default Unit MacTalk name 37 STARTMODE 16bit R W 0 E Startup Mode Description The motor will switch to this mode after power up This is also the mode that is used when a zero search has been completed See Mode Reg page 81 for a list of possible modes 9 2 28 P Home Reg Name Size Access Range Default Unit MacTalk
204. simultaneously to all devices PDO SDO EMCY NMT and heartbeat use the header frame for communication on the CANopen bus JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 139 11 2 Connection and setup of the CAN bus 11 2 1 Connecting the SM C75 Controller to the CAN bus Before you connect the Controller SMC75 to the CAN bus the Baud rate the Node ID and the termination must be selected On the serial bus it is possible to set a transmission speed Baud rate of max 1000 Kbit s and a min of 10 Kbit s The Baud rate depends on the cable length and the wire cross section The table below gives some recommendations for networks with less than 64 nodes Recommended bus cable cross sections are according to CIA Bus Distance Cross sec Terminator Baud rate m tion mm Ohms Kbit s 25 0 25 0 34 120 1000 100 0 34 0 6 150 300 500 250 0 34 0 6 150 300 250 500 0 5 0 6 150 300 125 500 0 5 0 6 150 300 100 1000 0 75 0 8 150 300 50 The bus wires may be routed in parallel twisted and or shielded depending on EMC re quirements The layout of the wiring should be as close as possible to a single line struc ture in order to minimize reflections The cable stubs for connection of the bus node must be as short as possible especially at high bit rates The cable shielding in the housing must have a large contact area For a drop cable a wire cross section
205. so be delivered separately as PCB boards for own use by the customer and can be delivered in a metal housing with M12 connectors corresponding to the housing built together with the complete integrat ed motor Complete QuickStep motor with SMC75 built in SMD73 PCB QuickStep motor with SMD73 SMC75 PCB SMC75 in housing JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 5 l 1 Features pulse direction SM D73 The QuickStep series of Stepper motors with integrat ed electronics represents a major step forward All the necessary electronics in a stepper system are in tegrated in the motor itself In the past a traditional motor system has typically been based on a central controller unit located remote from the motor This configuration however has the disad vantage that installation costs are a major part of the to tal expense of building machinery The basic idea of the QuickStep motors is to minimize these costs but also to make a component that is much better protected against electrical noise which can be a typical problem when using long cables between the controller and motor The stepper motor encoder and electronics are spe cially developed by JVL so that together they form a closed unit in which the power driver and controller are mounted inside the motor The advantages of this solution are De central intelligence Simple installation No cables between
206. sted in the table below Abort code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO Protocol timed out 0504 0001h Client server command specified not valid or unknown 0504 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 169 11 6 More details of CANOpen Theory Abort code Description 0604 0043h General parameter incompatibility reason 0606 0000h Access failed due to a hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0609 0032h Value of parameter written too low 0609 0036h Maximum value is less than minimum value 0800 0000h General error 0800 0020h Data cannot b
207. sured inside the motor electronics The approximate temperature in degrees Celsius is calculated from the value in this reg ister using the formula Tc 2 27 Value 9 2 22 Min P Ist Access Range Default i MacTalk name MIN P IST i R W 231 231 1 0 Position Limit Min Description Position limit for movement in the negative direction The motor can be configured to stop automatically when it reaches this position 9 2 23 Max P Ist Default i MacTalk name MAX P IST i 231 0 Position Limit Description Position limit for movement in the positive direction The motor can be configured to stop automatically when it reaches this position 9 2 24 Acc Emerg Reg Name Size Access Range Default Unit MacTalk name 32 ACC_EMERG 16bit R W 1 65535 10000 9 54 RPM s2 Error Acceleration Description The motor will use this acceleration during an emergency stop JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 87 9 2 Register Descriptions 9 2 25 Err Bits Description Error bits Bit 0 General error Will always be set together with one of the other bits Bit 1 Follow error Bit 2 Output driver error Bit is set if one of the outputs is short circuited Bit 3 position Limit error Bit 4 Low bus voltage error Bit 5 Over voltage error Bit 6 Temperature too high 90 C Bit 7 Internal error Self diagnostics failed If any of these bits are
208. t Then the d program is pause Modifies the outputs The bits set in the Set outputs data will be set and cleared 5 Set outputs Clearoutputs for Clear outputs 8bit 8bit Example The data 0x06 0x01 sets output 2 3 and clears output 1 6 Reserved 7 Size 16 bit Prepare the flash for a new program Data 1 specifies the size of the program in bytes The command number is placed in the first command data byte Data Data 2 are placed in the following command data bytes Controller sends SMC75 Response lt PStat gt lt Address gt lt Len1 gt lt Data1 gt lt End gt lt PStat gt lt MAddress gt lt Len2 gt lt Data2 gt lt End gt 184 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 12 6 Serial communication Block description Block Name Protected Example Description lt PStat gt No 61h 61h 61h Program status command Address Yes 07h F8h Address 7 The address of the SMC75 s to write to lt Len1 gt Yes 01h FEh Len 1 Length of the command data lt Data1 gt Yes 01h FEh Start Command data lt MAddress gt Yes 00h FFh Address 0 This will always be 0 because this is the address of the master lt Len2 gt Yes 08h F7h Len 8 The length of the return data 09h F6h Program state 00h FFh 00h FFh Program pointer lt Data2 gt Yes pecs Stack pointer Data returned from SMC75 00h FFh Program checksum 80h
209. tered value will never change even though there is a change in the input voltage For instance if the Confidence Min limit is set to 2 0 V and the actual input voltage is 1 50 V the filtered value may continue to read out 0 00 V or the last value it had before exceeding the confidence limits To help troubleshooting in cases like this each input has a status bit that is set if at least half of the new samples during the last second lie outside either confidence limit It is not possible to see which of the confidence limits is violated The status bits are updated once per second Slope alarms If the Max Slope limit is used by setting its value lower than 1023 it may be possible that many samples have their value limited This is not necessarily an error in itself but can be a sign of a fault causing a noisy signal or it can be a sign that the Max Slope limit is set too low which can have implications if the analogue voltage is used to control the mo tor speed torque etc To help troubleshooting in cases like this each input has a status bit that is set if at least half of the new samples during the last second were limited by the Max Slope setting The status bits are updated once per second Example of analog input filter operation Note that even though the examples use units rather than Volts decimal values are used since the motor uses a much higher resolution internally to store the units Also note that as long as the slop
210. the Beckhoff mode enable the Beckhoff support from MacTalk and press the Save in flash button Y Fieldbus interface CanOpen Node ID 5 CanOpen Baud rate 500 kbit s m Enable CanOpen DSP 402 Support se CAN configuration 122676 154 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 4 Objects in the DS301 standard 11 4 9 Beckhoff receive PDO setup The table below shows default values of the COB ID Type Description Default Receive COB ID Nodeid 0x00000200 1 Transmit COB ID Nodeid 0x00000180 2 1 Receive COB ID Nodeid 0x00000300 r w 1 Transmit COB ID Nodeid 0x00000280 r w 3 1 Receive COB ID Nodeid 0x00000400 r w 1 Transmit COB ID Nodeid 0x00000380 r w 4 1 Receive COB ID Nodeid 0x00000500 r w 1 Transmit COB ID Nodeid 0x00000480 r w Receive PDOI Data P SOLL V SOLL A SOLL Object 2012h sub 3 2014h sub 5 2014h sub 6 Receive PDO 2 With this PDO it is possible to update the running current and operating mode Byte Jo 4 42 d3 Ja 85 16 T Data RUN CURRENT MODE REG Object 2014h sub 7 2014h sub 2 Receive PDO 3 This PDO can be used to issue a Motor command Bye t 2 93 A4 B 6 7 __ Data Motor Command Reserved Reserved Reserved Res Res Res Object 2014h sub 24 Receive PDO 4 This PDO updates the outputs Bye 2 p 7 Data Output data Reserved Reserv
211. the Onine button to re escablih communication wth motor As seen in the bottom info line the motor is disconnected and the filedata is currently present in Mactalk To re establish communication with the motor simply press the Go Online button and if any data has been changed a warning box appears enabling the user to save current data before re establishing communication with the motor as this will overwrite existing data in MacTalk If data is changed in MacTalk the user is warned that current data in MacTalk may be overwritten and needs to be saved The following warningbox is presented Warning NET new motor has been detected and all userdata in MacTalk will be overwritten with motordata Do you wish to save current userdata in MacTalk Choosing No will immediately upload all motor data pressing yes will save all data in the open file JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 55 5 1 Using the MacTalk software 5 1 4 Main Screen W gt e d a Hu IN f pun r SO M UO Snap Aspin Advanced Tete Scope Propane unome 7 nn hrs V ensede Pound van on ntn vitae 2 Tie nh Da le a This field shows mi Jl the register values pis in the controller p Mas remite s otn te tre lt odas b Pun Contr Cnr atur p b Here
212. the direction that takes the smallest number of steps to reach the new position Note that the motor will not move at all if the new position in register P SOLL is either negative or larger than the value of register 127 TurntableSize 9 2 64 Turntable Size Reg Name Size Access Range Default Unit MacTalk name ipm sees 32bit RW 0 Steps Tum Table Size Description If turntable mode is selected in register 126 the number of steps needed for a full rev olution of the turntable is set in this register Note that the register P SOLL must always have a value between zero and the value in this register minus one Negative values are not allowed for P SOLL or TurntableSize 9 2 65 NL Mask Access Default Unit MacTalk name Dedicated Inputs Negative Limit Input NL MASK i R W 0 IO Mask Description Selects which one of the eight IO pins to use for the dedicated function of Negative Posi tion Limit Exactly one bit must be set and the pin must be configured in register 125 as input Example If input 7 is to be used for the Negative Input Limit write 26 64 to this register JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 97 9 2 Register Descriptions 9 2 66 PL Mask PL MASK 16bit IO Mask Dedicated Inputs Positive Limit Input Description Selects which one of the eight pins to use for the dedicated function of Positive Position Limit
213. til the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless given other instructions by the program 120 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 10 7 Graphic programming command reference 10 7 8 M ove Sensor Icon Dialog Move type Relative Relative velocity change at distance Cancel C Relative set outputs General parameters Sensor parameters Distance 0 v Counts Safety distance 0 v Counts Acceleration 0 RPM s Input condition s Velocity 0 RPM 7 Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a movement in the direction specified until an input condition is satisfied The motor then moves the distance specified before stopping The motor will not move farther than the Safety distance specified regardless of whether the input condition is satisfied The distances are measured in encoder counts and can either be entered directly or taken from three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5
214. tinuous torque ratings from 0 5 to 2 9 Nm The basic func tions and I O features are the same for all models MIS34x models up to 12 0 Nm under development MIS230 MIS231 MIS232 MIS234 MIS340 MIS341 MIS342 MIS343 1 1 1 6 4 6 8 0 0 3 0 48 1 4 2 7 NEMA23 57x57 mm NEMA34 87x87mm 96 118 5 120 158 6 35 6 35 9 53 14 0 Shaft radial play Max 0 02 450g load Max 0 02 450g load Shaft axial play Max 0 08 450g load Max 0 08 450g load Max radial force 7 5 20mm from flange 22 20mm from flange Max axial force 1 5 6 Weight 1 3 1 Basic modes functions in the QuickStep motor The QuickStep motor offers the following functions Mode Description The motor will be in a completely passive state but communication is active and internal registers Passive can be setup Motor shaft can be turned by hand The motor velocity can be controlled using MacTalk software or by setting register 5 V SOLL Velocit i y using serial or program commands The motor position can be controlled using MacTalk or by setting register 3 P_SOLL using serial Position or program commands The motor position and velocity can be controlled by pulse and direction or encoder signals at the inputs IN1 and IN2 The gear ratio can be set to a large ratio by using register14 GEAR1 and register 15 GEAR2 1 3 2 Torque curves Quickstep motor tor
215. tion concerning the differential lines The SMC75 provides a double differential RS422 interface that can be used for reading values from sensors including absolute multiturn encoders One of the interfaces the Al and Al 5V differential signals is always used for output while the other interface the B and Bl signals can be used for either input or output On hardware versions earlier than version 1 5 the signals were always input To interface to an SSI sensor the signals are used as inputs Note that one of the other uses of the differential lines is to output pulses from the in ternal singleturn absolute encoder on Al and BI but this requires that is set in output mode In firmware version 2 4 and later running on HW 1 5 or later the interface is set up as input per default and the user must change parameter values to enable internal en coder outputs The SSI interface When the differential lines are used for SSI the Al lines work as a Clock signal from the SMC75 to the encoder while the signals work as a Data signal from the en coder to the SMC75 The figure above shows the SSI protocol principle The Clock line is normally high When a reading is requested the Clock goes low for t micro seconds to allow the encoder to sample and prepare a value On the first rising edge of the Clock 1 no sampling is done but on th
216. trol Services Two possibilities exist for performing Error Control Node Guarding Life Guarding Heartbeat Node Guarding Life Guarding With Node Guarding the CANopen master sends each slave an RTR telegram Remote Transmit request with the COB ID 1792 700h node ID Using the same COB ID the slave responds with its communications state i e either Pre Operational Operational or stopped The CANopen slave also monitors the incoming RTR telegram from the master The cycle of the incoming RTR telegrams is set using the Guard Time Object The number of RTR telegrams which can fail at a maximum before the slave initiates a Life Guarding event is defined using the Life time factor object The Node Life Time is calculated from the product of the Guard Time and Life Time Fac tor This is the maximum time that the slave waits for an RTR telegram The figure below shows a Node Guarding Life Guarding protocol 172 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 6 More details of CANOpen Theory COB ID 700h Node ID Request Remote transmit request Indication Confirmation 7 60 Response t s COB ID 700h Node ID Request Remote transmit request Indication Confirmation an Response Node Guarding event Life Guarding event Indication Indication TT1083GB Where s is the state of the NMT slave NMT state Stopped Operational Pre operational
217. trolword 6040 UNSIGNED16 Statusword 6041 UNSIGNED16 Quick stop option code 605A INTEGER16 Modes of operation 6060 INTEGER8 Modes of operation display 6061 INTEGER8 Profile Position parameters Position actual value 6064 INTEGER32 Target position 607A INTEGER32 Software position limit 607D UNSIGNED8 Software_position_limit_Min position_limit 607D INTEGER32 Software_position_limit_Max position_limit 607D INTEGER32 Max_motor_speed 6080 UNSIGNED32 Profile_velocity 6081 UNSIGNED32 Profile_acceleration 6083 UNSIGNED32 UNSIGNED16 VISIBLE_STRING VISIBLE_STRING VISIBLE_STRING UNSIGNED32 VISIBLE_STRING VISIBLE_STRING VISIBLE_STRING 9 SMC75 JVL A S www jvl dk 37 SMC75 JVL A S www jvl dk XXIX X XX OK OX 158 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 5 Objects used in the DSP 402 standard Sub In Name dex Type Default Quick stop deceleration 0 UNSIGNED32 Motion profile type 0 INTEGER16 Profile velocity mode elocity sensor actual valu 6069 INTEGER32 elocity demand value 606B INTEGER32 elocity actual value 606C INTEGER32 elocity window 606D UNSIGNED16 elocity_window_time 606E UNSIGNED16 60FF INTEGER32 6072 UNSIGNED16 Home_offset 607C INTEGER32 Homing_method 6098 INTEGER8 Homing speeds 6099 UNS
218. ual Integrated Step Motors MIS 231 232 234 179 12 5 Connection of Vexta motor Connection of Phytron motor Type 2 Type 25 Motor in unipolar model 6 cables Aa Black A Yellow B HN B 2 B White Connection of Vexta stepmotor Type 2 Black Black White Red White Yellow White 180 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 12 6 Serial communication This section describes control of the SMC75 motor via the serial interface RS232 RS485 The communication is not made in ASCII values and it is thus not possible to use pro grams like Hyperterminal to control the motor The interface is RS232 compatible and uses 8 data bits and no parity The SMC75 motor is completely controlled by reading and writing to registers The registers are numbered 1 255 The width of the registers is 16 bits or 32 bits To protect communication from errors the data is transmitted twice First the data byte is transmitted and then an inverted version 255 x is transmitted The easiest way to become familiar with the registers and MacTalk communication is to use the MacReglO program This program lists all of the registers and the serial com mands sent and received can be monitored 12 6 1 Supported commands Sync Response Sync Description 0x50 0x52 Read registe
219. ue on an analog input lies farther from the previous filtered value in registers 81 88 the new sample will be modified to lie at most MaxSlope units from the filtered value This is used to suppress noise and limit acceleration Note that the value is optionally filtered after being slope limited in which case the effective slope limitation will be divided by the filter ratio A value of 1023 will effectively disable slope limitation 92 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 2 Register Descriptions 9 2 47 Afzup Filter GET th AFZUP Filter 16bit 64 of new Filter on the Filter sample setup screen Description The final filtering of new samples on the analog inputs can be selected using this register in combination with the read and write command registers 100 and 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply replaces the old value 9 2 48 FilterStatus Reg Name Size Access Range Default Unit MacTalk name N A shown grafi cally 106 FilterStatus 16bit R 0 65535 0 Description This register contains status bits for the analog input filters The lowest eight bits hold confidence errors for each of the eight inputs while the highest eight bits hold the status
220. uni cations at high baud rates can result in even longer MLT values However this scenario is very unlikely Note In applications where program timing is critical tests must be performed to ensure that timing is satisfactory when communication is running according to conditions used in production 178 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 12 4 M otor Connections Connection of J VL and MAE motors parallel Type MST23x MST34x and HY200 xxxx xxx x8 Black Black White Orange White Orange Red White Yellow White Yellow Connection of J VL and MAE motors serial Type MST23x MST34x and 200 8 Black Black White A Orange White_ J G Dy Red Yellow W s B Yellow Connection of MAE motor unipol Type HY2 00 1 Motor in unipolar model 6 wires A i White Green o I mu Connection of J VL and MAE 4 wire motors Type MST17x and HY200 xxxx xxx x4 Black White 17 xx Orange Yellow 17 xx L gt A A Red Red 1 O B4 UNS B Yellow Blue 17xx Connection of Zebotronics motor Type SM 8 terminals 7 6 8 SM87 SM107 168 x xx Connection of Zebotronics motor Type SM 4 terminals White poe ly hite Red White 4 JVL Industri Elektronik A S User Man
221. ured properly using MacTalk or parameters 125 129 130 132 162 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 11 5 Objects used in the DSP 402 standard 11 5 7 Supported PDOs Receive PDOs Mapping object index Mapping object name Controlword Comment controls the state machine Controlword Modes of operation controls the state machine and modes of operation Controlword Target position controls the state machine and the tar get position pp Controlword Target velocity pv controls the state machine and the tar get velocity pv Transmit PDOs Mapping object index Controlword Digital outputs Mapping object name Statusword controls the state machine and the dig ital outputs Event driven Statusword Modes of operation display Statusword Position actual value Statusword Velocity actual value Statusword Digital inputs JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 163 11 6 More details of CAN Open Theory 11 6 1 CANopen DS 301 device profiles Standardized devices in CANopen have their characteristics described in a device profile For each device profile particular data and parameters are strictly defined Data and pa rameters are known as objects in CANopen Objects perform all processes in CAN open
222. uts 5V serial and RS485 inter face for set up and programming MODBUS interface 9 6to IMb communication MIS232 with controller Driver technology is improved as com pared to SMD73 and supply voltage is 12 48VDC When used with the QuickStep motor or mounted on any other step motor the ad vantages of the controller are De central intelligence Simple installation No cables between motor and driver e EMC safe Switching noise remains within motor Compact Does not take space in cabi net Low cost alternative to separate step or servo motor and driver Stall detect by means of magnetic encoder with resolution of up to 1024 pulses rev Interface possibilities to the SMC75 controller From PC PLC with serial commands via 5V serial or RS485 Pulse direction input Encoder output CANopen DeviceNet e 5 28VDC that can be configured as Inputs Outputs or analogue inputs Future option for Profibus DP Ethernet Bluetooth and Zigbee wireless JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 1 2 positioning speed control SM C75 1 2 1 Block diagram Positioning Speed Control SM C75 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 9 1 3 General description The QuickStep motors are currently available in 4 different models MIS230 MIS231 MIS232 and MIS234 with con
223. ves are connected to the network The protocol uses the same identifier as the error control protocols See the figure below NMT Master NMT Slave COB ID 700h Node ID Indication Request TT1085GB One data byte is transmitted with value 0 JVL Industri Elektronik A S User Manual Integrated Step Motors MIS 231 232 234 165 11 6 More details of CAN Open Theory 11 6 3 PDO Process Data Object PDO Performs real time transfers and the transfer of PDOs is performed without a protocol PDOs are used in two ways for data transmission and for data reception PDOs can bundle all objects from the object data directory and a PDO can handle max 8 bytes of data in the same PDO The PDO can consist of multiple objects Another PDO characteristic is that it does not reply when it is receiving data in order to make data transfer fast It has a high priority identifier PDO connections follow the Producer Consumer model whereby a normal PDO con nection follows the Push model and an RTR connection the Pull model Objects are mapped in a PDO This mapping is an agreement between the sender and receiver regarding which object is located at which position in the PDO This means that the sender knows at which position in the PDO it should write data and the receiver knows where it should transfer the data to that is received The PDOs correspond to entries in the Device Object Dictionary and provide the inter face to th
224. y define the zero point as a value other than zero position 0 When is it useful to use the zero point offset fitis required that the position interval under normal operation is always nice pos itive values from 0 to x instead of a mixture of negative and positive values This can happen if the zero point sensor is placed a long distance away from the normal posi tioning interval or inside the normal positioning interval fan automatic move to an initial position is desired after a power up zero search The offset value must be specified in the Zero search position field The complete zero search will be performed in the following order The zero search is started either automatically power up or initiated by a command from the serial interface 2 The basic zero search is completed and the position counter is set to the value spec ified in the Zero search position field 3 Ifthezero search position value is different from position the motor will now move to position 0 4 zero search is now complete and the motor will switch to normal operation i e the mode selected in the Startup mode field in the main window The illustration below shows the complete zero search cycle The motor will always go to position O after a complete zero search is done this causes the motor to move the difference between 0 and the value specified in the The speed and acceleration Zero search position field is set to the g

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