Home

ANG1(x) - Advanced Micro Controls Inc

1. Mounting Dimensions Figure 4 1 shows the dimensions of an Mating Connector 4 47 gt AnyNET I O module Refer to the instal 0 89 1 113 5 lation instructions of the appropriate Any 22 6 NET I O network interface module for complete information on spacing needed EEG to install the module The ANG1 module Amy is a high power module that may require um additional spacing when mounting See Bele _ bS Minimum Spacing on the following m So oT page for more information kot rok il X 2 Y Y 9 Figure 4 1 AnyNET I O Outline 20 Gear Drive Plymouth Ind Park Terryville CT 06786 41 Tel 860 585 1254 Fax 860 584 1973 http www amci com i INSTALLING THE ANG1 Mounting continued Minimum Spacing S Minimum Spacing dimensions As shown in figure 4 2 you must maintain a min 2 0 inches 50 8 mm imum spacing of 2 inches 50 8 millimeters from enclosure walls wireways adjacent equipment etc for adequate system ventilation Also note that the AnyNET I O modules must be mounted in the orientation shown in the figure Mounting the system in any other orientation will decrease the efficiency of the ventilation slots on the top and bottom of each module which may lead to system overheating and malfunction When you install a stack of ANGI modules that are all running at the full 4 0A current with a dut
2. ANG Stack with the DIP switches The front panel also has the Status LED which give you infor mation on the state of the module AnyNET I O AnyNET I O8 AnyNET I O Address Settings The AnyNET I O platform allows you to con nect up to six modules to a single network con nection in what we call an AnyNET I O Stack The DIP switch behind the front panel cover is used to set the address of the module within the AnyNET I O Stack The first module acts as the network interface and must have an address of zero This address is set by having all of the DIP switches in their OFF position If you are using a single module then it must have an address of zero The remaining modules in the Stack should have their addresses set to their position STATUS STATUS STATUS Q Q Stepper Indexer Driver Stepper Indexer Driver Stepper Indexer Driver in the stack by setting the corresponding DIP switch to its ON position Figure 1 4 shows the correct addressing for three modules The mod Figure 1 4 ANG1 Front Panel ule on the left is an ANGIE and has its address set to zero The remaining modules can be ANGI or ANGIE modules and their addresses are set to one and two NOTE gt If an ANGI has network interface and its address set to any value other than zero its net work interface is disabled This allows you to use multiple ANG1 modules with network con n
3. 588 53535 2 Figure 6 5 Command Mode Status Word 2 Format Driver Enabled Bit Present state of global Driver Enable Bit When set to 0 current is not avail able to the motor under any condition When set to 1 the motor driver section of the ANGI is enabled and current is available to the motor but current may be removed for other reasons Motor current is removed if there is a Driver Fault Bit 7 below or if the motor is idle and Idle Current Reduction is programmed to its To 0 setting Note that the motor will still receive power under an E Stop condition Motor Stall Detected Bit Set to 1 when a motor stall has been detected Output 1 State Bit Present actual state of Output 1 When this bit is set to 1 the output is in its on state and conducts current Reserved Bit Will always equal zero Heartbeat Bit This bit will change state approximately every 500 milliseconds Monitor this bit to verify that the module and network connection are operating correctly NOTE This bit is only available when in Command Mode Bit 10 Limit Condition Active Bit This bit is set if an End Limit Switch is reached during a move This bit will be reset when the Limit Switch changes from its active to inactive state or when a Reset Errors Command is issued 72 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA
4. B A 3 O 20 TIS Too anne Belden 955 r ada __ od zi Motor Case Four Lead Connected Motor Case Figure 4 12 Motor Wiring 50 ADVANCED MICRO CONTROLS INC amp CONFIGURATION MODE DATA FORMAT This chapter covers the formats the Network Output Data used configure the ANG1 as well as the formats of the Network Input Data that contains the responses from the module Each ANG1 requires ten 16 bit words 20 bytes for Output Data as well as ten 16 bit words for Input Data Modes of Operation The ANGI has two operating modes Configuration Mode and Command Mode You switch between these modes by changing the state of a single bit in the Network Output Data Configuration Mode Configuration Mode gives you the ability to select the proper configuration for your application without hav ing to set any switches The ANGI must be configured on every power up Additionally the motor will not receive power until the module is configured properly Command Mode This mode gives you the ability to program and execute stepper moves and reset errors when they occur The ANGI will always power up in this mode but a valid configuration must be sent to the ANGI before it will apply power to the motor or allow you to issue move commands The command data formats are described in the following chapter Multi Word Format Many
5. 5Vdc Isolated Power Supply AMCI Encoder L Belden 8304 or equ Suggested o9 Optional on all AMCI RED RED Pwr dual shaft stepper motors BLK x BLK Shield KY Shield PN Z Encoder BLK PSSZ Z Encoder Lez BLU X BLU 2 B Encoder B BLK BLK SSE EB B Encoder GRN GRN NS B A Encoder O A BLK BLK SS A Encoder OTT LL 5 WHT x WHT A To Gr 1 GROUND THE SHIELD OF THE ENCODER CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the encoder the shield can be grounded to the same Ground Bus as the ANG1 E Figure 4 9 Sample Differential Encoder Wiring 46 ADVANCED MICRO CONTROLS INC INSTALLING THE ANG1 Encoder Wiring continued Single Ended Wiring Figure 4 10 below shows how to wire the encoder inputs to both a single ended sourcing and single ended sinking encoder outputs D CAUTION The encoder inputs on the ANGI are rated for 5Vdc only You must use a current limit ing resistor on each input if the outputs of your encoder are greater than 5Vdc Appro priate current limiting resistors are shown in the figure below ANG1 E Encoder Input Connection to Sourcing Encoder Output pios be oe A Enc
6. Network Port 14 Dwell Move 2 j MM 29 Motor Connector 15 Controlled Stop 30 Front Panel 15 Immediate Stop 30 Address Settings 15 Assembled Move Programming 31 Stat s 15 Control Output Data 31 Specifications NM NM 16 Control Bits Input Data 31 Programming Routine 31 20 Gear Drive Plymouth Ind Park CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com Chapter 2 Move Profiles continued continued Indexed Moves eese 32 Connector Pin Out 44 Controlling Moves In Progress 33 Power Wiring 44 Find Home Moves 33 Input Wiring esee 45 Manual Moves ee 33 Output Wiring 46 Registration Moves 33 Encoder Wiring eee 46 Absolute Relative and e Differential Wiring 46 Encoder Moves 33 Single Ended Wirin 47 Assembled Moves 33 7 1 nes GUNT m Electronic Gearing eese 34 src Outline Drawings 48 Motor Steps Turn 34 f Wm Mounting th
7. Find Home Commands The other choice is to use the module s Find Home commands to order the ANGI to find the Home Position based on sensors brought into the unit The Find Home command begins searching by outputting CW pulses to the motor s driver and ends when the home sensor triggers while the ANGI is outputting CW pulses at a low rate The Find Home command operates in the same way but starts and ends with CCW pulses Homing Inputs Five inputs can be used when homing the module These inputs are either physical inputs attached to the module or bits in the PLC output data words Physical Inputs gt Home Input This input is used in one of two ways 1 This input is used to define the actual home position of the machine 2 The input is used as a home proximity input when using the encoder marker pulse to home the machine gt Encoder Marker Z Pulse If you configure the ANGI to use an encoder you have the option of using the encoder s marker pulse to home the machine gt CW Limit Switch Input This input is used to prevent overtravel in the clockwise direction gt CCW Limit Switch Input This input is used to prevent overtravel in the counter clockwise direction Backplane Inputs gt Home Proximity Bit The ANGI can be configured to ignore changes on the physical homing input until the Home Proximity Bit makes a 0 1 transition The ANGI will home on the next inactive to active change on the physical input once
8. gt A configuration is written to the ANGI gt The motor position has not been preset gt he machine has not been homed gt he Network Connection has been lost and re established An Immediate or Emergency Stop has occurred gt An End Limit Switch has been reached gt A motor stall has been detected Absolute moves cannot be performed while the position is invalid Transmit Move Segment Bit The ANGI sets this bit to tell the host that it is ready to accept the data for the next segment of your assembled move profile Its use is explained in the Assembled Move Programming section of this manual starting on page 31 Program Move Mode Bit The ANGI sets this bit to signal the host that it is ready to accept assem bled move profile programming data Its use is explained in the Assembled Move Programming section of this manual starting on page 31 20 Gear Drive Plymouth Ind Park Terryville CT 06786 71 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Input Data Format continued Status Word 1 Format continued Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Move Complete Bit Set to 1 when the present Absolute Relative Manual Registration or Assembled Move command completes without error This bit is reset to 0 when the next move command is written to the ANGI when the position is preset or a Reset Errors command is is
9. o AO o M aay 20 Gear Drive Plymouth Ind Park Terryville CT 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com P MOVE PROFILES Basic Move Types Relative Move Relative Moves move an offset number of steps n from the Current Position A trapezoidal profile is shown to the right but Relative Moves can also gener ate triangular profiles The command s Target Posi tion is the move s offset The offset can be in the range of 8 388 607 counts Positive offsets will result in clockwise moves while negative offsets result in counter clockwise moves Programmed Speed SPEED Starting Speed POSITION A n Figure 2 6 Relative Move NOTE gt 1 You do not have to preset the position or home the machine before you can use a Relative Moves That is the Position Invalid status bit can be set 2 Relative Moves allow you to move your machine without having to calculate absolute posi tions If you are indexing a rotary table you can preform a relative move of 30 multiple times without recalculating new positions in your controller If you perform the same action with Absolute Moves you would have to calculate your 30 position followed by your 60 position followed by your 90 position etc Relative Moves can be brought to a Controlled Stop by using the Hold Move Command from the network data When the command is accep
10. Starting Speed Upper Word Starting Speed Lower Word Combined value between 1 and 1 999 999 steps sec Motor Steps Turn 200 to 32 767 Hybrid Control Gain 0 1 2 or 3 Encoder Pulses Turn 0 to 32 767 Idle Current Percentage 0 to 100 10 to 40 Motor Current X10 Represents 1 0 to 4 0 Arms 1 2 3 4 5 6 7 8 9 Current Loop Gain 1 to 40 Table 5 2 Network Output Data Format Configuration Mode Control Word Format Bit 15 Bit 14 Bit 13 Bit 11 Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 e zn Input 3 Input 2 Input 1 Or 05 gt con Config lt 5 9 9 9 RESERVED Bit must equal zero Figure 5 1 Configuration Mode Control Word Format Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming The ANGI powers up in Command Mode and shows a configuration error hexadecimal value of 6408h unless a valid configuration has been written to the flash memory of the ANGI The ANGI will not power the motor or accept commands until a valid configuration is written to it Anti Resonance Enable Bit 0 enables the anti resonance feature of the ANGI 1 disables the anti resonance feature The Anti resonance feature will provide smoother operation in most cases If you are still experiencing resonance problems with t
11. when the PLC is in Program mode and 0 when in Run mode This bit will always equal 0 on all other platforms Bit4 Temperature Warning Bit This bit is set to 1 when the processor internal temperature exceeds 90 Atthis point the heatsink temperature is typically near 83 C If this bit trips often and you want to lower the operating temperature of the module consider installing an additional IC 5 con nector on each side of ANGI to allow for more cooling space or install a fan below the stack to allow additional airflow through the stack Bit 3 Reserved Bit Will always equal zero Bit2 Input3 State Bit 1 when Input 3 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 54 Bit 1 Input2 State Bit 1 when Input 2 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 54 0 Input1 State Bit 1 when Input 1 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 54 20 Gear Drive Plymouth Ind Park Terryville CT 06786 73 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA
12. 30 ADVANCED MICRO CONTROLS INC MovE PROFILES 2 Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the ANGI before the move can be run Seg ment programming is controlled with three bits in the Network Output Data and two bits in the Network Input Data Blend and Dwell Moves are programmed in exactly the same way When you start the move there is a bit in the command data that determines which type of Assembled Move is run In the case of a Blend Move the signs of the segment s Target Positions are ignored and all segments are run in the same direction In the case of a Dwell Move the signs of the segment s Target Positions determine the direction of the segment and the programmed Dwell Time is written to the ANGI with the command Control Bits Output Data gt Program Move bit Set this bit to tell the ANGI that you want to program a Blend or Dwell Move Profile The ANGI will respond by setting the Move Program Mode bit in the Network Input Data At the beginning of the programming cycle the ANGI will also set the Transmit Move Segment bit to sig nify that it is ready for the first segment gt Program Move Segment bit Set this bit to tell the ANGI that the data for the next segment is avail able in the remaining data words Save Assembled Move bit Set this bit if you want to store the Assembled Move in Flash memory so it is available on every power up Setting this bit is optiona
13. 5 CALCULATING MOVE PROFILES S Curve Acceleration Equations continued Determining Waveforms by Values If your programmed acceleration and deceleration values are the same then your move s acceleration and decelerations will be identical If these two programmed values are different use the above methods to deter mine the Acceleration Jerk parameter for either the move s acceleration or deceleration phases and use the following calculations to determine the shape of the other phase Two examples are given below Both assume a change in speed between the Starting Speed and Programmed Speed of 30 000 steps sec and an acceleration of 58 000 steps sec The first example uses an Acceleration Jerk parameter value of 20 and the second a value of 400 Triangular or Trapezoidal S curve accelerations are always symmetrical We ll use this fact to calculate the profile up to one half of the change in speed At that point doubling the time and distance will yield the total time and distance traveled Example 1 Jerk 20 Sin 15 000 steps sec midpoint of change in speed J Acceleration Jerk parameter J W j Ja j physical jerk property a 100 calculated final acceleration js 20 58 000 steps sec 100 j 11 600 steps sec Just as displacement sat Speed 12 11 600 steps sec 1 2 2 _ 15 000 steps sec 5 800 stesp sec 1 608 seconds Just as speed at acceleration jt 11 600 steps sec
14. As shown in figure 1 2 the I O connector is located on the top of the module digital I O connections are made at this connector as well as the power supply connections The mating connector is supplied with the paa ANGI and is also available from AMCI under the part number E gH 1 MS 2X11 It is also available from Phoenix Contact under their part uH number 173 88 98 H Power Supply Sizing The power supply is connected to the pins marked In and UM 1 GND The 24 to 48Vdc external power supply also powers the stepper motor so it must be rated to supply current to it The general rule of Wachi 4Vdc In thumb is to specify a supply that can output the maximum current for No db No Connection your motor As stated previously the maximum output current for the No Connection Output 1 ANGI is 4 0Arms E Mis 1 m B Encoder Input 3 By using the torque curves of your motor it is possible to calculate the B Encoder Input 2 maximum power your motor will output and size your supply accord SEO nii ingly If you use power calculations double the calculated power when Connection Input 1 sizing your supply to account for power conversion losses and guarantee stall free operation Figure 1 2 Connector 12 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE ANG1 ls Available Discrete Inputs The ANGI has three discrete DC inputs
15. Manual Move CW 64 Current Setting anos 76 Registration Move CW 65 A Note on Microstepping 76 Manual Move CCW 65 Registration Move CCW 66 Chapter B Calculating Move Encoder Follower Move 66 Profiles Preset Position 67 Constant Acceleration Equations moon 77 Reset Errors eene 67 Variable Definitions 77 Run Assembled Move 68 Total Time Equations 79 Preset Encoder Position 68 S Curve Acceleration Equations 80 Programming Blocks 69 Triangular S Curve First Block esee 69 Acceleration 80 Segment Block 69 When a ag 81 Input Data Format 70 Trapezoidal S Curve Format of Position Data Values 70 Acceleration 82 Status Word 1 Format 71 Whe ag g eee 83 Status Word 2 Format 72 Determining Waveforms Notes on Clearing a Driver Fault 74 by Values eese 84 Reset Driver Fault 74 Example Jerk 20 84 Example 2 Jerk 400 85 20 Gear Drive Pl
16. SINKING SENSOR Grounding Strap maybe required by local safety codes INPUT n INPUT O ANG1 E INPUT CONNECTOR GROUND THE SHIELD OF THE SENSOR CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the sensor the shield can be grounded to the same Ground Bus as the ANG1 E Figure 4 6 Input Wiring Input Specifications Differential 560 Vac dc opto isolated Will withstand 6000 Vac dc for 60 seconds Can be wired as single ended inputs Accepts 3 5 to 27Vdc without the need for an external current limiting resistor IN IN O On Input Optocoupler Figure 4 7 Simplified Input Schematic Because they are low power signals cabling from the sensor to the ANGI should be done using a twisted pair cable with an overall shield The shield should be grounded at the end when the signal is generated which is the sensor end If this is not practical the shield should be grounded to the same ground bus as the ANGI 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 45 INSTALLING THE ANG1 Output Wiring 1 Output Sourcing Connection VDC The ANGI output is an optically isolated tran Ic to
17. Slide into Place ported in EN 05 022 35 x 15 DIN rail Figure 4 3 IC 5 Connector Installation 2 Note the orientation of the IC 5 connectors when install ing them The module key goes towards the bottom of the DIN rail 3 The IC 5 connector is included with the ANGI Additional connectors can be ordered from AMCI or directly from Phoenix Contact Their part number is 271 37 22 ME 22 5 TBUS 1 5 5 ST 3 81 42 ADVANCED MICRO CONTROLS INC INSTALLING THE ANG1 Mounting continued Mounting the ANG1 Module Mounting an AnyNET I O module is a very simple process thanks to the design of the enclosure 1 Partially engage the connector into the enclosure 2 Engage the top clip in the enclosure with the top of the DIN rail and rotate the module down until the metal bracket snaps on to the DIN Rail Once all of your modules are installed it is strongly suggested to use the end caps from Phoenix Contact with the part number of 271 37 80 to secure the modules on the DIN Rail These end caps prevent the module from sliding along the DIN rail if it is subjected to shock or vibration during machine operation Addressing Each module needs to be given an address within the stack before the system will operate correctly The address is set with the five position DIP switch on the front of the module NOTE gt 1 Only a single switch should be in the ON position when setting the address 2 The module that has
18. Vg ya 78 ADVANCED MICRO CONTROLS INC CALCULATING MovE PROFILES 21 Constant Acceleration Equations continued Continuing the example from table B 1 assume a total travel distance of 300 000 steps 2 2 2 2 Vi Vo Vu V D t tDy Sg S 2a 2d pi yir 300 000 steps 2 20 000 2 25 000 V2 20 000 V2 20 000 300 000 steps 40 000 50 000 SM 5 20 000 4 V 20 000 t ue Steps SU 40000 4 50 000 5V2 100 000 412 80 000 300 000 steps 200 000 200 000 300 000 200 000 180 000 60 000 18 x 10 _ 2 9 M 81 650 steps sec Once you have calculated the maximum speed you can substitute this value into the time and distance formu las in table B 2 to calculate time spent and distance traveled while accelerating and decelerating Total Time Equations For Trapezoidal Profiles you must first determine the number of counts that you are running at the Pro grammed Speed This value Dp below is equal to your and Dy values subtracted from your total travel You can then calculate your total profile time TT below from the second equation Dp Total Number of Steps TT Tp Dp Vp For Triangular Profiles the total time of travel is simply TT Tp
19. 1 608 sec 15 000 steps sec t t 18 655 steps sec Because aris less than or equal to the programmed acceleration of 58 000 steps sec the resulting accelera tion is a Triangular S curve Total time to accelerate is twice the value calculated above or 3 216 seconds 84 ADVANCED MICRO CONTROLS INC CALCULATING MovE PROFILES 21 S Curve Acceleration Equations continued Determining Waveforms by Values continued Example 2 Jerk 400 15 000 steps sec 5 midpoint of change in speed m J Acceleration Jerk parameter _ 100j ae Ja physical jerk propert 100 phy Jerk property calculated final acceleration _ 400 58 000 steps sec 100 232 000 steps sec J 2 2 Just as displacement sat speed jt 232 000 steps sec 1 2 2 15 000 steps sec 116 000 steps sec 0 3596 seconds Just as speed at acceleration jt a 232 000 steps sec 0 3596 sec 83 427 steps sec 15 000 steps sec t Because aris greater than the programmed acceleration of 58 000 steps sec the resulting acceleration is a trapezoidal S curve As shown in figure B 8 two additional calculations must be made The first is the time tj it takes to jerk to the programmed acceleration value The second is the time 15 it takes to accelerate to half of the required change in speed Sm 232 000 steps sec3 t 58 000 steps sec t4 0 25 seconds Acceleration
20. 20 Gear Drive Plymouth Ind Park CT 06786 79 Tel 860 585 1254 Fax 860 584 1973 http www amci com 5 CALCULATING MOVE PROFILES S Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5 000 the ANGI uses this value to smoothly change the acceleration value applied during the move In this case the speed of the move does not increase linearly but exponentially resulting in an S shaped curve This limits mechanical shocks to the system as the load accelerates Just as constant acceleration will result in a trapezoidal or triangular speed profile the Acceleration Jerk parameter will result in a trapezoidal or triangular acceleration phase In order to keep the Acceleration Jerk parameter value that is programmed into the ANGI below sixteen bits the ANGI s Acceleration Jerk parameter does not have units of steps sec The Acceleration Jerk parameter equals 100 jerk in steps sec acceleration in steps sec This translates to the jerk property in steps sec equalling Acceleration Jerk parameter 100 acceleration in steps sec With the range of values for the Acceleration Jerk parameter being 1 to 5 000 the jerk value ranges from 0 01a to 50a where is the acceleration value in steps sec For example if the acceleration is programmed to 20 000 the value of the jerk property used by the module can be programmed to be between 200 step
21. Starting Speed POSITION Minimum Registration Programmed Move Distance Number of Steps Figure 2 10 Min Registration Move Distance Controlled Stop Conditions gt The Registration Move Command bit is reset to 0 gt A positive transition on an input configured as a Stop Manual or Registration Move Input NOTE gt Starting a Registration Move with a Stop Manual or Registration Move Input in its active state will result in a move of Minimum Registration Distance Programmed Number of Steps gt You toggle the Hold Move control bit in the Network Output Data The ANGI responds by using the programmed Deceleration value to bring the move to a stop without using the programmed Pro grammed Number of Steps A Registration Move does not go into the Hold State if the Hold Move con trol bit is used to stop the move and it cannot be restarted Immediate Stop Conditions gt Immediate Stop bit makes a 0 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued NOTE gt Note that it is possible to start a mo
22. 10 to clear driver faults Function n nused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below 2 3 4 3 6 7 8 9 Jnused See Note Below Table 6 15 Reset Errors Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command gt Resetting errors will also reset the Move Complete status bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 67 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Command Blocks continued Run Assembled Move EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16322000 Function See pg 59 Blend Move Bit 9 0 Command Bits LSW Dwell Move Bit 9 1 Blend Move set by it 4 nused See Note Below nused See Note Below nused See Note Below nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused with Blend Move Dwell Time with Dwell Move Table 6 16 Run Assembled Move Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command WIAD tA HB wy milliseconds 0 to 65 535 Preset Encoder Position EtherNet IP Modbus TCP Word Register Pa
23. 2 Determine speed at 11 Speed jt 232 000 steps sec 0 25 2 S 7 250 steps sec Time 51 Determine remaining change in speed and required time based on programmed acceleration 55 S _ Si 15 000 7 250 steps sec Figure B 8 Calculating Trapezoidal S Curve S 7 750 steps sec S 15 1 5 od 7 750 steps sec 2 58 000 steps sec t 0 1336 seconds The time for this acceleration phase is 2 t1 2 which equals 2 0 2500 sec 0 1336 sec or 0 7672 seconds Time spent in the constant acceleration period is 2 0 1336 0 7672 or 34 8 of the entire phase 20 Gear Drive Plymouth Ind Park Terryville CT 06786 85 Tel 860 585 1254 Fax 860 584 1973 http www amci com AmCI ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973 WWW amci com LEADEHS IN ADVANCED CONTHOL PHODUCTS
24. 24V sistor that is capable of driving a typical PLC proc s DEDIT M SS input Both ends are uncommitted so it can be C PLC Input wired as a sinking or sourcing output OUTPUT ANGIE OUTPUT I Y Electrical Specifications L Output plo Po 1 Shielded Twisted m Pair Cable max 30Vdc VCE SAT 1Vdc 20 mA Ic max 20 mA Power Dissipation 20 mW max ANG1 E Output Sinking Connection RLIMIT A resistor may be needed to limit the current through the output The value and power rat ing of the resistor is dependent on the value of Vdc the voltage drop across the input and the current requirements of the input r a OUTPUT Rum ro ANG1 E OUTPUT Y Output lis Shielded Twisted Pair Cable Figure 4 8 Output Wiring 1 1 L Encoder Wiring Differential Wiring The figure below shows how to wire a 5Vdc differential encoder to the ANGI There is no standard when it comes to the color code of the encoder s wires A document named encoder specs is available on the AMCI website www amci com that lists the color codes of encoders used by AMCT It is available in the PDF Documents section of the website
25. 3 HOMING THE ANG1 This chapter explains the various ways of homing an axis on the ANG1 Inputs used home the module introduced diagrams that show how the module responds to a homing command are given Definition of Home Position The Home Position is any position on your machine that you can sense and stop at Once at the Home Posi tion the motor position register of the ANG1 must be set to an appropriate value If you use the module s Find Home commands the motor position register will automatically be set to zero once the home position is reached The Encoder Position register will also be reset to zero if the quadrature encoder is enabled for the axis NOTE gt Defining a Home Position is completely optional Some applications such as those that use a servo or stepper for speed control don t require position data at all With the exception of Absolute Moves the ANGI can still perform all of its move commands if the Home Position is not defined Position Preset One of the ways to define the Home Position is to issue the Preset Position command to the ANG1 Before doing this you will need a way of sensing position outside the ANGI module The machine position data must be brought into the host the correct preset value calculated and this value written to the ANGI axis with the Position Preset command The motor and encoder position values can be preset anywhere in the range of 8 388 608 to 28 388 607
26. 50 C Storage Temperature m 40 to 185 F 40 to 85 Humidity 0 to 95 non condensing Motor Specifications mms 2 phase hybrid 4 6 or 8 lead motor Inductance 0 3 mH minimum 2 5 to 45 mH rec ommended Status LED See manual section on previous page Connectors Mating connectors are supplied with the module and are also available separately under the following AMCI part numbers Strip Length Min Tightening Torque 0 275 inches Spring Cage Connector Motor MS 4M 28 12 AWG 0 394 inches 4 43Ib in 0 5 Nm Backplane IC 5 ADVANCED MICRO CONTROLS INC _______ 7 8 X MIOVE PROFILES When move command is sent to the ANG1 the module calculates the entire pro file before starting the move or issuing an error message This chapter explains how the profiles are calculated and the different available moves Units of Measure Distance Every distance is measured in steps Your driver and motor combination will give you a specific number of steps needed to complete one rotation of the motor shaft Itis up to you to determine how many steps are required to travel the required distance in your application Speed All speeds are measured in steps second Since the number of steps needed to complete one shaft rotation is determined by your driver and motor combination it is up to you to determine how many steps per second is required to rotate the motor shaft at
27. 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 6 11 Manual Move CCW Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command Reserved 2 3 4 5 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 65 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Command Blocks continued Registration Move CCW EtherNet IP Modbus TCP Word Register puncuon Command Bits MSW 16320100 See pg 59 Bits 7 amp 6 must equal 10 Command Bits LSW Stopping Distance Upper Word Combined value between 0 and 48 388 607 Steps Stopping Distance Lower Word Combined value between the Configured Starting Speed and 2 999 999 1 to 5000 1 to 5000 Programmed Speed Upper Word Steps per Second Programmed Speed Lower Word Acceleration Steps ms sec Deceleration Steps ms sec Min Reg Move Distance Upper Word Min Reg Move Distance Lower Word Table 6 12 Registration Move CCW Command Block Combined value between and 8 388 607 Steps Encoder Follower Move EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 1670080 or 1650100 Command Bits LSW
28. A wiring document for all of the motors ever sold by AMCI is available on our website This single docu ment contains all of the information necessary to connect any AMCI motor to any AMCI driver At the time of this manual revision the wiring manual can be found in the PDF Documents section of the website It is under the Stepper Motor heading and link is simply called wiring Figure 4 12 which is continued on the following page shows how to wire a motor to the ANGI in series par allel or center tap configurations Refer to the torque vs speed curves on your motor s specifications sheet to determine how you should wire the motor to the ANGI Eight Lead Series Connected SSe SHIELDS Rp SHIELDS J 20 Gear Drive Plymouth Ind Park CT 06786 49 Tel 860 585 1254 Fax 860 584 1973 http www amci com i INSTALLING THE ANG1 Connecting the Motor continued Motor Wiring continued Eight Lead Parallel Connected B A B Belden 9552 MS ae or equ co Six Lead Series Connected 2 Ky B 46 RED2 I A 3 tee jp SHELDS Y 4 s 210 SEE ANNA a 119 7 NO J Belden 9552 gt or equ mui Motor Case Six Lead Center Tap Connected
29. ANGI will not power the motor or accept commands until a valid configuration is written to it or read from flash memory Preset Encoder Bit When set to 1 the ANGI will preset the Encoder Position to the value stored in Output Words 2 and 3 Run Assembled Move When set to 1 the ANGI will run the Assembled Move already stored in memory gt Assembled Move Type Command Bits LSW Bit 9 This bit determines the type of move that is run When this bit equals 0 a Blend Move is run When this bit equals 1 a Dwell Move is run When starting a Dwell Move the Dwell Time is programmed in word 9 of the Command Data The value is programmed in milliseconds and can range from 0 to 65 536 Blend Move Direction Command Bits LSW Bit 4 This bit is used to determine the direction that the Blend Move will be run in When this bit equals 0 the Blend Move runs in the clock wise direction When this bit equals 1 the Blend Move is run in the counter clockwise direc tion Bits 11 amp 12 Program Move amp Program Move Segment Bits These bits are used to program the seg Bit 10 Bit 9 Bit 8 Bit 7 ments of an Assembled Move before the move can be run Their use is explained in the Assembled Move Programming section of this manual starting on page 31 Reset Errors When set to 1 the ANGI will clear all existing errors and attempt to use the pres ent data to run a new command This c
30. FORMAT Notes on Clearing a Driver Fault A Driver Fault occurs when there is an over temperature condition or a short circuit condition in the motor When a Driver Fault occurs the ANGI sets bit 7 of Status Word 2 in the Network Input Data See Status Word 2 Format on page 72 for a full description of Status Word 2 Once you have cleared the fault condi tion you can reset the Driver Fault with the following Command Block Reset Driver Fault EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16320400 Command Bits LSW 16310400 Jnused See Note Below Jnused See Note Below nused See Note Below nused See Note Below nused See Note Below Unused See Note Below Unused See Note Below tn Unused See Note Below Table 6 21 Reset Driver Fault Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command Once the command block is accepted by the ANGI it will respond by resetting bit 7 in Status Word 2 of the Network Input Data NOTE gt After this procedure there will still be no current to the motor This is because the Driver Enabled Bit bit 15 of Command Bits LSW in the Network Output Data must be reset when writing down the Reset Driver Fault Command Block Setting this bit in the next command block will re enable the motor 74 ADVANCED MICRO CONTROLS INC APPENDI
31. Gearing mode by configuring one of the discrete DC input as a Capture Encoder Position input Controlled Stop Conditions gt The encoder stops moving gt Both of the Manual Move command bits equal zero gt Hlectronic Gearing moves cannot be brought to a controlled stop by using the Hold Move control bit in the Network Output Registers Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Registers gt A positive transition on an input configured as an E Stop Input ACW or CWW Limit Switch is reached 34 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Electronic Gearing continued Advanced Ratio Control The ELGearing Multiplier and Divisor values give you a great deal of control over the ratio of motor turns per encoder turn but you can achieve even finer control by adjusting the Motor Steps Turn parameter The Z pulse is not used to correct the encoder position once per turn so you can actually program the Motor Steps Turn to any value you want within its valid range For example if your encoder outputs 4 096 pulse per turn a 1 024 line encoder and you set the Motor Steps Turn parameter to 8 192 you will have built a 2 1 gear down into your system before applying the ELGearing Multiplier and Divisors Two rotations of the encoder 8 192 counts 1 motor rotation This technique allows you to set a median gear ratio in your system that you can adjust on the fly by
32. Indexer Move Input Indexer Moves are programmed through the Network Data like every other move The only difference is that Indexer Moves are not run until an input that is configured as a Start Indexer Move Input makes a inactive to active state transition This allows the ANGI to run critically timed moves that cannot be reliably started from the network due to data transfer lags If the quadrature encoder is enabled and one of the discrete DC inputs is programmed as a Start Indexer Move Input then the quadrature encoder position data will be captured whenever the DC input makes a transition An inactive to active state transition on the DC input will also trigger an Indexer Move if one is pending Emergency Stop Input When an input is defined as an Emergency Stop or E Stop Input motion will immediately stop when this input becomes active The driver remains enabled and power is supplied to the motor No move can begin while this input is active Stop Manual or Registration Move Input When an input is configured as a Stop Manual or Registration Move Input triggering this input during a Man ual Move or Registration Move will bring the move to a controlled stop The controlled stop is triggered on an inactive to active state change on the input Only Manual Moves and Registration Moves can be stopped this way all other moves ignore this input If the quadrature encoder is enabled the quadrature encoder position data will be captured whe
33. See pg 59 Bit 6 must equal 1 Electronic Gearing Numerator 1 to 255 Electronic Gearing Denominator 1 to 255 Programmed Speed Upper Word Programmed Speed Lower Word Combined value between the Configured Starting Speed and 2 999 999 Steps Second Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Reserved Must equal zero for compat ibility with future releases 2 3 4 5 6 7 8 9 66 Acceleration Jerk 0 to 5000 Table 6 13 Encoder Follower Move Command Block ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT e Command Blocks continued Preset Position EtherNet IP Modbus TCP Word Register Functon Command Bits MSW 1640200 Command Bits LSW See pg 59 Position Preset Value Upper Word Combined value between Position ue Lower 8 388 607 and 8 388 607 or Jnused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below Nn BR WwW n n ke nused See Note Below Table 6 14 Preset Position Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command Presetting the position will also reset the Move Complete status bit Reset Errors EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 0400 See pg 59 Command Bits LSW Set bit
34. Steps Turn parameter must also be set to this value The ANGI uses the encoder feedback during a move to dynamically increase or decrease the current through the motor s windings to the lowest values needed to achieve motion This feature eliminates the possibility of reso nance induced motor stalls and can dramatically lower the motor s operating temperature Like a servo system there is the possibility of a one count dither in position at zero speed and a load induced error in the final position if this feature is always enabled The stiffness of the shaft how quickly the system compen sates for shaft position error can be adjusted with a single gain setting The ANGI also allows you to enable and disable the Hybrid Control feature on the fly When the motor is at rest a single command will disable the Hybrid Control feature and the motor will again act as a stepper system holding its position without dither You can then re enable the Hybrid Control feature using the same command that initiates the next move minimizing the amount of motor current needed to complete the move When using Hybrid Control the ANGI has an additional status bit the Motion Lag bit that turns on if the position error becomes larger than 360 This status bit indicates that the speed of the move is not the one that is expected but the move is still in progress This can be an indication that something has changed mechanically in the system that has placed an ad
35. The ANGI 9 Basic Move Types PLE 22 General Functionality 9 Relative Move 22 Encoder Functionality 10 Controlled Stop 22 Indexer Functionality 11 Immediate Stop 22 Driver Functionality sss 12 Absolute Move 23 Connector eee 12 Controlled Stop 23 Power Supply Sizing 12 Immediate Stop 23 Available Discrete Inputs 13 Manual 24 Home Input ener 13 Controlled StOP seen 24 CW Limit Switch or Immediate Stop 25 COW Limit Switeh aane 13 Registration Move 25 Start Indexer Move Input 13 Controlled StOP eene 26 Emergency Stop Input 13 Immediate Stop 26 Stop Manual or Registration Encoder MOVES eee 27 Move BI casos rotten 13 Controlled Stop Conditions 27 Capture Encoder Position Input 13 Immediate Stop Conditions 27 General Purpose Input 13 Assembled Moves eese 27 Encoder Feedback Inputs 14 Blend Moves 28 Available Discrete Output 14 xd _ mmediate Stop
36. a motor RMS current supplied to the motor can be programmed from 1 0 to 4 0 amps in 0 1 amp increments This allows you to use the driver with the full line of AMCI stepper motors Programmable Motor Current Programmable Idle Extends motor life by reducing the motor current when not running This Current Reduction extends the life of the motor by reducing its operating temperature Programmable Allows you to tailor the driver circuitry to the motor s impedances thereby Current Loop Gain maximizing your motor s performance Programmable Allows you to scale your motor count to a real world value counts per inch Motor Steps Turn counts per degree etc EE This circuitry gives the ANGI the ability to modify motor current wave Anti Resonance Circuitry forms to compensate for mechanical resonance in your system This will give you smooth performance over the entire speed range of the motor Safety feature that removes power from the motor if a short is detected in Wiring Short Detection one of the windings of the motor Over Temperature The ANGI sets a warning bit in the network data when the temperature of Detection the module approaches its safe operating threshold Over Temperature Protects the ANGI from damage by removing power from the motor if the Protection internal temperature of the driver exceed a safe operating threshold Table 1 2 Driver Functionality Connector
37. com COMMAND DATA FORMAT Input Data Format The correct format for the Network Input Data when the ANGI is in Command Mode is shown below The EtherNet IP and Modbus TCP addresses shown are for an ANGIE module that is the network connection for the AnyNET I O Stack You will have to adjust the memory addresses if your ANGI module is not the first module in the stack EtherNet IP Modbus TCP Word Register Command Mode Input Data Status Word 1 Status Word 2 Motor Position See format below Motor Position See format below Encoder Position See format below Encoder Position See format below Captured Encoder Position See format below Captured Encoder Position See format below Programmed Motor Current X10 e Value of Acceleration Jerk Parameter Table 6 20 Network Input Data Format Command Mode Format of Position Data Values For units with a serial number 05150340 and above the format of the Motor Position Encoder Position and Captured Encoder Position values is controlled by the Data Format bit in the configuration data written to the ANGI See Configuration Word Format on page 54 When the Data Format bit equals 0 the position values are reported using the same multi word format used to program the module See Multi Word Format on page 57 for an explanation of the format When the Data Format bit
38. it is applied Hb ede MENS This is shown graphically in figure B 4 as the area of the blue rect angle In order for the Triangular S curve acceleration to reach the same speed in the same amount of time the area of the triangle must equal the area of the square Area of a triangle is one half of the base length multiplied by the height Therefore Constant Acceleration Acceleration at 2 i Time at ri Area of rectangle Area of triangle Figure B 4 Triangular Acceleration a 2a 5 This means that a triangular S curve acceleration profile requires twice the programmed maximum acceleration as a constant accel eration profile to achieve the same speed in the same amount of time 80 ADVANCED MICRO CONTROLS INC CALCULATING MovE PROFILES 21 S Curve Acceleration Equations continued Triangular S Curve Acceleration continued The value of the Acceleration Jerk parameter can now be easily calculated a 5 j 272 j 2 a t 2a peur Ja 2 Ja 100 r 100 Ja t 200a J 200 Acceleration Jerk parameter 200 acceleration time t This value represents the ideal Acceleration Jerk parameter value for a triangular S curve acceleration Set ting the value lower than this will result in a longer acceleration period while setting the value above this will result in a trapezoidal S curve acceleration When a The above examples assume that you can increase the programmed acceleration value t
39. of the hosts that can be used with the ANGI only support 16 bit integers which limits the range of val ues from 32 768 to 32 767 or 0 to 65 535 Many parameters of the ANGI exceed this range These parame ters are transmitted in two separate words The table below shows how values are split Note that negative values are written as negative numbers in both words First Word Second Word 12 12 12 345 345 1 234 567 567 7 654 321 Table 5 1 Multi Word Format Examples Starting with firmware revision n n the ANGI is able to transmit the Motor Position Encoder Position and Captured Encoder Position as thirty two bit signed integer values This format is used by many of the latest host controllers and overcomes the limitations inherent in the standard multi word data format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 51 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls CONFIGURATION MODE DATA FORMAT Output Data Format The correct format for the Network Output Data when the ANGI is in Configuration Mode is shown below The EtherNet IP and Modbus TCP addresses shown are for an ANGIE module that is the network connection for the AnyNET I O Stack You will have to adjust the memory addresses if your ANGI module is not the first module in the AnyNET I O stack EtherNet IP Modbus TCP Word Register Configuration Data Control Word See below Configuration Word See below
40. or Input a ul Starting Speed Lu POSITION Starting Speed o CCW Figure 3 2 Homing with Proximity 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed 3 Ignores homing input Home Input or Marker Pulse because proximity input has not made 0 1 transition 4 Deceleration towards the Starting Speed when the proximity input Backplane bit or Home Input transitions from its inactive to active state The axis will stop as soon as the Home Input becomes active 5 The Starting Speed is the minimum speed the profile will run at If the axis decelerates to the Starting Speed before reaching the Home Input it will continue at this speed NOTE gt Figure 3 2 shows the Proximity Input which is either the Backplane Home Proximity bit or the Home Input staying active until the ANGI reaches its home position This is valid but does not have to occur As stated in step 4 the ANGI starts to hunt for the home position as soon and the Proximity Input makes 0 1 transition 20 Gear Drive Plymouth Ind Park Terryville CT 06786 39 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki HOMING THE ANG1 Homing Profiles continued Profile with Overtravel Limit Figure 3 3 below shows the move profile generated by a Find Home command when you use gt CW Overtravel Limit gt Home Input without Backplane Home Proximity Bit The profile is gene
41. output Inputs accept 5 to 24Vdc signals and they can be individu ally configured as a gt CW or CCW Limit Switch Home Limit Switch gt Capture Encoder Position Input gt Stop Manual or Registration Move Input Start Indexer Move gt Emergency Stop Input gt General Purpose Input Encoder Functionality In addition to the discrete points the ANGI has three inputs for a 5Vdc differential quadrature encoder The inputs will also accept 12 to 24Vdc single ended encoder inputs with current limiting resistors Using the encoder inputs gives you the ability to Home the machine to the encoder marker pulse Make absolute and relative moves based on the encoder count instead of the stepper pulse count gt Detect motor stall conditions The encoder input also allows you to drive the motor through a feature called Electronic Gearing In this mode the stepper motor follows the rotation of an external encoder This encoder is typically attached to another motor The ratio of encoder pulses to stepper pulses is programmable over a wide range This mode electronically couples the two motors together through a programmable gear ratio Finally the encoder allows you to use a feature called Hybrid Control When enabled this feature gives you servo like performance without the need to tune servo PID loop parameters When Hybrid Control is enabled the ANGI uses a motor mounted encoder to feed rotor position information back to t
42. previous command This is typically the case when resuming a move the words are listed as Unused to highlight that the target position of a held move cannot be changed when the move is resumed 62 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT e Command Blocks continued Immediate Stop EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16520010 Command Bits LSW See pg 59 Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below 0 tA iuo tr eR Unused See Note Below Table 6 6 Immediate Stop Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command Find Home CW EtherNet IP Modbus TCP Word Register CHBEHOH Command Bits MSW 164320020 Command Bits LSW See pg 59 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 6 7 Find Home CW Command Block Unused words are ignored by the ANGI and can be any value including param
43. that accept 3 5 to 27V dc signals 5 to 24Vdc nominal They can be wired as differential sinking or sourcing inputs How the ANGI uses these inputs is fully programmable as is their active states Inputs can be programmed as Normally Open NO or Normally Closed NC inputs Home Input Many applications require that the machine be brought to a known position before normal operation can begin This is commonly called homing the machine or bringing the machine to its home position The ANGI allows you to define this starting position in three ways The first is with a Position Preset Command The second is with a sensor mounted on the machine When you define one of the inputs as the Home Input you can issue commands to the ANGI that will cause the unit to seek this sensor The third option is homing to the Z pulse of a quadrature encoder When using the Z pulse you can use one of the inputs or a network data bit as a home proximity sensor How the ANGI actually finds the Home sensor is described in chapter 3 Homing the ANG1 starting on page 37 CW Limit Switch or CCW Limit Switch Each input can be defined as a CW or CCW Limit Switch When configured this way the inputs are used to define the limits of mechanical travel For example if you are moving in a clockwise direction and the CW Limit Switch activates all motion will immediately stop At this point you will only be able to move in the counter clockwise direction Start
44. the encoder 5 Setting the Stall Detection Enable Bit without configuring the ANG1 to use the encoder 6 Using an encoder and not setting the Encoder Pulses Turn parameter in word 6 to a valid value 7 Setting the Input Configuration bits for any input to 111 See table 5 3 on page 53 for more information _ 96 ADVANCED MICRO CONTROLS INC CHAPTER 6 COMMAND IVIODE DATA FORMAT This chapter covers the formats of the Network Output Data used to command the ANG1 as well as the formats of the Network Input Data that contains the responses from the driver The ANG1 requires ten 16 bit words 20 bytes for Out put Data as well as ten 16 bit words for Input Data Multi Word Format Many of the hosts that can be used with the ANGI only support 16 bit integers which limits the range of val ues from 32 768 to 32 767 or 0 to 65 535 Many parameters of the ANGI exceed this range These parame ters are transmitted in two separate words The table below shows how values are split Note that negative values are written as negative numbers in both words First Word Second Word 12 0 12 1 234 567 1 234 567 7 654 321 7 654 321 Figure 6 1 Multi Word Format Examples Command Bits Must Transition Commands are only accepted when the command bit makes a 0 1 transition The easiest way to do this is to write a value of zero into the Command Bits MSW before writing the next command This condition also applies
45. this transition occurs You must program your host to control the state of this bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 37 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki HOMING THE ANG1 Homing Configurations The ANGI axis must be correctly configured before one of the homing commands will be accepted One of the following must be part of the module configuration before you can run the homing commands 1 Configure one of the DC inputs as a Home Input 2 Configure the ANG1 to use an encoder and home to the encoder Z pulse 1 You do not have to configure and use CW or CCW Limits If you choose to configure the module this way then the ANGI has no way to automatically prevent overtravel during a homing operation You must prevent overtravel by some external means or ensure that the homing command is issued in the direction that will result in reaching the homing input directly 2 When using one of the DC inputs as a Home Input you can use a bit in the network data as a home proximity input Using this bit is completely optional 3 When using an encoder s Z pulse as the homing sensor any DC input you configure as a Home Input will function as a hardware home proximity sensor Using this feature is com pletely optional Homing Profiles NOTE gt The Find Home command is used in all of these examples The Find Home command will generate the same profiles in the opposite direction Home
46. using the ELGearing Multiplier and Divisor parameters Stall Detection Another feature available when using an encoder is stall detection The encoder must be mounted on the motor controlled by the ANGI which means that you cannot use Stall Detection when using the Electronic Gearing feature When Stall Detection is enabled the ANGI monitors the encoder inputs for changes while a move is in progress If the encoder inputs do not change as expected the move stops and an error bit is reported to your host controller In order for the Stall Detection to work correctly you must program the Encoder Pulses Turn parameter to four times the number of encoder lines in the Configuration Data of the ANGI The ANGI always uses X4 decoding when determining the encoder position value so the Encoder Pulses Turn parameter must be set to four times the number of encoder lines When using a 1 024 line encoder the Encoder Pulses Turn parame ter must equal 4 096 for stall detection to work correctly Hybrid Control The final feature that is available when using an encoder is Hybrid Control This feature gives you servo like per formance from your stepper motor without the need to tune the servo PID loop parameters In order for the Hybrid Control feature to work correctly the Encoder Pulses Turn parameter must be set to four times the number of encoder lines When using a 1 024 line encoder the Encoder Pulses Turn parameter must equal 4 096 The Motor
47. when it is active 54 ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT Ley Output Data Format continued Notes on Other Configuration Words gt Information on the Multi Word Format used when programming the Starting Speed can be found on page 51 gt Hybrid Control Gain controls the stiffness of the shaft at zero speed when using the Hybrid Control feature With a higher gain setting the ANGI will increase the motor current more quickly to compen sate for shaft loading gt Changes to the Idle Current only take effect at the end of the first move after re configuration gt You should start with Current Loop Gain setting of 5 for all AMCI motors and can adjust the setting from there based on your system requirements Refer to the Current Loop Gain section on page 36 for additional information Input Data Format The correct format for the Network Input Data when the ANGI is in Configuration Mode is shown below The EtherNet IP and Modbus TCP addresses shown are for an ANGIE module that is the network connection for AnyNET I O Stack You will have to adjust the memory addresses if your ANG1 module is not the first module in the stack EtherNet IP Modbus TCP Word Register Configuration Data Control Word Mirror of Output Data Config Word Mirror of Starting Speed Upper Word Mirror of Starting Speed Lower Word Mirror of Motor Steps Turn Mirror of Hybrid Control Gain
48. will immediately jump you to the referenced section of the manual If you are reading a printed manual most links include page numbers You will also find red text that functions as a hyperlink These links will bring you to the AMCI website Note that after clicking on a red link the program may ask for con firmation before connecting to the Internet The PDF file is password protected to prevent changes to the document You are allowed to select and copy sections for use in other documents and if you own Adobe Acrobat version 7 0 or later you are allowed to add notes and annotations 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Manual Conventions Three icons are used to highlight important information in the manual NOTE gt NOTES highlight important concepts decisions you must make or the implications of those decisions D CAUTION CAUTIONS tell you when equipment may be damaged if the procedure is not followed properly WARNINGS tell you when people may be hurt or equipment may be damaged if the pro cedure is not followed properly The following table shows the text formatting conventions Format Description Normal Font Font used throughout this manual Emphasis Font Font used the first time a new term is introduced When viewing the PDF version of the manual clicking on Cross Reference the cross reference t
49. wiring lists all of the wiring color codes for all AMCI motors If you do not have internet access contact AMCI and we will fax the information to you Mounting the Motor AMCI motor have flanges on the front of the motor for mounting This flange also acts as a heatsink so motors should be mounted on a large unpainted metal surface Mounting a motor in this fashion will allow a significant amount of heat to be dissipated away from the motor which will increase the motor s life by reducing its operating temperature If you cannot mount the motor on a large metal surface you may need to install a fan to force cooling air over the motor Motors should be mounted using the heaviest hardware possible AMCI motors can produce high torques and accelerations that may weaken and shear inadequate mounting hardware 1 The motor case must be grounded for proper operation This is usually accomplished through its mounting hardware If you suspect a problem with your installation such as mounting the motor to a painted surface then run a bonding wire from the motor to a solid earth ground point near it Use a minimum 8 gauge stranded wire or 1 2 wire braid as the grounding wire 2 Do not disassemble any stepper motor significant reduction in motor performance will result Connecting the Load Care must be exercised when connecting your load to the stepper motor Even small shaft misalignments can cause large loading effects on the bearing
50. yet been configured Output 1 on Network Connection Lost Bit 0 will keep Output 1 at its last value 1 will set the state of Output 1 to the value specified in Bit 12 of this word Output 1 State on Network Connection Lost Bit When bit 13 of this word is set Output 1 will be set to the state of this bit if the network connection is lost Read Present Configuration If this bit is set when you enter Configuration Mode the ANGI responds by placing the present configuration data in the Network Input Data You cannot write new configuration data to the module while this bit is set The format of the Configuration Data is given in the Input Data Format section of this chapter starting on page 55 Save Configuration The ANGI will store the configuration data to flash memory when this bit makes a 0 gt 1 transition The validity of the configuration data is checked before being written to the flash memory If the data is not correct the transition on this bit is ignored Once the write to flash is completed the ANGI will write OXAAAA into the last status word if the write was success ful and the Status LED will begin flashing green or the ANGI will write OXEEEE into the last status word if the write was unsuccessful and the Status LED will begin flashing red Once the ANGI does this it will stop responding to commands and you must cycle power to the module This design decision is to prevent the flash memory from constant
51. 000 141 20 000 4 993 seconds Time to decelerate Tp Vp Vs d 100 000 141 25 000 3 994 seconds Distance to Accelerate TA Vp Vg 2 4 993 100 000 141 2 250 002 steps Distance to Decelerate Vg 2 3 994 100 000 141 2 199 982 steps Total Distance needed to accelerate and decelerate 250 002 199 982 449 984 steps If a move with the above acceleration deceleration starting speed and programmed speed has a length greater than 449 984 steps the ANGI will generate a Trapezoidal profile If the move is equal to 449 984 steps the ANGI will generate a Triangular profile and the ANG1 will output one pulse at the programmed speed If the move is less than 449 984 steps the ANGI will generate a Triangular profile and the pro grammed speed will not be reached In the case of a Triangular profile where the programmed speed is not reached it is fairly easy to calculate the maximum speed attained during the move Because the move is always accelerating or decelerating the total distance traveled is equal to the sum of and Dp Da TA Vy Vg 2 and T4 Vy By substitution Da Vsa 2 Vy lt 2 2 By the same method Dp Vy Vg2y 2d Therefore total distance traveled Da Dp Vy Vg2 2a Vy Vg2 2d In the case where the acceleration and deceleration values are equal this formula reduces to Da Dp
52. 100 Idle current reduction should be used whenever possible By reducing the current you are reducing the PR losses in the motor which results in an exponential not linear drop in motor temperature This means that even a small reduction in the idle current can have a significant effect on the temperature of the motor NOTE gt Note that the reduction values are to values not by values Setting a motor current to 4Arms and the current reduction to 25 will result in an idle current of 1 The ANGI always switches from RMS to peak current control when the motor is idle to prevent motor damage due to excessive heating Current Loop Gain This feature gives you the ability to adjust the gain of the power amplifiers in the ANGI to match the electri cal characteristics of your motor The value of this parameter can range from 1 to 40 with 40 representing the largest gain increase In general using a larger gain will increase high speed torque but the motor will run louder A lower gain will offer quieter low speed operation at the cost of some high speed torque This parameter must be set and gain setting of 5 will work for all AMCI motors Your system may bene fit from increasing or decreasing these settings In general increase the setting by one or two counts to improve high speed performance or decrease the settings by one or two for quieter low speed operation 36 ADVANCED MICRO CONTROLS INC
53. 6 8 After the last segment has been transferred if the host wants to store the move in Flash memory the Save Assembled Move bit must now be set The host exits Assembled Move Programming Mode by resetting the Program Move bit 9 The 1 resets the Move Program Mode bit and the Transmit Blend Move Segment bit If the Save Assembled Move bit was set when the Program Move bit made a 1 gt 0 transition the segments will be saved in Flash memory and the 1 will flash the Status LED green if successful or red if there was an error NOTE gt If the Assembled Move is saved in Flash memory power must be cycled to the ANGI before the drive will accept additional commands 20 Gear Drive Plymouth Ind Park Terryville CT 06786 31 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Indexed Moves All of the moves that have been explained in the chapter up to this point can be started by a transition on one of the three inputs instead of a command from the network If the Indexed Move bit is set when the command is issued the ANGI will not run the move until the configured input makes an inactive to active transition This allows you to run time critical moves that cannot be reliably started from the network because of mes saging time delays gt gt The input must be configured as a Start Indexed Move Input The move begins with an inactive to active transition on the input Note that an acti
54. 767 This parameter is programmed when you configure the module and cannot be adjusted while a move is in progress ELGearing Multiplier and Divisor The ratio of these two parameters is applied to the number of encoder pulses read by the ANGI before it determines the number of motor steps to move Each parameter has a range of 1 to 255 These two parame ters can be adjusted while a move is in progress which allows you to adjust the tracking speed and position of the motor How It Works The ANGI always uses 4X decoding when counting pulses from the encoder If you set both of your ELGearing Multiplier and Divisors to 1 and set the Motor Steps Turn to four times the number of encoder lines then the motor will complete one rotation for every rotation of the encoder s shaft Once placed in Electronic Gearing mode the ANG1 monitors the Manual Move command bits in the Net work Output Registers When either of these bits is set the encoder inputs are monitored for a change in position When a change is sensed the ANGI will begin to turn the motor within 50 microseconds An increase in encoder counts will result in clockwise rotation A decrease in encoder counts will result in coun ter clockwise rotation The values of the ELGearing Multiplier and Divisor can be changed while electronic gearing motion is occur ring The ANGI will accelerate or decelerate the motor to match the new ratio Encoder position data can be trapped while in Electronic
55. C Inputs accept 3 5 to 27Vdc without the need for an external current limiting resistor Encoder Inputs are designed for 5Vdc differential and require external current limiting resistor for 12 to 24V dc operation Output Electrical Characteristics Open Collector Emitter 560 Vac dc opto isolated 30Vdc 20 mA max The Output can be programmed to be a general purpose output or a Fault Output The Fault Output is normally on Turns off under the following conditions R set sem The driver initialization is not yet complete on power up Short Circuit Motor Phase to Phase or Phase to Case Over Temp Heat Sink temperature exceeds 90 C 195 F Faults are reported in the Network Input Data and can be cleared through the Network Output Data Connector AMCI Part MS 2x11 28 16 AWG Motor Current Programmable from 1 0 to 4 0Arms in 0 1 Amp steps Resolution Programmable to any value from 200 to 32 767 steps per revolution Idle Current Reduction Programmable from 0 to 100 programmed motor current in 1 increments Motor current is reduced to selected level if there is no motion for 1 5 seconds Current is restored to full value when motion is started Internal Power Fuse 7 Amp Fast Blow Fuse is not user replaceable Environmental Specifications Input Power 24 to 48Vdc surge to 60Vdc with out damage to module Ambient Operating Temperature cp 4 to 122 F 20
56. FORMAT e Input Data Format continued Status Word 2 Format continued Bit9 Invalid Parameter Change Bit Set during a Manual Move if parameters are changed to invalid values Parameters that can be changed during a Manual Move are Programmed Speed Accelera tion and Deceleration Set while in Electronic Gearing mode if the Numerator or Denominator are set outside their range of 1 to 255 Bit8 Motion Lag When using the Hybrid Control feature this bit will equal 1 if the actual rotor posi tion is more than 360 behind the commanded position This indicates a heavily loaded motor and the encoder position should be monitored for a stalled condition Bit 7 Driver Fault Bit If the driver section of the ANGI is enabled this bit will be a 1 during a Over temperature Fault or a Short Circuit Fault This fault can be cleared by issuing a Reset Errors pro gramming block with the Clear Driver Fault bit Command Bits LSW bit 10 set to 1 and the Driver Enable bit is set to 0 For additional information see Notes on Clearing a Driver Fault on page 74 Bit6 Network Lost Error Bit If the physical network connection is lost at any time this bit will be set when the connection is re established The Input Error bit will also be set Note that this bit is not set if the communication loss is not due to a physical error Bit5 State Bit On ControlLogix and CompactLogix platforms this bit equals 1
57. Input Only Profile Figure 3 1 below shows the move profile generated by a Find Home command when you use the Home Input without the Backplane Home Proximity bit CW Home Limit Switch Starting Speed POSITION Starting Speed SPEED CCW Figure 3 1 Home Input Profile 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed until the Home Input activates 3 Deceleration to the Starting Speed and stop followed by a two second delay 4 Acceleration to the Programmed Speed opposite to the requested direction 5 Run opposite the requested direction until the Home Input transitions from Active to Inactive 6 Deceleration to the Starting Speed and stop followed by a two second delay 7 Return to the Home Input at the configured Starting Speed Stop when the Home Input transitions from inactive to active NOTE gt gt the Home Input is active when the command is issued the move profile begins at step 5 a ove 38 ADVANCED MICRO CONTROLS INC HoMING THE ANG1 k Homing Profiles continued Profile with Proximity Input Figure 3 2 below shows the move profile generated by a Find Home command when you use gt Home Input with Backplane Home Proximity bit gt Marker Pulse home with Home Input as proximity sensor gt Marker Pulse home with Backplane Home Proximity bit CW Home 3 Home Input Input Proximity can be Z Pulse Bit
58. Mirror of Encoder Pulses Turn Mirror of Idle Current Percentage Mirror of Motor Current X10 otn o Mirror of Current Loop or Status message when writing Configuration data to flash memory Table 5 4 Network Input Data Format Configuration Mode Control Word Format Word 0 When the Configuration data is valid and accepted this word mirrors the value of the Control Word written to the ANGI When the ANGI is not configured or the data written to it is invalid then this word has the same format of Status Word 1 when the ANGI is in Command Mode This format is explained in the Status Word 1 Format section starting on page 71 On power up the value of this word will be 6408h unless a valid con figuration had been previously written to the flash memory of the ANGI 20 Gear Drive Plymouth Ind Park Terryville CT 06786 55 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls CONFIGURATION MODE DATA FORMAT Invalid Configurations The following configurations are invalid 1 Setting any of the reserved bits in the configuration words 2 Setting any parameter to a value outside of its valid range This includes setting the Lower Word of the Starting Speed to a value greater than 999 3 You configure two or more inputs to have the same function such as two CW Limit Switches 4 Setting the Home to Encoder Z Pulse Bit without configuring the ANG1 to use
59. Mode Data Format Anyone that need performance data on compatible AMCI stepper Choosing Your Motor motors or guidelines if using a foreign stepper motor Calculating Move Anyone that need information on calculating detailed move Profiles profiles 8 ADVANCED MICRO CONTROLS INC _______ 7 8 INTRODUCTION TO THE ANG1 This manual is designed to get quickly running with the ANG1 stepper indexer driver As such it assumes you have some basic knowledge of stepper systems such as the resolution you want run your motor at and the reasons why you d want to use Idle Current Reduction and the reasons why you wouldn t If these terms or ideas are new to you we re here to help AMCI has a great deal of information on our website and we are adding more all the time If you can t find what you re looking for at http www amci com send us an e mail or call us We re here to support you with all of our knowledge and experience AnyNET 1 O The ANGI was the first module in an expanding product line from AMCI The concept of this product line is simple spe cialty and or high speed I O that can be attached to any popular industrial network hence the name AnyNET I O AnyNet I O is designed for a broad range of applications from small machines with a single control enclosure to large machines that extensively use distributed I O to minimize wir ing costs What makes the AnyNET I O line different is t
60. NGI responds by setting bits 8 and 9 in Status Word 1 See Status Word 1 Format starting on page 71 Once these are set you can then start transmitting Segment Blocks Segment Block EtherNet IP Modbus TCP Word Register FURCHOH Command Bits MSW 16 1800 Command Bits LSW See pg 59 Rel Target Position Upper Word St Combined value between eps Rel Target Position Lower Word E 8 388 607 and 8 388 607 Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 6 19 Assembled Move Segment Programming Block Note that each Segment Block starts with bits 11 and 12 set in the Command Bits MSW word 16111800 When the ANGI sees bit 12 of Command Bits MSW set it will accept the block and reset bit 9 in Status Word 1 When your program sees this bit reset it must respond by resetting bit 12 of Command Bits MSW The ANGI will respond to this by setting bit 9 in Status Word 1 and the next Segment Block can be written to the ANGI You can write a maximum of sixteen Segment Blocks for each Assembled Move Reserved 1 2 3 4 3 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 69 Tel 860 585 1254 Fax 860 584 1973 http www amci
61. SUPPLY VOLTAGE D VOLTAGE oo ew TE 720 85 55 gt 48V dc S z 48V dc 95 vl z 5 Does not E E 480 Does not 5 5 operate at 5 5 operate at ea 4V de ea 24Vde 240 0 0 5 10 an A rov Sec 0 2 5 5 7 5 0 revisec 0 300 600 200 RPI 0 150 300 450 600 RPM 0 1000 2000 3000 4000 py Sense 0 500 1000 1500 2000 Full Stepsisec Figure A 4 SM34 850 Torque Curve 4 Amp Figure 5 SM34 1100 Torque Curve 4Amp ADVANCED MICRO CONTROLS INC APPENDIX B CALCULATING PROFILES This appendix was added because some of our customers must program very precise profiles Understanding this section is not necessary before program ming the ANG1 and can be considered optional Two different approaches are presented here The constant acceleration example takes given parameters and calculates the resulting profile The variable acceleration example starts with a desired speed profile and calculates the required parameters The equations in this appendix use a unit of measure of steps second second steps second for acceleration and deceleration However when programming the ANGI all acceleration and deceleration values must be programmed in the unit of measure of steps millisecond second gt convert from steps second to steps millisecond second divide the value by 1000 This must be done when converting from a value used in the equations to a value programmed into ANGI gt To convert from
62. Strap maybe required by local safety codes INPUT n INPUT ANG1 E INPUT CONNECTOR GROUND THE SHIELD OF THE SENSOR CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the sensor the shield can be grounded to the same Ground Bus as the ANG1 E DC Sourcing Sensor SENSOR POWER Run a seperate wire from the power supply to each sensor Do Not daisy chain power from one sensor to the next CABLE SHIELD oo 5Vdc to 24Vdc Isolated Power Supply 5 HSS Can use the 22 ISS m 3 Grounding Strap maybe INPUT O required by local safety INPUT n O codes ANG1 E INPUT CONNECTOR GROUND THE SHIELD OF THE SENSOR CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the sensor the shield can be grounded to the same Ground Bus as the ANG1 E DC Sinking Sensor SENSOR POWER Run a seperate wire from the power supply to each sensor Do Not daisy chain power from one sensor to the next CABLE SHIELD 5Vdc 24Vdc Isolated Power Supply Can use the same supply to AL power all inputs HS SS NY
63. X A CHOOSING YOUR IVIOTOR Sizing Your Motor Your motor choice is based on the output torque you need the mounting space you 2340 130 have and your budgetary constraints Torque curves for all of AMCT s motors are available on the following pages Torque curves show the performance of the motor at 4Arms which is the maximum setting for the ANGI 125 00 POWER SUPPLY VOLTAGE There are a few things to remember when choosing your motor based on torque curves e Torque oz in Power watts 1 The torque curves in this manual are for the ANG1 You cannot use these curves to accurately determine the 0 amount of torque from an AMCI ud Ed lot mM motor when it is attached to a 0 2000 4000 different drive Nor can you Figure 1 SM23 130 Torque Curve 4Amp accurately determine the amount of torque from a motor when attached to an 1 if its torque curves were generated using a different drive In general if an output bus of the foreign drive is not the same as the voltage supplied to the ANG1 then the torque curves will be less accurate at higher speeds 2 Make sure that the motor can provide the needed torque over the entire SM2340 240 speed range of your application Available torque drops as speed increases so evaluate the motor s torque at its highest operating speed 3 All of the torque curves show when the motor s windin
64. an address of zero must have a network interface and it is the only module in the stack that can have a direct connection to the network 3 If a module with a network interface has a non zero address then its network interface is disabled This allows two ANGIE modules to work in a single Figure 4 4 Addressing Example stack Figure 4 4 is a close up of three modules in an AnyNET I O Stack The module on the left is a module with a network interface and has an address of zero All DIP switches off This module has the active network interface and connects the stack to the network Reading left to right the remaining modules have addresses of one and two respectively These modules may have network interfaces If they do their network interfaces are disabled 20 Gear Drive Plymouth Ind Park Terryville CT 06786 43 Tel 860 585 1254 Fax 860 584 1973 http www amci com i INSTALLING THE ANG1 Connector Pin Out The I O Connector is located on the top of the module The mate for this connector is included with the ANGI It is available from AMCI under the part number MS 2x11 and is also available from Phoenix Con tact under their part number 173 88 98 Figure 4 5 shows the pin out for I O connector TOP VIEW In Vdc In No Connection No Connection GND GND No Connection Output 1 Z Encoder Output 1 Z Encoder Input 3 B Encoder Input 3 Encoder Input 2 A Encode
65. as a range of 32 768 000 to 32 767 999 counts The only way to move beyond 48 388 607 counts is with multiple relative moves Absolute coordinates treat the Target Position as an actual position on the machine Note that you must set the Home Position on the machine before you can run an Absolute Move See Definition of Home Position on the previous page gt The range of values for the Target Position when it is treated as an actual position on the machine is 8 388 607 counts The move will be clockwise if the Target Position is greater than the Current Posi tion and counter clockwise if the Target Position is less than the Current Position gt The Current Motor Position register that is reported back to the host has a range of 32 768 000 to 32 767 999 counts However you cannot move beyond 8 388 607 counts with an Absolute Move The only way to move beyond 8 388 607 counts is with multiple relative moves Definition of Acceleration Types Most of the move commands allow you to define the acceleration type used during the move The ANGI supports three types of accelerations and decelerations The type of acceleration used is controlled by the Acceleration Jerk parameter What is jerk Just as speed is a measurement of change in position per unit time and acceleration is a measurement of change in speed per unit time jerk is a measurement of change in acceleration per unit time Likewise just as a change in position equals speed
66. ation Jerk Table 6 3 Relative Move Command Block 0 to 5000 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 61 COMMAND DATA FORMAT Command Blocks continued Hold Move EtherNet IP Modbus TCP Word Register Function Command Bits MSW 164320004 Command Bits LSW See pg 59 Jnused See Note Below Jnused See Note Below nused See Note Below nused See Note Below nused See Note Below Unused See Note Below Unused See Note Below 0 WwW NHN eR Unused See Note Below Table 6 4 Hold Move Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command Resume Move EtherNet IP Modbus TCP Word Register DHDEHOH Command Bits MSW 1680008 Command Bits LSW See pg 59 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 6 5 Resume Move Command Block Reserved 1 2 3 4 3 6 7 8 9 Unused words are ignored by the ANGI and can be any value including parameter values in the
67. ct as a Home Prox imity input Invalid Combination This bit combination is reserved Table 5 3 Configuration Mode Control Word Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 53 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls CONFIGURATION MODE DATA FORMAT Output Data Format continued Configuration Word Format k Configuration Word AR DriveEn Out1Fn 2 11 10 09 08 07 06 05 04 03 02 01 00 o S9 Only available on serial number 05150340 and above First four digits are month and year of manufacture Must be zero for older ANG1 units 000000 OutlNCL Out1Stat RdConfig SavConfi ActSt 3 ActSt 2 ActSt 1 RESERVED Bit must equal zero Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Figure 5 2 Configuration Mode Config Word Format Driver Enable Bit 0 to disable the motor driver circuitry 1 to enable the motor driver cir cuitry When the motor driver is disabled all voltage is removed from the motor Output 1 Functionality Bit 0 configures Output 1 to be a Fault Output The output will conduct current until a fault occurs 1 configures Output 1 to be a general purpose output whose state is determined by a bit in the Command Mode Network Output Data This output is in an ON state when power is applied to the ANG1 and it has not
68. curs when the number of steps needed to accelerate and decelerate are less than the total number of steps in the move Figure 2 5 below shows a Triangular Profile A Triangular Pro file occurs when the number of steps needed to accelerate to the Programmed Speed and decelerate from the Programmed Speed are greater than the total number of steps in the move In this case the profile will accel erate as far as it can before decelerating and the Programmed Speed is never reached Programmed Speed a Starting Speed POSITION A B Figure 2 5 A Triangular Profile SPEED _20 ADVANCED MICRO CONTROLS INC MOVE PROFILES p Profile Equations If your application requires very precise profiles refer to appendix B Calculating Move Profiles for infor mation on time and distance formulas Controlled and Immediate Stops Once a move is started there are several ways to stop the move before it comes to an end These stops are broken down into two types gt Controlled Stop The axis immediately begins decelerating at the move s programmed deceleration value until it reaches the configured Starting Speed The axis stops at this point The motor position value is still considered valid after a Controlled Stop and the machine does not need to be homed again before Absolute Moves can be run gt Immediate Stop The axis immediately stops outputting pulses regardless of the speed the motor is running at Because it is possible for the in
69. dexer lowers Total System Cost 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amci com H INTRODUCTION TO THE ANG1 The ANG1 continued General Functionality continued The ANGI is powered by a nominal 24 to 48Vdc power source and can accept surge voltages of up to 60Vdc without damage The output motor current is fully programmable from 1 0Arms to 4 0Arms which makes the ANGI compatible with AMCT s complete line of size 23 and size 34 stepper motors In addition to the Motor Current setting the Motor Steps per Turn Idle Current Reduction and Anti Resonance Circuit features are also fully programmable If you have used other stepper indexer products from AMCI you will find program ming to be very similar to these products The ANGI is a true RMS motor current control driver This means that you will always receive the motor s rated torque regardless of the Motor Steps Turn setting Drivers that control the peak current to the motor experience a 3046 decrease in motor torque when microstepping a motor The ANGI automatically switches from RMS to peak current control when the motor is idle to prevent overheating the motor In addition to power and motor hookups ANGI has three DC inputs and one DC output that are used by the indexer Configuration data from the host sets the function of these points The output can be configured to be a Fault Output or a general purpose
70. ditional load on the motor Using this bit is the preferred method of performing stall detection when using Hybrid Control When this bit turns on monitor the encoder position value for change If the encoder value is changing then the motor is heavily loaded but still moving If the encoder value is not changing then the motor cannot rotate under load and the move can be stopped by your program 20 Gear Drive Plymouth Ind Park Terryville CT 06786 35 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Hybrid Control continued When using Hybrid Control you should always check the value of the encoder position at the end of every move and make accommodations for any load induced error in the final position The stall detection feature that is built into the ANGI can be used with the Hybrid Control feature If the rotor position becomes more than 45 behind the commanded position the motor will be considered stalled and the move will be terminated Error bits will be set in the network data to inform you of the stalled condition Note that the Motion Lag bit will never be set when using the stall detection feature of the ANGI because it will trip before the 360 position error that will set the Motion Lag bit Idle Current Reduction Idle Current Reduction allows you to prolong the life of your motor by reducing its idling temperature Val ues for this parameter range from 0 no holding torque when idle to
71. e 38 Invalid Configurations 56 Profile with Proximity Input T 39 Chapter 6 Command Mode Data Profile with Overtravel Limit 40 Format Chapter 4 Installing the ANG1 Multi Word Format esee 57 Safe Handling Guidelines 41 Command Bits Must Transition 57 Suns Damage 4l Output Data Format 57 revent Debris From d Bits MSW Entering the Module 41 25 Remove Power Before Servicing Command Bits LSW 59 in a Hazardous Environment 41 Command Blocks 61 Mounting eee edi ve 41 Absolute MOVE eee el Dimensions 41 Relative Move 6l Minimum Spacing 42 Hold Move 62 Installing IC 5 Connectors 42 Resume MOVE 62 Mounting the ANGI Module 43 e a _ Find Home CW Addressing tret 43 meum 4 ADVANCED MICRO CONTROLS INC Table of Contents Chapter 4 Installing the ANG1 Table of Contents Chapter 6 Command Mode Data Chapter A Choosing Your Motor Format continued Sizing Your Motor sees 75 Find Home CCW 64 Determining Your Motor
72. e along with a description of the problem during regular business hours Monday through Friday 8AM 5PM Eastern An RMA number will be issued Equipment must be shipped to AMCI with transportation charges prepaid Title and risk of loss or damage remains with the customer until shipment is received by AMCI 24 Hour Technical Support Number 24 Hour technical support is available on this product If you have internet access start at www amci com Product documentation and FAQ s are available on the site that answer most common questions If you require additional technical support call 860 583 7271 Your call will be answered by the factory dur ing regular business hours Monday through Friday 8AM 5PM Eastern During non business hours an auto mated system will ask you to enter the telephone number you can be reached at Please remember to include your area code The system will page an engineer on call Please have your product model number and a description of the problem ready before you call We Want Your Feedback Manuals at AMCI are constantly evolving entities Your questions and comments on this manual are both wel comed and necessary if this manual is to be improved Please direct all comments to Technical Documenta tion AMCI 20 Gear Drive Terryville CT 06786 or fax us at 860 584 1973 You can also e mail your questions and comments to techsupport amci com ADVANCED MICRO CONTROLS INC TABLE CONTENTS Ge
73. e Electronic Gearing Mode Command Bits LSW Bit 6 When this bit equals 1 the ANGI will switch its operation to Electronic Gearing mode as described on page 34 While in this mode the two Manual Move bits are used to enable motor motion One of these two bits must equal 1 before the motor will follow change in encoder position 58 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT e Command Bits MSW continued Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Find Home CCW When set to 1 the ANGI will attempt to move to the Home Limit Switch in the counter clockwise direction A full explanation of homing can be found in the Homing the ANGI chapter starting on page 37 Find Home CW When set to 1 the ANGI will attempt to move to the Home Limit Switch in the clockwise direction A full explanation of homing can be found in the Homing the ANGI chapter starting on page 37 Immediate Stop Bit When set to 1 the ANGI will stop all motion without deceleration The Motor Position value will become invalid if this bit is set during a move Setting this bit when a move is not in progress will not cause the Motor Position to become invalid Resume Move Bit Set to 1 to resume a move that you previously placed in a hold state Use of the Resume Move bit can be found in the Controlling Moves In Progress section starting on page 33 Note that a move in its hold state do
74. e Motor 48 ELGearing Multiplier Connecting the Load 48 and Divisor 4 34 Extending the Motor Cable 48 How It Works essss 34 Installine the Motor Cable 48 Controlled Stop Conditions 34 Immediate Stop Conditions 34 Connecting the Motor 49 Advanced Ratio Control 35 oie Stall Detection 35 Hybrid Control ees 35 Chapter 5 Configuration Mode Idle Current Reduction 36 Data Format Current Loop Gain see 36 Modes of Operation 51 Configuration Mode 51 Chapter 3 Homing the ANG1 Command Mode 51 Definition of Home Position 37 Multi Word Format sese 51 P sition Prest up tenaci 37 Output Data Format e 52 Find Home Commands 37 Control Word Format 52 Homing Inputs eene 37 Configuration Word Format 54 Physical 37 Notes on Other Backplane Inputs 37 Configuration Words 55 Homing Configurations 38 Input Data Format sees 55 Homing Profiles iiec 38 Control Word Format Word 0 55 Home Input Only Profil
75. e as long as a Constant Acceleration move to achieve the same velocity Programmed Speed SPEED at TIME Figure 2 3 Triangular S Curve Acceleration ACCELERATION Additional information including example move calculations can be found in appendix B Calculating Move Profiles starting on page 77 A Simple Move As shown in the figure below a move from A Current Position to B Target Position consists of several parts Programmed Speed SPEED Starting Speed POSITION Figure 2 4 A Trapezoidal Profile 1 The move begins at point A where the motor jumps from rest to the configured Starting Speed The motor then accelerates at the programmed Acceleration Value until the speed of the motor reaches the Programmed Speed Both the Acceleration Value and the Programmed Speed are programmed when the move command is sent to the ANG1 2 The motor continues to run at the Programmed Speed until it reaches the point where it must decelerate before reaching point B 3 The motor decelerates at the Deceleration Value which is also programmed by the move command until the speed reaches the Starting Speed which occurs at the Target Position B The motor stops at this point Note that the acceleration and deceleration values can be different in the move Figure 2 4 above shows a Trapezoidal Profile A Trapezoidal Profile occurs when the Programmed Speed is reached during the move This oc
76. e write to flash memory was success ful If it flashes red then there was an error in writing the data In either case power must be cycled to the ANGI before you can continue This design decision is to prevent the flash memory from constant write commands The flash memory has a minimum of 10 000 write cycles Blend Move Direction When you command a Blend Move to run this bit determines the direction of rotation Set to 0 for a clockwise Blend Move 1 for a counter clockwise Blend Move Hybrid Control Enable Set to 0 to operate the ANGI as a standard stepper system Set to 1 to enable Hybrid Control Hybrid Control is explained starting on page 35 Encoder Move Set to 1 when you command an Absolute or Relative move to cause the move distance to be based on the encoder position not on the motor position Set to 0 for a standard Relative or Absolute move based on motor position Please note that an encoder move does not stop at the programmed encoder position It starts to decelerate at this position A full description of Encoder Moves starts on page 27 Reserved Must equal 0 Reserved Must equal 0 60 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT e Command Blocks The following section lists the output data format for the sixteen different commands The EtherNet IP and Modbus TCP addresses shown are for an ANGIE module that is the network connection fo
77. ecially if the motor 55 m 2740 is series connected At high speeds motor EE torque is limited by the voltage bus of the drive fa and the inductance of the motor The simplest explanation is that the drive does not have enough time to establish the full current through the motor before it must switch the current to 0 300 900 the winding 0 1000 2000 3000 4000 Full Stepsisec Because of this its difficult to calculate the Figure A 3 SM4 450 Torque Curve 4Amp exact amount of high speed torque a motor will give you when you reduce its current set ting Its often easier to determine your optimum current setting by testing your machine at various current settings and then deciding which setting gives you the best performance A Note on Microstepping Many microstepping drives control the peak current through the motor At low speeds this type of current control drops the available torque of a micro stepped motor to approximately 70 7 of that available when the motor is full stepped However the ANGI controls the RMS current through the motor Therefore the current supplied by the ANGI when mircostepping is always the power equivalent of the full step current This means that the motors full torque is always available At very low speeds the ANGI automatically switches to peak current control to prevent motor damage 1200 POWER 960 POWER SUPPLY i
78. ections in a single AnyNET I O Stack Status LED The Status LED is a bi color red green LED shows the general status of the module gt Steady Green Module OK gt Steady Red An Overtemperature Fault or Motor Short Circuit Fault exists Note that the ANGIE will only detect short circuit faults when the motor current is enabled Blinking Green Successful write to flash memory Power must be cycled to the module before addi tional commands can be written to it Blinking Red Failed write to flash memory You must cycle power to the module to clear this fault gt Alternating Red Green Communications failure This is either a communications error between the main processor and the ethernet co processor within the module or a com munications error between modules in the AnyNET I O Stack You must cycle power to the module to attempt to clear this fault 20 Gear Drive Plymouth Ind Park Terryville CT 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com INTRODUCTION TO THE 1 Specifications Driver Type Two bipolar MOSFET H bridges with 20KHz PWM current control Physical Dimensions Width Depth 4 5 inches max Height 3 9 inches 5 0 inches min with mating connectors 0 9 inches max Weight 0 38 Ibs 0 17 kg with mating connectors Inputs Electrical Characteristics Differential 1500 Vac dc opto isolated Can be wired as single ended inputs D
79. enix Contact under their part number 187 80 37 Motor connections should be tight as Area for loose connections may lead to arcing which will heat the Network connector Phoenix Contact specifies a tightening torque Connections of 4 4 to 5 4 Ib in 0 5 to 0 6 Nm NOTE gt When powered the motor connector may Figure 4 11 Motor Connector represent a shock hazard because the full DC input voltage may be present on its ter minals Always remove power from the ANGI before connecting or disconnecting the motor NOTE gt 1 Never connect the motor leads to ground or to a power supply 2 Always connect the cable shield from your motor s cable to Earth Ground It is best to con nect the cable shields to the ground bus of the system Do not connect the shields to the DIN rail If you connect the motor shields to the DIN Rail and the grounding connection from the DIN rail to the Grounding Bus fails over time then you will eventually have a con dition where electrical noise is injected into the AnyNET I O modules which may result in future system errors Motor Wiring The ANGI will work with many different motors including those not sold by AMCI This section assumes that you have already chosen your motor and you are looking for wiring information No wire colors are given in the figures below because there is no single industry wide color coding scheme for stepper motors You must refer to your motor data sheets for this information
80. equals 1 the position values are reported as 32 bit signed integers with the least significant bits in the lower word The first four digits of the serial number are month and year of manufacture The remaining digits are a sequential number that resets at the beginning of every month Units built prior to 05150340 will only transmit data using the Multi Word Format given on page 57 NOTE gt The range of values when using the multi word format is 32 768 000 to 32 767 999 When used in continuous rotation applications such as control of a conveyor belt it is possible to overflow these values When any of the three position values overflow the value of the asso ciated data words will become indeterminate AMCI strongly suggests using the signed 32 bit integer format for continuous rotation applications 70 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT e Input Data Format continued Status Word 1 Format Bit 15 Bit 14 Bit 13 Status Word 1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 wlx 1 x E ZI zjio oo gbspisgSoftzi l Figure 6 4 Command Mode Status Word 1 Format Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming The ANGI powers up in Command Mode and shows a configuration error unless a valid configuration was previously saved in fla
81. erates until it reaches the value of the Acceleration Parameter At this point the acceleration remains constant until the ANG1 begins to apply the jerk property value to decrease the acceleration value until it equals zero when the programmed maximum speed is reached Figure 2 2 shows a trapezoidal curve when the Acceleration Jerk setting results in the acceleration being constant for half of the acceleration time With this setting the Trapezoidal S Curve acceleration only requires 33 more time to achieve the same velocity as a Constant Acceleration move ON Iri d Programmed Speed SPEED CCELERATI A Figure 2 2 Trapezoidal S Curve Acceleration E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 19 Tel 860 585 1254 Fax 860 584 1973 http www amci com p MOVE PROFILES Definition of Acceleration Types continued S Curve Accelerations continued Triangular S Curve Acceleration When the Acceleration Jerk parameter is set low Triangular S Curve acceleration usually results This occurs because the programmed maximum acceleration value is not reached before the ANGI must start decreasing the acceleration value as the move s speed approaches its programmed maximum value Triangu lar S Curve is the smoothest form of acceleration but the time needed to reached the move s programmed speed is increased An example is shown in figure 2 3 where the acceleration and jerk settings results in a move that takes twic
82. error the move can be resumed and it will use the new parameter values Note that a change to the Target Position is ignored Assembled Moves A Blend or Dwell Move can be placed in a Hold state but cannot be resumed This give you the ability to pre maturely end an Assembled Move with a controlled stop The Assembled Move is not erased from memory and can be run again without having to reprogram it 20 Gear Drive Plymouth Ind Park CT 06786 33 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Electronic Gearing The final form of motion control available with the ANG1 is Electronic Gearing A quadrature encoder is required but it is not mounted on the motor controlled by the ANG1 The encoder is typically mounted on a second motor but it can be mounted anywhere including on something as simple as a hand crank This mode is sometimes referred to as encoder following because the motor will change position in response to a change in position of the encoder AMCI refers to it as Electronic Gearing because the ANGI has three parameters that allow you to set any turns ratio you want between the encoder and the motor Motor Steps Turn This is the same parameter explained at the beginning of this chapter In Electronic Gearing mode this parameter sets the number of encoder counts required to complete one rotation of the shaft of the motor driven by the ANGI It has a range of 200 to 32
83. ertia of the load attached to the motor to pull the motor beyond the stopping point the motor position value is considered invalid after an Immediate Stop and the machine must be homed again before Absolute Moves can be run Host Control Hold Move Command This command can be used with some moves to bring the axis to a Controlled Stop The move can be resumed and finished or it can be aborted Not all moves are affected by this command The section Basic Move Types starting on page 22 describes each move type in detail including if the move is affected by this command Immediate Stop Command When this command is issued from the host the axis will come to an Immedi ate Stop The move cannot be restarted and the machine must be homed again before Absolute Moves can be run Hardware Control CW Limit and CCW Limit Inputs In most cases activating these inputs during a move will bring the axis to an Immediate Stop The exceptions are the Find Home commands the Manual Move commands and the Registration Move commands The Find Home commands are explained in chapter 3 Homing the ANGI which starts on page 37 The Manual Move commands are fully explained on page 24 and the Registra tion Move commands are fully explained on page 25 Emergency Stop Input It is possible to configure an input as an Emergency Stop Input When an Emer gency Stop Input is activated the axis will come to an Immediate Stop regardless of the direction of travel
84. es not need to be resumed The move is automatically can celled if another move is started in its place Hold Move Bit Set to 1 to hold a move The move will decelerate to its programmed Starting Speed and stop The move can be completed by using the Resume Move bit The use of the Hold Move and Resume Move bits is further explained in the Controlling Moves In Progress section starting on page 33 Relative Move Bit Set to 1 to perform a Relative Move using the data in the rest of the Com mand Data The full explanation of a Relative Move can be found starting on page 22 Absolute Move Bit Set to 1 to perform an Absolute Move using the data in the rest of the Com mand Data The full explanation of an Absolute Move can be found starting on page 23 Command Bits LSW Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Command Bits LSW 15 14 13 12111 10 09 08107 06 05 04103 02 01 00 z x 8 z 8 8 E a z z a lt 09 Figure 6 3 Command Bits LSW Format Driver Enable Bit 0 to disable the motor current 1 to enable motor current A valid configu ration must be written to the ANG1 before the driver can be enabled Reserved Must equal 0 General Purpose Output State Bit When the output is configured as a general purpose output point instead of the Fault Output this bit controls the state of the output When this bit equals a 1 the output is on and co
85. eter values in the previous command Reserved 1 2 3 4 3 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 63 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Command Blocks continued Find Home CCW EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16320040 Command Bits LSW See pg 59 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 6 8 Find Home CCW Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command Reserved INIA tao Manual Move CW EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 0080 Function See pg 59 Command Bits LSW Bits 7 amp 6 must equal 00 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Must equal ze
86. ext jumps you to referenced section When viewing the PDF version of the manual clicking on HTML Reference the HTML reference text will open your default web browser to the referenced web page To Go From Here This manual contains information that is of interest to everyone from engineers to operators The table below gives a brief description of each chapter s contents to help you find the information you need to do your job Chapter Title intended Audience Anyone new to the ANG1 This chapter gives a basic overview of the features available on the unit typical applications and electri Introduction to the ANGI cal specifications Anyone that needs detailed information on how the driver can be Move Profiles used to control motion in your application Anyone that needs detailed information on the available means to Homing the ANGI define a known position on the machine including information on homing profiles available on the ANGI Anyone that must install an 1 on machine Includes infor Installing the ANGI mation on mounting grounding and wiring specific to the units Anyone that needs detailed information on the format of the net work data to and from the ANGI used to configure the indexer driver Configuration Mode Data Format Anyone that needs detailed information on the format of the net work data to and from the ANGI used to command the indexer driver Command
87. gs are attached to the 1 in parallel Parallel attached motors have the advantage of more torque at high speeds when compared to series attached motors POWER SUPPLY VOLTAGE Torque oz in Power watts A simple guideline is to use the largest motor your mounting space and budgetary con straints allow Because the PR losses in the 0 10 20 30 revisec ADU 0 600 1200 1800 RPM motor s windings manifest themselves as 0 2000 4000 6000 Full Stepsisec heat the maximum allowable motor tempera Figure 2 23 240 Torque Curve 4Amp ture limits the motor s current Using the largest motor possible may allow you to use a lower current setting on the ANGI drive This lowers the R losses and the operating temperature of the motor which increases the motor s life 20 Gear Drive Plymouth Ind Park Terryville CT 06786 75 Tel 860 585 1254 Fax 860 584 1973 http www amci com aN Determining Your Motor Current Setting Your motor current setting is based on the CHOOSING YOUR MOTOR SM34 450 amount of torque needed from the motor If you decide to use a lower current setting than the value listed in the curve be aware that a reduction in current proportionally reduces the POWER holding torque However a reduction in cur LA SUPPLY rent may not lead to a proportionally reduction UMS in torque at high speeds esp
88. hat most of the modules are available with or without a network interface Eliminating the need for a separate networking module lowers the total cost of ownership for all applications but especially for the cost sensitive small machines that only require one or two sophisticated functions Like many low cost controllers AnyNet I O modules are designed to be DIN rail mounted Up to six AnyNET I O mod ules can be stacked together and accessed over a single network interface Stacking is accomplished through a small backplane connector that snaps into the DIN rail before the AnyNET I O modules are installed These connectors allow the AnyNET I O modules to communicate with each other To the network the stack of modules appear as one continuous block of I O words Figure 1 1 AnyNET I O Module Stack The ANG1 General Functionality The ANGI is a 4 0Arms micro stepping driver that accepts 24 to 48 Vdc as its input power source What makes the ANGI unique is its built in indexer that accepts configuration and command data from a host system over the network that the AnyNET I O Stack is attached to This combination of host and driver gives you several advantages gt Sophisticated I O processing can be performed in the host PLC or other controller before sending commands to the ANGI gt All motion logic is programmed in the host eliminating the need to learn a separate motion control lan guage gt Eliminating the separate in
89. he driver The ANGI uses this information during a move to dynamically increase or decrease the current through the motor s windings to the lowest values needed to achieve motion This feature eliminates the possibility of resonance related motor stalls and can dramatically lower the motor s operating temperature which prolongs the life of the motor When using this feature a stepper motor will act in a manner very similar to a servo motor This includes the possibility of a one count dither in position at zero speed In order to overcome this condition the ANGI allows you to enable and disable the Hybrid Control feature on the fly When the motor is at rest a single message disables the Hybrid Control feature and the motor acts as a stepper system holding its position without dither You can enable the Hybrid Control feature using the same message that initiates a move min imizing the amount of motor current needed to complete it 10 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE ANG1 jl Indexer Functionality The table below lists the functionality offered by the indexer built into the ANGI Feature Description Each of the three inputs can be programmed as a Home Limit Over Travel Programmable Inputs Limit Capture Input Stop Manual or Registration Move E Stop Input or a General Purpose Input The single output on the ANGI can be programmed as a Fault Output or as a Programmable Ourput general purpose DC output poi
90. his feature enabled disable this feature and test the machine again Stall Detection Enable Bit 0 disables motor stall detection 1 enables motor stall detection Only valid when an encoder is used and attached to the motor controlled by the ANG1 The Quadra ture Encoder Enable Bit bit 10 of this word must be set The encoder pulses turn parameter Configuration Word 6 must also be programmed to a value that is four times the number of lines in your encoder Home Proximity Bit Enable Bit 0 when Home Proximity bit is not used when homing the ANGI 1 when the Home Proximity bit is used when homing the ANGI Note that this bit is not the Home Proximity Bit but enables or disables its operation Do not use the Home Proximity bit if you only want to home to the Home Limit Switch Leave this bit equal to 0 52 ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT Ley Output Data Format continued Control Word Format continued Bit 10 Quadrature Encoder Enable Bit Quadrature Encoder 0 when Quadrature Encoder is not used 1 to enable a Bit 9 to Encoder Z Pulse Set to 1 to home the machine to the encoder s Z pulse The Quadra ture Encoder Enable Bit bit 10 must be set You must also program the Encoder Pulses Turn parameter in Configuration word 6 If a Discrete DC Input is configured as a Home Input it will act as a Home Proximity Input Bi
91. iate Stop Condition the motion stops immediately and the position becomes invalid It is possible to change the speed of a Manual Move without stopping the motion The Programmed Speed Acceleration and Deceleration parameters can be changed during a Manual Move When the Programmed Speed is changed the motor will accelerate or decelerate to the new Programmed Speed using the new accel erate decelerate parameter values If you write a Programmed Speed to the ANGI that is less than the starting speed the Manual Move will continue at the Starting Speed Programmed Speeds Changed During Move Starting Speed S pi POSITION Change in Change in Controlled Parameters Parameters Stop Condition Figure 2 8 Manual Move Controlled Stop Conditions gt The Manual Move Command bit is reset to 0 gt An inactive to active transition on an input configured as a Stop Manual or Registration Move Input gt Youtoggle the Hold Move control bit in the Network Output Data The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 33 24 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Basic Move Types continued zManual Move continued Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt Ainactive to active transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that
92. is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued NOTE gt Note that it is possible to start a move while CW or CCW Limit Switch is active as long as the direction of travel is opposite that of the activated Limit Switch For example it is possi ble to start a clockwise Manual Move while the CCW Limit Switch is active Registration Move Similar to a Manual Move a Registration Move will travel in the programmed direction as long as the com mand is active Registration Moves result in CW output pulses Registration Moves result in CCW output pulses When the command terminates under Controlled Stop conditions the ANGI will output a pro grammed number of steps as part of bringing the move to a stop Note that all position values programmed with a Registration Move are relative values not absolute machine positions Controlled Stop Condition Programmed Speed SPEED Starting Speed POSITION Programmed Number of Steps Figure 2 9 Registration Move If the Programmed Number of Steps are less than the number of steps needed to bring the axis to a stop based on the Programmed Speed and Deceleration values set with the command the ANGI will decelerate at the p
93. is stopped between segments the motor direction can be reversed during the move The sign of the target position for the segment deter mines the direction of motion for that segment Positive segments will result in clockwise moves while a neg ative segment will result in a counter clockwise move The following figure shows a drilling profile that enters the part in stages and reverses direction during the drilling operation so chips can be relieved from the bit You can accomplish this Dwell Move with a series of six relative moves that are sent down to the ANGI sequentially The two advantages of a Dwell Move in this case is that the ANGI will be more accurate with the Dwell Time then you could accomplish in the PLC and Dwell Moves simplifies your program s logic Move holds at the end of each segment for the programmed Dwell Time Segment 1 Segment 3 Segment 5 Starting Speed n j Starting Speed o N Segment 2 Segment 4 ccw Segment 6 Figure 2 13 Dwell Move 20 Gear Drive Plymouth Ind Park Terryville CT 06786 29 E S Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Assembled Moves continued Dwell Move continued NOTE gt 1 You do not have to preset the position or home the machine before you can use a Dwell Move Because the Dwell Move is based on Relative Moves it can be run from any location 2 The Dwell Move is stored in the i
94. it 13 makes a 0 gt 1 transition When this bit equals 1 a Dwell Move is started on the transition The direction of a Blend Move is controlled by the Blend Move Direction bit Command Bits LSW Bit 4 In a Dwell Move the Dwell Time between seg ments is programmed in Word 9 of the command data Run As An Indexed Move If this bit is set when a move command is issued the ANGI will not run the move immediately but will instead wait for an inactive to active transition on an input con figured as a Start Indexer Move input The move will be run on every inactive to active transition on the input provided that the valid data remains in the network input data registers of the ANGI Run Registration Move When this bit equals 0 and a Manual Move command is issued it will run as a standard Manual Move When this bit equals 1 and a Manual Move command is issued the move will run as a Registration Move Enable Electronic Gearing Mode Set to 1 to put the ANGI in Electronic Gearing mode Set to 0 for normal operation A full description of Electronic Gearing mode starts on page 34 Save Assembled Move Set this bit to save the programmed Assembled Move to flash memory This bit must be set when the Move Program Mode makes a 1 gt 0 transition at the end of the pro gramming cycle to write the data to flash memory The ANGI responds by flashing the Status LED when the writing is complete If the LED is flashing green th
95. it without losing your position Resume Move Allows you to restart a previously held move operation Allows you to immediately stop all motion if an error condition is detected Immediate Stop by your host controller When the ANGI uses an encoder the encoder can be used to verify motion Stall Detection when a move command is issued The ANGI can be configured to control the position of a motor based on Electronic Gearing feedback from an external encoder The ratio of encoder pulses to motor pulses is fully programmable and can be changed on the fly The ANGI can be configured to use a motor mounted encoder for rotor posi tion feedback and use this data to dynamically alter motor current to the Hybrid Control minimum value needed to achieve motion This operating mode eliminates the possibility of resonance induced motor stalls and can significantly reduce the operating temperature of the motor Table 1 1 Indexer Functionality 20 Gear Drive Plymouth Ind Park Terryville CT 06786 11 Tel 860 585 1254 Fax 860 584 1973 http www amci com E INTRODUCTION TO THE ANG1 Driver Functionality This table summarizes the features of the stepper motor driver portion of the ANGI Feature Benefits RMS current control give the ANGI the ability to drive the motor at its fully RMS Current Control rated power when microstepping Peak current controllers typically experi ence a 30 drop in power when microstepping
96. l 860 585 1254 Fax 860 584 1973 http www amci com 5 CALCULATING MOVE PROFILES Constant Acceleration Equations continued Figure B 2 gives the equations to calculate Time Distance and Acceleration values for a constant accelera tion move Ta or Tp e g Dp Acceleration Type Time Accelerate Distance to Accelerate Average 52 Vs2DA Figure B 2 Acceleration Equations If the sum of the D4 and Dp values of the move is less than the total number of steps in the move your move will have a Trapezoidal profile If the sum of the and values of the move is equal to the total number of steps in the move your move will have a Triangular profile and your move will reach the Programmed Speed before it begins to decelerate If the sum of the DA and Dp values of the move is greater than the total number of steps in the move your move will have a Triangular profile and it will not reach the Programmed Speed before it begins to decelerate As an example lets assume the values in table B 1 for a move profile ANG1 Programmed Parameter Acceleration a 20 Deceleration d 25 000 steps sec 25 Starting Speed Vg 141 steps sec 141 Programmed Speed Vp 100 000 steps sec 100 000 Table B 1 Sample Values From figure B 2 Time to accelerate Vp Vg a 100
97. l and is only acted upon when the Program Move bit makes a 1 gt 0 transition Control Bits Input Data Move Program Mode bit The ANGI sets this bit to tell you that it is ready to accept segment pro gramming data in the remaining output data words The actual transfer of segment data is controlled by the Program Move Segment and Transmit Move Segment bits gt Transmit Move Segment bit The ANGI will set this bit to signal the host that it is ready to accept the data for the next segment Programming Routine 1 The host sets the Program Move bit in the Network Output Data 2 The 1 responds by setting both the Move Program Mode and Transmit Move Segment bits in the Network Input Data 3 When the host detects that the Transmit Move Segment bit is set it writes the data for the first segment in the Network Output Data and sets the Program Move Segment bit 4 The ANG1 checks the data and when finished resets the Transmit Move Segment bit If an error is detected it also sets the Command Error bit 5 When the host detects that the Transmit Move Segment bit is reset it resets the Program Move Segment bit 6 The ANG1 detects that the Program Move Segment bit is reset and sets the Transmit Move Segment bit to signal that it is ready to accept data fro the next segment 7 Steps 3 to 6 are repeated for the remaining segments until the entire move profile has been entered The maximum number of segments per profile is 1
98. m mm 488 ADVANCED cro CONTROLS INC Manual 940 0A012 ANG1 AnyNET I O Stepper Motor Indexer Driver GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of different applica tions Therefore the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application While efforts have been made to provide accurate infor mation within this manual AMCI assumes no responsibility for the application or the completeness of the information contained herein UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS INC BE RESPONSIBLE OR LIABLE FOR ANY DAMAGES OR LOSSES INCLUDING INDIRECT OR CONSEQUENTIAL DAM AGES OR LOSSES ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS MANUAL OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN No patent liability is assumed by AMCI with respect to use of information circuits equipment or software described in this manual The information contained within this manual is subject to change without notice This manual is copyright 2015 by Advanced Micro Controls Inc You may reproduce this manual in whole or in part for your personal use provided that this copyright notice is included You may distribute copies of this complete manual in electronic format provided that they are unaltered from the version posted by Adva
99. manual explain how to install the ANG1 as part of the stack and how to set its AnyNET I O address Complete installation instructions for the stack individual networked modules is included the appropriate network interface manual available at www amci com Safe Handling Guidelines Prevent Electrostatic Damage Electrostatic discharge can damage the ANGI if you touch the rear bus connector pins Follow these udine when mici the mE 1 Touch a grounded object to discharge static potential before handling the module 2 Work in a static safe environment whenever possible 3 Wear an approved wrist strap grounding device 4 Do not touch the pins of the bus connector or I O connector 5 Do not disassemble the module 6 Store the module in its anti static bag and shipping box when it is not in use Prevent Debris From Entering the Module During DIN rail mounting of all devices be sure that all debris metal chips wire strands tapping liquids etc is prevented from falling into the module Debris may cause damage to the module or unintended machine operation with possible personal injury The DIN rail for the modules should be securely installed and grounded before the modules are mounted on it Remove Power Before Servicing in a Hazardous Environment Remove power before removing or installing any modules in a hazardous environment The InterConnect bus is not power limited
100. n the DC input makes an inactive to active transition if it is configured as a Stop Manual or Registration Move Input The encoder position data is not captured if a Manual or Registration Move is not in progress If you want to cap ture encoder position data on every transition of a DC input configure it as a Start Indexer Move Input Capture Encoder Position Input As described in the Start Indexer Move Input and Stop Manual or Registration Move Input sections above the ANGI can be configured to capture the encoder position value on a transition of a discrete DC input General Purpose Input If your application does not require all three inputs you can configure the unused inputs as General Purpose Inputs The inputs are not used by the ANGI but the input state is reported in the network data 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amci com E INTRODUCTION TO THE ANG1 Encoder Feedback Inputs The ANGI has three 5Vdc differential inputs that accept quadrature encoder signals These inputs can accept single ended signals of 5 to 24Vdc with the addition of external current limiting resistors An encoder is used by the ANG1 in multiple ways When the encoder is mounted on the back of the motor controlled the ANGI the encoder can be used for position feedback or stall detection The position data of the encoder can be preset to any value within its range it is
101. nced Micro Controls Inc on our official website www amci com You may incorporate portions of this documents in other literature for your own personal use provided that you include the notice Portions of this document copyright 2015 by Advanced Micro Controls Inc You may not alter the contents of this document or charge a fee for reproducing or distributing it Standard Warranty ADVANCED MICRO CONTROLS INC warrants that all equipment manufactured by it will be free from defects under normal use in materials and workmanship for a period of 18 months Within this warranty period AMCI shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping charges prepaid within eighteen months from date of invoice and which upon examination proves to be defective in material or workmanship and not caused by accident misuse neglect alteration improper installation or improper testing The provisions of the STANDARD WARRANTY are the sole obligations of AMCI and excludes all other warranties expressed or implied In no event shall AMCI be liable for incidental or consequential damages for delay in performance of this warranty Returns Policy equipment being returned to AMCI for repair or replacement regardless of warranty status must have a Return Merchandise Authorization number issued by AMCI Call 860 585 1254 with the model number and serial number if applicabl
102. nducts current Reserved Must equal 0 Backplane Home Proximity Bit When the ANGI is configured to use the Backplane Home Prox imity bit the ANGI will ignore the state of the Home Input as long as this bit equals 0 This bit must equal 1 before a transition on the Home Input can be used to home the machine These state ments also apply when the encoder Z pulse is used to home the machine Please note that you can not use the Backplane Home Proximity bit and a discrete input configured as a Home Proximity Input at the same time You must choose one or the other when configuring your machine Further information on using the Home Proximity bit can be found in the Homing the ANGI chapter starting on page 37 20 Gear Drive Plymouth Ind Park Terryville CT 06786 59 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Command Bits LSW continued Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Clear Driver Fault If this bit is set when a Reset Errors Command is issued Command Bits MSW Bit 10 the ANGI will attempt to clear driver errors such as an overtemperature or motor short fault Note that the driver must be disabled Command Bits LSW Bit 15 2 0 when using this command Assembled Move Type When this bit equals 0 a Blend Move is started when the Run Assem bled Move bit Command Word 1 B
103. nenan Command Bits MSW 16 4000 Command Bits LSW See pg 59 Encoder Preset Value Upper Word Combined value between Encoder Preset Value 8 388 607 and 8 388 607 Lower Word Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Table 6 17 Preset Encoder Position Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command 68 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT e Programming Blocks The following blocks are used to program an Assembled Move Both of the moves Blend Move and Dwell Move are programmed exactly the same way The bit configuration used when starting the move determines which type of Assembled Move is run First Block EtherNet IP Modbus TCP Word Register Foncuon Command Bits MSW 16 0800 Command Bits LSW See pg 59 Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below otn BY WwW tr eR Unused See Note Below Table 6 18 Assembled Move First Programming Block Unused words are ignored by the ANGI and can be any value including parameter values from the previous command Once the first block is transmitted the A
104. neral Information Chapter 2 Move Profiles Important User Information 2 Units of Measure eee 17 Standard Warranty 2 Definition of Count Direction 17 Returns Policy ete rne 2 Definition of Home Position 17 24 Hour Technical Support Number 2 Definition of Starting Speed 17 We Want Your Feedback 2 Definition of Target Position 18 About this Manual Definition of Acceleration Types 18 Audience 7 What 15 jerk 18 BIER cniin a Constant Acceleration oiin 19 Applicable Units 7 Accelerations 19 Trademark Notices 7 Trapezoidal S Curve Revision Record eese 7 Acceleration 19 Revision History 7 Triangular S Curve Navigating this Manual 7 Acceleration 20 Manual Conventions 8 A Simple huy ec 20 Where To Go From Here 8 Profile Equations esses 21 Chapter 1 Introduction to the ANG1 Controlled and Immediate Stops 21 Host Control sss 21 AnyNET I O 9 Hardware Control 21
105. nt Allows the ANGI to used a quadrature encoder for position verification or Encoder Inputs Electronic Gearing Starting Speed Running Speed Acceleration Deceleration Distance to Programmable Parameters Move and Accel Decel Types are fully programmable Allows you to set the machine to a known position The ANGI can home to Homin 8 a discrete input or to an encoder marker pulse Allows you to jog the motor in either direction based on an input bit from Manual Move your host controller Allows you to jog the motor in either direction based on an input bit from Registration Move your host controller When a controlled stop is received the move will out put a programmable number of steps before coming to a stop Allows you to drive the motor a specific number of steps in either direction Relative Move from the current location Absolute Move DUM to drive the motor from one known location to another known Allows you to perform a sequence of relative moves without stopping lues ee between them Allows you to perform a sequence of relative moves with a stop between Dwell Move each move that has a programmable length of time Used to create highly accurate move profiles that avoid network latency issues Allows you to program a move that is held in memory The move is run e when one of the programmable inputs makes a transition Hold Mave you to suspend a move and restart
106. nternal memory of the ANGI and can be run multiple times once it is written to the unit The Dwell Move data stays in memory until power is removed the unit is sent new Configuration Data or a new Blend or Dwell Move is written to the ANGI As described in Assembled Move Programming on page 31 it is also possible to save a Dwell Move to flash memory This move is restored on power up and can be run as soon as you configure the ANG1 and enter Command Mode Controlled Stop Conditions gt The move completes without error gt You toggle the Hold Move control bit in the Network Output Data When this occurs the ANG1 decel erates the move at the deceleration rate of the present segment to the Starting Speed and ends the move Note that your final position will most likely not be the one you commanded The use of the Hold Move bit is explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued
107. o keep the accelera tion time the same If your constant acceleration value is the maximum your system will allow then using S curve accelerations will lengthen the time needed to accelerate to your desired speed In the case of Triangular S curve accelerations where the Acceleration Jerk parameter is optimized at 200 t the value of t must be twice that of the acceleration period when constant acceleration is used For exam ple assume a equivalent constant acceleration of 20 000 steps sec that is applied for 2 0 seconds If the acceleration value must remain at 20 000 steps sec then the acceleration phase will take 4 0 seconds and the Acceleration Jerk parameter should be set to 50 200 4 0 20 Gear Drive Plymouth Ind Park CT 06786 81 Tel 860 585 1254 Fax 860 584 1973 http www amci com 5 CALCULATING MOVE PROFILES S Curve Acceleration Equations continued Trapezoidal S Curve Acceleration Figure B 5 shows the speed profile of a move during its acceleration phase The figure shows the desired trapezoidal S curve acceleration in red along with the equivalent constant acceleration in blue The equiva lent constant acceleration is equal to the change in speed divided by the time it takes to achieve the change in speed This is the value that wo
108. oder Inputs SOURCING ENCODER OUTPUT 1 Gl SHIELDS Shielded Cable m Q The shield is usually grounded where the signal is generated If a good quality earth ground upply 5Vdc to 24Vdc connection is not available at the encoder the 5 Vdc None Power Supply shield can be grounded at the PLC rack 12Vde 2 0 Kohm 15 Vdc 2 4 Kohm 24 Vdc 4 7 Kohm The inputs are designed to accept 5Vdc but can use any voltage up to 24Vdc with ANG1 E Encoder Input Connection to Sinking Encoder Output the appropriate current limiting resistor See the table above for the required dj e A 1 resistor based on the supply voltage 1 aa i Encoder Inputs deporte eS I 17 SINKING 1 ENCODER OUTPUT Shielded Cable 2 Q The shield is usually grounded where the signal is generated If a good quality earth ground 5Vdc 24Vdc connection is not available at the encoder the Power Supply shield can be grounded at the PLC rack Figure 4 10 Single Ended Encoder Wiring 20 Gear Drive Plymouth Ind Park Terryville CT 06786 47 Tel 860 585 1254 Fax 860 584 1973 http www amci com INSTALLING THE ANG1 Installing the Stepper Motor Outline Drawings Outline drawings for all of our motors can be found on our website www amci com in the PDF Documents section They re available as Adobe Acrobat pdf files A document that is simply called
109. ommand also resets the Move Complete bit Preset Motor Position Bit When set to 1 the ANGI will preset the Motor Position to the value stored in Output Words 2 and 3 This command also resets the Move Complete bit CCW Manual Move When set to 1 the ANGI will run a Manual Move in the counter clockwise direction The full explanation of a Manual Move can be found starting on page 24 gt Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and a Manual Move command is issued it will run as a standard Manual Move When this bit equals 1 anda Manual Move command is issued the move will run as a Registration Move gt Enable Electronic Gearing Mode Command Bits LSW Bit 6 When this bit equals 1 the ANGI will switch its operation to Electronic Gearing mode as described on page 34 While in this mode the two Manual Move bits are used to enable motor motion One of these two bits must equal 1 before the motor will follow a change in encoder position CW Manual Move When set to 1 the ANGI will run a Manual Move in the clockwise direction The full explanation of a Manual Move can be found starting on page 24 Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and a Manual Move command is issued it will run as a standard Manual Move When this bit equals 1 and a Manual Move command is issued the move will run as a Registration Move gt Enabl
110. ontrol over the axis NOTE gt The Target Position value must be zero during a Manual Move If it is not zero the move will actually be a Registration Move and the final stopping position may be unexpected Manual Moves are typically used to drive the machine under direct operator control but they can also be used when you are interested in controlling the speed of the shaft instead of its position One such application is driving a conveyor belt In this application you are only interested in driving the conveyor at a specific speed and you may need to vary the speed based on environmental conditions The CW Limit and CCW Limit inputs behave differently for x Manual Moves than all other move types except for Registration Moves Like all moves activating a limit that is the same as the direction of travel for example activating the CW Limit during a Manual Move will bring the move to an Immediate Stop Unlike the other moves activating a limit that is opposite to the direction of travel for example activating the CCW Limit during a Manual Move has no effect This allows you to jog off of the activated limit switch As shown below a Manual Moves begins at the programmed Starting Speed accelerates at the programmed rate to the Programmed Speed and continues until a stop condition occurs If it is a Controlled Stop Condi tion the ANGI will decelerate the motor to the starting speed and stop without losing position If it is an Immed
111. r Input 2 A Encoder Input 1 No Connection Input 1 Front of ANG1 E Figure 4 5 I O Connector Power Wiring The ANGI accepts 24 to 48Vdc as its input power Each module has two connections on the MS 2X11 I O connector for the power supply that are internally connected together It is possible to daisy chain the power supply connections from one module to the next to simplify wiring if you do so with caution The I O connector is rated for a maximum current of 8 amps per pin If you daisy chain the power supply connections of the modules note that the current for all of the modules will flow through the first one With a maximum current of 4 amps per module you can easily exceed the current carrying capacity of the MS 2X11 if you daisy chain connec tions If this possibility exists in your installation run separate wires from your power supply to each module 44 ADVANCED MICRO CONTROLS INC INSTALLING THE ANG1 Input Wiring Figure 4 6 below shows how to wire discrete DC differential sourcing and sinking sensors to Inputs 1 2 and 3 of the ANGI DC Differential Sensor SENSOR POWER Run a seperate wire from the power supply to each sensor Do Not daisy chain power from one sensor to the next CABLE SHIELD 5Vdc to 24Vdc Isolated Power Supply Can use the same supply to n power all inputs DIFFERENTIAL SENSOR Grounding
112. r the AnyNET I O Stack You will have to adjust the memory addresses if your ANGI module is not the first module in the stack Absolute Move EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0001 Command Bits LSW See pg 59 Abs Target Position Upper Word Steps Abs Target Position Lower Word Combined value between 8 388 607 and 8 388 607 Programmed Speed Upper Word Steps Second Programmed Speed Lower Word Combined value between the Configured Starting Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Reserved Must equal zero for compat ibility with future releases INIA aJ BR WI NHN eR Acceleration Jerk Table 6 2 Absolute Move Command Block Relative Move EtherNet IP Modbus TCP Word Register Function Command Bits MSW 0 to 5000 16560002 Command Bits LSW See pg 59 Rel Target Position Upper Word t Steps Rel Target Position Lower Word Combined value between 8 388 607 and 48 388 607 Programmed Speed Upper Word Steps Second Programmed Speed Lower Word Combined value between the Configured Starting Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Reserved Must equal zero for compat ibility with future releases 1 2 3 4 S 6 7 8 9 Acceler
113. rated when you encounter an overtravel limit in the direction of travel In this example hitting the CW limit while traveling in the CW direction Hitting the overtravel limit associated with travel in the opposite direction is an Immediate Stop condition The axis will stop all motion and issue a Home Invalid error to your host The ANGI will stop the axis with an error if both overtravel limits are activated while the unit is trying to find the home position CW Home cw Limit Overtravel Switch Limit Starting Speed POSITION Starting Speed SPEED CCW Figure 3 3 Profile with Overtravel Limit 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed 3 Hit CW Limit and immediately stop followed by a two second delay 4 Acceleration to the Programmed Speed opposite to the requested direction 5 Run opposite the requested direction until the Home Input transitions from Active to Inactive 6 Deceleration to the Starting Speed and stop followed by a two second delay 7 Return to the Home Input at the configured Starting Speed Stop when the Home Input transitions from inactive to active NOTE gt e d e limit is active when the Find Home Command is active the profile will begin at step 4 40 ADVANCED MICRO CONTROLS INC CHAPTER 4 INSTALLING THE ANG1 The ANG1 module must be installed as part of an AnyNET I O Stack The instruc tions in this
114. reported in the network data and it can be captured during a move gt The Z pulse can be used to home the machine as described in chapter 3 Homing the ANGI starting on page 37 A home proximity sensor can be wired into the ANGI or the Home Proximity Bit in the net work data can be used to determine which occurrence of the Z pulse defines the home of the machine gt he addition of an encoder also allows you to perform an Encoder Move which is described in the Encoder Moves section starting on page 27 gt The ANGI must use an encoder with a feature called Hybrid Control When using this feature the ANGI uses feedback from the motor mounted encoder to dynamically adjust motor current to the mini mum value needed to achieve motion Hybrid Control will also eliminate resonance induced stalls dur ing the move gt Finally it is also possible to use an encoder that is not mechanically coupled to the motor controlled by the ANGI This configuration allows you to monitor the encoder data or use a feature called Elec tronic Gearing When this feature is active the ANGI will change the position of the motor in response to a change in encoder position The ratio of encoder turns to motor turns is fully programmable Available Discrete Output The ANGI has a single DC output that has a maximum rating of 30Vdc at 20mA The output can be config ured to be a general purpose output or a Fault Output When configured as a Fault Output the outp
115. ro for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 6 9 Manual Move CW Command Block Unused words are ignored by the ANGI and can be any value including parameter values in the previous command Reserved 2 3 4 5 6 7 8 9 64_ ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT e Command Blocks continued Registration Move CW EtherNet IP Modbus TCP Word Register Function Command Bits MSW 1680080 3 See pg 59 Command Bits LSW Bits 7 amp 6 must equal 10 Stopping Distance Upper Word Steps Combined value between Stopping Distance Lower Word 0 and 8 388 607 Programmed Speed Upper Word Sree Combined value between S M the Configured Starting Programmed Speed Lower Word gon Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Min Reg Move Distance Upper Word Combined value between Steps Min Reg Move Distance p 0 and 8 388 607 Lower Word Table 6 10 Registration Move CW Command Block Move CCW EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 0100 See pg 59 Command Bits LSW Bits 7 amp 6 must equal 00 Unused See Note Below Function Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999
116. rogrammed Deceleration value until it has output the Programmed Number of Steps and then stop the move without further deceleration Like the x Manual Moves activating a limit that is opposite to the direction of travel for example activating the CCW Limit during a Registration Move has no effect 20 Gear Drive Plymouth Ind Park Terryville CT 06786 25 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Basic Move Types continued Registration Move continued An additional feature of the ANGI is the ability to program the driver to ignore the Controlled Stop condi tions until a minimum number of steps have occurred This value is programmed through the Minimum Reg istration Move Distance parameter which is set when you command the Registration Move The figure below shows how the Minimum Registration Move Distance parameter affects when the Stop Condition is applied to the move As shown in the second diagram Controlled Stop conditions are level triggered not edge triggered If a Controlled Stop Condition occurs before the Minimum Registration Move Distance is reached and stays active the move will begin its controlled stop once the Minimum Registration Move Dis tance is reached Controlled Stop Condition Programmed Speed SPEED Starting Speed POSITION Minimum Registration Programmed Move Distance Number of Steps Controlled Stop Condition Programmed Speed SPEED
117. s command does not have to be issued 22 ADVANCED MICRO CONTROLS INC MOVE PROFILES 4 Basic Move Types continued Absolute Move Absolute Moves move from the Current Position A to a given position B The ANGI calculates the number of steps needed to move to the given position and moves that number of steps A trapezoidal pro Starting Speed file is shown to the right but Absolute Moves can also POSITION generate triangular profiles The command s Target A Position can be in the range of 8 388 607 counts Figure 2 7 Absolute Move The move will be clockwise if the Target Position is greater than the Current Position and counter clock wise if the Target Position is less than the Current Position Programmed Speed SPEED NOTE gt 1 The Home Position of the machine must set before running an Absolute Move See chapter 3 Homing the ANGI which starts on page 37 for information on homing the machine 2 The Motor Position must be valid before you can use an Absolute Move The Motor Posi tion becomes valid when you preset the position or home the machine 3 Absolute Moves allow you to move your machine without having to calculate relative posi tions If you are controlling a rotary table you can drive the table to any angle without hav ing to calculate the distance to travel For example an Absolute Move to 180 will move the table to the correct position regardless of where the move starts from Con
118. s of the motor and load The use of a flexible coupler is strongly recommended whenever possible Extending the Motor Cable Even though it is possible to extend the cable length an additional forty feet AMCI recommends installing the ANGI as close to the motor as possible This will decrease the chances of forming a ground loop and has the added benefit of limiting the amount of power loss in the motor cable If you must extend the cable you should use a cable with twisted pairs 18 AWG or larger and an overall shield The exact gauge that you use will depend on the length of the run and expected temperature rise in your application Belden 9552 is a sug gested 18 AWG cable Installing the Motor Cable 1 of the motor connections are high power high voltage signals Cable from the motor can be installed in conduit along with ac dc power lines or high power ac dc I O It cannot be installed in conduit with low power cabling such as I O cabling or Ethernet cabling attached to the ANGI 2 If you decide to extend the motor cable treat the shield as a signal carrying conductor when installing the motor cable Do not connect the shield to earth ground at any junction box 48 ADVANCED MICRO CONTROLS INC INSTALLING THE ANG1 A Connecting the Motor Motor Connector The motor connector is included with the ANGI Spares ANG1 x Bottom View Partial are available from AMCI under the part number MS 4M as well as directly from Pho
119. s sec 0 01 20 000 and 1 000 000 steps sec 50 20 000 This statement applies to the Deceleration Parameter as well If the Acceleration and Deceleration parameters are different the calculate jerk values will also differ When using variable accelerations the starting speed does not have to be equal to the square root of the pro grammed acceleration value Variable acceleration provides smooth transitions at the beginning and end of the acceleration phase Triangular S Curve Acceleration Figure B 3 shows the speed profile of a move during its acceleration phase The figure shows the desired tri angular S curve acceleration in red along with the equivalent constant acceleration in blue The equivalent constant acceleration is equal to the change in speed divided by the time it takes to achieve this change in speed This is the value that would have to be used if the Jerk parameter was left at zero and we will use this information to calculate the S curve acceleration and the value of the Jerk Parameter Programmed HS Speed an aa Programmed Speed Starting Speed Constant ANG1 s o Acceleration 5 speed acceleration Acceleration 100j e ets Triangular S Curve Acceleration jerk ane Jerk Parameter J Acceleration s a J Starting t j Ja Speed T Time at jt a 100 t 0 t Figure B 3 Move Profile Example Speed is equal to acceleration multiplied by the time
120. sh memory The ANGI will not power the motor or accept commands until a valid configuration is written to it Controller OK Bit 1 when the ANGI is operating without a fault 0 when an internal fault con dition exists Configuration Error Bit 1 on power up before a valid configuration has been written to the ANGI or after any invalid configuration has been written to the module 0 when the ANGI has a valid configuration written to it or if valid configuration data is read from flash memory on power up NOTE gt This bit is also set when stall detection is enabled and the ANGI is in Configuration Mode If you are using stall detection you must consider the state of this bit as well as the Mode Bit bit Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 15 when determining if a configuration error exists Command Error Bit 1 when an invalid command has been written to the ANGI This bit can only be reset by the Reset Errors bit Command Bits MSW Bit 10 Input Error Bit 1 when gt Emergency Stop input has been activated gt Either of the End Limit Switches activates during any move operation except for homing gt Starting a Manual Move in the same direction as an active End Limit Switch gt If the opposite End Limit Switch is reached during a homing operation This bit is reset by a Reset Errors command The format of the command is given on page 67 Position Invalid Bit 1 when
121. shaft between moves of the moves are in the same direc tion gt Dwell Move A Dwell Move gives you the ability to string multiple relative moves together and the ANGI will stop between each move for a programed Dwell Time Because motion stops between each segment a Dwell Move allows you to reverse direction during the move 20 Gear Drive Plymouth Ind Park Terryville CT 06786 27 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Assembled Moves continued Blend Moves Each Relative Move defines a segment of the Blend Move The following restrictions apply when program ming Blend Moves 1 Each segment of the Blend Move must be written to the ANG1 before the move can be initiated The ANG1 supports Blend Moves with up to sixteen segments 2 Each segment is programmed as a relative move Blend Moves cannot be programmed with absolute coordinates 3 All segments run in the same direction so only the magnitude of the target position is used The sign of the target position is ignored The move s direction is controlled by the bit pattern used to start the move If you want to reverse direction during your move consider using the Dwell Move that is explained on page 29 4 The Programmed Speed of each segment must be greater than or equal to the Starting Speed The Programmed Speed must also be different from the previous segment If you are accelerating between segments then the accelera
122. stant rate until the programmed speed is reached This offers the fastest acceleration but consideration must be given to insure the smoothest transition from rest to the acceleration phase of the move The smoothest transition occurs when the configured Starting Speed is equal to the square root of the programmed Acceleration value Note that other values will work correctly but you may notice a quick change in velocity at the beginning or end of the acceleration phase Programmed Speed SPEED ACCELERATION 1 t TIME Figure 2 1 Constant Acceleration Additional information including example move calculations can be found in appendix B Calculating Move Profiles starting on page 77 S Curve Accelerations When the Acceleration Jerk parameter value is in the range of 1 to 5 000 the ANGI uses this value to accel erate and decelerate the rate of acceleration This is known as S Curve acceleration because of the shape of the speed curve that results from the variable acceleration When using S Curve accelerations the starting speed does not have to be equal to the square root of the pro grammed acceleration value The S Curve acceleration will provide smooth transitions at the beginning and end of the acceleration phase Trapezoidal S Curve Acceleration When the Acceleration Jerk parameter is set high Trapezoidal S Curve acceleration usually results The acceleration value quickly increases accel
123. steps millisecond second to steps second multiply the value by 1000 This must be done when converting from the value programmed into the ANGI to the value used in the equations Constant Acceleration Equations When you choose to use constant accelerations the speed of the move will increase linearly towards the Pro grammed speed This is the fastest form of acceleration resulting in the fastest move between two points at its programmed speed For the smoothest transition from the starting speed the starting speed should be equal to the square root of the acceleration in steps sec For example if the choose acceleration is 20 000 steps sec the smoothest transition occurs when the starting speed is 141 141 20 000 ON Programmed Speed SPEED ACCELERATI let TIME Figure B 1 Constant Acceleration Curves Variable Definitions The following variables are used in these equations gt Vs Configured Starting Speed of the move gt Vp Programmed Speed of the move a Vp gt Acceleration value Must be in the units of steps second ul gt d Deceleration value Must be in the units of steps second gt Ty Or Tp Time needed to complete the acceleration or vs deceleration phase of the move TIME or Number of Steps needed to complete the acceleration Ta or deceleration phase of the move 20 Gear Drive Plymouth Ind Park Terryville CT 06786 77 Te
124. sued to the unit This bit is also set along with the Command Error bit Bit 12 of this word when any Manual Move or Registration Move parameters are outside of their valid ranges This bit is not set on a command error for any other type of command Finally this bit is not set at the end of a homing operation Decelerating Bit Set to 1 when the present move is decelerating Set to 0 at all other times Accelerating Bit Set to 1 when the present move is accelerating Set to 0 at all other times Homing Complete Bit Set to 1 when homing command has completed successfully 0 at all other times Axis Stopped Bit Set to 1 when the motor is not in motion Note that this is stopped for any rea son not just a completed move For example an Immediate Stop command during a move will set this bit to 1 but the Move Complete Bit bit 7 above will not be set Hold State Bit Set to 1 when a move command has been successfully brought into a Hold State Hold States are explained is the Controlling Moves In Progress section starting on page 22 CCW Move Bit Set to 1 when the motor is rotating in a counter clockwise direction CW Move Bit Set to 1 when the motor is rotating in a clockwise direction Status Word 2 Format Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Status Word 2 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 _ lalsia l s
125. ted the axis will immediately decelerate at the programmed rate and stop When stopped successfully the ANGI will set a Hold State bit in the input data table The Relative Move can be restarted with the Resume Move command from the network data or the move can be aborted The Resume Move command allows you to change the move s Programmed Speed Acceleration Value and Type and the Deceleration Value and Type The Target Position cannot be changed with the Resume Move Com mand Controlled Stop Conditions gt move completes without error gt Youtoggle the Hold Move control bit in the Network Output Data Note that your holding position will most likely not be the final position you commanded You can resume a held Relative Move by using the Resume Move command or abandon the held move by starting a new one The use of the Hold Move and Resume Move bits is further explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Error
126. the home position is reached Defining a Home Position is completely optional Some applications such as those that use a servo or stepper for speed control don t require position data at all Definition of Starting Speed The Starting Speed is the speed that most moves will begin and end at This value is set while configuring the axis and it has a valid range of 1 to 1 999 999 steps second This value is typically used to start the move above the motor s low frequency resonances and in micro stepping applications to limit the amount of time needed for acceleration and deceleration AMCI does not specify a default value in this manual because it is very dependent on motor size and attached load 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Definition of Target Position The Target Position is position that you want the move to end at There are two ways to define the Target Position with relative coordinates or absolute coordinates Relative coordinates define the Target Position as an offset from the present position of the motor Most ANGI moves use relative coordinates gt The range of values for the Target Position when it is treated as an offset is 8 388 607 counts Positive offsets will result in clockwise moves while negative offsets result in counter clockwise moves gt The Current Motor Position that is reported back to the host h
127. the configuration data This bit allows you to alter the format of the position data values returned by the ANGI This bit was introduced in May of 2015 with serial number 05150340 The first four digits of the serial number are month and year Trademark Notices The logo and AnyNET I O are trademarks of Advanced Micro Controls Inc All other trademarks contained herein are the property of their respective holders Revision Record This manual 940 0A012 is the third revision of this manual It adds information on the Data Format bit in the configuration data It was first released May 11 2015 Revision History 940 0A011 05 27 2013 Added move profile calculations and removed network interface materials 940 0A010 Initial Release Navigating this Manual This manual is designed to be used in both printed and on line formats Its on line form is a PDF document which requires Adobe Acrobat Reader version 7 0 to open it The manual is laid out with an even number of pages in each chapter This makes it easier to print a chapter to a duplex double sided printer Bookmarks of all the chapter names section headings and sub headings were created in the PDF file to help navigate it The bookmarks should have appeared when you opened the file If they didn t press the F5 key on Windows platforms to bring them up Throughout this manual you will find blue text that functions as a hyperlink in HTML documents Clicking on the text
128. time Ap s t and a change in speed equals acceleration time As a t a change in acceleration equals jerk time Aa j t Jerk has units of steps sec The ANGI uses the jerk property to smoothly change the acceleration applied during the move In this case the speed of the move does not increase linearly but exponentially resulting in an S shaped curve This limits mechanical shocks to the system as the load accelerates In order to keep the Acceleration Jerk parameter value that is programmed into the ANGI below sixteen bits the ANGI s Acceleration Jerk parameter does not have units of steps sec The Acceleration Jerk parameter equals 100 jerk in steps sec acceleration in steps sec This translates to the jerk property in steps sec equalling Acceleration Jerk parameter 100 acceleration in steps sec With the range of values for the Acceleration Jerk parameter being 1 to 5 000 the jerk value ranges from 0 01a to 50a where a is the acceleration value in steps sec For example if the acceleration is programmed to 20 000 steps sec then the value of the jerk property used by the module can be programmed to be between 200 steps sec 0 01 20 000 and 1 000 000 steps sec 50 20 000 18 ADVANCED MICRO CONTROLS INC MOVE PROFILES 4 Definition of Acceleration Types continued Constant Acceleration When the Acceleration Jerk parameter equals zero the axis accelerates or decelerates at a con
129. tion value of the new segment is used If you are decelerating between segments the deceleration value of the old segment is used The figure below shows a three segment Blend Move that is run twice It is first run in the clockwise direc tion and then in the counter clockwise direction End of End of End of cw Segment 1 CW Segment 2 CW Segment 3 CW Starting Speed POSITION SPEED Starting Speed ccw End of End of End of Segment 3 CCW Segment 2 CCW Segment 1 CCW Figure 2 12 Blend Move NOTE gt 1 You do not have to preset the position or home the machine before you can use a Blend Move Because the Blend Move is based on Relative Moves it can be run from any location 2 The Blend Move is stored in the internal memory of the ANGI and can be run multiple times once it is written to the unit The Blend Move data stays in memory until power is removed the unit is sent new Configuration Data or a new Blend or Dwell Move is written to the ANGI As described in Assembled Move Programming on page 31 it is also possible to save a Blend Move to flash memory This move is restored on power up and can be run as soon as you configure the and enter Command Mode 3 There are two control bits used to specify which direction the Blend Move is run in This gives you the ability to run the Blend Move in either direction 28 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Assembled Moves continued Blend Moves contin
130. trolled Stop Conditions gt The move completes without error gt Youtoggle the Hold Move control bit in the Network Output Data Note that your holding position will most likely not be the final position you commanded You can resume a held Absolute Move by using the Resume Move bit or abandon the held move by starting a new one The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt Ainactive to active transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued 20 Gear Drive Plymouth Ind Park CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amci com 2 MOVE PROFILES Basic Move Types continued Manual Move Manual Moves move in the programmed direction as long as the command is active Two commands are available the Manual Move will output CW steps while the Manual Move will output CCW steps These commands are often used to give the operator manual c
131. ts 8 6 Input 3 Configuration Bits See Table Below Bits 5 3 Input 2 Configuration Bits See Table Below Bits 2 0 Input 1 Configuration Bits See Table Below Function General Purpose Input 28071 The input is not used in any of the functions of the but it s status is reported in the Network Data This allows the input to be used as a discrete DC input to the host controller CW Limit Input defines the mechanical end point for CW motion CCW Limit Input defines the mechanical end point for CCW motion Start Indexed Move Starts a move that is held in memory Start Indexed Move Capture Encoder Value When the encoder is enabled the encoder position value is captured whenever this input transitions An inactive to active state transition will also trigger an Indexed Move if one is pending in the ANGI Stop Manual or Registration Move Brings a Manual or Registration Move to a controlled stop Stop Manual or Registration Move Capture Encoder Value When the encoder is enabled the encoder position value is captured when the input triggers a controlled stop to a Manual or Registration move Emergency Stop motion is immediately stopped when this input makes an inactive to active transition Home Used to define the home position of the machine When homing to the Z pulse of the encoder Bit 9 of the Con trol Word set to 1 this input will a
132. ued Controlled Stop Conditions gt The move completes without error gt You toggle the Hold Move control bit in the Network Output Data When this occurs the ANG1 decel erates the move at the deceleration rate of the present segment to the Starting Speed and ends the move Note that your final position will most likely not be the one you commanded The use of the Hold Move bit is explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Dwell Move A Dwell Move gives you the ability to string multiple relative moves together and run all of them sequentially with a single start condition Like a Blend Move Dwell Move is programmed into the ANGI as a series of relative moves before the move is started Unlike a Blend Move the motor is stopped between each segment of the Dwell Move for a programed Dwell Time The Dwell Time is programmed as part of the move Because the motor
133. uld have to be used if the Acceleration Jerk parameter was left at zero and we will use this information to calculate the S curve acceleration and the value of the Acceleration Jerk Parame ter Programmed e 9 Speed Programmed Speed Starting Speed Constant gt pon Acceleration ANG1 s D Acceleration speed jerk 101 _ Trapezoidal S curve time time a Acceleration _ 5 186 Starting l t gt j da Speed 7 1 5 ja 100 t 0 t Figure B 5 Move Profile Example In this example the period of constant acceleration is 50 of the acceleration phase Trapezoidal S Curve Deceleration Speed is equal to acceleration multiplied by the time it is applied This is shown graphically in figure B 6 as the area of the blue rect Constant angle In order for the Trapezoidal S curve acceleration to reach Deceleration the same speed in the same amount of time the area of the poly gon must equal the area of the rectangle Acceleration Y at at Time E P Area of polygon Area of rectangle t 4 314 2 at Figure B 6 Trapezoidal Acceleration 4 act 1 act _ 4 99 This means that trapezoidal S curve acceleration profile that is has period of constant acceleration equal to half of the total phase time requires its programmed acceleration value to be 4 3 that of the constant acceler ation value
134. ure B 7 The time added to the acceleration phase is equal to the time spent increasing the acceleration during the phase As shown in the figure when the Trapezoidal S curve is programmed to spend 50 of its time at the programmed acceleration value the time spent in the acceleration phase will be 133 33 of the time spent if a constant acceleration were used S Acceleration a t a 5n 5t a 25n 25t onstan Accalerati n amp t a 5n 5t 25n 25t a a t 75n 75t 0 25t 75n Time real 0 25n 0 251 t ten gt t n t t 3 4 31 1 3333t Figure 7 Trapezoidal S curve Time Increase Example In this case the value of the Acceleration Jerk parameter should be based on the new longer time For exam ple assume an equivalent constant acceleration of 15 000 steps sec that is applied for 2 0 seconds If the acceleration value must remain at 15 000 steps sec then the acceleration phase will take 2 667 seconds 2 0x1 333 and the Acceleration Jerk parameter should be set to 150 400 2 667 Similarly if the Trapezoidal S curve acceleration is to spend 33 346 of its time at constant acceleration and the programmed acceleration value cannot be increased the time spent accelerating will increase by 5096 and the Acceleration Jerk parameter should be adjusted accordingly 20 Gear Drive Plymouth Ind Park Terryville CT 06786 83 Tel 860 585 1254 Fax 860 584 1973 http www amci com
135. used to achieve the same speed in the same amount of time 82 ADVANCED MICRO CONTROLS INC CALCULATING MovE PROFILES 21 S Curve Acceleration Equations continued Trapezoidal S Curve Acceleration continued The value of the Acceleration Jerk parameter can now be easily calculated a em sS em t Peu SEN Ec ds J t Ja 4a Ja 10 r 7 100 Ja t 400a J 400 Acceleration Jerk Parameter 400 acceleration time t This value represents the ideal Acceleration Jerk parameter value for a trapezoidal S curve acceleration with a constant acceleration for half of the phase Setting the value lower than this will result in a shorter constant period while setting the value greater than this will result in a longer constant period Another example of a trapezoidal S curve acceleration is when the linear acceleration occurs for one third of the time In this case the programmed acceleration must be the constant acceleration value multiplied by 3 2 and the Acceleration Jerk parameter must be set to 300 t When a The above examples assume that you can increase the programmed acceleration value to keep the time of the acceleration phase the same If your constant acceleration value is the maximum your system will allow then using S curve accelerations will lengthen the time needed to accelerate to your desired speed In the case of trapezoidal S curve accelerations calculating the percentage increase in time is shown in fig
136. ut will conduct under normal conditions and will switch off when a fault occurs The following faults affect the Fault Output gt Reset uus The driver initialization is not yet complete on power up gt Short Circuit Motor Phase to Phase or Phase to Earth Ground gt Over Temp Heat Sink temperature exceeds 90 C 195 F Faults are reported in the Network Input Data and can be cleared through the Network Output Data Network Port The ANGI can be purchased with a variety of network connections such as Ethernet or Modbus RTU Figure 1 3 shows the location of the network connectors Refer to the appropriate AnyNET I O Network Interface manual for additional information These manuals can be found at www amci com documents asp ANG1 x Bottom View Fe Stepper Motor Connector Area fi rea for Network Connections Figure 1 3 Ethernet Port and Motor Connector Locations Motor Connector Figure 1 3 also shows the location of the Stepper Motor Connector The mate to this connector is included with the ANGI and is also available from AMCI under the part number MS 4M It is also available from Phoenix Contact under their part number 187 80 37 14 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE ANG1 K i Front Panel The front panels of three ANG1 modules are shown in figure 1 4 The front cover is hinged on the bottom and swings down to allow you to change the module s address in the AnyNET I O
137. ve control bit in the Network Output Data Note that your holding position will most likely not be the final position you commanded You can resume a held Encoder Move by using the Resume Move bit or abandon the held move by starting a new one The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Assembled Moves All of the moves explained so far must be run individually to their completion or be stopped before another move can begin The ANGI gives you the ability to assemble more complex profiles from a series of relative moves that are stored in memory and then run with a single command Each Assembled Move can consist of 2 to 16 segments Two types of Assembled Moves exist in the ANGI gt Blend Move A Blend Move gives you the ability to string multiple relative moves together and run all of them sequentially without stopping the
138. ve to inactive tran sition on the input will not stop the move The move command must stay in the Network Output Data while performing an Indexed Move The move will not occur if you reset the command word before the input triggers the move The move can be run multiple times as long as the move command data remains unchanged in the Net work Output Data The move will run on every inactive to active transition on the physical input if a move is not currently in progress Once a move is triggered the Start Indexed Move Input is ignored by the ANGI until the triggered move is finished As started above a move can be run multiple times as long at the move command data remains unchanged If you wish to program a second move and run it as an Indexed Move type then you must have a 0 1 transition on the move command bit before the new parameters are accepted The easiest way to accomplish this is by writing a value of Ox0000 to the command word between issuing move commands A Manual Move that is started as an Indexed Move will come to a controlled stop when the command bit in the Network Output Data is reset to zero It is possible to perform an Indexed Registration Move by configuring two inputs for their respective functions The first input configured as a Start Indexed Move Input starts the move and the second configured as a Stop Manual or Registration Move Input causes the registration function to occur You cannot issue a Hold Command
139. ve while CW or CCW Limit Switch is active as long as the direction of travel is opposite that of the activated Limit Switch For example it is possi ble to start a clockwise Registration Move while the CCW Limit Switch is active 26 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Encoder Moves When the ANGI is configured to use a quadrature encoder the position value from the encoder can be used to control the move instead of the position of the motor Absolute and relative type moves are both supported NOTE gt You do not have the preset the position or home the machine before you can use a relative Encoder Move The figure below represents either a relative Encoder Move of 11 000 counts or an absolute Encoder Move to position 16 000 The figure shows that the encoder position you program in the move defines the point at which the motor begins to decelerate and stop It does not define the stopping position as it does in other move types The endpoint of the move depends on the speed of the motor when the programmed encoder position is reached and the deceleration values This behavior is different from Absolute and Relative Moves where the position you program into the move is the end point of the move Programmed Encoder Position Programmed Speed SPEED Starting Speed POSITION 5 000 16 000 Figure 2 11 Encoder Move Controlled Stop Conditions gt The move completes without error gt You toggle the Hold Mo
140. ve with a controlled stop and issue any type of new move from the stopped position The figure below shows a profile of a move that is placed in its Hold state and later resumed Hold Bit Move Activates Complete Programmed Speed SPEED Starting Speed POSITION Position Held for a length of time Move resumes when Resume Bit activates Figure 2 14 Hold Resume a Move Profile Find Home Moves A Find Home command can be placed in a Hold state but cannot be resumed This give you the ability to bring a Find Home command to a controlled stop if an error condition occurs Manual Moves Manual Moves can be placed in a Hold state and resumed if error conditions such as programming errors have not occurred New Acceleration Deceleration and Programmed Speed parameters can be written to the ANGI while a Manual Move is in its hold state If these parameters are accepted without error the move can be resumed and it will use the new parameter values Registration Moves Registration Moves can be brought to a controlled stop with the Hold bit but they cannot be restarted Absolute Relative and Encoder Moves Absolute Relative and Encoder Moves can be placed in a Hold state and resumed if error conditions such as programming errors have not occurred New Acceleration Deceleration and Programmed Speed parameters can be written to the ANGI while these moves are in their hold states If the parameters are accepted without
141. when switching from Configuration Mode to Command Mode NOTE gt If your move only occurs once it is probably because your code does not reset the command bit to zero before issuing another command Output Data Format The following table shows the format of the output network data words when writing command data to the ANGI The EtherNet IP and Modbus TCP addresses shown are for an ANGIE module that is the network connection for the AnyNET I O Stack You will have to adjust the memory addresses if your ANG1 module is not the first module in the stack EtherNet IP Modbus TCP Word Register Funcuon Command Bits MSW Command Bits LSW Command Parameters Word meaning depends onthe command set to the ANGI NI DV By LO e Table 6 1 Command Mode Data Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 57 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Command Bits MSW Command Bits MSW 15 14 13 12 11 10 09 08 07 06 05 04 02 01 00 Figure 6 2 Command Bits MSW Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming The Bit 14 Bit 13 ANGI powers up in Command Mode and shows a configuration error hexadecimal value of 6408h if a valid configuration has not been stored in flash memory The
142. with the Indexed Bit set and have the Hold Command trigger on the inactive to active transition of a physical input Hold Commands are always acted upon as soon as they are accepted from the Network Output Data You cannot issue an Immediate Stop Command with the Indexed Bit set and have the Immediate Stop Command trigger on the inactive to active transition of a physical input Immediate Stop Commands are always acted upon as soon as they are accepted from the Network Output Data If you need this functionality consider programming the physical input as an E Stop Input You cannot issue a Clear Error Command with the Indexed Bit set and have the Clear Error Command trigger on the inactive to active transition of a physical input Clear Error Commands are always acted upon as soon as they are accepted from the Network Output Data 32 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Controlling Moves Progress The ANGI has the ability to place a running move on hold and later resume the move if an error did not occur while the move was in its Hold state One potential application for this feature is bringing a move to a con trolled stop when your controller senses an end of stock condition The move can be put in its Hold state until the stock is replenished and then the move can be resumed Note that you do not have to resume a move once it has been placed in its Hold state You can place a move in its Hold state to prematurely end the mo
143. write commands The flash memory has a minimum of 10 000 write cycles Data Format Bit Set to 0 to have the Motor Position Encoder Position and Captured Encoder Position reported in the Multi Word Format shown in table 5 1 on page 51 Set to 1 to have the Motor Position Encoder Position and Captured Encoder Position reported as signed 32 bit integers with the least significant bits reported in the lower numbered even 16 bit integer word Bits 8 3 Reserved Must equal zero Bit 2 Bit 1 Bit 0 Input 3 Active Level Bit Determines the active state of Input 3 Set to 0 if your sensor has Nor mally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input when it is active Input 2 Active Level Bit Determines the active state of Input 2 Set to 0 if your sensor has mally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input when it is active Input 1 Active Level Bit Determines the active state of Input 1 Set to 0 if your sensor has mally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input
144. y cycle near 100 it is possible for the modules to overheat It is difficult to calculate when this can occur because it is based on not only the current Figure 4 2 Ventilation Spacing and duty cycle of the motor but also such vari ables as enclosure size and ambient temperature If overheating does occur you have two choices You can install a cooling fan beneath the stack to force additional air up through the modules or you can install an addition IC 5 connector between each module to space them out Information on installing the IC 5 connec tors can be found below H The ANGI has a bit in the network data that signals when the module is close to overheating This bit is the Temperature Warning bit and is available in Status Word 2 of the network input data while in Command Mode This bit is further explained in the Status Word 2 Format section starting on page 72 Installing IC 5 Connectors as needed If you are installing a stack of modules instead of a single ANGIE then you need to install the Module Key Clip onto Rail IC 5 connectors on the DIN rail to allow the modules in the stack to communicate Figure i 4 3 shows how to install the IC 5 connectors in the DIN rail NOTE gt gt 1 EN 05 022 35 x 7 5 DIN rail ul i must be used The IC 5 con nectors are not properly sup amp
145. ymouth Ind Park CT 06786 5 Tel 860 585 1254 Fax 860 584 1973 http www amci com Table of Contents Notes 6 ADVANCED MICRO CONTROLS INC ABOUT THIS MANUAL Read this chapter to learn how to navigate through this manual and familiarize yourself with the conventions used in it Audience This manual explains the set up installation and operation of AMCI s ANG1 AnyNET I O Stepper Motor Indexer Driver It is written for the engineer responsible for incorporating these modules into a design as well as the engineer or technician responsible for its actual installation Applicable Units This manual applies to all ANG1 modules including those that have an integral network connection Exam ples of these modules includes the ANGIE and the ANGIM Integral network connections allow the ANGI to connect itself and up to five other modules to an industrial network If you have an ANGI module with a network interface you will have to refer to the appropriate AnyNET I O Network Interface manual for information on connecting the module to your network These manuals can be found in the PDF document section of our website at www amci com documents asp NOTE gt The AnyNET I O product line is constantly evolving Check our website www amci com for the latest information on available modules and network interfaces in AnyNET I O line This manual revision documents the addition of the Data Format bit to
146. your desired speed Acceleration The formulas in the rest of this chapter use a unit of measure of steps second second steps second for acceleration and deceleration However when programming the ANG1 all acceleration and deceleration values must be programmed in the unit of measure of steps millisecond second gt To convert from steps second to steps millisecond second divide the value by 1000 This must be done when converting from a value used in the equations to a value programmed into the ANGI gt To convert from steps millisecond second to steps second multiply the value by 1000 This must be done when converting from the value programmed into the ANGI to the value used in the equations Definition of Count Direction Clockwise moves will always increase the motor position register that is reported back to the host Some of the moves such as the Manual Move have a positive and negative command positive command such the Manual Move command will output pulses for a clockwise move Definition of Home Position The Home Position is any position on your machine that you can sense and stop at There are two ways to defining the Home Position The first is using the Preset Position command to set the Motor Position register to a known value The second method is using one of the Find Home commands If you use the module s Find Home commands the motor position and encoder registers will automatically be set to zero once

ANG1(x) - Advanced Micro Controls Inc

Contents

Download Pdf Manuals

Related Search

Related Contents