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1. Move Absolute Position 10 000 s Speed 20 000 Accel 300 000 300 000 wait At Position 3 Delete Ta Close F3 Register list Figure 37 Program editor form Whenever a Program Editor is active an Edit Menu will appear in the SimPL Menu Bar This menu contains options to insert delete copy cut and paste index program lines In addition to these menu items it is also possible to use keyboard shortcuts To insert a new line into the program click on a row in the program Press the Insert key and a new line will be inserted above the selected line Likewise the Delete key can be used to delete a line from the table In addition to these simple operations it is possible to copy cut and paste lines by using the standard lt Ctrl Insert gt lt Shift Delete gt and lt Shift Insert gt key combinations PROGRAM NUMBER When executing a program using a Gosub command or using digital I O the program number is used to identify the program Valid program numbers are between 0 and 15 To change a program number simply type a new number into the edit box If the number is invalid or already in use a warning will be displayed User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 PROGRAM MENU Using the SimPL Program Editor PROGRAM NAME The Program Name field is added to make programming and application development easier The name can b
2. Table 1 Program commands CONFIGURING PROGRAM EXECUTION After the program is defined it is necessary to select how and when the program will be executed This selection is made using the Program Execution Control option of the Programs Menu When this option is selected the form shown in Figure 12 is displayed ig Program Execution Control Basic Discrete Binary Pattern Main loop Auto Run Program 0 Main Example Progran Advanced Figure 12 Program execution control form Select Line Mode On the form is a section for select line mode This only applies in the case where digital input lines are used to select and start execution of different programs In this example no such input lines are defined Instead the program is setup to execute automatically whenever the DMC is powered up and enabled To set a program to be automatically executed select it from the drop down list labeled Main loop Auto Run Program GENERATING AND DOWNLOADING THE APPLICATION Now that the application is fully defined it is necessary to generate and compile the code that will be executed in the DMC This is accomplished by selecting the Generate and Compile option from the Generate Menu There are two options presented when selecting this menu item If the DMC contains a battery backed RAM the program can be downloaded over an RS232 line In this case select the Generate and C
3. D Tuning Read wie Register Monitor setup time on SYSIO PWMO 135 C Default RD1 Ampi 15623 Display Scope RD2 4mpl REG Torgue 3716 C User 1 EES SYSID Pln 253 IN Pdi 5192 7 FuncionKeys E None Application Default User 1 setup Note F10 is used for E Stop Close Show Terminal Release Brake Figure 48 Register monitor form INT SysPend 0 INT Pend 31 setup By clicking the Start Updates button all selected Registers and Fault Status are monitored By clicking the Default option you select pre defined Registers normally used for debugging The Register Scope section is used to setup the scope function APPLICATION TRACE The Application Trace menu item is used to follow the execution of the application running in the DMC When this option is selected the form shown in Figure 49 is displayed Inmotion Technologies AB User s Manual 1 1 Doc 9032 0026 06 Rev 08 June 2000 TOOLS MENU Application Trace Application Trace x X watch standard inputs X watch optional inputs _ X watch standard outputs watch optional outputs Standard Inputs Optional Inputs Standard Outputs Optional Outputs 01 Registration 11 Jog Positive 12 Jog Negative 13 Index Initiate 14 Index Select Line 15 Program Select Line 06 Home Initiate 16 Program Initiate 06 Travel Limit 07 Feedrate Override 17 Input17 03 Input8 09 Input9 10 Eme
4. Advance 2 Default EEProm Values 3 Default EEProm Value gt Basic Close 54 Program Execution Control The advance setting properties are 1 oc o U D executed automatically Power On Main loop When entering the Main loop the Software Power On is Initialization Program This program is executed only once after a Power Up or Reset and before starting the Background task ser s Manual 1 1 oc No 9032 0026 06 c Rev 08 June 2000 SubLevel 1 Program This program is running with a predefined sample rate SubLevel 1 Update Time Sample rate for SubLevel 1 Program def 20 ms SubLevel 2 Program This program is running with a predefined sample rate SubLevel 2 Update Time Sample rate for SubLevel 2 Program def 200 ms Include File Name File to be included at the end of the PL2 code Inmotion Technologies AB APPLICATION PROGRAM STRUCTURE STATES diagram STATES DIAGRAM The diagram below Figure 55 shows all states and the possible transitions arrows between the states States consist either of a program seguence e g Error EStop handling or of an endless program loop e g Main Loop a Start Up IF EEProm Checksum Validation is Wrong THEN or EStop Input load Default EEProm Values 3 lic Interrupt SubLevel 6 UpdateTime 20 msec Any Error init DMC Program 1 Check Counter SubLevel2 7 Update
5. g Output Pattern XXXXXXXXXXXXX 3 At Position No Change 6 Travel Limit Ool No Change 7 Position Error Change e 10 Actuator A NoChange 13 Dutput13 NoChange Figure 24 Emergency stop form Whenever the EStop input is activated or after faults occur all motion is stopped and the motor is decelerated using the value entered on this form Once motion has ceased the DMC digital outputs are modified according to the options selected on this form If a particular output should be turned on or off after an emergency User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 FUNCTIONS MENU Position Activated Outputs stop simply select that state for the output If no change is desired click on the No Change option for that output FAULT DECELERATION The fault deceleration determines how fast the DMC decelerates when faults such as over travel limits or over temperatures occur Some faults such as position error will immediately disable the drive without deceleration because they indicate conditions where the drive is out of control and cannot be properly decelerated POSITION ERROR LIMIT The position error limit setting is used to determine the maximum amount of error between the commanded position and the actual position before a fault is generated Note that when the servo regulator is used in
6. Home Mode 5 Stop at Sensor Move to Zero Direction Negative Positive Speed rpm 30 000 Acceleration rpm sec 00 000 Offset in 0 004 Close Figure 26 Homing form When the homing routine is initiated the motor begins moving in the specified direction until the Home Registration input HSI Input DMC Input 1 is activated At this time the motor decelerates and returns to the position at which the input activated Once in position this location is set egual to the position entered in the offset entry on the form If the Stop at Sensor option is selected the homing routine is complete If the Move to Zero option is selected the motor is moved to the newly defined zero position User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 FUNCTIONS MENU Jogging JOGGING The Jogging menu item is used to setup the jog routine that is initiated using the Jog Positive Jog Negative and Jog Slow inputs When this menu item is selected the form shown in Figure 27 is displayed Jogging 101 XI Speed rpm 1 20 000 Slow Speed rpm 30 000 Acceleration rpm sec 600 000 Close Figure 27 Jogging form When either the Jog Positive or Jog Negative input is activated the motor moves using the acceleration and speeds entered on this form If the Slow Jog input is active when the jogging begins the slow speed is used Otherwise the normal speed will be comm
7. Index Moves Select Line Mode Discrete 5 Binary Pattern Absolute Index Incremental Index Absolute Index Absolute Index Position 0 000 Speed 10 000 Accel 220 000 Decel 220 000 Distance 10 000 Speed 20 000 Accel 30 000 Decel 30 000 Position 10 000 Speed 200 000 Accel 300 000 Decel 300 000 Position 20 000 Speed 20 000 Accel 220 000 Decel 220 000 Close Figure 29 Index moves form The index move table can contain up to 32 different index moves These moves may be either absolute positioning moves or incremental moves Index moves entered in this table can only be executed when the DMC is not executing a program sequence INDEX SELECT LINE MODE An index move is executed when the Index Initiate input is activated The index to be executed is determined by the state of the Index Select Line inputs The Index Select Line inputs operate in two different modes In discrete mode each line selects an individual index move For example if digital inputs 12 and 13 were set as index select lines and the select line mode was set to discrete a total of three index moves could be accessed Table 3 shows how the index moves would be selected based on the state of the Index Select Line inputs Select Index move Input 12 Input 13 0 OFF OFF 1 ON OFF 2 OFF ON Table 3 Discrete index select line example If the Index Select Line inputs are operating in binar
8. Comm Setup Node 1 Application Generated Using SimPL Version 3 28 Generation Date 9 27 1999 Build Number 1 DMC Firmware Version 3 17 Drive Model DMC 50720 Option Card None Figure 47 Version information form After selecting the proper serial port and node address the Upload button is used to read and display the important version information on the form Information includes the application name the version of SimPL that was used in generating the application the date it was generated the build number for the application number of times it was previously generated the firmware version the Drive Model and Option Card of the DMC running the application User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 TOOLS MENU Register Monitor REGISTER MONITOR The Register Monitor menu item is used to trace register or changing Servo Regulator Setting When this option is selected the form shown in Figure 48 is displayed Register Monitor Servo Regulator Settings Reg Mode fis Reg InertiaP 29341 Reg PGain 1130 V ReglnettiaN 29341 ReglGan Rea DGain 8400 Reg PEnLim 2235 Reg Reg DErLim 255 ist tupa tes Stop Updates Updates ON Hardware Enable ON Fault None Reg SiScale RealnetsF 14 RegStaFic Reg ViscFric c Reg ViscSF LE Reg TorqLim Reg S23 929 Reese
9. 08 June 2000 E FILE MENU Save Application As SAVE APPLICATION AS The Save Application As menu item is used to save the current application under a new name When this menu item is selected a file dialog is displayed Enter a new name or select an existing file to overwrite All subsequent files generated for this application will use the new name EDIT APPLICATION DESCRIPTION The Edit Application Description menu item is used to enter any comments concerning the application These comments will be included in the header of the generated PL2 code as well as in the printed application summary When this menu item is selected a form is displayed containing a small text editing area where these comments can be entered PRINT APPLICATION SUMMARY The Print Application Summary menu item is used to print summary of all settings made for the current application The printout will contain all settings programs index moves and cams used in the application PRINTER SETUP The Printer Setup menu item displays a standard printer setup dialog This dialog is used to change printers printer settings paper size and orientation EXIT The Exit menu item is used to exit SimPL and return to Windows If the current application has changes that have not been saved a warning will be displayed before exiting User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 Hardware menu GENERAL The Hardware Menu
10. 12 User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 GETTING STARTED Defining Application Units The Output Assignment form is similar to the Input Assignment form described above The Ready Output function is a predefined function and is assigned using the drop down list The other two outputs have specialized functions and are setup as User Outputs with meaningful names These outputs will be controlled by program commands defined later DEFINING APPLICATION UNITS Now that the hardware being used is defined the next step is to define the units to be used when entering motion related parameters Since SimPL allows position and velocity units to be arbitrarily defined a conversion factor between motor revolutions and the position velocity units must be defined This is accomplished by selecting the Application Units options from the Hardware Menu The Application Units form is shown in Figure 7 below Application Units Position Units Label n 1 Position Units per Motor Revolution 1 57080 Position Display Format 0 000 M Resolver Counts per Position Unit 5215 2 Velocity Units Label Velocity Units per 1000 rpm 26 18000 Velocity Acceleration Display Format 0 000 Resolver Counts per Velocity Unit 5215 2 Figure 7 Application units form In the example application the position units are to be defined in inches Since a gear reducer with a 5 1 reduction is bei
11. 5 4 3 2 1 0 41 2 3 4 5 8 9 0 Delete Figure 32 Cam editor form CAM NUMBER When a cam table is activated using a Cam ON command in a program the cam number is used to identify which table to use Valid cam numbers are between 0 and 3 To change a cam number simply type a new number into the edit box If the number is invalid or already in use a warning is displayed CAM NAME The Cam Name field is added to make programming and application development easier The name can be any arbitrary description Any time that SimPL needs a cam number as a parameter cam names are also displayed to help prevent selection of the wrong cam table CAM MODES There are two different cam modes supported by the DMC The first mode is a time lock cam In this mode the input position of the cam is taken from the internal clock of the DMC Using this mode it is possible to generate a continuous arbitrary motion cycle in the DMC When this mode is selected the input position time can be specified in seconds or milliseconds The second cam mode is the position lock cam In this mode the input position is taken from the resolver 2 input of the DMC When this mode is selected the numbers of poles of the second resolver and the units to be used for that resolver are entered as parameters For example resolver 2 can be setup to have two User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 0
12. Output 31 Home Complete 32 Fault 32 In Motion 7 eat 32 Position Error 1202000000 00 60 32 Program Running 32 Ready Output 32 Travel Limit 32 Resolver Error Output sesiis ong eee nonet geh ped deep e LER gae ELE Ee TE ER uda AEn 32 33 User EET 33 MGI a o 35 GENERAL 35 Emergency Stop Fault 35 Fault Deceleratlon eee cootra ee ten taga 36 Position Error eter ere SERT deka ection 36 Error Reset 4 0 0 0 36 Position Activated 36 Homing ASI Iriput 37 etm 38 Analog OVe fide uuu AEA TEIE 38 edere aada 39 Index Select Line 39 Using The Index Table 2 0 01 40
13. rx MasterFactor rx RefOffset RefSpeed rx HefAccDec rx rx CamOffLine Use Defined Name Figure 41 Register and commands For more information concerning PL2 programming refer to the Inmotion DMC Programmer s Guide and the DMC User s Manual User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 Generate menu GENERAL The Generate Menu contains all menu items used in generating compiling and downloading the application to the DMC for execution The content of the Generate menu is shown in Figure 42 Generate Tools Help Verify Setup Generate and Compile Download to DMC Save Generate Download Run5 F3 Figure 42 Generate menu VERIFY SETUP The Verify Setup menu item is used to check that all of the required information for an application has been entered and that the information is correct When this menu item is selected a form appears showing the progress of the verification process If any warnings or errors are encountered a form is displayed which contains the associated error messages and warnings If any PL2 programs have been created as part of the application these will be pre compiled individually to detect any syntax errors before generating the application If an error is found in a PL2 program an error file will be created along with a message indicating where to look for more information on the error Note that this opti
14. t 41 M M 41 How Cams Work in the 41 New Cani T 41 Using the iecit 41 nuum 42 Cami ENIM 42 Modes c EE 42 ecce 43 Cam Input 43 Cam Output 43 Editing Cam Point Values 43 Importing Cam 44 Exporting Cam 44 User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 Rev 08 June 2000 Deleting a 07 14 44 Programi MENU ET 45 Genera erone m 45 Redeline Registers d 45 Program Execution Contolera ai 46 Program Select Line Made III 46 Main loop Auto Run 46 Ium 46 New 2 47 Using the SimPL Program Editor 47 Program 47 Program ner nennen nennen 48 Selecting Program Commands sse eene 48 Setting Program Command 48 Deleting a 49 Using the PL2 Program 2 49 Genera
15. AB Doc No 9032 0026 06 c Rev 08 June 2000 Getting started AN EXAMPLE APPLICATION To help get started using SimPL an example application will be examined illustrating step by step how SimPL can be used to realize a system The example application is a linear actuator that is controlled via digital I O Digital inputs will be used to command the actuator to move between its home position and a fixed destination position Digital outputs will indicate when the actuator is at home or its destination position Also included is a ready output that will indicate when the DMC is enabled and ready to accept commands A diagram showing the details of the system is shown in Figure 1 below on Emergency Sto Ready At Home At Position Go To Positi Bus 2 5 in diameter Figure 1 Example application diagram STARTING A NEW APPLICATION To start a new SimPL application select the New Application option from the File menu A dialog will appear asking for a file name to use for the new application An example of this file dialog is shown in Figure 2 For this example the name EXAMPLE DMC has been selected After the file name is chosen it will be displayed in the caption of the SimPL main form User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 8 GETTING STARTED Selecting the Motor and DMC New Application 2 x File name Folde
16. Figure 33 Cam point editor form The input position of this cam point is displayed along with the current output value To change the output value type the new value into the box provided The second method for editing the cam output position is to draw them using the mouse To do this move the mouse pointer to the position in the table to change Hold down the right mouse button and drag the mouse up and down to reposition the output value The mouse can also be dragged left and right to change adjacent points User s Manual 1 1 Inmotion Technologies AB E Doc 9032 0026 06 Rev 08 June 2000 CAM MENU Using the Cam Editor IMPORTING FILES It is possible to import a comma delimited data file CSV into the SimPL editor Typically this is done by exporting a Microsoft Excel sheet as a CSV file The file must contain 2 columns of data The first column must contain the input positions and the second column must contain the matching output positions After the file is loaded the input and output ranges are automatically computed To start the import procedure click on the Load Cam File button located on the form EXPORTING CAM FILES It is also possible to export a cam table from SimPL to a comma delimited file CSV To do this click on the Export Cam File button and select a name to save to The cam table is saved as two columns of data containing the input and output positions of the table D
17. Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 FUNCTIONS MENU Homing HSI Input 1 Note that if the motor then passed the position of 10 inches in the negative direction no action would be taken Similarly outputs can be set to turn on or off when moving in different directions For example the second and third condition sets in Figure 25 would have digital output 5 turn on when passing 1 inch in the positive direction and turn off when passing the same point in the negative direction Position activated outputs are monitored as part of a background process in the Atlas DMC Every 20 milliseconds the DMC checks ifthe motor has passed any of the transition positions defined for the outputs If this has occurred the output is changed or pulsed based on the action selected for it The position activated output monitoring is active any time the drive is enabled and not in a fault condition It is possible to enable and disable checking of any of the four conditions within a SimPL program sequence It is also possible to have these conditions automatically enabled or disabled when power is turned on to the DMC This is accomplished by clicking on the enabled or disabled Default State for each condition HOMING HSI INPUT 1 The Homing menu item is used to setup the homing routine that is started using the Home Initiate Input When this menu item is selected the form shown in Figure 26 is displayed Homing Ioi x
18. Sa a m ee axe na ax e e HR 18 File menu M 19 uuum 19 New AppIicatiOrtu u PEDES 19 Open ApPpIIGAUOM sacs 19 Save e da avade aaa 19 Save Application AS Sua sua latan kamak aa apan aa aa a ada 20 Edit Application Description 20 Print Application enne 20 Rm 20 Gig 20 Hardware deii 21 21 Drive Motor Selection 21 DMC Model enne enne 22 Motor Model 22 DMC Option 22 Adding a New 22 Resolver 23 Primary Resolver 23 Enabling a Secondary 23 Secondary Resolver 100011111 23 Master Slave Settings u paare inita aa terae gap Reed gag eid 24 Servo 24 Basic and Advanced 24 Regulator Mode 24 PID Parameters cre rte 25 Feed Forward Parameters nsten
19. contains all menu items used to specify and configure the hardware used in the application along with assignment of functionality to the digital O of the system The content of the Hardware Menu is show Figure 15 Functions Cam f Drive Motor Selection Resolver Settings Servo Parameters Application Units Input Assignment Output Assignment Figure 15 Hardware menu DRIVE MOTOR SELECTION The Drive Motor Selection menu item is used to specify which motor DMC model and option card are being used in the application When this menu item is selected the form shown in Figure 16 is displayed Since multiple DMC s can be connected together in a daisy chain configuration it is necessary to assign each unit a unique hexadecimal node address Valid node addresses are between 1 and F To select a new node address pick one of the available choices from the list This node address is included in the generated application Each time the DMC is powered up or reset it defaults to this node address and all communications must be directed to this node address Drive Motor Selection Atlas DMC Model Motor Model of entries 99 DMC30515 FI 44055 C4 22 DMC2 Edit Motor Add Motor Delete Upton Motor Database X No Option Card Installed C ACC EP Motors and Special Option Optional 1 0 ACC AH Motors Option for ABB S4C ACC Bautz Motors User Specific Motors
20. inputs and have functionality only as they are used in programs If input is designated as user input a name can be assigned to it for easier programming There are limitations as to which inputs can be assigned to particular functions This result from the fact that only the standard DMC inputs can generate interrupts and only digital input 1 can be used as a position capture input Valid input assignments are shown in Table 2 followed by a description of each of the possible input functions Input Function Digital Input 1 Standard Inputs Optional Inputs Home Registration X Option A function X X User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Input Assignment Input Function Digital Input 1 Standard Inputs Optional Inputs Program Abort Program Pause Feedrate Override Zero Position Emergency Stop Negative Limit Positive Limit Program Select Line Program Initiate Index Select Line Index Initiate Jog Slow Jog Negative Jog Positive XXX gt OK X X lt Home Initiate XIX X lt gt gt lt lt gt lt gt lt XXX XX gt gt User Input Table 2 Valid input function assignments HOME REGISTRATION INPUT HSI INPUT The Home Registration input function captures the m
21. is active an Edit Menu will appear in the SimPL Menu Bar This menu contains options to insert delete copy cut and paste index lines In addition to these menu items it is also possible to use keyboard shortcuts To insert a new index move into the table click on a row in the table Press the lt Insert gt key and a new line will be inserted above the selected line Likewise the lt Delete gt key can be used to delete a move from the table In addition to these simple operations it is possible to copy cut and paste lines by using the standard lt Ctrl Insert gt lt Shift Delete gt and lt Shift Insert gt key combinations User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 Cam menu GENERAL The Cam Menu contains all menu items reguired for designing and maintaining the electronic cam functions of the DMC The contents the Cam Menu are shown in Figure 31 below Cam Programs Ge New Cam CAM Maker 0 Axis CAM Figure 31 Cam menu SimPL support the creation of up to 4 different cam tables each containing a maximum of 1025 points Any existing cam tables are listed at the bottom of the Cam Menu Electronic Cam tables are activated through use ofthe Cam On and Cam Off program command How CAMS WORK IN THE DMC An electronic cam is implemented in the DMC as a look up table A table containing evenly spaced input positions and corresponding output positions is set up The i
22. item displays a simple terminal emulator which can be used to communicate directly with the DMC This option is only useful for and should only be used by individuals who are knowledgeable in operation ofthe DMC RESET DMC The RESET DMC menu item sends a reset command to the DMC attached to the serial port This option is useful after downloading a new application file to the DMC This will simulate a power up condition in the DMC When this option is selected a choice of node addresses is presented Select the node address of the DMC to be reset User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 Program commands GENERAL SimPL supports different commands that are used for building program seguences These commands control motion digital I O and other special functions of the DMC Below is a description of each of the program commands available COMMAND DESCRIPTION Add Register The Add Register command is used to add a value to one of the user registers in the DMC Valid User registers are between R100 through R200 The value added to the register can be any 32 bit integer number or can be another user register Analog Override Off The Analog Override Off command is used to deactivate the analog feedrate override feature of the DMC After this command is executed all future moves will be made at 100 of the commanded velocity Analog Override On The Analog Override On is used to activat
23. left in their current state can be specified as no change and will not be affected by the command Set Position The Set Position command is used to set the current position of the DMC to a new value This is useful if during a program cycle a new zero position is to be set or an offset is to be created The new position is entered in application units Set Register The Set Register command is used to store a value into a user register The value must be a 32 bit integer value It is also possible to specify another user register instead of a value Speed The Speed command is used to have the DMC move at a specific speed The speed and acceleration are entered as parameters and may be linked to user registers The DMC will continue to operate at the commanded speed until another Speed command Stop command or move command is issued Stop The Stop command is used to stop motion of the DMC Acceleration is entered as a parameter and may be linked to a user register This command will stop motion caused by any previous move or speed command Wait For Input The Wait For Input command pauses program execution until the specified input is in the state entered as a parameter Once this condition is met execution continues at the next program line Wait For Input Pattern Wait For Input Pattern command pauses program execution until all DMC inputs match the specified pattern The pattern can contain don t care inputs which ar
24. parameters can be displayed and edited by clicking on the advanced button located at the bottom of the form Operators with a good understanding of the DMC regulator should only modify these advanced parameters If the advanced parameters are displayed it is possible to return to the basic parameter set by clicking on the Basic button REGULATOR MODES The DMC servo regulator can operate in several different modes The two primary modes are position and speed each with an option for using integrated error Depending on which of the four modes is selected different PID parameters are User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Servo Parameters used Those parameters which are not used have their associated displays disabled As a position regulator the DMC computes an output torgue based on both the speed and position error of the system This mode is used in positioning systems where the actual position of the motor is critical At each servo cycle the DMC compares the actual motor speed and position with the commanded speed and position These differences are then multiplied by the appropriate regulator gains to produce the output torque to the motor In addition to these computations it is possible to specify if the integral of the position error is also used in the torgue calculations If integration is turned on the regulator will produce increasing torgue until a zero po
25. places to enter the program name and number For this example the program number is set to zero and the program 1 set to Main Example Program Since SimPL can support up to 32 different programs in the same application it is necessary to give each program a unique number The program name is set to make it easier to identify programs by a name in addition to a number The example application being discussed here is very basic and has only one program Figure 9 shows the program used in this application to move the linear actuator in response to the digital input commands It also includes the commands to control the digital outputs which indicate the current position of the actuator Line 12 of the program is not visible but contains a Jump command to go back to line 2 User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 GETTING STARTED Building the Program 0 Main Example Program Program Number 0 Program Name Line command Parameter Settings ls Home HSI Input 1 Mode Sensor Dir Neg Speed 2 000 Accel 100 000 Offs 0 000 E Jump on Input Line 5 if Go To Home 4 ON Jump on Input Line 9 if Go To Position 5 ON Jump Line 2 Set Output Pattern Output Pattern 00 Move Absolute Position 0 000 Speed 20 000 Accel 200 000 Decel 200 000 Set Output At Home 2 ON Jump Line 2 Set Output Pattern Output Pattern 00 M
26. programming Below is a description of each of the output functions that can be assigned HOME COMPLETE OUTPUT The Home Complete output is activated after a homing seguence has been successfully completed This output is used to indicate that the DMC has an absolute position reference FAULT OUTPUT The Fault Output is activated any time a fault has occurred that results in motion being stopped and the drive being disabled This output will remain activated until the fault is cleared IN MOTION OUTPUT The In Motion output is activated any time the DMC is commanding a motor velocity other than zero POSITION ERROR OUTPUT The Position Error output is activated when the position error limit has been exceeded and the drive has been disabled The position error limit is specified using the form described in Section Position Error Limit PROGRAM RUNNING OUTPUT The Program Running output is activated any time the DMC is executing a program seguence The output remains active even is program execution has been paused READY OUTPUT The Ready Output is activated whenever the DMC is enabled and no fault conditions exist TRAVEL LIMIT OUTPUT The Travel Limit output is activated when activation of one of the travel limit inputs has been activated RESOLVER ERROR OUTPUT The Resolver Error output is activated when the amplitude on the resolver input is too low and the drive has been disabled User s Manual 1 1 Inmotion Technolog
27. torque Likewise a negative speed command adds a negative offset The Reg ViscFric parameter is used to overcome viscous friction in the system It produces a feed forward torque proportional to the commanded speed Since commanded speeds command can sometimes be large an additional parameter Reg ViscSF is provided This parameter is used to scale the command speed by a factor of 2 Reg ViscSF There are two parameters used to compensate for system inertia These parameters produce a torque feed forward which is proportional to the commanded acceleration The parameter Reg InertiaP affects torque when accelerating in a positive direction and Reg InertiaN affects torque when accelerating in a negative direction As with speeds accelerations can be large so there is a scale factor Reg InertSF that scales the commanded acceleration by 2 Reg InertSF TORQUE LIMIT PARAMETERS In order to prevent damage to motors drives and mechanics it is often necessary to limit the amount of torque producing current that is generated by the DMC This is accomplished by using three parameters available in the DMC regulator With these parameters it is possible to set a peak torque and continuous torque limit for the drive The values of these parameters are set using the fact that a torque limit of 8191 is equal to 10096 of the rated peak torque of the DMC If desired these values can be computed automatically by selecting the Auto Compute option in th
28. 08 June 2000 Inmotion Technologies AB Stockholm Sweden Inmotion Technologies AB 2000 All rights reserved TABLE OF CONTENTS User s Manual 1 1 Inmotion Technologies AB EN Doc No 9032 0026 06 c Rev 08 June 2000 Table of Contents Table of Contents a aa 3 installation 7 System requirements 7 Installation procedure 7 Getting TE 9 An example application aaa a laad Mon 9 Starting a new 9 Selecting the Motor and 10 setting Servo ear e Sas AE 11 Assigning DigitallBpillSR u ull lll vajaka kuma aada dat cag 11 Assigning Digital QuIDu0S IIIa tir ta kata aa 12 Defining Application 13 Setting EStop Fault Parameters 1 u uu 13 Building the PrIOgrattt uu a 14 Configuring Program 17 Generating and Downloading the 17 Testing the Applicaton
29. 8 27 reserved for System use EEPROM 28 Correction for EEProm 0 EEProm 27 to get proper checksum EEPROM 29 Checksum for EEProm 0 EEProm 28 EEPROM 30 MOTOR Poles register number of motor poles EEPROM 31 Number of resolver poles will set MOTOR PPR EEPROM 32 MOTOR Mode register motor mode switch EEPROM 33 MOTOR PhAlign register commutation alignment EEPROM 34 MOTOR PhDelay register commutation delay EEPROM 35 REG Mode register EEPROM 36 REG PGain register User s Manual 1 1 Doc 9032 0026 06 Rev 08 June 2000 Inmotion Technologies AB General EEPROM 37 EEPROM 38 EEPROM 39 EEPROM 40 EEPROM 41 EEPROM 42 EEPROM 43 EEPROM 44 EEPROM 45 EEPROM 46 EEPROM 47 EEPROM 48 EEPROM 49 EEPROM 50 EEPROM 51 EEPROM 52 EEPROM 53 EEPROM 54 EEPROM 55 EEPROM 56 EEPROM 57 EEPROM 58 EEPROM 59 EEPROM 60 EEPROM 61 EEPROM 62 EEPROM 63 User s Manual 1 1 EEPROM DEFINITION REG IGain register REG DGain 100 register scaled by 100 to allow large values REG SiScale register REG Pole REG Zero ratio for filter registers REG SetTorg register REG InertiaP register REG InertiaN register REG InertSF register REG StatFric register REG ViscFric register REG ViscSF register REG TorqCLim register REG TorqTime register REG TorqLim register reserved INT PosErr register motor position error Limit Resolver 1 Data
30. 8 June 2000 CAM MENU Using the Cam Editor poles and have each motor revolution represent 360 degrees If these settings are made the input range of the cam and all input positions are entered in degrees CAM POINTS The cam points setting determines how many points will be used in the cam table This number should be set to the lowest value that results in smooth output definition Each cam point takes up one line in the DMC program memory Since there are only 2048 lines available for cam tables and the remaining application this number should be chosen carefully If this number is changed the existing output profile is resampled to help maintain its current shape CAM INPUT RANGE The cam input range determines what the length of the input position cycle will be For example if the cam motion repeats every 360 degrees at the input the range should be set to 360 CAM OUTPUT RANGE The cam output range is used to setup the graphical display on this form and should be set large enough to show the entire range of output values If it is set too small the output will be clipped If set too large poor visual resolution will result EDITING CAM POINT VALUES There are two methods of editing a cam point output value The first method is to double click on the vertical line representing the cam point When this is done the form shown in Figure 33 is displayed CAM POINT x CAM Input 272 813 CAM Output 3 338 Il
31. AN Object Cancel OK Figure 10 Select new command form After selecting a command from the list the new command name will be displayed in the program grid The Command Parameters cell for this program line will indicate that the parameters are not yet defined To define the parameters double click on the Command Parameters cell of the desire program line to display the command parameter form For example when defining the Set Output Pattern command in line 5 the parameter form shown in Figure 11 is displayed User s Manual 1 1 Inmotion Technologies AB E Doc 9032 0026 06 Rev 08 June 2000 Building the Program Set Out put Pattern 2 At Home 3 At Positi 4 Dutputd 5 Dutput5 B Dutput amp ion Pattern XOOXXX Cancel OK Figure 11 Set output pattern parameters form GETTING STARTED On On On On On On Off Off Off Oot Off Off ON ge Change Change No Change No Change No Change This command allows the state of all digital outputs to be defined in a single command As shown Figure 11 this command will turn off the t Home and the At Position outputs and leaves all others unaffected The above procedure of selecting a command and setting its parameters is repeated until the program is complete Below in Table 1 is a description of each of the program lines in the example program Line Command Pu
32. Communication Node Number Start in Computer Mode Baudrate 9600 5 19200 Figure 16 Drive Motor selection User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Drive Motor Selection DMC MODEL SELECTION A database is included with SimPL which contains all DMC models This database contains current ratings for each drive which is critical for properly computing default servo gains and torgue limits To select a new model simply select an item from the list MOTOR MODEL SELECTION The database provided with SimPL also includes all of the standard motors available from Inmotion Technologies This database contains current ratings and resolver parameters for each motor To select a new motor pick an item from the list DMC OPTION CARDS The DMC can contain an internally mounted option card The option O card provides the DMC with additional 7 digital inputs and 7 digital outputs The Option A card allows the DMC to interface with resolvers which are not excited by a DMC Only select an option card if it was ordered with the DMC since these options change the availability of certain functions ADDING A NEW MOTOR If the motor to be used is not found in the current motor database it is possible to add a new motor To add a motor click on the Add Motor button to display the form shown in Figure 17 below Add New Motor to
33. Database XI Motor Model Motor Poles EI I LO Resolver Poles Motor Ph lign Inc Continuous Current amp rms Peak Current Arms Brake delay time ms Moment of Inertia kqm 2 0 00030000 Torque Constant Nm Arms OK Cancel Figure 17 Add New Motor form Enter the proper motor parameters using this form and click on the OK button This new motor will be added to the list of motors and automatically selected User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Resolver Settings RESOLVER SETTINGS The Resolver Settings menu item is used to specify which of the resolver inputs of the DMC are used and how they are excited When this menu item is selected the form shown in Figure 18 is displayed Resolver Settings Eile Primary Resolver BDI Secondary Resolver HD2 Standard Resolution M Use Second Resolver 15500 Nominal value for Amplitude le 10000 Low Limit Amplitude 100 jAmplitude threshold check Master 7 Slave Settings Stand Alone C Master C Slave Figure 18 Resolver settings form PRIMARY RESOLVER EXCITATION The primary resolver on the Atlas DMC is the resolver attached to the motor driven by the DMC The only time this setting must be made for this resolver is if the Option A card is used If an Option A card is being used and the primary resolver is being exc
34. ED is controlled by the SimPL application Whenever the SimPL application is running this LED will flash at a steady rate to indicate that application is running If this LED is not flashing verify that a valid SimPL application has been downloaded and the DMC has been reset LED 1 MAIN Loop STATE 1 LED 1is used to indicate that the application is in the Main Loop State 1 When this LED is illuminated no fault conditions exist the drive can be enabled and the DMC can command torgue to the motor according to the selected regulator settings Whenever LED 1 isn t illuminated an Error Reset sequence is needed before all other operations LED 2 SOFTWARE ENABLE LED 21 used to indicate when the DMC is in Power On mode LED 3 NODE SELECTED LED 3is used to indicate when the DMC is the selected communication node When DMCs are connected in a serial daisy chain only one DMC can be addressed at a time and only one ofthe DMCs should have LED 3 illuminated When operating in stand alone mode this light should always be on when communicating LED 4 CURRENT LIMIT WARNING LED 4 is used to indicate that the servo regulator is requesting more torque than is allowed by the continuous and peak current limits for the application If this LED illuminates frequently check that there is no mechanical binding in the system If the LED continues to illuminate on a regular basis the motor drive combination may be undersized for the applicat
35. ELETING A CAM To delete a cam table click on the Delete Cam button located at the bottom of the form A warning message appears before permanently deleting the cam table User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 Program menu GENERAL The Program menu contains all menu items used in creating editing and specifying control of program seguences in the application The content of the program menu is shown in Figure 34 Programs Generate Tools Help Redefine Registers Constants Program Execution Control New Program New PL2 Program 0 Application Utilities Init DMC Program Main Loop Default EEProm Values Init Init STATE SubLevell SubLevel2 CD BR wh Figure 34 Programs menu SimPL support the creation of up to 32 different program sequences Any existing programs will be listed at the bottom of the Programs Menu These programs can be executed automatically at reset or can be started using digital inputs Also supported is the ability to call a program from within another program SimPL encapsulates the functionality of the PL2 programming language into a series of simplified program commands However if a situation occurs when the standard SimPL commands are not capable of perform complex functions it is possible to write a program in the native PL2 code of the DMC and call it from another SimPL program REDEFINE REGISTERS T
36. EProm extended register RAM memory group and store all the EEProm extended register parameters EEProm 0 to EEProm 63 permanently to the EEPROM chip non volatile memory The application is waiting until the store is done normally 200ms The End command is used to end execution of the current program If the program was called using a Gosub command from another program execution of the calling program will continue at the line following the Gosub command The Emergency Stop command is used to start the EStop routine from within a program Refer to Section EMERGENCY STOP INPUT for a complete description of the EStop routine The Gear Off command is used to deactivate the electronic gearing function of the DMC When this command is executed motion is stopped and the DMC is taken out of slave mode The Gear On command is used to activate the electronic gearing function of the DMC When activated the DMC acts as though it were mechanically coupled to the resolver attached to its resolver 2 input The gear ratio is entered as a fraction with numerator and denominator as parameters In addition to the ratio there is also a ramping factor that can be used to smoothly activate the gearing function When this parameter is entered the numerator of the gear ratio is started at zero and is increased by the ramp factor every millisecond For example if the numerator is 1000 and the ramp factor is set to 1 it will take 1000 milliseconds f
37. GENERATE MENU Save Generate Download Run5 Download Application to DMC Node 1 Selected Setup File c 4simpl4apps example hee Downloading 0 100 Figure 43 Download application form As default the hexadecimal file for the current application is selected However if a different file is to be downloaded clicking on the Browse button can choose it Also included on the form is a selection of the serial port to use the download and the node address of the DMC to download to Once these settings are made click on the Download button to start the download process As the file is being downloaded a progress meter appears showing status of the download If an error occurs verify that the node address is set properly and that all cables are properly connected SAVE GENERATE DOWNLOAD RUN5 This menu item will perform all the above functions User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 Tools menu GENERAL The tools menu contains all menu items used in determining version information talking directly to the DMC and tracing program execution The content of the Tools Menu is shown in Figure 44 below Tools Help Communication Settings Node Search Get Info from DMC Register Monitor Application Trace Reaister Utilities Run Time Utilities Terminal Reset DMC Figure 44 Tools menu COMMUNICATION SE
38. General 69 Program 70 STATES GAG RAIN u k Z be o egi dus 71 Application Program 72 EEprom definition m iiin 73 User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 TABLE OF CONTENTS alata u a lalla una akule eR 73 User s Manual 1 1 Inmotion Technologies AB 8 Doc No 9032 0026 06 c Rev 08 June 2000 Installation SYSTEM REQUIREMENTS The following hardware and software is reguired for proper installation and operation of SimPL e running Windows 95 or 98 5 Free Disk Space e 1 Free Serial Port e DMC Digital Motion Controller with Programming Cable INSTALLATION PROCEDURE To install SimPL 1 Insert the SimPL installation disk labeled Disk 1 3 into the floppy drive 2 From Windows run A SETUP EXE B SETUP EXE 3 Follow the directions given in the setup program If you use the CD ROM User s Manual 1 Click on INSTALLATION at the SimPL page 2 Follow the directions given in the setup program When the installation is completed a program group named Inmotion and program icon labeled SimPL will be created To start SimPL double click on the SimPL icon User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 8 User s Manual 1 1 Atlas Copco Controls
39. HEAD OFFICE INMOTION AB Solkraftsv gen 13 SE 135 70 Stockholm SWEDEN Telephone 46 0 8 682 64 00 Telefax 46 0 8 682 65 80 http www inmotech com APPLICATIONS CENTERS FRANCE ACC Motion BP 49 FR 95132 Franconville Cedex Telephone 33 0 4 72 47 09 17 Telefax 33 0 4 72 47 06 73 GREAT BRITAIN ACC Motion Bridge Mills Holmfirth Huddersfield W Yorkshire HD7 2TW Telephone 44 0 1484 68 83 25 Telefax 44 0 1484 68 83 26 GERMANY ACC Motion GmbH Zahringerstrasse 23 DE 77654 Offenburg Telephone 49 0 781 919 08 0 Telefax 49 0 781 919 08 29 ITALY ACC Motion Srl c o Fluke Sir Viale delle Industrie 11 IT 20090 Vimodrone MI Telephone 39 02 25 00 161 Telefax 39 02 25 00 450 SWEDEN Inmotion Technologies AB Solkraftsv gen 13 SE 135 70 Stockholm Telephone 46 0 8 682 64 00 Telefax 46 0 8 682 65 80 Inmotion Technologies AB Box 195 SE 234 23 Lomma Telephone 46 0 40 41 48 50 Telefax 46 0 40 41 48 55 SWITZERLAND ACC Motion SA Wehntalerstrasse 6 CH 8154 Oberglatt Telephone 41 0 1 851 5010 Telefax 41 0 1 851 5020 ACC Motion SA Zone industrielle la Rippe CH 1303 Penthaz Telephone 41 0 21 863 6464 Telefax 41 0 21 863 6479 U S A Inmotion Technologies 211 Overlock Drive Sewickley PA 15143 2305 Telephone 1 412 749 0710 Telefax 1 412 749 0705 SimPL A Tool for programming the DMC User s Manual 1 1 Art No 9032 0026 06 c
40. RD1 ShAdj 128 SYSIO PWMO resolver adjust Resolver 2 Data RD2 ShAdj resolver adjustment parameter Free for USER parameter Free for USER parameter Free for USER parameter Free for USER parameter Free for USER parameter Free for USER parameter Free for USER parameter Correction for EEProm 30 EEProm 61 to get proper checksum Checksum for EEProm 30 EEProm 62 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000
41. TTINGS The Communications Settings menu item is used to specify how the computer will communicate with the Atlas DMC Controller being used in the application When this menu item is selected the form shown in Figure 45 is displayed x Pot Node COM1 Communication Settings COM2 Node Search COM3 Baudrate CDM4 9600 19200 Figure 45 Communication Settings form Select the COM port by clicking on the appropriate option button This setting has no affect on the generated application It is only relevant during downloading and debugging User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 TOOLS MENU Node Search NODE SEARCH The Node Search menu item is used to scan the entire Serial Network for connected DMCs This will take about 10 seconds and at the end the form shown in Figure 46 is displayed All Available Nodes Double Click Select a Node Click Test a Node Node Application Date Firmware Drive Model Option 1 MASTER 11 18 1999 V3 28 317 DMC 50720 Board 7 FOLLOWER 11 18 1999 V3 28 V3 17 53080 Board Figure 46 All Available Nodes form GET VERSION INFORMATION FROM DMC The Get Info from DMC menu item is used to upload data from the DMC running a SimPL application When this menu item is selected the form shown in Figure 47 is displayed Version Information From
42. Time 200 msec Error Reset Input Init State1 5 wem n3 JogBackward 11 n4 GearMode 12 Figure 55 States and possible transitions User s Manual 1 1 Inmotion Technologies AB 71 Doc No 9032 0026 06 c Rev 08 June 2000 APPLICATION PROGRAM STRUCTURE Application Program Timing APPLICATION PROGRAM TIMING The following example see Figure 56 shows the timing of Background and SubLevel tasks TimeBase 20ms SubLevel 1 update time c SL2 T 5 SubLevel 2 update time 5 c TimeBase 100ms The timing diagram will look as follows SubLevel 1 task SubLevel 2 task Figure 56 Timing of background and SubLevel task 72 User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 Rev 08 June 2000 EEprom definition GENERAL During development of a SimPL application settings such as regulator gains motor parameters and communication settings are selected These values are used as defaults and will be in effect the first time the application is run in the DMC These parameters are not hard coded into the application and can be changed This is possible because these parameters are stored in the EEPROM ofthe DMC New settings can be saved to the EEPROM overwriting the default values This EEPROM feature is useful for situations where the same application is being used in a number of similar machines Since no two installations are identical certain parameters especially s
43. USER INPUT Any of the digital inputs of the DMC can be used as user inputs These inputs can be assigned a name There is no automatic functionality assigned to these inputs However these inputs can be monitored and used to control program flow OUTPUT ASSIGNMENTS The Output Assignment menu item is used to assign names and functions to the available digital outputs of the DMC When this menu item is selected the form shown Figure 22 is displayed Notice that the form shown in Figure 22 contains standard as well as optional outputs The optional outputs are only available and visible when the Option O card is specified in the hardware setup Otherwise only the standard outputs can be assigned 4 Output Assignment PSI E3 Standard Outputs Optional Outputs Output Function User Name Output Function User Name 2 User Output 8 User Output Output 4 User Output Output4 10 User Output M Dutput10 B User Output Dutput6 12 User Output 13 User Output Dutput13 Figure 22 Output assignment form User s Manual 1 1 Inmotion Technologies AB ET Doc 9032 0026 06 Rev 08 June 2000 HARDWARE MENU Output Assignments There are pre defined output functions that may be assigned to digital outputs Outputs can also be designated as user outputs and have functionality only as they are used in programs If an output is designated as a user output a name can be assigned to it for easier
44. anded ANALOG OVERRIDE The Analog Override menu item is used to setup the feedrate scaling implemented when the Feedrate Override input is activated When this menu item is selected the form shown in Figure 28 is displayed i Analog verride Anaog input 17 2 Overide at 10V 2 Overiide at 10v 71 Close Figure 28 Analog override form When the analog override function is active all jog moves index moves and program move operations have their velocities scaled according to the values input on this form The analog voltage which controls the feedrate override is taken from an analog input on the DMC The voltage range of the analog input is 10V to 10V If the settings shown in Figure 28 were active and the jog speed was set to 10 in min it would be possible to adjust this speed via an analog input to range between 1 in min and 20 in min It is important to note that the speed scaling is only read at the beginning of a move As a result once a move has started adjustments in the override voltage input do not take effect until the move is complete and a new one is started User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 FUNCTIONS MENU Index Moves INDEX MOVES The Index Moves menu item is used to setup a table of defined index moves that are initiated via digital input control signals When this menu item is selected the form shown in Figure 29 is displayed
45. ard Inputs Input Function User Name Invert x 1 1717159 E 1 Home Registration Ls Negative Limit Positive Limit oto Home User Input User Input Goto Position Le User Input nput User Input User Input 2 3 4 5 7 8 9 User Input KAKA ch e Emergency Stop Note Input 1 High Speed Input HSI Close 0 Figure 5 Input Assignment form Three of the input functions positive limit negative limit and Emergency Stop input are directly supported by SimPL and need only to be assigned to a digital input To assign a pre defined function to an input select an entry from the drop down list associated with the input The other two inputs are to be used in the program to perform specialized tasks In the case of these inputs the input function is set to User Input and a meaningful User Name is assigned These inputs will be checked and acted upon using commands in the program ASSIGNING DIGITAL OUTPUTS For the example application there are a total of 3 digital outputs required Assigning names and functions to the digital outputs is accomplished by selecting the Output Assignment option from the Hardware menu The Output Assignment form shown in Figure 6 is displayed m a H i Dutput Assignment Standard Outputs Output Function User Name 2 User Output M 5 User Output Output5 6 User Output Close d Figure 6 Output Assignment form
46. e Torque Limit section of the form If Auto Compute is selected torque limits will be set at the highest continuous and peak torque that will not damage the DMC or the motor The parameter Reg TorgLim limits the peak torque produced by the drive This parameter prohibits any current output greater than the amount specified in this parameter The parameter Reg TorgCLim limits the continuous torque produced by the drive This parameter works in conjunction with the Reg TorqTime parameter that contains a value in milliseconds The way the continuous torque limit works is that the DMC is allowed to output a torque greater than Reg TorqClim but less than Reg TorqLim for the number of milliseconds stored in Reg TorqTime After this time has expired the torque limit is reduced to the value stored in Reg TorqCLim This feature allows the peak outputs from the drive and motor to be utilized without risk of exceeding their continuous ratings LOADING DEFAULT SERVO PARAMETERS If a motor and DMC have already been selected the Load Defaults button can be clicked to fill the parameters with values that will ensure a good starting point for servo loop performance Selecting this option will set the regulator to position regulator mode and set error limits and torque limits to auto compute APPLICATION UNITS The Application Units menu item is used to specify what system of units will be used to enter positions speeds and acceleration into the SimPL appl
47. e any arbitrary description Any time that SimPL need a program number as a parameter program names are displayed to help prevent selection of the wrong program SELECTING PROGRAM COMMANDS To select a new command for a program line either move to the command column of the line to change and press Enter or double click on the cell containing the command to be changed The command selection form is displayed showing a list of the available program commands This form is shown in Figure 38 below Select New Command Divide Register Jump Set Output Dwell Jump on Input Set Output Pattern EEProm Store Jump on Input Pattern Set Position End Jump on Register Set Register Analog Register ON Emergency Stop Move Absolute Speed Analog Speed Mode OFF Gear OFF Move Relative Stop Analog Speed Mode ON Gear ON Multiply Register Subtract Register Any PL2 Statement Gosub Position Output Disable Wait for Input Binary Operation Gosub on Input Position Output Enable Wait for Input Pattern Power Off Wait for Register Comment operation Home Standard Input Send LAN Object Cancel OK Figure 38 Program command selection form To select a command from the list double click on the selection move to the cell and press lt enter gt or move to the cell and click on the OK button SETTING PROGRAM COMMAND PARAMETERS After a command has been selected for a program line it is necessary to select any parameters for that command To s
48. e command is used to move the DMC to a new position where the position is referenced to the current commanded position Position speed acceleration and deceleration are entered as parameters and may be linked to user registers If user registers are to be used all values are interpreted in resolver counts and not in the application units used by SimPL The Multiply Register command is used to multiply one of the user registers with the value specified Valid user Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 PROGRAM COMMANDS General registers are between R100 through R200 The value to multiply by can be any 16 bit integer number or can be another user register Position Output Disable The Position Output Disable command is used to disable one ofthe 4 position activated output conditions defined using the Functions Menu Position Output Enable The Position Output Enable command is used to enable one ofthe 4 positions activated output conditions defined using the Functions Menu Power Off The Power Off command is used to disable the drive Power On The Power On command is used to enable the drive Set Output The Set Output command is used to activate or deactivate one ofthe DMC digital outputs The output number and state are specified as parameters Set Output Pattern The Set Output Pattern command is used to set the state of all of the DMC digital outputs using a single command Outputs that are to be
49. e ignored in the comparison Once the pattern is matched execution continues at the next program line Wait For Register The command Wait For Register is used to pause program execution based on the value of a user register Three different conditions can be specified They are greater than gt less than lt or equal to User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 PROGRAM COMMANDS General The value to use in the comparison must be a 16 bit integer in the range of 32768 to 32767 In addition to entering a constant value another user register can be specified instead When the specified condition is evaluated as true execution continues at the next program line User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 DMC front panel LED definitions LED DEFINITIONS The DMC has a series of 10 LED s located on the front panel These programmable LED s take the same meaning in all SimPL applications The function of each LED is described in detail below POWER ON LED The power on LED is used to indicate that a logic level power source is present in the DMC This supply can be generated internally by the DMC from the 3 phase AC power input or the DC Bus Itis also possible to supply this supply via the 24V power supply input If this LED is not illuminated check that power is properly connected to the DMC CPU OK LED The CPU OK L
50. e the analog feedrate override feature of the DMC When activated the voltage present at the DMC s analog input is used to scale the commanded velocities of all future motion Entering the percent override at 10V and 10V sets the override range When any move is commanded the actual velocity is set based on the voltage at the analog input The Analog Override Off command is used to deactivate this feature Analog Register Off The Analog Register Off command disconnects the specified analog input output from any user register that it may be attached to Analog Register On The Analog Register On command connects an analog input output to a user register in the DMC The scaling is setup to get any range of values from the 10V to 10V This register can then be used in any other program commands that support the use of registers as parameters Analog Speed Mode Off The Analog Speed Mode Off command deactivates the analog speed reference mode of the DMC After this command is executed motion is stopped and the analog speed reference signal at analog input 1 is ignored Analog Speed Mode On The Analog Speed Mode On is used to convert the voltage at analog input 1 or 2 to a velocity command for the DMC s regulator When activated the DMC reads the voltage on the Analog Input every millisecond and issues a new speed command The parameters used in this command is the speed at 10V the speed at 10V and the acceleration to be used in fol
51. ed from the SimPL motor list these settings will already be known and this procedure will not be required However if a non standard motor is used or if resolver wiring is modified for any reason this utility can be used to ensure proper motor operation This procedure can take up to a minute to execute and during the course of the operation the motor will move approximately 1 4 turn After completing the procedure use the Run 2 utility to store the new alignment values to the EEPROM RUN 5 RESTORE APPLICATION DEFAULT VALUES The Run 5 utility is used to go back to the default parameters generated by SimPL This can be helpful if regulator gains or motor parameters have been changed and unstable operation is occurring Executing the Run 5 utility will restore all default values and then store them permanently in the EEPROM xecute Run 1 Restart with Normal Operation Comm Setup Execute Run 2 Restart With EEPROM Storage Execute Run 3 Restart with EEPROM Storage save Regulator param Execute Run 4 Restart with Resolver Auto Align Execute Run 5 Restart with EEPROM Defaults Auto Align Parameters Close Search Current Drive peak current see DMC front plate Close Resolver Poles 2 Download Figure 51 Run time utilities form 93 User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 TOOLS MENU Terminal TERMINAL The Terminal menu
52. ence containing PL2 code When this item is selected a new program is created with a default program number and name A program editor window is displayed which allows setup of the program name and number Also located on the form is an area used to edit the text of the PL2 program being written The use of the PL2 Program Editor is described in Section Using the PL2 Program Editor UsiNG THE SIMPL PROGRAM EDITOR When a new SimPL program is created or an existing program is selected from the Programs Menu a program editor window is displayed as shown Figure 37 below From this form program lines can be added deleted and changed There are three columns on the editor form The first column contains the program line number This number is used when entering parameters for jump commands The second column contains the program command The third column displays all of the associated parameters required for the program command 0 Example Program Program Number NN Program Name Main Example Program Home HSI Input 1 Mode Sensor Dir Neg Speed 2 000 Accel 100 000 Offs 0 000 Jump on Input Line 5 if Go To Home 4 ON Jump on Input Line 9 if Go To Position 5 ON Jump Line 2 Set Output Pattern Output Pattern 00 Move Absolute Position 0 000 Speed 20 000 Accel 200 000 Decel 200 000 Wait Set Output At Home 2 ON Jump Line 2 Set Output Pattern Output Pattern 00
53. ervo regulator gains may need to be adjusted for each machine Instead of maintaining many versions of the same SimPL application a single application with reasonable defaults can be maintained using the flexibility of EEPROM parameter storage to accommodate different machine dynamics The Inmotion DMC on power up copies the contents of its EEPROM chip into the EEPROM extended register group These registers can then be read and modified Changes to the values in the EEPROM extended register group are not permanent until one of the Run Utilities is used to physically store them in the EEPROM chip Below is a Table showing the definition of the EEPROM registers used by SimPL Note that only the registers with the description Free for USER parameter are free for custom uses Registers EEPROM 0 through EEPROM 8 have functions defined by the DMC firmware For more information concerning these firmware registers refer to the Atlas DMC User s Manual Table 5 EEPROM definitions REGISTER DESCRIPTION 0 DMC firmware version number EEPROM 1 reserved for System use EEPROM 2 reserved for System use EEPROM 3 reserved for System use EEPROM 4 reserved for System use EEPROM 5 Overtemp mask Drive Motor Aux PTC EEPROM 6 Forced Run Baud Rate and Comm Node EEPROM 7 Terminal Length and Comm Mode EEPROM 8 CAN network init param LAN1 ini EEPROM 9 12 CAN1 ACC protocol CAN TxID and RxID EEPROM 13 17 CAN2 EEPROM 1
54. et new parameters either move to the parameter column ofthe line to change and press lt Enter gt or double click on the cell containing the parameters to be changed The parameter entry form for the associated command is displayed An example of this form for the Wait for Input command is shown in Figure 39 below Wait for Input Ea Input 5 Go To Position State O Off On Cancel OK Figure 39 Program command parameter form User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 PROGRAM MENU Using the PL2 Program Editor Each program command has a parameter entry form associated with it For a complete description of all available commands and their parameters refer to Section Program menu DELETING A PROGRAM In order to delete an entire program open the program editor form and click on the Delete Program button located at the bottom left corner of the form A confirmation message is displayed before permanently deleting the program USING THE PL2 PROGRAM EDITOR When a new PL2 program is created or when an existing PL2 program is selected from the Program Menu a PL2 Program Editor form is displayed An example of a PL2 program editor is shown in Figure 40 below 2 Program2 precompile off Don t check the program before compilation z You can type a native PL2 program that will be compiled into the application The onlything to be careful of is to follow rules as to
55. he Redefine Registers menu item is used to define new names for the DMC Registers When this menu item is selected the form shown in Figure 35 is displayed Redefine Registers x rx FuncCmd R100 5 n Status R101 oe ear rx Errors R102 rx TempErrCause R103 4 OSE rx ActPosLag R104 rx_ActRegT orque R105 ActCmdSpeed R106 Registers Z Constants Figure 35 Redefine registers form User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 PROGRAM MENU Program Execution Control All redefined registers can be used in a standard SimPL or a PL2 program A list of all Register and Constants is available by pressing the F3 key wherever a register is allowed Figure 41 Note that the PL2 code generated by SimPL will also use the same redefined register PROGRAM EXECUTION CONTROL The Program Execution Control menu item is used to specify how program execution is initiated and how programs are selected When this menu item is selected the form shown in Figure 36 is displayed Tu Program Execution Control Ix Basic Discrete Binary Pattern Main loop Auto Run Program 0 Main Example Progran Advanced i Figure 36 Program execution control Select Line Mode Refer to Section Program Execution for a complete description on how to use the advance settings PROGRAM SELECT LINE MODE A program is executed wheneve
56. he state ofthe specified digital input The program line to jump to the digital input and the input state are entered as parameters If the input is not in the specified state execution continues at the next line The Jump On Input Pattern command is used to shift program execution to a new line number based on the state of all of the DMC digital inputs The program line to jump to and the states of the digital inputs are entered as parameters If an input is not to be considered simply select don t care for its state If the inputs do not match the specified pattern execution continues at the next program line The Jump of Register command is used to shift program execution to a new line based on the value of a user register Three different conditions can be specified They are greater than gt less than lt or equal to The value to use in the comparison must be a 16 bit integer in the range of 32768 to 32767 In addition to entering a constant value another user register can be specified instead If the specified condition is evaluated as false execution continues at the next program line The Move Absolute command is used to move the DMC to an absolute position Position speed acceleration and deceleration are entered as parameters and may be linked to user registers If user registers are to be used all values are interpreted in resolver counts and not in the application units used by SimPL The Move Relativ
57. ication When User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Application Units this menu item is selected the form shown in Figure 20 is displayed This application units feature permits specifying positions in any arbitrary units such as inches millimeters revolutions etc Similarly speeds and accelerations can also be arbitrarily defined Application Units ix Position Units Label Position Units per Motor Revolution 0 20000 il Position Display Format 0 000 Resolver Counts per Position Unit 40960 0 Velocity Units Label in min Velocity Units per 1000 rpm 200 00000 Velocity Acceleration Display Format 0 000 Resolver Counts per Velocity Unit 682 7 Figure 20 Application units form POSITION UNITS To specify position units for the application a label for the units must be entered along with the number of units per motor revolution For example if the motor is attached to a screw with a 0 2 inch lead The text in can be entered as the position unit s label and 0 2000 can be entered as the number of position units per motor revolution This allows all positions distances and cam tables to be entered in inches The position display format setting is used to determine how many decimal places are to be used when entering and displaying position values To set the format select an option from the pull down list Notice that the n
58. ies AB Doc 9032 0026 06 Rev 08 June 2000 HARDWARE MENU Output Assignments ENABLE OUTPUT The Enable output is activated 500 ms before a software power on and deactivated 500 ms after a software power off This function is normally used together with the Option A card to switch between two motors USER OUTPUT Any number of the digital outputs ofthe DMC can be used as user outputs These outputs can be assigned a name There is no automatic functionality assigned to these outputs However these outputs can be controlled in programs User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 Functions menu GENERAL The Function Menu contains menu items that allow setup of the functionality provided by the digital input assignments The content of the Functions Menu is show in Figure 23 MM Cam Programs Gen Estop Fault Parameters LAN1 Configuration LA Position Activated Outputs Homing Jogging Analog Override Index Moves Figure 23 Functions menu EMERGENCY STOP FAULT PARAMETERS The EStop Fault Parameters menu item is used to setup the emergency stop routine and to specify parameters to how the DMC decelerates after faults occur or the Emergency Stop input is activated When this menu item is selected the form shown in Figure 24 is displayed EStop Fault Deceleration Position Error Limit in Error Reset Input Close
59. imes A message should be displayed indicating that the program has been stopped Type RUN n followed by pressing the Enter where n is the Run Utility Number The Run Utilities include EEPROM operations and a utility to perform an automatic motor to resolver alignment Below is a description of the Run Utilities supported by SimPL applications RUN 1 NORMAL OPERATION The Run 1 utility causes the DMC to operate as it would when normally powered up or reset This has no special function and can be used to restart the application after using one of the other Run Utilities User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 TOOLS MENU Run Time Utilities RUN 2 STORE EEPROM REGISTERS The Run 2 tility takes the values stored in the EEPROM extended registers and permanently stores them to the EEPROM Any values written directly to the EEPROM extended register group will be stored To store modified regulator parameters use the Run 3 Utility RUN 3 COPY REGULATOR TO EEPROM AND STORE The Run 3 utility copies all servo regulator parameters to the corresponding locations in the EEPROM extended register group It then permanently stores them to the EEPROM RUN 4 PERFORM MOTOR RESOLVER ALIGNMENT The Run 4 utility performs an operation that computes the number of motor poles and the alignment between the motor and the resolver If a standard Atlas Copco motor is used and this motor is select
60. ing routine is started the motor begins moving in the specified direction Negative or Positive parameter until an event occur Positive Negative Limit Switches or Home Input interrupt The positive limit interrupt will stop the motion then search negative and viceversa the negative limit interrupt see Figure 53 If the motor is on the home switch at the start of the homing routine the motor will travel in the negative direction The position reference is the first resolver zero position after hitting the positive edge of the home switch with positive speed Once in position this location is set equal to the position entered in the offset entry on the form If the Stop at Sensor option is selected the homing routine is complete If the Move to Zero option is selected the motor will move to the newly defined zero position User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 General Pos Limit Switch positive speed 1 Electrical Revolution PROGRAM COMMANDS Positive edge Neg Limit Switch negative Figure 53 Homing seguence Jump Jump On Input Jump On Input Pattern Jump on Register Move Absolute Move Relative Multiply Register User s Manual 1 1 The Jump command is used to shift execution of the program to the line number entered as a parameter The Jump On Input command is used to shift program execution to the line number entered as a parameter based on t
61. ion LED 5 OVER TEMPERATURE FAULT LED 5 is used to indicate when an over temperature fault has occurred This LED illuminates if any of the three thermistor inputs on the DMC opens If this occurs check the value contained in the temperature fault status register to determine if the drive motor or auxiliary thermistor input detected the fault LED 6 RESOLVER FAULT LED 6 is used to indicate a resolver fault A resolver fault occurs when an active resolver input detects insufficient amplitude for proper operation A faulty motor resolver or cable normally causes this The fault register can be interrogated to determine which resolver input generated the fault User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 DMC FRONT PANEL LED DEFINITIONS Led definitions LED 7 DRIVE FAULT LED 7 is used to indicate different and hopefully very rare error 1 2 3 4 5 Bleeder error Shunt regulator DC Bus high voltage Current regulator error Power output stage short circuit error This is normally caused by a shorted motor winding or cable Any other error that shuts down power stage automatically If this LED is illuminated it will be necessary to interrogate the fault register R20 to determine the cause of the fault condition LED 8 POSITION ERROR LED 8 is used to indicate a position error This is the most important and probably the most occurring fault especially during p
62. ited by an external source select the external excitation option ENABLING A SECONDARY RESOLVER The secondary resolver on the Atlas DMC is used to support Master Slave functions such as electronic gearing and position lock cam tables If a second resolver is not used by the application make sure that there is no X in the Use Second Resolver button If the second resolver option is turned on routines for monitoring its amplitude are included in the generated application These routines will generate a fault if no second resolver is attached SECONDARY RESOLVER POLES If a second resolver is used for Master Slave functions it is necessary to set the number of resolver poles for the resolver Enter the number of resolver poles in the edit box on the form The number of poles determines how electronic gears and CAM functions operate If the wrong number of resolver poles is entered scaling of CAM tables and electronic gearing will be computed incorrectly User s Manual 1 1 Inmotion Technologies AB ES Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Servo Parameters MASTER SLAVE SETTINGS When two or more DMCs share resolvers they must be synchronized This is accomplished through the sync lines located on the front panel connectors on the DMC These sync lines must be controlled by a single DMC This DMC should be designated as the Master and the others should be designated as Slaves If a DMC does not need to synchron
63. ize with another DMC select the stand alone option to have it ignore the sync lines altogether SERVO PARAMETERS The Servo Parameters menu item is used to set the default parameters used in the DMC servo regulator When this menu item is selected the form shown in Figure 19 is displayed tT Servo Parameters Regulator Mode Reflected Load Parameters Position Regulator With Integration Reflected Load Inertia kgm 2 0 00055000 Position Regulator Without Integration 2338DMC Acceleration Limit rpm sec Speed Regulator With Integration Speed Regulator Without Integration 1 83inertia Factor Load Motor PID Parameters FeedForward Parameters Pee Rea Inert5 0 Reg lGain 0 Reg D ain 16938 RegStatFic o RegWiscSF o Torque Limit Parameters Reg lErrlim X Auto Compute TorgLim Rea SiScale Rea DErrlim Reg TorqCLim Reg Torq ime _9 QDj Load Defaults Basic Close Figure 19 Servo parameters form X Auto Compute BASIC AND ADVANCED PARAMETERS The Servo Parameters form allows for setting all of the parameters which control the operation ofthe DMC servo regulator When this form is displayed for the first time only a basic set of parameters is displayed These parameters relate to basic PID control functions If desired all servo
64. lected For each motor and drive combination in the database a set of default gains is provided While these gains may not give optimum performance they will offer an initial starting point with stable operation To load default parameters click on the Servo Parameters option of the Hardware menu The form shown in Figure 4 is displayed To load default values click on the Load Defaults button 7 Servo Parameters rd x Regulator Mode Reflected Load Parameters Position Regulator With Integration Reflected Load Inertia kam 2 0 00000000 Position Regulator Without Integration 1088140DMC Acceleration Limit rpm sec Speed Regulator With Integration Speed Regulator Without Integration 0 001 Factor Load Motor PID Parameters Reg PGain 2 Reg lGain B DGain 1 Reg PE rim X Auto Compute Reg DErrlim e Advanced Close Figure 4 Servo parameters form ASSIGNING DIGITAL INPUTS In the diagram of the system shown in there are a total of 6 digital inputs required Assigning names and functions to the digital inputs is accomplished by selecting the Input Assignment option from the Hardware menu The Input Assignment form shown in Figure 5 is displayed User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 GETTING STARTED Assigning Digital Outputs i Input Assignment Stand
65. lowing the changing speed command input The Analog Speed Mode Off command is used to deactivate this feature Any PL2 Statement The Any PL2 statement command is used to add one PL2 code line Please refer to the DMC User s Manual Part B for all available commands Cam Off The Cam Off command is used to deactivate the currently active cam table and stop motion User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 EN General Cam On Divide Register Dwell EEProm Store End Emergency Stop Gear Off Gear On Gosub User s Manual 1 1 Doc 9032 0026 06 Rev 08 June 2000 PROGRAM COMMANDS The Cam On feature is used to activate cam table the DMC The parameter for this command is the number of the cam designed using the SimPL cam editor Once activated the DMC will execute the cam function until the Cam Off command is issued The Divide Register command is used to divide one of the user registers by the value specified Valid user registers are between R100 through R200 The value to divide by is any 16 bit integer number or can be another user register The Dwell command is used to pause program execution for a fixed number of milliseconds The number of milliseconds is entered as a parameter Once the specified time has elapsed execution will continue at the next program line The EEProm Store command is used to copy the actual Regulator Settings into the E
66. n SimPL To access this feature select the Application Trace option from the Tools menu The Application Trace from is shown in Figure 13 below Application Trace x X watch standard inputs X watch standard outputs Standard Inputs Standard Outputs 01 Registration 02 Negative Limit 03 Positive Limit 04 Go To Home 05 Go To Position 10 Emergency Stop Current Action Action Running Program Program Number 0 Program Line 1 Command Home HS Input 1 Parameters Mode Sensor Dir Neg Speed 2 000 Accel 100 000 Offs 0 000 Position in E Torque Nm Speed rpm Figure 13 Application trace form On the application trace form the state of the digital inputs and digital outputs are monitored Also the action being taken in the application is displayed Figure 13 shows the application trace form at the time when the program is executing the Home command and is searching for the Home Input This utility is useful in tracking and debugging programs as well as diagnosing faults and error conditions After monitoring execution and observing performance the application can be repeatedly changed downloaded and tested until proper operation is achieved User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 File menu THE FILE MENU The File Menu contains all menu items used to load save and print application settings The content of the File Menu i
67. nction refer to Section Index Moves INDEX INITIATE INPUT The Index Initiate input starts execution of the index move designated by the Index Select Line inputs If an index move or program is already executing this input will be ignored JOG SLOW INPUT The Jog Slow input is used to select the speed at which the DMC will jog when either the Jog Negative or Jog Positive input is activated If the Jog Slow input is User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Output Assignments active when a jog move is started the motor will be moved at the slow jog speed For more information on setting jog speeds and acceleration refer to Section Jogging JOG NEGATIVE INPUT The Jog Negative input causes the DMC to jog in the negative direction The speed at which the motor moves is determined by the state of the Jog Slow input and the settings entered using the form described in Section Jogging JOG POSITIVE INPUT The Jog Positive input causes the DMC to jog in the positive direction The speed at which the motor moves is determined by the state of the Jog Slow input and the settings entered using the form described in Section Jogging HOME INITIATE INPUT The Home Initiate input causes the homing routine to be initiated To use this function digital input 1 must be set as the Home Registration input Refer to Section Homing HSI Input 1 for a description of the homing routine
68. ng used to drive a belt system driven by 2 5 inch diameter pulleys the conversion factor is found to be Position Units per Motor Revolution 2 5 in x T 5 1 570795 in The velocity units for the example are inches per second As with the position units a conversion factor must be entered for the velocity units The conversion factor is found to be Velocity Units per 1000rpm 1000rpm 60sec x 2 5in x 5 26 18 in sec Now that these conversions have been entered it is possible to enter positions and distances in inches and velocities in inches per second SETTING ESTOP FAULT PARAMETERS The application generated by SimPL contains extensive error handling and detection routines to respond to a variety of fault conditions Some of these routines require parameters specific to the application itself These parameters are entered using the EStop Fault Parameters form displayed in Figure 8 below To access this form select the EStop Fault Parameters option from the Functions menu User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 GETTING STARTED Building the Program aw EStop Z Fault Parameters EStop Fault Deceleration in sec sec 500 000 Position Error Limit in 0 250 Error Reset Input 0 Hardware Enable M Output Pattern XXXKXX 1 Ready Oof No Change 2 At Home No Change 3 At Position COff No Change 4 Du
69. nput position is read either from the resolver 2 input or from the internal clock of the DMC The output position is then determined by looking up the input position in the cam table If the input position falls between points in the table the output commands position is interpolated from the nearest table points NEw CAM The New Cam menu item is used to create a cam table When this item is selected a new cam is created with a default number and name A cam editor window is displayed containing the new cam table The cam name number and all cam points are modified using the Cam Editor described in Using the Cam Editor below USING THE CAM EDITOR When a new cam is created or an existing cam is selected from the Cam Menu a cam editor window is displayed as shown in Figure 32 From this form the shape of the cam and the number of cam points can be modified Also the input position range and scaling is set using this form User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 EI CAM MENU Using the Cam Editor Axis CAM CAM Mode CAM Parameters Time Lock 5 Position Lock CAM Number Absolute Incremental CAM Name CAM Profile Points Position Lock Parameters CAM Input Range deg 0 000 360 000 CAM Output A in 10 000 5 000 Master Position Units Units per Revolution 360 000000 Load CAM File Export File IN 235 000 OUT 6 726
70. ompile for Download option If the DMC is using an EPROM for program storage select the Generate for EPROM option to create a file that can be sent to an EPROM programmer In this example it is assumed that a battery backed RAM module is installed in the DMC User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 GETTING STARTED Testing the Application After a generate option is selected the application is checked to make sure that all parameters are valid and all required setting are made If an error is detected a window will be displayed showing all warnings and errors that were found If the application is verified the application code will be generated and compiled Refer to Verify Setup for a complete description After the application has been successfully generated it must be downloaded to the DMC This is accomplished by selecting the Download to DMC option from the Generate menu When this option is selected a form will appear showing the file to be downloaded Please refer to Download to DMC for a complete description TESTING THE APPLICATION To test the application the DMC must be reset This can be done by cycling power to the DMC or by selecting the Reset DMC option from the Tools menu Once this is done the DMC can be enabled and the program will begin to execute In order to observe the status of the DMC and the application it is executing an application trace utility is included i
71. on does not actually create any PL2 code or additional files If for some reason the PL2 program should not be pre compiled just add on the first line Figure 40 the command precompiled off to disable the syntax check GENERATE AND COMPILE The Generate and Compile menu item is used to generate the PL2 source code file and compile it When this menu item is selected a secondary choice is presented allowing the PL2 source code to be compiled for downloading to a DMC with a battery backed RAM module or for programming an EPROM for the DMC Before generating the code SimPL performs a setup verification identical to that described in Section Verify Setup above After verifying setup the PL2 code is generated While this is happening a form is displayed to monitor progress After the source code is generated the Atlas DMC PL2 compiler is started The compiler may take up to a minute to complete depending upon processor speed After this step is complete the source code with a PL2 extension is created along with a hexadecimal file with a HEE extension At this point the hexadecimal file is ready to be downloaded to the DMC or programmed into an EPROM DOWNLOAD TO DMC The Download to DMC menu item is used to send a hexadecimal file to the DMC for execution When this menu item is selected the form shown in Figure 43 is displayed User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000
72. or the gearing to be fully activated The Gosub command is used to call a program from within a program The parameter for this command is the number of the program to be called Once the called program is finished execution continues at the next line Inmotion Technologies AB PROGRAM COMMANDS General Gosub on Input The Gosub on Input command is used to call a program based on the state ofthe specified digital input Gosub on Register The Gosub on Register command is used to call a program based on the value of a register Home HSI Input 1 The Home command is used to start a homing routine from within a program Note that the parameters used in the home program command are independent of the parameters entered for the homing input function Refer to Section Homing HSI Input 1 for a complete description of the homing routine and the parameters used Home Standard Input The Home command Figure 52 is used to start a homing routine from within a program Note that this routine needs the Positive Negative Limit switches and a USER Input interrupt Input 1 10 This routine can be used only once Home Standard input Home Mode O Stop at Sensor gpeseoesesossescooesecosoesesssseoe A S S Direction Negative Positive Speed rpm 1000 000 Acceleration rpm sec 5000 000 Offset rev 10 000 Input 5 Mylnput Cancel OK Figure 52 Homing form Standard input When the hom
73. otor brake is engaged The rate at which motion is stopped and the states of the outputs are set using the form described in Emergency Stop Fault Parameters NEGATIVE LIMIT INPUT The Negative Limit input causes all motion to stop when activated This input should be used for over travel protection After motion is stopped the drive is disabled and a fault is indicated Any programs or index moves will be aborted POSITIVE LIMIT INPUT The Positive Limit input causes all motion to stop when activated This input should be used for over travel protection After motion is stopped the drive is disabled and a fault is indicated Any programs or index moves will be aborted PROGRAM SELECT LINE INPUTS The Program Select Line inputs are used to select which program is to be initiated when the Program Initiate input is activated Any number of digital inputs can be assigned to this function For more information on how these inputs functions refer to Section Program Execution Control PROGRAM INITIATE INPUT The Program Initiate input starts execution of the program designated by the Program Select Line inputs If a program or index move is already executing this input will be ignored INDEX SELECT LINE INPUT The Index Select Line inputs are used to select which index move is to be initiated when the Index Initiate input is activated Any number of digital inputs can be assigned to this function For more information on how these inputs fu
74. otor position the instant the input is activated This functionality is used exclusively during homing routines If this function is not assigned homing will not be allowed in the application Home routines can be initiated either in a program or with the Home Initiate input Refer to Homing HSI Input 1 for a description of how to setup the homing routine activated by the Home Initiate input Section Program menu described the command used to start homing in a program OPTION A FUNCTION The Option A function is used to switch between Resolver 1 and Resolver 2 Input on the Option A card This function is normally used to drive two motors with one DMC and will perform a resolver calibration and a motor counter reset each time the input changes FEEDRATE OVERRIDE INPUT The Feedrate Override input is used to turn on the analog feedrate override function When this function is active all velocities will be scaled according to the voltage present at analog input 1 or 2 This scaling is setup using the form described in Analog Override User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Input Assignment ZERO POSITION INPUT The Zero Position input causes the current position to be automatically set to zero EMERGENCY STOP INPUT The Emergency Stop input causes all motion to stop and all digital outputs to be set to a defined state After motion has ceased the DMC is disabled and the m
75. ove Absolute Position 10 000 Speed 20 000 Accel 300 000 Decel 300 000 Set t At 31 ON Delete Program Close Restrictions Register list Figure 9 SimPL program editor form To define a program line in SimPL double click on the desired cell in the Command column of the grid If adding a line to the end of the program double click on the blank command line at the end of the program To insert a line click on the line of the program to come after the new line either press the lt Insert gt key or select Insert from the Edit menu After double clicking on a cell in the Command column a form will appear showing all available program commands that may be selected This form is shown in Figure 10 Select New Command XI Add Register Divide Register Set Output Analog Override OFF Dwell Jump on Input Set Output Pattern Analog Override ON EEProm Store Jump on Input Pattern Set Position Analog Register OFF End Jump on Register Set Register Analog Register ON Emergency Stop Move Absolute Speed Analog Speed Mode OFF Gear OFF Move Relative Stop Analog Speed Mode ON Gear ON Multiply Register Subtract Register PL2 Statement Gosub Position Output Disable Wait for Input Binary Operation Gosub on Input Position Output Enable Wait for Input Pattern Gosub on Register Power Off Wait for Register Home HSI Input 1 Power On Comment no operation Home Standard Input Send L
76. r the Program Initiate input is activated The program to be executed is determined by the state of the Program Select Line inputs The Program Select Line inputs operate in two different modes In discrete mode each line selects an individual program In binary mode the select lines are used to read a binary pattern which selects the program to be executed These modes operate in a manner similar to the Index Select Line inputs described in Section Index Select Line Mode MAIN LOOP AUTO RUN PROGRAM Any one of the defined program sequences can be set to execute each time the controller is reset or powered up To specify an auto run program use the drop down list on this form The Auto run program is executed each time it s entering the Main Loop State 1 The SimPL State diagram is described in Section STATES diagram NEW PROGRAM The New Program menu item is used to create a new program sequence which can contain SimPL program commands When this item is selected a new program is created with a default program number and name A program editor window is displayed containing the new program The program name number and all program lines are changed using the SimPL Program Editor described in Section Using the SimPL Program Editor User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 PROGRAM MENU New PL2 Program NEW PL2 PROGRAM The New PL2 Program menu item is used to create a new program segu
77. re generates the PL2 code used for the application However the programmer can also directly use PL2 syntax in SimPL and furthermore he has the possibility to include a PL2 file it is about the same as binding a DLL in a VisualBasic application This makes usually sense if standard functions are predefined for a global project for instance the reduced DeviceNet protocol For this reason it is very important to use prefix see the PDF document named CodingCoventions SimPL on all PL2 stuff used in combination with SimPL One of the main reasons is to avoid conflicts with labels registers or subroutines automatically created by SimPL User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 E Program Execution PROGRAM EXECUTION APPLICATION PROGRAM STRUCTURE When this menu item is selected the form shown in Figure 54 is displayed Program Execution Control Basic Select Line Mode Discrete Binary Pattern Main loop Auto Run Program 2 Main Loop Le PowerOn Main loop Advance 1 Initialization Program T Init DMC Program Init STATEO Program 4 Init STATEO Le Init STATE Program 5 Init STATE1 Interrupt Mode OFF SubLevel 1 Program 6 SubLevel1 SubLevel 1 Update Time ms SubLevel 2 Program 7 SubLevel2 SubLevel 2 Update Time 200 ms SubLevel Tasks Priority High Le El Include File Name
78. rgency Stop Current Action Action Idle Position in 1 528 Speed rpm 0 192 Torque 0 3101 Figure 49 Application trace form From this form it is possible to monitor all of the digital I O of the DMC during application operation Also displayed is the current action being taken by the DMC This could include the program line if any being executed jogging status homing status or any fault conditions that may have occurred REGISTER UTILITIES The Register Utilities menu item is used to Upload Download Edit or Save the EEProm or other register values When this option is selected the form shown in Figure 50 is displayed User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 TOOLS MENU Run Time Utilities Register Utilities Ele DMC Exit Table value Uploaded from DMC EEPROM Table parameters v write protect Start Nr pu End Nr EEPROM Communication Node 1 Figure 50 Register utilities form RUN TIME UriLiTIES The DMC application generated by SimPL has several Run Time Utilities built into it These utilities are initiated by using the form shown in Figure 51 or manually by stopping program execution and typing RUN followed by the number of the utility to execute This operation can be performed using any terminal program connected to the DMC To stop program execution hold down the Ctrl key and type C several t
79. rogram debugging and machine installation User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 Application Program structure GENERAL A DMC application program can be written in many different ways The given things are the programming language PL2 syntax and a large amount of controller data provided by the operating system How the data is managed and how the program is structured is left completely up to the user The basic features of SimPL fulfill the following reguirements e Able to handle 90 to 95 of all DMC applications e Clear and simple main program structure Simple tools and commands used to control motion digital I O and more e Full error processing and recovery e Resolver tuning and alignment to motor e Correct current limit settings for motor drive combination e Default regulator gains settings PID and Inertia Feed Forward parameters Should your application require special functions which are not handled by the basic features then advance features allow the following e Multitasking capability Background and two SubLevel tasks e Write a PL2 code native DMC programming language e Include a file with special functions or CAM tables e initialization program to setup application variables or communication channel e Possibility to redefine registers with application appropriate name SimPL is a higher level programming tool for the DMC and therefo
80. rpose Home Searches for the Home input in the negative direction and sets the position of the sensor to zero Jump on Input If Goto Home input is on then jump to line 5 where the commands to set the digital outputs and the command to move to the zero position are located Jump on Input 3 If Goto Position input is on then jump to line 9 where the commands to set the digital outputs and the command to move to the destination position are located Jump Go back to line 2 to check the inputs again Set Output Pattern Turn off the At Home and At Position outputs since the actuator is about to be moved Move Absolute Move the actuator to the home position Set Output Turn on the At Home output since the actuator is now at the home position Jump 8 Go back to line 2 and wait for the next input command Set Output Pattern Turn off the At Home and At Position outputs since the actuator is about to be moved 10 Move Absolute Move the actuator to the destination position of 10 inches from home User s Manu al 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 GETTING STARTED Configuring Program Execution Line Command Purpose 11 Set Output Turn onthe At Position output since the actuator is now at the destination position 12 Jump Go back to line 2 and wait for the next input command
81. rs advancel dmc ek _ Cancel y simpl amp y examples Save file as type Drives Applications dmc a Figure 2 New application file dialog SELECTING THE MOTOR AND DMC After starting the new application the next step is to define what hardware is being used in the application At this point the motor model and DMC model should be selected from the database provided with SimPL To do this click on the Drive Motor Selection option from the Hardware menu The form shown in Figure 3 is displayed t Drive 7 Motor Selection Atlas DMC Model Motor Model of entries 99 Edit Motor Add Motor Delete MC Option Motor Database X No Option Card Installed ACC EP Motors and Special Option Optional 1 0 ACC AH Motors Option A for 54 ACC Bautz Motors User Specific Motors r Communication 1 M Node Number Start Computer Mode Baudrate 9600 19200 Figure 3 Drive motor selection form Select the DMC and motor model from the drop down lists on the form Also included on this form is a section for selecting any option cards that are installed in the DMC For this example no option card is used User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 GETTING STARTED Setting Servo Gains SETTING SERVO GAINS To enable testing of the system an initial set of servo regulator gains must be se
82. s shown in Figure 14 Hardware Functions Cam Programs New Application Open Application Close Application Application Wizard Save Application Save Application As Edit Application Description Print Application Summary Printer Setup 1 c simpl examples example 2c simpl apps test1 0 dme 3 c simpl 3 28 simpl apps lommaz2 dmc 4 c Ssimplappsstestb dmc Exit Figure 14 File menu NEW APPLICATION The New Application menu item is used to start a new application with default settings When this menu item is selected a file dialog is displayed Enter a new file name or select an existing file to overwrite All SimPL application files have a file extension All additional files generated by SimPL share the same name but have different extensions OPEN APPLICATION The Open Application menu item is used to load a previously saved application When this menu item is selected a file dialog is displayed Enter the application file name to open Also note that the names of the last 4 applications loaded into SimPL are displayed at the bottom of the File menu To re open one of these applications simply select it from the list SAVE APPLICATION The Save Application menu item is used to save any changes to the current application The application is saved to the file name displayed in caption of the main form User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev
83. sition error is achieved However position error integration can also have the effect of causing overshoot and some oscillations in the system Therefore this mode should be used carefully with moderate values of the integral PID gain When used as a speed regulator the DMC ignores the position error of the motor and concentrates only on the speed error This mode is used when the drive is desired to run at specified speeds without regard to its actual position In speed regulator mode it is also possible to use the integral of the speed error in the output torque calculations The use of integration in this mode increases the holding torque of the motor PID PARAMETERS There are three main parameters used in the PID control loop implemented in the DMC Each of these gains also has an associated error limit with it The Reg PGain parameter is multiplied with the position error to generate an output torque Its associated error limit Reg PErrlim is used to limit the maximum position error that is used in the computation This is important in preventing saturation of the regulator These limits can be set manually or can be automatically computed by SimPL to prevent saturation To have all error limits computed automatically simply click on the Auto Compute box in the PID Parameters section of the form The Reg IGain parameter and its error limit parameter Reg TErrlim are used to compute an output torgue based on integrated error values If
84. t MENU C 51 COMMON AA 51 Verify AE AKE AAT EERS 51 Generate and Compile 51 Download to re 51 Save Generate Download 2 52 MENU a 53 GONG Mall TT 53 Communication SOTA GS 53 o AA M AA 54 Get Version Information from 54 Register MOMIOF eee es 55 Application Trate un 55 Register Utttes de 56 Time Utilities ioco L 1 ed 57 Run 1 Normal Operation 57 Run 2 Store EEPROM 58 Run 3 Copy Regulator to EEPROM and Store sss 58 Run 4 Perform Motor Resolver Alignment eee 58 Run 5 Restore Application Default 58 UBI m 59 Reset DMG M 59 Program CONN MAITEA 61 Eure 61 DMC front panel LED definitions 67 Led definitions 67 Application Program structure 69
85. tant when user registers are specified for parameters in SimPL program sequences If the register is to contain a position speed or acceleration the value contained in the register is in resolver counts not application units In order to facilitate the conversion from application units to resolver counts the number of resolver counts per position unit and velocity units are displayed on the Application Units form INPUT ASSIGNMENT The Input Assignment menu item is used to assign names and functionality to the available digital inputs of the DMC When this menu item is selected the form shown in Figure 21 is displayed Notice that the form shown in Figure 21 contains standard as well as optional inputs The optional inputs are only available and visible when the Option O card is specified in the hardware setup Otherwise only the standard inputs can be assigned i Input Assignment Standard Inputs Optional Inputs Input Function User Name Invert Input Function User Name Invert C uem 2 zh 4 User Input 14 User Input linput14 B User Input Input amp 18 User Input Input16 8 User Input Input 10 Emergency Stop Note Input 1 High Speed Input HSI Figure 21 Input Assignment form There are pre defined input functions that may be assigned to digital inputs Inputs can also be designated as user
86. the DMC is using a position regulator the integrated position error is multiplied by this factor If using a speed regulator the integrated speed error is multiplied by this factor Because integrated speed errors can be large an additional parameter Reg SiScale is provided This parameter is used to scale the integrated speed error by a factor of 2 Reg SiScale The Reg IErrlim parameter limits the maximum amount of integrated error that is used in the torque computation The Reg DGain parameter and its error limit Reg DErrlim are used to compute an output torgue based on the speed error The Reg DErrlim parameter limits the maximum amount of speed error that is used in the torgue computation FEED FORWARD PARAMETERS The DMC has several additional parameters that are useful in optimizing performance These parameters do not depend on speed or position errors The are referred to as feed forward parameters because they bypass the PID portion of the regulator and generate a torgue output based on commanded speed and acceleration values User s Manual 1 1 Inmotion Technologies AB Doc 9032 0026 06 Rev 08 June 2000 HARDWARE MENU Application Units The Reg StatFric parameter adds a constant amount of output torgue based on the sign of the commanded speed This parameter is used to overcome constant frictional force on the motor If the commanded speed is positive a positive offset equal to Reg StatFric is added to the output
87. tput4 No Change 5 Dutput5 No Change Output6 Con 6 No Change Figure 8 Fault parameter form The first parameter to be entered is a fault deceleration This is used to set the rate deceleration at which the motor comes to a stop when an EStop Fault occurs such as a limit switch being activated The second of these parameters is the Position Error Limit This defines the maximum error that may exist between the desired motor position and the actual motor position If this value is ever exceeded the DMC will disable output power to the motor and indicate an error on the front panel LED s A position error can occur for many reasons and is a good indication of a mechanical or electrical failure For this example the position error limit has been set to 0 25 inches Once motion has ceased the DMC digital outputs are modified according to the options selected on this form If a particular output should be turned on or off after an emergency stop simply select that state for the output If no change is desired click on the No Change option for that output BUILDING THE PROGRAM After all hardware input functions and output functions are defined the actual program which will be operating in the DMC must be defined To add a new program to the application select the New Program option from the Program menu A SimPL Program Editor form will be displayed On this form are
88. ttnnnnnnneeetennn nnmnnn et 25 Torque Limit 26 Loading Default Servo 26 Application Units rr ec ee 26 Position UNITS uu aka 27 27 Resolver Count 0 7 75 27 Input ASSIGAMEAL RE 28 User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 Rev 08 June 2000 TABLE OF CONTENTS Home Registration Input 29 Option TUNGO naca 29 Feedrate Override 29 Zero P ition Input kite 30 Emergency Stop Input iei piii etii idi 30 Negative Limit 30 Positive Limit Input tn 30 Program Select Line Inputs i enit i tiic itla edat iac 30 Program Initiate iioii itt itr AE bee ae 30 Index Select Line Input u uu t rhe end 30 Index Initiate InpUt uicti rtr d reete iHd eda aet C ed 30 JOG Slow MOUS ci cece 30 JOG Negative Input it eet aina a rn bt E denne gg 31 Jog Positive 31 Home Initiate Input nn 31 User 31
89. umber of resolver counts per units is computed and displayed on the form VELOCITY UNITS To specify velocity units for the application a label for the units must be entered along with the number of units per 1000 rpm For example if the motor is attached to a screw with 0 2 inch lead and velocity units of in min is desired the text in min can be entered as the velocity units label and 200 can be entered as the number of velocity units per 1000 rpm This allows all speeds to be entered in in min All accelerations are as velocity units per second In the above example all acceleration would be handled as in min sec The velocity acceleration display format setting is used to determine how many decimal places are to be used when entering and displaying velocity and acceleration values To set the format select an option from the pull down list RESOLVER COUNT CONVERSIONS Although SimPL allows motion parameters to be entered in user defined application units there are cases when it is necessary to use raw positioning units in an application The DMC converts the analog resolver signal to resolver counts User s Manual 1 1 Inmotion Technologies AB Doc No 9032 0026 06 c Rev 08 June 2000 HARDWARE MENU Input Assignment where there are 4096 counts for every resolver pole For example if a motor has a two pole resolver each motor revolution will result in a change in position of 8192 counts This value is impor
90. velocity mode this parameter is not used and position error is not monitored ERROR RESET INPUT REGISTER The error reset Input Register is used to reset all DMC errors after a fault condition POSITION ACTIVATED OUTPUTS The Position Activated Outputs menu item allows digital outputs to be activated deactivated or pulsed based on the position of the motor When this menu item is chosen the form shown in Figure 25 is displayed Position Activated Outputs Output Position Transition Action Pulse Default in msec State 7 Knif 10 000 6 On 500 Disabled NU TD Negative Off Condition 1 5 Pulse 5 Lamp1 1 000 6 Positive 6 On Disabled amp DEI Negative Off Enabled Condition 2 Pulse 5 Lamp1 1 000 Positive 6 On Disabled amp NC Tr Negative Off Enabled Condition 3 C Pulse Not Used 6 Positive 6 On Disabled O Negative Off Enabled Condition 4 C Pulse Figure 25 Position activated outputs form There are four sets of conditions that can be setup For each condition the digital output transition position transition type and action must be specified For example if the application requires digital output 7 to be pulsed for 500 milliseconds every time the motor passes a position of 10 inches in the positive direction the settings shown in the first condition set in Figure 25 would be used User s Manual 1 1
91. which registers can be bod and what line labels should be used to avoid conflicts an example of an absolute move in PL2 if IN DI5 0 then X Exit exit program if input 5 off Pg cc rx set acceleration Pg Decel rx set deceleration Pg posSpeed rx speed set speed PosAbs 25000 start move wait Pg Rdy wait for move to finish Delete Progrem Close Restrictions F3 Register list Figure 40 PL2 Program editor This form is similar to the SimPL Program editor except that the program command grid is replaced with a text editing window The PL2 code entered in this window will be compiled into the generated application Caution should be used when changing user registers To prevent conflicts with registers used in the rest of the application limit the registers used to R100 R200 Also if any line labels are to be used start all labels with x followed by the program number This will prevent any conflict with PL2 code generated by SimPL For more information press the Restrictions button User s Manual 1 1 Inmotion Technologies AB E Doc 9032 0026 06 Rev 08 June 2000 PROGRAM MENU Using the PL2 Program Editor Registers x Redefined Register Registers ix ParameterCmd C Constants LockParameter C Commands rx AxisError rx AxisState Edit rx_OldTripMask rx SyncReceived rx AxisSpeed Close rx rx rx CamNumber
92. y mode the input states are converted into a binary value that selects the index move to be executed In this manner only 5 digital inputs would be required to access all 32 index moves In computing the selected move the first assigned input is given a value of 1 the second a value of 2 the third a value of 4 and so on If digital inputs 12 and 13 were set as index select lines and the select line mode was set to binary a total of four index moves could be accessed Table 4 shows how the index moves would be selected based on the state of the Index User s Manual 1 1 Doc No 9032 0026 06 c Rev 08 June 2000 Inmotion Technologies AB E FUNCTIONS MENU Index Moves Select Index move Input 12 Input 13 0 OFF OFF 1 ON OFF 2 OFF ON 3 ON ON Table 4 Binary index select line example USING THE INDEX TABLE EDITOR Editing an index move is guite simple Simply double click on an index move to displays a form that allows changes to the index parameters This form is shown in Figure 30 below Selecting absolute index mode causes the motor to move to the absolute position specified Selecting incremental index mode causes the motor to move the specified distance from its current position Index Move Index Mode Absolute Incremental Position Speed rpm Acceleration rpm sec Deceleration rpm sec Cancel OK Figure 30 Index Move editor form Whenever the Index Table Editor

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