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B8961 and B8962

1. irmisliad joripar hahana PID gif PULL UP terminals i hei 7 VD i pe CT ranor FAGE pnpa porsggn 12 y and PULL UP levine E Tipus d y J A IL co t i Max sims curren 100 mA par oulput Total 250 mA avaliable fom 12 VDC supply Dulska i Inggr Soe vee OPTO Input digital OPTO Output digital Screw Terminals Soraw Terminals 1 g Lae we V voltage source page ich V voltage source SECO puana 2020 40S user USER OUTPUT 135 B8961 and B8962 User Manual Connecting IDC Limit Switches to the B8961 2 Switch RPS 1 Type Comments Connections Normally Open Home only Reed Switch has less wiring and lower cost RPS 2 Normally Closed Mounts to N T R2 R3 and R4 Actuators RP 1 Normally Open Hall Effect Switch has Home only longer life and uses LEDs RP 2 Normally Closed Mounts to N T R2 R3 and R4 Actuators PSR 1 Normally Open Reed Switch PSR 1Q Home Only Q indicates Quick Dis connect PSR 2 Normally Closed PSR 2Q Mounts to EC NV PSN 1 Normally Open NPN Hall Effect PSN 1Q Home Only Q indicates Quick Dis connect PSN 2 Normally Closed PSN 2Q Mounts to EC NV PSP 1 Normally Open PNP Hall Effect PSP 1Q Used on Controls requir PSP 2 Normally Closed jing PNP PSP 2Q 136 Mounts to EC NV Hom ET or ET 6961 2 LIMITS Connector Red 6961 2 RP LIMITS Limit Srown Hom ET of ET Con
2. Access the PROG SETUP POS LIST TUNING and TEACH sub menus by pressing the appropriate function key See descriptions of each of these sub menus below PROG Creating and Editing Motion Programs This menu allows you to edit an existing program or begin entering a new program from the keypad M EDIT PROGRAM v gt 5 Use the numeric keys to enter a program number to start a new motion program or use the and V keys to scroll through the list of existing programs and press ENTER You are now viewing your IDeal motion program in AG3 VET DI8000 GO the keypad program editor and are ready to edit your EN program See Programming Your Application for more information on editing IDeal motion programs with the keypad Hp B8961 and B8962 User Manual Uy SETUP System Set up Menu The following table shows the structure within the SETUP menu For complete descriptions of each system parameter in the SETUP sub menu see Configuring Your System Set up Description of Set up Parameters Parameters MOTOR TYPE Motor type D RES Drive Resolution DIR Direction of travel ENC MODE Select open closed loop mode E RES Encoder resolution fixed at 8000 on IDC motors FOL ERR Following error MECH DIST Distance Units RATIO Scale distance to preferred user units BKLASH Electronic backlash compensation VEL Speed units VMAX Critical speed limit ACCEL Acceleration units I O INPUTS Input functions OUTPUTS Output functions OPTOS OPTO module co
3. SPn n Units selected in EDIT gt SETUP gt MECH menu Range varies based upon Distance Units Default 0 SP sets the current absolute position to n This command is typically used to readjust or shift a coordinate system It is often done after a series of incremental moves to reset the absolute coordinate frame Example MC GOWT1 1VE0 GO SP10 5 After the move is complete sets the current position of axis 1 to 10 5 SQ Square Root syntax SQr var Units n a Range 0 00001 to 214748 3645 Default n a The SQ command calculates the square root of a number and returns the result in a user defined variable The n parameter in the syntax can be a number or a vari able parameter however the second parameter must be a previously defined vari able for which the square root result is stored If the second parameter is not a defined variable you will get a Bad Variable Name error Following mathematical convention SQ will produce an Invalid Parameter error for negative r values The return value is accurate to the 0 01 place Example The following example program calculates the square root of 27 96 and stores the value in the user defined variable SQRESULT Program SQRESULT 0SQ27 SQRESULT The returned value in SQRESULT would be 5 28 Y B8961 and B8962 User Manual Uy ST Stop On Input syntax STn n or ST n n Units n a Range 0 16 Inputs 1 2 Axes Default n a Syntaxes ST stops move execution
4. TEST MOVE and select the axis to move Pressing the axis Function key will start the move SHUTDN Selecting SHUTDN shut down allows you to Drive 1 Disabled gt enable disable or reset axis 1 or axis 2 B8962 When a drive is disabled the amplifier is off and your motor has no power The shaft can be manually rotat ed relatively easily RESET returns each drive to its power on condition Existing set up parameters are restored Press 1 RUN TEST gt SHUTDN 2 ENABLE DISABLE or RESET ne Uy Chapter 3 Keypad Operation RS232 Serial Communications Test Connection gt TEXT gt RS232 TRANSMIT RECEIVE This feature allows for testing of the terminal serial communications port through the keypad Testing Serial Transmission Test String ABC123 1 From the Test Connection menu press the F1 key to Transmitting select the TRANSMIT option 2 The SmartDrive will now transmit the string ABC123 every 5 seconds Testing Serial Receive 1 From the Test Connection menu press the F3 key to Data Received select the RECEIVE option 2 Any character received on the terminal port will be displayed on the keypad ENCODER To be implemented in a future version of software EDIT Menus Pressing the EDIT key reveals three sub menus called EDIE j PROG SETUP and POS CEO OTUP EOS Pressing the YX key reveals three more EDIT M EDIT 4 sub menus called LIST TUNING and TEACH LIST TUNING TEACH
5. s program This output allows the Servo SmartDrive to indicate to a PLC when it has begun clamping so that the user may synchronize the clamping operation with other processes in the application for example drilling cutting or milling the clamped part M m Move Complete M specifies axis 1 m specifies axis 2 The output goes high as soon as an axis move is started and goes low when a move is completed N aNalog Only the OPTO I O may be configured as analog outputs To use an analog output module the position must be configured as an analog output This tells the Smart Drive that the output is no longer a discrete output and assures that the output signal is sent properly Analog signals are set by assigning a value to reserved variables AO 9 A0 16 corresponding to OPTPO positions 9 through 16 See Programming Your Application for more details on using analog I O modules P Programmable Unassigned outputs default to programmable and can be used in OT commands S Stall SETUP I O OPTOS The output goes low if the control detects a motor stall Opto Configuration OP Default IIIIIIII IIOOOO av gt T Torque Mode Not yet implemented U Amplifier Unstable Not yet implemented Z Z Direction Not yet implemented The OPTOS menu allows you to configure each OPTO I O position as either an input or an output The hardware is protected against damage if you mistakenly configure an input as an output 1 Usethe and gt keys
6. Assuming the presence of an operational home switch the control will ultimately seek a home position according to the home setup parameters you specified edge level final approach direction and offset Closed loop systems will normally home with more accuracy than open loop sys tems because encoders come with a Z marker pulse 1 8000 of a revolution on our B Series In atypical Go Home routine the control will first sense the edge of the switch defined in the Go Home SETUP menu It will then decelerate the motor to a stop at the last defined deceleration rate The final homing motion will now be determined by the Go Home options selected in the SETUP menu The final homing direction dictates the direction from which the final approach to the switch is made The edge selected will determine from which side of the home switch this final approach will be based In a closed loop mode Go Home routine the control will additionally slow to acreep accelerate and stop when it sees the encoder s Z Marker Pulse after seeing the reference edge of the switch If a mark 69 Ho B8961 and B8962 User Manual Uy er pulse is not seen within one motor revolution after the reference edge of the switch is seen the final homing routine will be aborted Note Homing Mode directly affects or reconfigures the function of the GH com mand see ConfiguringYour Home Parameters in Chapter 5 Examples AC 5 DE 5 GH 20 Go Home in the negative dire
7. B8961 and B8962 User Manual Uy In the program above assume the input was an optical sensor which triggered on a registration mark at a position of 4 user units The figure below shows the com manded move related to the registration move 10 i PEE Endant Cann aiad Pon Accompanying the programmable Registration Command is the configurable Registration Input G also G in Serial Setup Commands To configure a Registration input from the keypad choose EDIT gt SETUP gt 1 0 gt INPUTS An input configured as a Registration Input will be designated by a G on the keypad input status display The RG Command will only function if the corresponding input has been configured as a Registration Input see note Application Notes e Registration Input is only configurable on input 1 for axis 1 and on input 2 for axis 2 The RG command cannot be used for both axes during simultaneous 2 axis moves When both axes are moving only one Registation input will register and function correctly Example AC1 VE1 DI100 RG1 GI AC 1 VE 1 DI 100 RG 1 GI This program is syntactically correct but only the RG 1 will work System Performance when Using the RG Registration Command The input capture delay is 5us Worst case position error is 9 steps at 50 rps There is a Capture Window Position Lag associated with the RG Command which is afunction of move velocity and the Position Capture Delay reaction time and can be calculated with the following e
8. B8961 and B8962 User Manual Uy RUN Runs a Program Jogs an axis or accesses Test Debugging functions like Program Trace mode and amplifier Enable Disable Reset EDIT Edits setup parameters programs tuning servos only and resets position counter Also accesses program listing and teach mode Teach mode will be implemented in a future software r evision HELP Provides help on keys menus and command syntax COPY Copies one program to another within a unit Copying a complete application including all programs setup parameters and motor configuration information Smart Drive to Smart Drive copying via the keypad will be implemented in a future software release DEL Deletes characters in the editor or entire programs from memory Arrows gt and f Vv Scroll through menu options setup choices and programs in the editor Also used to move an axis in jog mode Decimal Point Used to enter fixed point numbers Comma Used in multi axis controls to separate axis command parameters Also part of the syntax in message and variable prompt commands ALPHA Alpha plus a numeric key selects the first letter on that key Press the numeric key more than once to select second or third characters For example Alpha 1 1 selects B Other ASCII symbols such as the gt lt and characters can be selected with Alpha using the and W arrow keys ENTER Selects a choice and enters a space in the editor Sign Selects the direct
9. GH command will execute homing routines 1 Use and gt keys to select an axis 2 Use the and keys to scroll through the list of homing modes and press ESC to select 3 N Y B8961 and B8962 User Manual Uy Homing Mode Description SWITCH ONLY GH will only home to the appropriate edge of the home switch regardless of encoder mode This is the only mode available without an encoder SWITCH THEN Z GH will home to the switch align to the edge and then slowly move until an encoder Z pulse is found This mode requires an encoder Z CHANNEL ONLY GH will slowly move until an encoder Z pulse is found The state of the home switch is ignored The magnitude of the GH velocity parameter is ignored The sign of the GH velocity paramter deter mines the low speed direction This mode requires an encoder SETUP HOME EDGE Home Edge HE Axis One Home Edge NEGATIVE gt Default N EGATIVE This option selects which side positive or negative of the home switch active region the Smart Drive must find before searching for the index channel of the encoder 1 Use and gt keys to select an axis 2 Use 4 and keys to select the active edge as the positive or negative side of the home switch SETUP HOME SWITCH Home Switch HS Axis One Home Switch Norm Open gt Default Normally Open i This option selects the type of switch used for the home input for each axis A Normally Open switch connects to ground
10. R2 R3 R4 NM RM Series N Series Smart Drive Mechanical Ratio Setting EDIT SETUP MECH RATIO menu 20 to 254 20 to 254 30 to 254 40 to 254 50 to 254 6250 to 25400 1000 to 3556 120 to 254 240 to 254 50 to 254 50 to 254 750 to 2540 100 to 254 1250 to 2540 15 625 2500 to 4064 17 85714 2500 to 3556 300 to 254 600 to 254 80 to 254 80 to 254 120 to 254 160 to 254 200 to 254 250 to 254 4000 to 3556 480 to 254 960 to 254 100 to 254 100 to 254 150 to 254 200 to 254 250 to 254 5000 to 4064 5000 to 3556 600 to 254 1200 to 254 143 B8961 and B8962 User Manual T Series Smart Drive Mechanical Ratio Setting Motor Overall Ratio EDIT SETUP MECH RATIO menu Reduction Mtr Turns Inch Ratio for Inches 1 to 1 10 to 254 1 5 to 1 15 to 254 2 to 1 20 to 254 5 110442 42432 to 8303 4243 to 21090 10 00729 68640 to 6859 6864 to 17422 4 to 40 to 254 6 to 60 to 254 8 to 80 to 254 20 44177 169728 to 16973 to 21090 40 02916 274560 to 27456 to 17422 6 to 60 to 254 9 to 90 to 254 12 12 to 120 to 254 30 66265 254592 to 25459 to 21090 60 04374 411840 to 41184 to 17422 R2 Series Smart Drive Mechanical Ratio Setting Motor Overall Ratio EDIT SETUP MECH RATIO menu Reduction Mtr Turns Inch Ratio for Inches R2 10T 0 33333 10 to R2 15T i 10 to R2 20T 20 to R2 31T 500 to R2 35T 500 to R2 120T 40 to R2 102 20 to 254 R2 152 30 to 254 R2 202 40 to 254 R2 312
11. System setup is particulary easy if you are using IDC systems Select the Mechanical System and Part you intend to control with this axis and the Wizard will calculate the rest Select Non IDC Mechanics if you are using anon4DC system or motor only Select an IDC Mechanical System T Senes __ JEC2 Series EC3 Series ECS Series 2 5 coder Pe N ee SM RRA ns m Mechanic ed UMN ge Unit I B Finish 6 Clicking on the Next button will bring up the Units seh window THe SmartDrive lets you program the control in the units that work best for your application 97 H gt B8961 and B8962 User Manual Uy IDC s IDeal Command Language allows you to program your application in the acceleration velocity and distance you prefer revs z Distance rps lt I Velocity seconds zl Acceleration Finish a n BINAS RIORES MAESNEUSUIESN Select your preferences from the pulldown menus and click on Next When all axes have been configured the following window will appear This display gives you the opportunity to review the settings you have made for each axis and to return using the Back button to any parameter you may wish to change at this time Wizard Settings Axis 2 Product S6962 Resolution 25000 Encoder Mode Open loop Distance Units revs Velocity Units rps Acceleration Units seconds Mechanics Electric Cylinder N Series N 99 GeaRatio 2 1 View Axis 1 Additional Setup
12. and acceleration to use meaningful units probably inches or millimeter s This is done via the RATIO GR command The RATIO is the number of motor revs per distance unit The Distance Unit used is selected via the SETUP MECH menu from the keypad or Application De veloper Example GR5 1 means 5 motor revs per 1 distance unit Several other examples are available in the Configuring Your System chapter of your Smart Drive manual The RATIO is also used to scale the velocity and acceleration numbers when user units sec or units sec have been selected from the velocity or acceleration menus Until now since each actuator has its own revs per inch ratio data from the model number had to be interpreted and then a ratio calculated The following pages reduce that procedure to looking up the inch or mm ratio from a table sorted by actuator model number Instructions are also included to calculate a ratio for other distance units Increased positional accuracy is often achieved when using these values because some ratios aren t exact 3 5 1 is really 50 14 or 3 571428 Methods For Configuring Ratio There are three methods for entering the ratio information The keypad is probably the quickest method if your system includes that option 1 Smart Drive Keypad EDIT SETUP MECH RATIO menu 2 Application Developer Setup Axis Menu 3 Direct RS 232C connection GR Command rip U Appendix A IDC Actuator Ratios IDC Actuator Ratios N T
13. rose varie es Multi axis Operation IDC s IDeal command language is intuitive yet powerful enough for difficult appli cations The SmartDrives allow you to make multi axis synchronized moves or mul tiple independent moves that start at the same time Simple GO Commands The most intuitive and simple programs utilize the GO commands Motion parame ters for each axis are separated by commas Motion parameters consist of the AC DE VE and either DI or DA command These four parameters completely define the commanded motion profile The last parameter used by an axis is stored in a table The GO command uses the last DI or DA command processed to determine which axes move and how far they move For example 55 56 Ho B8961 and B8962 User Manual Uy AC2 5 Set acceleration of both axes VE10 3 Set velocity of both DI9 3 1 Set distance of each axis GO Start both together DI9 Moves only axis 1 because the last D command GO only had a parameter for axis 1 DI 2 Moves only axis 2 because the last D command GO only had a parameter for axis 2 In the first move in the example the GO command is used to start multiple axes at the same time The move profiles for each axis are independent While axes start at the same time the moves are independent and will follow their respective accelera tions and velocities though the axes may not stop moving at the same time The Go Point GP command allows you to move two axes along a linear path
14. 1 top line 1V12 LENGTH 1 15 Loads the part length into volatile user variable LENGTH MS1 Feed Speed Writes string beginning at character 1 top line 1V12 SPEED 05 5 Loads the speed into volatile user variable SPEED EE1 LENGTH Loads the length into non volatile system variable EE1 EE2 SPEED Loads the speed into non volatile system variable EE2 EN PARTS PARTS runs on power up unless new parameters are entered LENGTH EE1 Load the part specific variable from the non volatile variables SPEED EE2 LP NUMBER Loop NUMBER of times DI LENGTH Move LENGTH VE SPEED at SPEED velocity GO OT1TD 10TO Toggle output to indicate part done EB End the loop Block D Chapter 5 Programming Your Application Arithmetic Operands and Equations The SmartDrive supports addition subtraction multiplication and divi sion Expressions may only contain one operand Complex equations require multiple statements Variables and fixed point numbers may be mixed in arith metic equations All user arithmetic and variable storage uses 32 bit integer and fractional representation The and symbols have a dedicated button on the keypad Pressing the button will toggle between the two The and are accessed from the Alpha 0 keystrokes Examples e X Y 10 AO15 VOLTAGE ERROR Do not enter X 142 3 This statement is not legal because it has more than one operand
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16. 500 to 2032 R2 352 500 to 1778 R2 1202 240 to 254 R2 105 50 to 254 R2 155 75 to 254 R2 205 100 to 254 R2 315 2500 to 4064 R2 355 2500 to 3556 R2 1205 600 to 254 R2 108 80 to 254 R2 158 120 to 254 R2 208 160 to 254 R2 318 250 to 254 R2 358 2000 to 1778 R2 1208 960 to 254 WDDDWAWAOI OAAAAATIMYMMNNDND PP 144 Appendix A IDC Actuator Ratios R3 Series Smart Drive Mechanical Ratio Setting Histor Serai Raio EDIT SETUP MECH RATIO menu Reduction i Mtr Turns Inch Ratio for Inches R3 10T 0 1666667 0 16667 10 to R3 15T k 0 1666667 150 to R3 20T 0 1666667 10 to R3 30T 0 1666667 30 to R3 50T 0 1666667 354 to R3 100T 0 1666667 100 to R3 102 2 to 20 to 254 R3 152 3 to 30 to 254 R3 202 4 to 40 to 254 R3 505 212160 to 21216 to 53492 R3 1002 20 to 200 to 254 R3 105 5 to 50 to 254 R3 155 i 75 to 750 to 2540 R3 205 10 to 100 to 254 R3 505 106080 to 10608 to 10699 R3 1005 50 to 500 to 254 R3 108 8 to 80 to 254 R3 158 i 12 to 120 to 254 R3 208 16 to 160 to 254 R3 508 i 212160 to 21216 to 13373 R3 1008 80 to 800 to 254 R4 Series Smart Drive Mechanical Ratio Setting Motor Overall Ratio EDIT SETUP MECH RATIO menu Reduction i Mtr Turns Inch Ratio for Inches R4 10T 0 13333 8 to 60 8 to R4 15T f 12 to 12 to R4 20T 16 to 16 to R4 30T i d 24 to 24 to R4 50T 28288 to 2829 to R4 100T i 27456 to 2746 to R4 101 1 to 10 to 254 R4 151 15 to 10 to 254 R4 201 2 to 20 to 254 R4
17. 8 or 9 EN End of Routine The programs to make Parts A B C D etc are in program numbers 1 9 To continu ously cycle through put a GT SCREEN 1 at the end of each part program GH Go Home syntax GH r r Units velocity units selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Direction positive direction established in EDIT gt SETUP gt MOTOR menu Default n a The GH command initiates a homing routine seeks the home switch to establish a home reference position When it reaches home the position counter is set to zero or to the Home Offset value selected in the EDIT gt SETUP gt HOME menu The motor will move at the GH velocity n and direction specified until it either finds a home limit switch or determines that it cannot find one between the two end of ravel limit switches The Go Home move uses the last acceleration and deceleration specified The exact homing routine used and the ultimate end position of your system s home reference depends upon the values of your EDIT gt SETUP gt HOME parame ters edge level final approach direction and offset and whether or not you have specified open or closed loop moves in the EDIT gt SETUP gt ENCODER menu The control will reverse direction when the first End of Travel limit switch is encountered while searching for a Home switch If the second End of Travel switch is encountered the unit will abort the Go Home move and generate a fault
18. B8961 and B8962 User Manual Uy TEST Test and Debugging functions 12 TRACE The trace features allows you to de bug programs by M TRACE PROGRAM sequentially executing one program command ata gt time Press 1 RUN TEST TRACE 2 Enter the program name or number 3 ENTER The top line displays the program number the PR 5 LP 1 GS 0 number of nested loops and the number of nested routines The bottom line shows the command to be 3 executed when you press ENTER Each time you press ENTER the displayed command will be executed Pressing ESC halts program execution TRACE mode is not currently supported during homing operations OUTPUT This feature allows you to test the control s outputs Test Output 4 as well as the devices to which they are connected by forcing them on and off Press 1 RUN TEST OUTPUT 2 gt keys to scroll through outputs 1 8 and any OPTO positions configured as outputs 3 M Y keys to turn the output on and off Please use caution when connected to live devices The Outputs will revert to their original state when ESC is pressed NOTE The OPTO position default to Inputs They must be configured as outputs from the SETUP I O OPTO menu before being accessible from this test utility See Configuring Your System for details This selection moves your motor shaft one user unit forward and backwards This allows you to verify basic motor encoder and amplifier operation Press RUN
19. OUTPUTS Output Definition OD OUT1 Programmable PPPPPPPP v gt Default PPPPPPPP The function for each output channel is indicated by a letter along the bottom of the display The first 8 letters are for the dedicated Outputs and the last 8 letters are for Opto channels configured as outputs Opto positions configured as inputs are shown as dashes and cannot be configured without changing the OPTO position to an output 1 Use and gt keys to select an Output or Opto output channel The function of the highlighted output will be displayed on the top line 2 Once your cursor is on the desired output use W to select from a list of function configurations for each channel See next page 2 Chapter 4 Configuring Your System Character Function Amplifier Fault Brake over Current Direction Fault at Home Indexer Step Z axis At CL Limit Limit Error Move Complete Analog Output Programmable Stall Torque Mode Unstable Z Direction toy A XNGOOD gt YS x s 2 3 NCHMvuz 2 r A Amplifier Fault Output goes low on any amplifier fault An amplifier fault may be due to temperature motor short circuits excessive following error over voltage and excessive regeneration conditions B b Brake B specifies AXIS 1 b specifies axis 2 It is often advisable that applications using a ballscrew type actuator with a vertical load use a brake to prevent the load from falling in the event of a
20. Operation TO FROM PAD Copy to from Keypad The COPY TO FROM feature has been implemented which allows user setup and programs to be down PROG TO PAD FROM loaded to and from the keypad A special keypad cable PCS 5004 provides a 5V power supply and a9 pin D style connector for communications with Application Developer COPY TO FROM requires SmartDrive version v6 00 or higher and keypad firmware v2 60 or higher Contact IDC for firmware upgrades and cable information CopyTO Keypad 1 Press F2 key to select TO PAD Note Unit address is not saved in keypad Copy FROM Keypad 1 Press F3 key to select FROM Note Unit address is not set from keypad transfer In order to use COPY TO FROM with Application Developer connect the kepad to the PC using cable PCS 5004 and select Retrieve All from the Application Developer Communications menu to load data from the keypad and select Send All from the Application Developer Communications menu to load data to the keypad See the Application Developer section in the S696X B896X and 96X manu als for more information on using Application Developer DEL Menu The DEL key lets you delete any motion program M DELETE PROGRAM WV DEL currently in your Smart Drive lt Press l 1 DEL 2 Enter the number of the program to delete Or if you wish you can scroll through a list of existing program names by using the Y keys 3 ENTER Run Time Operator Interface Your keypad features an e
21. SR ee ca one Default 100 rps units fixed at motor rps This option is used to set the deceleration rate for each axis whenever configurable stop input is activated or when the ESC key is pressed while an axis is moving H gt B8961 and B8962 User Manual Uy This is usually set to the fastest controllable deceleration rate possible with mechanics in your application 1 Usethe gt keys to select an axis 2 Use the numeric keys to enter a stop deceleration SETUP MISC TEST n a Option currently not implemented Default Enabled i Will be implemented in a future software release Enables and disables the RUN TEST menu Disable the test menu to prevent operators from accessing test functions such as I O operation trace mode and test moves Use the AY keys to change the setting gt SETUP gt MISC gt PASWRD CONFIGURING KEY PASSWORDS PW Default N one PASSWORD SETUP OPRATR ADMIN CLEAR In addition to the keypad dip switches user defin l able passwords allow restricted access to the RUN EDIT COPY and DEL menus 1 From the PASWORD SETUP menu press F1 to enter an OPRATR password or press F2 to enter an ADMIN password 2 Enter password using a maximum of 4 alpha numeric characters only 0 9 A Z and a z only See S696X B896X and 96X manuals on how to enter alpha numer ic data on the keypad 3 Press ENTER to register the password and ESC to exit RUN EDIT COPY DEL RUN only All RUN functions ex
22. a CL defined move the control will maintain the torque the motor is producing at that instant For example if the following move is executing VE1 CL3 DA3 GO CL units areAmps and a SET CL FORCE input is acti vated when the motor current control is at 1 5 amps the current will be clamped to 1 5 amps lf this input is not triggered the control will clamp the current to 3 amps The SET CL FORCE input requires a valid CL move to be in progress other wise the input is ignored The SET CL FORCE input is intended for applications clamping to load cell feedback H Z axis Home Input Not yet implemented I Interrupt Run 98 When activated motion on all axes is stopped at the stop rate see Edit Setup Misc Stop Rate The current program is stopped and processing continues with the first command in program 98 If no program is running when the input is activated program 98 will run This input is ignored while the keypad is in Edit mode This is a positive edge sensitive input rather than a level sensitive input If multiple inputs are configured as Interrupts only the first edge of the first activated input will be seen If subsequent Interrupt inputs go active while the first Interrupt input is active no additional interrupts will be seen Advanced Interrupt handling can be achieved using the INT98CRTL and ARM INT98 variables The INT98CTRL variable determines whether Interrupts can be disabed or not The ARM INT98 variable allows you to arm and disar
23. an Select Axis1 or Axis 2 pulldown menu to access Smart Drives without keypads We provide this menu option to keypad users because there are additional tuning aids available with our Windows compatible Servo Tuner software D Chapter 4 Configuring Your System Key Pad Tuning The Keypad tuning utilities were designed to mimic most of the capabilities of IDC s Servo Tuner software but in a menu structure format The default gain parameters generally provide adequate performance If your application requires exceptional performance whether it be low velocity ripple fast settling times or no steady state position error you will may need to modify these standard gain parameters The keypad menu tree is shown below Explanations on the use of the TORQUE VELOCITY and POSITION toggles can be found in the Servo Tuner manual The same basic strategies presented there apply to keypad based products as well Keypad Tuning Menu Tree Axis Sub Set up Description of Set up Parameters Menus Parameters Velocity Gain Position Gain Integral Gain Feed Forward Acceleration Gain Feed Forward Velocity Gain TOGGLE TORQUE Torque toggle magnitude and period VELOCITY Velocity toggle magnitude and period POSITION Position toggle magnitude and period MONITOR MODE Configures monitor output function RANGE Scales output function NOHUNT ON OFF Anti hunt proprietary servo algorithm WINDUP ON OFF Anti Inertial windup proprietary servo algorith
24. change speed and stop MC moves based on time delays and input conditions MC Enable Move Continuous on axis 1 AC 1 Set the acceleration rate VE50 Set top speed to 50 GO Start the Move Continuous move command processing will continue when axis 1 reaches constant velocity TD2 Delay for 2 seconds at speed VE25GO Decel to 25 WT111 Wait for inputs 1 2 and 3 to go active VEO GO Stop the move Example 2 Demonstrates how to prompt an operator for speed changes on a single axis SmartDrive The move is started after the initial velocity prompt The velocity only changes when the operator enters anew value via the keypad The move can be stopped by entering a velocity of zero or when any of the stop conditions defined above exist OneAxis MC MS1 Enter the Velocity Prompt the operator 1V23 V Put the operator input in variable V MC AC1 VE V Use operator entered variable V as new speed GO Change velocity of axis 1 to the new speed GT OneAxis MC Repeat Example 3 Demonstrates how to prompt an operator for speed changes on a two axis SmartDrive Two Axis MC MS1 Enter the X Velocity Prompt the operator 1V23 V1 Put the operator input in variable V1 MC AC1 Enable MC and set acceleration on axis 1 VE V1 Use operator inputted variable V1 as new speed GO Change velocity of axis 1 to the new speed MS1 Enter theY Velocity Prompt the operator 1V23 V2 Put the operator input in variable V2 MC AC 1 Enable MC and se
25. command simply stops com mand execution The control continues to monitor the program select inputs if defined The EN command can be used anywhere in a program to stop command execu tion Example IF2 1 EN EB DI2 GO If input 2 is on stop the program or return to the calling program If not move 2 units Function Key syntax FKi i i Units n a Range i 1 28 Default n a Note 24 the ESC key cannot be assigned since it stops a program The FK command allows you to redefine a keypad key function within your pro gram The FK command pauses processing until the buttons you have armed are pressed The number of the armed button is assigned to the system variable FKEY You can then manipulate or directly use this variable to branch to other routines or make other decisions FK allows the programmer to redefine the key pad function keys as operator menu selection buttons You can even write your program with menus that look and feel like our setup menus Example FK1 2 3 4 GS FKEY Pauses command execution until F1 F2 F3 or RUN is pressed on the keypad FKEY is assigned a value of 1 4 Subroutine 14 is called with the GS gosub command 68 HB B8961 and B8962 User Manual 1A See the illustration below for the value of FKEY returned for each key The following example shows how to use the keypad function keys as an operator interface 1 Write a menu message MS on the keypad display above the correspondi
26. configured input 3 as a JOG SPEED input Programming such as IFO1J10 can help remind you that you are already using input 3 as JOG SPEED Example 1F14 1 GO EB 1F12 010 GO EB 1F110 GO OT3 1 EB IF A19 lt 5500 OT11 GO EB IF TEMP gt 50 OT1 EB IF PARTS 25 GS20 EB IV Input Variable Units n a Chapter 6 IDeal Command Reference If input 14 equals 1 Go If inputs 12 14 equal 010 Go If inputs 1 3 equal 110 Go and turn on Output 3 If analog input 9 is less than 5500 turn on output 1 and 2 then GO If temperature variable gt 50 turn on Output 1 If PARTS variable 25 Gosub to Program 20 syntax IVi variable min max Range i 1 40 display position in characters variable any legal variable name min the minimum range value optional max the maximum range value optional Default n a This command allows an operator to input variable information under program control It is typically used with the message command MS to prompt for operator input of the variable specified in IV The cursor is placed on the display at character position i The program waits until a number is entered before continuing execu tion The command will not allow you to type past the end of either line on the dis play Variables will store 4 digits to the right of the decimal place When minimum and or maximum range values are specified the IV command will not accept inputs from outside this range When a value outsi
27. device requires it to be sensitive to electro magnetic phenomena A second method is to physically separate the sensitive com ponents from the rest of the machine In many cases this is also impossible A third method is to specify components that have an acceptable level of emissions Properly installed these components will not affect the operation of other compo nents and machines In the European Union what constitutes acceptable has been formally defined The following pages contain information necessary to install and operate IDC brushless servo Smart Drives in compliance with European EMC regulations see the attached Declaration of Conformity for specific regulation details It is certainly NOT necessary to implement all of these procedures to get an IDC Smart Drive up and running Though proactively addressing EMC concerns is always a good prac tice unless the final machine needs to meet some kind of EMC standard no special precautions are needed in most cases The Smart Drives and the equipment they normally operate around have sufficient levels of immunity to operate successfully These installation guidelines were developed as a result of IDC s own testing process They are meant only as recommendations In some applications EMC regu lations may be met without implementing all these suggestions In others more extensive shielding and filtering may be needed As always it is the responsibility of the person taking the complete machine i
28. e Length Total 03125 The Smart Drive fixed point variable storage only supports 4 places to the right of the decimal place 32 bit storage of fractional decimal number Instead enter X 2 or X 2 X X 3 or X 3 and e Length Total 3 125 Multiply by the significant figures e Length Length 01 Then move the decimal place or Length Total 32 The SmartDrive fixed point variable storage supports 4 characters to the right of the decimal place 32 bit storage of fractional decimal number Boolean Operators amp And Or The operators amp and will perform the respective bitwise Boolean functions on immediate or variable parameters An application example of the Boolean operators would be isolating a specific bit from an SD Tell Drive Status response Suppose you want to determine if axis 1 drive was enabled from a program This corresponds to a bit 5 10000 Binary 16 integer in the SD response The program segment would look as follows DRIVE STAT SD1 amp 16 IF DRIVE STAT 16 MS 1 Drive Enabled EB The 16 corresponds to an integer weight of bit 5 10000 since you wish to mask out the enable bit 53 H gt B8961 and B8962 User Manual Uy Logical Operations on Expressions amp amp l Conditional commands IF WT LU LW support logical operations of AND amp amp and OR Two expressions may be logically AND d or OR d within one condi tional command For
29. f AC Acceleration HELP provides a brief alphabetical command list Full syntax and details on command usage are available in the IDeal Command Reference of this manual or from HELP in the Application Developer editor COPY Menus Copying programs from one name or number to another can save you a COPY significant amount of time when programming your Smart Drive The keypad has J its own non volatile memory which allows you to upload the memory motion programs set up and tuning parameters of one Smart Drive reconnect and download the memory contents to another unit Note Smart Drive to Smart Drive copying via the keypad is not yet implemented in the B8000 Series of Smart Drives Pressing the COPY key brings up three choices that p ___ COPY can be accessed by pressing the function keys PROG TOPAD FROM PROG Copy a Program to Another Program This selection allows you to copy any existing M SOURCE PROGRAM V4 program to anew program name gt 5 1 Press PROG 2 Enter the source program number Or if you wish you can scroll through your list of program names by using the Y keys 3 Press ENTER Then you are asked to enter the new program f the target program already exists you will have to delete it first see DEL Then M TARGET PROGRAM V 1 Enter the target program gt 5 2 Press ENTER Remember to change the name of the copied programs to avoid subroutine call conflicts 16 oe Uy Chapter 3 Keypad
30. is moving such as independent multi axis moves OT commands and conditional IF blocks One axis is not required to wait for another axis to finish a move before beginning its own move Following is an example of a program using the GI command VE1 DI20 GI MS1 Axis 1 is moving TD2 In this example once the DI20 move begins program execution immediately dis plays the Axis 1 is moving message for 2 seconds Once the TD2 command has executed the program will terminate however axis 1 will continue to move until the DI20 distance is reached A Stop Kill or press of the ESC key will halt a GI based move either inside or outside program execution 70 Chapter 6 IDeal Command Reference The GI command can cause program execution and moves to be asynchronous In order to re synchronize the end of a GI move with program execution use the Wait WT command and its new syntax i e WT 1 will wait for only axis 1 If a program error occurs during a GI move the move will stop at the Stop Decel Rate USING THE GI COMMAND EXAMPLES The following examples are provided to help further explain the use of the com mand A IfaGl move isin progress and an additional move is commanded on the same axis the additional move will not begin until the GI move has completed For example VE1 DA100 GI OT1 1 DAO GI IF1 1 MS1 All moves done TD5 EB In this program one may expect to see the message All moves done immediately after the DA
31. of the Smart Drive s keypad is to allow you to quickly and easily configure and program your system I nitial setup and configuration in most cases will require only afew minutes using the keypad While Smart Drives fully support PC based RS232 programming the setup and configuration sections of this manual often emphasize the keypad approach RS232 commands and setup definitions are in a separate chapter We strongly recommend using a keypad with your first B8000 Series Smart Drive application You will also find it an invaluable troubleshooting and machine commissioning aid during subsequent applications The following manual has been designed to help you successfully install program and operate your IDeal Programmable Smart Drive System Each section of the manual emphasizes the common theme Ease of Use If you have any questions that this manual does not adequately answer please contact our factory application engineers The manual begins with this Overview followed by a Quick Star t chapter to help you quickly confirm basic system operation Next the manual describes Communication with Your Control viathe keypad interface RS 232 interface details are covered in Chapter 7 RS 232 Operation H B8961 and B8962 User Manual Uy Chapter 4 covers the procedure for Configuring Your System to your specific equipment and application requirements It includes step by step keypad instructions on scrolling through and entering setup parameters This
32. or even to display information on the keypad screen or some other external serial device ee ec variables Limited Write 2TW Scans inputs 1 8 for BCD Digit Read Only TIME Elapsed Time ms since power up or since reset CRCS Value of the EEPROM setup checksum Read Only CRCP Value of the EEPROM program checksum Read Only Integer value of the status of axis 1 2 Read Onl See RS232 command SA y Integer value of the drive status of axis 1 2 Read Onl See RS232 command SD y Integer value of the system status os See RS232 command SS eeqenvite Enables disables ARM INT98 trigger INT98CTRL option Refer to ee 5 Configuring Your Read Write Inputs Input Descriptions Input I Enables disables INT98 input if ARM INT98 INT98CTRL is enabled f Readme Read Only 50 D Chapter 5 Programming Your System Examples of Built In Variables PIECES 10 Assigns 10 to variable SPEED A112 VEL SCALE Speed analog input times a scalar e MS21 Enter Length IV32 LENGTH Prompts user and gets feed length VE SPEED Sets velocity to value in variable e MS1 POS2 Displays current position of axis 2 on keypad screen TERM POS1 Sends the current position of axis 1 out the RS 232 port of the SmartDrive TEMPERATURE AI9 Reads in temperature from analog input e AO15 4012 Sets the analog output to 4012 Using the Built In Variable AROWREL AROWREL is a built in Boolean read only va
33. p 134 e Configuring Your System p 19 IDC Actuator Gear Ratios p 25 e Non4DC s motor operation p 21 Drive mounting p 131 e Fan Kit and RPACK connections p 132 e 1 0 software configuration p 28 1 O hardware schematics p 135 e Basic keypad operation p 7 e Programming examples p 58 e RS232 connection and usage p 91 ne UY Chapter 3 Keypad Operation Keypad Operation This chapter is meant to familiarize a first time user with the basics of IDC s keypad operation IDC s keypad functions fall into two categories The keypad functions first as a programming and troubleshooting tool Secondly it functions as an operator interface Operators can run programs make menu choices or be prompted to enter data via the keypad number keys The first section of this chapter Keypad Features defines the basic function of each button on the keypad The second section Menu Structur e gives the programmer a broad overview of how the keypad s setup and programming menus operate and fit together Detailed information about each step parameter is presented in Configuring Your Control Keypad Features 10 0001 90 000 1111111 0o000000 Display Easy to read 2 line 40 character back lit supertwist display F1 F2 F3 Function Keys Used as Menu selectors Used with numeric keys to select commands in the editor Programmable as operator menu selections See the FK command for information on using the function keys within a program Y
34. port 5 4 5Vdc analog centered at 2 5V Variables of vel pos vel error OPTO compatible I O 8 OPTO compatible Any G4 I O module analog amp temperature Controller Performance Positioning Range 2 147 483 647 steps absolute and incremental Velocity Range 0 to 1 250 000 steps sec motor and voltage dependent Acceleration Range 0 01 to 999 99 rev sec Environmental DriveTemperature Thermal Shutdown occurs if the drive heatsink temp exceeds 55 C Motor Temperature Max winding temp 135 C thermostat protected Humidity 0 90 non condensing Power Input 90 230VAC single phase 50 60Hz 1150VA 115VAC 2300VA 230VAC for the B8961 2300VA 115VAC 4600VA 230VAC for the B8962 Motor Output Current 5 amps continuous 10 amps peak Protection Protected against phase to phase shorts shorts to ground Internally fused 133 iD B8961 and B8962 User Manual Uy B8961 and B8962 Hardware Connections Digital Brushless Servo Smart Drive AC Power Input and RPACK Output Top View CAUTION High Voltage On Exposed Terminals EY PAD CONNECTOR 5VDC RX 5 Terminal TX Power GND Connector N C Motor Encoder Hall inputs Bottom View 10 11 12 13 14 S 16 ba batat dt a b f ul B8961 and B8962 I O Pinouts Caution High Voltage On Exposed Terminals 134 He 0 yde Chapter 8 Hardware Reference B8961 and B8962 Input and Output Schematics Programmable Input Schematic
35. register 22 D Chapter 4 Configuring Your System NOTE EDIT gt SETUP gt ENC gt INRANGE gt WINDOW and the IR serial command have an alternate functionality with servo SmartDrive systems See the B8961 2 manual for more details Axis One PMGain EDIT gt SETUP gt ENC gt PMGAIN 15 Configuring Position Maintenance Gain PG Default 10 Range 1 32767 The position maintenance gain value is an integer factor usedin determining the velocity at which the position maintenance correction move will travel Correction velocity is calculated as displacement correction gain in units of steps sec Therefore the larger the displacement the faster position maintenance will attempt to correct position For example if the correction gain is set to 3 and an active dis placement of 3200 steps occurs the correction velocity will be 3 3200 9600 steps sec 1 Use and gt keys to select an axis 2 Usenumeric keys to enter anew position maintenance gain and press ENTER then ESC to register gt SETUP gt ENC gt PMMAX i ia pir a Configuring Position Max Velocity PV Default 1 RPS Range 0 005 9999999 The position maintenance maximum velocity value sets a velocity limit in which position maintenance will attempt to correct position Regardless of the magnitude of displacement or correction gain the correction velocity will never exceed the maximum velocity setting 1 Use and gt keys to sele
36. reset via a Warm Boot input or by cycling power to start program scanning after an active Stop Scan event This option has no effect if the inputs have not been config ured as program select inputs either BCD or Binary 1 Each event is represented by one of seven Y N positions on the bottom display line Use and gt keys to select a stop scan condition The selected event will be listed to the right of these 7 characters ESCape STOP LIMIT LIMIT KILL FAULT or INTerrupt 2 Use 4 and keys to enable Y or disable N the selected event 3 oO B8961 and B8962 User Manual 40 SETUP PROG DELAY Scan Delay DY Scan Debounce Default 100 ms _DELAY ms _ The DELAY time sets the amount of time the control requires the program select inputs BCD or Binary to remain stable before the control will recognize and run a program The minimum time is 1 ms If program select inputs are not stable for a time equal to or greater than the specified delay the program will not be executed Use numeric keys to enter a value in ms i RS232 RS 232C Configuration RS232 SETUP ECHO UNIT If you plan to use the serial communications port on your Smart Drive you can use your keypad to turn the auto echo on and off and set the unit s daisy chain address The baud rate of 9600 is fixed on the Smart Drive Fixed RS 232 parameters e Baud rate 9600 Data bits 8 Stop bits 1 e Parity none SETUP PROG ECHO E
37. sec is in terms of the output revs using the Distance Ratio as the gear ratio rps is in terms of the motor revs SO eee ceric e eel Ay Distance z Motor Revs revs ae J LCP Acceleration feos ds Max Velocity rps Backlash revs Accel Limit seconds Jog Menu The parameters which control your jog operation are configured using the Jog menu shown below If programming with acceleration in rate rps2 or rev sec2 change Jog Accel to appropriate value 6962 G Axis 1 C Axis2 Fab hacia AA Jog Accel seconds win 050 Joh twa OK Cancel Limits Menu Your B8961 2 has a builtin homing function which combines the flexibility of a 101 oe B8961 and B8962 User Manual I yde customized homing routine with the ease of use of calling a canned program Also see the GH command in the IDeal Command Reference chapter for more details on homing PENET x 56962 f Home Switch p Home Final Direction gt To Switch only Normally Open To Switch then Z Channel ToZ Channel only Positive C Normaly Closed on Home Offset End of Travel Switch Home Edge C Normally Open C Positive Mel at e E a ea WAR TENNARA NAR Te UN OMI PARESI NAG J Sui AAS at UE Horde edd ne EE Te Tuning Menu The tuning gains can quickly be changed in this menu Default gains are input based on the motor selected It is not recommended to change these values unless
38. that starts and stops at the same time The control uses the most recent value in axis 1 the first parameter to specify the AC VE and DE values along the path see exam ple 1 below In most cases your program will be easier to understand if you rede fine these parameters as a single value for the path see example 2 below GP uses the last distance value for each axis to determine the end points of the linear move The two examples below result in identical GP moves Example 1 Example 2 AC2 3 AC2 VE4 10 VE4 DE 5 DE 5 DI5 6 DI5 6 GP GP GO and GI commands support additional parameters providing more advanced fea tures The additional parameters allow you to Start each axis based on different conditions Start one axis with an input while another is moving Start one or more axis moving based on one input Start different axis based on different inputs Reduce the size of a program by using fewer move commands Cee Orr GO supports an extended syntax to allow these other move specifications GOi i or Gii i i 0 16 integers only The extended syntax always explicitly defines which axes will move Only those axes which have an active input defined by i will move and the last move parame ters will define the shape and length of the move profile An axis will start moving when the input defined by i turns on You can start dif ferent axes at different times by using different integers i for each axis Setting i 0 wil
39. time time of the program select inputs 103 1 B8961 and B8962 User Manual D A Miscellaneous Setup M Esc M Lmte Intenupt F Kil M Stop F Lmt F7 Fault Stop Scanning Program Select Lines After Allows you to select the conditions under which program select input scanning stops Scanning will resume upon cycling power sending serial reset command or asserting a Warm Boot defined input File Menu Applications programs and configuration files may be stored on disk as DOS files The default suffix is idc The other selections under File are generic to all Window s applications The idc program file is a configured text file It can be viewed in a text editor program as well or viewed in the View Configuration Text File IDC Motion Applica GEM Edt Setup Industral Devices Corporation 1 800 747 0064 104 D Chapter 7 Programming with Serial Communication Program Editor The Program Editor features the standard windows editing features Cut Copy and Paste plus Send Run and Stop Undo Delete and Select All are available by pressing the right mouse button and an online HELP file may be reached via the F1 key or selected at the bottom of the editor Delle lle 2 ZA ella 2 lt lt Prev Next gt gt end Bun Stop E Commands Acceleration AC On Function Key FK Message MS Current Limit CL Go Home Move GH Program Name Curent Hold Time CT Golmmediate G Set Output
40. to select an OPTO channel The top line displays whether the channel is currently configured as an input or an output 2 Once your cursor is on the desired channel use WW to select INPUT or OUTPUT Your IDeal Programmable Smart Drive is compatible with almost any manufacturer s G4 or G5 digital OPTO modules OPTO 22 Grayhill Gordos etc However at the time of this printing only Grayhill s analog modules are compatible with our control Other manufacturer s analog modules do not fit into a G4 footprint IDC stocks the following Opto modules which may be specified when ordering an IDeal Programmable Smart Drive Chapter 4 Configuring Your System Order Code I O Module Description Opto 22 Grayhill P N p n PAN A PCB 1210 10 32 VAC VDC Input G4IDC5 B PCB 1211 TTL Input G4IDC5K C PCB 1212 35 60V DC Input G4IDC5G D PCB 1213 90 140 VAC Input G4IAC5 E PCB 1214 180 240 VAC Input G4IAC5A F PCB 1215 5 60 VDC 3 Amps Output G4ODC5 G PCB 1216 12 140 VAC 3 Amps Output G40AC5 H PCB 1217 Output 24 280 VAC 3 Amps G4OAC5A PCB 1218 Input Test Switch G4SWIN J PCB 1219 0 10 Volt Analog Input 73G IV10 K PCB 1220 4 20 mA Analog Input 73G 11420 L PCB 1221 0 10 Volt Analog Output 73G OV10 M PCB 1222 4 20 mA Analog Output 73G O1420 N PCB 1223 J Type Thermocouple Input 73G ITCJ 0 to 700 C O PCB 1319 K Thermocouple Input 100 to 924 C P PCB 1224 RTD Thermocouple Input 73G ITR100 100 Ohm More inf
41. turn outputs 1 and 2 on delay 5 seconds and turn outputs 1 and 2 off See also System variable TIME in Chapter 7 ProgrammingYourA pplication 88 VE Velocity Units Range Default Chapter 6 IDeal Command Reference syntax VEr r selected from the EDIT gt SETUP gt MECH menu 002 50 rps Range is scaled to velocity units 1 motor rev per sec rps VE sets the maximum velocity during a move profile If the acceleration rate is not high enough or the move distance is not long enough the motor may end up making a trian gular velocity vs time move and the motor may never reach the specified speed Once VE is specified the value is used in all subsequent moves until re defined Example AC 1 DE 2 VE50 DA4 GO Move to absolute position 4 units with atop speed of 50 units sec Units n a Range i starting input number 1 16 x 0 input high x 1 input low grounded x an ything but 1 or 0 ignore the input level expression any valid expression as defined in the math and variables section Default n a Syntax WTi xXx WTxx assumes first input is input 1 WT expression WT 1 used with GI moves This command waits for the specified condition to be true before continuing execution of aprogram To increase fl Either digital or analog input conditions may be used exibility the WT command allows you to use configured inputs in the expression To help prevent this added flexibility from causi
42. upon activating the input specified by n STO disables turns off the STn command ST 1 stops move execution on axis 1 ST 2 stops move execution on axis 2 ST 1 2 stops move execution on both axes ST n functions identically to the STn command without the use of an input allowing program command conditional motion termination After the ST command is executed the specified input is monitored during every move profile If the imput is activated the current move in progress is terminated stoping all motion until the input is deactivated or a STO is processed the drive will process and calculate commands but it will wait at the next GO command until the ST input changes The motor is stopped at the deceleration rate specified in the Stop Decel Rate setup parameter Once issued Stop on Input remains active until it is turned off by the STO command a reset is issued or power is cycled Example Move to absolute position of 6 distance units If A gt 10 motion is stopped AC 1 VE25 25 DA6 6 GI Move to 6 absolute distance units and Go Immediate IF A gt 10 Check value of A assume A was previously defined ST 1TD1 ST 2 top motion on axis 1 wait 1 sec then stop axis 2 EB ST 1 2 Stop motion on both axes TD Time Delay syntax TDr Units seconds Range r 01 to 99999 99 seconds Default n a Delay r seconds before executing the next command Example VE50 DI4 GO OT11TD 5 OT00 Move 4 units
43. using the tuning software Clamping Menu The Break Velocity and Clamping units may be selected in this menu For further description see the CL CT section 1 O Setup Click on the I O Setup button Fa EASIT To define a dedicated function for each input and output scroll through the pull down lists and select from the available choices 102 Chapter 7 Programming with Serial Communication 170 Configuration 7 i Aisin Atual Dutput Discrete Outputs 170 Configuration Virtual triouts Vetual Outputs Discrete Inputs Discrete Outputs 1 0 Power Stop om Hel oe N 1 Unacsioned Sw ne ow x x 2 Unasined SO om lk 3 Unassigned X Input off x x s Unasa e Int Ot Kai oe Unassigned input Off x x e Unsion a a om x 7 Unasined Sw cow E amp Unassigned a Input Off x x X Unchanged OK Cancel Miscellaneous Misc Setup Click on the Misc Miscellaneous button Misc Setup contains three configuration categories that include options available in the PROGRAM SETUP and RS 232C SETUP menus detailed in Chapter 5 Diagnostic Display Format Allows default display to be changed to position velocity blank current inputs out puts OPTOs status axis or system or user defined text Program a Sets the SmartDrives address b Sets the program to run on power up No program will run if set to 0 c Sets the debounce scan
44. using tuning software See tuning software help file for further info Velocity Gain Factor lt n gt KVrr Not recommended to change unless using tuning software See tuning software help file for further info 114 EZ Chapter 7 Programming with Serial Communication Serial Setup Commands These are the commands that the Application Developer program uses to configure the SmartDrive according to the choice made in the SETUP dialog boxes Command Description and Application Examples Motor Direction Reference lt n gt MDi i 0 Positive direction 1 Negative direction Example MDO one positive Motor Inductance lt n gt MHi i Fixed in B8961 2 by motor type See MT Motor Current lt n gt Mii i Fixed in B8961 2 by motor type See MT Motor Resolution lt n gt MRi i Default 8000 steps rev Fixed in B8961 2 by motor type see MT MT v OONOAARWN B31 110V 25 3804 110V 10u 54 3810 220V B32 110V 3804 220V 10u 55 3810 3804 110V 5u 56 3810 220V 0 5u 28 3804 220V 5u 57 OTHER 3804 110V 1u M Maximum Velocity lt n gt MVr r Example MV50 0 axis one 50 units selected by VU command Output Definition lt n gt ODaa Example OD PPPPPPPP All 8 outputs defined as aaaaaaaa Programmable outputs All 8 output states must be aaaaaa specified See also ID OP 115 Motor Type Selects a built in motor type Note Linear motor types are negative i 0 NONE B23 110V 1 2504 110V 10u 30 3804 220V 1p B23 220
45. when activated A Normally Closed switch is pulled high when activated 1 Use and gt keys to select an axis 2 Use 4 and keys to select the switch type NORM OPEN or NORM CLOSED SETUP HOME OFFSET ONESTE HO Axis One Home Offset Default 0 0 Distance Units 0 0 rev gt This option sets the home offset for each axis After a successful homing move the home position the default home position is 0 0000 is set to the offset value 1 Use and gt keys to select an axis 2 Use the numeric keys to enter anew home offset value in DIST units A home offset allows you to have separate systems with identical programs in them All you have to change is the home offset value for each machine lt helps reduce start up time since your home limit switch can now be almost anywhere lt also reduces the time necessary to get a system back up and running should your home switch ever get damaged or moved Example Home Offset 1 0000 When the control finds the home position it sets the position counter to 1 0000 distance unit The absolute zero position counter is now referenced 1 unit behind the mechanical home position All absolute moves will be referenced from the absolute zero position 38 Chapter 4 Configuring Your System SETUP HOME FINAL Home Final Direction HF Axis One Final Dir POSITIVE gt Default POSITIVE Specify the final approach direction of your Go Home GH move with this option This is the di
46. 100 move begins In reality the program will wait at the DAO GI until the DA100 move has completed before continuing More simply stated a move can not be commanded to begin on an axis that is already moving B For multi axis systems GI allows moves within a move For example VE1 DA100 GI LP5 VE 10 DI 5 GO EB C Since GI allows program execution to continue there can be programming issues when using GI For example in the following program fragment LP VE2 DI10 GI OT1 TD1 OTO EB VY The program above will humchicm aa shorn hers NOT ae Shicaaey ere AXES Cita T After the first pass through the loop command LP will wait at the GI command since subsequent GI moves must wait for the present move to finish 71 H gt B8961 and B8962 User Manual U D Another issue is programming conditional GI moves within IF blocks for exam ple LP IF1 1 VE5 DI20 GI OTXX100 EB IF2 1 MC VE 10 GO EB IF3 1 VE 0 GO EB EB In this program when input 1 is asserted the GI move will be commanded how ever since the program will continue executing input 1 may still be asserted on the next loop iteration This will cause a second GI move to be commanded which may be undesirable To avoid this situation the addition of a WT1 0 after the IF1 1 will ensure that input 1 is only seen once since it has to be deactivated to allow the program to continue Vi Axis T Y Axis 2 T E DI1 GI DI 5 GO DI1 GI Yio Thesbose proget w lun
47. 108 125 Using the DC formula and solving for DCn therefore the must be greater than or equal to a position of 12 5 distance units In addition to verifying the DC trigger position it must also be verified that the DC VE2 5 seg ment can be completed before the beginning of the move deceleration Suppose the was chosen to be 13 35 a valid trigger position use the beginning of the decel ramp as the DC in the DC formula A deceleration from 2 5 to 0 requires 1 a N ERT 19 13 35 2200 8 ses distance unit in 0 8 seconds therefore Since the result is positive the DC13 35 VE2 5 is a valid segment Examples of DC move profiles AC 05 DE 05 VE10 DA4 DC1 OT100 DC2 OT010 DC3 OT001 GO While moving to an absolute position of 4 units turn on output 1 at 1 unit output 2 at 2 units and output 3 at 3 units AC 05 DE 09 VE30 DA6 DC3VE15 GO Move to absolute position 6 units with a starting speed of 30 At 3 units reduce speed to 15 change on fly and complete mo ve AC1 DE 5 VE20 DI 8 DC1 OT10 DC3 OT01 GO Move an incremental distance of negative 8 units After 1 unit turn on output 1 and after 3 additional units of motion turn off output 1 and turn on output 2 AC 05 DE 15 VE50 DI15 DC5VE10 DC5VE5 GO At a starting speed of 50 begin moving an incremental distance of 15 units After 5 units ramp down to 10 speed After an additional 5 distance units ramp down to 5 speed and continue until the final position is reached AC 1 1 V
48. 501 5 11044 42432 to 4243 to 21090 R4 1001 10 00729 68640 to 6864 to 17422 4 to 40 to 254 6 to 60 to 254 8 to 80 to 254 20 44177 169728 to 16973 to 21090 40 02916 274560 to 27456 to 17422 6 to 60 to 254 9 to 90 to 254 12 12 to 120 to 254 30 66265 254592 to 25459 to 21090 60 04374 411840 to 41184 to 17422 R4 106 R4 156 R4 206 R4 506 R4 1006 a seese 145 EJ B8961 and B8962 User Manual NM RM Smart Drive Mechanical Ratio Setting Motoi Overall Ratio EDIT SETUP MECH RATIO menu Reduction Mtr Turns Inch Ratio for Inches 20 to 254 50 to 254 80 to 254 100 to 254 Steps for Entering Custom Distance Units when ratio for inches is known instruction Example 1 Select User Units Select a preferred unit of measure for linear distance This will be centimeters used for programming distance and can be used for velocity and acceleration as well 2 Determine Overall Mechanical Ratio Look up actuator mechanical inch ratio Units must be 6 25 motor turns inch motor turns inch 3 Convert Ratio to Turns User Unit Convert turns inch ratio by multiplying or dividing by the same 6 25 2 54 cm in factor you would to convert inches to your preferred user unit 2 4606 4 Convert Decimal Ratio to Ratio of Two Integers A Multiply by the power of ten required to move decimal point to 2 4606 x 104 the far right Note that a maximum of six digits can be entered into 24606 from
49. 62 User Manual 0 yde FK1 and FK2 Fan Kit The FK1 and FK2 Fan Kit Option may be necessary if air flow across the B896n heat sink is extremely poor or if the ambient temperature is excessive The FK1 and the FK2 are the 110VAC and 220VAC versions of IDC s fan kit They can be ordered individually for drive mounting in the field or ordered as part of a system i e B89614K 2 for factory mounting Since the B896n supplies power to the fan no additional wiring or mounting is required See Appendix C for additional information on the fan kit including mounting dimensions RPACK 1 and RPACK 2 Mounting Installation RPACK 1 and RPACK 2 The RPACK 1 and the RPACK 2 B8000 series wiring diagram are packaged power dump devices consisting of high voltage power resistors a heatsink and a cooling fan They are accessories to IDC s B Series controls The RPACK 1 has a 110VAC fan while the RPACK 2 has a 220VAC fan Please note that unlike a fan kit the RPACK is a standalone box that does not share a power supply with the B8001 Top View of B8000 Series Power Regen Connector Use 18 gauge braided insulated wire for Regen connection 6 pin RPACK connector H S Series B Series Regen Common Ee Earth Ts 11SVAC or 230 VAC C E 115VAC or 230 VAC RPACK 1 115 VAC or RPACK 2 230 VAC An RPACK is typically used S00 ind miax fan power when it is necessary to very rapidly decelerate heavy vertical loads or large iner
50. B8961 and B8962 Brushless Servo Smart Drives This manual covers the following IDC Products B8961 1 axis Brushless Servo 5 S Dri O pe rato r S M a n u a B8962 axis Brushless Servo P N PCW 4744 Rev 1 9 illest 10 0001 90 000 1111111 oo000000 C DA NAHES A 1A 0 Ye Table of Contents Table of Contents PRODUCT AND MANUAL OVERVIEW ccscssccssccsscssccsccsscssccsccesccsccsscnscosscesces 1 SHIPPING GONTIENTSscccitthsearchtavidegehensl tien sdsianed daatanl denen dies loiter dade Maa 2 QUICK START aa aeaaea a RE a a E AS ADA ESERE ESEESE 3 KEYPAD OPERATION crociere osease EEEE EEA aaa RS 7 KEYPAD FEATURES Kritonin a A etitn haat teenttiteearerate 7 Keypad Har dware Features ccccccscsscsssessesscsscescessessecsecessessssesecesesessesessessesesessessessseseeseaseass 9 DiPSW AItCH ES sieve ccscsevashs aves cet tthasssadeaiavs deh alee aadatan erdarara aaao kadaa adaki ea Nerita diaa 9 Contrast heata E A EESE AE AE EE E eE A EEA E AKEN Kea aK aN at 9 Remote MOUNTING raserede a aa a et aa Taai 9 KEY PAD PROGRAMMING MENU STRUCTURE ccccccsccssessccsssesssesscsssessessssseseseesesersersesaserses 10 RUN MOTUS sei eaa E E E a AEE TATO NA Ea Ea APERE ERES AP OA an ioiii 10 PROG Running ProgramSnsscaiandien kai ae iol dea Aaa 11 JOG Jogging the MOtor seis veins aeelea eek aaa 11 TEST Test and Debugging FUNCTIONS cceeescsccsssescesssessescsecsesaesressescesssesatsrssaseats 12 EDIE MENUS oean
51. E Velocity Example VE50 sets speed for the next move to 50 in units set by the VU command WT Wait on Input Condition WTi ii Example WT1 0 GO wait for input 1 to turn off nWTiii before starting move 1 axis to wait on lt n gt WT expression lt n gt WT i 119 HD B8961 and B8962 User Manual Uy Commands Not Available In Hosted Mode The following set of commands can only be executed if they are part of or within a program Ca p ooo i Ce p p i LU LW WT Function Key Loop While Serial Immediate Status Commands Serial Immediate Status commands are processed immediately upon receipt rather than waiting in the buffer for previous commands to finish They can be issued while a program is running or while motion is in progress They can t be stored within a program Using Immediate Status Commands Serial Immediate Status commands are provided for two purposes One is to allow a host control to query the SmartDrive in real time for system position and I O status The second is to provide a means to do in depth troubleshooting via RS 232C These commands will interrupt the SmartDrive and generate a return They do not affect operation of the SmartDrive In atypical hosted mode application all machine operations and decisions are per formed by a high level device Motion commands are generated and downloaded to the SmartDrive by this host device such as a computer or PLC The following command
52. E10 20 DI10 10 DC5 5VE20 10 GO Move an incremental distance of 10 units on axis 1 and 2 After 5 units on axis 1 ramp up to a speed 20 after 5 units on axis 2 ramp down to speed 10 Note that these velocity changes both take place after 5 distance units but they do not take place at the same time 65 Y B8961 and B8962 User Manual Uy DE Deceleration syntax DEr r Units sec rps or unit s2 Range unit scaling dependent Default n a Sets the deceleration ramp on all negative velocity changes The deceleration value will be the same as the acceleration value unless a deceleration is specified The value set will be used on subsequent moves unless it is re specified by either an acceleration AC or deceleration DE command Examples AC2 VE12 DA3 GO Sets acceleration and deceleration to 2 DE 5VE12 DA6 GO Accel stays at 2 and decel changes to 0 5 VE20 DAO GO Acceleration and deceleration remain at 2 and 0 5 AC4 DA2 GO Both acceleration and deceleration become 4 DE3AC1 DI3 GO AC1 sets both the accel and decel to 1 DI Distance Incremental syntax Dl r r Units selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Default n a DI specifies a move distance relative to the current position Such moves are called incremental moves as opposed to the absolute zero reference used in DA Incremental moves are typically used in applications where there is no concern for origin such as feed to length applicati
53. GO Wait for analog input 12 lt 45000 lt 5 3 VDC using the previous example before moving IF Al12 lt 45000 GO EB Go if analog input 12 lt 45000 59 Ho B8961 and B8962 User Manual Uy Ts pdin ipu iya hex Configuring an Analog Output 60 The analog outputs of SmartDrives are 12 bit outputs The value of the analog out put is scaled to this 12 bit 0 4095 resolution If you have a 4 20 mA output you will have an output resolution of 004 mA The output value is set with the system variable AOn n 9 16 The value of n corresponds to the OPTO position of the analog output To configure an OPTO position as an analog output 1 Configure the position as an output using EDIT gt SETUP gt 1 0 gt OPTOS 2 Configure the output position as analog using EDIT gt SETUP gt 1 O0 gt OUTPUT The analog system output variable has a range of 0 4095 12 bits 0 is the mini mum output and 4095 is the maximum value of the analog module you are using Example 4 20mA output module O 4mA 4095 20mA AQ 15 256 Sets the analog output to 5 mA ng Uy Chapter 6 Programming Commands Programming Commands This chapter defines in alphabetical order all of IDC s IDeal commands that can be used in aprogram Please refer to Chapter 4 Using the Keypad for more infor mation on entering these commands with the keypad Some IDeal commands are supported only in serial communication mode These commands are listed and defined in C
54. GTx or ONn GSx where n is the event type and x is the interrupt program number or name n L On End of Travel Limit The syntax for clearing a previously defined event conditional is ONn 0 where n is the event type as listed above and 0 zero is the clear event designator Once an ON event has been defined it is active in all user programs and need not be redefined unless the user wishes to change the interrupt program type number or name or clear the event condition Example Using ON to handle an EOT event POWERUP ONL GT ON EOT GT HOME MAIN LP VE5 DA20 GO DAO GO EB ON EOT IF SA1 amp 256 VE1 DA0 5 GO GT HOME EB VE1 DA0 5 GO GT HOME HOME GH3 GT MAIN Goto ON EOT on an end of travel input Home the machine Loop infinitely Define move Define move Check if EOT switch was hit bit 9 in SA Move off EOT switch Home the machine Move off EOT switch Home the machine Home jump to main loop He 0 yde Chapter 6 IDeal Command Reference OT Output syntax see below Units n a Range i starting output number 1 16 x 0 output high OFF x 1 output low ON x anything buta 1 or 0 the state of the output remains unchanged Default n a Syntax OTi xx OTxx assumes first output is 1 Sets both discrete and digital Opto output states Once an output is turned on it will remain set until changed by another output command a reset input so
55. Incremental Dl r r Example DI 3 42 Enable Axis i 0 disable drive i 1 enable drive i 2 standby Example EAO disables axis Go Immediate Move Continuous O Set Outputs Example OT5 101 turns on outputs 5 and 7 turns off output 6 Go Home Example GH10 Send String Over Serial Port Example GO End of Move sends End of Move out serial port after move See also TERM Registration Example RG3 5 ae Set Position Example SP15 0 set axis position to 15 0 Square Root Example SQ16 x 118 oy Chapter 7 Programming with Serial Communication Serial Programming Commands The commands in this category may be sent to the SmartDrive s buffer and executed on a first in first out FIFO basis This execution does not require you to create or download any pro gram to the SmartDrive s volatile memory See Chapter 6 Programming Commands for com plete definitions Command Description and Application Examples Stop on Input Example ST4 DI50 GO motor will decelerate to a stop or remain stopped if input 4 is activated STO disables the input Time Delay Example OT1 1 TD 12 OT1 0 Turn Output 1 on for 120 msec TERM Output Variable with Serial Port Similar to MS command used with front panel Outputs variable the serial port Built in variables or user defined variables can be output Can be used with Example TERM POS1 See also Send String Over Serial Port ST TD V
56. Industrial Devices Corporation 64 Digital Drive Novato Califormia 94943 Phone 415 382 4300 Gj FAX 415 883 2094 www idemotion com industrial Devices Corporation 1 800 747 0064 2 Select the product you are configuring 6962 in this case and click on the Next button Note an a B8962 will be configured in this example of using the Project Wizard If you are configuring an B8961 you will only be configuring one axis The Wizard Navigator left of photo allows you to quickly locate your cur rent position at any time during the setup process The column of boxes repre sents the axes to be configured A box s color represents its configuration sta tus i e gray indicates a parameter that has not been configured yellow indi cates the current position of the Wizard parameter being configured and black indicates that the parameter has been configured Select A Product C 6361 C SmartStep 6962 C StnartStep 240 C 961 SmartStep23 Wizard gine N C B8361 CIRE Navigator C B8362 C PC 104 56962 Dual Axis Programmable Microstepping Drive 96 Chapter 7 Programming with Serial Communication 3 Click on the Next button and the Motor setup window will appear IDC Project Wizard B8961 Control 4 Motor m m Mechanics m ui Finish yy Ye 4 Select the motor and AC voltage that will be used and select Next 5 Click Next and you will be in the Mechanics setup window Mechanical
57. OT2 1 Output 2 DC3 Set point to turn on 0T3 1 Output 3 GO DNA OF CTIA To input a 4 Digit BCD number reading 2 Digits at a time GET 4 BCDS Returns value of 4 digit BCD number OT01 Connect ground of first two BCD digits 4 DIGIT BCD 2TW 100 Make value of first two digits the MSB OT10 Connect ground of 2nd two BCD digits 4 DIGIT BCD 4 DIGIT BCD 2TW Add value of 2nd two to 1st two 100 Reading an Analog Input The value of the analog system variables Al9 16 are scaled from 14 400 to 72 000 Hz This value is actually a scaled frequency read by the SmartDrive These input values are updated every 16 milliseconds If your program needs to display this value in units such as VOLTS you will need to scale the value to VOLTS in your pro gram The scale number you use will depend on which analog input you are using For example a J thermocouple uses a different factor than a K thermocouple Example Using a 0 10 VDC analog input 0V 14 400 10V 72 000 or 5 760 Hz volt VOLT AI12 Read the value of analog input 12 into variable volts VOLT VOLT 14400 Remove frequency offset VOLT VOLT 1 736 Scaling factor multiplied by 10 000 VOLT VOLT 0001 Scaling back to volts The variable VOLT is now in units of volts lf you are waiting for a condition to occur or doing a comparison see below there is no need to go through the con version process TEMP AI9 Read in temperature from analog input WT AI12 lt 45000
58. P MECH VEL menu SETUP JOG HI VEL Jog High Velocity JH Axis One Jog Hi Vel F 2 0 in gt Default 2 0 Velocity Units la This option sets the high speed jog velocity used during a jog move 1 Use and gt keys to select an axis 2 Use the numeric keys to enter a new high jog velocity value in the same units you selected in the SETUP MECH VEL menu SETUP JOG ENABLE Jog Enable JE Axis One Jog Enable Default Enabled is ENABLED 2 This option enables or disables the jogging features of the control When disabled an error message is displayed when the jog buttons are pressed Jogging functions are often disabled once a machine is installed to pre vent operators from accessing them 1 Use and gt keys to select an axis 2 Use and X keys to enable and disable the function HOME Homing Configuration M HOME SETUP y MODE EDGE SWITCH Your IDeal Programmable Smart Drive has a builtin homing function which combines the flexibility of a customized homing routine with the ease of use of A HOME SETUP y u OFFSET FINAL calling a canned program Also see the GH command in the IDeal Command Reference chapter for more details on homing gt SETUP gt HOME gt MODE Axis One Home Mode Configuring Home Mode HM SWITCH ONLY 1 gt Default SWITCH ONLY Any OPEN LOOP encoder mode SWITCH THEN Z Any CLOSED LOOP encoder mode The homing mode parameter establishes how aGo Home
59. P MEN U r O a dagelastort daca folate i deeiees a diy 20 MOTOR 3 Motor Drive Configuration oo cccceccscssceseesecessssscssceseesesseceesceseesessscsessssesssseesgs 20 ENC Encoder Configuration cccccccscessessssssssccsscescessesscsecsseessecsscseceesesessessecsessesseasenss 22 MECH Mechanical Configuration oo ccecceeseessesscssceseesseseccseceseeseesecseseseesecesssseceesessenees 24 YO Input amp Output Configuration oo cccccccscssssssssscesseseesscesscsecessesssessecseesssesseeaes 28 JOG Jogging Configuration csdevveorsisrsvacvecosiesseecessbecvstadertectesteiesveseleste ENE AEN 36 HOME Homing Configuration oo cece cccscccssessessecsscseceseesessecseeeseeessessceesessesssecseseeeeeseeaes 37 PROG Program Run Configuration c ccccccscsscsscsssessessecsscseceseesscsecseseseeeseessseceesessesssaeees 39 RS232 RS232C Configuration nissin cea sveesteavis a a a tele cateeWasveaecds 40 MISC Miscellaneous Configuration Parameters ccccscccssessccscessesscsscseeceseessesesseseeseseeaes 40 TUNING YOUR SERVO SYSTEM ccccccsccssssssccsscesssecsecsscesseseeceeceeseesecceseseesaesescessassessasersensassasenees 43 COMPpENSALOR kraha a a a a a et e a T EET E Aa 44 DEPE PAAU E A EE A A E A ET 44 Key Pad TUNNG a a a e A ea A a a 45 Keypad Tuning Menu Tree s sssssssssrisiiisisiitit ttit tt tt tn taka EAE AEANENEAEAEAEAEANENENENENEENENENEE EEEE EE EEEE 45 GAINS Setting the Servo GainS cceccscsssccssccssssessssssscsesescses
60. PPER V gt Default STEPPER S696X N A B896X INDEXER 96X Configuring R SRVO Motor Type MT Axis One R Srvo Type gt SETUP gt MOTOR gt TYPE gt R SRVO B32 110VAC V gt Default N A S696X NONE B896X INDEXER 96X This option specifies the type of rotary servo motor connected to the B896X SmartDrive and the operating voltage level The motor parameters used for drive configuration have been specifically tailored for IDC supplied rotary servo motors 1 Use the and gt keys to select an axis 2 Use the 7 and keys to scroll through the list of IDC s rotary motors 3 Press the ESC key to select None Sets K and Kj gains to Zero B12 110VAC B22 110VAC B22 220VAC B23 110VAC B23 220VAC B23H 110VAC B23H 220VAC B32 110VAC B32 220VAC B33 110VAC B33 220VAC B40 110VAC B40 220VAC B41 110VAC B41 220VAC B42 110VAC B42 220VAC BN21 110VAC BN23 100VAC BN31 110VAC BN 32 110VAC H3 110VAC H4 110VAC or OTHER Default None Consult the factory if you intend to use a non IDC motor See Chapter 7 RS232 Operation for information on configuring a Smart Drive for anon4DC motor Chapter 4 Configuring Your System CAUTION If the motor type is set incorrectly the motor may be damaged Specifying the incorrect voltage will not damage anything but different current loop gains are used so system instability may result The safest way to change motor types is to Power up the control without the motor
61. Required for View Axis 2 Home Offset Finish caret lt Back flees EE tered pisaa T 9 When you are satisfied with the setup of your system click on Finish Note that the Wizard Navigator now indicates that all axes and parameters have been configured After Using the Setup Wizard Your basic system setup parameters have been configured by the Setup Wizard and though the system is functional your application will probably require further con figuration and fine tuning The remainder of this chapter provides the same setup information as configured by the Setup Wizard plus more detailed information on each parameter to allow more control of your system and greater capacity for applications The Setup Wizard remains available at any time by clicking on the Wizard button The Axis Setup I O Setup and Misc toolbar buttons provide access to the setup parameters that will be explained throughout the remainder of this chapter Setup Tool Bar Buttons To access the setup windows and menus simply click on the desired toolbar but 98 Chapter 7 Programming with Serial Communication tons as shown here Axis Setup Click on the Axis Setup button The first menu to appear will be the Motor menu as shown below Note please refer to Chapter 5 for detailed descriptions of setup parameters IDC Motion Application Developer untitled idc Eile Edit Setup Communications Run yiew Help nelas yml Ze
62. SETUP dialog boxes Command Description and Application Examples Home Offset lt n gt HOsr Example HO1 0 axis one 1 0 distance unit r Home Switch lt n gt HSi i 0 Normally Closed 1 Normally Open Example HS1 uses a normally open home switch this is the default setting Input Definition lt n gt IDaaa Example ID UUUUUUUU The first 8 inputs are aaaaaaaa unassigned All 8 input states must be specified aaaaa See also OD OP Note The G Registration Command is only valid for Input 1 Idle Mode lt n gt IL0 0 Not used in B8961 2 fixed at 0 In Range Window B896X only lt n gt IRi i Sets In Range window in motor steps Default 0 Not recommended to change unless using tuning software IT In Range Time B896X only lt n gt lTi i Sets In Range time limit within In Range Window in milliseconds Default 10 Not recommended to change unless using tuning software JA Jog Acceleration lt n gt JAr r Example JA 01 01 Units selected by AU command Jog Enable lt n gt JEi i 0 Jog Disabled 1 Jog Enabled Example JE1 enabled Jog High Velocity lt n gt JHr r Example JH5 0 5 in units selected by VU command Jog Low Velocity lt n gt JLr r Example JL1 5 1 5 in units selected by VU command Integral Gain Factor lt n gt Klr r Not recommended to change unless using tuning software See tuning software help file for further info Position Gain Factor lt n gt KPr r Not recommended to change unless
63. SmartDrive x 0 Input Off x 1 Input On x anything else Input level Don t Care Mathematical expression Any valid conditional or logical expression Note An End of Block EB command must be used with every LW command LW will continue to iterate while the specified condition is true LW checks the condition at the beginning of the loop block therefore if the condition is false on the first iteration the block is immediately skipped Loop Until LU defines loops where the condition is checked at the end of the loop block The standar d software allows up to 16 nested loops one inside the other A GT command within an LW loop will terminate the loop clear the loop stack and jump to the new program Following are examples of programs using LW Example 1 A 0 LW A lt 10 DI10 GO A A 1 EB In this example the loop is executed 11 times with a final position 110 distance units Example 2 A 10 LW A gt 20 DI10 GO EB In this example the loop is immediately skipped since the A gt 20 condition is false Example 3 LWXX1X1 MS1 Inputs 3 amp 5 are on EB GT Inputs Off In this example the loop will continue to execute as long as inputs 3 and 5 are on Example 4 LW4 1 MS1 Input 4 is on EB GT Input Off In this example the loop will continue to execute as long as input is on 79 H gt B8961 and B8962 User Manual U MC Move Continuous syntax MC Units n a Range n a Default n a MC sets mov
64. T T yde Chapter 8 Hardware Reference Hardware Reference B8961 and B8962 Smart Drive Mounting Your B8000 Series Smart Drive arrived ready for a minimum depth cabinet mounting By moving the mounting bracket to the narrow side of the heatsink you can mount the Smart Drive in a minimum width configuration MINIMUM WIDTH MOUNTING MINIMUM DEPTH MOUNTING 0 73 10 08 B8961 2 93 B8962 6 79 The B8961 and B8962 depend on air flow for cooling In all p 5 86 os but the least demanding applications the following mounting guidelines should be obser ved i Allow clearance approximately one inch for a FK1 or FK2 Bagen a Popen fan kit if the available airflow appears marginal The fan kit ida Minimum Depth Configuration It adds 1 05 in to the width if adds 1 05 in to the depth of the B896n if mounted in the mounted in the Minimum Width Configuration d mi e The heat sink fins should be oriented vertically for convection he 5 86mi currents to flow along the fins The vertical clearance betw een a B8000 drive and other equipment or surfaces of the enclosure should be a minimum of 6 0 inches and horizontal clearance should be a minimum of 3 0 inches e B amp 96n e High heat generating equipment should not be mounted directly below the B8000 Smart Drives F Forced air cooling may be necessary if air flow is extremely poor or the ambient temperature is excessive 131 He B8961 and B89
65. V 1 2504 220V 10u 31 3804 110V 0 5p B32 110V 1 2504 110V 5u 32 3804 220V 0 5p B32 220V 1 2504 220V 5u 33 3806 110V 10u B41 110V_ 1 2504 110V 1u 34 3806 220V 10u B23 220V 1 2504 220V 1u 35 3806 110V B23 110V 1 2504 110V 0 5u 36 3806 220V B23 110V 1 2504 220V 0 5u 37 3806 110V OTHER 1 2506 110V 10u 38 3806 220V 1p B12 110V 10 2506 220V 10u 39 3806 110V 0 5 B22 110V 11 2506 110V 5u 40 3806 220V 0 5 B22 110V 12 2506 220V 5u 41 3808 110V 10p B23H 110V 13 2506 110V 1u 42 3808 220V 10 B23H 110V 14 2506 220V 1u 43 3808 110V B31 110V 15 2506 110V 0 5u 44 3808 220V B31 110V 16 2506 220V 0 5u 45 3808 110V B33 110V 2508 110V 10u 46 3808 220V B33 110V 18 2508 220V 10u 47 3808 110V 0 5 B40 110V 19 2508 110V 5u 48 3808 220V 0 5 B40 110V 2508 220V 5u 49 3810 110V 10u B42 110V 21 2508 110V 1u 50 3810 220V 10 B42 220V 22 2508 220V 1u 51 3810 110V BN21 110V 2508 110V 0 5u 52 3810 220V BN23 110V 24 2508 220V 0 5u 53 3810 110V B8961 and B8962 User Manual Serial Setup Commands These are the commands that the Application Developer program uses to configure the SmartDrive according to the choice made in the SETUP dialog boxes Command Description and Application Examples ETI Ouput States on Event lt n gt OEaz iii Configures output states on an event specified by a iiiiiiiiiiiii OPTO positions 9 16 are only definable if configured as an ouput
66. a Ea EAK AASER iE 131 B8961 AND B8962 SMART DRIVE MOUN ING ss ssssssssssrssnrrrssrrsnrrnnrsnnrannrnnnrrnnnranranrnnrrnnrrnerernt 131 PRA and FKZ Fan Kit enunt a A i lanes 132 RPACK 1 and RP ACK 2 Mounting Installation 0 cee eccscsccseeseessessecseseseesessesseseseesseesees 132 Remote Keypad Mounting eisena E E E E E a 132 B8000 SMART DRIVE HARDWARE SPECIFICATIONS ssssssssssrsenrsennrrsnrsnnrnnnrnnnrnnrrnnnnrnnrrnnrrnnrenne 133 B8961 AND B8962 HARDWARE CONNECTIONS cccsccccesccsssececsscesssescesessseseseeesssresssseeessress 134 B8961 AND B8962 INPUT AND OUTPUT SCHEMATICS ssssssssssrsensrrenrssnrnsnrsnnrnnrrnnnnrnrrrnnrrnerenne 135 TROUBLE SHOOTING dcccssssdicecscsiccsccestvccacs cesceccesccescsestaccuscotacercesccesceestsccnssoeses 137 SYMPT OMS AND SOLUTION Sesionin a aA 137 IDC PRODUGCT SUPPORT sociso enoiosa neeesser iiano 139 FACTORY AUTHORIZED DISTRIBUTORS cccccccscscsssscccsscecsssecsreecseeecsceeesceesceeeesseessecsetesseeeegs 139 REGIONAL ORELGES E EE A A EEA EAEE EAEE AEA A E 139 TOLL FREE TECHNICAL SUP ORT r ra area aa arti a a aE a hates 139 CAD LIBRARY iei a aa E aa aaaea eaaa eaa aaia 139 WARRANTY amp REPAIRS oriin iiie ie iia 139 INDEX EE E S 140 APPENDIX A IDC ACTUATOR RATIOG ccsccsscosccsscssccsscescesccsscescesscsces 143 CONFIGURING INCH amp MM UNITS ON SMART DRIVES USED WITH IDC ACTUATORS 143 Methods For Configuring Ratio c cccescscssccsscessessesecseeeseeseecsscsecesees
67. ak loop increment variable A by 1 BR command jumps here Display message HD B8961 and B8962 User Manual Uy DA Distance Absolute syntax DA r r Units selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Default n a DA sets the next move position referenced from absolute zero The absolute zero position is established after a Go Home move GH and or with the Set Position SP command Absolute positioning is typically used in applications where you are moving to anumber of known locations or if your physical work area is restricted Incremental DI and absolute moves may be mixed the control always keeps track of the absolute position Examples AC2 DE 5 VE12 DA3 GO Moves to absolute position 3 units DA3 GO DA3 GO Moves once to absolute position 3 units Units selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Default n a DC is used to define acomplex multiple velocity move profile or to change an Output at a specific point during the move t defines a position at which a change will occur on the fly while the motor is still moving At the specified position you can change the velocity or change the state of one or more outputs The DC command must follow a DA or DI command which specifies the total move distance The DC distance is interpreted as an absolute position when used with DA and an incremental position when used with DI When used with DI the
68. and position profiles Since the B Series Smart Drive is a fully digital drive motor data must be downloaded to it prior to operation When an IDC MOTOR TYPE is selected from the EDIT SETUP menu in the Keypad or Application Developer motor data and tuning parameters are downloaded from the controller s non volatile memory to the drive s on board memory This data includes motor winding information pole count and encoder resolution These files also contain default tuning parameters The tuning parameters have been optimized for use with IDC motors and actuators They work very well with inertia ratios up to about 15 to 1 Most applications in fact over 80 require NO ADDITIONAL TUNING The B Series Smart Drives also allow you to monitor the performance of the drive during machine integration Each axis has an analog Monitor Port that can be configured to output position and velocity error as well as commanded velocity commanded torque and actual torque in real time scaled to user defined units The Monitor Ports along with an oscilloscope make a powerful diagnostic tool The Monitor Port is a 12 bit analog signal updated at 2 kHz IDC s DSP based servo Smart Drives use an easy to understand digital servo algorithm so tuning is straightforward You also have the option of invoking two additional proprietary algorithms AntiHunt and Inertial AntiWindup which may further improve your system s performance Your Smart Drive can be completely tuned
69. asy to read 2 line 40 character back it display that can be easily remote mounted to a panel and exposed to industrial NEMA 4 environments While motion programming and system configuration procedures using the keypad are defined by IDC runtime operation i e how the machine operator will interface with the Smart Drive falls completely within the customer s control Here are some of the operating functions you can program with the Smart Drive Run a program on power up on input signal from a PLC or RS 232C host command e Within a program prompt the operator for any program variable the number of parts to run size of parts speed etc e Run apart or program by name Lock out operators from programming functions For more information on programming your Smart Drive s operator interface see the Programming Your Application and IDeal Command Reference chapters 17 1 o PA Chapter 4 Configuring Your System Configuring Your System This chapter presents a straight forw ard intuitive procedure for Configuring Your System to your specific equipment and application requirements The following configuration section contains detailed step by step directions for customizing the B8961 and B8962 to your specific application and mechanical requirements IDC recommends that even experienced users follow this procedure in its entirety Following all the SETUP steps will insure that no critical parameters are overlooked The task of conf
70. avel Switch Polarity ET Default NORM CLOSED This option allows configuration of the EOT switch Axis One EOT Pol polarity as NORM OPEN or NORM CLOSED to accommodate the use of either type of switch 1 Use and gt keys to select an axis 2 Use the and W keys to select NORM OPEN or NORM CLOSED and press ESC to register JOG Jogging Configuration Your IDeal Programmable Smart Drive s keypad 4 JOG SETUP V gives the programmer and the machine operator ACCEL LO VEL HI VEL if desired a convenient way to jog the motor The parameters which control your jog operation are set using the JOG SETUP menu Note The Units used by the Jog parameters are configured from the SETUP MECH menu M JOG SETUP V Jog Acceleration JA Axis One Jog Accel Default 0 3 Accel Units 0 3 sec gt This option sets the acceleration and deceleration used during ajog move 1 Use and gt keys to select an axis 2 Use the numeric keys to enter a new jog accel decel value in the same units you selected in the SETUP MECH ACCEL menu 36 Chapter 4 Configuring Your System SETUP JOG LO VEL Jog Low Velocity JL Axis One Jog Lo Vel 0 5 in sec gt Default 0 5 Velocity Units i This option sets the low speed jog velocity used during a jog move 1 Use and gt keys to select an axis 2 Use the numeric keys to enter a new low jog velocity value in the same units you selected in the SETU
71. cept TEST RUN EDIT COPY DEL If no passwords are defined there are no menu Enter Password restrictions If passwords are defined pressing RUN EDIT COPY or DEL will display the password prompt Entering the wrong password or pressing ESC at the password prompt will return the keypad to the standard run time display Selecting EDIT gt SETUP gt MISC gt PASWRD gt CLEAR will delete all passwords NOTE Once a valid password is entered the pass Password word prompt is replaced by the USE LAST RESET USE LAST RESET prompt Select USE LAST F1 to use the last entered passw ord or RESET F3 to require the password to be reentered i e require the next user to enter the password This allows for subsequent use of the RUN EDIT COPY and DEL keys without requiring the password to be entered each time 42 T 0 PA Chapter 4 Configuring Your System Tuning Your Servo System Your B8961 or B8962 IDeal Programmable Smart Drive is a high performance servo drive and motion controller in a single package Your entire servo system includes the Smart Drive motor and encoder The encoder provides motor position and velocity feedback to the Smart Drive You create a motion program using the IDeal programming language The Smart Drive generates move trajectories and motor torque based on your hightevel commands which tell the motor where to go lt also takes care of closing the servo loops which force the motor to follow the velocity
72. chapter covers initial motor settings O configuration and defining the mechanics of your system IDC s Windows based Application Developer also follows the same menu structure described here Chapter 5 Programming Your Control provides detailed program and application examples and strategies Other topics include variable usage user menus math functions and analog I O Our IDEAL command language is generally regarded as the easiest motion control language in the industry It is both easy to remember and intuitive without sacrificing flexibility or power In Chapter 6 Command Ref erence this alphabetical listing of Smart Drive commands explains in detail syntax ranges defaults and provides programming examples Chapter 7 RS 232 Operation is for users who plan to use the Smart Drive in an RS232 hosted mode or who wish to program and configure the drive via RS232 IDC s Application Developer program follows a standard Windows dialog box structure to make configuring and programming the Smart Drive control straight forward This section also covers RS232 command syntax and definition for users who are not using Windows The Hardware Reference chapter provides detailed I O schematics as well as motor drawings cables and specifications The Troubleshooting chapter lists a series of common application problems along with their symptoms and solutions Included with this manual is the Application Developer cd rom DC s Application Devel
73. cho Enable EC RS232 Echo Default ENABLED M ENABLED NV This option is used to enable or disable the RS 232C echo If the ECHO is disabled characters received by the control s serial port will not be re transmitted ECHO must be enabled in daisy chaining applications Use the Y keys to enable or disable the ECHO SETUP PROG UNIT Unit Number UN Schnee Default 1 i Range 1 99 Limited to 1 15 in firmware version 1 40 and earlier This option is used to set the unit address Each unit in an RS 232C serial daisy chain of multiple units must have a unique Unit Address Refer to the section on daisy chain operation in the RS232 Operation chapter for more information on this type of application Use the numeric keys to enter the unit address MISC Miscellaneous Configuration Parameters The following miscellaneous set up parameters Z4 MISC SETUP V include auto formatting of the keypad display setting DISP STOP RATE TEST the deceleration rate used with a stop input or the ESC key while an axis is moving and disable enable M MISC SETUP v the TEST menus accessible from the RUN function FAULT ENABLE PASWRD key Chapter 4 Configuring Your System gt SETUP gt MISC gt DISP DISP DF lt Quad 1 gt Quad 2 DF Quad 3 Quad 4 Default Quad 1 POSL Quad 2 POS2 dual axis units BLANK single axis units Quad 3 INPUTS Quad 4 0UTPUTS Display format allows teh user to customize the data d
74. cion ae shin balre Bol As ai iii T Y T F DI10 GI DI 2 GO DI 2 GO DI10 GI Yio The above proget wel luncton ae shin bolo ied fs sda 72 G VAR1 10 LP EB EN Axis 2 DI55 10 VE10 10 AC 5 5 GI MS1 MS1 AI9 WT 2 TD 5 DI 10 GI IF8 1 OT10 1 TD 1 OT10 0 EB WT 2 TD 5 DI 10 GI DIST VAR1 1000 TERM DIST WT 2 OT2 1 WT 1 OT1 1 DAO 0 GO Chapter 6 IDeal Command Reference initialize Variable Beginning of Loop Block Define Two Axis Move Start Go Immediate Move Both Axes Clear Screen Write Analog Input 9 to the Screen While Moving Wait for Axis 2 to Stop Moving Time Delay of 0 5 seconds Define Axis 2 Move of 10 units Start Axis 2 GO Immediate Move f Input 8 is on Turn on Output 10 Time Delay of 0 1 seconds Turn off Output 10 End of If Block Wait for Axis 2 to Stop Moving Time Delay of 0 5 seconds Start Axis 2 Go Immediate Move Do Variable Math while Moving Send Value of DIST Variable out of Serial Port Wait for Axis 2 to Stop moving Turn On Output 2 Wait for Axis 1 to Stop Moving Turn On Output 1 Move Both Axes Back to Starting Position End of Loop Block Restart Loop End of Program 73 Y B8961 and B8962 User Manual Uy GO Go Start a Move syntax GO or GOi i Units n a Range i 1 16 Default n a GO executes a move profile defined by some combination of AC VE DE DI DA DC or MC commands A
75. connected Change the Motor Type setup parameter to the new motor Remove power Connect the motor Re apply power Axis One Drive Res EDIT D SETUP MOTORPRESS 8000 counts rev V gt Motor Resolution MR Default B Motors 8 000 H motors 8 000 BN Motors 4 000 Oh PO Ne IDC s B8961 and B8962 Smart Drives allow you to set a different drive input resolution than the actual resolution encoder This option specifies the input resolution for each axis of your digital servo smart drive in counts per motor revolution This is a very useful feature when retrofitting microstepping systems It is very important that the encoder resolution E RES is set to your post quadrature encoder resolution D RES can be set at the users discretion 1 Use and gt keys to select an axis 2 Usethe y and ENTER keys to select from a list of drive resolutions available 200 400 1000 2000 5000 8000 10 000 18 000 25 000 25 400 and 36000 Your mechanics and application needs will dictate the choice of D RES For example if you want to move in 1 degree increments a D RES choice of 18 000 will allow 50 motor steps per degree and prevent any resolution induced rounding errors SETUP MOTOR DIR PA A eS i Motor Direction MD Default Positive This option provides a convenient way to change which direction the motor moves w hen you program a positive distance command When POSITIVE is selected as the motor direction the EOT limit swi
76. ct an axis 2 Usenumeric keys to enter anew position maintenance max velocity in the same units selceted in teh SETUP gt MECH gt VEL menu and press ENTER the ESC to register Axis One Encoder Res EDIT SETAR ENE ES M 4000 counts rev V gt Encoder Resolution ER Default 8 000 for B motors 2 000 for H motors 4000 for BN Motors This option is used to set the encoder resolution for each axis The resolution is specified in encoder pulses per revolution of the motor post quadrature 23 H B8961 and B8962 User Manual Uy Specifying the wrong encoder resolution will prevent the Smart Drive from properly communicating the motor and could damage it as well as cause unstable system behavior For this reason IDC fixes the encoder resolution for our servo motors Consult the factory if your application requires using another motor or resolution encoder 1 Use and gt keys to select an axis 2 Usethe y and ENTER keys to select from a list of encoder resolutions or use the numeric keys to enter the encoder resolution SETUP ENC FOL ERR j n male eae Following Error Limit FE Default 8 000 counts This option defines the maximum position following error allowed during motion A fault occurs when the error between the commanded and feedback signal exceeds the Following Error value Range 0 524 000 step counts 0 OFF If a Following Error occurs the control will enter a fault state where e Any motion or program being ex
77. ction at a speed of 20 AC 5 DE 5 GH20 Axis one Go Home in the positive direction at a speed of 20 Axis two Go Home in the positive direction at a speed of 18 Application Note from the IDC Applications Engineering Group Regarding Simultaneous 2 Axis Homing Routines e g GH5 5 When the move is executed the control looks at the Home 1 and Home 2 inputs This homing routing has three phases 1 Going Home initial move toward Home switch 2 Shuttle Move reverse and search for first switch edge 3 Low Speed Home move to final switch edge positive or negative Both axes will not complete their homing routines independently When a Home switch is triggered on axis 1 for example axis 1 stops and waits for axis 2 s Home switch to be triggered Basically the homing routine will not move to the next phase Shuttle Move or Low Speed Move until both axes have completed the cur rent phase If type H and h outputs At Home 1 and At Home 2 are being used they will both turn on when the entire homing routine has been completed not individually GI Go Immediate syntax GI or Gli Units n a Range n a Default n a The GI command begins a defined move profile in the same manner as the GO command Unlike the GO command where program execution waits until all defined moves have terminated G allows program execution to continue once the move has begun This allows for other program defined processes to take place while an axis
78. ctual motion of anew profile will occur after a short cal culation of the motion trajectory GOi pre calculates the move and waits for Input number i to activate before exe cuting This variation is sometimes useful for applications needing very short repeatable move calculation delays It is more often used simply to shorten code since it functions like the combination of Wait on Input and Go WTi GO yet it pre calculates the move Like other commands using 1 0 GOi does not restrict you from using an input even if it has been configured for some predefined function Example AC 05 DE 05 VE50 DI5 GO GO initiates calculation of a move profile using buffered parameters 05 unit Accel and Decel Ramp speed 50 5 unit incremental move and then executes it AC 05 DE 05 VE50 DI5 GO2 When input 2 is activated immediate execution of the motion calculation already in the buffer is performed NOTE If you have a multi axis control refer to the section on multi axis moves in Programming Your Application It contains important information on multi axis syntax and synchronization GP Go Point Linear Interpolation syntax GP or GPi Units n a Range n a Default n a The GP command allows the SmartDrive to execute a linear interpolated move An example of the GP move is as follows Y 4 2 x The units and values for path velocity acceleration and deceleration in GP moves are specified by the parameters traditionally defined
79. current position in user units based on encoder mode selected Can report specifically com manded or encoder position when PAa n is used a Commanded Position E Encoder Position i 1 2 axis Examples PA2 Returns axis 2 position PAC 1 Returns axis 1 commanded position Since B8961 2 is always servo closed loop 123 De B8961 and B8962 User Manual Uy Serial Immediate Status Commands Note All but the S and K commands require an address Command Description and Application Examples Tell Axis Status lt n gt SA1 Returns the current axis status as a four digit hexadecimal number preceded by an asterisk Your controller program will decode the hexadecimal number to determine the axis status Example SA1 returns O02A lt cr gt This means Axis 1 is not moving the last move completed successfully and the home switch is on Status seus epep e 7 e e eee ot ft for fot for or for for for foron orfon ot fon fo O a a NE YR Parameter Definition Not Moving 1 1 Steps being sent to the amplifier Moving O No steps being sent 1 Stepping at a constant rate includes zero At Velocity 2 velocity 0 Step rate is changing 1 The correct number of steps were sent with out an amp fault following error or hitting an End of Travel limit 0 Reset to zero at the beginning of each move 1 The last homing move was successful Home Successful O At power up reset to zero at the start of the next jog GO or GH Home Switch S
80. d Highly resonant mechanical system Tuning parameters are set too hot One EOT limit switch is active Control and Drive directions conflict with each other High accelerations and duty cycles IDC motors are rated up to acase temp of 100C and are protected by a thermostat Possible Remedies Check for binding or reduce acceleration and duty cycle Contact IDC s application dept Load correct file via Servo Tuner Check for binding or reduce acceleration and duty cycle Select the correct motor model AND voltage from SETUP MOTOR TY PE EOT inputs must be connected to COM viaa jumper wire or aNC switch before motion can take place Check the distance units and the Gear Ratio setting in the EDIT SETUP MECH menu Check the dipswitch settings on the back of the keypad to selectively disable keypad functionality Check for keypad disable input configuration Configure as output from the EDIT SETUP I O menu Select the correct motor and voltage from the SETUP MOTOR TY PE menu Change home switch active level from the SETUP HOME SWITCH menu Move the switch the motor with respect to the switch or run in OPEN LOOP MODE Check for drive faults with the keypad or the the SS command Drive requires Normally Closed limit switches Inputs should be jumpered if not being used The default drive configuration is NONE Select the correct motor and voltage from the SETUP MOTOR TY PE menu Ch
81. de the range is entered one of the following messages is displayed on the keypad Input below minimum Press ESC to resume Input above maximum Press ESC to resume These variables can then be used in a math equation conditional expression or to set any command parameters Example DA DC VE AC LP IF TD etc A variable can be used anywhere in aprogram where areal number or integer could be used Due to the nature of converting decimal numbers to binary and back care must be taken in performing math on variables used in LP statements LP will truncate the non integer portion of the variable For example COUNT 25 2 LP COUNT will only loop 4 times because COUNT 4 9999 A small offset can be added to vari ables used in LP statements to avoid this problem COUNT COUNT 1 will guarantee that COUNT will be greater than 5 so the program will loop 5 times Example MS1 MS1 How many IV12 PIECES 1 15 MS1 MS1 How long IV12 LENGTH Clears the Display Writes string beginning at character 1 top line Waits at 12th character for the of pieces in the range 1 15 Clears the Display Writes string beginning at character 1 top line Waits at 12th character for the of pieces LP PIECES Loops the number of pieces entered DI LENGTH GO EB Defines the desired move length distance Moves the length commanded Ends the loop T7 Y B8961 and B8962 User Manual Uy LP Loop syntax LPi Units
82. dit Help Copy or Delete menus After a continuous move segment has started command processing will continue when constant velocity is reached Other commands are then processed sequentially This allows you to e Have asynchronous inputs change the speed of an axis e Make motion profile changes based on time delays or input states e Manipulate I O while moving as a function of time distance or input states e Change speed based on analog inputs or variables e Have an operator update the speed of an axis through the keypad e Servo to an analog input Make aone or two axis joystick using analog inputs e Start a continuous move on one axis and make distance based moves on another If a motor is making a move when it comes to the end of a program the motor will con tinue moving even after the program ends This allows you to e Put different MC moves in different programs and select different speeds by running different programs Change speeds based on Binary or BCD program select lines e Call MC moves as subroutines Run from hosted RS232C mode where the computer commands speed changes e Run another program from the keypad that does not violate MC syntax So you could run another program from the keypad to change speeds move the other axis manipu late I O interface with an operator or calculate arithmetic 80 Chapter 6 IDeal Command Reference Example 1 Basic Move Continuous syntax Demonstrates how to
83. dshaking is required Note that some RS 232C devices require handshaking such as RTS and CTS It is the responsibility of the user to disable this handshaking via software or hardware Making RS 232C Connections to the B8961 2 Make your RS 232C connection as shown below The SmartDrivetoPC Cable IDC P N PCS4852 is an ideal choice for making trouble free connections Making the Connection Using Sma Cable Bera PIN PCS 4582 Computer Connectors a w se8 ae 4 ae TX k 2 9 3 9 COM e a 5 GND 7 GND 91 92 H B8961 and B8962 User Manual Uy Troubleshooting Serial Communication Problems If communications between computer and SmartDrive are unsuccessful one or more of the following procedures will usually solve the problem 1 Test your terminal or terminal emulation softw are Unhook the drive and trans mit a character An echoed character should not be received If an echoed char acter is received you are in half duplex mode Jumper your host sTX and RX connections and transmit another character If you do not receive the echoed character consult the manufacturer of the host s serial interface for proper pin outs Host transmit TX must be connected to receive RX of the drive unit and receive RX of the host must be connected to transmit TX of the drive lf communication fails try switching connections on either the host or the drive Many serial ports require handshaking Ju
84. e s non volatile memory for later execution This category of commands is identical in syntax and functionality to the equivalent keypad command These runtime RS232C commands are listed in the RS 232C Command Reference but the full definition and examples are listed in Chapter 6 Prog ramming Commands The third category of Serial commands is Serial Immediate Status Commands These commands bypass the normal command buffer and are executed immediately regardless of what else the SmartDrive has been asked to do These commands include instantaneous position reporting drive status and emergency kill and stop commanas The final category is Serial Supervisory Commands These are the actual uploading and downloading of the setup and program parameters Once an application with setup parameters and command has been created these commands are used to download and upload the file to and from the SmartDrive Sample idc File 108 To familiarize yourself with IDeal RS 232C commands review the following example of a typical file created in Application Developer for download to a B8962 You will need to generate a similar file to configure your SmartDrive Individual programs can be downloaded in such a configuration file or downloaded separately at run time The SmartDrive can also execute run time commands in an immediate mode outside of any program See the Command Syntax section of this chapter for more details Chapter 7 Programming wi
85. e IDeal RS 232C programming and setup commands are listed alphabetically later in this chapter Application Developer provides a graphical control configuration environment a program development editor and a terminal communication package Application Developer also provides application upload and download utilities and an ondine software reference help utility This chapter is divided into 4 main sections Section 1 covers common RS 232C details including baud rate settings as well as hardware and daisy chaining informa tion All RS 232 users will need this information Section 2 covers the installation of Application Developer Section 3 covers Using Application De veloper to setup and program SmartDrive systems Section 4 provides details on all of the RS 232C setup commands that Application Developer employs This section will be useful to users who are not using Windows or who plan to run the SmartDrive in a hosted envi ronment i e the host streams down individual commands for immediate execu tion or calls previously defined programs The host could be a PC RS 232C equipped PLC or some other type of intelligent device DC recommends that even users whose final application will be run in hosted mode use Application Developer to initially configure their system Section 1 RS 232 Protocol IDC s SmartDrive series controls use a 3 wire implementation of RS232C The RX TX and COM lines are the serial signals supported No hardware han
86. e RS 232 command that relates to the parameter being set is in brackets below the keypad menu structure RS 232 command syntax details are in the RS232 Command Reference section of Chapter 7 Each SETUP step follows the format of the example below In App Developer click on SETUP I O RS 232 input Keypad configuration strokes m SETUP I O command needed to get to the input set up Input Defn ID IN1 unassigned MENU Default UUUUUUUUUUUUUUUU BBRBKREJUVVU ETY The function of each input is easily configured using the k eypad as described on the fol lowing page 19 B8961 and B8962 User Manual l SETUP Menu 4 SETUP Pressing the EDIT key followed by the SETUP MOTOR ENC MECH function key reveals three menus i Pressing Y reveals a second and a third set of menus M SETUP Vv Each of these sub menus are explained below O JOG HOME NEW MOTOR CONFIGURATION M SETUP 20 PROG RS232 MISC The structure of the motor type selection menu has changed in order to accommodate the addition of Motor Type the built in linear servo motor files plust the expan STEPER R SERVO L SERVO sion of the B servo motor series The MOTOR TYPE menu option now has three sub menus STEPER for step motor drive parameters R SRVO for rotary servo motors and L SRVO for linear servo motors Configuring Stepper Motor Type gt SETUP gt MOTOR gt TYPE gt STEPER Axis One Motor Type STE
87. e loop block therefore the block is always executed at least once even if the condition is true on the first iteration Loop While LW defines loops where the conditional is checked at the beginning of the loop The standar d software allows up to 16 nested loops one inside the other A GT command within a LU loop will terminate the loop clear the loop stack and jump to the new program Following are examples of programs using LU Example 1 A 0 LU A 10 DI10 GO A A 1 EB In this example the loop is executed 10 times with a final position 110 distance units D Chapter 6 IDeal Command Reference Example 2 A 10 LU A lt 20 DI10 GO EB In this example the loop is executed once since the A lt 20 condition is true on the first iteration Example 3 LUXX1X1 MS1 Inputs 3 amp 5 are off EB GT Inputs On In this example the loop will continue to execute as long as inputs 3 and 5 are off Example 4 LU4 1 MS1 Input 4 is off EB GT Input On In this example the loop will continue to execute as long as input is off LW Loop While Condition True syntax LW See Below Units n a Range n a Default n a The Loop While LW command defines a loop block in which loop iterations are based on a conditional result The syntax for LW which is identical to the IF com mand is as follows Syntax LUi xx LUXx LU Mathematical expression or expressions 2 where i starting input number 1 8 SmartStep 1 16
88. e of improper gain settings disabling the amplifier is the only way to stop the out of control oscillations Just pressing the ESC key and stopping the toggle won t stop an unstable system These same toggle hot keys are active in the GAIN sub menu so tuning changes can be made and evaluated while the system is actually moving CAUTION The toggle generates instantaneous torque velocity and position commands The amplifier and motor will not be damaged but your mechanics may be damaged by these vey aggressive moves Monitor Monitor Port TUNING AXIS TOGGLE 1 PressMODE F1 o EDIT MONITOR 2 Pick parameter to monitor with the and 4 MODE RANGE buttons Choices include actual velocity commanded velocity position error and actual torque 3 Press RANGE Enter the range of values you want to monitor The units depend on the parameter being monitored Connect your oscilloscope to Mon 1 or Mon 2 for axis 2 and Mon Ref to view the selected parameter This output is updated at 2kHz anytime the Smart Drive is powered up Actual torque and velocity can be recorded while the program is running and the axis are moving Anti Hunt NOHUNT and Inertial Anti Windup WINDUP are two additional servo compensation rE ATL EE We algorithms which you can utilize with your Smart Drive Details on these proprietary algorithms are provided in the Servo Tuner manual 46 He UY Chapter 5 Programming Your Application Programming You
89. e profiles to continuous move utilizing AC and VE parameters M ove Continuous is enabled on an axis with the sign MC enables the mode for axis one MC enables the command on axis two and MC enables both axes DI DA and DC commands reset the mode to distance Each Move Continuous segment must contain aGO command Accelerations and veloci ties may be changed in any segment If no change is specified to one of these parame ters the last value will be used It is not valid to issue positional commands DI DA DC GH SP to an axis while it is in a Move Continuous mode However you may make dis tance based moves on the other axis while running one axis continuously Any command is valid within an MC segment except Distance Commands DA DC amp DI The direction of the move is specified by the sign of the VE parameter If the sign of the VE parameter changes between two segments the control will automatically stop the motor at the programmed rate and change directions to the new speed This makes changing directions based on variable inputs very easy to program using a scaled vari able as the VE parameter Once a Move Continuous segment is started it will continue to move at the speed speci fied by VE until either another VE is commanded the ESC Key is pressed or an End Of Travel Kill Motion Interrupt or Stop Input is activated A commanded velocity of zero VEO stops an MC move Motion will also stop if you enter the E
90. e the GS command if you want to return to this program and goto program 30 IF If syntax IF See Below Units n a Range see below Default n a Syntax s IFi XX IFxx assumes first input is input 1 IF mathematical expression or expressions 2 Range i starting input number 1 8 x 0 input high x Linput low grounded x anything else input level don t care expression any valid expression defined in math and variables section Allows the conditional execution of a block of commands based on the evaluation of an expression or input state If the expression or input state is TRUE the com mands between the IF and the EB are executed If FALSE execution continues with the command following the EB An IF statement should not be confused with a WT statement An IF statement evaluates true or false based on the conditions that the SmartDrive sees at the instant the command is processed A WT statement pauses command processing until the condition is true Note An End of Block EB command must be used with every IF com mand IF blocks can be nested up to 16 levels deep To increase flexibility primarily with programmable logic controllers or PLCs the IF command allows you to use configured inputs in the command To help prevent this added flexibility from causing programming confusion you can specify any character as an input x This allows you to self document your IF statements For example assume you
91. e variables is changed i e used on the left side of an equal sign the new value is written to and stored in the user non volatile EEPROM CAUTION Caution must be observed when using these variables Since EE have a limited read write lifetime 100 000 writes before failure variable values that change frequently should not be stored as EE system variables Examples include loop count variables and POS1 and POS 2 variables The SmartDrive will allow only 1 000 EE writes between power cycles This limit has been set to pre vent a simple programming mistake or misunderstanding from permanently damaging the SmartDrive s non volatile memory When this write limit has been exceeded all programs will stop running an error message will be displayed and the appropriate status bits will be set The EE system variables were originally developed for use in batch manufacturing applications where a number of variable setup parameters must be entered at the start of each part run These same setup parameters can then be used through any number of power cycles or machine resets Example A program called Set up is run at the start of each part run to initialize a number of variable part parameters During production the program called PARTS is run This program reads from the EE variables but does not generate any writes to the EE so the lifetime of the EE is not compromised Set up MS1 Feed length Writes string beginning at character
92. ecific status i e limit and lt n gt SA2 home states of axis 1 axis 2 Drive Status lt n gt SD1 Returns drive specific status i e type of lt n gt SD2 jamp fault of axis 1 axis 2 System Status Returns general system status and opera tion 121 HD B8961 and B8962 User Manual Uy Serial Immediate Status Commands Note All but the S and K commands require an address Command Description and Application Examples B Clear Command Buffer lt n gt CB Clears the terminal input buffer and buffered com mand buffer Tell Input States lt n gt IS Returns the current state on or off of the 8 inputs The status is returned as a four digit hexadecimal number preceded by an asterisk The least signifi cant digit represents the binary value of inputs 4 1 Example IS returns OOF6 lt cr gt with the input condi tions shown in this table 16 15 14 13 12 41 10 9 8 7 6 5 4 3 2 4 off off offoft off off off off off on on on off on on off aa a a a Your computer program will have to decode the hexa decimal number to determine the state of any each input Kill lt n gt K Issuing the K command causes the control to abrupt ly stop commanding further motion and temrinates program execution No deceleration ramp is used with this command Caution should be used in issu ing this command because of the damage instanta neous deceleration could cause to mechanics The Stop commands provides a more controlled halt M
93. eck feedback cabling Select the correct motor and voltage from the SETUP MOTOR TY PE menu Stiffen the mechanical transmission Reduce the gain parameters K is often a strong contributor to this instability Check limit switch wiring or motor actuator position Change the direction from the SETUP MOTOR DIR menu Reduce duty cycle Motor heating is not normally a problem unless it causes Thermal Shutdowns ne U IDC Product Support IDC Product Support Factory Authorized Distributors IDC has factory authorized automation technology distributors located throughout North America Western Europe and the Pacific Rim Each has been selected for their technical expertise their local market knowledge and exemplary business practices They are ready to assist you in applying IDC s systems as well as other complementary equipment Contact us at 800 227 1066 for the name of the dis tributor in your area Regional Offices IDC Distributors are supported by local direct Danaher Motion Field Sales Engineers FSE s DC Regional Managers are available to assist with unusually demanding applications present on site customer seminars determine custom product needs or respond to high volume requirements Toll Free Technical Support IDC employs a large staff of mechanical and electrical engineers whose full time responsibility is to help you select the proper system install it correctly and get it up and operating to your satisfaction The tol
94. ecuted is immediately terminated e The LCD Display will indicate Following Error along with an explanation e A fault output will be generated if defined as a Stall or Fault output e The ESC key or a RESET either an input or via RS 232 will need to be issued before motion can occur MECH Mechanical Configuration Through the mechanical setup menu your IDeal Programmable Smart Drive allows you to program in distance velocity and acceleration units convenient for your application Once configured your keypad will use these units in all display and position reporting modes This menu also allows you to compensate for a known amount of backlash in your mechanical system and to set a maximum allowable speed for each axis M MECH SETUP y r DIST RATIO BKLASH Pressing the MECH function key displays three menu eneicess M MECH SETUP V Pressing Y reveals three additional menu choices ME AOE 24 Chapter 4 Configuring Your System SETUP MECH DIST eo ee Distance Unit DU Default Motor Revs DIST is used along with RATIO to select your distance units and unit label All distance values specified in the system will be expressed in the units selected here The relationship between motor revolutions system mechanics and the distance label chosen here is defined with the RATIO command defined below 1 Use and gt keys to select an axis 2 Usethe AY keys to select distance units from e mils
95. eing used by each 5 lt untitled gt 56 bytes of your programs TUNING Servo Tuning The following shows the structure of the TUNING menu See Configuring Your System for a complete description of servo tuning and the parameters in the TUNING sub menus Set up Description of Set up Parameters Parameters AXIS 1 GAINS Alter servo gains for AXIS 1 TOGGLE Start step function generator to view system response MONITOR Configure oscilloscope monitor port NOHUNT Enable between move Anti Hunt feature WINDUP Enable Inertial Anti Windup feature AXIS 2 Tune Axis 2 Same set up parameters as AXIS 1 above RS232 Configure Smart Drive for tuning via RS 232C port and IDC s Servo Tuner 1 o Hi B8961 and B8962 User Manual 0 Ye TEACH Teach Move Positions Within a Program To be implemented in a future version of software HELP Menus Whenever you have a question using the keypad pressing HELP will display a help HELP message related to the menu you are currently in Help messages are often several lines which you can scroll through using the and WV keys When you are finished reading a help message pressing ESC returns you to the menu At the Main Menu 4 HELP V Use RUN key to HELP explains the functions available when you i press any of the non numeric keys At the Menus and Sub Menus This option is used to lect th tor type HELP explains the selections available from your ese A current menu location i
96. erature conditions occur A number of factors affect the internal temperature of a control and whether or not it needs additional cooling Ambient temperature Air flow Duty cycle e Power delivered the RMS current output Number of axis per control e Regenerative energy returned from the load Bus voltage B Series Adequate ventilation in the enclosure does a lot to cool our controls Most often a single fan in your enclosure or panel will circulate enough air is a Fan Kit Needed Here are a few general guidelines to indicate when a fan kit may be necessary for your high performance application B Series Controls e With high regenerative loads that do not require an RPACK e Vertical high friction or clamping applications Dimensions in mm Side View B8961 B8961 Front View B8001 B8501 ara wer M ph 7 HG E0 Model A B8961 3 73 94 7 B8961 6 79 179 51 153 B8961 and B8962 User Manual 154 D Appendix D Regen Pack Option Appendix D Regen Pack Option When a large inertial load is decelerated or a vertical load is lowered the mechanical energy that is not dissipated as heat in the actuator or drive is regenerated by the motor and transferred back into the drive s power supply This causes the drive s power supply voltage to increase Without circuit protection this voltage increase can damage a drive Without a means of dissapating this energy such applications can
97. ervisory Run Menu Run gt Prog ram is used to run a specific program from Application Developer Programs can also be initiated via dedicated program select inputs through the keypad or via any terminal using the RN command Run is only accessible from the main menu bar 107 HD B8961 and B8962 User Manual Uy Section 4 RS 232C IDeal Command Reference Overview Though we strongly recommend taking advantage of the capabilities and conven ience of Application Developer you can configure program and run a SmartDrive from any RS 232C terminal or computer If you do not intend to use the Windows software tools we provide you will need to use the IDeal RS 232C command listings that follow Hosted or interactive motion control from a PLC or PC is also a common mode of operation You can write your control programs in your language of choice BASIC C ladder etc RS 232C SmartDrive operation is divided into four categories of commands The first category is Serial Setup Commands These are the commands that IDC s Application Developer program uses to configure the SmartDrive according to the choices made in the SETUP dialog boxes These Serial setup Commands include the syntax of the command but the full command definitions and examples are found in Chapter 5 Configuring Your System The second category is Serial Programming Commands These are commands that can be executed over RS 232C or downloaded to the SmartDriv
98. example A 5 B 2 5 IF A gt 2 amp amp B 2 5 MS1 True Statement EB In the above program the message True Statement would appear since BOTH conditional statements are true thus making the entire IF conditional true Incrementing and Decrementing Variables There are four syntaxes supported by variables single increment value increment single decrement value decrement These operators will initial ize any uninitialized variable to zero before incrementing or decrementing it for the first time Variable Name Increments a variable value by 1 Variable Name n Increments a variable value by n Variable Name Decrements a variable value by 1 Variable Name Decrements a variable value by n Expressions The SmartDrive supports five conditional expressions less than lt equal to greater than gt less than or equal to lt and greater than or equal to gt The IF and WT commands can use these expressions to direct program flow or wait for an analog input to meet a condition The gt and lt symbols are entered into the key pad editor with the ALPHA T 1 T Examples IF X gt 10 GS20 EB If X is greater than 10 gosub to program 20 WT AI12 lt MAX TEMP Wait for the temperature to go below the maximum before continuing command processing 54 He Uy Chapter 5 Programming Your Application Rane Poem es e es ee es ee 8 aise Bote aN Janse Boon oR
99. fault Brake outputs will go on whenever a fault occurs and prevent aload from moving C Over Current Over Voltage Fault Not yet implemented D d Direction D specifies axis 1 d specifies axis 2 The Direction Output indicates the direction of motion for a given axis The output remains set until motion begins in the reverse direction F Fault The fault output acts as a fail safe fault output Under normal operation the output is grounded ON and goes high OFF when any type of fault occurs Smart Drive softw are prior to V2 10 had this polarity reversed A fault can occur from any amplifier fault condition as well as for the following general faults BMA Board Monitor Alarm time out e Error finding Home Both limits were hit The exact cause of the fault can be determined in anumber of ways Shown on the keypad s display e Over RS232 using the SS SD and SA status commands Other outputs can be configured to show more specific fault states H h At Home H specifies AXIS 1 h specifies axis 2 The output is on as long as an axis is at home I Indexer Step Not yet implemented L Limit Error The output goes low if alimit switch is hit during anormal move or if both limits are hit during aGo Home move 33 34 i B8961 and B8962 User Manual Uy K k At CL Limit K specifies axis 1 k specifies axis 2 TheAT CL LIMIT output will become active when the motor current reaches the value defined by CL in the user
100. for an axis 1 based move As in regular moves velocity acceleration and deceleration only need to be defined once Each sequential GP move thereafter will use these values until new values are specified The endpoint of the move is specified by a two axis DA or DI command 74 He U Ver Chapter 6 IDeal Command Reference which corresponds to the appropriate X and Y coordinates The following program would execute the move in the illustration abo ve VE2 AC 1 DA4 2 GP The path velocity is 2 user units sec path acceleration is 0 1 sec and the X Y posi tion would be 4 2 The GPi syntax is identical to the GOi command GPi pre calculates the move and waits for Input number i to activate before executing For example GP4 would pre calculate the move and wait for input 4 to be active before executing Although both axes move during a GP defined move all GP parameters refer to the path movement rather than to the individual axis movements NOTESON GP GP will work with any velocity and acceleration unit The largest possible GP moves are restricted to X2 Y2 lt 231 1 2 in units of steps For example the longest simultaneous X Y point move is Steps DA1518500249 1518500249 User units with resolution 8000 DA189 812 5311 189 812 5311 User units with resolution 25000 DA60 740 0099 60 740 0099 Commanding moves larger than X2 Y lt 231 1 2 will produce unpredictable results The DC command does not recognize an inter
101. ftware warm boot or power is cycled All outputs are turned off upon power up or dur ing a reset To increase flexibility the OT command allows you to use configured outputs any time To help prevent this added flexibility from causing programming confusion you can use any character in the don t change section of your output statement This allows you to self document your OT statements For example assume you configured output 3 as a FAULT output Programming like OTO1F10 can help remind you that you are already using output 3 Example OT4 1 Turn on Output 4 OT2 0D1 Turn Outputs 2 off leave 3 as is and turn 4 on 0T110 Turn Outputs 1 and 2 on and 3 off Re Quote syntax Any ASCII character Units n a Range n a Default n a The command transmits a string out the serial communications interface A w ithout any string will transmit a carriage return character ASCII 13 Example Move Complete Transmits string only out serial interface i Transmits a carriage return only RG Registration syntax RGr r Units n a Range n a Default n a The Registration Command RG specifies a distance to be indexed from the cur rent position as commanded by a specific input trigger For example in the fol lowing program of 10 user units on axis 1 the input trigger is received at user unit 4 to move 3 user units from the point where the input trigger was received VE2 AC 1 DA10 RG3 GO 86 Ho
102. g Your System SETUP MECH VMAX Maximum Velocity MV Axis One Max Vel Default 50 velocity units EN 50 0 inch sec V gt This parameter limits the top speed of your motor Depending on the application you may want to limit the speed of your control to prevent accidental damage to your mechanics For example in a leadscrew driven system exceeding the critical speed will damage the leadscrew or ballscrew 1 Use and gt keys to select an axis 2 Use the numeric keys to set the maximum velocity in VEL units SETUP MECH ACCEL Acceleration Units AU Ane One Acse AIS Default sec ET sec v gt This option is used to select acceleration and deceleration units All acceleration and deceleration values specified in the system will be expressed in these units You can specify acceleration as a rate or in time to accelerate to full speed 1 Use and gt keys to select an axis 2 Usethe W and ENTER keys to select acceleration units from the list sec time to reach top speed DIST units sec rps motor Revolutions Per Sec Axis One Max Accel gt SETUP gt MECH gt AMAX 0 002 sec gt Configuring Acceleration Maximum AM Default 0 002 acceleration units Range 0 002 99999999 acceleration units Acceleration maximum sets a maximum acceleration and deceleration limit for pro grammed move profiles in the current acceleration units Programmed accelera tions and decelerations for moves
103. grounding scheme may not be effective As always the relevant local safety standards supersede any EMC precautions 149 150 Ho B8961 and B8962 User Manual UY Physical Installation The drawing at right shows an example of an EMC compliant IDC aCi servo Smart Drive installation It is Power Filter assumed that the AC line filter and BAA the Smart Drive have a good RF Electrical ground connection to the cabinet Enclosure frame and that the cables are shielded and grounded at both ends The guidelines outlined above for grounding and cable separation should be followed when extending the concepts illustrated here to multiple component enclosure mounting As always it is the responsibility of the machine builder to properly install the IDC servo drives and other electrical components making up the machine before taking the machine into service When multiple Ferite Beads electrical components are installed together on a machine the radiated and conducted noise emission levels Motor Encoder Cabling can be both greater or less than the levels of the single component The immunity levels of the individual components will not be affected AC Power Line Filtering As mentioned above one of the characteristics of the high power electronics used in servo drive amplifiers is the broadband noise their switching conducts back on to the AC input line There are a couple of ways to reduce the magnitude of the noise on the AC li
104. gt DEL decimal right arrow delete Define Program lt n gt PRi Starts a program definition Just like the DR command but writes the SmartDrives non volatile EEP ROM memory Example PR25 AC 1 VE5 DI10 GO EP uses only a program number Example PR25 P N 170 001 AC 1 VE5 DI10 GO EP uses optional program name LS List Programs lt n gt LS Lists number of programs memory usage and the current available memory of the SmartDrive Just like Edit List from the keypad 128 Chapter 7 Programming with Serial Communication Serial Supervisory Commands The following commands control program uploading downloading deleting execution etc All of these commands are fully defined in this section Command Description and Application Examples Run Program lt n gt RNi This commands any program by number only The RN command does not support the optional pro gram names Example RN25 Software Firmware Version lt n gt SW SW returns firmware version SW1 returns DSP FPGA and firmware versions Upload All lt n gt UA Uploads all setup parameters and programs from unit n SmartDrive sends an EX to terminate upload Upload Program lt n gt ULi Range i 1 199 program up to 400 programs with 30K option Uploads program number i to the host SmartDrive adds brackets Example 1UL2 Uploads program 2 from unit 1 Response part A AC4 VE30 DI10 5 GO 129 B8961 and B8962 User Manual 130
105. hapter 8 Programming with Serial Communication and they can also be found in the Summary of Commands immediately inside the back cover of this manual The commands in this chapter are defined according to the following example DI Distance Incremental syntax Dltr r Units selected from the EDIT gt SETUP gt MECH menu n a if no units Range unit scaling dependent n a if no range Default If the command has a default it will be listed here n aif there is no default DI specifies a move distance relative to the current position Such moves are called incremental moves as opposed to the absolute zero reference used in DA Incremental moves are typically used in applications where there is no concern for origin such as feed to length applications Incremental moves are also often used inside a loop to shorten a program Incremental and absolute moves may be mixed the control always keeps track of the absolute position Example Move 2 units in the positive direction Move 1 more unit in the direction Move 4 units in the negative direction Program AC 1 VE60 DI2 GO DI1 GO DI 4 GO 61 B8961 and B8962 User Manual 62 Summary of IDeal Commands Oe pe pa psen pe peon L o peene morerna ER etic ior 8 Yenc oraiock EN eooo Fx Jfnctonkey en oroe oo at omme 60 osnan e rmn e e a ws vesae o Dsp on onome L eseo o Sera Ra fesistatontiove sr Bet Poston sa BaareRoos ce AC Accelerat
106. he SETUP dialog boxes Scan Conditions Conditions stopping input program select line ii BIN BCD scanning are represented by i ESC Stop Limit Limit Interrupt the ake kane 0 Continue program select scanning 1 Stop program select scanning on this condition Example SN 01111171 all input conditions except pressing the ESC key stop program select line scanning See also ID Stop Deceleration Rate lt n gt SRr r Example SR100 100 rps2 Note Stop Deceleration Rate units are always in rps2 and are not user selected Unit Number lt n gt UNi Example UN5 sets unit address to 5 VU Velocity Units lt n gt VUi i o units sec where units is a string defined by the DU command units sec where units is a string defined by the DU command rps motor revs sec rpm motor revs min Example VU2 axis one set to rps See also GR DU 117 H gt B8961 and B8962 User Manual Uy Serial Programming Commands The commands in this category may be sent to the SmartDrive s buffer and executed on a first in first out FIFO basis This execution does not require you to create or download any program to the SmartDrive s volatile memory See Chapter 6 Programming Commands for complete definitions Command Description and Application Examples AC Acceleration ACr r Example AC10 Distance Absolute Example DA15 DC Distance to a Change DC r r Example DC20 Deceleration DE r r Example DE 2 Distance
107. hen a move s torque demands are starting to approach your system s theoretical limits This mode can also be used to document your machine s torque safety margin More details are available in the Servo Tuner manual or from Servo Tuner Help The following table will help you isolate some of the more common application problems when using B8000 Smart Drive control drive systems Symptoms and Solutions Probable Causes Possible Remedies I V Fault Overvoltage due to excessive regen Install an RPACK module for additional energy from the motor regen capacity or reduce the cycle time Reduce input voltage to allow for surges Line Voltage exceeds 240VAC or spikes caused by other equipment Replace shorted motor Over current due to a motor short Select the correct motor model AND voltage from SETUP MOTOR TY PE Over current due to an improperly tuned current loop Thermal Motor winding temperature exceeded Increase cooling circulate more air past Shutdown 135 C or the Smart Drive heatsink heatsink add FK1 or FK2 fan kit or temperature exceeded 55 C reduce duty cycle Missing or damaged motor thermostat Jumper Temp and Temp Ref together if the motor has no thermostat Following Too narrow a following error window Set the following error from the Error SETUP ENC FOL ERR menu Commanded moves too aggressive for system Reduce acceleration and velocity Mechanical binding causing excessive Check for unusual binding following err
108. hermal Fault requires reset to clear O At power up and after reset RMS Over current Vee ha limit exceeded requires reset B8961 20 ly O At power up and after reset 1 Enable Drive see also EA1 Drive Enabled 0 Disable Drive see also EA0 RESERVED RESERVED iti 1 Amplifier in torque mode TM1 0 Amplifier in position mode factory default 1 The amplifier is faulted Requires a power ifi cycle to reset O At power up or reset 125 Ho B8961 and B8962 User Manual Uy Serial Immediate Status Commands Note All but the S and K commands require an address Command Description and Application Examples Tell System Status lt n gt SS Returns the current system status as a four digit hexadecimal number pre ceded by an asterisk Your controller program decodes the hexadecimal number to determine the system status Example SS returns 0001 lt cr gt means there are no amplifier faults and no programs running SmartDrive is ready to process any buffered RS 232C command ay ees me spare em o 9 e e 4 32 i O E i E a Parameter Definition Ready to Buffer 1 Ready to buffer RS 232C commands 0 lnitializing from a power up or reset or RS 232C unchecked errors exist Any buffered com Commands 5 mands sent will be discarded 1 Non volatile memory checksum error all FLASH Error 2 programs were deleted on power up 0 Non volatile memory checksum OK 1 Running a program Program Running 0 Not running a pre defined program A 1 Paused
109. i e input 1 is less significant than input 2 The act of configuring an input as a program select input also enables the BCD program select mode c Clear Command Buffer Clears the terminal input buffer and buffered commmand buffer D Disable Keypad When activated the keypad is disabled allowing NO user access The keypad resumes normal operation subject to the dipswitch pattern when the input is released E e Extend Jog specifies AXIS 1 e specifies axis 2 When activated the motor will Jog in the Extend direction When the input is released motion stops at the Jog Accel rate If an End of Travel limit is hit while jogging the motor will stop at the Stop Rate see Edit Setup Misc Before the motor can be moved back off the limit a Stop or Kill input must be activated to clear the fault generated by hitting an End of Limit switch Alternatively an S or K command sent over RS 232 will also clear the fault The velocity is determined by the Jog Speed Input and the Jog Low and High setup parameters When the input is off the speed is low and vice versa If none of the inputs are configured for Jog Speed the motor will jog at the Jog Low setting 29 30 i B8961 and B8962 User Manual Uy Ef Set CL Force F specifies axis 1 f specifies axis 2 In addition to being able to set a clamping current via the CL command the user can also set the clamp curent on the fly based on an input When the SET CL FORCE input is asserted during
110. iance with these EMC regulations There are two components to Electromagnetic Compatibility The first that an electrical device not disturb the operation of other electrical devices is covered by limits on the power levels of both emitted and conducted electrical magnetic noise The second component the ability to operate in the presence of electromagnetic noise is covered by specifications detailing required immunity levels from electromagnetic phenomena that would normally occur in an industrial environment The EMC emissions limits can be divided into two categories The first radiated noise is primarily intended to protect nearby radio communication type equipment These limits cover a frequency range from 30 MHz to 1 GHz Poorly grounded motor and power cables are usually the primary cause for high levels of noise in this frequency range The grounding and cabling recommendations in this appendix give detailed instructions for limiting this radiated noise to safe levels The second set of emission limits are placed on noise conducted back onto the AC power mains High frequency switching power electronics like those commonly found in industrial servo motor drives can if not properly filtered conduct unacceptable limits of noise back onto the AC power lines This noise could adversely affect other devices It is worth noting that there is a two order of magnitude safety margin between the allowed noise limits and the required immunity limits This means
111. iguring your B8961 or B8962 Smart Drive system to a specific application consists of customizing a number of software parameters to match the mechanics of the system These parameters include distance acceleration and velocity scaling as well as I O configuration Other than plugging in the motor encoder cable and connecting your I O wiring there are no hardware settings on a B8961 or B8962 Smart Drive system All of the software configuration can be done via the keypad or via RS232 using Application Developer The Configuring Your System description presented here is from a keypad user s perspective via the keypad menu structure and step by step keypad instructions Application Developer and RS 232C users will want to refer to this chapter for detailed explanations of configuration parameters Details on how to use IDC s Application Developer can be found in the Chapter 7 For RS 232C terminal users non Windows PC users or PLC users the equivalent 2 character ASCII configuration commands are detailed in the RS232 Command Reference section Chapter 7 but the examples presented here are valid for all users The 2 character ASCII command appears in brackets next to the appropriate keypad menu choice in this chapter Application Developer users will find that the Windows dialog boxes under the Setup menu follow the keypad menu structure very closely Users who plan to create and download their own ASCII setup file will also find this section useful Th
112. inch e feet yards mm cm meter arcsec arcmin degrees radians grads e steps index revs Notes e You can change DIST or RATIO at any time Changing them will not change the associated DI or DA values in a program i e DI100 will command a 100 inch move instead of a 100 step move if the DIST units are changed from Steps to Inches If stepsis chosen the control automatically fixes the RATIO see below SETUP MECH RATIO a ee Gear Ratio GR Default 1 to 1 e The RATIO option is used to scale DI and DA moves to your preferred distance units RATIO sets the ratio of motor revolutions per DIST unit Up to 5 digits on either side of the ratio can be entered to properly scale your DIST units 1 Use and gt keys to select an axis 2 Use the numeric keys to enter a ratio a expressed as 2 integers Ex When pro gramming in output shaft revolutions of a 5 1 gearbox enter 5 to 1 rather than Lto 2 Notes e You can change DIST or RATIO at any time Changing them will not change the associated DI or DA values in a program so all moves will change by the same fac tor that RATIO was changed If using an IDC supplied actuator the gt proper Gear Ratios for programming in Pei oO lt O units of Inches and mm can be found in Appendix A directly following the Index e 25 26 Ho B8961 and B8962 User Manual Uy Units Example Lead Screw System Desired distance u
113. industrial Devices Corporation 1 800 747 0064 I O and Status Drive and input output opto status can be displayed by selecting View Status A terminal window pane is available showing serial commands and drive response Drive status response is hexadecimal code see SAn SS SD serial commands for further details Poll will constantly update the status windows where Refresh will update the status window once Communications All Communications functions may be accessed from the main menu bar Send All Receive All and IDC Terminal are selectable on the Toolbar as shown here Helam Send j IDG All Receive Terninal All Send All Use Send All to download the application you have developed in addition to motion programs your application file will include the setup commands derived from the choices you made in the Setup dialog boxes Send All completely configures the SmartDrive control and will overwrite any existing programs or configurations in the control The feature allows easy configuration of repeat machines Program comments will be stripped off before being sent to the SmartDrive IDC recommends saving the commented version of your application before downloading 106 PA Ow Chapter 7 Programming with Serial Communication Retrieve All Use Retrieve All to upload the entire contents of a SmartDrive control to a new file that can then be edited downloaded to another SmartDrive or saved to a PC file for documentation pur
114. ion Chapter 6 IDeal Command Reference syntax ACr r Units sec rps or unit s2 selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Default n a AC sets the acceleration and deceleration ramp on all velocity changes The deceler ation value DE will be the same as the acceleration value unless it is specifically set after the AC command The value of DE must be reset every time AC is changed Use only AC if you want a symmetrical move profile Use DE if you want a different deceleration rate Subsequent moves will use the last DE or AC value specified Examples AC2VE12 DA3 GO DE 5 VE12 DA6 GO Sets acceleration and deceleration to 2 Accel stays at 2 decel changes to 0 5 VE20 DAO GO Acceleration and deceleration remain at 2 and 0 5 AC4 DA2 GO Acceleration and deceleration become 4 DE3 AC1 DI3 GO DE reset to 1 by AC1 before the move is made BR Break syntax BR Units selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Default n a The Break command instantly breaks a loop block in which it is defined and con tinues program execution from the loop s terminating EB command This allows for more complex loop conditioning than LU or LW commands Example A 0 B 0 LP IF A gt 10 1F2 0 MS1 A is greater than 10 Define variable A Define variable B Define loop block Check if A is greater than 10 Check if input 2 is off Bre
115. ion of motion in programs and can be used in math expressions ESC Stops a program backs up a menu level also used for exiting and saving programs while in the editor Numeric Keys 0 9 Enters numbers Used with Alpha to select characters Used with F1 F3 to enter commands in the editor ne Uy Chapter 3 Keypad Operation Keypad Hardware Features Dipswitches A bank of four dipswitches on the back of the keypad provide a way to lock operators out of various keypad access levels See the chart below for switch assignments If access to a menu level is denied pressing that key will have no effect For example if 1 is on and 2 is off the operator will be able to stop motion and program execution by pressing the escape key but will not be able to access the RUN menus to select another program to run This is a hardware inhibit and is independent of any software or setup parameter in the Smart Drive Power must be cycled before keypad dipswitch changes take effect In addition access to the jog menu can be enabled or disabled from software Full keypad functionalit No access to RUN ESC EDIT COPY DEL menus No access to RUN EDIT COPY DEL menus No access to EDIT COPY DEL menus Switch 3 and 4 are reserved for future functionality Contrast On the back of the keypad there is a single plastic flat head screw driver adjustable potentiometer This is used to adjust the contrast on the LCD display If the Smart Drive and keypad
116. isplayed on the keypad run time screen The run time screen has been divided into 4 10 character configurable quadrants The DISP menu displays labels for teh 4 quadrants with carets lt gt denoting the selected quadrant 1 Usethe gt and v keys to move quadrant selection delimiters lt gt 2 Press ENTER to edit quadrant Once a quadrant is selected there are 16 possible data types that can be displayed in that quadrant Quadrant Display No display Axis 1 position Axis 2 position Axis 1 position with axis units Axis 2 position with axis units Axis 1 commanded velocity Axis 2 commanded velocity Quad 1 Display M INPUTS Y Axis 1 current in Amps B896X only Axis 2 current in Amps B896X only Discreet input status 0 off 1 on Discreet output status 0 off 1 on OPTO input and output status 0 off 1 on as configured Displays SA serial command response for axis 1 Displays SA serial command response for axis 2 Displays SS serial command response Display user defined text in a quadrant 3 Usethe and key to scroll through the data types and press ESC to register all data types except TEXT see below 4 In order to define a text field scroll to the TEXT data type and then press the ALPHA key or anumber key A cursor will appear allowing up to 10 characters to be entered Type the desired text press the ENTER key and then press ESC to register SETUP MISC STOP RATE Stop Decel Rate
117. it program 1 AC1 Press F2 amp 2 amp 1 amp ENTER VE10 Press F1 amp 2 amp 1 amp 0 amp ENTER DIB Press F2 amp 1 amp 3 amp ENTER GO Press F1 amp 3 amp ENTER EN Press F3 amp 6 amp ENTER 2 Press ESC to save the program and return to the Main Display 3 Press RUN then PROG F1 then enter 1 Run program 1 The program should move the motor 3 revolutions Discrete Input Test Connect a12 test wire to one of the COM screw terminals found on the side of the drive One by one touch the test lead to each Input screw terminal and verify that the input status shown on the Main Display toggles between 0 and 1 Discrete Output Test Press RUN Press TEST F3 Press OUTPUT F2 Press the or gt key to select an output number Press the Y or to turn the output ON or OFF Press ESC to leave this menu The outputs will return to their state prior to entering the test mode Please use caution when manually toggling outputs connected to live devices No software interlocks are observed during this test a a The OPTO position s default configuration is as an input Please see Configuring Your System for information on changing these to Outputs You will then be able to toggle their state from this screen Where to go from here Successfully completing these steps confirms the basic operation of your system At this point you may want to refer to the following sections for more information e Hardware connections
118. ity based on the current analog input voltage Converts two analog inputs to X and Y speeds Returns variables VX and VY the X andY velocities Set desired zero speed deadband of joystick Set desired full deflection speed Scale factor based on Max RPS X axis offset for analog in Y axis offset for analog in Convert the analog input to a speed for X andY If the speed is within the deadband set the speed to zero If the speed is within the deadband set the speed to zero Return to oy Stick and update the speeds of X andy He o yde Chapter 6 IDeal Command Reference MS Message to Display syntax see below Units n a Range n 140 display position in characters Characters 1 20 on top line 2140 on the bottom display line Default n a Syntax MS returns to the default runtime display MS MSn user text MSn variable MS allows you to put messages on the keypad s display Messages are typically used to prompt for operator input display function key prompts or as a diagnostic tool MSn clears the display from the nth character on MSn user text prints user text beginning at the nth character MSn variable writes the value of the variable on the dis play beginning at the nth character The above variations to MS will disable the default position and 1 0 display until program execution stops MS can be used to restore the default axis position and I O display during program e
119. l electrical codes may have further rules and restrictions on high voltage and current cabling These installation instructions are intended to supplement not replace or supersede the local electrical fire and safety codes In addition to grounding both ends of the motor and encoder shield to further reduce the radiated emissions from the drive ferrite beads can be installed on the motor and encoder cables before they leave the electrical enclosure see the drawing above IDC has tested and confirmed the effectiveness of the Fair Rite model 0443164151 This is a removable snap on style emission suppressor These beads are necessary to meet the residential and light industry emission specifications Other specification levels may or may not need the additional emission suppression provided by the beads And in some cases other measures may need to be taken 151 B8961 and B8962 User Manual DECLARATION OF CONFORMITY For declaration of conformity please contact the factory 1 800 227 1066 or 1 603 893 0588 152 2 Appendix C Fan Kit Option Appendix C Fan Kit Option When IDC controls are designed for convection cooling The shape and size of our heatsinks are the result of thermal analysis and experimentation All of our controls have built in temperature protection Thermal sensors inside the B8000 controls will activate at a conservative heatsink temperature of 55 C Thus IDC controls will not be damaged when overtemp
120. l explicitly define which axis will move when a GO command is processed See the examples below for more clarification Chapter 5 Programming Your Application The last move parameters used to define a move profile are saved This saves pro gram space in applications where sections of code repeat the same moves The DI or DA command is the only motion parameter that needs to be repeated A stair step pattern is one example of this Using different i s for each axis allows you to start one axis and wait for an input on another or start both based on different inputs See the examples below for more clarification Examples GO Moves all the axes defined in the last DA or DI command DI3 GO Move only axis 1 DI3 4 GO Move axes 1 and 2 DI2 2 GO 0 Move only axis 2 even if the last DA or DI command defined both axes DA Part 1 Part 2 G04 5 Move axis 1 once input 4 is activated axis 2 once input 5 is activated G04 4 Move axis 1 and 2 once input 4 is activated 57 Y B8961 and B8962 User Manual Uy Typical Programming Examples The following program examples will show how the IDeal command language can be used to perform simple tasks There are more extensive and elaborate example programs in the DEMOS idc file that came with your Application Developer disk set To aid your program documentation comments can be placed in brackets com ment These comments are stripped out of the program as it is downloaded to help conserve me
121. l free number is 800 227 1066 Email should be directed to support idcmotion com CAD Library All IDC actuator motor and gear motor CAD drawings in a DXF format are available to save you valuable design time and prevent transcription errors These are located on website and on the IDC CDRom Warranty amp Repairs Danaher Corporation warrants this product to be free of defects in material and workmanship for a period of two 2 years from the date of shipment to the end user Products that have been improperly used or damaged in the opinion of Danaher Motion are not subject to the terms of this warranty Danaher Motion maintains a repair facility at its factory in Rohnert Park California for products manufactured by Danaher Motion Prior approval by Danaher Motion is required before returning any product for any reason All returned packages must be accompanied by an RMA Return Material Authorization Number To obtain return authorization contact your local IDC distributor or IDC Please note the following procedure 1 Obtain the model and serial number of the defective unit 2 Prepare a purchase order for possible repair cost in the event that the unit is not warranted 3 Contact your IDC distributor or Danaher Motion 603 893 0588 for an RMA 4 Provide the information describing the nature of the failure The better the information the faster we ll have your problem resolved 5 Ship unit prepaid to Danaher Motion 600 Martin Ave S
122. l go to program 98 Subsequent interrupts are ignored until ARM INT 98 is set to 1 Chapter 4 Configuring Your System INT98CTRL and ARM INT98 are reset to default values on power up Note There is a space in ARM INT98 J Jog Speed JJ specifies AXIS 1 j specifies axis 2 This input works along with the Extend Jog and Retract Jog When a jog input is activated the control checks the state of this input to determine the jog speed If the input is OFF the system will jog at the Jog Low speed If it is ON it will jog at the Jog High speed If the input is not configured the jog inputs will result in motion at the low speed K Kill Motion When activated causes the control to abruptly stop commanding further motion and terminates program execution No deceleration ramp is used Caution should be used because of the damage instantaneous deceleration could cause to your mechanical system The Stop input provides a more controlled halt Implemented in V2 22 or later M m Motor Shutdown M specifies axis 1 m specifies axis 2 This input only active at the top menu level while a program is not running disables the motor All current on the motor will be removed resulting in little or no holding torque N aNalog Only the OPTO I O may be configured as analog inputs To use an analog or temperature I O module the I O position must be configured as an analog input signal This tells the Smart Drive that the input is no longer a discrete input a
123. layed on the keypad All mo ves are based on encoder position and stall detection is enabled SERVO CLOSED The encoder position is displayed on the keypad All mo ves are based on the commanded OPEN LOOP position and stall detection is enabled CLOSED LOOP PM The encoder position is displayed on the keypad All moves are based on encoder position however post move correction algo rithms will keep the encoder position equal to the last commanded OPEN LOOP position Following error is still active while in CLOSED LOOP PM mode A following error will occur when the number of correction steps exceeds the following error value This allows the SmartDrive to signal a fault when the displacement can not be cor rected i e the motor is stalled at an obstruction Position mainte nance will not attempt to correct position while navigating menus with the keypad gt SETUP gt ENG gt IN RANGE gt WINDOW ss ema i Configuring Position Maintenance Deadband IR Default 25 motor steps Range 0 99999 Position maintenance deadband is a user definable region surrounding the com manded position in which the motor shaft can reside and not be considered out of position A displacement position exceeding the last commanded position the deadband value will cause position maintenance to attempt to correct the position 1 Use and gt keys to select an axis 2 Usenumeric keys to enter anew deadband value and press ENTER then ESC to
124. ld be enabled for each unit on the daisy chain Disabling RS 232C Echo will prevent the daisy chain from functioning properly 4 Any loose RS 232C connections or miswiring along the daisy chain will cause communication to fail Please double check wiring if communication problems arise 5 Device Addressing RS 232C commands using the specific unit number in front of the command is necessary if the user wants only one specific unit to perform an operation 6 Status commands require addressing Please call IDC if you need to daisy chain more than 99 drives The hardware configuration below shows how to connect the daisy chain Section 2 Application Developer Software All of IDC s SmartDrives come with Application Developer software The programs and data files are automatically installed with a setup utility included on the disk Installing Application Developer in Windows 95 98 or NT Insert Application Developer CDRom in your CD Rom drive Click on Start Click on Run If there is no drive specified in the Command Line box type the drive letter followed by a colon then a backslash and the word setup For example d software Application Developer setup 5 Click OK PO ee The installation program will display the Welcome screen shown below Throughout the installation process the program will prompt you to enter informa tion Click on the Next button to continue the installation At any point during the in
125. le through all options associated with the menu To leave a menu without making a selection or to back up one menu level press ESC The following tree shows the Menus which are accessible from the Main Display by pressing RUN EDIT HELP COPY and DEL keys NOTE ESC backs up one menu in SETUP and returns the user to the Main Display elsew here PROG Run programs by name or number JOG Jog either axis at low or high speeds using submenu and arrow keys TEST Run programs in trace mode amplifier shutdown and reset test outputs and moves RUN Menus Pressing the RUN key displays a second set of RUN sub menus Access the sub menus by pressing the function keys F1 F2 and F3 which are below PROG PROG Edit Write programs most commands are listed on the keypad SETUP Configure system and operating limits POS Sets current position to a desired value LIST Directory of stored programs memory usage and available space TUNING Servo tuning via keypad or set up for PC based tuning TEACH Teach move positions At Main Menu Provides help on the function of each key At Menus Provides help on how to move about menus At Sub Menus Explains setup choices In the Editor Provides command descriptions JOG and TEST respectively 10 PROGRAM Deletes a program PROGRAM Copies programs within a control TO PAD Uploads a controls memory to a key
126. m GAINS Setting the Servo Gains M KV 1537 Y lt KV gt KP KI TUNING AXIS GAINS M KFA 0 Y There are five user accessible servo GAINS available lt KFA gt KFV to tune your system The gains are described below 1 Use an F1 F2 or F3 to highlight the gain you wish to change 2 Usethe AV keys to switch to the other menu 3 Usethe numeric keys to Enter a new value for the gain that is highlighted If you need to tune your system the fastest way to get top performance out of it is to tune it from scratch Set all your gains to zero and follow the procedure outlined above or in the Servo Tuner manual CAUTION This procedure does not work on load with steady state forces such as gravity in a vertically oriented application Call IDC for details on tuning these difficult loads 45 1 B8961 and B8962 User Manual 0 yde Toggle Tuning Stimulus POS l0 l0 TUNING AXIS TOGGLE MODE STEP MSEC 1 Pick type of toggle Press F1 to select a velocity position or torque toggle 2 Magnitude of toggle Press F2 Torque of max torque e Velocity RPM e Position steps 8000 steps rev 3 Period of toggle in msec Press F3 4 Start toggle Your motor and system will start moving when you press the RUN key The toggle is stopped with the STOP ESC key You can disable the amplifier by pressing the DEL key Pressing DEL a 2 time will enable the amplifier If your system goes unstable because of too aggressive a toggle or becaus
127. m the Interrupt as desired When the Indexer powers up INT98CTRL is initialized to 0 In this mode evry interrupt results in an immediate jump to program 98 even if you just entered pro gram 98 This means that it is possible for the interrupt service routine to be inter rrupted by another interrupt input This functionality is backwards compatible with earlier versions of firmware in IDC SmartDrives The value of ARM INT 98 is ignored When INT98CTRL 1 you can enable and disable Interrupts at will with the ARM INT98 variable Setting INT98CTRL 1 also initializes ARM INT98 to 1 This means the control is watching for interrupts When INT98CTRL is set to 1 an interrupt causes the program to jump to program 98 AND sets ARM INT98 0 disabling any further interrupts until you reenable them by setting ARM INT98 1 This allows you to control when you want to reenable interrupts in your inter rupt service routine program 98 To summarize when INT98CTRL 1 If ARM INT98 0 Interrupts are ignored ARM INT98 is automatically set to 0 by the Smart Drive on the first edge of the input if the previous ARM INT98 value was 1 Interrupt process ing will be suspended until ARM INT98 is reset to 1 This allows for input debounc ing and gives teh user control over the ability of program 98 to interrupt itself If ARM INT98 1 The system is awaiting the firt INT98 input assert edge Once the interrupt is seen the control wil
128. meters will result in increased performance Tuning your system is a simple 3 step process Each servo loop velocity position Position Velocity Command Command oa G osition Loop Vector Torque Controller Torque Loop Pi Counter and integral must be tuned Because of the implementation of the B8000 digital servo algorithm this tuning process is nonterative The loops are tuned from the inside out The torque loop is motor bus voltage dependent and is tuned at the factory 1 Tune the velocity loop using a velocity toggle 2 Tune the position loop using a position toggle 3 Tune the integral loop using a position toggle optional Details on how to do this are covered below and in much greater detail in the Servo Tuner manual IDC also recommends accessing Servo Tuner s on line help utility for the most up to date tuning procedures and hints RS 232C Users Servo Tuner users will find that the Servo Tuner man TUNING ual presents much of the same tuning information AXIS1 AXIS2 RS232 that is in this section Please reference Chapter 7 for details on configuring a Smart Drive for RS 232 tuning and the Servo Tuner manual included with this product for detailed tuning information and strategies Pressing the EDIT key followed by the TUNING function key produces a menu that looks like this Selecting RS 232 allows you to enable servo tuning via the Servo Tuner software Servo Tuner also has
129. mory in the control Files should be saved BEFORE downloading for documentation purposes Example DI10 2 GO Moves to load position DI15 15 GO Moves to unload position To create a Message and input a Variable GET PARTS Name the subroutine MS1 Clears the display MS1 How many Writes string beginning at character 1 top line IV12 PIECES Waits at 12th character for the of pieces MS1 Clears the display MS1 How long Writes string beginning at character 1 top line IV12 LENGTH Waits at 12th character for the length LP PIECES Loops the number of pieces entered DI LENGTH Moves the length entered GO EB Creating an Operator Menu see the FK command description for details MS1 Clears keypad screen MS21 PART1PART2PART3 Writes a message above function keys FK1 2 3 Waits for a Function Key to be pressed FKEY FKEY 50 Add an offset to FK EY GT FKEY Goto program 51 52 or 53 50 1 2 or 3 Fast In Slow Feed Move Using the Distance to Change DC command AC 05 Set acceleration DE 09 Set deceleration VE50 Set first velocity DA6 Set total move distance DC5 5 Set point where you want to change speed VE5 Set second speed GO Start the move profile 58 D Chapter 5 Programming Your Application Turning On an Output on the fly AC 05 Set acceleration VE10 Set velocity DA4 Set total move distance DC1 Set point to turn on OT1 Output 1 DC2 Set point to turn on
130. mper RTS to CTS and DSR to DTR see table Jumpers opnD 25pinD_ RTS to CTS DSR to DTR 6 to 20 Configure the host to the identical baud rate number of data bits number of stop bits and parity Receiving double characters XX when entering single characters X indi cates your computer is set to the half duplex mode Change to the full duplex mode Check your grounds Use DC common or signal ground as your reference Do not use earth ground or shield Check your cable length If any cable is over 50 ft long you should be using a line driver optical coupler or shield Shields must be connected to earth ground at one end only Daisy Chaining SmartDrives Your SmartDrive also supports daisy chaining The unit address range 1 99 can be set via the keypad through Application Developer or with aterminal program using the Unit Number UN command or the entire chain may be addressed at once using the Auto Address AA command nig Uy Chapter 7 Programming with Serial Communication Rules for Daisy Chain Operation 1 Units on a daisy chain must be device addressed numbered in ascending order away from the host device controller in order for the Load All LA EX commands to work properly The unit addresses are not required to be numeri cally sequential but must be in ascending order Example 1 2 4 6 8 is valid addressing 6 3 10 8 2 is not valid 2 Do not duplicate unit numbers or addresses 3 RS232C Echo shou
131. ms Enable Line Polarity lt n gt EL1 1 Fixed in SmartDrive Encoder Mode lt n gt EMi i 3 Servo Closed Loop Example EM3 3 servo closed loop B8961 2 Fixed encoder mode of servo closed loop Encoder Resolution Where i is an even integer Example ER8000 8000 counts rev B8961 2 Fixed encoder resolution based on motor type see MT command End of Travel Switch Polarity lt n gt ETi i Selects the polarity of EOT End of Travel switches i 0 NORM OPEN i 1NORM CLOSED Accel Feed Forward Gain lt n gt FAn n 0 Anti Inertial Windup Disabled default 1 Anti Inertial Windup Enabled Following Error Limit lt n gt FEi i Example FE1000 axis one 1000 counts Fault Line Polarity lt n gt FLO0 0 Fixed in SmartDrive Velocity Feed Forward Gain lt n gt FVn n 0 Anti Inertial Windup Disabled default 1 Anti Inertial Windup Enabled Units Ratio lt n gt GRi i Example GR4 1 4 motor revolutions per distance i i DU unit Home Edge lt n gt HEi i 0 Negative Direction 1 Positive Direction Example HE1 one positive Home Final Direction lt n gt HFi i 0 Negative Direction 1 Postive Direction Example HF1 one positive Homing Mode i 0 Switch only i 1 Switch then Z Channel i 2 Z Channel only 113 Ho B8961 and B8962 User Manual UY Serial Setup Commands These are the commands that the Application Developer program uses to configure the SmartDrive according to the choice made in the
132. n a Range n a Default 0 LP will cause all commands between LP and EB to be repeated i times If LP is fol lowed by a 0 or no number the loop will repeat continuously Note An End of Block EB command must be used with every LP command The standar d software allows up to 16 nested loops one inside the other Each LP command must have a corresponding EB command to end the block loop A GT command within a loop will terminate the loop clear the loop stack and jump to a new program Example AC 09 DE 09 LP3 VE30 DI1 GO EBVE7 DI 3 GO EN The motor will perform an incremental 1 unit move at speed 30 three times and then a3 unit move at speed 7 in the other direction LU Loop Until Condition True syntax LU See Below Units n a Range n a Default n a The Loop Until LU command defines a loop block in which loop iterations are based on a conditional result The syntax for LU which is identical to the IF com mand is as follows Syntax LUi xx LUXx LU Mathematical expression or expressions 2 where i starting input number 1 8 SmartStep 1 16 SmartDrive x 0 Input Off x 1 Input On x anything else Input level Don t Care Mathematical expression Any valid conditional or logical expression Note An End of Block EB command must be used with every LU com mand The LU loop will continue to iterate until the specified conditional result is true LU checks the conditional at the end of th
133. n rate New programs will not execute until the stop input goes inactive 31 32 Y B8961 and B8962 User Manual Uy See the SCAN setup parameter for more information on stopping program execution See the ST command for more information on stopping moves without halting command execution U Unassigned An Unassigned input functions as a programmable input and can be used in IF and WT statements just like any of the dedicated function inputs v Data Valid When the input is configured it determines if the Binary BCD program select lines are processed or ignored lf the input is active program select lines are processed otherwise they are ignored This allows applications to be wired in a pseudo bus architecture fashion with each unit sharing the same program select lines and the data valid inputs determining which units should listen Configuring this output can greatly reduce panel wiring In the example shown below use the Data Valid input reduced the number of wires required for selecting programs by one half Data Valid Unit Selection PLC Program Selection Ww Warm Boot System Reset Resets the Smart Drive clearing the RAM Buffer and resetting the control to its power up state Programs and setup parameters are not erased This is typically used to restart system when a fault condition occurs The power up program if defined will be run Z Z Axis Fault Not yet implemented SETUP I O
134. n tanen aa a A EA AERONA 13 PROG Creating and Editing Motion Programs ccccceccscsssscscsscsrsssscrscsssessrssaeeees 13 SETUP System Setup M NU iin fain Aafia akada eiaa aaa tannin a an 14 POS Reset Current Position to Zero oo ccsessccssssecsssssscsecsessssseescsessesrseescsssrsseserserees 15 LIST List User Memory USage cceeeeceeeeseceeeneeseceeeeeeetaeeseeeeeaetaeeeseesetaseeseesesneseetaees 15 TUNING Servo RUNING iis vaueiieiieiteteaniie devin digad ish A E A ia 15 HELP MENUS aor eos a a deceedaut Ascadveress edt Aucas leevaut E EA A O ERO EONA OTE Ss 16 At the Man Me nusicisieatisivenina aaa a a a a 16 At the Menus and Sub MenUS sssssssssessssisisiisititttttt ktts tata tAtANEAEAEAEAEANANENENENEEEE EENEN EEEE EEEE 16 IN thE Edi tO n A aa e a a 16 COPY MONU Si rE e aa An is ode babes I AT oh a ese 16 PROG Copy a Program to Another Program cccccscesscsssssscscsessrscsrsersssssessrsersenees 16 TO PAD Upload Memory to Keypad ssssssssisisisisisisrsrisisrsrsrirstininininisiininininininrernnnnnnnet 17 FROM Download Memory to Control cccccccscssssecsscsscsessrscecessrsssrserssesseserserssaees 17 DYED ss Mie a AA EERE EEE hace alae eater cea ose adh od ected did foes TAT oa aad aaa aes 17 RUN TIME OPERATOR INTERFACE c ccsscssscsssssscssssssesecesscseecsseeseesesseeseeseesesersensarsassessassassasensanss 17 CONFIGURING YOUR SYSTEM ccccsscsscssscssccsccsscesccsscnsccsccsscssccsssescosssnscoss 19 SETU
135. nd prevents the input signal from being misinterpreted Analog signals are read into input variables Al9 through Al16 corresponding to OPTO positions 9 through 16 See Programming Your Application for details on using analog I O P Pause Continue While this input is grounded program execution is stopped Moves are not interrupted when the Pause input goes active Command execution will Pause at the end of the move and Continue when the input goes high See the ST command for interrupting moves in progress R r Retract Jog R specifies axis 1 r specifies axis 2 When activated the motor will Jog in the Retract direction When the input is released motion stops at the Jog Accel rate If an End of Travel limit is hit while jogging the motor will stop at the Stop Rate see Edit Setup Misc Before the motor can be moved back off the limit a Stop or Kill input must be activated to clear the fault generated by hitting an End of Limit switch Alternatively an S or K command sent over RS 232 will also clear the fault The velocity is determined by the Jog Speed Input and the Jog Low and High setup parameters When the input is off the speed is low and vice versa If none of the inputs are configured for Jog Speed the motor will jog at the Jog low setting S Stop When activated any program execution or functional operation is immediately stopped This includes any motion time delays loops and faults Moves will be decelerated at the stop deceleratio
136. nd is sent to all units if no address is specified All Status commands require an address Example lt n gt AUi i Field separator Alphabetic character Hexadecimal number Decimal real number up to 4 places to the right of the decimal A colon is a neutral character It can be used in a command to make it more readable to the pro grammer For example OP OOOOIIII is easier to understand than OPOOOOIIII Note The colon is required in GR command and is not neutral Unit Ratio Example GR4 1 a ae Decimal integer number Some IDeal commands request a response from the control Responses will always be preceded by an asterisk which notifies the other controls on a daisy chain to ignore the subsequent response characters preceding the next command delimiter For example the Input State IS command might return AF09 lt cr gt Your computer program will need to mask the asterisk before decoding the value returned You can document your programs by placing comments between brackets For example this is a comment To maximize program storage space the control strips off these comments when a program file is downloaded 111 Hp B8961 and B8962 User Manual Uy Serial Setup Commands These are the commands that the Application Developer program uses to configure the SmartDrive according to the choice made in the SETUP dialog boxes Command Description and Application Examples Anti Hunt lt n gt AHi i 0 A
137. ne The first is to reduce the switching speed of the drive electronics but this would increase the amount of heat the power transistors would need to dissipate This in turn would increase the size and cost of the servo drive A second way would be to build an AC filter and or isolation transformer into every drive This solution also increases the size and cost of every drive A third solution is to install an AC line filter at the point where the AC power enters the protective enclosure where the servo drives and other machine control electronics are mounted This is the method documented and used by IDC controls The main advantage is that the cost and size of the filter can be specifically tailored to the application at hand rather than being sized for a worst case scenario like an internal filter circuit A second advantage is that this externally mounted filter can be sized to supply multiple drives or other machine control electronics The proper installation and sizing of the AC line filter is critical in attaining acceptable attenuation of the broad band noise caused by the switching power electronics Appendix B EMC Installation IDC has tested and documented the effectiveness of the Corcom EMI filters part 6EQ8 F7264 but any filter with a similar power and high frequency impedance characteristics should provide similar results The proper installation of the line filter is at least as important as properly sizing it to the applica
138. nector Switch Black Com Shield Hom ET or ET 6961 2 PSR Limit LIMITS Switch Connector 6961 2 Limit Black Hom ET or ET LIMITS Switch Connector hield Will Not Work with IDC Controls i I YZ Trouble Shooting Trouble Shooting Most problems encountered during the startup and operation of a B8000 Series Smart Drive can be traced to a few basic causes such as mechanical problems incorrect or noisy signal wiring attempting to operate beyond the system s Capabilities or software setup or programming errors A combination of these underlying problems can present an overwhelming variety of symptoms that make it very difficult to track down the root cause of the difficulties A logical and methodical approach to trouble shooting is essential to isolating and resolving these problems The Smart Drives provide a number of tools to make this task easier The keypad is the most versatile of these troubleshooting tools The keypad will display error messages O status motor position and can be used to run programs in TRACE mode to aid in software debugging Servo Tuner Application Developer and terminal programs are also frequently used as trouble shooting tools The monitor output port is also a powerful troubleshooting tool lt can be configured to show actual and commanded velocity to help resolve move performance difficulties Configuring the port to output actual torque can be helpful in determining w
139. neously axis one then moves 10 units After axis one stops moving output 1 is turned on and output 2 is turned off The state changes on outputs 1 and 2 hap pen at the same time The programmer can control the flow of the program with WT wait for an event or condition to occur TD wait for a pre set amount of time to elapse and IF if a certain condition is true at this instant then execute a block of commands state ments External controllers such as PLC and computers can be coordinated via digi tal outputs and ASCII strings sent out the serial port Creating or Editing Programs with the Keypad IDC s IDeal Command language is easy to remember and powerful Command descriptions are also available ondine using the HELP key within the Application Developer program editor If you need help with basic keypad operation please refer to Chapter 4 Using the Keypad and Chapter 5 Configuring Your System 47 B8961 and B8962 User Manual Command Summary The chart below lists all the IDeal commands that can be stored and executed as a part of aprogram In Chapter 8 Programming with Serial Communication there is more information on serial commands such as Setup Immediate Status Supervisory Commands and Commands Not Available in Hosted Mode AC Acceleration Break Ec ne Dc Go Start a Move C mooo 48 eel teen al a IV Input Variable Doo He Uy Chapter 5 Programming Your Application Variable
140. nfiguration JOG ACCEL Jog acceleration LO VEL Low jog velocity HI VEL High jog velocity ENABLE Enable disable jog in RUN menu HOME EDGE Edge of home switch SWITCH Type of home switch OFFSET Position counter offset FINAL Final homing direction PROG PWR UP Program to run on power up if any SCAN How to scan program select inputs DELAY Program Select de bounce time RS232 ECHO Echo characters UNIT Serial address MISC DISPLAY Display mode STOP RATE Decel rate when stop input activated TEST Enable Test Menu 14 D Chapter 3 Keypad Operation POS Reset Current Position to Zero POS is a quick w ay to reset the motor s current Reset Position position to absolute zero which can be a helpful setup and debugging tool r Press 1 EDIT POS 2 YES F1 or NO F3 LIST List User Memory Usage LIST provides a w ay to view your program memory usage Your IDC Smart Drive will accept up to 199 IDeal motion programs of 1024 characters each with 6K bytes of program storage available up to 400 programs available with the 30k expanded memory option Pressing 1 EDIT LIST DIRECTORY MOREY Displays the number of programs stored in your PROGRAMS 18 Smart Drive i 2 4 DIRECTORY MOREY Displays the total amount of memory your BYTES USED 1186 programs have used 3 M DIRECTORY MMOREVY Displays the number of bytes of memory you BYTES FREE 4958 still have available 4 WV DIRECTORY WMOREW Displays the number of bytes b
141. ng function keys 2 Use the FK command to pause command processing until the operator selects a valid function key Only keys explicitly defined in the FK statement are con sidered valid 3 Gosub to the appropriate program Example of a 3 Screen menu program Program 20 SCREEN 1 Name the main program MS1 Clears keypad screen MS3 Select a Part Writes a Message MS21 PartA Part B Part C Writes a message above function keys FK1 2 3 17 18 Wait for selected key press GT FKEY Jumps to prog 1 2 or if F1 F2 or F3 is pressed Jumps to prog 17 or 18 if the up or down arrow keys are pressed EN End of Routine Program 18 SCREEN 2 MS21 Part D Part E Part F Writes a message above F1 F2 F3 FK1 2 3 17 18 Wait for selected key press IF FKEY 17 GT SCREEN 1 EB If Up arrow goto screen 1 IF FKEY 18 GT SCREEN 3 EB If Down arrow goto screen 3 FKEY FK EY 3 Add offset to FKEY variable to goto correct part subroutine GT FKEY Jumps to part D E F in program 4 5 0r 6 EN End of Routine Chapter 6 IDeal Command Reference Program 17 SCREEN 3 MS21 PartG Part H Part Writes amessage above function keys FK1 2 3 17 18 Wait for selected key press IF FKEY 17 GT SCREEN 2 EB If Up arrow goto screen 2 IF FKEY 18 GT SCREEN 1 EB If Down arrow goto screen 1 FKEY FK EY 6 Add offset to FKEY variable to goto correct part subroutine GT FKEY Jumps to partG H in program 7
142. ng programming confusion you can specify any character as an input x This allows you to self document your WT statements For example assume you configured input 3 as a JOG SPEED input Programming like WT01J10 can help remind you that you are already using input 3 Example WT4 1 GO WT2 010 GO WT110 GO WT 1 Wait for input 4 to equal 1 before moving Wait for inputs 24 to equal 010 before moving Wait for inputs 1 3 to equal 110 before moving Causes program execution to halt until GI move is complete Note In order to synchronize program execution with the end of a GI move there is new syntax a until the resp ssociated with the WT command WT 1 2 will halt program execution ective axis has completed its move WT 1 will wait for only axis 1 WT 2 will wait only for axis 2 WT 1 2 will wait until both axes have stopped iD B8961 and B8962 User Manual Uy Refer to Chapter 5 Programming Your Application for more details and examples of how to use the above operators functions and expressions 90 n Chapter 7 Programming with Serial Communication Programming with Serial Communication Overview Any RS 232C terminal PC computer serial RS 232C card or RS 232C equipped PLC can be used to configure program and operate IDC s SmartDrive controls IDC provides and strongly recommends using our Windows based Application Developer for configuration and programming If you choose not to use this tool all of th
143. ngths to separate power and control electronics it should be noted that IDC servo drives and controls have DSPs and microprocessors operating within an inch of the drive power electronics Appendix B EMC Installation Another source of the black magic reputation of electrical noise abatement comes from the area of cable shielding There are two objectives to cable shielding The first is to shield the signals in the cable from outside interference Traditionally protecting sensitive low voltage signals such as encoder and resolver feedback signals from corruption has been the main focus of industrial cable shielding Preventing the high voltage motor power signals from destroying the integrity of these feedback signals is obviously a key part of a functional machine The second objective of shielding is to protect the outside environment from unacceptable electromagnetic noise emissions With the advent of formal electromagnetic noise emission standards this facet of shielding has become even more important The high frequency 30 MHz to 1 GHz spectrum covered by these regulations dictate using at least a quality braided shield on all cabling The small cracks and imperfections found in foil shields make them ineffective at these high frequencies Even low power cables must be properly protected with a braided shield These low voltage signal or feedback wires often share a logic ground with the microprocessor and clock of the control The clock gr
144. nits inches e Lead Screw 4 revs inch DIST inch RATIO 4to 1 Units Example Rotary Index Table Desired distance units 1 8 of a revolution DIST inch RATIO 1 to 8 Units Example Gear Reduced Tangential Drive System e Desired distance units mm e Reducer 5 1 reduction Drive Pulley 6 inch circumference 5 revolutions of motor travel results in 152 4 mm of linear road travel This ratio must be expressed as an integer to be used in the Gear Ratio command Multiply each side by 10 to get a Gear Ratio of 50 to 1524 DIST mm RATIO 50 to 1524 SETUP MECH BKLASH Pitan aa Backlash BK Default 0 0 Distance Units Not yet implemented BKLASH allows your Smart Drive to compensate for the backlash in each axis of your mechanical system The Smart Drive will automatically take up add the backlash distance specified whenever the move direction is reversed 1 Use and gt keys to select an axis 2 Use the numeric keys to enter a backlash value in DIST units SETUP MECH VEL Velocity Units VU Default rps motor Revolutions Per Second Axis One Vel Unis Use this option to select your velocity units All EA see gt velocity values specified in the system will be expressed in these units 1 Use and gt keys to select an axis 2 Usethe y and ENTER keys to select velocity units from the list rps rpm e DIST units sec see DIST above e DIST units min see DIST above Chapter 4 Configurin
145. not be solved All IDC servo drives are fully protected against excessive regenerative energy First they are overvoltage and short circuit protected Second they are capable of dissi pating regenerative energy both internally and in extreme cases externally using our model RPACK 1 or RPACK 2 Our drive s LEDs will even indicated when excessive regenerative energy is present in your application An RPACK allows you to make more aggressive moves in high inertia low friction applications Each RPACK provides connections for hook up to either servo or stepper drives for a total dissipation of 240W continuous and 1000W peak for 3 seconds Regen Capacity watts or joules B8000 Series Internal without fan Total energy storage capacity max Continuous 70 joules 1 axis Peak 3 sec 140 joules 2 axis Internal with fan Continuous 70 joules 1 axis Peak 3 sec 140 joules 2 axis RPACK additional Continuous 240 watts Peak 3 sec 1 000 watts When to use an RPACK 1 or RPACK 2 If drive faults due to overvoltage If load is vertical with ballscrew If decelerating large inertial loads Dimensions in mm Front View Side View ee EE 155 CD DaAanauer iD Danaher Motion Precision Systems Group E mail sales idcmotion com 7C Raymond Avenue Salem NH 03079 World Wide Web http www idcmotion com 800 227 1066 FAX 603 893 8280 B8961 B8962 Operator s Manual PCW 4744 Rev 1 9 OUTSIDE THE U S CALL 603 893 0588 July
146. nti Hunt Disabled default 1 Anti Hunt Enabled Not recommended to change unless using tuning software See tuning software help file for further info Acceleration Maximum lt n gt AMrr Acceleration Units lt n gt AUi i i 0 units s where units is a string defined by the DU command rps seconds Example AUO unit s on axis one Anti Inertial Windup lt n gt AHi i 0 Anti Inertial Windup Disabled default 1 Anti Inertial Windup Enabled Not recommended to change unless using tuning software See tuning software help file for further info Clamp Current Units lt n gt CUi i i 0 Amps i 1 max Torque Display Format lt n gt DFi i Configures the 4 keypad run time display quadrants lt n gt DF DF takes 4 parameters where i is an integer Text i i i representing a display data type per quadrant User defined text is limited to 10 characters per field fist feos i 9 meurs Te VEle___ 1 14_ S8_STATUS _ i 7 CURI User defined text in quotes Distance Unit Label lt n gt DUi i i 0 steps fixes GR 1 1 9 dey 10 radian EZ Chapter 7 Programming with Serial Communication Serial Setup Commands These are the commands that the Application Developer program uses to configure the SmartDrive according to the choice made in the SETUP dialog boxes Command Description and Application Examples Scan Delay lt n gt DYi Where i is the number of ms Example DY500 500ms Default is 100
147. nto service to make sure that it meets all applicable safety and EMC specifications The recommendations are divided into 5 categories The first Shielding and Separation covers basic control shielding and panel layout techniques The second section Grounding covers some basic Radio Frequency RF grounding rules of thumb The next section Physical Layout is intended to give a specific example of an EMC compliant panel layout The fourth section covers AC line filtering In order to meet the European Union conducted emissions specifications a line filter must be installed between the Smart Drive and power mains The last section details some of the steps needed to install the Smart Drive in compliance with the European Union radiated emissions specifications Properly shielding and ground ing the motor power cable is the most critical step in bringing an EMC compliant system into service Separation and Shielding Since the power of electromagnetic radiation drops off as a square function of the distance from the source of the radiation proper electrical panel layout an help prevent compatibility problems Small changes in your panel layouts can make large differences in preventing compatibility problems Care should be taken in keeping sensitive electrical components especially sensitive measurement equipment as far away as possible from high voltage high power electronics such as IDC Smart Drives Though before a machine builder goes to extraordinary le
148. o an input in the OPTO menu The OPTO position s default configurations are as inputs see below 1 Use and gt keys to select an Input The function of the highlighted input will be displayed on the top line 2 Once your cursor is on the desired input use Ay to select from the following list of dedicated functions for each input Chapter 4 Configuring Your System Character Function Binary Formatted Program Select BCD Formatted Program Select Clear Command Buffer Disable Keypad e Extend Jog AXIS 1 axis 2 Set CL Force Z axis home input Interrupt Run 98 j Jog Speed AXIS 1 axis 2 Kill Motor Shutdown AXIS 1 axis 2 Analog Input Pause Continue r Retract Jog AXIS 1 axis 2 Stop Unassigned Data Valid Warm Boot Z Axis Fault h NS lt COHRUVUZZXL IMNMIOCOD 3 B Binary Program Select Input Allows programs to be run remotely using a PLC switches or outputs from a computer Up to 199 programs may be selected using binary inputs The lowest numbered input becomes the least significant selection bit i e input 1 is less significant than input 2 The act of configuring an input as a program select input also enables binary program select mode C BCD Program Select Input Allows programs to be run remotely using a TM99 Thumbwheel module PLC switches or outputs from a computer Up to 99 programs may be selected using BCD inputs The lowest numbered input becomes the least significant selection bit
149. odel Number lt n gt MN Returns the unit model number MN command responses are S6961 S6962 B8961 or B8962 122 Chapter 7 Programming with Serial Communication Serial Immediate Status Commands Note All but the S and K commands require an address Command Description and Application Examples Tell Output States lt n gt IS Returns the current state on or off of the 8 inputs The status is returned as a four digit hexadecimal number preceded by an asterisk The least signifi cant digit represents the binary value of inputs 4 1 Example IS returns OOF6 lt cr gt with the input condi tions shown in this table 16 15 14 13 12 14 10 9 87 6 5 4 3 2 1 off off off off oft off off off off on on on off on onfoff o 0 F 6 Your computer program will have to decode the hexadecimal number to determine the state of any each input no difference between commanded and encoder position Reset System Re initializes or warm boots the control software to its power up state The initialization process takes about 10 seconds to complete Programs and config uration settings are not erased This command is the equivalent of cycling power Stop Terminates program execution and immediately decelerates each motor to a halt at a rate set by the SR command Functions the same as pressing the ESC key on the IDC keypad or activating an input defined as a Stop input Tell Absolute Position Reports
150. ons Incremental moves are also often used inside a loop to shorten a program Incremental and absolute moves may be mixed the control always keeps track of the absolute position Example AC 1VE60 DI2 GO DI1 GO DI4 GO Move 2 units in the direction Move 1 more unit in the positive direction Move 4 units in the negative direction The final absolute position is 1 0000 EA _ Enable Disable Amplifier syntax EAi i Units n a Range 0 disable 1 enable 2 standby Default n a EA sets the state of the amplifier enable signal The polarity can be changed in EDIT gt SETUP gt MISC gt ENABLE Example EA0 Disables the amplifiers on axis one and two CIC 2 EB EN FK Chapter 6 IDeal Command Reference End of Block syntax EB Units n a Range n a Default n a The EB command designates the End of a Block of loop or IF commands Every LP LW LU and IF statement must have an EB associated with it Examples LP2 DI3 GO EB Performs the move twice IF1 1 DI5 GO DI10 GO EB GH3 If input 1 is On make 2 moves before homing If input 1 is Off jump to the GH command End of Routine syntax EN Units n a Range n a Default n a EN marks the end of a program or subroutine lt is optional at the end of a pro gram If EN marks the end of a subroutine command execution continues from the command following the gosub GS command which called the subroutine If the routine was not called from another program the EN
151. oper and Servo Tuner software are automatically installed on your hard drive by running the setup program on the Application Developer cd rom This disc also includes a readme file containing the latest information on software features Many demo programs are included with AppDeveloper If you cannot find the information that you need in this manual please contact the Applications Department 800 227 1066 Shipping Contents B8961 or B8962 Smart Drive control 120 VAC power cable Application Developer software cd rom Installed OPTO modules optional Fan Kit optional Note Units ordered as B8961NPs or B8962NP do not include the following keypad items 1 Keypad programming operator interface Part 7P220 2 Keypad remote extension cable 6 ft 3 Keypad remote mounting gasket uURWNe iD UY Chapter 2 Quick Start Quick Start The purpose of the Quick Start chapter is to help an experienced motion control user quickly set up and bench test a B8000 Series Smart Drive with an IDC supplied motor encoder package The following directions assume that the user is familiar with servo motors encoders servo amplifiers servo controls and their related electrical connections Please refer to Chapter 4 Configuring Your System if you have questions on any of these procedures For ease of set up we recommend that you use a Keypad and in this chapter it is assumed that a keypad is used for set up even if an RS232 connection will be u
152. or Follow the tuning procedure outlined in Poor or soft tuning allowing excessive the Servo Tuner manual or use the following error default parameters 137 B8961 and B8962 User Manual Probable Causes RMS Shutdown Hit a Limit error message Motor moves the wrong distance Controller doesn t respond to keypad inputs Controller doesn t recognize OPTO inputs No motion occurs when programs are run Homing moves are very slow don t follow commanded velocity Final homing position is not located over the home switch Motor will not move has no torque Motor jerks on power up Motor whines Motor won t change direction or moves only in one direction Motor moves in the wrong direction Motor runs hot 138 Mechanical jam amplifier shut down to prevent motor overheating Vertical or constant force application causing false RMS fault DSP V1 6 only RMS current limit exceeded Wrong motor file loaded Limit switches improperly wired or not connected Drive and control resolution don t match The keypad has been disabled OPTO positions default to inputs Correct motor type not selected Motor type defaults to NONE Home switch active level set incorrectly Homes to the Z channel on the motor encoder Drive not enabled End of travel limit switches are active The MOTOR TY PE selection is wrong Hall effect sensors mis wired Wrong motor type selecte
153. or section of Chapter 7 RS 232 Operation 1 B8961 and B8962 User Manual 0 Ye Connect The Motor and Encoder Cable s Power down the drive and connect the pre wired motor and encoder cables to the Smart Drive The 20 pin motor encoder cable plugs into the bottom of the Smart Drive The MS connectors are keyed at the motor end See the diagram below for more information f necessary please refer to the Hardware Reference chapter for wiring diagrams End of travel inputs are jumpered at the factory See the Hardware Reference section for IDC supplied limit switch wiring schematics After all motor and encoder cables are firmly connected reapply power and continue on with the Quick Star t directions Caution The motor will be enabled when the drive is powered up Jog the Motor 1 Press RUN Press JOG F2 2 Press the or gt key to jog and and V keys PROG JOG TEST to jog axis two on the B8962 l 3 Change the Jog Speed by pressing High F2 or Low F1 and jog again Run TEST MOVE Program Press ESC to return to the Main Display TEST MOVE 1 Press RUN Press TEST F3 Press MOVE F3 Axis 1 Both Axis 2 2 Select the axis to test F1 F2 or F3 The axis selected will move forward and backward one distance unit Distance units default to motor revolutions D Chapter 2 Quick Start Create and Run a Simple Program Press ESC to return to the Main Display 1 Press EDIT Press PROG F1 Enter 1 Ed
154. ormation on available OPTO modules is available from the Opto module manufacturer or your local distributor gt SETUP gt I O gt OUTSTS gt PWR UP Configuring Ouput States on Power Up OEP Default OFF On PwrUp Output 1 This option sets the desired states of the outputs on Ey OFF T power up 1 Use and gt keys to scroll throu outputs 1 8 and any OPTO positions configured as outputs 2 Use the and keys to set the output state as OFF or ON and press ESC to register gt SETUP gt I O gt OUTSTS gt FAULT Configuring Ouput States on Fault OEF Default NO CHANGE On Fault Output 1 V NOCHANGE gt This option sets the desired states of the outputs on a fault 1 Use and gt keys to scroll throu outputs 1 8 and any OPTO positions configured as outputs 2 Use the 7 and X keys to set the output state as OFF ON or NO CHANGE and press ESC to register 35 Y B8961 and B8962 User Manual Uy gt SETUP gt I O gt OUTSTS gt ST K Configuring Ouput States on Stop Kill OES Default NO CHANGE On ST K Output 1 V NOCHANGE 4 gt 5 This option sets the desired states of the outputs on a Stop or Kill 1 Use and gt keys to scroll throu outputs 1 8 and any OPTO positions configured as outputs 2 Use the and W keys to set the output state as OFF ON or NO CHANGE and press ESC to register gt SETUP gt I O gt LIMITS Configuring End of Tr
155. ound is a significant contributor to the radiated noise in the frequency range in question Another way in which EMC shielding differs from traditional shielding is in the connection of the shield to ground A solid 360 connection to ground rather than a single wire connection or even a braided strand connection can help prevent radiated noise problems Connecting the cable shield to ground at BOTH ends of the shield can also help reduce the level of radiated noise Please note there could be safety problems with this practice if the two grounds are at different potential levels The shield could actually become a current carrying conductor Safely connecting shields should always take precedence over any potential radiated emission reductions Grounding Grounding is another topic that has a slightly different meaning in an EMC context than it has had traditionally Generally local wiring safety codes thoroughly cover the subject of grounding as it relates to personal safety but they rarely address proper high frequency grounding practices A good safety or DC ground can be made with a wire or small area contact A high frequency ground connection requires a broad contact region or a wide braided strap to be effective Simple wires can act like an open circuit at the radio frequencies under consideration For this reason when mounting component or chassis to a cabinet it is important that the paint on both surfaces be scraped away A simple star washer
156. pad FROM Downloads keypad memory to a control PROG JOG TEST ne Uy Chapter 3 Keypad Operation PROG Running Programs Run an existing program by program number by M RUN PROGRAM y pressing gt 5 1 PROG F1 2 Program number 1 199 using numeric keys 1 400 available with the 30k expanded memory option 3 ENTER Run an existing program by name by pressing I7 RUN PROGRAM J 1 PROG F1 gt 12 GRIND 2 Mand keys to scroll through the list of available programs until you find the program you want 3 ENTER JOG Jogging the Motor Jog either axes by pressing JOG AXIS 1 0 0000 Te RUN lt LO gt HIGH 2 JOG F2 3 and gt keys to move axis 1 M and V keys to move axis 2 on a B8962 Note The 4 and V keys will also jog Axis 1 on a single axis unit Change between Low and High speeds with the F1 and F2 keys Jog speeds and accelerations can be changed in the JOG SETUP menu Jog an incremental distance by JOG AXIS 1 0 0000 Te RUN Dist 01 2 JOG F2 3 Entering a number i e 0 012 4 Pressing and releasing an arrow key will make the motor move this distance The arrow pressed determines the direction of the move 5 Repeat 3 and 4 until at desired position Additional pushes of arrow keys will jog the same distance until either F1 F2 or F3 is pressed This feature is intended for very fine final positioning The incremental jog speed is therefore fixed at a very low speed 11 Y
157. polated move as a single move and will treat the axes independently Therefore using a DC during a GP move will cause unpredictable results unless the user has calculated the necessary values to preserve the vector move GS Gosub syntax GSi and GS name Units n a Range i 1 199 1 400 with 30K memory option name any legal program name Default n a Jumps to program number or name and returns to the calling program when com mand processing reaches the EN command in the sub routine After the return execution continues at the command immediately following the GS Subroutines may be nested in the standar d firmware up to 16 levels deep A Goto GT will clear the subroutine stack preventing future Gosubs from overflowing the stack or returning to the wrong location Example DI10 GS PartA GO Run program Part A return and make a 10 unit incremental move 15 H B8961 and B8962 User Manual Uy GT Go to Program syntax GTi or GT name Units n a Range i 1 199 1 400 with 30K memory option name Default any legal program name n a GT branches to the program number or name specified All subsequent commands in the calling program are ignored Nested loops and subroutines calls are cleared by a GT command Example IF10 GT PART A EB IF input 1 is on and input 2 is off jump to program Part A IF01 GT20 GT30 EB EN IF input 1 is off and input 2 is on run program 20 Program 30 will never run Us
158. poses This file contains the complete contents of the SmartDrive including all the programs defined I O definition and mechanical scaling parameters Please note that this version of your application does not contain any comments as they are stripped off during download to conserve memory in the SmartDrive Change Unit Number Change Unit Number is used to set the device address of the control that Send Receive Program uploads and downloads to on a single RS 232C daisy chain Each unit must have its own unique software address The Unit number of each control should be set BEFORE the units are connected in a daisy chain the default address is one or use Auto Address button See RS 232C Protocol earlier in this chapter for hardware information on daisy chain wiring Setup Password An operator password or administrator password may be set or erased from this window Setup Comm Port Comm Port is used to select aComm Port when your PC has multiple serial ports This dialog box also has a comm port test utility to verify proper RS 232C opera tion IDC Terminal Terminal is a standard terminal emulator used for on line communication with a SmartDrive control It is very useful for troubleshooting interactive host control communications Caps lock needs to be on Every character typed will be sent to drive if mistyped press enter and start again All IDeal commands can be entered Serial Programming Serial Setup Serial Immediate and Serial Sup
159. quation Capture Window RG Position Capture Delay Velocity Steps Sec The Capture Window value is the number of steps accumulated between the falling edge of the Registration input and the time the current position is captured Depending on the FPGA hardware version of your Indexer this RG Position Capture Delay will either be 164 us or 5 us The Registration Command is only available on firmware version 4 0 amp higher If you have FPGA version 5 9 or earlier the Capture Delay will be 164 us lf you have FPGA 6 7 or higher the position is captured in hardware and the only Capture Delay is the input s opto isolator 5 us Use the keypad s HELP key to determine your FPGA version Regardless of the FPGA version used we have found both Capture Delays to be extremely repeatable This leads to a very repeatable Capture Window distance lag from when the registration input is made that can be accounted for by decreasing your commanded registration distance by the Capture Window For example a motor traveling 240 000 steps sec 30 rps with 8000 step rev drive resolution has a capture window of 39 steps for a 164 us Capture Delay and 1 step for a5 us Capture Delay Assuming the desired registration distance was 3 user units assum ing 1 user unit is 8000 motor steps an RG2 9795 would result in the motor travel ing exactly 3 user units for a unit with a 164 us Capture Delay D Chapter 6 IDeal Command Reference SP Set Position syntax
160. r Application The purpose of this chapter is to provide information that will help programmers begin developing applications with the SmartDrive There are also several practical examples that can be copied and modified Other program examples are available from the Application De veloper disk set see DEMOS idc Smart Drive Programming Overview Before beginning to develop a machine control program with a SmartDrive the user must decide how the SmartDrive fits into the overall machine control hierar chy There are three basic w ays SmartDrives are used They can be used in a stand alone mode where the SmartDrive controls all the I O and motion on a machine They can also be used with a PLC where the PLC runs the machine and just calls on the SmartDrive via program select lines for motion Thirdly they can be used in a lhostedi mode with a PC In this mode no programs are stored in the SmartDrive the PC downloads a string of commands at execution time The information in this chapter applies to all three modes of machine control The SmartDrive uses a sequential interpretive command processor This means that commands in a program are executed one at a time and that the action called for in one command must complete before the next command is processed Example move VE4 DI10 OT01 GO OT10 In the program move the maximum move velocity is set to 4 the command incremental distance is set to 10 output 1 and output 2 are turned off and on simulta
161. rection used to search for the encoder index mark Z channel after the appropriate home switch edge is found 1 Use and gt keys to select an axis 2 Use and keys to select the final approach direction PROG _ Program Run Configuration PROGRAM SETUP PWR UP SCAN DELAY Your IDeal Programmable Smart Drive is capable of running any pre defined program on power up or whenever a valid BCD or binary program combination is read on inputs configured as BCD or Binary Program Select inputs usually from a PLC or thumb wheel switches The conditions under which these programs execute are defined in PROGRAM SETUP SETUP PROG PWR UP Power Up Program PU Power Up Program PROGRAM 0 Range n 0 to 199 0 400 w 30k option Default 0 This option selects a power up program The selected program is executed run when your Smart Drive is powered up or reset If a value of 0 is entered in this menu or if the specified program does not exist no program is run Use the numeric keys to enter a program number SETUP PROG SCAN Scan Conditions SN Stop Scan After n YYYYYYY ESCV gt Default YYYYYYY The SCAN menu allows you to select which events will cause the control to stop scanning program select configured inputs It is used to enable or disable stop scan events If a given stop scan event is enabled the system will stop scanning the inputs for program numbers when that condition occurs The Smart Drive must be
162. ress 95 SOUP WALANG ose tees de he tee tech eset atin hese lsc hes hada tas fads Has ole Aas eT AO 95 AXIS SOUP eeiscislagedia doses destined aT E AAAA 99 TQ SOUP Sasi seek ccs ee esa ee E E A TS 102 Miscellaneous Mis Setup 4 20 5 iat SiR iG Wh ns SiG Be RUA Ai Sea 103 TEANAS n i peer ee to ne Pete A RT nee een eae eer ee 104 Programm itor 2 si4 socks Sig seid sade esa ats E es ee SR N A A AA R 105 MiGW onai aLa N aino APERA R fas ss ries scot Renken dias ees aoe SSH ET TE T 106 COMMUNIC AHONS naina AE e Aaa ails Bacar it haan Aaa wa is aie ait ae 106 Run Men iiuna an ENE E ad eta hada ted ta hed sade haste tes tata Shed tite Ati eden eacdeases 107 SECTION 4 RS 232C IDEAL COMMAND REFERENCE c ccccccccccsssecsteccseseeseeeessseessseesssnesenees 108 OVEIVICW EENE E NOA AEA EAA EA E NA EEA Anh AN EIN N AN 108 Sample Fle zrnin A a I RE REE 108 Eoia tanteo Brea PFs D OPERE AAEE EAEE as E EET A A 110 Serial Setup Commands asson i R A ss A NA 112 Serial Prog ramming Commands s ssssessssesessesesssssesessesessesessesesenssesesresessesesessesesssesesessesessesesses 118 Commands Not Used In Host Mode u cccccsscsscessessessceseessesssssecseceseesessecseceesesseesessesseseseesseas 120 Serial Immediate Status Commands oo cc cceseessessseecesecessesseseceeeeseesecseccsecesessesseseesesssseseaes 122 Serial Supervisory Commands sasae i eaae ai A EEE hoan A E AE 127 Hi o Ve Table of Contents HARDWARE REFERENCE aaa aaa a Ea E O Aa a O E
163. riable which determines the status of any of the 4 arrow keys When used in conjunction with FKEY the user can detect whether or not an arrow key is being held down AROWREL will return one of the following values AROWREL 0 One of the arrow keys is being held down AROWREL 1 The arrow key has been released AROWREL will return key status for the 4 arrow keys only If any other key is pressed AROWREL will return zero regardless if the key is held down or not The following is an example jog application using AROWREL and FKEY MAIN Program 1 FK12 13 Wait for a Left or Right arrow key GT FKEY Jump to arrow key program 12 or 13 LEFTARROW Program 12 MC Enable MC mode AC 1 Start MC move VE1 Move in positive direction GO LP IF AROWREL 1 Check status of arrow key VEO Stop MC move on key release GO GT14Return to main program EB EB End loop block RIGHTARROW Program 13 MC Enable MC mode AC 1 Start MC move VE 1 Move in negative direction GO LP IF AROWREL 1 Check status of arrow key VEO Stop MC move on key release GO GT14Return to main program EB EB End loop block 51 52 H B8961 and B8962 User Manual Uy Non Volatile Variables The non volatile variables EE1 EE20 are twenty user accessible variables that retain their values through power cycles warm boots and system resets Standard user variables are reset at power down or reset Each time one of thes
164. rinting only Grayhill s analog modules are compatible with our control Other manufacturer s analog opto modules do not fit into a G4 footprint For more information on how to use your Smart Drive s inputs and outputs in an application refer to Chapter 5 Applying the Product and Chapter 6 Programming Command Reference in this manual The function of each input and output in your VO SETUP 1 system is easily configured in the I O SETUP menus INPUT OUTPUT ORTOS Once you have your I O defined it is a good idea to write down your configuration scheme for later I O SETUP reference when you develop your motion programs OUTSTS LIMITS OUTSTS Output States on Event allows user config OUTPUT STATES ON uration of output states after power up fault or a PWR UP FAULT ST K Stop Kill LIMITS allows user configuration of the i EOT End of Travel switch polarity Also a new configurable input CLR CMD BUFFER c has been added SETUP I O INPUTS Input Definition ID IN1 EXTEND JOG 1 Default JUUUUUUUUUUUUUUU ecclesia The function of each input is easily configured using the keypad as described below The function for each input channel is indicated by a letter along the bottom of the display The first 8 letters are for the dedicated Inputs and the last 8 letters are for the optional OPTO inputs OPTO positions configured as outputs are shown as dashes and cannot be configured without changing the position t
165. s OT Distance Absolute DA Make a Move G0 atiable Wait on Inputs WT A Program Editor EET Bev Next gt gt send Bun Stop iad Editor B Click the right mouse button for help on command buttons The drop down menu box A in the upper left hand corner shows the number and name of the currently active program plus a list of up to 399 more programs When the entire file is downloaded to the SmartDrive these program numbers cor respond to the program numbers the controller uses for binary and BCD program selections Program comments are placed between brackets comments These comments are not downloaded to the SmartDrive Total program length not including comments is limited to 1024 bytes Total file length without comments is 8k for B8961 or B8962 or 30k for B8961 30k or B8962 30k expanded memory option The Send button will send the viewed program only one viewed to the drive Run will command the drive to execute the viewed program and Stop will halt program execution 105 Hi B8961 and B8962 User Manual 0 yde View Configuration Click on the View Configuration button at any time to see your system configura tion status All configuration parameters are listed and may be viewed by scrolling the list IDC Motion Application Developer untitled idc Eile Edit Setup Communications Run View Help nelas rmx 2 4 18 Lela 2 Fir Unitg and begin download OLLA
166. s Drive Petaluma CA 94954 Phone 800 747 0064 Look in Sy IDC Application Developer 6 4 z c EE Dpen an Existing Project 5 Demservo ide Fienane f Files of type IOC files IDC z Cancel Upload Project To begin immediately with a drive select Upload Project and then the controller type Com Port setting will be confirmed before uploading from the drive or key pad depending on controller type Launch Now Launch now allows immediate software launch bypassing Uploading opening an existing project and project wizard The controllable type will be prompted Project Wizard The Project Wizard allows the quickest and most accurate initial selection of drive encoder mechanics and motion units This chapter contains information to help you get started using Application Developer Open an Existing File If you Open an Existing Project Application Developer will bypass the Setup Wizard and allow you to select a file in the Open File window see below After you have opened an existing file it is still possible to use the Setup Wizard at any time by simply clicking on the Wizard tool bar button Ds B8961 and B8962 User Manual IA New Project Using the Project Wizard 1 Click on the New Project button to start the Setup Wizard J IDC Motion Application Developer untitled ide Ele Edt Setup Communications Run Yew Hep nelasa ymz zie lels 2 32 IDC Motion Pictures Startup Application Developer
167. s and Arithmetic Variables The Smart Drive will accept a variable in a command instead of a constant Variables may be used in e Arithmetic e Conditional Expressions e Loop Counts e Distance and velocity commands e Set values Set command values or parameters e Set analog signals Read analog or temperature input e Display information such as position or velocity e Any place that a number can be used a variable can be used Legal Variable Names The Smart Drive allows you to create descriptive variable names as opposed to V1 V2 etc Variables can be up to 14 characters but the first 10 characters must be unique They can contain other printable ASCII characters such as numbers underscores exclamation points even spaces Upper and lower case characters are supported within variable names and these variable names are case sensitive ASCl control characters such as LF and CR are not supported All variables must be enclosed in parenthesis variable name Parenthesis are not legal variable characters The standard software allows for up to 100 variables All variables are stored as fixed point numbers All variables are global All standard variables are volatile though non volatile variables are available as well 49 Ho B8961 and B8962 User Manual Uy Built In Variables The following variable names are predefined in the control They can be used throughout your programs in expressions to set voltages to test conditions
168. s are provided so that the host can verify the status of the SmartDrive before commanding motion The System Status SS command returns overall sys tem information and indicates general faults The Axis and Drive SAi and SDi com mands can then be used to provide more detailed axis specific information These commands are also an invaluable system troubleshooting aid Since they are immediate commands they will generate a response from the SmartDrive even if it is in the middle of move waiting for an input condition to become true etc Checking the System Status and the I O Status will give you enough information to 120 Chapter 7 Programming with Serial Communication explain what the SmartDrive is doing If a fault is indicated the Drive and Axis Status commands can give detailed axis specific information Summary of Immediate Status Commands Clear Command Buffer lt n gt CB Clears the terminal input buffer and buffered command buffer Input States lt n gt IS_ Real time status of discrete and OPTO inputs Kill lt n gt K Issues immediate halt to current and pro grammed motion Model Number lt n gt MN_ Returns unit model number over RS 232C Output States lt n gt OS_ Real time status of discrete and OPTO outputs Current Position lt n gt PA 1 Real time position in user units of axis 1 lt n gt PA2 axis 2 Stop lt n gt S Issues program termination decelerates to a halt Axis Status lt n gt SA1 Returns axis sp
169. sed later Caution All connectors are KEYED to prevent backwards installation The connectors should fit snugly but do not need to be forced Caution Do not plug the motor encoder connector into the drive until instructed The motor and encoder can be damaged by an incorrect motor setting Apply Power Connect the B8000 Series Smart Drive to 120VAC 0 0000 0 0000 using the supplied AC power cable and connector TheAC power input terminals are labeled and located at the top of the Smart Drive When power is applied the display briefly shows Model number and Software Revision then changes to the Main Display The Main Display continuously shows the position of each axis on the top line and the status of Inputs 1 8 and Outputs 1 8 on the bottom line Select the Motor Type M EDIT 4 1 Press the EDIT key Press SETUP F2 then MOTOR PROG SETUP POS F1 then TYPE F1 i 2 The display should show NONE Use the and Axis One Motor Type keys to change the motor choice lf you have a B23 110 Pe B8962 use the and gt arrows to change to axis h i two to verify the motor choice 3 Once the proper motor and voltage level has been selected press ESC to save your choices 4 You will be prompted to Enable each axis Choose YES F1 If using anon IDC motor please call the factory for details on obtaining a motor data file for your motor If you already have this custom motor data file see the Using Non IDC Mot
170. sessessaesrserscarsssesatsnsenss 45 1 B8961 and B8962 User Manual 0 yde Toggle TUNING StiMUlUS ikanni a 46 M nitor Montor Po teniniotareeh n e e e eels eater 46 PROGRAMMING YOUR APPLICATION ccccsccsccsccscscceccsccsccscescescsccscescesces 47 SMART DRIVE PROGRAMMING OVERVIEW ccccccscccccsssccsssccssscecsscecssseecssssceeeecesesceressesereeseseesgs 47 CREATING OR EDITING PROGRAMS WITH THE KEY PAD c ccccscecessessssscessreessseessseessesesseneeens 47 COMMAND SUMMARY a Sal 8s Soka cau testeds cvahaioese sand ends soe cedts cantatas leks a a a E 48 VARIABLES AND ARITAIMET Gc teh sreedthesveee Series vee a E ea eeeavesdete ea E EEA 49 VARIABILES E E PE E EE AA A A A A E EE E E Ganells taeda tenses sowsest esa sored bt causal 49 LEGAL VERIABLE NAME Siaa a raa a a a a aaa al wots E aA E a 49 BUILETAN WARIABIES EAE EA E E AEA A AE AA E E ENT 50 NONVOEATILEVARIABLES maniem Sere eth tees a a a adder 52 ARITHMETIC OPERANDS AND EQUATIONS ccccscccssscccssscccsscccsseesssesceseesceseecssesssesesssresssseseeaes 53 BOOLEAN OPERATORS amp AN D OR anere ies teens Sh eis Ses cs eet ee 53 LOGICAL OPERATIONS ON EXPRESSIONS cccccccsssccsscccsceseseecsseeceseescerescssessseessecssessssesssteesaes 54 INCREMENTING AND DECREMENTING VARIABLEG ccccccsscecsssecsseccsessesseseecsreesseeessrseseneeees 54 EXPRESSIONS E E E AEE A E benvele soteess E 54 MUETIEAXIS OPERATION h cea a a a a a eta role reese ae aE aaa aa a aa
171. sielal 2 Axis Setup industrial Devices Corporation 1 800 747 0064 Axis Each axis of your system must be configured separately eass i C Axis EBLIS O Agis 1 Select the axis to be configured 2 Configure parameters for each axis as it applies to your application Motor Encoder Mechanics Jog Limits Motor Menu Settings for Drive Type Resolution Stop Decel Rate and motor Directions are 99 B8961 and B8962 User Manual selected in the Motor menu Axis Setup Clamping stepper z Direction Resolution 25000 z Stop Rate RPS Encoder Menu The encoder will already be defined based on the motor selected The mode is fixed to Servo Closed Loop The Resolution and Mode cannot be changed All others will have defaults and shouldn t be changed unless using tuning software Resolution Post Quad 4X Encoder Mode Following Error Motor Steps 750 Open Loop In Range Window 4X f Open wi Stall Detection dosed Loop In Range Time ms _ Servo Closed Loop PM Gain PM Deadband Motor Steps PM Y max rps Mechanics Menu The Mechanics menu allows you to program distance velocity and acceleration 100 Chapter 7 Programming with Serial Communication units convenient for your application This menu also allows you to set a maximum allowable speed and acceleration for each axis If programming in steps gear ratio will be fixed 1 1 If programming in revolutions revs
172. sssecsesesssessssssseserseseeaes 143 IDC ACTUAT OR RATIOS a china ese Sat i oa eee aoe Sea ees Sa oe ad 143 N T RZ RS RAS NM RM Sres eners ervervet ana ELE NENE E TEETER NER 143 APPENDIX B EMC INSTALLATION cccsccsscosccescssccsscnscssccsscnsccsscescosscescoss 147 ELECTROMAGNETIC COMPATIBILITY EMC INSTALLATION GUIDELINES ccc 147 IMEPOGUG TON fiie cctet ideas testes seaveta tes dbireuectdatadh andes alas E E NTE EER Haste dene 147 Separation and SHiel iG aniisi a naaa ira ir ah daadaa 148 Grounding iei areira aa Eai AL A ALA A AL ARE ET teases 149 Physical Anstallation nreno a a a A OE a aN 150 AG Power Line PICT aa EEE E A E E E Ha TE 150 Motor Output Power Cable Shielding ccccccscscsscssseseesscssecseceseeseesessecessessessessessesesseasens 151 Declaration of Conformity a ever isecaadactb eaea EA ANE ARAA EEAO E GH aos 152 APPENDIX C FAN KIT OPTION cscsscssccssccsccesccsccsscesccsccescnscesscnscesccescoss 153 APPENDIX D REGEN PACK OPTION 20 0scsescsesccescsoscsessecsesesccescccscsncccessceee 155 He 0 yde Chapter 1 Product and Manual Overview Product and Manual Overview IDC s B8961 and B8962 one and two axis Smart Drives combine a DSP based servo amplifier with a powerful but easy to use machine controller We offer a single axis version B8961 and a dual axis version B8962 The B8962 has two axes of independently configurable amplifiers Both products incorporate IDC s 5 amp con
173. stallation you can click on Cancel to abort the process The Setup program will take you through a series of screens to verify user informa tion and destination directories 93 HD B8961 and B8962 User Manual Uy Welcome e eter trercss Cancel Common Installation Errors and Remedies There are no known installation problems with Application Developer Please call the IDC Applications Department at US 1 800 227 1066 INT L 1 603 893 0588 from outside U S if you need assistance installing this softw are 94 i Uy Chapter 7 Programming with Serial Communication Section 3 Using Application Developer Application Developer s graphical environment helps you setup and program your SmartDrive from your computer It guides you through configuring your control following the same steps and menus as the keypad configuration Complete details on setup menus and choices can be found in Chapter 5 Configuring Your System Applications programs and configuration files may be created saved edited and downloaded sent to your control Application Developer will also upload receive an entire setup and program memory from a control The window shown below appears immediately after starting the Application Developer program 2 DC Motion Application Developer untitled ide Bile Edit Setup Communications Run Yiew Help nieas beh Bakala gui pA Application Developer Industrial Devices Corporation 3925 Cypres
174. t 1 s RAM then runs program 50 127 EJ B8961 and B8962 User Manual Serial Supervisory Commands The following commands control program uploading downloading deleting execution etc All of these commands are fully defined in this section Command Description and Application Examples RS 232C Echo Enable Disable lt n gt ECi 0 echo Disabled 1 echo Enabled Example ECO echo off The RS 232C Echo must be enabled for daisy chain operation End Program Definition lt n gt EP Denotes the end of a program definition All program definitions must begin with nPRi or nDRi and end with EP Example PR15 part A AC4 VE30 DI10 5 GO EP Ends Upload All or Load All lt n gt EX Signals the end of a upload all UA or load all LA sequence EX is sent by the SmartDrive to the host after completing a UA EX is sent by the host to the SmartDrive to terminate a LA Load All lt n gt LA Sent to the SmartDrive before downloading a long list of setup parameters and programs This command will disable the non addressed units so that each setup parameter doesn t need an address Must be followed by an EX to reestablish the daisy chain communications Original Configuration lt n gt OC Returns the FLASH to its original factory default state The command buffer is cleared all programs are erased and all configuration settings are returned to their default values Can be done with keypad pressing sequentially
175. t 55 SIMPEE GOvGOMMAN DS vi e e e ascot ea cats cay a a aa a a a eea an en aaaea ai iaiia 55 TYPICAL PROGRAMMING EXAMPLES ccccccssccccsscecssscecseccsssccceeeceeessecesescesesseueessesssecsrsssssesesats 58 READING AN ANALOG INPUT cccccccccssccssscecsscecesseccceeseceeesceescusesscaeesseescuesssetsecsesssresssseessaes 59 CONFIGURING AN ANALOG OUTPUT cccccccscccsscccssececsscecesseecsseesseeeecueeceescsseescueesssesseatees 60 PROGRAMMING COMMANDS ccsccccsccsccsccsccsceccsccsccscnscnccsccscescnscsccscescescess 61 PROGRAMMING WITH SERIAL COMMUNICATION csccsccecsccsccsccscescsscees 91 SECTION RS 232 PROTO CO boaii aa a a a a 91 Making RS232C Connections to the S6961 2 s sssssssssssessisisesesesesesesesreresesesresesesrsesesesesesseses 91 Troubleshooting Serial Command Problems oo ccccccscessessesscsseeseceseesssseceeeesesssseecsesessessens 92 Daisy Chaining Smart Drives cisicscdseveseessasecesecosesdeslsadesiveceies nats svecsestvedesiessventt ENE NEAR 92 SECTION 2 APPLICATION DEVELOPER SOFT WARE cc cccccscscsssccsssseseseescssescssseseseessseesesressness 93 Installing Application De VelOpel cccccscscsseceseessssscseceseesesseccseceesessssesseseesesseesesseseesersenses 93 Common Installation Errors and Remedies cccssssssesseeeessesscseeesseessesecsecessesessecssesessenseaes 94 SECTION 3 USING APPLICATION DEVELOPER ccccccccccccsscccsssscssssssseeeccsseessrseseeecreesesrees
176. t Configuration 32 Output functions 32 Output Schematic 135 Output Test 5 Outputs Optos 36 Overview 1 P Power up program 39 Programming Command Summary 48 Conditional expressions 54 Examples 58 Overview 47 RS 232 91 variables 49 programs copying 8 16 deleting 17 editing 8 13 power up 39 trace mode 12 Q Quick Start 3 R Regen fault 132 RPACK 102 RS232 addressing 127 Command reference 108 daisy chain 92 Immediate commands 120 Interface commands 106 Programming commands 108 running programs 107 Setup commands 112 Tuning 102 RS232 91 RS232 command listing 112 RS232 protocol 91 RS232 Setup RS232 38 RS232C Operation 91 n Scaling 24 acceleration 27 distance 24 25 velocity 26 Servo Tuner 45 82 Servo Tuning 43 Setup Homing 37 inputs and outputs 28 jogging 36 menu structure 14 Motor 20 procedure 20 RS 232 40 Specifications 133 Stop rate 41 System variables 49 S Test move 12 output 12 program trace 12 timer 48 88 Tuning 15 43 44 gains 44 Keypad 45 RS 232 45 81 Tuning Stimulus 46 Index V variable count max 49 variables 49 W warranty 140 Wiring Diagrams 133 141 iD B8961 and B8962 User Manual 0 yde Appendix A IDC Actuator Ratios Configuring inch amp mm Units on Smart Drives Used With IDC Actuators 142 One of the first steps in setting up an IDC Smart Drive with an IDC linear actuator is to configure the distance velocity
177. t acceleration on axis 2 VE V2 Use operator inputted variable V2 as new speed GO Change velocity of axis 2 to the new speed GT Two Axis MC Repeat Example 4 Demonstrates the use of WT OT andTD commands in continuous move MC AC3 VE3 GO Start first segment WT8 1AC 1VE10 GO Wait for input 8 and change speed TD5AC 3VE 2 GO Wait for 5 seconds and change speed WT3 1VE 10 GO Wait for input 3 and change speed and direction OT11 Turn on outputs 1 and 2 TD10 VEO GO Wait 10 seconds and stop the move Example 5 Demonstrates two axis joystick control with a Smart Drive The control must be equipped with two analog inputs in this case we assume Al9 andAl10 and be connected to an external user supplied joystick 81 B8961 and B8962 User Manual Joystick GS Get Speeds MC AC 2 2 VE VX VY GO GT Joystick Get Speeds Deadband 15 Neg Deadband 15 Max RPS 5 Scale Max RPS 28137 Offset X 47685 Offset Y 50990 Al9 Offset X VX Scale Al10 OffsetY VY Scale IF VX lt Deadband annann eC SSE lt lt XxXX ILLI IF VX gt Neg Deadband VX 0 EB EB IF VY lt Deadband IF VY gt Neg Deadband VY 0 EB EB EP Main Program X Axis 1 Y Axis 2 Call a routine that scales the analog input voltage to X andY speeds Enable continuous mode set accelerations Set speeds for X andY axis Start motion When the axes reach constant speed run Joy stick and update the veloc
178. tatus Hardware status of home switch O off 1 on Pree Hardware status of limit switch Limit Switch Status O off 1 on limits require a NC switch eae Hardware status of limit switch Limit Switch Status e 0 off 1 0n limits require a NC switch 1 Set when a move is terminated by a limit in the direction Cleared at the start of a move in the direction O At power up or reset even if on the limit Move Command Complete Same as Move Done Output Limit Switch Latched 1 Set when a move is terminated by a limit in the direction Cleared at the start of a move in the direction O At power up or reset even if on the limit i enim Limit Switch Latched 124 ng Chapter 7 Programming with Serial Communication Serial Immediate Status Commands Note All but the S and K commands require an address Command Description and Application Examples Tell Drive Status lt n gt SD1 Returns the current drive status as a four digit hexadecimal number pre ceded by an asterisk Your controller program decodes the hexadecimal number to determine the drive status seus TCS A A ED a e e e Eeee off Jott off Jott off oft off oft off off off on Joff off off Jof O o o 1 0 Parameter Definition 1 Following error occurred i O At power up and reset Set to zero at the start of the next move Gino 1 Over Current requires reset to clear O At power up and after reset 1 Thermal fault in the motor or drive T
179. tch should be wired so that moves in the plus direction as shown on the keypad display or via the PA command will activate the switch When NEGATIVE is selected the EOT limit switch should be wired so that moves in the negative direction as shown on the keypad display or via the PA command will activate the switch 1 Use and gt keys to select an axis 2 Usethe v and ENTER keys to select a direction 21 A B8961 and B8962 User Manual Uy ENC Encoder Configuration Axis One Enc Mode EDIT SEIU ENG MORE CLOSED LOOP V gt Encoder Mode EM Default SERVO CLOSED LOOP This option sets the encoder mode for each axis The B8961 and B8962 servo position loops are closed by the DSP in the amplifier freeing up the motion control board to do other processing Therefore you can run the servo in either open loop or servo closed loop modes This allows you to view on the keypad display or via the PAn commands either the commanded or actual position in user units All programmed moves are based on the Motor Drive Resolution setting D_RES 1 Use and gt keys to select an axis 2 Usethe and X keys to scroll through the list of encoder modes and press ESC to select Encoder Mode Description The OPEN LOOP position will be displayed on the keypad OPEN STALL The OPEN LOOP position will be displayed on the keypad but the encoder will be used for stall detection CLOSED LOOP The encoder position is disp
180. th Serial Communication File Edit Setup Communications Bun View Help L ct al lie Zel Gels 2 IDC Motion Appl untitled idc Industrial Devic poration 64 Digital Dr Novat CA 94949 747 gt 4 This sample configuration file is continue on the next page 1 1 s2 L 2 1 TTTTITETT OPTO definition I Input Input definit U Unassigned Output definition P Pr Output Gutp End of t Industrial Devices Corporation 1 800 747 0064 109 De B8961 and B8962 User Manual Uy Sample configuration file continued i IDC Motion Application Developer untitled_idc File Edit Setup Communications Run View Help Lielals simixl2 zie clelal T Following error JEL DI1O GO Press o Ep Industrial Devices Corporation 1 800 747 0064 Command Syntax All IDeal commands use two letter UPPER CASE ASCII characters Command delimiters can be a carriage return lt cr gt or space lt sp gt character The commands that follow define IDC s command syntax A brief command description is given here but the full command definition is found in Chapter 5 This listing is intended only to help programmers with command syntax IDeal pro gramming commands are defined in Chapter 6 The table below describes the abbreviations and format used in our command syn tax definitions 110 Chapter 7 Programming with Serial Communication Unit address number is optional with RS 232C and the comma
181. that a machine level rather than component level application of the following grounding and cabling practices is feasible without compromising the operation of the individual components The EMC immunity standards cover a broad range of electromagnetic phenomena including e Electrostatic Discharges RF electromagnetic fields Fast transient and power surges into the AC power supply Fast transient bursts on the motor and encoder wiring Fundamentally robust electrical design is the best defense against this kind of unpredictable noise but good grounding practices can help prevent intermittent difficult to track down noise related problems Since the electromagnetic immunity of the Smart Drive is almost exclusively a function of the design the installation techniques followed will not positively or negatively impact this built in immunity The electromagnetic emissions of the machine on the other hand are almost completely a function of the installation 147 148 He B8961 and B8962 User Manual 0 yde methods used There are only a few things a machine designer can do to minimize the chance of EMC conflicts betw een sub systems in his final product and between his final product and other products The first is to use products and com ponents that have a sufficient level of EM immunity to assure that their operation will not be affected by other equipment In some cases such as sensitive measuring equipment the very function of the
182. the Smart Drive it might be necessary to round off the number step 3 above This is the numerator of the integer ratio B The power of ten becomes the denominator 10 10000 5 Enter Ratio into Smart Drive A Press EDIT SEUP MECH RATIO to get to the Mechanical 24606 to 10000 Ratio menu The numbers from step 4 can now be entered B Press ENTER after entering the ratio numerator then gt 24606 revs 10000 cm to move right and enter the ratio denominator Press ENTER after entering the denominator then ESC to move back one menu 6 Program the Smart Drive The Smart Drive is now ready to program in your own User Units DI10 0 GO Distances will match teh units configured above moves 10 0 cm 146 rip Uy Appendix B EMC Installation Appendix B EMC Installation Electromagnetic Compatibility EMC Installation Guidelines Introduction The concept of Electromagnetic Compatibility EMC that an electrical device should operate as intended without being disturbed by or disturbing other electrical devices has always been an implicit part of every successful industrial control installation Recent regulation changes particularly in the European Union have explicitly and formally defined EMC This appendix is intended to help professionally qualified OEMs machine builders and end users successfully install and operate IDC s single and dual axis servo drives and controls Models B8961 and B8962 in compl
183. tial loads The RPACK 1 dissipates the kinetic and potential energy that would other wise cause the drive to shutdown due to an Over Voltage or Regen fault Using an RPACK 1 can help reduce overall cycle time by allowing a higher deceleration rate than would be possible without it See Appendix D for additional information on the RPACK including mounting dimensions The recommended panel spacing is also the same Electrical connec tions should be made according to the diagram above 3 250 Remote Keypad Mounting eee 132 N RECOMMENDED CUT OUT sizes i 0 yde Chapter 8 Hardware Reference B8000 Smart Drive Hardware Specifications General Command Interface Type RS 232C serial type 3 wire implementation TX RX amp COM Parameters 9600 Baud 8 data bits 1 stop bit no parity Configuration Up to 99 units can be supported over RS 232C on a daisy chain Inputs Programmable inputs 8 optically isolated programmable inputs Limits Home All inputs are active low optically isolated inputs Min current 12 mA Max 35 mA 250 mA max current available from on board 12Vdc supply Encoder Differential quadrature incremental TTL Max freq of 1 5 MHZ Power 5VDC 200 mA output power for each external encoder Outputs Programmable Outputs 8 optically isolated open collector programmable outputs Isolated Pull Up 5 24Vdc 100 mA max current per output 250 mA max current available from 12Vdc supply Diagnostic Monitor
184. tinuous l0 amp peak 120 230VAC digital servo amplifier with a motion machine controller in a single compact package Up to 24 digital I O are available to control other machine functions Up to 8 of these can be configured as analog inputs or outputs The B8000 Series Smart Drives feature a5 amp continuous 10 amp peak digital brushless servo drive using state of the art DSP technology to provide high performance closed loop servo control to a wide variety of permanent magnet brushless and brushed servo motors and actuators offered by Industrial Devices Corporation The Vector Control used by the servo amplifier offers higher bandwidth torque and velocity control when compared with sinusoidal or hall effect commutated brushless servo amplifiers This results in an expanded torque speed curve that leads to higher throughput machines The easy servo setup offered by the keypad configuration or via Application Developer gives high speed high torque brushless servo motor performance with an ease of use rivaled only by a stepper system IDC s IDeal Smart Drives provide excellent value when your application calls for any of the following A small 1 2 axis machine controller A motion node to a master PLC or PC A cost effective operator interface e Thumbwheel data inputs e Flexible I O capabilities e On board OPTO I O modules analog or digital The B8000 Series Smart Drives also feature a programming operator interface The intent
185. tion The following guidelines should be used 1 Ground the line filter case to the enclosure cabinet ground The case of the line filter is generally conductive and connected to the filter s ground Insuring a good RF connection between the filter and the cabinet usually requires removing the paint where the filter is mounted to create a large surface area conduction path 2 Minimize the AC cable run inside of the cabinet The filtered side of the AC line filter can be contaminated by radiated noise from the unfiltered side of the filter and from other RF sources inside of the cabinet thus completely negating the effect of the filtering The best way to do this is to mount the filter at the point where the AC power enters the enclosure Motor Output Power Cable Shielding Most of the radiated RF emissions come from the motor power cables Use shielded motor cables The shield needs to be connected at the motor AND the cabinet ground as close to the drive as possible for best results Removing the paint around the bottom drive mounting tab and using this bolt as the shield termination generally works very well To fully comply with emission standards set forth in EN50081 1 Residential commercial and light industrial environments the motor power cables also need to be run inside of conductive conduit The conduit should make good electrical contact with the motor case ground at the motor end and the enclosure ground at the motor end Please note that loca
186. to be wired in a daisy chain without setting each unit s address manually The AA command parame ter n indicates the value in which the addressing sequence will begin T R IR i POPPE T In the example above the Host issues an AA4 and the units are addressed 4 5 6 7 This offers the convenience of adding a new unit anywhere in the daisy chain without manually re addressing all the other units Just connect the new unit issue an AA command from the new unit with the address of the new unit as the AA parameter i e AAi Delete Program lt n gt DPi Erases a program from memory where i is the program number This is equivalent to pressing the delete key on the keypad and entering the program number Range 1 199 1 400 with 30K memory option Example DP99 deletes program number 99 Download Program to RAM lt n gt DRi Begins downloading a program from the host to the control s RAM rather than non volatile memory Also see the PR com mand description These programs will be lost after a reset or power cycle The program string must end in EP The commands between DR and EP do not need a device address The DR command is typically used when the control is operated exclusively via a host controller which constantly downloads and executes programs This increases the usable life of the FLASH Range 1 199 1 400 with 30K memory option Example 1DR50 AC4 DE4 VE30 LP6 DI10 5 GO EN 1EP RN50 Downloads program 50 to Uni
187. uite 103 Rohnert Park CA 94928 139 B8961 and B8962 User Manual Index A AC Power 133 amplifier communication 106 Disable 8 12 Enable 8 12 Analog inputs 59 analog opto modules 28 analog output 60 Application Developer Installation 93 Using 95 B BCD inputs 59 C Cable Encoder 4 Motor 4 Compensator 44 Configuring Your System 19 Current rating 1 custom motor 21 D daisy chaining 92 digital opto modules 28 Drive Mounting 131 E EE system variables 50 52 Encoder 40 following error 23 resolution 22 End of travel 4 Environmental Specs 133 F fan kit 101 102 following error 23 Function Keys 7 G Gear Ratio 25 H Hardware connections 134 Hardware specifications 133 Help 16 140 Homing setup 37 switch 37 I If statements 54 Input configuration 28 Input functions 28 Input Schematics 135 InputTest 5 Inputs Optos 34 J Jogging 11 Setup 34 Velocity 37 K keypad 17 contrast 9 dipswitches 9 display 17 menu structure 10 remote mounting 9 Keypad Hardware Features 9 keypad operation 5 7 L Limit Switch Stop rate 40 Load Configuration 100 M Math 48 memory 15 Monitor Port 46 Motor configuration 20 Motor Output 133 Motor setup 20 Motor Specifications 106 Motor Type 3 Motors Non Superior 3 21 Multi axis moves 55 N non volatile memory 52 non volatile system variables 52 Opto configuration 32 Opto 1 0 28 Outpu
188. using OP command a P Power F Eau e S Stop Kill i 0 Off 1 on X No Change Example OEF 0001XX01XXXXXXXX Output state on fault turn 1 2 3 7 off 4 8 on all else leave unchanged OPTO Configuration lt n gt OPIIlI i Input O Output OOOO Example OP IIIIOOOO First four configured as inputs last four as outputs Position Maintenance Gain lt n gt PGi i Sets position maintenance correction gain i 1 to 32 767 Not used by B8961 2 Fixed at 0 Power Up Program lt n gt PUi Example PU105 Runs program number 105 on power up PV Postion Maintenance Max Velocity lt n gt PVi i Sets position maintenance maximum correction velocity Units specified by VU command Not used by B8961 2 Fixed at 0 Password lt n gt PWaa Up to 4 characters a a A Z 0 9 aa aaaa Entering a dash will clear the password Skipping a parameter will leave the password unchanged see examples below Examples using PW Example 1 PW4FT Q12h Set the OPRATR password to 4FT and the ADMIN password to Q12h Example 2 PW New Changes ADMIN password to New leaves OPRTATR password unchanged Example 3 PW Clears both the OPRATR and ADMIN passwords Rest Mode lt n gt RE0 0 Not used by B8961 2 Fixed at 0 116 i Oy Chapter 7 Programming with Serial Communication Serial Setup Commands These are the commands that the Application Developer program uses to configure the SmartDrive according to the choice made in t
189. value of DC must be specified as a positive number When multiple DC s are speci fied within an incremental move DI the incremental distance specified by the DC command is taken from the last DC command not from the beginning of the move See the incremental move examples below for more clarification The stan dard software supports a maximum of 20 DC commands within a move profile Application Note The DC command can only be used when the motor is moving at constant speed i e not accelerating or decelerating Issuing a DC command or trigger position before a previous DC has finished execution is invalid and can cause unpredictable results For example the following pro grammed move profile is an incorrect use of the DC command AC1 VE5 DA20 DC1 75 VE7 5 GO Since the initial acceleration ramp requires 2 5 units of distance to reach velocity FM the DC1 75 is an invalid trigger position and will be ignored The following formula ensures the use of valid DC trigger positions DCDC p ort 20 Chapter 6 IDeal Command Reference Where n is the current DC command distance n 19 in this example n 1 is the previous DC command distance e g 10 V is the velocity and t is acceleration time for the first DC specified in a move profile n 1 would correspond to the beginning of the move In the following move profile AC units seconds VE units RPS see illustration AC1 6 DE0 8 VE5 DA20 DC10AC2 5 VE3 DC VE2 5 GO DC EHS
190. waiting for a function key FKACUVG EA 0 Not waiting at a FK command 1 Paused waiting for a input condition MEINE O Not waiting at a WT command 1 Paused at a time delay DANG Ea O Not waiting at a TD command ie 7 1 Paused waiting a variable input 0 Not waiting at a IV command 1 RS 232C buffer 75 full Total Capacity 2k 0 RS 232C buffer less than 60 full 1 Amp fault following error move stopped i by limit switch see SAi and SDi for more detailed fault information O No faults 1 Amp fault following error move stopped i 10 by limit switch see SAi and SDi for more detailed fault information O No faults RESERVED 11 state undefined should be masked 1 BCD and Binary program select scanning Program Select 12 enabled 0 A Stop Scan condition has Scanning occurred or no inputs are configured as pro gram select lines Data Download 1 Data Transfer failed program memory Status 13 Joverflow 0 Data successfully received RESERVED 14 16 State undefined should be masked 126 ng Oy Chapter 7 Programming with Serial Communication Serial Supervisory Commands The following commands control program uploading downloading deleting execution etc All of these commands are fully defined in this section Command Description and Application Examples Auto Address lt n gt AA or The AA command automatically addresses SmartDrive units in a AAi daisy chain It assigns an address to each unit on the daisy chain This allows the units
191. were purchased together this adjustment has been made by IDC Some adjustment may still be needed to accommodate unusual lighting or viewing angles Remote Mounting The keypad can easily be remote mounted and sealed to NEMA 4 specifications by using the included mounting gasket and 6 foot communication cable The gasket should be installed with its adhesive side to the enclosure A pressure seal is formed between the gasket and the keypad while the adhesive maintains the seal between the enclosure and the gasket The keypad communicates with the Smart Drive via RS 232 so this cable can be extended if needed At longer distances users may have to provide a separate 5 VDC supply to power the keypad Complete keypad drawings and pinouts can be found in the Hardware Reference chapter Back of Keypad Detail drawing ee ee a a ae ee a ee ee ee ee N C__RX__ TX GND 5VOC DOC Ho B8961 and B8962 User Manual Uy Key Pad Programming Menu Structure Most operations from the K eypad are menu driven A menu consists of a title bar on the top display line and as many as three options or sub menus at a time on the bottom display line Each option is positioned over one of the function keys Pressing a function key will select the corresponding option If a menu has more than three options arrows will appear in the title bar indicating that there are more options which are not displayed Pressing the appropriate arrows indicated on the display will cyc
192. will be limited by this parameter analogous to VMAX for velocity Regardless of acceleration units the absolute maximum accel eration is 0 002 seconds 1 Use the and gt keys to select an axis 2 Use numeric keys to enter anew acceleration maximum in the same units selected in the SETUP gt MECH gt ACCEL menu and press ENTER then ESC to register 27 28 Y B8961 and B8962 User Manual Uy Input amp Output Configuration Your IDeal Programmable Smart Drive has eight discrete optically isolated inputs and eight discrete opticallyisolated outputs It also supports up to eight Opto I O modules G4 G5 footprint which is like having a G4PB8 board and cable built in plus it has the capability of supporting a mix of analog and digital modules All the inputs and outputs can be configured to a specific machine control function The eight OPTO positions can be inputs or outputs logic or AC DC power digital or analog or even used as a thermocouple Type K or J inputs The control is completely protected from errors in interchanging modules You will not damage the unit by plugging in the wrong module Simply insert the modules you need into the positions you desire and configure each position in the OPTO menu explained below as either an input or an output Your IDeal Programmable Smart Drive is compatible with almost any manufacturer s G4 or G5 digital opto modules OPTO 22 Grayhill Gordos etc However at the time of this p
193. with just the keypad and an oscilloscope Even the oscilloscope is optional for less demanding applications The keypad has two built in tuning functions The first configures and scales the monitor output port This allows you to view on an oscilloscope real time velocity and position error No more guessing at the best tuning values The second function outputs a torque velocity or position command square w ave to the motor and mechanics This extremely demanding move profile makes it easy to determine and minimize overshoot and response time Compensator 43 44 H gt B8961 and B8962 User Manual U Before starting the tuning procedure it is important to have a general idea of the control loop that you will be modifying The structure of the B8000 control loop is very simple The loops are nested similar to a traditional analog servo system Because of this structure the basic procedure for tuning a B Series Smart Drive is generally non iterative A simplified schematic of the proportional integral veloci ty loop PIV compensator is shown below The compensator also contains velocity and acceleration feedforward terms that are not shown If tuning is needed for your application it is a straightforward process Please note that an oscilloscope is required to do any more than the roughest tuning If an oscilloscope is not available it is unlikely except in very high inertia mismatch applications that modifying the default tuning para
194. xecution Examples MS1 Clears the Display MS3 Part Count Writes string beginning at character 3 top line MS27 COUNT Displays the value of the variable COUNT beginning at position number 27 7th character 2nd line Below is an example of one segment of the Keypad Programming Template which can be found immediately inside the back cover of this manual The template is provided to allow you to write MS programs by hand exactly as they will appear on the 40 character keypad display Please feel free to make copies of the template for writing your pro grams 9 10 77 12 13 14115 16 17 18 19 20 eT tbat 8 2 PEE ETT TT te ty 28 a2 29 0 31 32 33 23436 36 37 J8 39 40 FRI FK2 FKS 83 B8961 and B8962 User Manual 84 ON ON Command On Event Units n a Range n a Default n a n syntax ONn GTx ONn GSx ONn 0 The ON command allows the user to define conditional program execution based on the occurrence of a certain event When the programmable event occurs the current program and move are interrupted and program execution begins at the predefined interrupt program The interrupt program can be defined as a GT or a GS Defining the interrupt as a GS allows program execution to return to the exact point in the original program where the interrupt occurred The ON command cur rently supports EOT as an event conditional The syntax for defining an event and interrupt program number and type is ONn

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