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SilverLode™ Servo Family User Manual

1. Enter data in same format as selected in Transmit Display Format or copy a previous transmission by Double Clicking on transmission 1612011112 Add CR SilverLode User Manual Rev 5 00 Page 49 of 159 Chapter 1 Introduction and Getting Started Data Display and Display Format Data is dumped to the Display Area in one of three formats Hex Decimal or ASCII Upon selection of a new format all new data will be displayed in this format The old data will remain unchanged Log To File When this box is checked everything printed on the Data Display will also be logged to the text file displayed in the quotes Do not be too worried about disk space it can run all weekend with polling running and only fill up about 20MB Press the Log To File button to change the log file Data Only When this box is checked the Data Display will only display the raw communication packets All the time stamp and channel information will be striped off This is useful if you want to capture a data stream for use in another program Silent Press this button to stop collecting data Clear Display Clears the display data Custom Transmit The Custom Transmit feature allows the developer to build custom packets for transmission This is very useful when testing application software The application software can be tested for response to improperly formatted packets fault conditions extreme events that are hard to set
2. a brief description This is the description that appears in the Device Status Monitor Device Description Enter something that describes the device Good examples include X Axis Gripper Shuttle Press OK SilverLode User Manual Rev 5 00 Page 52 of 159 Chapter 1 Introduction and Getting Started xi Select device from following list Select Device Type Select the Product Cance Line Driver UO Option and motor that matches l a Product Line SilverDust hd the controller motor you are registering Driver D2 v Press OK 120 Option IGB D OCI l Grade 17H 1 417H1 OO Grade 17H 3 41 7H3 OCI l Grade 23 3 4233 OCI Grade 23 5 4235 OCI Grade 23H 1 423H1 i OCI Grade 23H 3 423H3 OCI l Grade 23H 5 423H5 QC l Grade 237 7 42317 OCI Grade 23K 3 423K3 D Aan z OCI l Grade 23L 1 423L1 eneen QC Grade SC zl Note QuickControl automatically E registers any attached devices when Move U u ns Up 8 ees Beet The device will now appear on the list i Delete Device Move Down UID Desc Got Motor BS Double clicking in the Auto cell will toggle whether the 2 x Axis D21G8 423K3 no i d R 16 UID 16 D2IGBA23H1 yes device is Auto registered or not When Auto ne Reeg registered all fields except for Description are updated automatically You can change the order by pressing Move Up Move Down or Sort by UID Note any Auto registered devices will appear
3. Stop State Stop on the Following Condition FALSE TRUE FALLING TRUE to FALSE Transition RISING FALSE to TRUE Transition O0 N 0 For example to issue a Velocity Mode Immediate VMI command that will stop when UO 7 is high the following string would be issued 016 15 200000 100000000 7 1 lt CR gt See Command Reference for details on the VMI command Advanced Stop Conditions For details o Advanced Stop Conditions see Technical Document QCI TD039 Move Command Stop Conditions Advanced SilverLode User Manual Rev 5 00 Page 130 of 159 Chapter 4 Motion Control Using Inputs and Registers Register Based Motion Commands The standard motion commands MRV MRT MAV MAT all have corresponding register and extended register versions The trajectory for each of these moves is entirely pre calculated the contents of the register s are checked only once when the command is issued Changing the value of the register s has no impact on a move already in progress All values stored in the registers used by these commands must be in native units Register Moves RRV RRT RAV RAT These register commands are the same as their standard counterparts except that the first parameter position distance is a register number rather than a value The value in the register at the time of execution is used to generate motion Extended Register Moves XRV XRT XAV XAT The extended regis
4. All 7 lines SilverDust Output Sink or Source Limit A 5 VDC regulated power supply capable of supplying 100 mA is available from the controller This power supply is intended for use with external sensors or switches 8 QCI recommends using the QCI optical isolation module QCI OPTMC 5 or QCI OPTMC 24 to optically isolate the I O lines when they are used as digital inputs or digital outputs In addition to the circuit protection gained from optical isolation the OC optical isolation module allows the TTL signal from the servo to be interfaced to other types of circuits and used to trigger higher power outputs A full description of the OC optical isolation module can be found on the QCI website Analog Inputs I O lines 4 5 6 and 7 can be used as analog inputs These lines have an effective internal impedance of approximately 200 kQ connected to the internal 5 VDC power supply giving a slight bias on input This resistance should be considered in circuit designs that are passive or that have high impedance 1 O lines used as analog inputs must be driven from a low impedance source 10 Q or less for SilverNugget and 1KQ or less for SilverDust or with capacitance across the input A minimum 0 01 uF capacitor can be used at the input to provide the low impedance source The internal analog to digital converter ADC provides 10 bit resolution of the input signal The SilverDust is ok with up toa 1K SilverLode User Manual Rev 5
5. Chapter 1 Introduction and Getting Started AHD Anti Hunt Delay Set the Anti Hunt time delays switching from closed loop to open loop at the end of a motion following the point that the error is below the specified limit Prevents switching too early while mechanical vibrations are still settling out SCF S Curve Factor Choose the S Curve characteristics in the acceleration portion of motion profiles The SCF command uses a sixteen bit value 0 32767 to corresponding to selections from a Trapezoidal profile to a full S curve LVT Low Voltage Trip Allows for a low voltage threshold to cause the device to stop operation or load and run a program defined by the Power Low Recovery PLR command This allows for proper shut down when power is lost or for data storage in power loss situations OVT Over Voltage Trip Like LVT except for this command sets the maximum allowable voltage going above which will cause the device to kill or shut down OVT is tied to the Kill Motor Conditions to setup a kill enable when the voltage is exceeded ERL Error Limits Choose the application error limits for Moving Error Holding Error and the Delay to Hold time Enable Drag mode operation by checking the Drag Mode box Values are tied to the Kill Motor Conditions KMC command to setup a kill wnenever an error limit is exceeded KMC Kill Motor Conditions Enable options to shutdown the Device under certain conditions To select t
6. Chapter 6 Input and Output Functions machine part rather than from the shaft The input signal from the external feedback device can be in any of the three signal formats discussed in this section step and direction step up step down SilverNugget only or A and B quadrature The Select External Encoder SEE the Dual Loop Control DLC and the Single Loop Control SLC commands are used for this feature The SEE command is used to configure the servo to receive the external encoder input signal just like when the signal is used for direct motion control The DLC command configures the servo to use the external encoder signal for position feedback in the PVIA control algorithm The SLC command puts the servo back in its default state of using the internal encoder for all control purposes Command details are available in the Command Reference There are two applications where dual loop control using an external encoder is very useful e High Resolution Feedback Some applications require very high resolution feedback especially for positioning The external encoder input function can use encoding resolutions higher than 100 000 counts per revolution Some serious issues must be considered when using high resolution encoders First motor commutation and phasing is still done using the internal encoder so the highest available internal encoder resolution available should be chosen Second the feedback control action is position error
7. 1 in that bit 1S4 is the lower word of register 236 Bit Latched Definition Description 15 No Reserved 14 No Reserved 13 No Reserved 12 No Reserved 11 No CAN HW Present CAN only enabled if CAN hardware is present 10 No S me 8 or 16 bits of extended lO 9 No Reserved 8 No DC Motor Mode Enabled Set by DC motor mode command 7 No San E Se 1 hardware present resent 6 No Thread 2 Running 1 Thread 2 running 5 No Reserved 4 No PVIA Vel amp Acc 0 Filters 1 Observer 3 No Driver Disabled by 1 disabled Motor type indicated from motor memory Factory Block Fault does not match motor type configured in SilverDust 2 No Breakpoints Enabled Allows breakpoints flagged in code to trigger break Encoder Runout Encoder runout has been calibrated and is in 1 No Adjustment operation 0 No Index Phase Alignment At least one index pulse has been detected since Main Index Found closed loop SilverLode User Manual Rev 5 00 Page 108 of 159 Chapter 3 Unique Features and Commands Extended IO Word XIO Description SD The SilverDust IGB provides 16 additional lO The input and output state of these lO are available in Register 238 The upper word provides the debounced See DIF command levels read back from the extended I O while the lower word provides the commanded levels sent to the I O The upper word reports a voltage at the IO pin of greater than 1
8. Establishes communications with a device of unknown parameters See Tools Menu Details below for more information e Control Panel Tool for Jogging Tuning and Monitoring SilverLode products See Tools Menu Details below for more information e Register Watch Change and or view data in the SilverLode products data registers with this utility See Tools Menu Details below for more information e Data Monitor Monitor all data sent and received by a device and the PC See Tools Menu Details below for more information e Diagnostics Displays the real time states of all the commonly used status words e Firmware Download Wizard Downloads firmware to device See Tools Menu Details below for more information Setup Menu e Comm Port Selects Baud Rate Communications port and Protocol for QuickControl See Setup Menu Details below for more information e Register Devices Allows user to manually register devices into QuickControl See Setup Menu Details below See Setup Menu Details below for more information e Options Allows user to edit other setup specifications See Setup Menu Details below for more information e Polling When checked starts QuickControl polling the network for any connected devices and then displays the state of the device in the Device Status window Window Menu New Window Creates a new program window Cascade Cascades current program windows Tile Displays current program win
9. ADL E E 66 Advanced Line Resistance oooooooccninnccnncono 60 Analog Inputs oooonoconnnncccnoncns 142 144 150 Anti Hunt UNICA 113 ASCH EE 140 Automatic Index Phase Alignment 57 B Baud Rate 22 29 41 54 55 60 61 65 66 Binaty RE 140 Break nocens asane 95 Break pOr 95 AA aes ans eee 95 ENEE 66 C CAMI ia 139 Change Ads A OS 55 Check Internal Status CKS Command 105 Choose Motor Configure Encoder 60 O 105 A A s aes 105 CEE ds NES 125 CED ion ds 99 125 Clear Internal Status Word CIS Command AS 105 Clear Poll CPL Commande 102 DN E alada 125 COM tee li 54 COI EE 54 EE EE 54 COMP Toca Asia 52 Comm Properties z cicsscsanecesecdencedeonttecanseaes 54 COMMUNICATIONS coococcoocccconcnononaninananinnnos 139 SilverLode User Manual Rev 5 00 Index Configure E 485 Bridge 55 Control Panel 42 45 IEN 102 A esos tate sda ie tae ele Stee ae 125 Custom Motor 3s c cs3casceassteestessseancendecdenastas 63 Cyclic Phase Alenment 58 D Data Montoro 48 96 Dato Resiste iio 84 Debug Mode iiosrinsciin atadas 95 EE 95 DOC id e ds 55 Digital Inputs oe 141 144 147 Digital Outputs eee eee eeeee 142 148 Download and Chart 40 Drag Mode insisto iras 109 E E 485 Bridge Ethernet AAA 55 E 485 Bridge IP Address AAA 55 Enable Codersassiiesssiissinsiaiss 93 Enable Saladas 94 Encoder Resolution Reduction 60 Erase Application Programs coooconnnnnnn 60 CERS e
10. MAV and Profile Move PMV commands Drag Mode adjusts the target position to keep it within a certain number of counts of the actual position The number of counts is determined by the Moving Error Limit parameter of the ERL command For example if the Moving Error Limit is 500 and the servo jams at position 2000 while moving in the positive direction the target position will not exceed 2500 regardless of what the original target was The entire motion profile of the MAV command is pre calculated by the device It only moves the calculated time of the motion profile so the device will stop short of the target position In contrast PMV will not stop short because it recalculates the motion every servo cycle Note This exercise requires the user to manually stop the motion of the shaft A small flywheel attached to the shaft makes this task easier The torque limits must be set low so it will not be difficult to stop the shaft Do not use higher torque motors 34 frame for example as even at a 30 setting the motor torque can exceed finger wrist strength Leather work gloves are suggested as is the avoidance of loose clothing that could catch in the system Please use caution 1 Power up the device and start QuickControl Start polling the motor and verify that the system is operating properly 2 Select File Open Navigate to QCI Examples Profile Moves and select the file Absolute and Profile Move with Drag Mode qcp 3 Notic
11. Name to name back to factory default Input Mode Registers 12 18 By default these registers already have descriptive names because they are used in the PIM VIM and TIM commands If these commands are not being used registers 12 18 can be used as general purpose user registers Press Set Name to User to set registers 12 18 to the name User Press Set To Descriptive Names to set registers 12 18 back to their factory default names Profile Move Registers 20 24 By default these registers already have descriptive names because they are used in Profile Move commands i e PMV and PMC If these commands are not being used registers 20 24 can be used as general purpose user registers Press Set Name to User to set registers 20 24 to the name User SilverLode User Manual Rev 5 00 Page 39 of 159 Chapter 1 Introduction and Getting Started Press Set To Descriptive Names to set registers 20 24 back to their factory default names SS Names SNE Wer ssigns user detinea names to ines Programs gt I O Names a 1 0 Names Edit Sobad Name Reset Selected 20 Name to Default Reset All 120 Names Press Reset Selected to reset the name back to 1 0 101 to Default factory default Press Edit Selected to change the name of the selected I O Press Reset All I O Names to reset all the names back to factory default Download and Chart Download and Chart allows the user to download and str
12. _ inpute utputs Velociy 5 GE Test Move 2 Ca GE y tl L Chi Pos Erorf2 El Peien counts TriState Lick ET es SCC EI Acceleration fi 7000 cps s red low Odd ja jo ee IS pelt Se Velociy reo00 oi Jk foa Ja Ju J J Temp 35 9 Gs Strip Chart Analog 1 2 29 zs 3 3 25 4 2 20 Using the mouse run Jog Vel slider up and down to jog the servo See Control Panel later in this manual for more details on using this tool Press Exit SilverLode User Manual Rev 5 00 Page 15 of 159 Chapter 1 Introduction and Getting Started Create and Run First Program Move 8000 Counts At Power Up We will create a new program that causes the servo to go 8000 encoder counts when it powers up You should be polling and have a registered device In other words you should have a green Prog Stop in the Device Status Monitor see Setup Communications If your status is not green press Scan Network on the Device Status Monitor Create a new program by selecting New Program File from the File menu File gt New Program File lO x F QuickControl QCIMotionProgl1 File Edit View Programs Tools Setup Window Help 5 0 60 aja S e a Device Status Monitor Your 3 EA Label Command DERE screen l Add Cit Edit crite ID 16 E counts should look Insert nt Delete Cntl D 1 0 OO like this O wm 8 8 Ji Ji Ji Jn Jr Download Download Festart jist au fae Jun
13. essential to properly using the I O SilverLode User Manual Rev 5 00 Page 142 of 159 UO Functions Chapter 6 Input and Output Functions The seven I O lines can be used for many different functions The table below lists the I O functions their type their description and the I O lines they use I O 101 are only available on the SilverDust IGB and IG8 Compare PCP Function Type Description I O Lines All I O lines can be used as general purpose digital General Digital Digital inputs The inputs can be used for a number of uses 1 7 Input Input within a program including loading new programs and 101 116 controlling program flow Motion Control Digital All I O lines can be used as input stop conditions for 1 7 Input motion commands 101 116 1 3 Kill Motor Digital Three I O lines can be used as Kill Motor Conditions SDO5 Input allowing for immediate shutdown based on input 1 7 101 116 Digital IO 1 can be used as a special digital input to trigger 4 Modulo Trigger Input enable or disable the modulo output function SilverNugget ONLY All I O lines can be used as general purpose digital General Digital Digital outputs allowing the servo to control on off devices 1 7 Output Output such as valves and switches An output can also be 101 116 connected to an I O line on another device and used as an input General Analog Analog Four I O lines can receive analog signals Th
14. it is set to the largest Thread 2 program in the file To manually set the Program Buffer allocation select Program File Properties from the File menu In the Program File Properties dialog box uncheck Thread 2 Auto and enter the amount of words to allocate to Thread 2 The example below allocates 300 words of the Program Buffer to Thread 2 xl Scale equals counts position unit Scale fi m Min Max Encoder Counts Rev CPR Ace 0 48 Pos Min fa 00000 counts 8000 y Gamm vel bo PosMax 100000 counts Enter the label to be used in Move a counts fi 00 x type command Le revs Units counts ae k Dec 533333 cps Number of Decimal Places to Pl 0 display Ge AccMax 01 Z Advanced 2222222 cps s Max Time Register Names 1 0 Names 10000 mSec Description Upload 1234 4 10 Chars Password Sort Programs in download order V Only allow Run w o Download D Update Device Status Properties Vv anytime this file is active Thread 2 T Auto Program Buff Size 200 SilverLode User Manual Rev 5 00 Page 124 of 159 Chapter 3 Unique Features and Commands CLC CTW CLX CLD WCL and WCW Commands This section covers the following commands e Calculation CLC Calculation Two Word CTW Calculation Extended CLX Calculation Extended With Data CLD Write Command Word WCW Write Command Word Long WCL The calculation commands actually accesses a few dozen sub commands and are used for almost ev
15. press OK i Initialize your Device 1 Attach the Device to the PC as described in the User Manual 2 Power up Device turn device on 3 Run the Initialization Wizard from the Tools menu Press OK for me to do this for you i Cancel This will launch the Initialization Wizard SilverLode User Manual Rev 5 00 Page 13 of 159 Chapter 1 Introduction and Getting Started Initialization Wizard The wizard can also be launched from the Tools menu Initialization Wizard x Press Download to initialize servo or change the Exit w Save factory default parameters using the Initialize Parameter Browser Enter the Motor Cable Length in the feet This can be found on the last two digits of the cable part number For example a QCI C D15P D15S 04 is a 4 cable Initialize Wizard Tuning Wizard Device UID 15 Options Motor 423H1 DEVICE DETECTED Unit ID 16 Motor Cable SilverDust D2 IGB sn 1716 Length Grade Motor Detected 423H1 CPR 8000 Press Download File To Device to initialize the servo using factory defaults D ft Factory Default Initialization gcp See Initialization Wizard below for more Open E Communications d etai S Motor Save E Servo Tuning Saveas a 1 Motion A message will appear when the download is ileal complete Press OK to acknowledge message Press Save As to save the file with a name me
16. will initiate let the program run at normal speed while highlighting the current line as time allows 2 The Trace tool will continue through the program until it reaches either a Breakpoint a command error or the end of the program When complete press the Red Stop Hand Icon Breakpoints Breakpoints are set on lines by highlighting the desired line and selecting Toggle Breakpoint from the Programs menu The line should change color to Red The function key F9 is a shortcut to toggle breakpoints on amp off Break points are stored into non volatile memory but are only acted upon if breakpoints are enabled 1 Set a breakpoint on line 6 and press Single Step Trace QuickControl will step through the program and then stop at the selected breakpoint Test Line The Test Line tool allows any one line in a program list to be executed It only Tests executes the selected line command and does NOT run the entire program 1 Press the Red Stop Hand Icon 2 Using the same open qcp program file click on a MAT Move Absolute Time Based command and then press Test Line on the Program Info Toolbar 3 QuickControl should have executed the chosen command without executing other commands SilverLode User Manual Rev 5 00 Page 98 of 159 Chapter 3 Unique Features and Commands Chapter 3 Unique Features and Commands The last two chapters covered the hardware setup basic programming techniques and motion commands necessary to get
17. 00 Page 144 of 159 Chapter 6 Input and Output Functions The SilverLode servo implements a 5 msec filter on all analog channels to reduce the effects of noise amp transients This means that analog signals are averaged over 5 msec before being used The filtered signal is updated every servo cycle 120 usec High Speed I O Functions Special I O circuitry in the servo allows the I O lines to be configured for specialized functions which include SilverNugget Raw Encoder Signal Output Scaled Encoder Signal Output Encoder Step amp Dir Input SilverDust Raw Encoder Signal Output IG IGB Encoder Step amp Dir Input When configured for any of these functions the I O lines used cannot be used for any other I O function The minimum time for a level to be detected is configured by the SEF Select Encoder Filter command For both SilverDust and Silver Nugget the fast setting is 150ns while for the SilverNugget slow is 800ns while for the SilverDust slow is 300ns The maximum reliable input or output pulse rate for any of the high speed functions in the SilverNugget is 1 count per usec or 1 MHz for Step Direction with the Slow setting the count rate is 625kHz For the SilverDust these functions have been upgraded The Fast setting of SEF allows up to 10 MHz count rate in quadrature and 2 5MHz in Step Direction while the Slow setting allows up to a 5 MHz count rate in quadrature and 1 25MHz in Step Direction The high speed I O functio
18. 43411 HO M Grade 11 1 M111 HO M Grade 17 1 M171 DC M Grade 17 3 M173 HO M Grade 17H 1 M17H1 OCI M Grade 17H 3 M17H3 Select Custom Motor for you controller DC M Grade 23 3 M233 Press Next DO M Grade 23 5 M235 DC M Grade 23H 1 M23H1 DC M Grade 23H 3 M23H3 Edit Custom Motor x OCI M Grade 23H 5 M23H5 Custom Motor For D2 CustD2 WARNING Incorrect parameters could result in motor damage Cancel Motor Description My Custom Motr Advanced Dri D2 Units ee a Se i gt Ca 4 Enter this information from the 3rd party river Voltage D g e Rated Current per phase E A Engen motor s datasheet Inductance per phase 0 67 mH Resistance per phase Jos ohm Press OK Rota Linear NOTE Only edit Advanced options with Rotary Step Motor QuickSilver Tech Support s guidance ee raar NOTE This information is stored with MCT Rated Holding Torque 22 ozin command in the Initialization Program File i e 2 phases energized My Custom Init qcp 5 Determine Encoder CPR optional wem SE mg as a e t L The rest is the same as Scenario 2 above Gaito deen red Ribeira as rua entering a value Ge 4000 X SilverLode User Manual Rev 5 00 Page 63 of 159 Chapter 1 Introduction and Getting Started Scenario 5 I Grade SilverDust Controller With LGrade Motor To Be Attached in the Field Since all the pertinent motor and encoder x information is cont
19. 5v as a 1 and below 1 5v as a 0 The lower word reports the requested drive level of the extended IO a 0 indicates that the output is off floating while a 1 indicates that the output is active pulling the IO to ground This register may be read written or modified by the host using standard register commands SilverDust Rev 06 adds several immediate mode Register modify commands to simplify operation Note Configure IO CIO 101 0 turns the extended IO active low while CIO 101 1 sets the output high passive via the pull up resistor Note that the lower word output will retain the written data while the upper word will return to the actual detected levels the following cycle Error Limits and Drag Mode This section describes the uses of the Error Limits ERL command and the special operating mode set up with this command Drag Mode The ERL command is used to change four settings It sets the moving and holding error limit conditions it sets the delay time for switching from moving torque to holding torque and it enables or disables a special operating mode called Drag Mode Drag Mode helps eliminate servo wind up and allows the device to emulate a mechanical slip clutch Error Limits Command Parameters The Moving Error Limit Holding Error Limit and Delay to Holding time are all set by the ERL command The three parameters determine the conditions under which the device reports a moving or holding error A SilverLode s
20. Breakpoint for this line Jump To Line Jump program execution to selected line Copy Copy this line Cut Cut this line Paste Paste a previously copied or cut line See Program Debugging latter on in this manual for more information on Breakpoints and Jump To Line Edit Details Edit Details displays a detailed edit dialog box for the selected command The following two dialog boxes edit the same command Edit WRP Write Register Program Mode E Edit Event from Events Database Factory Default Initialization Driver Enable qc Event Name Event Template Po01L0003 WAP Write Register Program Mode WRP White Register Program Mode Cancel Data Template S0 Register User 11 Description Not Defined Cun address 0 NoACKI Time ms fi0 Desci Data fi Data Format Example Tx Data 2015411 1 Event Lines Data Label Data Type it Scale Data Order Command Number Unsigned Byte 154 154 1 No Order Data Register Unsigned Word 11 255 0 1E Data Signed Long 1 2147483647 2147483648 1 H MH ML L Edit Details SilverLode User Manual Rev 5 00 Page 56 of 159 Chapter 1 Introduction and Getting Started Device Initialization Details Device Initialization is accomplish using the Initialization Wizard described earlier in this chapter This section documents some of the details being done by the Initialization Wizard behind the scenes Phase Alignment Commutation is accomplished using the position of the e
21. Com m Port pushing the Modify Button Cancel From th em ai n menu select Dnce the desired device has been selected check Enable Modify Setu p gt Comm Port Communication Device Properties Comz QuickSilver 8 Bit ASCII Baud 57600 If the Communications Device Properties shows the correct communications port check the Enable box and press OK Press Modify to edit the Comm Properties See Comm Properties Details below for more details Register Devices QuickControl will monitor the status of a device when the device is registered into the system Registration can be done automatically recommended or manually To manually register a device select Manual Register Device Setup gt Register Devices Press Add Device to manually register a device ran o Sort by UID Press Add Device to manually register a device Note QuickContiol automaticaly _ Easy Scan Network is pressed Wee Add Device Delete Device Move Down UID Dese Cont Motor Auto 2 Axis D2 IG8 423K3 no 16 UID 16 D2 1GB 423H1 yes x Edit Unit ID 1 254 Cancel Unit ID Enter the device s Unit ID UID The l device s Unit ID is entered here Unit ID for E devices must be unique Factory default is 16 Press OK Description Each device should have a xl description so that the user can have a quick Edit r This can be anything you reference for the status of the device Use only ir
22. Format H A H EE S engineering units e Long Position Acceleration ULong C Target Velocity 32 bit Torque C Hex C Actual Velocity 16 bit Time Press Delete Register to remove the selected register Press Move Up Down to change the register order Register Watch will watch the registers of the active device as selected in the Device Status Monitor Change the register being watched by double clicking in the register cell Change the data by clicking in the data cell and entering new data Note although the data will be changed in the indicated register it may get overwritten if the program is SilverLode User Manual Rev 5 00 Page 47 of 159 Chapter 1 Introduction and Getting Started also modifying the same register If the register selectable is not writable the value will not stay changed on the display and will not be changed in the attached unit anda message will appear in the Status Log portion of the screen Change the data format by double clicking on the units NOTE The more registers you add to the list the less frequent any single register will be updated Right click on the register row to display a pop up menu with many of edit features already explained plus e Column Width Manually set width of each column e High Priority When selected for a given register watch QuickControl disables all other background communication including all other register watches and only polls the selected reg
23. Motion cooococcnccccnoncnnnnnnnos 80 Velocity Control id 81 dl AA e E 77 View Command Details 96 W Wait Commandes 90 EE 125 WOW 8 instala 125 A MIO E 109 Page 159 of 159
24. Move tab and double click on MRV Move Relative Velocity Based command Enter the following values for the second MRV move Distance 10000 counts Acceleration 1000 cps s 999 62 actual Velocity 2000 cps Press the Stop Condition button Choose the Standard tab of the Edit Stop Conditions box Select I O 1 for the Condition and use LOW FALSE as the State Press the OK button twice to get back to the main QuickControl screen Downloading and Running the Program 14 15 16 Before running the program make sure I O is ON or high Pres Download Restart on the Program Info Toolbar This function will Download the program into the NV memory and restart the servo which will run the program The program will only run once per Restart While the program is running trigger I O 1 to stop the move before the motion completes Press the Restart button to run the program again Saving the New QCP File 17 Using the File menu choose File gt Save As This will open a standard file browser window where the program can be named and saved to the computer Note The browser window opened by default will be the last active folder accessed in QuickControl Choose a unique name for the new program and press Save button SilverLode User Manual Rev 5 00 Page 97 of 159 Chapter 2 Basic Motion and Programming Fundamentals Bes Exercise 2 4 Debugging a ACP QuickControl Program This exercise is an introductio
25. Program Info Toolbar The Program Info Toolbar is located on the left side of the main QuickControl Screen This toolbar allows the user to create edit download and debug programs It also offers information about programs and the current device being programmed Program Line Program Line Add CntkA Edit teg Insert Woll Delete Cnt D Add Ctrl A Adds a line below selected line Edit Ctrl E Edits the selected line Insert Ctrl 1 Inserts a line above selected line Delete Ctrl D Deletes the selected line Programs Download Download Restart Scaling Download Run Test Line Run wo Download Programs y e Download Downloads all programs in the active file Program List to the device P Name 0 y i Proa Nane M E e Download Restart Downloads all programs in the _120f 1023 wordsused active file to the device and commands the device to Debug Device To Program restart Restart e Download Run Downloads all programs in the active Desc DevH1 15 file to the device and commands the device to load and Tye run program O e Run w o Download Runs first program in active file program 0 but does not download anything to non volatile memory e Scaling Shortcut to Program File Properties Test Line Executes selected line Debug Opens Debug Toolbar see Program Debugging latter in this manual for details Program List The list
26. SilverLode Controller Driver Datasheets on our website Standalone Configuration SilverLode servos are capable of operating as a system level controller without any input from a master controller or user interface To function in this manner SilverLode servos are pre programmed to produce the desired motion and to respond to any sensors or other inputs in the system Often in this configuration the digital I O is used to initiate the required operations by programming the product to start end or select programs using different I O combinations Host Configuration Host configuration involves a SilverLode servo that is entirely controlled by a host PC Programmable Logic Controller PLC Human Machine Interface HMI or other such device The host is connected to the device through the RS 232 485 serial port or the E 485 Bridge Ethernet In this configuration a host controller such as a PC or PLC provides commands to the device The device waits for each command to be sent executes the command and then waits for the next command After the initialization routine has completed no additional internal program stays running that would allow the device to perform an operation by itself Most commands are available to the host Some commands such as Jump JMP or Program Call PCL are only for use inside programs downloaded into the device Operation in host configuration mode has the SilverLode configured as a passive slave to the hos
27. The QuickControl screenshot shows the WCL dialog box used with QuickControl The parameters for both commands are the same QuickControl requires the register containing the value that will overwrite the old data the label of the line containing the command that will be modified and the command parameter that will actually be modified Parameter The WCW and WCL commands can turn any command into a register based command A simple command to do this with is the Velocity Mode Program Type VMP command The VMP command requires two parameters velocity and acceleration Normally these parameters are entered with the VMP command and are fixed until a second VMP command is issued However if multi tasking is enabled and a WCL is issued in the program this can change One WCL command can link the value in one 32 bit register to either the velocity or the acceleration parameter of the VMP command This means that two WCL commands could link the values in two user registers registers 30 and 31 for example to the VMP parameters Every time the VMP command is issued it will use the values copied from the user register specified by the WCL commands Data in the user registers can be changed by a program by an external host or by an analog input SilverLode User Manual Rev 5 00 Page 127 of 159 D Chapter 3 Unique Features and Commands Exercise 3 4 Dynamic Speed and Acceleration Adjust This exercise uses multi tasking
28. The seven I O lines can be configured to perform many different functions These functions can compete for I O resources so care must be taken when assigning I O lines to a given function Careful and systematic design can usually eliminate problems before they occur Many of the I O functions require the use of specific I O lines meaning that those lines are not available for other I O functions Some I O conflicts can cause fatal errors in programs Others might not cause a fatal error but might cause serious hidden problems such as a desired Kill Motor input condition being ignored with no error warning The table below shows the I O lines used by each I O function as well as the special uses for each I O line for the high speed functions This table should be used to assign I O functions to I O lines and avoid conflicts UO Function 1 0 1 VO 2 1 0 3 1 O 4 VO 5 I O 6 I O 7 General Digital Input X X X X X X X Motion Control Input X X X X X X X Kill Motor Input X X X Modulo Trigger X SilverNugget only Analog Input X X X X General Digital Output X X X X X X Encoder Output SilverNugget only A B wen Encoder Output Via SSE command A B Z Silver Dust IG8 only Modulo Output SilverNugget only 3 3 Index alt 2 1 1 Index Encoder Input Se Step Direction inday alt 4 alt 4 1 SilverNugget These lines can be used for A amp B quadratu
29. This command is not affected by the DIF command Jump Commands J There are many variations on the basic jump command Each provides a different logical operation on either inputs or register values All jump commands have the same basic structure a set of conditions and a location to jump to specified by a label If the conditions are not met then the jump will not occur and the program will continue to the next line SilverLode User Manual Rev 5 00 Page 90 of 159 Chapter 2 Basic Motion and Programming Fundamentals Labels The Label must match a label in the program Label column All labels are upper case even if you type them in as lower case Labels may include spaces and may be as long as desired although shorter labels are easier to read the label column To add a label to a program line click in the label column of a QuickControl program and start typing To edit a label click on it and press F2 At download time QuickControl checks to make sure every label in the Jump commands has a matching unique label in the program The exception to this is Relative Jump Labels Relative Jump Labels If a Label in a Jump command is a number only i e 5 0 20 and there is no matching label in the program it becomes a Relative Jump Label The command will jump the indicated number of program lines For example a 5 label means jump up 5 program lines The following is a brief summary of the Jump commands For more deta
30. a moment to toggle the I O switches up amp down to see the Input status boxes change color as the inputs change state Press the Download Restart button on the Program Info Toolbar Once the program is downloaded press the OK button The program is now running Toggle I O 1 LOW then back to HIGH The device will execute a simple move Toggle I O 3 LOW then back to HIGH The device will execute a different move Experiment with the I O and notice the servo s motion When finished close the active program Question If BOTH inputs are LOW which move gets executed Why b Exercise 2 2 Basic Velocity Mode This exercise demonstrates the basic Velocity Mode Program Mode VMP command It illustrates how simple it is to have the device operate in a set velocity mode amp stop on an Input trigger 1 Select File Open Navigate to QCI Examples Moves basic Velocity Mode Program Mode qcp 2 Press the Download Restart button to download and begin execution of the program Once the program is downloaded press the OK button 3 The servo is now running in Velocity Mode Notice the position counter window increasing the revolution count value as the device moves Toggle I O 5 LOW to stop motion Press the Restart button to run again When finished close the active program This program contains only one command lt has all the parameters needed for simple motion control SilverLode User Manual Rev 5 00 Page 82 o
31. absorbed mechanical power The SilverLode controller driver has to get rid of this power somehow otherwise it will pass to the power supply input raising the power supply voltage If the voltage becomes too high it can damage the servo controller as well as the power supply To prevent such damage the power must be directed to a load where it can be safely dissipated This is the function of the voltage clamp When the voltage clamp determines that excess power is being generated by the attached servo it redirects this excess power to a load resistor Some controller drivers use an external voltage clamp while others have one built in See individual datasheets for more details It is highly advised that for those controllers without a built in voltage clamp an external one be installed at the engineering prototype phase The clamp active LED should be SilverLode User Manual Rev 5 00 Page 21 of 159 Chapter 1 Introduction and Getting Started monitored during rapid decelerations including emergency stops and simulated recovery from jamming also if the end user can manually push a slide or spin a load these conditions should be checked as well If the clamp active LED lights during these tests the clamp is required in the final design See Technical Document QCI TD017 High Current Clamp Module QCI CLCF 04 QCI CLOF 04 for information concerning the voltage clamps Hosts SilverLode products can communicate with a myriad
32. and reporting their contents in the register watch tool while polling 5 The register watch tool can be very powerful if applied well Repeat the steps to add register 5 to the tool again but select Time in the format window 6 The tool now displays register 5 twice Data entered in either of the data fields will be transmitted to the servo On the next QuickControl polling cycle the other field will be updated and contain a scaled version of the edited field This provides a convenient method for monitoring both SilverLode native units and the QuickControl scaled engineering units SilverLode User Manual Rev 5 00 Page 73 of 159 Chapter 1 Introduction and Getting Started Bes Exercise 1 3 QuickControl Utilities This exercise demonstrates two of the most widely used utilities within QuickControl in an effort to show their usefulness in prototyping as well as troubleshooting Upon completion of this exercise an understanding of how QuickControl interfaces with the device should be developed lt CR gt carriage return Since the carriage return does not have a viewable character it is displayed as a vertical bar when ASCII strings are viewed in QuickControl 1 2 Initialize the device and press the Start Polling button to ensure functioning communication Click on Data Monitor in the Tools pull down menu and view the polling routine that QuickControl uses to report all information about the device Note that
33. applied to the current count The fractional remainder is saved for the following period Counts in excess of the maximum 31 32 at 4000CPR 4000RPM counts per sample period are accumulated for use in the following sample period to handle sample period to sample period variations The command velocity should not exceed 4000RPM to prevent count loss Encoder Signal Types The high speed digital I O functions use several types of signal formats step and direction A and B quadrature and for the SilverNugget step up step down For the SilverNugget the external Secondary encoder input function can receive all three types of signals For the SilverDust the encoder input can be either step and direction or A amp B quadrature SilverDust IG and IGB provide dedicated Encoder Outputs For the SilverNugget only the scaled encoder modulo output can send all three types of signals while the encoder output function can only send A and B quadrature signals The internal encoder output and external encoder input functions also use an index pulse line This line sends or receives one pulse every time the encoder index is found SilverLode User Manual Rev 5 00 Page 150 of 159 Chapter 6 Input and Output Functions Step and Direction Signals A step and direction signal consists of two parts a step signal and a direction signal As the figure shows every rising edge of the step signal equals one count The direction signal is high for
34. at the end of the Device Status Monitor s Device List regardless of where they are in the Manual Register Device Anytime Polling is started QuickControl will automatically scan all for any devices If a device is found the device will be automatically registered and will appear in the Device Status Monitor screen Options Prompt On Delete General program options are available here eebe F 1 Geet Ad d Prompt On Delete default checked Automatically Scan ID Range meest Enter the ID range to scan on Checking this box will cause QuickControl to prompt Comm Port you when you do delete operations FirstID 1 Lasip fo Automatically Scan ID Range Disable Automatic Scan This is the Unit ID range that will be scanned for when the Device Status Monitor Scan Network button is pressed The default is 1 20 which makes the scan a reasonable length of time NOTE This also sets the range for the SilverLode Identify IDT command Disable Automatic Scan Check this box to skip network scan when Scan Network button is pressed Only the manually registered devices will be polled SilverLode User Manual Rev 5 00 Page 53 of 159 Chapter 1 Introduction and Getting Started Comm Properties Details Communication Port Properties can be edited from Setup gt Comm Port gt Modify COM This tab is for editing the properties of the PC s COM port i e COM1 COM2 Cancel COM Port i COM E 4
35. based so the control loop gains must be adjusted inversely to the increase in encoder resolution This is especially important for the parameter Kp in the Control Constant CTC command If the default gain values were used with an external encoder that had a resolution five times higher than the internal encoder the control loop would be five times more sensitive than normal and might be unstable without proper tuning e Local Feedback For some applications the motor shaft position is not the best measure of the state of the machine Loose couplings elastic components like belts gear backlash or simply metal flexure in the machine can add unacceptable inaccuracy to feedback measurements taken at the internal encoder For these applications using a feedback device placed on or near the critical machine part is better than relying on the servo for feedback information The same considerations that apply to high resolution external encoders apply to locally placed feedback devices Some of these devices might have a lower resolution than the internal encoder so the control loop gains must be scaled up rather than down The Dual Loop function may also use SSI style encoders on SilverDust IG8 units This allows dual loop control with absolute position feedback style encoders The DLC command will use the SSI feedback if the SSI port has been configured as the Dual Loop source via the SSI command prior to the DLC command Note that this frees up th
36. entering Anti Hunt The servo compares the actual torque required by closed loop control as indicated by the current flow through the motor windings to the open loop torque limit If the closed loop torque required exceeds the open loop torque limit the servo will not enter Anti Hunt The servo does not compare the closed loop torque used to the open loop torque limit if the Check Holding Currents condition is disabled The Use Default For Device checkbox is by default checked This causes QuickControl to set AHC at download time dependent on the device s encoder CPR See the Command Reference for more details Anti Hunt Delay AHD Command The AHD command sets the time delay the device uses before entering Anti Hunt This delay is useful for allowing a system to settle stop ringing before switching to open loop control since position error and torque must remain within the limits set with the AHC command for the duration of the delay Anti Hunt Mode AHM Command The AHM command controls the operation of Anti Hunt Anti Hunt operates in one of two states eee DE Cancel shown in the QuickControl screenshot In its default ara a state the servo will only enter Anti Hunt when the default servo is holding a position meaning that the C mie ee Trajectory Generator is inactive If this default setting is changed the servo can enter Anti Hunt SilverLode User Manual Rev 5 00 Page 115 of 159 Chapter 3 Unique Fea
37. for use with SilverLode servos and accessory products for general applications These cables have documentation describing physical dimensions and pinouts If an application requires custom cabling the correct pinout must be used to develop the correct wiring harness The following are some design requirements that are incorporated into standard QCI cables but could be easily overlooked when manufacturing custom cabling e Shielding l O and communication lines are susceptible to noise in many industrial environments e Grounding SilverLode products have logic processor power and chassis grounds that must be wired correctly e Null modem connections the transmit line on a SilverLode product is connected to the receive line on a serial port and vise versa for the receive line on SilverLode product RS 232 e Sound electrical junctions it may be beneficial to use crimp style connectors rather then the solder tail type to avoid unintentional solder bridging across adjacent pins Lines with poor electrical junctions could cause intermittent contacts that could effectively Hot Plug the device and disable communications Shorts between power and other pins may damage the unit e Wire gage ensure lines meet the specified current and voltage drop requirements Voltage Clamp Usually Only Required for SilverNugget When a SilverLode servo is back driven or decelerates the servo acts as a generator producing electrical power from the
38. he Initial Val The Loop Reg ster starts at the Initial Va ue E E increments each time through the loop until it ae E E reaches the Final Value The Increment ma parameter may be positive or negative Loop Register General Register File Array RFA Initial Value Final Value Increment ME EE UE i For FOR Next NXT Nested i Example This is an example of a nested i For Next loop Begues a This example to the left shows a nested loop where the i WUICKLONUO 4 i A om SiverDust Rev 04 inner loop executes 5 times and the output loop executes Repeat the following move 3 3 times times H Move 1000 counts 5 times Move back to 0 FOR User 30 1 to 3 with inc 1 FOR User 31 1 to 5 with inc 1 Move 1000 counts ramp time 350 04 mSec total time 999 96 mSec Next FOR line 4 Move to 0 counts ramp time 500 04 mSec total time 2000 04 mSec Next FOR line 3 SilverLode User Manual Rev 5 00 Page 92 of 159 Chapter 2 Basic Motion and Programming Fundamentals Enable Code Enable Code Input Source Description 0 Do not Check 1 Hardware O 1 2 UO 2 3 g O 3 4 E UO 4 5 O 45 6 i 1 O 6 7 f UO 7 8 Reserved 9 Internal Index 10 i External Index 11 ISW Bit 8 Moving Error 12 ISW Bit 9 Holding Error 13 IOS Bit3 Trajectory Generator Active 14 IOS Bit 10 Delay Counter Active The following Enable Codes are available
39. ia astas iae 116 EE 118 MEISTER BEEN Eed EE E ebe 122 Using QuickControl To Launch Thread 21 A eege gaere 123 CLC CTW CLX CLD WCL AND WCW COMMANDS ooooccccoccnoconnnononanononancnnnonononanonncnonnnnnos 125 WGW and WCL Commands ua ita geleed eeh 127 CHAPTER 4 MOTION CONTROL USING INPUTS AND REGISTERG 000 129 USING INPUTS T STOP MOTION vi vccszseessossavsgacitetoradzenytuavaaveatevaqnasilensesdeuadagen tacsaareghanaerenedecab yeast 129 Standard Stop Conditions DUICKCORTO Lt A A a TA e 130 Standard Stop Conditions Serial COMMUNICATIONS ooooconoccccnnnononononanonnncnnnn no nnnnnnnnnnnnnnnos 130 A E A O ness 130 STOP State siii i 130 AVANCES EE 130 REGISTER BASED MOTION COMMANDS ia a Eege ee 131 Register MOVES At ii 131 ER 131 eer 131 Registered Step and Direction RIDE ai A a e bat 131 EE 131 SilverLode User Manual Rev 5 00 Page 5 of 159 CHAPTER S ADVANCED TOPICS sisscssccciticsccicscssnsstdacansccssecuossucenncucsceseaetcscoescusessncnbusennats 135 TECHNIQUES FOR STOPPING MEHR dd anid wien da 135 Softwar e Stop OPNS Adie A A AAA A ALA RA E 135 Hardware Stop Drive Enable E 136 PROFILE MOVE OPERATION eene 136 PROFILE VELOCITY CONTINUOUS PVC cccccssessecececececsessnseaeceseceesesessseceeeseeseeeeenssaeceseceess 138 INPUT MODE COMMANDS suroccidental aes 139 INTERPOLATED MOTION CONTROL tada dla 139 REGISTER PILES is a A A A A aga anu 139 CAMMING ii ari eeee ieee em eee ee
40. is a 50 duty cycle spaced at one cycle for 1 50 revolution with one tooth missing QuickSilver documentation refers to this as a 49 50 index channel Scaled Internal Encoder Output Modulo Output SilverNugget Only In addition to the raw encoder signal the SilverNugget can output a scaled version of its internal encoder signal with the modulo output function This function can also be used to output an external encoder signal if required A SilverNugget can only scale the modulo output signal down The modulo output function is essential for synchronized multi axis applications since it allows the master to output its encoder signal for the other servos to follow The modulo encoder output function can use all three high speed I O function signal formats step and direction step up step down and A amp B quadrature The output signal is scaled using the modulo scaling parameter which can be set to any integer SilverLode User Manual Rev 5 00 Page 154 of 159 Chapter 6 Input and Output Functions value between 1 and 256 1 to 32 for SilverNugget N3 The output signal is different for the three signal formats For the step and direction and step up step down signal formats with the scaling parameter set to 1 the 4000 counts per revolution internal encoder signal is output as a 2000 pulses per revolution signal For A amp B quadrature format and a 1 scaling parameter 4000 counts per revolution from the internal enc
41. of motion control hosts and devices All SilverLode product serial interfaces baud rates and protocols are software configurable This flexibility allows the SilverLode servo to communicate with many host and software package available In addition several SilverLode servos can be connected together to form a network Default Configuration When shipped from the factory the SilverLode product and QuickControl software are initialized with default values that are used to establish initial communications between device and a PC These default values can be changed to different settings during the initialization procedure Unit ID 16 Supply Voltage 48VDC Serial Communications Protocol 8 Bit ASCII Serial Interface RS 232 Baud Rate 57600 For SilverDust controllers with the E 485 Bridge Ethernet option Unit ID 16 Supply Voltage 48VDC Serial Communications Protocol 8 Bit ASCII Serial Interface RS 485 Baud Rate 57600 IP Address DHCP SilverLode User Manual Rev 5 00 Page 22 of 159 Chapter 1 Introduction and Getting Started Typical Configurations The following describes typical configurations for SilverLode servo systems This section is not an all encompassing list There are many variations and additions that are possible However these examples should provide a good starting point For detailed examples on using any particular controller driver in a system please refer
42. one direction and low for the other Step and Direction Direction Change ke N a E EC 3 S 5 o o o O O O Step Pulse Direction Step Up Step Down Signals SilverNugget Only A step up step down function consists of two Step Up step signals One step signal corresponds to one count of motion in one direction while the other step signal corresponds to one count in the other direction Step Up Step Down Direction Count 1 Count 2 Count 3 ene E Step Down Direction A and B Quadrature Signals Phase A The A and B quadrature format consists of two step like signals that are 90 out of phase with each other Every rising or falling edge of each signal corresponds to a count Direction is determined by which phase is leading and which is lagging Phase B A amp B Quadrature SilverLode User Manual Rev 5 00 Page 151 of 159 Chapter 6 Input and Output Functions The preferred encoder input and output signal is A B quadrature The alternative formats of step up step down and step and direction transmit one pulse per encoder count and become subject to the bandwidth limit more rapidly For example during a 1000 count per second move the step formats require 1000 pulses per second ona single line A B quadrature uses two signals and therefore requires only 250 pulses per second on each line to transmit the same information A B quadrature signals have a lower fr
43. the instructions to have QuickControl test the encoder of the attached motor Firmware Download Wizard State Kill Motor Cols n a not applicable Kill Motor Col Kill Device shut down due to this condition Bit Description Je Jisa is4 Ups Ian Ja State D Index Found 1 Last Cale Was Zero 2 Last Calc Was Positive 3 Last Calc Was Negative 4 120 1 5 140 2 6 1 0 3 7 Temp Driver Enable 8 Moving Error 9 Holding Error 10 Halt Command Was Sent 11 Input Found On Last Move 12 Delay Counter Exhausted 13 Over Voltage 14 Low Voltage 15 Reserved FALSE 0 FALSE 0 TRUE 1 FALSE O HIGH 1 HIGH 1 HIGH 1 Faul FALSE 0 FALSE 0 FALSE 0 FALSE 0 TRUE 1 FALSE 0 FALSE 0 FALSE O The firmware can be thought of as the device s operating system From time to time OC adds new features to their products which requires a new version of firmware to be downloaded Although this can be done in the field it is a little risky since loss of communications during the process will render the device repairable by the factory only NOTE SilverDust units may be recovered in the field by a special procedure contact Tech Support if needed The latest firmware and instructions for downloading can be obtained from OC Product Support SilverLode User Manual Rev 5 00 Page 51 of 159 Chapter 1 Introduction and Getting Started Setup Menu Details The Communcation Port maybe modified by
44. the same program file same QCP The following is an example QC Examples Multi Thread Multi Thread qcp contains a Thread 1 and Thread 2 program Command i Label Command S Thread 2 Start Thread 2 with E Flash Output Program Thread 2 d OOP Main Loop Move forward and back Clear 140 101 Move to 4000 counts d Delay for 500 mSec ramp time 50 mSec 7 Set I O 101 total time 200 mSec Delay for 500 mS Move to 0 counts oy o a ee ramp time 50 mSec Jump to LOOP total time 200 mSec S End Jump to LOOP Thread 1 Program Thread 2 Program Thread 1 Program is the main program program 0 and runs at power up The T2S command allocates Thread 2 Program Buffer space and launches the program Thread 2 Thread 1 Program then executes a loop that moves the servo from 4000 counts to 0 Thread 2 Program simultaneously executes a loop the flashes output 101 OK To designate a program D ancel within a particular QCP as EE MESA a Thread 2 program the o Ra user GE Description et E Store Program into Details from the Programs adda ee E menu and checks Thread Nor Volatile Dem 2 Memory Size i Percent Used Thread 2 Vv SilverLode User Manual Rev 5 00 Page 123 of 159 Chapter 3 Unique Features and Commands The amount of Program Buffer allocated to Thread 2 is either calculated automatically by QuickControl or set manually by the user If calculated by QuickControl
45. the Program Info Toolbar and verify the move stops when Input 1 goes LOW NOTE the Run button is shortcut that first presses the Download button for you followed by the Resart button 9 Power down and power up your servo and verify the program runs again Start a Move Using a Digital Input There are many ways to start a move using a digital input Most of them involve adding a Program Flow command to the program We will add a command that will cause the servo to wait until Input 5 is LOW before executing our move Select Program Line E List Commands For Add a line after line 1 EE C SilverNugget most used Both all Cancel INIT MOVE FLOW IO REG MISC CAN ALL REM 1 With our MRT command selected press the Insert button to add a line between line 1 and 2 note pressing Add will add a line below the selected line The Select Program Line dialog box will appear Category TLA Command MOVE EGM Electronic Gearing Mode MOVE MAT Move Absolute Time Based MOVE MAY Move Absolute Velocity Based MOVE E Move Relative Time Based 2 Select the FLOW tab MOVE MAY Move Relative Velocity Based MOVE PIM Position Input Mode MOVE PMC Profile Move Continuous 3 Double Click on the WBS command This command will cause the servo to wait at the program line until the condition is met MOVE PMO Profile Move Override MOVE PMY Profile Move MOVE PMX Profile Move Exit MO
46. the device never initiates outward communication Therefore every piece of information displayed in QuickControl has to be polled out of the device by this routine Check the Data Only box With this box checked the Data Monitor only displays the command strings that QuickControl sends to the device and the device response to those commands With this box unchecked each data string is preceded by TX RX indicator TX for QuickControl transmissions and RX for the device responses and a recycling clock time The purpose of the clock is to tell how much time has passed in between a QuickControl TX and the device RX e The TX and RX are redundant because any transmission to the device is indicated with an symbol followed by the ID of the unit e g 16 e the device responses are preceded with either a or character See Technical Document QCI TD053 Serial Communications on our website for a discussion on the individual meanings of each Check the Silent box to stop the polling routine from streaming in the Data Monitor and scroll up in the window to view the routine in detail or check the Log to File box and press the Log to File button to select a specific location and text file to log this routine to Note the commands used in the basic polling routine look them up by command number in the Command Reference if necessary and the data registers that are queried e 16 12 1 lt CR gt This Read Register RRG comm
47. through 3 The first three I O lines are the only lines available for use as Kill Motor inputs a commonly used I O function For simple applications or for applications that specifically require the raw encoder signal this I O function can be very useful Only one command is needed to send the raw internal encoder signal to the I O lines Enable Encoder Monitor EEM This command requires no parameters and is essentially an on button for this function The Disable Encoder Monitor DEM command is the off button I O lines 1 to 3 must be configured as inputs before this function is used in order to avoid an error as explained previously Internal Encoder Output SilverDust IGB Only The encoder signals are available on 3 dedicated terminal blocks Encoder outputs A B Z These are TTL buffered outputs Note the Z channel of l Grade motors is a special index channel The output is a 50 duty cycle spaced at one cycle for 1 50 revolution with one tooth missing QuickSilver documentation refers to this as a 49 50 index channel Internal Encoder Output SilverDust 1G8 Only The internal encoder signals may be configured to drive either 104 lO5 and Optionally 106 with Encoder outputs A B Z using the Encoder Monitor EMN command Alternatively the SSI port may be configured to output differential A B Z signals from the internal encoder using the SSI command Note the Z channel of I Grade motors is a special index channel The output
48. timer expires the device continues using the moving torque limits and checking the moving error limit After it expires the device applies SilverLode User Manual Rev 5 00 Page 109 of 159 Chapter 3 Unique Features and Commands holding torque and uses the Holding Error Limit to check for a position error while holding position Holding error is reported using a holding error bit in the three status words Drag Mode Servo systems can suffer from a problem called EMRET bd position wind up This condition occurs when a servo motor cannot keep up with a move or is stalled by a mechanical jam When the jam is Moving Error Limit SS released and the shaft is free to move again the Di counts Fa Description position error can be huge and the servo might Holding Error Limit M Drag Mode spin at a very high speed to catch up The high SE 9 speed reaction occurs because of the basic g y Units torque position error Kp calculation that Delay to Holding Normal virtually all servo motors including A SilverLode EN e servo perform as part of their control equation H position error is very large then so is the torque response The most common way to prevent this response is to shut down the servo motor This may be fine if the shutdown is due to a jam but there are cases where a shutdown is not acceptable An alternative to shutdown would be to limit this position error so it never becomes large eno
49. to zero only the deceleration values is used to ramp down to a stop Advanced Dynamic Motion Control 1600 1400 1200 Velocity RPM 0 00 0 50 1 00 1 50 2 00 2 50 3 00 Distance revs Using both the Enable Multi Tasking EMT and Calculation CLC commands with the PMV and PMC commands allows the functionality to create custom motion profiles similar to the one shown see Chapter 3 for a discussion on EMT and CLC In the following example program a PMV command is automatically updated The velocity register is being incremented by the CLC command which increases the velocity every 2 seconds SilverLode User Manual Rev 5 00 Page 137 of 159 Chapter 5 Advanced Topics Line Oper Label Command 1 EMT Enable Multi Tasking Write 200 rev to 2WRP User Profile Move Pos 20 Register y Write 0 5 rps s to SWAP User Profile Move Acc 21 Register g Write 1 rps to 4WAP User Profile Move Vel 22 Register x Write 40 rps s to SWAP User Profile Move Dec 23 Register A Write O rev to SA User Profile Move Offset 24 Register ZPMY Profile Move 8 DLY LOOP Delay for 2000 mSec SCLE Increment User Profile Move Vel 22 10 JMP Jump to LOOP Related Profile Move Commands The Profile Move Override PMO command will override any other motion currently in progress and execute a PMV command using the parameters loaded into the Profile Move registers 20 to 24 When
50. to normal engineering units It also makes command and parameter generation a simple point and click process By default distance is displayed in counts velocity in counts per second cps acceleration in cps per sec cps s and time in milliseconds ms The basic distance unit can be adjusted by clicking the Scaling button This brings up the Program File Properties window All contents of the Program File Properties window are stored as part of the qcp file x Scale Cancel Scale equals counts position unit Scale fi Min Max Encoder Counts Rev CPR Ace 0 48 Pos Min fa 00000 counts 000 v _GetcPR ye De PosMax 100000 counts Enter the label to be used in Move counts Vel M roo A type command i e revs Ehits counts SE 533333 cps Number of Decimal Places to Ga ES S display aces Acc Max fo 1 Advanced 2222222 cps s Max Time Register Names 140 Names GE 10000 mo Description Upload 1234 4 10 Chars Password Sort Programs in download order V Only allow Run w o Download D Update Device Status Properties ei anytime this file is active gt Thread 2 E IV Auto Program Buff Size fo e Scale If the software is polling clicking the Get CPR button will adjust the software to the resolution of the currently selected encoder Adjusting the value in the Scale field will divide all position distance velocity and acceleration values in QuickControl by the number A simple exa
51. true The green LED is also used to flash error codes in the case of power low over temperature etc according to the user and or initialization program loaded This is done by disabling the driver setting open loop mode and then setting the torque high and low though with the motor drive disabled only the LED is affected Green LED Flash Code Number of Fault Flashes 1 Startup Recovery Program Kill Motor Condition occurred at startup 2 Kill Motor Recovery Program Kill Motor Condition occurred after startup as a result of a condition in the KMC or KMX command 3 Initialization Wizard needs to be run 4 Grade Motor Memory Read Error 5 l Grade Motor Memory Version is Not Compatible 6 l Grade Motor Miss Match Attached motor does not match with device Re run Initialization Wizard 7 l Grade Motor Memory Checksum Fault The SilverDust IG and IGB also have a third yellow LED This yellow LED lights to indicate that the encoder signals are not at valid levels indicating shorts opens or otherwise invalid levels A bit in the Internal Status 2 152 word indicates this state and may be used to trigger a kill motor via the KMX command See IS2 and KMX SilverLode User Manual Rev 5 00 Page 71 of 159 Chapter 1 Introduction and Getting Started bes Exercise 1 1 Basic Default Initialization This exercise demonstrates how to accomplish a basic initialization of the device using th
52. with Write Command Buffer Longword WCL commands to dynamically adjust the velocity and acceleration parameters of a Velocity Mode Program VMP command The parameter data is loaded into two registers directly by the user This program consists primarily of a loop that contains two WCL commands and a VMP command The WCL commands move data from register 25 and register 26 into the velocity and acceleration parameters of the VMP command respectively Using the Register watch tool both parameters of the VMP command can be modified In areal world application a host could issue Write Register Immediate Type WRI commands via serial communications to change the parameter values Additionally the Calculation CLC command can be used to modify the register data 1 2 Within QuickControl select File gt Open and navigate to OC Examples Applications and select the file Dynamic speed amp accel in VMP qcp Press the Download Restart button to download and execute the program The motor will NOT start moving since the default Velocity is 0 rps and the default Acceleration is 0 rps s Open the Register Watch Tool Tools gt Register Watch Press the Add Register button and select User 25 select Velocity for the Data Format and press OK Repeat again for User 26 except select Acceleration for the Data Format Both should have 0 values listed Click once in the data column of the User 25 entry Enter a value o
53. with a user supplied power supply computer and motor encoder the Start Up Kit allows a user to immediately start programming and testing WARNING Read Warnings section at the beginning of this manual before connecting any hardware Setup Start Up Kit Setup the hardware following the instructions included in the Start Up Kit A copy can be downloaded from our website www QuickSilverControls com Install QuickControl After the hardware is setup install QuickControl as follows Hardware Requirements e Personal computer with a Pentium at least 500Mhz or higher processor running Windows 2000 XP or Vista e An unshared serial port capable of communicating at 57 600 Baud or better USB to serial adapters ok e An Ethernet connect for SilverDust with Ethernet e QuickControl Software on CD Note QuickControl can control a SilverLode product in real time it therefore needs full access to PC resources When installing QuickControl it is necessary to close all shared files and exit open applications It is also highly recommended that applications requiring large system resources be closed and any screen saver disabled Background tasks can cause interference and should be reduced to minimum requirements Procedure 1 Insert the QuickControl CD into the CD ROM drive If QuickControl setup automatically runs go to step 4 2 From the Start menu select SilverLode User Manual Rev 5 00 Page 12 of 159 Chapter 1 Intro
54. 0 000 counts When the flywheel is released the motor may or may not continue moving depending on how long it was held Either way once the motion has stopped the Actual Position register will not read 10 000 counts because the shaft was jammed for a period of time Drag Mode with the PMV Command 10 After 10 secs the motor will begin to move in the opposite direction using the PMV command 11 While it is moving grab the flywheel and stop the motion Hold for a few seconds and release it Hold and release again Regardless of how long the servo was held it will eventually reach the target position of 10 000 counts The Profile Move command recalculates the trajectory for the motion parameters every servo cycle 120 microsecond so the device will always reach its target position SilverLode User Manual Rev 5 00 Page 112 of 159 Chapter 3 Unique Features and Commands Anti Hunt Feature Digital servo systems share a common characteristic called dithering when holding a position Dithering typically occurs when the holding position is near the count transition point of the digital feedback device i e optical encoder or resolver causing the shaft to oscillate between counts For some applications dither is desirable and may even be intentionally created In other applications however any dither is unacceptable and in severe cases can cause large oscillations in the whole system SilverLode servos have a unique operation
55. 00 Page 114 of 159 Chapter 3 Unique Features and Commands Anti Hunt Constants AHC Command The AHC command sets the conditions for the device to enter and exit Anti Hunt The AHC command uses three parameters Closed to Open error Open to Closed error and the Check Holding Currents flag The Closed to Open error parameter sets the point at which the servo can enter Anti Hunt and transition to open loop control A SilverLode servo can enter Anti Hunt once position error is equal to or less than this value Position error is the difference between the target shaft position and the actual shaft position measured in encoder counts Anti Hunt disabled when both parameters 0 The Open to Closed error parameter Open to Closed SES establishes the point at which the servo exits Amount of error required to go out of Anti Hunt and returns to closed loop control SC Desc If position error ever equals or exceeds this P SEN rest value when the servo is in Anti Hunt the Sch e BIZ device immediately exits Anti Hunt switching BEE Currents to closed loop control to correct the position Amount of error required to go into Use Anti Hunt T Default For error Setting the Closed to Open and the mmm Device counts Open to Closed parameters to zero disables en Anti Hunt When the Check Holding Currents box is selected as shown in the QuickControl screenshot the servo checks another condition besides position error before
56. 10 pin connector on the top of the SilverDust IG8 Package next to the CAN Switches It provides a total of 4 differential interfaces as well as 5v and ground The I O are RS485 signal levels with a 3 3v drive level These lO may be variously configured to provide different functions via the SSI command Input External A A B N C N C Encoder IN IN IN IN Output Internal A B Z N C N C Encoder OUT OUT OUT IN IN Data Clock Select Select Data Data OUT OUT OUT OUT WON IN Data Clock Clock Select Select Data Data OUT OUT OUT OUT OUT WON IN Notes Must also configure SEE command to select External Encoder onto lO 4 5 6 IN 485 differential input OUT 485 differential output N C No Connect Mode 0 is the default power up mode The SSI port is placed with all sections configured as inputs Inputs A B and Z may be directed to IO 4 5 and 6 by means of the Select External Encoder SEE command This provides a means to interface an external differential encoder or Step and Direction source to the Unit lO 4 5 and 6 may not be used for other purposes if so configured Mode 1 configures A B and Z as outputs and outputs the raw internal encoder signals to the SSI port allowing for differential signaling of these signals to other units Mode 2 configures the SSI port to send and receive serial data Every 120us the chip selec
57. 10 to 199 this operation from other registers is prevented by internal code Storing Details When storing programs or registers the device automatically adds length and checksum values in the first memory location This is used when loading to find the correct number of words to load and to verify the integrity of the data After the length and checksum word a 0 is stored as a NULL word This prevents the device from trying to execute data as a program The 0 is interpreted as an END command By default QuickControl will organize all programs and data to be stored into the non volatile memory If this organization is performed manually it is essential that no overlap occur If the device attempts to retrieve information that has been overwritten the checksum will be affected and the unit will shutdown with an EEPROM error and cease executing any commands or programs RSN RSM Store Times Maximum time to write data to the NV memory is 10mS per write operation RSN RSM command uses at least two write operations but an additional 10ms is needed if the data crosses a page boundary Therefore when using the RSN the maximum time needed to save 5 data registers RSN x 5 is 5 data registers use 5x2 2 12 words This will always fit in 1 or 2 memory pages 2 pages 1 extra x 10 ms write 30 ms In order to minimize write time the Register Store Multiple RSM command stores multiple registers up to ten sequential reg
58. 5 00 Page 2 of 159 Unknown Device Wizard isein osineen nete heoi e Aa e n ira aena aoaoot Esain 41 EE ERAN 42 Control Panel SEP EE 45 RES e e be o e etal 47 Data Monto dr 48 EE 51 Firmware Download WIZARD 51 Setup Men Details A E A a 52 Comm reeL 52 UE E EE 52 MDDS ae cS EAE dee 53 Comm Properties Details A A A e 54 COM ni 54 E NEE Ria 55 Set All E 485 Bridges CNR EE EE 55 Program Line Right Click Pop Up Menta ata 56 Edit KEE EEN 56 DEVICE INITIALIZATION DETAILS a eee 57 Phase E 57 Start Up EE e EE 57 Index Phase Alignment iii o r NENNEN a 57 Automatic Index Phase AMA EE 57 Manual Tand Phase HEEN 58 Cyclic Phase Alignment d ZEHREN REENEN EEEE RRE RS 58 SilverDust I Grade With I Grade Motor Memory Initialization oooooconnicicnnanonncnnnann nn nono 58 Initialization EE 59 Initialization Wizard KEE 60 Initia 17 atl ONS CONAL EE 61 Taning Wide aii 65 Initialization NA O ON 65 Other Initialization AS AAN USO TTR yer meee Ry Mare Cnn Rake ne ney 69 TROUBLESHOOTING COMMUNICATIONG ssccesseccesseecessneceeseeceeceecssacecesneecseneececeecseeeeneeeesaes 69 Silv rL dedndicator LEDS EN 70 Green LED Flash CODE IAS ARA a a AS IIA Bi Dade Raa Castel 71 CHAPTER 2 BASIC MOTION AND PROGRAMMING FUNDAMENTALGB 75 TRAJECTORY GENERATOR iiini naei havens Ai ais 75 COMMAND TYPES AND EE 76 COMMAND PARAMETERS n nie UN 76 A A A E O 76 Ba NUD OES cg E E A Ee E A E 76 E ele AEN TT dE ET E 77 Actual E
59. 77 A EE 78 t ee 79 O 79 A A A e 79 BASTCMOT ON COMMANDS a LO 80 Relative Moti n srann A ias 80 SilverLode User Manual Rev 5 00 Page 3 of 159 Absolut MOLL OMe eege eru a 80 Velocity BUSCA MOON LENA EA ie BRUNE EI AA EA AA AAA 80 Tme pasea E 80 Velocity EE 8l KEEN 8l MEMORY MODEL o Gs 83 Serial Communications DITA AA AA A AA AE at SDS ahs E 83 Program BUT A ad A ae 83 ee EE 84 DV OMe EE ee 85 Non Volatile Memory EAD E 85 Stotine E E E 85 Storing KEE 86 RSNGURSM Store pes is a dales 86 EN RICM Toad Times Gti geet eege 87 FirmwaT ee A A a a add 87 EA O A EE 87 o EE 87 Multiple Programs in CP Als riot t 87 Managing Non Volatile Memory Program Storage coococcoocccnoncncnoncnononcnonnncconancconnncnonnnanos 88 PROGRAM EXECUTION eigene EENS 89 How PIO EE 89 Y MY YO RRA A A O IO 89 FLOW Comma d i 89 Dat Register Commands cn AAA AAA A a 90 Miscellaneous and Initialization Commande 90 Program TOW COR EE 90 Dela DL Tios 90 Wait on Bit State CWIBS 4 isc sis3s Sage sch ais EE MEA EE EE 90 Wa ton Bit Edse ID a a o e 90 Jump Command mam ceistca tae lari atcha Me sane tan A ated i ea 90 Program Call and Return PCB PCI BCL 91 For Nex FORNA oia tess Steet een doses ed dl ETS 92 Enable Code oto Shas ay hich AE ANO 93 Enable ala A teehee as 94 PROGRAM DEBIO e e eed eto lie e e oe 95 Debra Mole A E A A aa 95 Ee 95 EE TENES 2 AEREA AA AA EA AAA AD 95 ReGl Tinie Tre ATA 95 EE EE 95 Real Time Breakpoints io se w
60. 85 Bridge Ethernet Pull down the list box or type in the desired COM SE EE port NOTE QuickControl only lists what it SH Dn COMS zi Poker select from list thinks are valid COM ports Ee e Default 57600 N Baud Rate Protocol 8 Bit ASCII 2 Stop Bits No Parity PC baud rate ranges from 9600 to 115K Default Default 8 Bit ASCII No Parity 2 Stop Bits is 57 6K It is a good idea to leave it here unless you are familiar with serial communication Protocol Each port needs to know how to communicate with the devices connected to it The protocol sets up the Comm port so that it can send and receive data in the proper format The protocols listed are the ones currently supported They include e QuickSilver 8 Bit ASCII O bs QuickSilver 9 Bit Binary Select Protocol Stop Bits and Parity F za Modbus Be NOTE Changes to Baud Rate and Protocol only affect the PC They do not affect the attached device ode 72 You must use the Initialization Wizard to change the 777 z parameters in the device In other words if you want EE to start talking to the device at 9600 baud you will first have to change the baud rate for the device and then change the baud rate for the computer 2 Stop Bits No Parity Stop bits and parity are also edited here SilverLode User Manual Rev 5 00 Page 54 of 159 Chapter 1 Introduction and Getting Started E 485 Bridge Ethernet This tab is for editing the prop
61. A value of 0 defines a basic trapezoidal move while a value of 32767 causes the entire acceleration deceleration period to be used A value of 3277 uses 10 percent of the acceleration deceleration time to transition to from the desired acceleration lowering the required Jerk accordingly A 10 percent value thus increases the maximum acceleration needed by a timed move by 10 percent and the acceleration deceleration time needed for a constant velocity acceleration move by 10 percent A full s curve will minimize the rate of change of acceleration or jerk for a trapezoidal motion In a full s curve time based move the actual acceleration used is double that of a pure trapezoidal zero s curve motion In a velocity based move the time to complete the move increases proportionally to the amount of s curve specified In order to have the full s curve move complete in the same time as the trapezoidal move the acceleration parameter must be doubled The following chart shows a velocity based move with zero s curve trapezoidal full s curve and full s curve with the specified acceleration doubled Velocity Based Motion and S Curve 4200 5 Full S Curve w 2 x Acceleration as Trap Motion 800 E Full S Curve gt Trapezoidal Motion Same Acceleration as Trap Motion Zero S Curve 0 0 1 0 2 0 3 0 4 0 5 Time Significant reduction in Jerk in the system may be att
62. Chapter 2 Basic Motion and Programming Fundamentals Bes Exercise 2 3 Creating Downloading and Running a Program in QuickControl In this exercise a new program is created in QuickControl It includes a short Move Relative Velocity Based MRV move clockwise and a similar move counter clockwise I O 1 can be triggered LOW to stop motion at any time Creating a New Program 1 2 11 12 13 Select New Program File from the File menu to open a blank new program template Choose Add from the Program Info Toolbar to place a new program command in the list Note Each tab contains a specific set of commands Detailed descriptions of each command and command parameters can be found in the Command Reference Choose the Move tab and double click on MRV Move Relative Velocity Based command Enter the following values for the first MRV move Distance 10000 counts Acceleration 1000 cps s 999 62 actual Velocity 2000 cps Acceleration parameters are rounded as QuickControl calculates the exact motion profile Press the Stop Condition button Choose the Standard tab of the Edit Stop Conditions box Select I O 1 for the Condition and use HIGH TRUE as the State Press the OK button twice to get back to the main QuickControl screen Highlight the newly created Line 2 and choose Insert from the Program Info Toolbar This will insert a new program command into the program list before the first MRV command on Line 2 Choose the
63. Control Using Inputs and Registers Bes Exercise 4 3 Cut Copy 8 Paste Programming This exercise provides the user a technique for building up an entire motion profile Several OC Example programs are opened up and the entire list of command is copied into a New program 1 2 3 Select File gt Open Navigate to the QCI Examples Homing folder and select the file Homing against a hard stop qcp Select File gt Save As Enter the filename testfile qcp Select Programs gt Program Details Edit the program name to be home Select Programs gt New Program Enter the program name move Repeat again using the program name tune Verify all three 3 programs are in the Program List of the Program Info Toolbar Click on the small down arrow button to see the list contents If all three are listed save the file again If all programs are not listed repeat Step 3 then save the file Select File gt Open Navigate to the 1QCI Examples Stopping Moves folder and select the file Stop Move Using Input 1 qcp Select Edit gt Select All Select Edit gt Copy Select Window gt testfile qcp From the Program List choose the move 1 program a Select Edit gt paste Highlight the last line of the program b Press Add choose the Flow tab double click on the LRP command press the button and choose the tune program Select File gt Save Select File gt Open Navigate to t
64. EEN 9 Bit Binary and Modbus only There was a data error or a new packet was received 9 Ms EE before the last packet was complete This word is accessible with immediate commands given from an external host It is used to give the host a quick status update A host may be programmed to act on changes in the PSW or the word could simply be used to alert the host to changes in the operating condition of the device Repeatedly checking the PSW is referred to as polling and is a common way to update an external host on the condition of the device Two Immediate commands are associated with the Polling Status Word the Poll POL command and the Clear Poll CPL command The SilverDust Rev 06 adds an SilverLode User Manual Rev 5 00 Page 101 of 159 Chapter 3 Unique Features and Commands additional command the Poll with Response POR Chapter 2 contains more information on the command hierarchy and polling routines Poll POL Command The POL command is used to determine the condition of the device A POL command can be executed at any time including while the device is in motion Executing this command will cause the device to return an ACK message if all of the bits in the word are cleared or return the word itself in hexadecimal if any of the bits are set An ACK is an Acknowledgement signal from the device that indicates that the command was received correctly with no errors but no reply was required The POR c
65. II communications protocol or eight bits of data if using the binary protocol Technical Document QCI TD053 Serial Communications on our website covers serial communications in detail e Task 2 Servo Control Loop If set to closed loop control the device updates the output of the control algorithm every servo cycle When using open loop control the control loop is bypassed e Task 3 Program Command Execution If a program is running the Program Buffer will have at least one command in it If multi tasking is disabled the device will execute the next command in the program buffer only if the last command has finished executing If multi tasking is enabled the device will generally execute a new command from the Program Buffer every servo cycle although there are exceptions The way the device treats different motion commands when multi tasking is explained in the next part of this section e Task 4 Motion Command Execution When the device receives a motion command either by reading the next command in the Program Buffer or by receiving an Immediate command from an external host the Trajectory Generator goes active and the move starts If multi tasking is disabled the device will not execute the next command in the Program Buffer until the move is complete If multi tasking is enabled the next command in the Program Buffer will be executed as soon as the Trajectory Generator goes active and the move starts e Task 5 Update
66. Ju fom fs fae Scaling Download Run Stop Polling Foaling Test Line Run w o Download ID Desc Cont Debug IT 16 UID 16 Zoos Program List D2IGB 423H1 D of 1023 words used Device To Program Restart Desc UID 16 016 10 16 40 593 Unit ID 016 Driver D2 10 16 40 593 Unit ID 016 sn 1716 rev 45 11 0226 2009 10 16 40 593 Unit ID 016 IGB 16 Unit ID 016 _ Motor QC Grade 23H 1 Scan for Unit IDs 1 through 20 complete Select Setup gt Options to change scan ES Select Program Line x a 1 List Commands For Add a line after line 1 SilveiDust most used SilverNuaget most used Both all Cancel REG MISC can ALL REM On the Program Info Toolbar press Add MOVE FLOW 10 INIT Command Electronic Gearing Mode Move Absolute Time Based Move Absolute Velocity Based ve Relative Time Based ove Relative Velocity Based PIM Position Input Mode PMC Profile Move Continuous PMO Profile Move Override PMY Profile Move PMX Profile Move Exit PYC Profile Velocity Continuous Register Move Absolute Time Based The Select Program Line dialog box will appear Press the MOVE tab Double click on MRT The Edit Move dialog box will appear SilverLode User Manual Rev 5 00 Page 16 of 159 Chapter 1 Introduction and Getting Started xi Edit the move data as shown tiie S
67. Non Volatile Memory Program Buffer Serial Communications Buffer The Serial Communications Buffer is a 10 word 10 16 bit blocks memory location used to temporarily store incoming commands and their responses along with associated parameters and data Commands sent to the device through the serial interface are temporarily stored in the buffer as the command string is being received During this time the command and its parameters are checked for proper syntax Immediate type commands are executed directly from the serial buffer Program type commands are transferred to the Program Buffer to be executed individually or as a program or to be stored to EEPROM each of which will be described below Program Buffer The program buffer provides a 1023 word 200 words for SilverNugget and pre rev 06 SilverDust MG memory array for program and command execution The buffer is used SilverLode User Manual Rev 5 00 Page 83 of 159 Chapter 2 Basic Motion and Programming Fundamentals by the SilverLode servos to hold a single command or a series of commands a program for eventual execution Only one program can be held in the buffer at a time The buffer can be loaded with commands using the serial interface or with programs transferred from the non volatile memory The buffer will hold a command or program until overwritten or until power is removed If Multi Thread is used Thread 1 and 2 share the Program Buffer See Multi Thread in Chap
68. QuickControl select Programs from the main menu and Program xi Check to enable manual addressing Cancel Pi N m Memory Management rogram Name Program Name pos Manually Set Address E Program Description pmo Progam into B2 Memory starting at Non Volatile Specify address to store Memory Size H program Percent Used 2 Thread 2 gl Details from the pull down menu This brings up the same window displayed when a new program is created On the right side of this window is the Memory Management section This shows the non volatile memory storage address assigned to this program automatically by QuickControl and the total non volatile memory size To override the automatic non volatile memory assignment check the Manually Set Address checkbox and enter a non volatile memory address into the Store Program into box If automatic memory management is not used then the non volatile addresses must be independently tracked to prevent programs from overwriting each other or otherwise interfering with themselves the Initialization program or stored data Overwritten programs and data may result in a fault condition which will stop program execution If the Initialization program is overwritten the device may be unable to operate Unless the system operation requires manual memory control it is best to let QuickControl manage the non volatile memory storage The Thread 2 checkbox is used to designate
69. Rev 06 adds write protection to certain regions 13 Yes P Cmd Done All commands active in the Program Buffer finished executing There was an error associated with the command 12 Yes Command Error execution Unreasonable parameter values or not support in this firmware 41 Yes Input Found The motion ended when the selected exit stop condition was met 10 Yes Low Over Volt A low or over voltage error occurred Holding error limit set by the Error Limits ERL 9 Yes Holding Error command was exceeded during a holding control state Yes Moving Error Moving error limit set with the ERL command was g exceeded with the device in a moving control state Yes Rx Overflow Device serial receive UART buffer overflowed A condition was met while executing a CKS 6 Yes CKS Cond Met command One of the conditions set with the Check Internal Status CKS command was met The received message was too big for the Serial S Ke Meg too Long Buffer Device rx packet gt 31 bytes y There was a packet framing error in a received byte 4 ves Framing Biror Device rx byte with missing bit The device was shut down due to one or more conditions set with the Kill Motor Condition KMC command or KMX command for SilverDust Rev 06 3 Yes Kill Motor Latched yes but after CPL it clears even if there is still a KMC till present e A soft stop limit was reached as set by the Soft Stop S ves POLi Limit SSL command Device rx packet with an invalid checksum Valid for xe
70. SilverLode Servo Family User Manual Revision 5 00 21 July 2009 For QuickControl Rev 5 00 SilverLode User Manual Rev 5 00 Page 1 of 159 Table of Content HOW TOUSE THIS MANUAL eege eege eege 8 EE ee 8 EERSTEN 8 FOR FIRST TIME BEE EE 8 WHAT S NEW FOR QUICKCONTROL 300 9 APPLICATION RELATED INFORMATION o iS 9 NA 9 TRADE e Ot e s 10 COPYRIGHT ET E R E T A A S S 11 CHAPTER 1 INTRODUCTION AND GETTING STARTED eesssesssesssocesocessocsssecssecssosee 12 INTRODUCTION tati 12 GE MELEN 12 SEUA aa 12 TOSTADAS ECO MATO eet 12 Run QuickControl Ist Time And Setup COMMUNICATIONS ccomoooccnnnnnnnnnnnnnannnnnnnnnnnnnnnnnonnnnnns 13 IMA Wizard EEN 14 Ee 14 Create and EE 16 DESIGN GUIDE AND HARDWARE DESCRIPTIONS ssccesssecesseecesneecssacecseneecsencecseceeceseeeeneeeesaes 20 RE 20 Default EE 22 Typical Conf CUR eege a e R A 23 QUICKCONTROL OVERVIEW EE EEN 25 PROGRAMMING OVER VIEW seria A a ica 25 QUICKCONTROL INTERFACE corntiton tilda iaa ida 26 Men s AA E O tee bg Seba CRT a inna Bek bs 27 LOCO A EE EE Ehe 20 EE 31 EEN 32 Device Status MONTO IES aa ee 33 MUS Sy A O O O 33 Right Click Popup Med iii dd ita 34 TUE LS AA A A A E A 34 File Mena De tals lt A dia 35 Pro pra E EE 35 Upload Program TEE 37 Clone A Ereegnes ebe a a a Eege 38 Programs Menu Details ad 39 Registe Names gs A A eae AA 39 PON AMS IES e 40 Download and Catia E 40 Tools Menu leiere A 4 WiC e WWI ATC EG 41 SilverLode User Manual Rev
71. Status Words and I O A SilverLode servo updates each bit of the three status words and checks or changes the I O status every servo cycle The analog input digital input and digital output capabilities of the device are covered in Chapter 6 The status words are used internally by the device as explained earlier in this chapter and are integral to the polling routines used with external hosts as explained in Chapter 2 SilverLode User Manual Rev 5 00 Page 117 of 159 Chapter 3 Unique Features and Commands Task 6 Error Checking A SilverLode servo checks for errors once every servo cycle Some of the errors it checks for are user defined such as position error and Kill Motor Conditions while others are preset such as over voltage errors Multi Tasking Operation Rules The purpose of multi tasking is to allow the device to continue to execute commands while a motion command is running The ideal way for this to happen would be for the Trajectory Generator to go active as soon as a motion command is issued and for the next command in the program buffer to be executed the next servo cycle In some cases this is exactly what happens but some motion commands still stop program flow right after they are issued just like a delay or wait command Different types of motion commands also work differently when multi tasking is enabled These multi tasking exceptions and special cases are explained below Delays with Motion Commands The tim
72. Status Words states in real time Test Encoder State Kill Motor Cols n a not applicable Kill Motor Col Kill Device shut down due to this condition Kill Motor lu ez Jisa Jiss Ups Ian Jan D Description State i 0 Index Found FALSE 0 NOTE QuickControl s Diagnostic Tool 1 Last Cale Was Zero FALSE 0 2 Last Calc Was Positive TRUE 1 Tools gt Diagnostics is a great way of 3 Last Calc Was Negative FALSE O viewing many of the status words in 4 1 0 1 HIGH ti 5 1 0 2 HIGH 1 real time 6 1 0 3 HIGH 1 7 Temp Driver Enable Faul 8 Moving Error FALSE 0 3 Holding Error FALSE O 10 Halt Command Was Sent FALSE O 11 Input Found On Last Move FALSE O 12 Delay Counter Exhausted TRUE 1 13 Over Voltage FALSE 0 14 Low Voltage FALSE O 15 Reserved FALSE 0 SilverLode User Manual Rev 5 00 Page 100 of 159 Chapter 3 Unique Features and Commands Polling Status Word PSW The Polling Status Word indicates the overall condition of the device The meaning of each bit in the Polling Status Word PSW is explained in the table below The description for each bit describes the device condition indicated by a 1 in that bit Bit Latched Definition Description 15 Yes l Cmd Done Immediate Command Done i e Host Command There was a checksum error while reading data from 14 Yes NV Mem Error or to the non volatile memory SilverDust
73. User Manual Rev 5 00 Page 38 of 159 Chapter 1 Introduction and Getting Started Programs Menu Details Register Names Register Name Lx QuickControl allows for editing the names of registers 11 through 199 user registers Any user registers EA used in a QCP file can be re named lt gt to add more meaning to the program mean rees Fl Edit Selected Register Name D D ser inpu sel code For example registers being User Input Dead Band 14 Input Mode Registers 12 18 A x e User Maximum ScalelLimit 15 used for a specific function like a User Maximum Output Scale 16 SE SetTo loop counter can be named as such o E Al Change 18 To User Descipive H ser Output Rate ol ange ames just like the Input Mode registers and Use Profle Move Pos 20 EE the Profile Move registers If the User Pre Move Valea ei e H H User Profile M Deg QCP file does not use Profile Move or Lee ssi Desciptve Input Mode functionality these registers can be re named Reset Selected Register N esel besos er er Name Access the Register Names dialog User 31 window from the Programs pull down User G3 a E menu or from within the Scaling dialog window found in the Program Info Toolbar Edit Selected Register Name Select a register from the list box on the left and press Cancel Edit Selected Register Name button to re name it Register 12 Name Lo We Press Reset Register Name to Default to reset the egister
74. VE DN Profile Velocity Continuous MOVE RAT Register Move Absolute Time Based Select which condition to wait on 4 Enter the data as shown Cancel Condition 1 0 5 K Description 5 Press OK to save and exit 6 Press Download Restart to run your program with Input 5 HIGH Note the servo does not move until Input 5 goes LOW and will stop when Input 1 goes LOW Do Forever To make the program start back over again after it finishes the move we will add a JMP command FLOW to the end 1 Select the MRT program line 2 Press the Add button 3 Select the Flow tab 4 Select the JMP command SilverLode User Manual Rev 5 00 Page 18 of 159 Chapter 1 Introduction and Getting Started 5 In the label field enter the word START as shown on right a Cancel 6 Press OK to exit the Edit Jump Command Select from existing labels or enter a new one dialog box Fra o Description Select conditions for Jump 7 You have just added a command to jump to EE the program line with the label START Add y this label to line number 2 by clicking on the line 2 label cell and type START The JMP command will now loop to line 2 after it finishes the move Label Command Move 8000 counts ramp time 100 mSec total time 1000 mSec Stop when 140 1 is LOW FALSE Jump to START 8 With both Input 1 and Input 5 HIGH run the program Verify the motor does not sp
75. Y C Acceleration C ce e Taget Velocity Axis dialog box it Position po Choose One Axis y Primary Y Axis Cancel Here you can set whether data will be plotted on the WE primary or secondary Y Axis If Determine Y axis Min Max is uncheck you may manually enter the Y Axis min max values Otherwise the Y Axis scales are set automatically ei Determine Y axis Min Max based on incoming data Repeat Last Move Press this button to repeat the last move Channels All radio select allows any of the registers to be charted Only 64 bits of information may be selected corresponding to 2 32 bit channels 4 16 bit channels or 1 32 bit and 2 16 bit channels Target and Position with no trailing register number are sent as 16 bit channels with an algorithm to extend them to 32 bits accurate as long as the difference is less than 32767 counts between readings this allows additional channels to be simultaneously logged Note that the upper 16 bits the lower 16 bits or the entire 32 bit register may be logged by selecting the appropriate radio button SilverLode User Manual Rev 5 00 Page 46 of 159 Chapter 1 Introduction and Getting Started Register Watch The Register Watch Tool is a powerful tool within LE a nt QuickControl for monitoring and adjusting the SE contents of registers This tool allows QuickControl Delete Register Move Down Advanced to simulate a host all
76. a SilverLode servo moving This chapter describes additional commands and features needed to use the SilverLode servo in a basic application This chapter contains the following sections each dealing with a different feature or group of commands e Status Words A SilverLode servo uses three 16 bit status words that are integral to its operation the Polling Status Word PSW the Internal Status Word ISW and the I O Status Word IOS The SilverDust Rev 06 adds a secondary Internal Status Word IS2 and an Extended IO word XIO Each bit of these status words indicates the state of a predefined condition in the device The status words are integral to the operation of any polling routine including the one used by QuickControl e Error Limits Error limits define the maximum acceptable deviation from a target position before the device sets a flag A SilverLode servo has separate settings for maximum moving error and maximum holding error These limits may also be used to configure the slip clutch operation of a system if desired e Anti Hunt Mode Anti Hunt Mode is a special operating mode that can be enabled to eliminate dither When holding a position the servo transitions from closed loop control to open loop control based on the Anti Hunt settings e Multi Tasking With multi tasking disabled the device executes every command sequentially This means that program flow stops until each command has completely finished exec
77. ability is issued from a host See the Command Reference for details on command classes and which classes can override executing programs Programs may perform conditional branching providing the ability to modify their behavior or start a different program Program lines typically execute the command each servo cycle 120 usec Ha command requires only one servo cycle to execute the next program line will execute on the next servo cycle Some commands block pause the process of executing the next line program execution while the command completes Commands from different categories influence program execution in different ways The multitasking capability of the device alters the impact of motion commands allowing them to execute in the background Commands from other categories can then be executed while a motion is in progress See Chapter 3 for additional details The following descriptions are for non multitasking applications Motion Commands Motion commands pause program progress when they are executed This means that no other program type command can be issued neither the next command in the program nor program commands received from the serial interface Some types of Immediate commands from the serial interface will still be processed Motion commands may also have stop conditions specified which will cause both motion and command execution to terminate Chapter 4 contains more information on stop conditions Flow Commands T
78. ade marks of CAN in Automation e V Factory Default Initialization CT2 FL2 qcp The servo tuning parameters CTC and FLC are replaced with the new improved CT2 and FL2 See command reference for details on these commands Factory Default Initialization Cyclic SN qcp Initialization file used for Cyclic Phase Alignment on SilverNugget controllers See Phase Alignment above for details Factory Default Initialization Cyclic qcp Initialization file used for Cyclic Phase Alignment on SilverDust controllers See Phase Alignment above for details Factory Default Initialization H W Driver Enable qcp Initialization file that waits for H W driver enable before initializing This file should be used if the hardware driver enable is used on such servos as SilverNugget N3 SilverDust IGB and IG8 Factory Default Initialization N2 Driver Enable qcp Special version for SilverNugget servos with driver enable option including options E4 E5 M4 and M5 See Technical Document QCI TD015 Driver Enable Input 3 for details Factory Default Initialization Open Loop qcp This file is used for a devices operating in open loop only No encoder See Technical Document QCI TD047 SilverDust Open Loop for details Troubleshooting Communications With the SilverLode product powered up start QuickControl and the polling routine should automatically find the device If QuickControl is already running and the device is powered up press the S
79. ained by a 20 or 50 s curve for example where the acceleration ramps up over a portion of the curve then is held SilverLode User Manual Rev 5 00 Page 81 of 159 Chapter 2 Basic Motion and Programming Fundamentals constant for a portion and then is ramped down again with the same process occurring for the deceleration portion of the curve A 20 s curve SCF 653 2 32767 only adds 20 to the acceleration in a time based move or 20 to the time in a velocity based move but can significantly reduce the jerk at the start and end of the move i l Exercise 2 1 Basic Motion Commands amp Jump Commands The purpose of this exercise to get familiar with the basic MRV JMP and JOI commands The servo will execute two moves depending on the state of the I O 1 and I O 3 The program runs in a continuous loop monitoring the two inputs 1 2 Make sure QuickControl is polling the device Press the Scan Network button in the middle of the Device Status Monitor to start polling the device if polling is stopped Select File Open Navigate to the 1QCI Examples Using Inputs for Move Selection folder and select the file Two Inputs Two Moves with MRV qcp Put UO 1 and 3 in the HIGH state Verify both inputs are in the high state by looking at the Input status boxes just above the Scan Network button A Green box indicates the I O line in this case an input is in the HIGH state A Red box indicates a LOW state Take
80. ained in the motor s non volatile No motor detected memory it is possible to initialize an l Grade SilverDust without the l Grade motor attached 1 Continue Continue The attached motor Simply run the Wizard without the motor attached 2 Continue Continue will attached a motor 1 P D load File to Device Motor Memory with memory ress ownloa lle to Vevice a Een Choose from one of the following options No Motor Memory has no memory 2 Error Reading Data From Motor Memory Dialog Box Select Option 2 Continue Motor Memory 3 Select Motor Dialog Box Select the desired motor and press Next 4 Finish The wizard finishes as normal Power down the controller attach motor and power up As long as the selected motor matches the attached motor the controller will work fine SilverLode User Manual Rev 5 00 Page 64 of 159 Chapter 1 Introduction and Getting Started Motor Cable Length Enter the length in feet of the cable between the controller driver and the motor For QCI cables the last two digits of the part number denote this length For example the Motor Interface Cable QCI C D15P D15S 10 is 10 feet long Tuning Wizard The Tuning Wizard tab is used to tune the servo loop In most cases this is not necessary If the motor is vibrating with a load attached or is not moving smoothly tuning is probably required Tuning is covered in Technical Document QCI TD054 Servo Tuning Initi
81. aling parameters register names I O names and data stored in the register file system QCP files are saved to a computer s hard disk while programs are downloaded to the device s non volatile memory Only native command data is stored into the device Remarks labels scaling etc are not downloaded The user should keep and back up copies of their QCP associated with each of their products Program Size Limits The size of a program is shown in a small window in the middle of Program Info Toolbar when the program is displayed in QuickControl Size is listed as the number of words used in the program buffer e g 18 of 200 words used Program Buffer length depends on the servo Program Buffer Length SilverNugget 400 bytes 200 words SilverDust Rev 06 2046 bytes 1023 words NOTE Multi Thread programs share this space This sets the length limit of executing programs If a program exceeds this limit the device will not allow it to download If this limit is reached create multiple smaller programs QCP files can contain an unlimited number of programs that can link to each other using the Load amp Run Program LRP command limited only by the size of the non volatile memory Multiple Programs in QCP Files From the QuickControl main menu select Programs then New Program enter a name and select OK The screen will display a new blank program This new program resides in the same QCP file as the first program To view all p
82. alization File It is good practice to save a record of the specific power up changes made to each device as a unique Initialization file This file should contain all the command settings for any particular device in a specific application These commands include device specific settings like Motor Constants and Phase Constants that work with a specific type of stepmotor at a fixed operating voltage The initialization file also contains application parameters such as the Identity Serial Interface Baud Rate Kill Motor Conditions Error Limits etc There should be one initialization file per axis on any multi axis machine The Open button selects the initialization file When using the Initialization Wizard for the first time the Factory Default Initialization qcp file is automatically opened in the Wizard File window This is a read only file and cannot be overwritten To save any changes made to the initialization file press the Save As button and give your file a unique name The Initialization program file contains the following programs Main Init The Main Initialization program contains all of the initialization commands for the device This program is shown in the next section and is described in detail Startup Recovery The Startup Recovery is used if a Kill Motor Condition is tripped during execution of the factory default initialization The default program disables the driver and flashes the green LED once See SilverLode Indica
83. and queries the Actual Position 1 register e Actual Position is displayed in the Device Status Monitor and is updated due to this line of the polling routine Click on Register Watch in the Tools menu and Add Register when the Register Watch utility appears Choose Accumulator 10 or a register that is not being polled by the basic polling routine and select long format to view values as signed decimal numbers e Uncheck the Silent box in the Data Monitor and note that Accumulator 10 is now being queried by the polling routine Type a 50 into the data box of the added register and press enter Quickly check the Silent box and scroll up in the Data Monitor log to view the transmission e 01611 10 50 lt CR gt This Write Register command writes a 50 into the Accumulator 10 register e This string was issued by QuickControl as soon as data was typed into Register Watch and Enter was pressed Move to the Custom Transmit section of the Data Monitor Type 16 11 10 100 in place of Test Packet Add the final carriage return character with the Add CR button and press Transmit Notice that Register Watch is immediately updated by the polling routine e Note how the Data Monitor and Register Watch tools can be used to emulate a PLC HMI or other host that sends data serially to the device SilverLode User Manual Rev 5 00 Page 74 of 159 Chapter 2 Basic Motion and Programming Fundamentals Chapter 2 Basic Motio
84. aningful to you Press Exit w Save Initialization is complete Note there are lots of example programs to look at in the QCI Examples folder installed when QuickControl was installed in the QuickControl folder Jog Servo If you are communicating with your servo you should see a pas JE cons green Prog Stop tag in the device s Pos State cell This a means you are polling and have a registered device soo Ja f fa a fa JJ Ja Js Jos os Stop Polling Poling ID Desc Cont 16 UID 16 2counts N If you see something like what is REE Proa Stop poar counts shown on the left press the Scan vo jiu ja es fae J Je Network on the Device Status Monitor Joo al al lal Js is Jas gggggggg Scan Network Not Polling ID Desc Cont D2 IGB 423H1_ Not Pol SilverLode User Manual Rev 5 00 Page 14 of 159 Chapter 1 Introduction and Getting Started To jog your servo select from the main menu Tools gt Control Panel x AA Tuning Jog Wel cps Exit Device ID 16 UID 16 Cycle 200000 A23H1 Rev 45 11 HCycles ms R Type A23H1 Rev 45 11 1 Geo I Ge Restart Serial 1716 Zero Move Type REE C MAT C MRT Cycle C MAV C MRY STOP Test Move 1 est Mov Motor Driver Device Status Position enon Se GE Tat Pojo counts Acceleration e0001 cps s Disabled Position 2 counts Velocity mmm cps
85. anual Rev 5 00 Page 95 of 159 Chapter 2 Basic Motion and Programming Fundamentals View Thread The View Thread radio buttons allow users to debug devices running both Thread 1 and Thread 2 programs Each thread can be debugged independently of the other thread For example the user may select Real Time Trace for Thread 1 use View Thread to switch to Thread 2 and start single stepping through the current Thread 2 program Register Watch Read and modify register values using the Register Watch tool See Register Watch in chapter 1 for details Test Line The Test Line button on the Program Info Toolbar is useful to send the selected program line to the device as an immediate command Data Monitor The Data Monitor Tools menu enables the user to view all transmitted and received data from all enabled ports as well as send custom packets out any single active Communication Port See Data Monitor in chapter 1 for details View Command Details For low level command details including serial packet structure and parameter data types see Options in chapter 1 Jump To Line This feature is accessible from either the Programs menu or by right clicking on a line If these command is selected while in Single Step mode program execution will jump to the selected line This is very useful if you want to re do a specific section of code or test a section of code that is hard to get to SilverLode User Manual Rev 5 00 Page 96 of 159
86. atus of I O line 1 normally high low when triggered 3 No Negative Calculation Result of the last calculation was negative CLC Result command 2 No ae ee kaa Result of the last calculation was positive CLC command 1 No cele GG Result of the last calculation was zero CLC command 0 Yes Index Found An index has been detected Latched bits can be cleared using the CIS command The ISW is available in a data register upper word of register 3 making it very useful for troubleshooting An external host can use this status word in several ways A host can use the Read Internal Status Word RIS and Clear Internal Status Word CIS commands to work directly with the Internal Status Word ISW A host checking the Polling Status Word PSW can access the ISW by using the Check Internal Status CKS command Finally a program can use the ISW by checking a data register SilverLode User Manual Rev 5 00 Page 104 of 159 Chapter 3 Unique Features and Commands Read Internal Status Word RIS Command The RIS command is similar to the RIO and POL commands It is issued by an external host to gain access to the ISW Parts of this status word are available through the RIO and POL command as well The RIS command returns the decimal form of the 16 bit binary number that makes up the ISW Some of the bits are latched while some are not The bits that are not latched represent the status of the condition associated with them while
87. called Anti Hunt that is designed to eliminate dither by switching from closed loop control to open loop control When using open loop control the device ignores any error feedback so small errors in position do not result in constant corrections These constant small corrections are what cause servo dither In addition to eliminating dither the device can use Anti Hunt to help smooth out some kinds of motion profiles by using open loop control during some parts of the move This section explains the operation of Anti Hunt describes how to use it and covers the commands used to set it up Using Anti Hunt Anti Hunt is used to automatically switch between closed loop and open loop control based on position error and torque level The servo can be set to enter Anti Hunt only when holding a position or it can be set to enter Anti Hunt any time position error is low enough When using open loop control to hold position the device ignores small position errors and lets the shaft sit at the position it held when it stopped When using open loop control during a move the servo ignores small errors and commutates the motor based only on the motion profile from the Trajectory Generator Both settings for Anti Hunt can make the servo operate more smoothly but they also limit the final position accuracy Anti Hunt is mainly used in two situations 1 Holding position firm and steady without servo dithering 2 A particular operation requires using ope
88. can Network button to find the device on the network If No Devices Found appears in the Device Status Monitor either the device has been initialized with something other than the Factory Defaults listed in the Hardware Requirements section of this chapter or QuickControl is not set up to communicate with the device in its present communications state Some things to check if this happens are e Verify the COM port being used to connect to the device e Under Setup select Comm Port Comm Channels and ensure the baud rate and protocol are set to Factory Defaults 57600 and 8 bit ASCII respectively Also SilverLode User Manual Rev 5 00 Page 69 of 159 Chapter 1 Introduction and Getting Started confirm the Enable checkbox is checked and the COM Channel enabled is the one device is connected to e Verify there are no other programs using the port only one program can control a COM Port at any given time These can include other motion control drivers or programs used for communication devices e g Palm Pilot HyperTerminal etc If these programs do not relinquish control of the port QuickControl will report Could Not Open select COM Port and Access is denied errors in the Status Log Under Setup select Register Devices and ensure all six devices have the Auto Reg checkbox checked e Run Tools gt Unknown Device Wizard only works with one device connected at a time e If networking multiple devices QuickC
89. can be a different width depending on whether the device is entering Anti Hunt or exiting it The servo checks only one condition to exit Anti Hunt position error As soon as position error exceeds the Open to Closed value set with the AHC command the device switches to closed loop control in order to correct the error It then operates in closed loop control until conditions to enter Anti Hunt are met again The servo checks several conditions before entering Anti Hunt The conditions checked before entering Anti Hunt are e Position error The servo compares position error to the Closed to Open value set with the AHC command If the position error the difference between actual position in Register 1 and target position in Register 0 is less than or equal to the AHC value this condition is met and the servo can enter Anti Hunt Anti Hunt delay timer Once the position error is low enough the servo starts the Anti Hunt delay timer The time delay is set with the Anti Hunt Delay AHD command The servo uses closed loop control and does not enter Anti Hunt until the timer expires The timer resets if position error exceeds the limit set with the AHC command while the timer is counting down If the closed loop torque condition see below is enabled the timer will not start until the closed loop torque being used drops below the open loop torque limit e Moving status optional When the Anti Hunt Mode AHM command is set to its defaul
90. cation configuration of the device These settings should match how QuickControl is configured Note that the protocol 8 Bit ASCII or 9 Bit Binary is determined by the settings under Comm Port in the Setup menu of QuickControl to ensure that the protocol matches QuickControl Upon completion of the wizard the device will be successfully communicating NOTE When using a SilverDust with the E 485 Bridge option Ethernet the wizard will take a minute or so to complete SilverLode User Manual Rev 5 00 Page 41 of 159 Chapter 1 Introduction and Getting Started Control Panel The Control Panel is a Tool in QuickControl that provides access to several important features It allows the jogging of the device at scalable velocities while monitoring the condition of the device in the Device Status area of the Control Panel Test moves are available for tuning the system when prototyping A strip chart can be displayed to show various motion parameters and is useful while tuning Control Panel Tuning Jog Vel cps Exit Device ID 16 UID 16 Cycle 200000 lx Type A23H1 Rev 45 11 1 o 0 ae Restart Serial H 1716 Move Type Zero C MAT MAT Cycle May C MAY STOP Test Move 1 a uii Devi m Motor Driver Device Status Position Tengo aes E Target Posjo counts Acceleration 80001 cps s Pwned Position 2 counts Velocity 20000 cps K eh tee Velocity o cps a Set Shift L Clic
91. ce with two digital inputs on a second servo The second servo could be programmed to respond in one way if the first servo were moving at the fast speed and in another way if the first servo were moving at the slow speed Interlocked programs like this can be very useful on multi axis machines Configure I O CIO Command The ClO command discussed in the previous section configures the I O lines By default all I O lines are configured as inputs The CIO command can reconfigure any of the lines as a digital output and set the default state for the output high or low The 16 isolated I O lines treat a Set or configure High command as making the output high that is turning off the open collector driver and a Clear or configure Low as asserting a low output that is turning on the open collector driver Configure UO Immediate Cll Command The Cll command SilverDust only Rev 06 is similar to the ClO command but may be sent by the host via the serial port at any time Set Output Bit SOB Command The SOB command configures the selected I O line as a digital output and sets it high If the I O line was in use as a digital or an analog input this command will reconfigure the line as a digital output If the I O line was in use for a high speed I O function however an error may occur In either case care must be taken to prevent I O functions from using the same I O lines Clear Output Bit COB Command T
92. command and or motion are not affected This allows motions including VIM TIM PIM to be limited without exiting their operation Hardware Stop Drive Enable feature A hardware driver enable disable feature is available as an additional option for most SilverLode servos but is standard on those servos with separate motor winding power i e SilverLode products designed for 34 from motors It is also standard on the SilverDust IG and IGB This feature allows the motor driver circuit to be disabled via a solid state switch Disabling the motor driver cuts off torque while the DSP control electronics remain active to track position and respond to commands With the absence of torque the load inertia will cause the servo to coast to an uncontrolled stop Profile Move Operation The Profile Move commands add a new dimension to the servo by allowing the move parameters to be changed on the fly This gives the servo the ability to create just about any shape of move that is required Profile Move commands can perform very complex motion profiles by allowing the move parameters to be changed dynamically Move parameters stored in Data Registers can be changed by an external Host controller or by an internal program There are two Profile Move commands 1 For a single move use the Profile Move PMV command to execute a single move where the command ends when the target position is reached 2 Fora continuous move use the Profile Move Continuou
93. commands can be overridden by the VMP VMI HSM HLT STP PMO or PMX commands Velocity Mode Motion Commands The velocity mode commands VMP and VMI do not pre calculate their moves so program flow is not disrupted They also do not check on the busy status of the Trajectory Generator so they will override any other move that is still executing Setting the desired velocity to zero and issuing the VMP or VMI command is the best way to do a controlled stop on a move because these two commands override the other move commands and because the deceleration can be specified A VMP or VMI command can be overridden by another VMP or VMI command a PMO command or by an HSM STP or HLT command Profile Move Commands The profile move commands allow the device to follow a pre defined motion profile Like VMP and VMI the Profile Move PMV and Profile SilverLode User Manual Rev 5 00 Page 118 of 159 Chapter 3 Unique Features and Commands Move Continuous PMC commands do not pre calculate their moves They can be overridden by other PMV and PMC commands by VMP and VMI commands or by the PMO PMX HSM STP and HLT commands Moves using profile move commands can be dynamically changed by modifying the motion parameters when multi tasking is enabled Interpolated moves using the IMS command work like profile moves with respect to multi tasking Profile amp interpolated moves are covered in Chapter 5 Step and Direction Commands The step a
94. ctions for the SilverLode product or it will not operate properly Every SilverLode product comes from the factory with a default initialization in the proper memory location QuickControl has several tools for safely changing the default initialization The last command in the default initialization program is a command to load and run the program that starts at memory address 512 This is the default location for the start of the first user program SilverLode User Manual Rev 5 00 Page 25 of 159 Chapter 1 Introduction and Getting Started e User Programs User programs give a SilverLode product much of its true power User programs are integral to the standalone and hybrid configurations since in those configurations the logic and control load is entirely or partially shifted to the SilverLode product User programs are formed by linking commands together The command set includes commands for program flow logic and math functions memory manipulation as well as numerous commands to control the motion of the SilverLode product QuickControl includes tools to aid in creating programs as well as an on line description of each command QuickControl Interface The main QuickControl screen offers the user an easy to use programming interface with the ability to monitor the communications status of up to 6 active units connected to the PC Host An active status log is available for viewing the status information the active device is sending
95. ctual Position displayed for each device o Right Click Popup Menu for each device Restart Stop Reg Watch Manual Reg Devices Zero Status Log widened and sizable Register Watch Move registers up down sort Find feature added to search QCPs for text Edit gt Find Tuning Wizard added to Initialization Wizard New or Enhanced Commands see Command Reference for Details o SMD Set Mode Application Related Information Detailed application programming examples are available with the QuickControl software They are found in a subfolder of the main QuickControl install folder named QCI Examples QuickControl can be downloaded from the QCI website www QuickSilverControls com The website also contains OCT Application Notes that offer the user details of operation in specific applications Warnings The QuickSilver Controls Inc OCI SilverLode servos are high performance motion system As with any motion system itis capable of producing sufficient mechanical output to cause bodily injury and or equipment damage if it is improperly operated or if it malfunctions The user shall not attach a QCI product to any mechanism until its operation is fully understood Furthermore the user shall provide sufficient safety means and measures to protect any operator from misuse or malfunction of the motion system The user assumes all liability for its use A Do Not Hot Plug The SilverLode Product Connecting or un connecting hot wires or plugs is defin
96. d holds the program while the move finishes Several non motion commands could be inserted between lines 2 and 7 that would all execute during the MRV move Example 2 Multi Tasking Motion Command Buffering Multi tasking will have no effect in this Ge GE Fee program Since time and velocity LEMT Enable Multi Tasking based motion commands are Move Utd buffered when the second MRV 2 MRV wich Ips s command is encountered the Sa teen T program stalls until the first MRV 3 MRV acc 1 ips s i i i j emm AAA vel 5 ps command is finished executing before ere erm starting the second MRV and continuing with the program Example 3 Multi Tasking Motion Command Transitioning In this next program the servo begins the MRV move and then delays for 3000 msec before continuing with the rest of the program After the delay time the device executes the VMP command in line 4 As explained previously the VMP command overrides all other motion commands so this command prematurely ends the move from line 2 and accelerates the motor to turn at 20 revolutions per second Line Oper Label Command 1 EMT Enable Multi Tasking Move 10 revs 2 MRY acc 1 rps s vel 5 rps 3 DLY Wat for 3000 mSec Welocity Mode 4 VMP acc 5 ee vel 20 rps SEND EISES SilverLode User Manual Rev 5 00 Page 120 of 159 D Chapter 3 Unique Features and Commands Exercise 3 2 Multi Tasking for Adva
97. down See Technical Document QCI TD052 Shutdown and Recovery for more details Prog Run Soft Limit Polling active Program running in device Device is limiting motion in response to the parameters set in an SSL or VLL command see Command Reference for more details Scan Network Stop Polling Button Selecting the button initiates a network scan for active devices It will scan device identities that are within the Autoscan ID Range which is adjustable in the Setup Options menu The Polling Status field next to the button will display the current polling state The label on this button will display Scan Network when polling is stopped and Stop Polling while polling is on Right Click Popup Menu Right click on a device in the Device Status List and popup menu will appear allowing you more options to control and monitor the device Diagnostics see Tools gt Diagnostics Restart Restart device Stop Stop all motion and programs Reg Watch see Tools gt Register Watch Manual Reg Devices see Setup gt Register Devices Zero Zero device s encoder Status Log This area of the work area provides information on the operation of QuickControl and attached devices Note its size can be changed to see more messages SilverLode User Manual Rev 5 00 Page 34 of 159 Chapter 1 Introduction and Getting Started File Menu Details Program File Properties The QuickControl software provides automatic scaling
98. dows in a tile arrangement Arrange Icons Arranges and aligns minimized program icons Current Program List A list of programs currently open in QuickControl Help Menu e Help Topics Opens help menu for tutorials and information on QuickControl e About QuickControl Displays date and version of QuickControl and product support information SilverLode User Manual Rev 5 00 Page 29 of 159 Toolbar Chapter 1 Introduction and Getting Started The QuickControl Toolbar provides shortcuts to certain functions that may be used repetitively while using the QuickControl software eve eee 1 Create a New Program File QCP 2 Open an Existing Program File QCP 3 Close the Active Program File 4 Save the Active Program File QCP to PC s Hard Drive 5 Initialization Wizard 6 Control Panel 7 Cut Selected Lines From Program File 7 Copy Selected Lines From Program File 8 Paste Previously Cut or Copied Line into Program File 9 Print Active Program 11 12 Ver Help 13 Stop all motion executing programs on all devices STOP EI The STOP button stops all command execution and programs running in all devices connected to the PC It can also be used to verify communications to any device as the Red LED blinks briefly when issued Will not affect units running Modbus protocol SilverLode User Manual Rev 5 00 Page 30 of 159 Chapter 1 Introduction and Getting Started
99. duction and Getting Started Start gt Run 3 Type in the setup program CD Drive Letter setup 4 Follow the instructions on the screen 5 Remove CD and reboot the PC This can be done by selecting Start gt Shut Down Run QuickControl 1st Time And Setup Communications Run QuickControl From the Start menu Start gt Programs gt QuickControl If your comm port has not yet been enabled true for any first time users QuickControl will prompt you to enable the Comm Port and initialize your servo QuickControl EN i Welcome For a tutorial please go to the Help menu Help Topics gt Getting Started Press OK 4 Cancel QuickControl Ea e o The PC s COM port can be setup by selecting Y Setup gt Comm Port P ress O K E Cancel Setup Communication Port x Check Enable if COMI IS ok The Comm The Communcation Port maybe modified by Port can also be setup from Setup menu pushing the Modify Button Cancel see Setup Menu Details in this manual for D information on changing COM ports or EE Hoy Communication Device Properties M Enable setting up Ethernet coM1 QuickSilver 8 Bit ASCII Baud 57600 Press OK Verify your hardware is setup correctly See Setup Start Up Kit above Do not connect the motor to a mechanical load until you are familiar with its operation and established any necessary safety interlocks If your unit requires a clamp or clamp resistor connect them now Power up device and
100. e Factory Default Initialization File 1 To initialize the device using the wizard begin by choosing Initialization Wizard under the Tools pull down menu x Press Download to initialize servo or change the factory default parameters using the Initialize Parameter Browser 2 Verify the filename Factory Default ade a D g A Initialize Wizard Tuning Wizard Initialization qcp is listed in the File box Turing wizara Device UID 16 Options Download File Motor 423H1 To Device DEVICE DETECTED Unit ID 16 Motor Cable SilverDust D2 IGB sn 1716 Lenath No motor detected e Factory Default Initialization Tren Save Communications H Motor Verify Motor Cable Length is E Servo Tuning i a SE g Save s maks E Motion arameter Error Limit 4 Select the Download File To Device button to Browser i Mise have the default initialization file downloaded to the device 5 The servo will automatically restart and the parameters will then become active on each successive power up and motor restart cycle 6 The Program Downloaded screen will appear when downloading is complete Press the OK button to clear the message screen 7 To exit the Initialization Wizard select the Exit w o Save button on the screen 8 If polling is stopped press the Scan Network button to verify proper communications and polling of the device Silv
101. e Done Low EDL for more details 1 O 1 can be configured as a Position Compare output Position Compare Digital updated every 120 uS This may be configured for a Output single compare or for cyclic operation See Position SilverNugget Only SilverNugget SilverDust IG and IGB Only See SEE in command reference for SilverDust options SilverLode User Manual Rev 5 00 Page 143 of 159 Chapter 6 Input and Output Functions Digital Inputs and Outputs The standard I O lines are designed to interface with either totem pole or open collector TTL circuits when used as digital inputs or outputs On the SilverNugget I O lines 1 2 and 3 have an internal 4 7 kQ pull up resistor making them ideal as digital inputs for interfacing with open collector circuits I O lines 4 5 6 and 7 have an effective internal impedance of approximately 200 kQ but no pull up resistors so these lines may require an external pull up resistor if they are used as inputs with open collector circuits All seven I O lines work equally well as inputs with totem pole TTL circuits The pull up resistors on I O lines 1 2 and 3 hold those lines high when they are inactive When I O lines 4 5 6 and 7 are inactive they float between 2 5V to 5 V for the SilverNugget and 0 to 3 3 V for the SilverDust because they are not held high As digital outputs the I O lines have the following sink or source characteristics SilverNugget Output Sink or Source Limit
102. e Enter key on the keyboard Toggle I O 3 LOW HIGH Experiment with different values for the registers used in this position control example When finished close the active program Question What type of applications can this program work in SilverLode User Manual Rev 5 00 Page 132 of 159 D Chapter 4 Motion Control Using Inputs and Registers Exercise 4 2 Complete Register Based Motion The purpose of this exercise to get familiar with the basic XRV JMP and JOI commands the servo will execute two moves depending on the state of the I O 1 and I O 3 The program runs in a continuous loop monitoring the two inputs The complete motion profile of each move can be changed if data in the User Registers is modified 1 2 11 12 Select File gt Open Navigate to the QCI Examples Using Inputs for Move Selection folder and select the file Two Inputs Two Moves with XRV qcp Open the Register Watch Tool Tools gt Register Watch Delete all listed Data Registers Press the Add Register Button select User 25 select Position for the Data Format and press OK Press the Add Register Button again select User 26 select Acceleration for the Data Format and press OK Press the Add Register Button again select User 27 select Velocity for the Data Format and press OK Press the Add Register Button select User 28 select Position for the Data Format and press OK Press the Add Regis
103. e Micra ied 139 TORQUECON O dla o dd 139 SHUTDOWN AND RECOVERY A E E EEE A a 139 SERIAL e LEE 139 SEELEN 140 CHAPTER 6 INPUT AND OUTPUT FUNCTIONS 0 sccssssccssssccssssccsssccssscsssscssees 141 NERT AND OUTPUT OPERATION Ee ces gS gd aaah Eeer 142 Eege ee tee ba baa than tess eeh 142 dE E 143 Digital Inputs Gnd Outputs A A Ai uate ence alan Gas is 144 EE 144 High Speed VO Functions 22s A AAA ESE A AAA AA AA AAA AS 145 Synchronous Serial Interface SSI RE 145 EE 146 USING ENEE INPUTS seed ee esta eda ee ee E 147 General Dietat AUER ese eer EA 147 Motion Control INpuls ita ii eelere tomb eegener 147 Kill Motor E 147 Modulo Trigger Input SilverNug get Onfvl nn nccnnn ones 148 Configure I O CIO Configure I O Command oa acta setae edad vigeeadeetadin shila oe 148 Configure I O Immediate CIT Commande 148 Digital Input Filter DIF Command secessareoscsrstovtsilesdecdeaiareotsaceatacts bordsidasiecd tiardediavaadedtake 148 USING DIGITAL QU TRUTS E 148 Leed ee tege EE et 148 Configure O CIO Command A A A Modena 149 Configure I O Immediate CII Command a 149 Set Output Bit SOB COMMARA WE 149 Clear Output te ee Dice da AA ABRA AA AAA EA 149 USING ANALOG INPUTS siii aii iia 150 USING ENCODER SIGNALS WITH DIGITAL DO atodos 150 Encoder Sienal EE 150 Step and Direction EE 151 Step Up Step Down Signals SilverNugget Onfyl 151 A and B DUAL 151 EXTERNAL SECONDARY ENCODER IwpUtg EN 152 Direct Motion Contr
104. e and delays for 96 milliseconds then it switches to the 9 bit protocol with RS 485 interface and delays for 96 milliseconds next it switches to 8 Bit ASCII protocol with RS 485 interface and delays for 96 milliseconds and finally it switches to 8 Bit ASCII protocol with RS 232 interface and delays 96 milliseconds This power up procedure allows the power supplies to settle and also allows a host controller to establish communication with the device using 57600 baud and either 8 Bit or 9 Bit protocol and either RS 232 or RS 485 interfaces even if the user has selected a different interface baud rate or protocol in the user initialization program A Halt HLT command can be sent repeatedly while the unit is powered up When the device recognizes the command it will Halt and remain in the mode it was in at the point the Halt command was able to be received From that point the device is in a known state and can be initialized to the desired settings Note SilverNugget units may halt on 8 Bit ASCII RS 485 mode with an RS 232 connection according the pull up level on the Rx line To bring the units to a fully known state it is necessary to issue a SIF command setting the RS 232 protocol to all units ID 255 Wizard Details When the Unknown Device Wizard is run it prompts the user to cycle power to the device while the wizard is sending out a continuous stream of HLT commands through the Comm port The wizard will then prompt for communi
105. e and velocity based motion commands MRV MRT MAV MAT RRV RRT RAV RAT XRV XRT XAV and XAT are all pre calculated This means that the device uses the motion parameters specified with each command and calculates the entire trajectory for the move before sending the calculated trajectory to the Trajectory Generator and actually starting the move During this calculation period the device does not execute the next command in the program buffer even if multi tasking is enabled For the SilverNugget this calculation period is up to two milliseconds for the time based moves and up to four milliseconds for velocity based moves The Pre Calculate move commands PCM and PCG allow some control over this delay period and can be useful for some applications The Command Reference has more information on these two commands Velocity and Time Based Motion Commands When the servo executes a time or velocity based motion command it checks to see if the Trajectory Generator is busy active If another move is still running the servo will queue the time or velocity based motion command and pause program execution This effectively blocks multi tasking although no error is generated Once the first move finishes multi tasking begins working as expected again This is one of the most common errors encountered when using multi tasking Some other commands can override the first motion command and unblock the program The velocity and time based motion
106. e default tuning parameters meets the performance requirements of most systems Generally 9 out of 10 applications can use the factory default tuning parameters The QuickSilver PVIA servo control algorithm can be tuned to provide stable operation over a very broad range In addition it can be tuned for precise control with mismatch ratios greater than 100 1 For details on this advanced topic see Technical Document QCI TD054 Servo Tuning on our website SilverLode User Manual Rev 5 00 Page 140 of 159 Chapter 6 Input and Output Functions Chapter 6 Input and Output Functions The SilverNugget servos have I O voltages level from 0 to 5 Volts for both digital and analog operations The SilverDust servos have I O voltages level from 0 to 3 3 Volts for both digital and analog operation The SilverDust servos accept 0 to 5V inputs but can only output 3 3V The SilverDust IGB has 16 expanded IO lines These IO are optically isolated from the rest of the controller and must be powered from 12v to 24v They are open collector outputs with a feedback comparator set to approximately 1 5v Each output is connected to a diode isolated 5v pull up resistor This allows the outputs to drive logic without additional pull ups while also allowing the outputs to drive 250mA 24v loads The outputs include active clamping for inductive loads The output sense comparator is always active so that an actively driven output set LOW which is not abl
107. e settings have override capacity Trajectory Generator The motion of a SilverLode servo follows a trajectory that is calculated by the Trajectory Generator a specialized algorithm that translates the supplied motion guidelines into a complete trajectory A trajectory is made up of a series of data points to be used each servo cycle These data points consist of a target position velocity and acceleration used throughout the servo cycle The DSP chip running the patented PVIA servo loop uses the differences supplied by the feedback system between the target and actual parameters to generate torque The Trajectory Generator can receive motion parameters from one of two sources The first of these is the SilverLode controller The controller is used anytime a SilverLode servo is executing an internal program or a command received from a host When configured to follow an encoder the incoming encoder signals are processed by the Trajectory Generator to create the matching motion The Direction DIR command can be used to switch the positive sense of the servo motor causing trajectories to run in the reverse direction SilverLode User Manual Rev 5 00 Page 75 of 159 Chapter 2 Basic Motion and Programming Fundamentals Command Types and Classes Commands are categorized in two ways by type and class These two categories determine when or if a command can be issued The factors that determine when a command can be issued include active
108. e state of I O 1 just like in the previous example The example programs that come with QuickControl illustrate both of these program flow techniques Motion Control Inputs A digital input can control motion based on a signal from an external source like a PLC This is one way to allow an external host device to control motion All motion commands have stop conditions that can be tied to the state of an I O line The I O line used must be configured as an input and must not be in use as an output an analog input or as a high speed input Stop conditions are explained in detail in Chapter 4 Kill Motor on Input Digital inputs using I O lines 1 2 or 3 all are available SilverDust Rev 06 can be used as Kill Motor Conditions to immediately stop the motor and end any move Kill Motor SilverLode User Manual Rev 5 00 Page 147 of 159 Chapter 6 Input and Output Functions Conditions are covered in detail in Technical Document QCI TD052 Shutdown And Recovery on our website As with other digital inputs the Kill Motor routine can be set up to trigger based on a high or a low state of an I O line If an I O line is to be used as a Kill Motor input extreme care must be taken to ensure that the I O line is not used for another function If an I O conflict occurred on that line the Kill Motor routine might not start when it was intended to Modulo Trigger Input SilverNugget Only I O 1 can be used as a special digital input to trigger the
109. e step and direction controls to allow step and direction control of the units while operating in dual loop mode Encoder Outputs Most of the SilverLode controllers can output their internal encoder signals The main reason to use this feature is for an electronic gearing or following application see Application Note QCI AN019 Electronic Gearing This feature is useful for multi axis SilverLode User Manual Rev 5 00 Page 153 of 159 Chapter 6 Input and Output Functions systems that must move in unison the two servos would not be truly synchronized however because of the unavoidable processing lag between the lead and following unit so high precision systems may need to be coordinated with an external controller like a PLC The raw internal encoder output function is just that a buffered copy of the A and B quadrature signal that the servo uses for internal control purposes Internal Encoder Output SilverNugget Only A SilverNugget servo can output its raw internal encoder signal through specific I O lines This signal is the same A and B quadrature and index pulse signal that the servo uses for internal control and motor commutation purposes The A signal is output on I O line 1 the B signal on I O line 2 and the index signal on I O line 3 This function has the advantage of being simple to use but the disadvantages of not being very flexible it is only available in A and B quadrature and not scalable and using I O lines 1
110. e the error limits set with the ERL command in line 3 Also note that Drag Mode is enabled with this command 4 Edit the TQL command in Line 7 Set the Closed Loop Moving and Open Loop Moving torque limits to 30 Press OK when done 5 Select Tools Register Watch Press Add Register select Target Position 0 and Position data format Press OK when done 6 Repeat Step 5 but add Actual Position 1 and User Profile Move Position 20 Choose Position for the data format for both 7 Edit the Absolute Location data of Line 10 MAV to read 10 000 counts Press OK when done 8 Edit the Data value in Line 14 WRP to read 10 000 counts Press OK when done Drag Mode with the MAV Command Get ready to grab the servo s shaft and press Run to download and start the program remember only try this with small motors running at relatively low speeds The motor will begin a slow MAV move to the absolute location of 10 000 counts The Target Position register and Actual Position registers will begin incrementing to 10 000 counts While the motor is in motion grab the flywheel on the motor shaft Physically stop it from rotating until the move command completes its trajectory Notice that the Actual Position Register stops counting up and reports the location where the motor was first stopped Target position will advance to the location of Actual Position Moving Error Limit If Drag Mode were turned off the target position would increase to 1
111. e to drive its load and has gone into over current protection will read back as a high These outputs are updated every 120 microseconds with the inputs sampled every 120 microseconds As with the other inputs a software digital filter may be used to reduce noise susceptibility with a default filter value of 10 milliseconds These lO are numbered 101 to 116 Each the expanded IO lines is provided with a diode isolated pull up LED This network requires 3mA sink to ground for a valid low The diode isolation allows these inputs to be used with 24v inputs with no problem the pull up is automatically disconnected when the input is greater than approximately 5v The SilverDust IG8 has 8 expanded IO lines 10101 108 These IO function the same as those in the IGB See above The IG8 also has three additional lines 201 202 and 203 Setting 201 lights the user status LED while clearing it turns it off IO 202 and 203 are attached to the optional Ethernet converter s User IO 2 and 3 respectively These IO may be configured as inputs to monitor the Ethernet lO or as outputs to drive the Ethernet lO IO 201 203 do not include I O filtering functions as these inputs internal should be noise free The SilverDust IG8 also has a special Encoder SSI port This port may be used to input or output differential encoder signals as well as being used to interface to Synchronous Serial Interface encoders Additional signals have been provided to allow inte
112. e up JJ Ja JJ Ju ES Poling Device Status List This portion of the display is used as a quick reference to the Registered Devices QuickControl uses a polling routine to check the status of these devices Each device has four 4 cells which contain the following data Unit ID D _ Description Actual Position oe A23H1 Device State Controller Motor Unit ID Device s Unit ID Description The devices description is user editable from the Manual Register dialog box Setup gt Register Devices Actual Position Actual position of motor register 1 Controller Controller type Motor Motor type Device State The device can have the following states SilverLode User Manual Rev 5 00 Page 33 of 159 Chapter 1 Introduction and Getting Started Not Pol Not polling press Scan Network to start polling Prog Stop Polling active No program running in device Prog Stop Kill Polling active No program running in device Device had an error and is in a Kill Motor state Shutdown See Technical Document QCI TD052 Shutdown and Recovery for more details Prog Stop Soft Limit Polling active No program running in device Device is limiting motion in response to the parameters set in an SSL or VLL command see Command Reference for more details Prog Run Polling active Program running in device Prog Run Kill Polling active Program running in device Device had an error and is in a Kill Motor state shut
113. ec to SAU 2 SAU 2000RPM 120us 60 RPM RPS 3865 4705664 SAU RPS Sec Example What is the max target acceleration in units of RPS Sec SilverLode User Manual Rev 5 00 Page 78 of 159 Chapter 2 Basic Motion and Programming Fundamentals Max SAU 2 1 SAU 1 073 741 823 SAU 3865 4705664 SAU RPS Sec 277777 78 RPS Sec Time Time is measured in servo cycle clock ticks The clock is 8 33 kHz and therefore a tick is equal to one servo cycle or 120us It generally takes one servo cycle to execute one command All time parameters must be integer multiples of ticks Example How many ticks in 5 secs 5 secs tick 120us 41666 ticks Torque As with some of the other important physical parameters like distance time velocity and acceleration the device uses special units for torque For most SilverLode servos 30 000 SilverLode Torque Units STU is the maximum peak amount of torque the device can apply Unlike the other physical parameters the device uses however STU are relative units and do not directly correlate to a physical unit like ounce inches because the torque speed relationship changes as the speed changes This relative definition of torque leads is why QuickControl s normal torque units is percent torque See Technical Document QCI TD054 Servo Tuning on our website for information on tuning Filter Filter parameter scaling is calculated with the following formula Fy Filter Value SilverLode Native U
114. ed as Hot Plugging A hot wire is a wire with voltage on it When this occurs the residual current in the power circuitry motor windings power supply voltage clamp 5 Volt supply communication power attempts to find the path of least resistance to ground before the proper ground connection is established In most cases this path is through the communication lines but is not limited to communication failure The available protection devices are not rated for high transient power spikes or repeated spikes Repeated spikes can weaken communication slowly to the point of failure In some cases total communication failure can occur in the first and only instance of Hot Plugging In applications this can be overcome by connecting chassis ground to the power supply ground With this direct ground implemented the SilverLode User Manual Rev 5 00 Page 9 of 159 How to Use This Manual path of least resistance for residual power is through the added chassis ground In applications where chassis ground is isolated from power ground take EXTREME care not to Hot Plug Contact QCI if necessary A User must remove motor from load before initializing the servo or aligning motor index pulse to prevent potential injury or damage A If Index Phase Alignment option is used the user must re run the Initialization Wizard after replacing either motor encoder and or driver motor must be removed from load prior to powering up system after changing any o
115. elect Motor Dialog Box D I Grade 34L 1 A34L1 QCI M Grade 11 1 M111 OCI M Grade 17 1 M171 Select the desired motor and press Next Doneen OCI M Grade 17H 3 M17H3 Pb Custom Motor For D2 CustD2 e Cancel 4 Determine Encoder CPR optional If you select a non I Grade motor you will get this dialog box If you know your encoders Counts eene Per Revolution CPR select it from one of the AMO vee Cancel options You can also select Test Encoder Note selecting Test Encoder will require that the wizard rotate the motor 40001 X Press OK If you selected Test Encoder you will a message warning you about the motor moving otherwise the wizard will finishes like Scenario 1 above SilverLode User Manual Rev 5 00 Page 62 of 159 Chapter 1 Introduction and Getting Started Scenario 3 SilverNugget or SilverDust MG 1 Press Download File to Device 2 Select Motor Dialog Box The rest is the same as Scenario 2 above Scenario 4 SilverDust with Custom Motor or 3rd Party Motor QuickControl can initialize a SilverDust controller to servo most stepper motors as long as they are within the current limitations of the driver see controller datasheet QuickControl needs the following information 1 Press Download File to Device 2 Error Reading Data From Motor Memory Dialog Box I Grade SilverDust Only Press Continue No Motor Memory 3 Select Motor Select Motor Grade 34L 1
116. ep Highlight White and bold TLA Single Step Break Press the Single Step button to download the active program and single step or execute the first line Every time Single Step is pressed the next line will be executed If Single Step is pressed while a program is running the program will break wherever it is and await a Single Step command Single Step Trace Press Single Step Trace to have QuickControl continually push Single Step button for you This lets you observe the program executing at a reduce speed If Trace is pushed with no program running the active program will be downloaded and QuickControl will start tracing the program Real Time Trace Press this button to trace the program in real time Due to the delays in serial communications the Real Time Trace may appear to skip over lines Breakpoints Multiple Breakpoints can be set in the program by highlighting the line and pressing F9 If the program encounters a Breakpoint while doing a Trace it will stop tracing and go into Single Step mode Select the Enable Disable Breakpoints to Enable or Disable all Breakpoints Real Time Breakpoints For SilverDust only the Breakpoints will stop Real Time Traces and go into Single Step mode Real Time breakpoints can be temporarily set and cleared while in Single Step mode The next time the program is loaded from non volatile memory the breakpoints will reset back to what they were a download time SilverLode User M
117. equency than the other two types of encoder signals This is an advantage when operating in electrically noisy environments AB quadrature signals also are more resistant to noise as a noise pulse that is short enough is filtered and one that is longer usually looks like a one count forward one count back causing its effect to be non cumulative With the Step direction inputs sufficient noise on the step line just causes the counter to continue to count External Secondary Encoder Inputs A SilverLode servo uses the secondary encoder input function for two purposes to accept direct motion control signals from external devices and to accept position feedback signals from an external feedback device such as an encoder When used for direct motion control this function allows the servo to be used in several specialized applications including electronic gearing camming stepmotor replacement and flying knife applications When used for external position feedback this function allows a SilverLode servo to use a high resolution feedback device or to receive feedback from a device mounted on a critical machine component The mounting of a feedback device at the output stage of a machine allows the servo to correct some or all of the effects of error backlash etc between the motor and the secondary encoder Several commands are used with this I O function the Select External Encoder SEE command the Scaled Step and Direction SSD command
118. er Press the OK button to save and exit Distance e000 counts jH Demin On the Program Info Toolbar press Download SEH Stop Conditon QuickControl will download your program to the be mse les servo s non volatile memory Cycle power to your sip Servo or press Restart Your servo will restart and Total Time go 8000 counts in 1 sec hon mSec Fo The program you just wrote will execute every time the servo powers up Select Save As from the File menu to name and save your program Congratulations You are a programmer TEE xl op ove Usin igital Inpu To make the move stop depending on the state of a digital input the move needs to be edited ee Cancel f Ee counts _ Description 1 Select the MRT program line Stop Cone Ramp Time 2 Press the Edit button on the Program Info Toolbar fico we Fr ECH Stop 3 Press the Stop Condition button ee Standard Advanced Stop move when input is in the indicated state 4 Select the Standard tab Condition State 5 Select I O 1 and LOW FALSE The dialog box should look like the following HIGH TRUE Falling Rising This will cause your move to stop when Input 1 is LOW 6 Press OK to save and exit 7 Press OK to exit the Edit Move dialog box SilverLode User Manual Rev 5 00 Page 17 of 159 Chapter 1 Introduction and Getting Started 8 Press the Download Restart button on
119. erLode User Manual Rev 5 00 Page 72 of 159 Chapter 1 Introduction and Getting Started Bes Exercise 1 2 Using the Register Watch Tool This exercise explores the operation and use of the Register Watch Tool 4 QuickControl must be polling for the tool to function t CE EIS QuickControl must be polling for the tool to function SS Unit ID 016 UID 16 the word none appears at any time in the data section bodas wes of the Register Watch Tool then polling is not active to d Move Down Advanced establish polling press Scan Network The Register as A Watch Tool is started by selecting Tools gt Register Watch By default no registers are displayed xl 2 To add a register to the display press the Add Register button This brings up the Cancel Select Register window Select the register tO Register monitor modify from the scrolling list Some Last Index Position 2 Display are combo registers where the upper 16 bits ei di EJ 2 aco er Won and lower 16 bits contain separate pieces of if e ge Max Position Error Current Position Error 6 Lower Word information These registers are named by default high word low word For example register 7 contains two velocity values and is named Velocity 1 Velocity 2 To view only one half of register select either Upper Word or Lower Word from the Display section Velocity 1 Velocity 2 7 Con
120. ers Properties The default is 1234 E default 1234 Press OK to start the upload Save in a QuickControl e EI ez FA If the upload is successful QuickControl engneerna will ask you to where you want to save the f b A p LJ OCI Examples application file 2 0c1 Initialization utilities D QCprogg Upload Note The Upload Password is defined in Program File Properties Name the uploaded program and press Save File name Cprog Uploac The uploaded initialization program can be sae aspe Program ies teg RR type P Files qcp e Cancel rogram Files qcp sy found in C Program FilesiQuickControNQCI Initialization Initialization Upload qcp If the application had Register File Arrays the data will be uploaded into a text file in the same folder as the QCP labeled lt your filename gt reg files txt Note this Run Initialization Wizard using SilverLode User Manual Rev 5 00 Page 37 of 159 Chapter 1 Introduction and Getting Started Clone A Controller If the application program is all that needs cloning just download the uploaded application file If the controller initialization and application needs cloning 1 Verify the same motor same part number is being used with both controllers Run Initialization Wizard using one of the default init files 2 3 Download Initialization Upload qcp Programs gt Download 4 Download application file SilverLode
121. erties of the optional E 485 Bridge The E 485 Bridge is a Cancel module on the controller that accepts standard COM E 485 Bridge Ethernet Ethernet and converts or bridges it to the controller s RS 485 Enter address in form of fi 0 10 13 210 xx or Browse network lees r E 495 Bridge IP Address E 485 Bridge IP Address Co idge Enter the IP address of the E 485 Bridge you _Set Baud Rate Set To Defauts want QuickControl to connect to Alternatively ES l you can press Browse to have QuickControl S Ory SR ALEA Bridges To Defaults browse the local subnet for devices with E 485 Bridges See Set All E 485 Bridges To Defaults below if Browse does not find an attached device Configure E 485 Bridge Configure the E 485 Bridge with the above IP address Note the following functions configure the E 485 Bridge on the attached controller The bridge will use the new configuration both now and on future power ups e Change Adr default DHCP Allows the user to change the E 485 Bridge s IP address or configure it to use DHCP e Set Baud Rate default 57 6K Allows the user to change the E 485 Bridge s RS 485 baud rate This is the baud rate the E 485 Bridge will use to communicate to both the local servo controller and any other controllers attached to the RS 485 network Note the controller s baud rate i e BRT command must match the baud rate set here e Set To Default Press this button
122. ervo reports a holding or moving error by setting a bit in the Internal Status Word the I O Status Word and the Polling Status Word There is a separate bit in each status word for moving and holding error The Dalay to Holding Time is intended to set a delay following a motion for the system to settle to a smaller error limit following the motion The QuickControl screenshot below shows the three parameters of the ERL command Error Limits Operation A SilverLode servo applies moving torque whenever the Trajectory Generator is active While the Trajectory Generator is active the servo compares the position error with the moving error limit Position error is calculated by subtracting the target position set by the Trajectory Generator from the actual position read from the encoder or external feedback device If the magnitude of the position error exceeds the moving error limit the moving error bit in the three status words is set The bit in the Internal Status Word ISW may be used to automatically shutdown the servo see Technical Document QCI TD052 Shutdown And Recovery on our website while the bit in the Polling Status Word PSW and I O status Word IOS can alert an external host to the error condition if the device is being polled At the end of a move the Trajectory Generator goes inactive and stops changing the target position When this happens the device starts the Delay to Holding timer set up with the ERL command Until this
123. ery math or logic function the device can do as well as some binary number operations useful for data registers The WCW and WCL commands are extremely powerful commands that should not be used until fully understood but which can add a new degree of flexibility to programs or host applications They turn any command that requires a data parameter into a register based command This section covers the operation and usage of these commands Calculation CLC Calculation Two Word CTW ok The CLC command provides basic Caneel math and logic functions The l SE DS Calculation Two Word CTW E ee ea command is identical to CLC except Operation Decrement ie Reg Reg 1 y that it requires an extra word of memory that makes it easier to create for a host see Command Reference for details Many programs require operations to modify values stored in data registers manipulate binary numbers or aid in programs using loops Three different kinds of operations are accessible with the CLC command The first group of operations is basic math functions These include add subtract multiply divide absolute value increment and decrement functions The second group contains binary logic and number manipulation functions which include the bitwise AND OR and XOR functions as well as several bit shift functions The third group contains data register and accumulator manipulation functions These operations are used to move data to and fr
124. es See 109 Extended IO Word Glo 109 Extended Register Move 131 F Factory Default Initialization CAN qcp 69 Factory Default Initialization CT2 FL2 qcp dto ie 69 Factory Default Initialization Cyclic qcp 69 Factory Default Initialization H W Driver Enable dial 69 Factory Default Initialization N2 Driver Enable QCPiiniiiai inside 69 Factory Default Initialization Open E A ean aan 69 Filter Units isis cas 79 Firmware Download Wizand 51 Flash Code niisiis 71 POR ica 92 Page 157 of 159 H High Prony E 48 Hostia Eeer 23 139 Host Contfeurapon 23 Hybrid ConfiguratiOM oooocooccccnccccnonnnonannnos 23 I VO Status Word OO 103 Identity CHE tai Zeene 53 IDA A MO ha Sa eee 53 Index Phase Altenment 57 61 Inertial Mismatch siicc icsd esatcadieccccsedenasters 140 Initialization File 65 Initialization Wizard ccconnnncnconncnncnnos 41 59 Initialization Wizard Optons 60 Input Mode imei alii 129 O ee aesa En 129 144 Internal Status Word SW 104 Internal Status Word 2 On 106 Internal Status Word 3 IS3 00 107 Internal Status Word 4 IS4 108 6 TEE 103 PPA EE 55 LEE 106 A a naai aaie 107 Een 108 TS E 104 J dE a eege 91 Jump Commande 90 91 104 Jump To means 28 56 96 K Kill Motor Conditions KMC 139 Kill Motor Recovery OK MR 139 Le 139 EE 139 A a N AAE 139 L EE 91 PEDS etd fastest cette Se sah cunt tei esters cake 70 M Ma
125. es the index signal at which time it will read the phase alignment information from non volatile memory Cyclic Phase Alignment For applications that do not support Automatic Index Phase Alignment but still need improved Phase Alignment while maintaining the ability to swap motors without re running the Initialization Wizard Cyclic Phase Alignment is an option This is a modified Startup Phase Alignment that repeats the start up move over and over again cyclic until a valid Phase Alignment is determined This works well if the motor eventually can wiggle itself into a position where it can move a little in both directions To use Cyclic Phase Alignment from Initialization Wizard open the file Factory Default Initialization Cyclic qcp instead of Factory Default Initialization qcp Make sure Index Phase Alignment is unchecked Options NOTE The execution time of this init file will vary depending on how many moves are required to calculate Phase Alignment SilverDust LGrade With LGrade Motor Memory Initialization All Grade motors currently being manufactured have non volatile memory which has been initialized at the factory to contain such things as Motor Type i e 23H 5 17 3 34HC 2 Motor Serial Number Encoder Properties Index Phase Alignment This information is readable by l Grade SilverDust controllers and allows for a more simplified Initialization Wizard See Initialization Wizard Details below for more inf
126. ese 4 7 Input Input signals can be used within programs EE High Three I O lines can send the raw signal from the 1 3 Output Speed internal encoder as an output SilverNugget ONLY Output Note SilverDust IG IGB have dedicated lines IO 4 5 and 6 may be driven from either the internal or Inter External High Speed external encoder signals This function is configured 4 6 Encoder Buffer Output via the SEE SSI and EMN commands SilverDust IG8 only High Two I O lines can send a scaled signal from the internal Modulo Output Speed encoder as an output while UO 1 can toggle the 1 6 7 Output function on and off SilverNugget ONLY Three I O lines can receive a position feedback signal from an external encoder or another feedback device External Encoder High like a resolver This signal can be used for closed loop 23 l Speed control instead of the internal encoder signal or for SC nput Geh 4 6 nput special applications like camming and electronic gearing The main signal can be formatted in several ways and use several combinations of I O lines Digital SilverDust Rev 05 allows 1 0 2 to function asa 25kHz PWM output Output PWM output registered controlled with the PWM width 2 adjusted every 120uS as a function of register values 1 0 1 can be configured as a Done output indicating Done output Digital that the error is within the configured limit and the Output sequence has completed See Enable Done High EDH and Enabl
127. estart button to download and begin execution of the program Once the program is downloaded press the OK button Review The program begins by running the homing to hard stop program the next program is run with motion stopping on I O 1 LOW followed by the Ode to Joy tune program The tune will continue to run until UO 3 LOW then the entire process repeats Press the Red Stop Hand Icon to end SilverLode User Manual Rev 5 00 Page 134 of 159 Chapter 5 Advanced Topics Chapter 5 Advanced Topics This chapter briefly covers advanced topics Where the topic is beyond the scope of this document the pertinent technical document is referenced QCI Technical Documents are available from our website Techniques for Stopping Motion When using dynamic systems to control complex motion provisions for stopping movement and exiting those operations must be addressed the servo has the functionality to accomplish this through software or through hardware on some models via the Drive Enable option Software Stop Options The commands described below are the software stop options available to stop the servo s motion All of these options are part of the Command Set and can be used as interrupts to stop motion as described below Some commands initiate immediate stops while others allow for a predetermined deceleration profile Immediate stops use maximum acceleration available and consequentially maximum current available to stop
128. et gel 95 WCW EI E 96 Register E 96 Test Ee EA aan eda lea 96 EE eene Eeee 96 View Command Details EE 96 WEE EE ee 96 CHAPTER 3 UNIQUE FEATURES AND COMMANDG u cccsccssssscssssccssssccsssscssssscsees 99 SilverLode User Manual Rev 5 00 Page 4 of 159 STATUS WORDS EE 99 Polling Status Word PSW E 101 Poll POL Command snee dida 102 Clear Poll CPL Comin ain sa eege ere AE 102 E tere Muer E Loess oss ee OES OE ESE EG BERS 103 Read I O States RIO Commande 103 dump and Klee eeh 104 Internal Status Word S e data 104 Read Internal Status Word RIS Commande 105 Clear Internal Status Word CIS Commande 105 Check Internal Status CKS Commande 105 Internal Status Word 2 OS2ItafD0n ro noncnconon 106 Internal Status Word 3 IS3 Description deeg 107 Internal Status Word 4 IS4 Description SD Oli 108 Extended IO Word XIO Description Eege edel 109 ERROR LIMITS AND DRAG MODE sssssesssssesseessessseesseeesstessetssressteessetesstesseesseeeseeeesseesseessesset 109 Error Limits Command EE 109 Error Limits E 109 Draw EE 110 AN T HUNTM PEA TURE sadn ies ate eroi eoe r E 113 T 113 SCENE 113 Anti H nt M e 114 Anti Hunt Constants AHC Commande 115 Anti Hunt Delay AHD CORA dt A A add 115 Anti Hunt Mode AHM Commande 115 Error Limits ERL and Torque Limits TOL CommandS oooooonnccnnnnccnnnncnnnnnnnnnnnnnnnnnnnnnn nos 116 MUETE TAS ANG 116 Multi Tasking Operation A it dio 116 Servo CVI a
129. eted The ramp time sets the time to accelerate to velocity and the time to decelerate to a halt The total time must be greater than twice the ramp time or errors will result and the move will not be executed Note maximum ramp time is 7 86 seconds SilverLode User Manual Rev 5 00 Page 80 of 159 Chapter 2 Basic Motion and Programming Fundamentals Velocity Control If an application requires only velocity control and no position designation the Velocity Mode VMP or VMI commands should be used VMP is the program type command and VMI is the immediate type The Velocity Mode commands provide a never ending motion If no outside conditions interfere the servo motor will continue to move at the specified velocity forever Note if the final velocity is zero the command will exit once zero velocity has been reached This command requires two parameters velocity and acceleration A SilverLode servo will achieve the specified velocity using the given acceleration and remain at that velocity until commanded otherwise Ina multitasking environment this command can override any other motion currently in progress This provides an easy transition using a controlled deceleration to slow down or stop the servo See Chapter 3 for more information on multitasking S Curve Factor SCF determines the fraction of the acceleration deceleration period that will be used to ramp up to and down from the needed acceleration constant Jerk
130. f 159 Chapter 2 Basic Motion and Programming Fundamentals Memory Model Before programming the device it is important to understand how the memory operates for storing and executing programs There are five types of memory available e The Serial Communications Buffer dynamic e The Program Buffer dynamic e The Data Registers dynamic e The Non volatile Memory persistent e Firmware persistent When receiving commands through the serial interface a Serial Communications Buffer is used to temporarily store the commands parameters and data received For executing commands and programs there is a Program Buffer used for temporary storage of the executing command or program The Program Buffer uses a dynamic type memory cell that can be written any number of times and only maintains information while power is present The Data Registers are used to process and store numerical values inside the device Values in registers are used to store parameters or results for many commands For long term storage of programs and data use the non volatile memory Non volatile memory uses an EEPROM type memory cell that is rated for at least 100 000 write cycles and retains the data even when power is lost Firmware is a separate piece of memory not directly user accessible This memory uses special flash type of memory that can only be updated using the Firmware Download Wizard within QuickControl Serial Interface Serial Comm Buffer
131. f 5 rps for the velocity be aware of the scaling being used and press enter Select the data field of User 26 and enter a value of 2 rps s into the cell Note If no units are shown in the right column double click on the units field of the Register Watch Tool and choose the appropriate type Velocity for Reg 25 rps Acceleration for Reg 26 rps s Experiment with other values in these registers and note the effect on the motor operation Try starting with a very slow Acceleration rate 0 5 rps and a Velocity rate of 30 rps After motion begins increase the Velocity rate to 1 rps then 5 rps and then 10 rps Notice the dynamic Acceleration change SilverLode User Manual Rev 5 00 Page 128 of 159 Chapter 4 Motion Control Using Inputs and Registers Chapter 4 Motion Control Using Inputs and Registers The SilverLode servo has two primary methods for interfacing with external devices The methods can be used to stop motions modify motion parameters at execution time and control program flow The two methods are the I O and internal data registers See Chapter 6 for more information on the physical properties and setup of the I O Most motion commands have built in stop conditions These additional parameters are issued with a motion command to prematurely end the programmed motion based on the condition of the digital I O There are also several internal signals available as stop conditions More complex control of a m
132. f these elements to prevent potential injury or damage Start the wizard with the power turned off and turn on power when instructed A Units shall not be used in life critical applications without the signed authorization of the President of QuickSilver Controls A User is responsible to provide safety interlocks for any application that may cause injury or damage in either normal or abnormal operation of the unit A The SilverNugget N3 must be wired with a voltage clamp i e QCI CLCF 04 between the N3 and the Driver power supply the SilverNugget N2 and SilverDust D2 MG may require a clamp according to the application The voltage clamp must be placed close enough to the SilverLode controller driver to guarantee that the voltage difference between the module and the clamp at maximum current never exceeds 1 5 Volts This includes the drop across both the power and ground conductors A Do not mechanically back drive the motor of a SilverLode servo without a voltage clamp present The voltage generated may damage the electronics A User shall limit current to the SilverNugget N3 units to no more than 35A or shall fuse power to the SilverNugget N3 using a slow acting fuse rated at not more than 35A A These products are intended to be used with the appropriate power supplies motors electrical protection components and other equipment to form a complete end product or system They must be installed by a professional assembler who is famil
133. f you want to re initialize a controller for a different type of motor encoder check this option at least once This will force the wizard to prompt for you for a new motor type NOTE This option is ignored when using the SilverDust IG or IGB with an I Grade Motor as the motor type is automatically read from the non volatile SilverLode User Manual Rev 5 00 Page 60 of 159 Chapter 1 Introduction and Getting Started memory inside the Grade Motor See SilverDust IG IGB With I Grade Motor Memory Initialization for details e Index Phase Alignment default checked If this box is checked the servo will use the encoder index z channel signal to set its phase alignment at power up If this box is not checked the servo will rely solely on the initialization program s phase alignment See Index Phase Alignment latter in this chapter for more details Download File To Device Press this button to start initializing your device Note if the unit was powered down previous to starting the initialization process or if the Baud Rate Protocol or Serial Interface do not match the connection to the PC the Unknown Device Wizard is automatically invoked to establish communications with the device Unknown Device Wizard is documented latter on in this chapter Initialization Scenarios The following are typical initialization scenarios Scenario 1 I Grade SilverDust Controller With LGrade Motor This is the most common and simplest case becau
134. for calculating resistance for user cables using various wire gauges Encoder Resolution Reduction default Divide By 1 This option is only available for SilverDust units It is intended to allow programs written for older 4000 CPR count per revolution systems to be easily adapted to the newer 8000 16000 CPR motors A divide by 1 provides the full 8000 CPR resolution when using an 8000 CPR encoder The divide by 2 option downgrades the resolution so the system behaves as if a 4000 CPR encoder is attached Save On Exit default checked Check this button to save the file to the PC not the attached device when the Exit button is pressed Note the Exit button s name with change to Exit w Save when this box is checked Erase Application Programs default checked When wizard is run the user s application programs stored in the controller are erased This option can be unchecked as long as Index Phase Alignment is not used The wizard must erase the user program s in order to make room for the Index Phase Alignment program run within the wizard Choose Motor Configure Encoder default unchecked If this option is checked the user will be prompted to select a motor every time the wizard is run If this option is not checked the wizard will only prompt the user to select a motor if it thinks it needs to Examples of this would include o Un Initialized Device fresh from factory o Index Phase Alignment Option Changed NOTE I
135. for this function are Configure I O CIO CIl Set Output Bit SOB and Clear Output Bit COB General Digital Outputs The servo can use any of its I O lines as digital outputs by either setting or clearing the output state of that line The servo can use a digital output to communicate with external devices including a PLC an HMI a switch or indicator light or even another SilverLode servo The servo cannot send commands via serial connection only receive commands and reply with an ACK or with data so digital outputs are the only way the servo can initiate communication with an external device Because of this digital outputs can be extremely useful for communicating the state of the servo to an external device or to a user SilverLode User Manual Rev 5 00 Page 148 of 159 Chapter 6 Input and Output Functions For example a program could include branching logic that would jump to one of two sections of code based on an input One section of code would start a rapid move while the other section of code would start a slower move The section of code for the rapid move could also set I O 2 high That output could connect to an input on a PLC The section of code for the slow move could set I O 3 high and that output could trigger another input to the PLC With this setup the PLC could monitor a critical state of the servo With a similar setup a SilverLode servo with the two move speeds could use its two digital outputs to interfa
136. for 200 RPM 200 RPM 200 RPM 8 19175 SAV RPM 1638 35 SAV Counts Sec CPS to SAV Note This conversion is dependant on encoder resolution in counts per revolutions CPR 2 SAV 4000 RPM GORPM RPS RPS CPR CPS 491 505 SVU CPR CPS For a 4000 CPR encoder 491 505 4000 0 12287625 SAV CPS Example How many SAV for 8000 CPS 8000 CPS 8000 CPS 0 12287625 SAV CPS 983 01 SAV Revolutions Sec RPS to SAV 2 SAV 4000 RPM GORPM RPS 491 505 SAV RPS Example How many SAV for 20 RPS 20 RPS 20 RPS 491 505 SAV RPS 9830 1 SAV Acceleration The native unit of acceleration is called a SilverLode Acceleration Unit SAU It is designed to give maximum resolution It is an unsigned 30 bit number giving a range of O to 1 073 741 823 This number corresponds directly to an acceleration of O to Max Velocity 2 typically 2000RPM in 120s Note for Max Velocity other than 4000 this means the below examples must be multiplied by 4000 Max Velocity The following conversions are useful The maximum value at the default Max Velocity 4000RPM corresponds to 277 777 rps s This value is not physically attainable with values at one percent of this value or less being typical The following conversion is useful RPM Sec to SAU 2 SAU 2000RPM 120us 64 42450944 SAU RPM Sec Example How many SAU in 5RPM Sec 5RPM Sec 5RPM Sec 64 42450944 SAU RPM Sec 322 1225472 SAU RPS S
137. for program flow and motion control is discussed in depth in Chapter 4 Internal Status Word ISW The meaning of each bit in the ISW is explained in the table below The description for each bit indicates the condition indicated by a 1 in that bit ISW is the upper word of register 3 Bit Latched Definition Description 15 Reserved Reserved bit 14 Yes Low Voltage Low voltage error has occurred Defined by LVT command Over voltage error has occurred Defined by OVT 13 Yes Over Voltage sonnei 12 Yes Wait Delay Exhausted The wait delay timer has expired lane bound Or basi An input used as a stop condition was found during the 11 Yes H Move last move Latched but automatically cleared on next move 10 Yes Halt Command Sent The halt command HLT was received by the device Holding error limit set with the Error Limits ERL 9 Yes Holding Error command has been exceeded with the device in a holding control state 8 Yes Moving Error Moving error limit set with the ERL command has been 9 exceeded with the device in a moving control state Internal sensor determines over temperature condition and 7 No Temperature Ok clears this bit when true Bit is shared by drive enable lines on 34 frame servos disable high enable low 6 No UO 3 Status of I O line 3 normally high low when triggered 5 No UO 2 Status of I O line 2 normally high low when triggered 4 No UO 1 St
138. g error limit e Ifthe Trajectory Generator were commanding a move that was too fast for the motor to physically keep up with due to excessive load or insufficient torque SilverLode User Manual Rev 5 00 Page 110 of 159 Chapter 3 Unique Features and Commands Drag Mode would limit the target position runaway to a number of counts equal to the moving error limit e If the device were holding a position and the shaft was moved outside of the holding error limit Drag Mode would drag the holding target position along as the shaft was moved preventing a rapid move back to the original position when the shaft is released A SilverLode servo would only move the shaft back a number of counts equal to the holding error limit A significant point when using Drag Mode is that the original target position is modified This can cause the final position to fall far short of the original target position if one of the basic move commands is used MRV MRT MAV or MAT Profile Move Commands discussed in Chapter 5 eliminate this problem and the original target is achieved even with Drag Mode enabled This compatibility with Drag Mode is one of the benefits of using Profile Move commands SilverLode User Manual Rev 5 00 Page 111 of 159 Chapter 3 Unique Features and Commands 1 Exercise 3 1 ERL and Drag Mode Operation with MAV and PMV This exercise demonstrates the effects Drag Mode has on motion from the Move Absolute Velocity Based
139. gins is irrelevant and the shaft will simply rotate the specified number of counts Absolute Motion The Move Absolute Velocity Based MAV and Move Absolute Time Based MAT commands are absolute moves As long as the device is powered it keeps track of its current location based on the zero point The absolute position move is also based on the zero point The zero point can be reset using the Zero Target and Position ZTP command or moved offset using the Calc Sub Target Position command Absolute motion is position based where the first parameter specified is the position to move to The actual distance moved is the difference between the current position and the position specified in the command Velocity Based Motion The MRV and MAV commands are velocity based The second and third parameters are velocity and acceleration The servo will use the specified acceleration to achieve the velocity and the same acceleration to bring the servo to a halt If the acceleration is not sufficient to reach the specified velocity before deceleration must begin the profile will be triangular Note acceleration and velocity must work out no greater than a 7 86 seconds of acceleration Velocity Acceleration lt 7 86 secs Time Based Motion The MRT and MAT commands use time based parameters to create a motion profile The second and third parameters are ramp time and total time The total time specifies how quickly the move is to be compl
140. h a 1 parameter would clear bit 0 If bit 0 bit 2 and bit 5 were set the decimal form of the word would be 21 0000 0000 0001 0101 The CPL parameter to clear just bits O and 2 would be 5 The parameter to clear all three bits would be 21 To clear all bits in the Polling Status Word the parameter for the CPL command needs to be 65535 because this is the decimal equivalent of a 16 bit number consisting of all 1 s Binary numbers and binary number arithmetic are covered in Technical Document QCI TD050 Binary Hex and Decimal Conversion See Technical Document QCI TD053 Serial Communications on our website for more information SilverLode User Manual Rev 5 00 Page 102 of 159 Chapter 3 Unique Features and Commands UO Status Word IOS The I O Status Word IOS indicates the states of the I O lines as well as several specific internal conditions The meaning of each bit in the I O Status Word IOS is explained in the table below The description for each bit except Bit 7 indicates the condition indicated by a 1 in that bit Bit Latched Definition Description 15 No IO 7 Status of I O line 7 normally high low when triggered 14 No IO 6 Status of I O line 6 normally high low when triggered 13 No VO 5 Status of I O line 5 normally high low when triggered 12 No IO 4 Status of I O line 4 normally high low when
141. hat are available for flow and motion control in programs When accessed by a host the IOS allows the host to view information that can supplement the information available from the PSW As with that word a host could be programmed to act on changes in the IOS or it could be used for monitoring The IOS can be accessed from the lower half of register 209 SilverDust Rev 06 The I O may also be configured by the host even while a program is running on the SilverDust by using the Configure IO Immediate Mode Cll Read UO States RIO Command The RIO command is similar to the Poll POL command It can be issued by a host to gain access to the I O Status Word IOS The RIO command can be executed at any time and returns the hexadecimal form of the 16 bit binary number that makes up the SilverLode User Manual Rev 5 00 Page 103 of 159 Chapter 3 Unique Features and Commands IOS None of the bits are latched so the number returned with the RIO command will represent current information The meaning of each bit is explained later in this section Jump and Motion Commands Most jump commands used by programs use the IOS while the most motion commands use the Internal Status Word ISW for their stop conditions The jump commands use the IOS to define the conditions for the jump e g if I O 1 is LOW jump to line 5 The motion commands use the ISW to define basic stop conditions for example stop motion if I O 3 goes HIGH Using inputs
142. he 1QCI Examples Miscellaneous folder and select the file Ode To Joy qcp Select Edit gt Select All Select Edit gt Copy Select Window gt testfile qcp From the Program List choose the tune 2 program a Select Edit gt paste Highlight the last line of the program b Press Add choose the Flow tab double click on the LRP command press the button and choose the home program Select File gt Save c Click once in the Label column of the new LRP command Enter the text home and push the Enter key on the keyboard Put another label on the first line of the program Name the label tune Now highlight the last line of the program d Press Insert choose the Flow tab and double click on the JOI command Choose HOME from the Program List Press the Conditions button choose I O 3 from the Condition list and LOW FALSE as the State Press OK twice to get back to the program e Highlight the last line of the program Press Insert choose the Flow tab and double click on the JMP command Choose TUNE from the Program List Press OK to return Select File gt Save From the Program List choose the home 0 program Highlight the last line of the program a Press Add choose the Flow tab double click on the LRP command press on the button and choose the move program Select File gt Save Make sure all inputs are in the HIGH state and press the Download R
143. he conditions press the button next to the desired option until it matches the desired state i e Disable TRUE or FALSE After tripping an enabled condition in the KMC a Kill Motor Recovery KMR routine if configured is automatically loaded and run DIF Digital Input Filter Select the filter time for any or all of the digital inputs The filter ensures valid I O states by ignoring noise and spikes on the signal lines that could trigger a state change if the I O line was to react instantaneously Select individual I O lines or all lines to set the filter constant LRP Load and Run Program Specify the next non volatile address to load and run a user program The default is non volatile address 512 the first open location after the initialization Download the first user program into this location and the Initialization program will load and run it automatically SilverLode User Manual Rev 5 00 Page 68 of 159 Chapter 1 Introduction and Getting Started Other Initialization Files In addition to the Factory Default Initialization qcp file QuickControl comes with the following read only default initialization files Depending on your application it may be beneficial to start with one of these rather than Factory Default Initialiation qcp Factory Default Initialization CAN qcp Use this to enable QCI s CANopen protocol See CANopen User Manual for details CANopen and CiA are registered community tr
144. he COB command does the same thing as the SOB command but sets the output low As with the SOB command and all of the I O functions I O functions should not be assigned to the same l O line in order to avoid conflicts SilverLode User Manual Rev 5 00 Page 149 of 159 Chapter 6 Input and Output Functions Using Analog Inputs Analog inputs are another way to use the I O lines An analog input could be a potentiometer a Hall effect joystick a temperature sensor or a pressure transducer A 5 V power supply is available from one of the pins that can provide up to 100 mA for sensors and other peripherals The analog inputs can be used for traditional PLC tasks like event triggering or data monitoring or they can be used for direct motion control i e Joystick Control This topic is beyond the scope of this document See Application Notes QCI AN023 Analog Inputs and QCI AN047 InputModeJoystick for more information Using Encoder Signals with Digital I O In addition to the other functions covered in this chapter the I O lines can be used for high speed I O functions This section describes the types of signals used by the high speed I O functions their use and commands used to configure them The external encoder inputs i e Step and Direction drive a counter which is sampled every 120usec The counts detected are scaled and summed to any remaining fractional count left from the prior period with the whole count being
145. he input was triggered This register value can be used to move back to the exact position where the input was triggered Commands can be entered in either their native form or scaled within QuickControl The native form is used when commanding the servo from a host controller such as a PC SilverLode User Manual Rev 5 00 Page 129 of 159 Chapter 4 Motion Control Using Inputs and Registers Standard Stop Conditions QuickControl Most moves have a dialog box that looks something like the Edit MAT dialog box pictured here Even if the dialog box looks a little different for a particular move command the Stop conditions can be accessed by pressing the Stop Condition button xl This brings up the standard Edit Stop Conditions ES dialog box which Position presents a simple o counts Description interface Be Stop Condition E m available inputs and conditions Total Time displaying the fico msec Test 1000 msee J Cancel E Help Standard Stop Conditions Serial Communications The same stop conditions presented within QuickControl are available when sending commands from a host Stop Enable This move parameter is Stop Enable and is the same as the Jump Command Enable Code parameter with the exception of 0 which means Do Not Check for Input See Enable Code on page Error Bookmark not defined Stop State Stop states are setup using the following parameters
146. hed to the axis needing tuning with the real world load Two moves are provided to allow the developer to move between two positions ie Extend to pickup a widget then retract back to home Using an iterative process the developer would do a move examine the results on the Strip Chart adjust the tuning parameters and start again Cycle Press this button to cycle between Move 1 and Move 2 This is just like pressing the Move 1 and Move 2 Test buttons If multiple cycles are desired enter the desired number into the Cycles field A 0 in this field will make the axis cycle forever Press the Stop button at anytime to interrupt a cycle Enter a non zero value in the ms delay field if some settling time is required between moves Moves The four basic move types are available e MAT Move Absolute Time Based Move to an absolute location in a specific time e MAV Move Absolute Velocity Based Move to an absolute location at a specific velocity e MRT Move Relative Time Based Move Move some distance relative to your current position in a specific time e MRV Move Relative Velocity Based Move some distance relative to your current position at a specific velocity e Cycle Select to enable Cycle see above See the Command Reference Manual for more details on these commands Once your Move Type is selected enter the move parameters and press one of the Test buttons or Cycle to execute the move NOTE The scale unit
147. here are two types of flow commands those that alter program flow and those that cause pauses in execution The jump commands cause the device to execute a specific line next not necessarily the next one The Wait commands such as Wait Delay WDL and Wait on Bit State WBS operate similarly to motion commands by suspending program execution while waiting for the specified condition to be met One exception to this is the Delay DLY command it normally waits the specified time but SilverLode User Manual Rev 5 00 Page 89 of 159 Chapter 2 Basic Motion and Programming Fundamentals has an option to set up a delay counter to run in the background and allow program execution to continue These commands are explained in detail in the later section on program flow Data Register Commands Data register commands that write data to non volatile memory will suspend program execution during the storing process The non volatile memory takes a certain amount of time to complete a write cycle due to the physical characteristics of the non volatile memory storage cells Miscellaneous and Initialization Commands Most other commands execute within a single servo cycle and therefore do not effectively block program execution Commands such as Torque Limits TQL Zero Target and Position ZTP and communication commands fall into this category Program Flow Control Basic program flow is a straightforward line by line execution of a program Alter
148. hese SilverDust will always use Index Phase Alignment regardless whether the wizard s Index Phase Alignment option is checked It is automatic The alignment information is read from the attached motor each time the controller starts up i e restarted so if motors of the same type are interchanged no re initialization is required NOTE The I Grade motors use a special encoder which have 98 transitions of the index channel spaced on a 100 spacing per revolution The wider missing pulse represents the once per revolution Index location These motors require only a slight motion before encountering an index channel transition allowing them to quickly use the factory calibrated alignment SilverLode User Manual Rev 5 00 Page 57 of 159 Chapter 1 Introduction and Getting Started Manual Index Phase Alignment For all other controller drivers Index Phase Alignment information can only be determined by the Initialization Wizard when the Index Phase Alignment option is checked When this option is enabled the Initialization Wizard does a series of moves to calculate the Phase Alignment with respect to the index signal and stores the value to non volatile memory A drawback to this option is that the Initialization Wizard must be re run anytime the encoder is loosened or a different motor encoder pair is connected Regardless of controller if Index Phase Alignment is used the servo will only use the Startup Phase Alignment until is se
149. hown Ifusing H gt a Grade SilverDust with an l Grade motor SiveDut 21GB SA eg the motor type encoder type and motor Grade Motor Detected 423H1 CPR 8000 KT t serial number will be displayed Other Foa combinations of motors and controllers will O x 2 C icati not display this information If the controller is EC E not powered up then controller and motor See ee 7 Seno Turis g Save A ti Motion type will not be displayed ETA Ge 6 Enor Limits rowser Misc Device and Motor Press this button to select a different device on the network Open Save and Save As This section allows the user to open other initialization files save the current file or save the current files as a different name QCI recommends using a unique initialization file for each application i e each axis See Initialization Details below for more detains on these files Initialize Parameter Browser The Browser permits direct access to all commands via a categorized selection tree This selection tree may be expanded by clicking on the revealing the individual commands that can be selected for editing Exit w o Save Exit w Save Depending on the option selected see Options below this button will exit the wizard and either save or not save the initialization file will be saved to the hard drive and exits wizard SilverLode User Manual Rev 5 00 Page 59 of 159 Chapter 1 Introduction and Ge
150. iar with the requirements for safety and electromagnetic compatibility EMC The products are to be tested in the final application at the system level The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used Trademarks QuickControl and QCI are Registered Trademarks of QuickSilver Controls Inc SilverLode User Manual Rev 5 00 Page 10 of 159 How to Use This Manual SilverLode SilverNugget SilverDust PVIA QuickSilver Controls and AntiHunt are trademarks of QuickSilver Controls Inc Copyright The SilverLode servo family s embedded software electronic circuit board designs embedded CPLD logic and this User Manual are Copyright 1996 2009 by QuickSilver Controls Inc SilverLode User Manual Rev 5 00 Page 11 of 159 Chapter 1 Introduction and Getting Started Chapter 1 Introduction and Getting Started Introduction The chapter starts out with a Getting Started section that describes setting up and using QCl s Start Up kits This is a quick way for first time users to get up and running The remainder of the chapter details other hardware setups and documents the QuickControl interface Getting Started In order to facilitate designing a QCI servo into an application QCI has put together several start up kits These kits include the most common items necessary to get things started When matched
151. ighlighted section of text or program line Copy Copies highlighted section of text or program line Paste Inserts a copied or cut section of text or program line before selected line Select All Highlights an entire program Events Advanced Feature see Technical Document QCI TD025 Events and Sequences Find Find search for text in program file View Menu Toolbar When checked Toolbar will be displayed Status Bar When checked Status Bar will be displayed Device Status When checked Device Status will be displayed Column Width Set the program s column widths SilverLode User Manual Rev 5 00 Page 27 of 159 Chapter 1 Introduction and Getting Started Program Menu Add Line Adds a new line to a program Insert Line Inserts a line above the selected line in a program Edit Line Edits the selected program line Edit Line Details Edits the selected program line with all the command details Delete Line Deletes the selected line in a program Disable Line Disable selected line in a program The program line is grayed out and is not downloaded Enable Line Enabled a disabled line New Program Creates a new blank program Delete Program Deletes selected program Program Details Allows a user to name describe and modify the stored location of a program Scaling Allows a user to adjust scaling parameters and max min ranges Register Files Links registe
152. ils see the Command Reference Jump JMP This is the most basic jump command It is used to create unconditional jumps those that occur every time they are executed The bits of the Internal Status Word ISW are available to set conditions but are provided primarily for backwards compatibility Other jump commands are specialized to operate on many conditions Jump on Input JOI This jump command operates using the following Enable Codes which include all the inputs and several other internal bits Note the values are provided as a host programming reference only The QuickControl interface does not require the user to know them Setting both parameters to zero forces an unconditional jump to the specified Program Buffer location Program Call and Return PCB PCI PCL The Program Call PCB PCI PCL and Program Return PRI PRT commands operate in the same fashion as a jump command except that a return command can be issued to send the program back to the line immediately following the call command SilverLode User Manual Rev 5 00 Page 91 of 159 Chapter 2 Basic Motion and Programming Fundamentals For Next FOR NXT For FOR and Next NXT commands SD04 only can be used to create a traditional For Next loop For Next loop starts at the FOR command and ends at the NXT command The loops can be nested QuickControl automatically matches the NXT commands with the same level FOR command The L Register star
153. in the lower 16 bits See Appendix A for definitions of all registers SilverLode User Manual Rev 5 00 Page 84 of 159 Chapter 2 Basic Motion and Programming Fundamentals Non Volatile Memory The non volatile memory is used for long term storage of programs and data Information stored in the non volatile memory remains in the device when power is removed It is also useful when storing multiple programs in the device Each program is stored to a known memory address and loaded when needed Non Volatile Memory Map SilverNugget and SilverDust MG Memory Address dec hex 32512 0x7F00 32767 0x7FFF Factory Block ee 32511 0x7EFF Data Storage Area DSA 512 0x0200 User Program File i e user app acp 0 0x0000 511 0x01FF Initialization Program File i e Factory Default Initialization File qcp SilverDust IG IGB Memory Address dec hex 30720 0x7800 32767 0x7FFF Factory Block Ee 30719 0x77FF Data Storage Area DSA 512 0x0200 User Program File i e user app gqcp 0 0x0000 511 0x01FF Initialization Program File i e Factory Default Initialization File qcp Factory Block Reserved system area Data Storage Area DSA Storage area for such thins as Register Files and Register File arrays User Program File By default user programs start at address 512 These are the programs created anytime the New Program File is selec
154. in until Input 5 goes LOW Verify the motor executes its move until Input 1 goes LOW 9 Save the program under a name of your choice You can look at a fully documented version of the program by opening QCI Examples Using Inputs for Move Selection Tutorial Using an Input to Start and Stop a Move qcp SilverLode User Manual Rev 5 00 Page 19 of 159 Chapter 1 Introduction and Getting Started Design Guide and Hardware Descriptions This section documents typical hardware components and setup configurations for SilverLode servos Typical Components For most applications the following generic parts list provides a complete motion control servo system These components give the basic functionality necessary for a working rotary positioning system This basic system is comprised of a OCT Controller Driver OCT Motor Encoder Breakout Module Power Supply and Cabling Some items could be added or removed from this list but the items listed are the ones used most often For detailed examples on using any particular controller driver in a system please refer the SilverLode Controller Driver Datasheets on our website www QuickSilverControls com Controller Driver The servo controller driver is the main component in the servo system QCl s control algorithm allows the controller driver to servo high torque stepmotors with load inertia mismatches well over 100 1 Each controller driver has such capabilities as serial communications I
155. ing the flow of a program from this default requires use of the program flow commands There are two main types of flow commands wait commands which pause program flow and jump commands that change the order of command execution Jump commands that are register based allow the use of register data in determining the program flow allowing a host to control program flow via serial communications In specific host based applications where all I O lines are allocated or UO lines are not used this method of flow control is necessary Delay DLY This command causes the program to pause for the specified time period More complex timing structures can be implemented using the Wait Delay WDL command See the Command Reference for details Wait on Bit State WBS When the servo executes this command it will wait for the specified condition before executing All seven I O lines as well as several internal status bits can be conditions The second option specifies the state to wait for This command is affected by the Digital Input Filter DIF command See the Command Reference for details Wait on Bit Edge WBE This command operates similarly to WBS pausing execution of the program However rather than waiting for a particular state high or low the condition is met when the transition occurs The condition can be either rising low to high transition or falling high to low Edge triggered commands require careful timing and analysis
156. ip chart a QCP file When this item is selected the active program is downloaded to non volatile memory just as if the Download button was pressed Program 0 is then downloaded to the Program Buffer The chart is then opened allowing for the user to select channels Pressing Run and Chart issues a RUN which runs the program in the Program Buffer Strip Chart E E ll x File Edit View Setup el A larl Ymin fo Ymar 4000 Sample ms 500 Select Channels Run and Chart 4000 ERR 3200 2800 2000 1200 fi Ho 400 0 D 25 50 75 100 125 150 175 200 225 250 275 300 325 350 375 400 425 450 475 500 Time ms Select the Channels to chart and press Run and Chart to start the program and capture the requested channels See Control Panel Strip Chart in the Tools Menu Details section below for more information on the Strip Chart SilverLode User Manual Rev 5 00 Page 40 of 159 Chapter 1 Introduction and Getting Started Tools Menu Details Initialization Wizard All SilverLode products must go through the Initialization Wizard at least once before operation or anytime a new type of motor encoder is used See Initialization Wizard Details latter in the chapter for details on using this wizard Unknown Device Wizard Background At power up and before the Initialization Program is executed the device first sets the Baud Rate to 57600 and selects the 9 Bit Binary protocol with RS 232 interfac
157. ister This allows for very fast updates on one register Advanced Press this button to allow QuickControl to monitor a communications line for any read register i e RRG commands for the selected register watches This is useful when some other host is controlling the servo and you want to use QuickControl to monitor traffic For example a Human Machine Interface HMI is reading data from the servo but you want to see the data in Register Watch Enable this option and to monitor the communication stream for RRG commands for any registers listed in Register Watch Note Polling must be off Data Monitor The Data Monitor is a diagnostic tool that enables the user to view all transmitted and received data from all enabled ports as well as send custom packets out any single active Communication Port The Data Monitor can be thought of as a serial or network analyzer specially designed for the QCI products It provides the tools necessary to test your master controller s functionality The fields are defined as follows SilverLode User Manual Rev 5 00 Page 48 of 159 Data Monitor Chapter 1 Introduction and Getting Started C Hex Decimal Display Format BEE Close M Log To File DMLog txt o lt nn p Protocol TX 531 ms 16 18 Rx 547ms 10 Tx 563ms 16 28 0 Rx 578ms 10 Tx 578ms 16 28 0 Rx 594ms 1 R 594ms 0 Custom Transmit Data Only Receive Tranemit Ax Tx Data a DES es
158. isters using the same page write cycle RSM uses the same identification and checksum words for all registers RSM can store up to 10 registers in about 1ms longer than the time needed for the one RSN command assuming they both fit in the same number of pages Each Page is 32 words 10 registers require 22 words of memory and thus will fit in one or two pages according to the starting address RSM for 10 registers 20 to 30 ms SilverLode User Manual Rev 5 00 Page 86 of 159 Chapter 2 Basic Motion and Programming Fundamentals RLN RLM Load Times Loading values from EEPROM takes approximately 0 5ms plus 120uS per word loaded or 240us per register There is no time penalty when reading for crossing page boundaries Firmware The firmware is stored in a separate section of flash memory that is not user accessible It translates all instructions into the actual machine codes that controls motion and all other operations Upgrades to the firmware are available from time to time from the factory and can be installed in the field using the QuickControl software These upgrades improve and increase the capabilities and functionality of the device For instructions on upgrading firmware contact QCI Technical Support Memory Management There is a significant difference between QuickControl Program files QCP and the programs residing in the QCP files QCP files may contain many programs QCP files store program information like sc
159. ith a Pos Max of 100 revs the servo could be programmed to do a single 100 revolution relative move over and over The absolute servo position can and does go well beyond these editing min and max values o The Vel and Acc maximum are edited in percent of the maximums The actual engineering values are displayed for reference only o Max Time is used for editing time parameters such as the time based move commands e Upload Password The 4 to 10 character alpha numeric word is downloaded with the QCP to the servo and is required to upload the program from the servo The desired password is set in the Upload Password box the default is 1234 o NOTE The password helps secure your program but does not provide absolute protection e Sort Programs in Download Order Check this box to force the Program Info Toolbar to list the Programs in Program Download Order e On Allow Run w o Download Check this box to only allow running the program with out downloading The Program Info Toolbar s Download buttons will be disabled This is useful to ensure a user does not accidently download a file that is only designed to run temporarily from RAM e Update Device Status Properties By default this is checked and causes the Device Status Monitor to switch to the scaling of the active QCP file Since the tools Register Watch and Control Panel have the same scaling and register names as the Device Status Monitor keeping this box chec
160. k Pos Erorf2 counts wem Clear Cntl L Click Position fg counts __ TriState L Click Mana s ze n eat E Ta Ta a a E E Torque 30 Acceleration 17000 cps s CO IS IS CO IS IS a E pelt St Velociyfrsooo cps OO Ja oJ Ji Jo J Temp 40 4 st Strip Chart Analog 1 3 29 ZER 3 3 25 4 219 NOTE The device to be controlled must first be registered see Register Devices Device Type Serial The device s Unit ID description controller type firmware revision and serial number are displayed here Device Status As long as Polling is running these fields display the device s status in Real Time The fields include e Target Position The position the servo is being commanded to Position The actual position of the servo Velocity The servo velocity Position Error The difference between Target Position and Actual Position Max Error The maximum error that occurred since last time the Zero button was pressed e Torque The servo s torque SilverLode User Manual Rev 5 00 Page 42 of 159 Chapter 1 Introduction and Getting Started e Driver The driver voltage which may be independent of the processor voltage on some units e Temp The measured processor temperature Tuning This section in conjunction with the Initialization Wizard s Tuning Wizard provides the tools required for tuning the servo loop see Technical Document QCI TD054 Servo Tuning for details Ideally the servo would be attac
161. ked forces them to reflect the properties of the active QCP The only time this box is unchecked is for initialization files i e Factory Default Initialization qcp to keep them from changing the user s scaling and register naming when opened as part of the control panel or the Initialization Wizard e Thread 2 Specifies how Thread 2 memory will be allocated When Thread 2 programs are used they must share the Program Buffer with Thread 1 programs Auto default allows QuickControl to allocate Thread 2 Program Buffer space If Auto is unchecked the user must specify how much to allocate See Multi Thread latter in the manual for more details SilverLode User Manual Rev 5 00 Page 36 of 159 Chapter 1 Introduction and Getting Started Upload Program File The programs and data stored in a device may be uploaded as long it was programmed with QuickControl rev 4 0 and higher e NOTE QuickControl does not download any Upload wll retrieve programs resident in the non volatile memory of the device documentation to the device Uploaded programs will therefore have no documentation i e remarks labels scaling Cancel To upload from a device select File gt Upload Program File Press Upload Program from device x QuickControl will then ask for the password used for the Cancel file when it was downloaded This is set in the Program BEE File Properties dialog box File Program File 4 10 charact
162. l up present while Clear causes the output to be low open drain driver turned on Tri state turns off the output driver causing the same effect as a Set command Analog Displays the present voltage at each of the 4 analog inputs Note Analog 1 through 4 correspond to the voltages on I O 4 through 7 SilverLode User Manual Rev 5 00 Page 44 of 159 Chapter 1 Introduction and Getting Started Control Panel Strip Chart Open the Strip Chart from the Control Panel by pressing the Strip Chart button Strip Chart lta Sia Fos 5o Igel Repeat Last Move Once the channels are selected any of the following Control Panel moves will automatically be charted Cycle Test Move 1 Test Move 2 Sample ms This is the amount of time to sample Max is 15000ms Select Strip Chart Channels Select Channels Press this button to select the channels to chart Up to 4 basic channels may be selected at once Select a channel by either double clicking on it or by pressing the gt button SilverLode User Manual Rev 5 00 Page 45 of 159 Chapter 1 Introduction and Getting Started Once a channel is selected the Select Channel Format dialog box will prompt you for the data format This allows the Strip Chart to display data in Position S z scaled units See Program File Properties for Data Format _ Advanced details Long C Time Fe A The Advanced button brings up the Chart
163. llowed by parameters The number of parameters varies by command and each command is described in detail in the Command Reference The parameters also have unique scaling and special formatting Use care when generating command parameters as incorrect values will result in execution errors QuickControl is designed to perform all parameter generation in an easy to understand graphical interface Scaling Scaling of parameters fall into the following categories Parameters have fixed internal units called SilverLode native units The QuickControl software package displays all values in typical engineering units but basic communications from a separate host such as a PLC must use the native units When working with SilverLode native units it is generally simplest to transmit native units directly from the host However use of the Calculation CLC command allows a SilverLode servo to make the scaling corrections internally The CLC command is covered in Chapter 3 Raw Numbers These numbers are used in general mathematical operations An example application is setting the number of times to execute a loop Raw numbers are transmitted directly to a SilverLode servo with no scaling When receiving a raw number from the SilverLode servo the number will be in hexadecimal Therefore a host may need to SilverLode User Manual Rev 5 00 Page 76 of 159 Chapter 2 Basic Motion and Programming Fundamentals perform a conversion to decimal after
164. lverLode User Manual Rev 5 00 Page 126 of 159 Chapter 3 Unique Features and Commands WCW and WCL Commands The Write Command Word WCW and Write Command Word Long WCL commands are two of the most powerful commands available They allow a program to modify itself by overwriting data in the Program Buffer These two commands can effectively make any command requiring a parameter into a register based command A SilverLode servo does not do any error checking on the data that is changed potentially making these commands very dangerous QuickControl however does check for errors by keeping track of which line in the buffer will be modified and by querying for the parameter to be changed rather than blindly changing data QCI highly recommends that QuickControl be used to implement the WCW and WCL commands Both the WCW and the WCL commands work the same way The difference between them is that the WCW command is used for 16 bit parameters Register Cancel and the WCL command is used for 32 bit Accumulator 10 Description numbers When either of the commands is issued in a program the device SE EE replaces part of the data in the Program Buffer with the data in the register the La 1 3 WCW or WCL command specifies With Command RRV Register Move Relative Velocity Based QuickControl the Program Buffer data to be replaced is specified symbolically rather than with an actual memory location reducing the chance for error
165. mmand In this example of the Program Window there are two colors used to differentiate the lines of the program Blue is used for actual commands and green is used for the remarks REM Remarks are not downloaded with the commands and are only used for documenting a QCP When a label is placed on a REM line the label is effectively moved to the next command line If the label is placed on a REM line that is at the end of a program it will be the next available command line up from that REM line In the example above START is a label on line 1 a REM line The program branches to the START label from Line 4 when the I O condition is met Since line 1 is a REM line when this program is downloaded to the device the START label will actually point to line 2 the next command line after the REM line SilverLode User Manual Rev 5 00 Page 32 of 159 Chapter 1 Introduction and Getting Started Device Status Monitor The Device Status Monitor occupies the right hand portion of the main QuickControl window It provides status information on QuickControl and the attached devices Active Device The status of the active device selected by pressing any cell Active Device gt in the Device Status List is displayed anytime polling is Bop JI See running This includes the current position of device and the 10 fat J Jos Js Js fm I O Status If the device ID button is pressed i e ID 16 the 1o 219 48 8 mie Register Watch tool will com
166. mming Overview The command set is accessible by most devices capable of communicating over an RS 232 or RS 485 serial connection including the E 485 Bridge This means that almost all host controllers HMI PLC Vision and PC systems can be used to communicate with and control SilverLode products Many applications require commands to be sent from the host directly to a SilverLode product This type of control is usually prototyped and tested more efficiently using QuickControl For example an application might require a custom program written in C running on a PC to dynamically issue a series of commands to a device connected to the PC SilverLode product operation could be setup for this application without the use of QuickControl but the development and prototyping of the application is easier faster and more accurate if done with QuickControl Programs are made up of two components the initialization program and user programs The initialization program contains all the initialization settings as well as default settings for some of the advanced functions User programs contain the instructions to be followed while operating in standalone or hybrid configuration e Initialization Program The initialization program starts at the first memory location in non volatile memory address 0 After a device powers up it automatically executes the program that starts at the first memory location This program must contain initialization instru
167. motion execution other commands being executed and the source of the command internal or external The two command types are Immediate and Program they set the valid source for the command Immediate type commands can be issued from an external host through the serial link ONLY they cannot be part of an internal program stored into non volatile memory Program type commands can be either issued through the serial link or stored as part of an internal program Some commands have both an immediate and a program version For example Velocity Mode has both a program type VMP and an immediate type VMI These two commands take the same parameters and cause the same motion but have different command numbers The letters A through F designate the command class The class determines under what circumstances the command can be issued Example circumstances are if a command is already being executed if a motion is running or if a program is executing Class D commands such as the ones for basic motion described later in this chapter can only be executed from a host when the device is idle no command no motion or program executing Class A commands such as the status commands can be executed at any time even while a motion is executing The Command Reference provides a complete description of each command class Command Parameters Commands all have the same fundamental structure Each command has an assigned command number which may be fo
168. mple is to put 8000 in this box This scales the display to revolutions when using a 8000 count per revolution encoder For display purposes the string in the Units box can be changed to anything In this case revs is appropriate The first letter in the Units box is used in velocity and acceleration units The velocity unit would be scaled and changed to rps while acceleration will be changed to rps s The Dec Places box adjusts the accuracy of the scaling used in QuickControl For some applications it is convenient to scale the software to a linear unit appropriate to the system For example it could be adjusted to cm based on the actual system output e Register and I O Names Press these buttons to change the default names of the registers and I O e Description This optional field is provided for additional user documentation See Chapter 4 for more details SilverLode User Manual Rev 5 00 Page 35 of 159 Chapter 1 Introduction and Getting Started e Min Max Min Max fields are provided for the developer to put reasonable limits on movements These are scaled units so a value of 100 here would correspond to 100 revolutions if a scaling factor of 8000 was chosen o Many of the command edit screens use sliders to aid in editing The slider ranges are determined by the min max entered here o Note the Min Max only affect how move commands are edited They do not limit the actual servo movement For example w
169. n and Programming Fundamentals In order to successfully implement a SilverLode servo in an application it is critical to understand the basic operational concepts of the system This chapter lays the basic groundwork needed for using the product It also provides essential information that is needed to comprehend other topics in this manual The core of the SilverLode servo is the patented PVIA servo control loop All motion is controlled by this servo loop The commands themselves have a particular format shown in detail in the Command Reference The basics of command parameters and how they are scaled are covered later in this chapter The QuickControl software simplifies the entire process of command generation by providing a user friendly interface that can scale all units to typical engineering values When operating a SilverLode servo in host mode it is good practice to provide the host with the capability to monitor the servo A standard method is a polling routine A fully developed polling routine provides a wealth of information about the servo allowing for detailed control by the external host In standalone mode basic programs allow the servo to execute complex motion profiles while monitoring and controlling I O lines and serial communications A complete understanding of the internal memory organization leads to a powerful control of programs and data In QuickControl this organization is controlled automatically although th
170. n loop control for part of a move or hold Ifthe accuracy of final position in an application requires strict compliance Anti Hunt may need to be turned off because it creates a feedback deadband around the final position When the shaft is anywhere inside this deadband the device ignores position feedback and it will not correct the final position error Likewise when Anti Hunt is used during a move the device ignores position feedback as well as velocity and acceleration feedback and blindly commutates the motor based only on the target position In general open loop control should not be used during motion unless there is a specific design reason e g it eliminates dither in slow high inertia moves Anti Hunt Operation Anti Hunt essentially sets up a open loop deadband around the target position Inside this deadband the servo uses open loop control and therefore ignores error feedback The width of the deadband is defined by the Anti Hunt Constants AHC command When the position error the difference between actual position and target position becomes low enough to enter the deadband the device performs some other checks explained below and then enters Anti Hunt by switching to open loop control When SilverLode User Manual Rev 5 00 Page 113 of 159 Chapter 3 Unique Features and Commands the position error becomes too large the device immediately switches to closed loop control and exits Anti Hunt The Anti Hunt deadband
171. n to the program troubleshooting capabilities of QuickControl These functions provide a powerful means to check the operation of a program and understand how individual commands execute NOTES The default OC Examples folder is located at C Program Files QuickControl QCI Examples The Red Stop Hand Icon on the Main Icon Toolbar will allow the user to quit operation of any Tool Single Step 1 Using the File menu open the following qcp program Examples qcp 2 Check Debug on the Program Info Toolbar to enter Debug Mode 3 Press the Single Step button on the Debug Toolbar This will initiate the execution of the first command found in the program 4 Continue pressing Single Step until the end of the program file Press the Red Stop Hand Icon QCI Examples Moves basic Move Single Step Trace Use the Single Step Trace tool on the same QuickControl program file 1 While still in Debug Mode click on the first line of the program and then press Single Step Trace This will initiate an automatic step by step execution of the program commands one line at a time 2 The Trace tool will continue through the program until it reaches either a Breakpoint a command error or the end of the program When complete press the Red Stop Hand Icon Real Time Trace Use the Real Time Trace tool on the same QuickControl program file 1 While still in Debug Mode click on the first line of the program and then press Real Time Trace This
172. nced I O Control This example shows multi tasking use with inputs and outputs during motion The program executes one of two Register Move Relative Velocity Based RRV commands depending on the state of I O 1 and 5 The values stored in registers 25 and 26 are used as parameters for the RRV move commands The loop is comprised of Jump JMP commands in an infinite loop that execute continuously until one of the inputs is triggered low Once an input is LOW a move is executed If I O 1 is LOW the I O 2 will flash turn ON OFF during the motion If I O 5 is LOW the second RRV move will run and the I O 2 will of HIGH 1 2 Power up the servo and start QuickControl Start polling the servo and verify that it is operating properly Ensure that I O 1 is HIGH Select File Open Navigate to OC Examples Multi Tasking and select the file Using Multi Tasking for Advanced IO Control qcp Press the Download Restart button to download and run the program The servo run the program and wait in the Forever loop for an input Toggle I O 1 or 5 LOW then HIGH to select the Move1 or Move routines If 1 is chosen the output will flash three times at the beginning of the move SilverLode User Manual Rev 5 00 Page 121 of 159 Chapter 3 Unique Features and Commands Multi Thread SD17 Multi Thread allows the user to simultaneously run two programs Thread 1 is the primary program which runs after a p
173. ncoder with respect to the motor s rotor This relationship is called Phase Alignment Start Up Phase Alignment Every time the servo powers up the initialization program i e Factory Default Initialization qcp calculates a Start Up Phase Alignment by moving the motor back and forth a little It can then go closed loop and begin to servo This works well as long as the motor is allowed to move If your application has conditions that may stop the motor from freely moving at startup improved Phase Alignment might be required Examples include e Motor Brake Applied e Vertical Load e Motor Jammed If the motor does not move enough during the Startup Phase Align it will calculate an incorrect phase alignment This will cause the motor to have poor performance It might not even be able to move or it may move erratically To allow Phase Alignment for these startup conditions the alignment of the encoder with respect to the rotor must be determined a different way The following options exist Index Phase Alignment Index Phase Alignment uses the encoder s index pulse z channel position to calculate phase alignment For this to work the index position with respect to the motor s rotor must be determined and saved to non volatile memory Automatic Index Phase Alignment For SilverDust IG IGBs using Grade motors this happens automatically The index position is determined by the factory and saved to the I Grade motor s non volatile memory T
174. nd direction commands allow the servo to respond to direct motion commands from a host in a manner similar to a simple stepper motor although the device can still use closed loop control unlike any stepper Like velocity mode and profile move commands the Registered Step and Direction RSD and Scaled Step and Direction SSD commands do not pre calculate their moves They can be overridden by other RSD and SSD commands by VMP and VMI commands or by the PMO HSM STP and HLT commands Step and direction moves are covered in Chapter 6 Input Mode Commands The Velocity Input Mode VIM Torque Input Mode TIM and Position Input Mode PIM commands allow the device to respond directly to the values in registers 12 through 18 Like the last three motion commands they do not pre calculate their moves The input mode commands can be overridden by VMP and VMI commands or by the PMO HSM STP and HLT commands Input mode moves can also be changed on the fly by changing the values in register 12 to 18 Hard Stop Move HSM Command The HSM command immediately stops a move started by any motion command Stop STP Command The STP command immediately exits the current program and stops any active move using the specified deceleration see STP in command reference for details Halt HLT Command The HLT command immediately stops any motion sets the halt bit in the Internal Status Word and calls the Kill Motor Recovery program When multi ta
175. nd one green These LEDs provide the user some basic information about the current operational state When the device is first powered up the green LED should be on on the SilverNugget the red LED flashes on momentarily at power up as well The red LED is the communication program done indicator If the red LED is on solid dim glow then no program is running and the device is not communicating When the device receives the start of a transmission the red LED will shine extra bright When the transmission is processed the red LED will return to its original state Sending the device a number of commands in succession e g the QuickControl polling routine will induce a flickering of the red LED This flickering can occur in regular intervals or as random blinks depending on the communication scheme SilverLode User Manual Rev 5 00 Page 70 of 159 Chapter 1 Introduction and Getting Started If the red LED is out completely then a program is running from an internal program in the Program Buffer and in the absence of flashes no communications is taking place The green LED is normally used to indicate motor torque it starts out a middle brightness glows brighter for positive torque and darker for negative torque Its function changes if the Enable Done Low or Enable Done High command has been set in this state bright indicates that the motion is complete and the error is within set limits while off indicates that the above are not
176. nit F Filter in Hz T Time Sample 120us Fy Filter Value Limit 82768 F ef ZnT Example Position Input Mode PIM command with a 117Hz filter The native SilverLode Filter value is 30000 30000 32768 e 117 2 120us SilverLode User Manual Rev 5 00 Page 79 of 159 Chapter 2 Basic Motion and Programming Fundamentals Basic Motion Commands There are four basic motion commands that are used to create simple motion profiles These commands follow the same motion rules but require different motion parameters The result is a similar type of motion The differences between the commands allow motion to be defined by relative or absolute distance using velocity or time as the base The commands pre calculate the motion profile The motion profile is subject to the maximum acceleration and velocity of the servo motor A motion profile that the servo cannot numerically accomplish will cause a command error and the motion will not be executed On the other hand it is possible to program a motion profile that is numerically consistent but requires more torque than available in the given servo Execution of complex motion profiles is covered primarily in Chapters 4 and 5 Relative Motion The Move Relative Velocity Based MRV and Move Relative Time Based MRT commands are both relative moves Relative motion is distance based meaning that the first parameter is the overall distance to move The current position when the motion be
177. nput Output lines and Mathematical functions Non volatile Memory allows multiple programs to be saved indefinitely for later recall A SilverLode controller driver drives a single stepmotor Stepmotor Encoder QCI offers high pole count stepmotors with encoders When matched with a SilverLode driver controller the combination creates a high performance rotary positioning system Each stepmotor has been specifically selected for optimized performance with the SilverLode drivers Motor encoder packages are typically selected based on the torque performance of the stepmotor environmental rating and the required encoder resolution Power Supply SilverLode products operate from a supply voltage of 12 VDC to 48 VDC and must be initialized for the specific operating voltage The power supply can be a switching or linear type but should be chosen so that the power output meets or exceeds the power requirement of the SilverLode product Check the product datasheets for maximum current specifications Unregulated supplies are not recommended due to the wide swing of the input power line causing wide swings in the output voltage SilverLode User Manual Rev 5 00 Page 20 of 159 Chapter 1 Introduction and Getting Started Minimum Power Supply Specifications e Regulated Supply 5 Output Tolerance 2 0 Load Regulation 50V Maximum Over Current Fold Back Protection Short Circuit Protection Over Voltage Protection Cabling QCI offers cabling
178. ns must interface with TTL circuits just like the other I O functions Note The standard Optical Isolation Module may not support the full available speed the QCI website contains specifications for the maximum signal rates of the QCI optical isolation module The high speed functions use three types of signals step and direction A and B quadrature and step up step down These signal types are explained later in this chapter The SilverDust IG8 has the capability of driving IO lines 4 6 with either internal or external encoder signals It also has the capability of receiving or driving external differential encoder signals via the SSI port as an alternate function to Synchronous Serial operation Synchronous Serial Interface SSI The Synchronous Serial Interface provides a high speed clocked serial interface This interface may be used to interface SSI encoders for use in dual loop systems SSI port is also configurable to receive differential signals driving 1O 4 6 with the received signals after performing a differential to single ended conversion Likewise the internal encoder may be selected to differentially drive the SSI outputs The SSI interface is also intended for future expansion for external devices providing Data in Data Out Chip Select and Clock functions See the SEE and SSI commands for details on configuration SilverLode User Manual Rev 5 00 Page 145 of 159 Chapter 6 Input and Output Functions UO Conflicts
179. nual Index Phase Alignment 58 Maximum Velocity Scale oooo 60 Memory Program Buffer sisissicassascevetecscarsseecsctesne 87 SilverLode User Manual Rev 5 00 Memory Management 87 Memory M p ds 85 Memory Model ctoi ips 83 Modbus ccccccnnnnnocccccnconononaniniciccccnonononos 54 140 Motion Commandes 80 131 Absol te iii os 80 A ius cde O es cantatas ice 80 EIER ege ee 80 Motor Memory 58 Multi Tasking z ccssscaseeacsdveqtevsskeneensessataczad 99 Mul Thread 84 122 N Networking cuido 139 A eiaa o ss ESE 92 Non Volatile Memor 85 Non Volatile Memory Map 85 NAT ree da A 92 O Open LOO EE 69 t e 53 P PEB EE 91 PER EE 91 A 91 Phase Alignment ke 57 LS RE EE 102 Poll POL Commande 102 Polling Status Word DW 101 Program Buffer muii incidi 83 Program Call ac 91 Program Call and Return 0 0 eee 91 Program Flow Wait Commande 90 Program Flow Control 90 Program Return lt 5 726scseacacucednetlongeareateaaceaaens 91 PrOpraminiine skint eae 75 Protocol 22 29 54 60 61 66 70 EE 91 E 101 EE 140 R Ao AAA 76 Read I O States RIO Command 103 Read Internal Status Word RIS Command EE 105 Real Time Breakpoints ooonnnoccnnnccccnoncns 95 Page 158 of 159 Real Time Trace uiiacinna in isis 95 Reboot on Download 60 RECOV EL E 139 Register Based Motion Commands 131 Register Devices taste ltda 52 Register Piles jciccsisssts
180. oder is output as a 1000 pulses per revolution If an A amp B signal is sent to another servo the decoding circuitry in the second servo will turn the 1000 pulses per revolution back into a 4000 counts per revolution signal A scaling parameter other than 1 will scale the modulo output signal down by the scaling factor e g for an A amp B quadrature output with a scaling parameter of 4 4000 counts from the internal encoder would be scaled to 250 pulses which decodes to 1000 counts Three commands are used with the modulo internal encoder output function The Modulo Set MDS command enables the modulo output function and starts the signal from I O lines 6 and 7 the lines that the modulo output function uses The MDS command sets the modulo divisor 1 to 256 the signal type step and direction step up step down or A and B quadrature and the encoder source internal or external The Modulo Trigger MDT command enables a special modulo function that uses the state of I O 1 as a trigger to start and stop the modulo internal encoder output signal on I O lines 6 and 7 The Modulo Clear MDC command disables the modulo output function and frees the I O lines used by the modulo output function More information on these commands is available in the Command Reference SilverLode User Manual Rev 5 00 Page 155 of 159 Chapter 6 Input and Output Functions Synchronous Serial Interface SilverDust IG8 only The SSI port is the
181. of selectable programs currently open in the active QuickControl file QCP No of words used window Shows how many words are being used in the currently displayed program Device To Program e Restart Restarts the currently selected device e Desc Allows user to select the device being programmed and displays the registered label and ID number e Type Displays type of device currently being programmed SilverLode User Manual Rev 5 00 Page 31 of 159 Chapter 1 Introduction and Getting Started Program Window This area of the QuickControl Screen displays the active program opened It is where all program lines are created viewed and edited The interface allows the user to single click on the line to highlight that particular line or double click on the line to edit the contents parameters of that line 1 2 3 Command Example program listing Move 1234 revs acc 100 rps s vel 33 3 rps Stop when 10 1 is Falling Jump to the label START when 140 2 low state Jump On Input to START i when 1 0 2 is LOW FALSE i There are three columns in the Program Window 1 Line Number and Operation Displays the program line number and the Three Letter Acronym TLA of the command 2 Label Allows the user to put in labels for branching operations in programs 3 Command Provides a brief summary of the command on that line and the parameters that are set in that specific operation of the co
182. ogram specified by KMR can then perform any operation a shutdown recovery or other technique For details on this advanced topic see Technical Document QCI TD052 Shutdown and Recovery on our website Serial Communications Operating in a host configuration or accessing the servo s serial communications requires networking Networking the SilverLode servos uses industry standard protocols and serial interfaces The SilverDust has new 8 bit on the fly communications options providing optional packet checksum as well as either Hexadecimal or decimal input or responses Each input parameter may be specified as Hex merely by pre pending a Ox to the number A checksum may be dynamically selected on a packet by packet basis by the addition a parenthesis and the checksum 16 5 188 or 16 5 0xBC returns 10 0005 1002 2006 E130 FF15 1C amp 16 5 188 returns 16 5 4098 8198 57648 65301 248 SilverLode User Manual Rev 5 00 Page 139 of 159 Chapter 5 Advanced Topics For details on the SilverLode s serial interface including RS 232 RS 485 ASCII 8 Bit Binary 9 Bit and our expanded Modbus command set see Technical Document QCI TDO053 Serial Communications on our website For details on Modbus see Application Note QCI AN038 Modbus Protocol Servo Tuning The factory default servo loop parameters have been optimized for a nominal load range inertial mismatch up to 10 1 for each servo motor Given a fairly tight coupling th
183. ol Eech 152 Ee Eer EA E E E 152 ENCODER OUTPUTS teen eegenen deenen ee 153 Internal Encoder Output SilverNugget Onhyl conan no nccnnnnnncnns 154 SilverLode User Manual Rev 5 00 Page 6 of 159 Internal Encoder Output SilverDust IGB Onfvl 154 Internal Encoder Output SilverDust IG8 Ob 154 Scaled Internal Encoder Output Modulo Output SilverNugget Oh 154 SYNCHRONOUS SERIAL INTERFACE SILVERDUST IG8 ONLY 156 ENEE 157 SilverLode User Manual Rev 5 00 Page 7 of 159 How to Use This Manual How to Use This Manual The Gier ode Servo Family User Manual is a technical reference designed to aid users in the operation and programming of the SilverLode product family which includes the SilverNugget and SilverDust QuickControl QuickSilver s software interface is used for programming initializing and testing the SilverLode products The companion publication SilverLode Servo Family Command Reference provides details on all commands The User Manual frequently references the commands and discusses their operation For this reason both publications are needed to understand the SilverLode products The User Manual material is arranged in a textbook format It begins with the fundamentals of use and progresses into advanced topics that are application oriented Any new user can follow the material in a natural progression of product usage In addition there are exercises throughout the text that provide users a hands
184. om the accumulator register and to load store and manipulate data in the data registers Operations of the CLC command are accessed from a pull down list See Command Reference for details Calculation Extended CLX and Calculation Extended With Data CLD For SilverDust Rev 06 only Three parameter version of the Calculation CLC command that allows for such things as adding two registers and storing the result in a third register SilverLode User Manual Rev 5 00 Page 125 of 159 Chapter 3 Unique Features and Commands Da Exercise 3 3 Calculation Example This exercise demonstrates the use of several different functions of the Calculation CLC command It begins with a long move calculates half the distance moved and moves back that amount It is strictly a demonstration of the CLC command 1 Power up the device and start QuickControl Start polling the motor and verify that the system is operating properly 2 In QuickControl select File gt Open Navigate to 1QCI Examples Data Register and select the file Register Moves by half with Calculation qcp 3 Select Tools gt Register Watch to open the Register Watch tool Press the Add Register button and select User 25 Select Position for the Data Format and press OK Repeat for Accumulator 10 Actual Position 1 and User 30 Choose Position format for each register The value in register 25 is how small the move position will be allowed to become before resta
185. ommand SilverDust Rev 06 operates similarly to the POL command but always returns a hexadecimal word even if itis zero See Technical Document QCI TD053 Serial Communications on our website for more information on Serial Communications The POL command is used to access the information in the bits of the Polling Status Word PSW These bits contain a variety of information as shown later in this section The information contained in this word is intended to be used in polling routines The Polling Status Word bits are each set to 1 when a particular condition takes place The bits are cleared to 0 using a Clear Poll CPL command All of the bits are latched meaning that they must be cleared manually they are not cleared when the condition they are tied to clears Clear Poll CPL Command The CPL command is used to clear the bits of the Polling Status Word PSW This command is the only way to clear the bits in the PSW since all the bits are latched Additional conditions that occur after a POL command is issued will show up when the next POL command is issued even if those bits have been cleared by an intervening CPL command i e the data is double buffered and the bits cannot be cleared until they have been read CPL requires one parameter the decimal form of any bits in PSW that need to be cleared If bit O of the word is set the decimal form of the word would be 1 0000 0000 0000 0001 Issuing the CPL command wit
186. on approach toward understanding the topics better The manual is thorough but not exhaustive Users that explore this material fully and complete the exercises should gain the ability to operate program and prototype any SilverLode servo system into working applications Notations SDnn This notation means the feature or command being described was introduced in SilverDust rev nn Performing Exercises Bes The exercises in this manual are designed for use with one SilverLode servo a PC running QuickControl an acceptable power supply and a basic QCI Start Up kit or comparable circuitry for I O triggers Many of the examples require the toggling of inputs To perform these exercises the user will need to wire in a switch The inputs used are 1 3 and 5 Alternatively the user could purchase a Training Breakout QCI BO T which already has these switches built in The Training Breakout connects to the SilverLode s SMI Port using a SMI cable See individual datasheets for more details For First Time Users Chapter 1 gives step by step instructions on the hardware setup and first time operation including initialization and writing a simple program SilverLode User Manual Rev 5 00 Page 8 of 159 How to Use This Manual What s New For QuickControl 5 00 QuickControl 5 00 supports that latest SilverDust firmware rev 45 Major Features e Status Device Monitor Redesign o Max number of registered devices extended from 6 to 64 o A
187. on and Command Reference for definitions These values are modified when using the QuickControl Tuning Tool See Technical Document QCI TD054 Servo Tuning on our website for information on tuning GOC Gravity Offset Constants This command sets a custom gravity offset term in the servo control loop for vertical load applications The gravity offset value increases torque by the given amount for moving loads against gravity and decreases torque by the given value for moving loads with gravity DIR Direction This command allows the user to select whether Clockwise or Counterclockwise rotations will correspond to positive motion values Viewing motor from the shaft end references the direction This command can only be issued in the initialization program before the motor alignment section while the servo is in open loop do not issue again in a user program TQL Torque Limits This command changes the torque limit settings for the different control states of the device The limit caps the maximum value the device may use Specify the limit as a percent or check the Maximum box next to each slider to maximize the parameter AHC Anti Hunt Constant Anti Hunt mode is an open loop mode that allows the device to eliminate dither The AHC command sets the thresholds used to determine if the position is sufficiently close to the target to allow the device to go into and to stay in Anti Hunt mode SilverLode User Manual Rev 5 00 Page 67 of 159
188. on the SilverDust as of the given revision Note those bits that reference CAN are only valid for CAN enabled devices See CANOpen User Manual for details Enable SD Rev Se Drv Temp Fault Digital Encoder Fault Extended I O Fault Motion Limit Fault IS2 Bit 7 IS2 Bit 8 23 1S2 Bit 9 182 Bit 1 Thread 2 Running CAN Operational Men EE D CAN Initialized PA I EE RE pO AAN E eer 40to 71 Remote CAN a NR Inputs Remote Input 1 32 CANopen and CiA are registered community trade marks of CAN in Automation e V 08 08 08 08 08 08 08 08 08 PCAN Comm Error SilverLode User Manual Rev 5 00 Page 93 of 159 Chapter 2 Basic Motion and Programming Fundamentals The SilverDust IGB adds the following enable codes Enable Code Input Source Description 101 Hardware 1 O 101 102 i UO 102 103 i 1 O 103 104 UO 104 105 1 O 105 106 g 1 O 106 107 i UO 107 108 1 O 108 109 z 1 O 109 110 j 1 0 110 111 1 10 111 112 1 10 112 113 i 1 0 113 114 1 10 114 115 i 1 0 115 116 1 0 116 Enable State Enable states are setup using the following parameters Enable State Stop on the Following Condition 0 FALSE 1 TRUE Jump on Inputs ANDed JAN Jump on Inputs NANDed JNA Jump on Inputs ORed JOR These jump commands opera
189. ontrol can only register six at a time for viewing e If networking multiple devices each has to be initialized with the Initialization Wizard with a unique ID e Under Setup select Options and make sure the Autoscan ID range encompasses the ID of the units desired e Reduce Baud Rate If you are occasionally loosing communications with the device try reducing the baud rate Remember to change both the PCs baud rate Setup gt Comm Port and the device s Init Wizard gt Communications gt Baud Rate After verifying the integrity of the COM Port and making any necessary changes try a quick communication test Stop the QuickControl polling routine if it is running and press the red hand icon STOP button on the QC toolbar The red LED on the back of device should flash briefly as it receives and processes the Halt command sent to it each time the STOP button is pushed This simple test can be done at any time to verify that the device is receiving commands It is also good to verify that the Windows PC can communicate through the serial port without QuickControl Programs like HyperTerminal can accomplish this see Technical Document QCI TD024 8 Bit ASCII Protocol Using HyperTerminal If communication is successful with the third party terminal program then QuickControl should be able to operate correctly SilverLode Indicator LEDs There are two indicator light emitting diodes LEDs on the back of every SilverLode product one red a
190. or 200 RPM 200 RPM 200 RPM 536 870 911 SVU RPM 107374182 2 SVU Counts Sec CPS to SVU Note This conversion is dependant on encoder resolution in counts per revolutions CPR 2 SVU 4000 RPM GORPM RPS RPS CPR CPS 32212254 705 SVU CPR CPS For a 4000 CPR encoder CPR 4000 32212254 705 4000 8 053 064 SVU CPS Example How many SVU for 8000 CPS 8000 CPS 8 000 CPS 8 053 064 SVU CPS 64 424 512 SVU Revolutions Sec RPS to SVU 2 SVU 4000 RPM GORPM RPS 32 212 254 705 SVU RPS Example How many SVU for 20 RPS 20 RPS 20 RPS 32 212 254 705 SVU RPS 644 245 094 1 SVU The fractional component can be ignored with minimal impact on accuracy Actual Velocity The native unit of actual velocity is called a SilverLode Actual Velocity Unit SAV It is designed to give maximum resolution It is a signed 16 bit number giving a range of SilverLode User Manual Rev 5 00 Page 77 of 159 Chapter 2 Basic Motion and Programming Fundamentals 32767 These numbers correspond directly to actual speeds of Max Speed as selected in the Initialization Options screen typically 4000 RPM This value is always reported in the lower 16bits of register 7 Note for Max Velocity other than 4000 this means the below examples must be multiplied by 4000 Max Velocity The following conversions are useful Revolutions Min RPM to SAV 2 SAV 4000 RPM 8 19175 SAV RPM Example How many SAV
191. ormation The SilverDust uploads the same information from the motor at startup If the motor type does not match the SilverDust will disable its driver and flash the green LED 4 times To change motor types simply connect the new motor type to the SilverDust and re run the Initialization Wizard The wizard will detect the new motor type and initialize the controller accordingly SilverLode User Manual Rev 5 00 Page 58 of 159 Chapter 1 Introduction and Getting Started Initialization Wizard Details The Initialization Wizard is used to initialize the SilverLode controllers for such things as communications tuning motor encoder selection etc All SilverLode products must go through the Initialization Wizard at least once before operation or anytime a new type of motor encoder is used NOTE If the unit has previously been initialized you might want to start the Initialization Wizard with the controller powered down to prevent any previously downloaded programs from running For an un initialized device i e fresh from the factory this is not necessary Initialization Wizard xj Press Download to initialize servo or change the Exit wd Save factory default parameters using the Initialize Parameter Browser Run wizard from Tools menu Tools gt Initialization Wizard Initialize wizard Tuning Wizard If your unit was powered up you should see wagon Bop E something like the dialog box s
192. ot connected or 8 Yes Encoder Fault signals are open shorted misconnected or having excessive interference 6 E Driver internal sensor indicates over temperature ff ves Di Temp Faut Digital SN N3 Over current and over temp 11 HIGH Driver Enable Line LOW Driver Disabled SE HAW Drv Disabled ow Driver Enable Line HIGH Driver Enabled 5 II 1 pen Temp Fault Analog SN N3 Driver analog sensor indicates over temperature 4 Yes 11 Motor Temp Fault Temperature sensor in motor l Grade IP 65 indicates over temperature 11 Driver disabled during Factory Block execution startup due to one of the following conditions 3 No Fac Bik Drv Disabled e Motor miss match Attached motor type does not match what controller was initialized for e Bad read bad data in motor memory 6 Excessive lost encoder pulses detected between 2 Yes Encoder Re phased index pulses Encoder motor phasing redone May be excessive noise encoder problems or wiring problems 11 HIGH indicates that motion is being limited by one of bag the following 1 Yes Motion Limit Fault e Soft Stop Limits SSL e Velocity Limits VLL 0 No 8 Count Down Timer HIGH indicates Millisecond countdown register Active Register 245 is not zero SilverLode User Manual Rev 5 00 Latched bits can be cleared using the CIS command Bit reflects Factory Driver disable bit and is not cleared by a Clear Status Word command Page 106 of 159 Chapter 3 Unique Feat
193. otion is possible using the Advanced stop conditions allowing precise positioning The registers can be adjusted by either an external host or an internal program The registers in turn can be used by various motion commands to adjust parameters at execution time This allows a program to react to real time input and to be extremely flexible The QuickControl software package provides an easy way to implement these commands The Register Watch tool in QuickControl gives easy access to the registers This allows emulation of a serial host while allowing use of the powerful tools in the QuickControl software Using Inputs to Stop Motion All basic motion commands as well as the input mode and velocity mode commands have integrated stop conditions The stop conditions include the seven digital inputs as well as six other signals tabled below Digital inputs can be wired to sensors switches or digital I O from a PLC or other host Whatever the hardware connected the servo s I O can be used either alone or in conjunction to affect the operation of motion commands When a move is stopped using an input the servo decelerates to a stop using the acceleration parameter given in the move command Because the deceleration begins at the moment the I O is detected the servo will come to rest some distance past the sensor depending on velocity and acceleration To compensate for this ramp down register 4 is loaded with the exact position at which t
194. ower on or reset condition It is capable of all motion commands etc Thread 2 is invoked from Thread 1 the invoking command specifies how much of the Program Buffer to allocate to Thread 2 and where the new Thread 2 program was stored in the Non Volatile memory The allocated memory 1 location are subtracted from the top of Thread 1 Program Buffer space Thread 2 executes with the start of its Program Buffer at 0 just like Thread 1 While the second thread is running Thread 1 gets executed every 240us and Thread 2 gets executed every 240us on opposite 120uS intervals Thread 2 has certain limitations It is not able to execute any command which affects the Trajectory Generator i e motion It is not able to invoke a new Thread 2 and change its buffer allocation It is able to read and modify registers lO and to use CAN functions To simplify programming each thread has its own private register 10 Accumulator as this register has special uses Thread 2 s register 10 appears as register 248 to Thread 1 and the outside world Each thread also has its own Zero Negative Positive condition flag storage A status bit BIT 11 in IS2 is provided to monitor Thread 2 with a high level indicating that Thread 2 is active The Kill Recovery Extended KMX command may be used to cause Thread 1 to automatically respond to the loss of Thread 2 Thread 2 Kill Conditions T2K command specifies which conditions kill Thread 2 and which it will su
195. owing an application developer d A i Register Data Units to adjust register values while a program is running Delay Counter 5 0 Delay Counter 5 mSec within the servo Open the Register Watch window from r Select Regist Tools gt Register Watch NOTE Register Watch can also be Cancel launched by Register Di Target Position 0 isplay e Press the Device button on the pened Posteri 4 Kaes Device Status Monitor Last Index Position 2 C Upper Word g ISW Reserved 3 A PP o Right Click on the device in the Last Trig Position 4 Lower Word A i Delay Counter 5 Device atus List Max Position Error Current Position Error 6 ede Velocity 1 Velocity 2 7 Strip Chart e Double click on the device s 2 row inteator gl See a Control Torque 9 Log to File in the Device Status List Acumetr 10 User or Input Source Data 12 E SE d l Press Add Register to add a register to the is e Input bead Sand 14 list of watches The Select Register a zi dialog box allows you to select watching the whole register or only the upper or lower half Check Strip Chart to add a real time strip chart and or check Log to File to begin logging the data to a log file log files found in Logs folder Select Data Format D After selecting the channel QuickControl will Select the format ht N ZE allow you to select the data format which _ _ enables you to watch the data in your Data
196. oystick SilverLode User Manual Rev 5 00 Page 131 of 159 D Chapter 4 Motion Control Using Inputs and Registers Exercise 4 1 Simple Register Based Motion The servo will execute two moves depending on the state of the I O 1 and I O 3 The program runs in a continuous loop monitoring the two inputs If data in the User Registers is modified the motion profiles of the moves can be changed 1 2 Select File gt Open Navigate to the QCI Examples Using Inputs for Move Selection folder and select the file Two Inputs Two Moves with RRV qcp Open the Register Watch Tool Tools gt Register Watch Press the Add Register button select User 25 select Position for the Data Format and press OK Press the Add Register Button again select User 26 select Position for the Data Format and press OK Press the Download Restart button to download and begin execution of the program Once the program is downloaded press the OK button Notice the values placed in the selected Data Registers by the program Toggle I O 1 LOW then back to HIGH The servo will execute a simple move Toggle I O 3 LOW HIGH The servo will execute a different move Click once in the Data column of the User 25 Register Enter the value 10 into the cell and push the Enter key on the keyboard Toggle I O 1 LOW HIGH Click once in the Data column of the User 26 Register Enter the value 100 into the cell and push th
197. perating modes The Input Modes use seven data registers for processing position velocity and torque information They allow the servo to use data from an analog input or an external host to directly control motion For example this a good way to configure the servo to respond to a joystick or analog input These powerful commands are beyond the scope of this document See Application Note QCI AN047 Input Mode Joystick Interpolated Motion Control This powerful feature is beyond the scope of this manual See Technical Document QCI TD044 Interpolated Motion for details Register Files Register files are a powerful feature but are beyond the scope of this document See Application Note QCI AN048 Register Files for details and examples of Register Files Camming Camming is the following of a master encoder with a dynamic gear ratio See Application Note QCI ANO29 Torque Control Motor torque can be dynamically set and monitored Primarily this is done using the Torque Limits TQL command Details on this advanced topic can be found in Technical Document QCI TD051 Torque Control see our website Shutdown and Recovery Every servo cycle 120 microseconds the SilverLode servo performs an error check based on the settings issued in the Kill Motor Conditions KMC SilverDust Rev 06 or KMX command If any of these kill conditions are met the program specified by the Kill Motor Recovery KMR command is immediately loaded The pr
198. r files or file arrays txt based to active QuickControl program see Register Files for more details Register Names Assigns user defined names to registers See Programs Menu Details below for more information I O Names Assigns user defined names to I O lines See I O Names below for detail See Programs Menu Details below for more information Download Download program file to device Download Restart Download program file to device then restart device Download Run Download program file to device then run first program without restarting Run w o Download Download program to RAM then run Download and Chart Download program file to device then bring up chart See Download and Chart below for more information See Programs Menu Details below for more information Erase Application in Device Erases current program in non volatile memory Toggle Breakpoints Toggles Breakpoint at current line Clear all Breakpoints Clears all Breakpoints in all programs Single Step Single step program line See Program Debugging for details Real Time Trace Trace Program in Real Time See Program Debugging for details Jump To Line Jump program execution to selected line SilverLode User Manual Rev 5 00 Page 28 of 159 Chapter 1 Introduction and Getting Started Tools Menu e Initialization Wizard Sets up and initializes devices See Tools Menu Details below for more information e Unknown Device Wizard
199. r website The Hard Stop Move HSM command provides a means to execute a hard stop while multi tasking A hard stop immediately disables the Trajectory Generator stopping any movement and exiting any move operation e g Step amp Direction This causes an abrupt stop which in many cases will cause the servo to overshoot the stop position and oscillate until settled SilverLode User Manual Rev 5 00 Page 135 of 159 Chapter 5 Advanced Topics More controlled stops can be accomplished by using the Velocity Mode VMP or VMI command which allows a predetermined deceleration profile to stop the servo Use this command to specify a deceleration to zero velocity stopping the servo The Profile Move Exit PMX works much like the VMP stop and will be discussed in the Profile Move section of this chapter With this syntax it is unnecessary to specify a velocity PMX uses the deceleration register for Profiled Moves Register 23 to slow to a stop Soft Stop Limits SSL can also be used to stop any type of move This command defines two data registers as end of travel limits Once values are stored in these registers any motion affecting the target is limited to keep the target position more than the first register value and less than the second Motion that exceeds a limit is hard stopped see HSM at the point that the limit is encountered so no ramping occurs A status bit is set allowing Kill Motor to respond if desired but the active
200. re step up step down or step and direction signals SilverDust These lines can be used for A amp B quadrature SilverDust IG These lines can be used for A amp B quadrature and Step and Direction SilverNugget only 3 SilverNugget only A amp B quadrature step up step down or step and direction signals 4 SilverDust M Grade moved to 4 and 5 for SilverDust IG l Grade for top connector access SilverLode User Manual Rev 5 00 Page 146 of 159 Chapter 6 Input and Output Functions Using Digital Inputs Digital inputs and digital outputs are the most basic uses for the I O A digital input could be a switch that closes and opens sending a signal to the servo while a digital output might be a solid state relay or a light connected to a I O line Digital inputs and outputs are used by the servo for several purposes Digital inputs may be used for program flow purposes for motion control stop on input purposes or for Kill Motor triggers Digital outputs may be used in user programs for signaling external devices like PLCs or controlling external devices like relays This section covers the uses of digital inputs and outputs and the commands used with them General Digital Inputs Four uses of the digital inputs are general digital inputs motion control inputs modulo trigger input and Kill Motor inputs By using an I O line as a digital input a program can react to an on off signal from an external source by u
201. requesting the data from SilverLode servo See the Technical Document QCI TDO50 Binary Hex and Decimal Conversion on our website for details on decimal hexadecimal conversion The scaling formats were chosen to maximize the accuracy and dynamic range of the calculations while still performing all calculations at a high 8 333kHz servo rate Integer format was chosen to minimize differences in interpretation of floating point number format rounding and actual available resolution Position Distance The native unit of position and distance is the count The number of encoder counts in a single revolution varies depending on the resolution of the encoder All position or distance parameters transmitted to a SilverLode servo must be in counts Target Velocity The native unit of target velocity is called a SilverLode Velocity Unit SVU It is designed to give maximum resolution in speed selection It is a signed 32 bit number giving a range of 2 147 483 647 These numbers correspond directly to actual speeds of Max Speed in the configuration window typically 4000 RPM Note This means for Max Speed other than 4000RPM the following scale factors for converting into SVU units must be multiplied by 4000 Max speed i e for MaxSpeed 1000 multiply all of the following scale factors by 4 The following conversions are useful Revolutions Min RPM to SVU 2 SVU 4000 RPM 536 870 911 SVU RPM Example How many SVU f
202. rface to SPI style devices for future expansion This port is configured via the Synchronous Serial Interface SSI command Differential Encoder Input also requires the Select External Encoder SEE command One of the most important features of a SilverLode servo is the input output capability The servo has seven multi purpose I O lines These seven lines can be independently software configured for a variety of functions This chapter covers the basic operation of all the I O lines as well as their different uses There are four kinds of I O functions e Digital Inputs All seven of the I O lines can be used as digital inputs allowing the servo to react to on off inputs like a PLC SilverLode User Manual Rev 5 00 Page 141 of 159 Chapter 6 Input and Output Functions e Digital Outputs All seven of the I O lines can also be configured for use as digital outputs allowing the servo to send on off signals and control simple systems e Analog Inputs O lines 4 5 6 and 7 can be configured as 0 to 5 V analog inputs for the SilverNugget and 0 to 3 3 V for the SilverDust These I O lines allow the servo to use analog signals for direct motion control or as analog sensor inputs e High Speed I O Functions The SilverLode servo can use its input lines for scalable step and direction input This input functions is used in several applications including electronic gearing and caming For normal uses the fastest sampling rate for an inp
203. rograms present in the current QCP file expand the Program List drop down box located in the middle of the Program Info Toolbar The first program listed is Program Name 0 The 0 on the end of the name designates that it is the first program created in this QCP file Additional programs created in this file will be listed in the order they were created with an increasing number 1 2 3 etc appended to the name SilverLode User Manual Rev 5 00 Page 87 of 159 Chapter 2 Basic Motion and Programming Fundamentals Managing Non Volatile Memory Program Storage By default QuickControl organizes the non volatile memory locations of all programs downloaded to the device including the Initialization program Initialization programs are always stored at non volatile memory address 0 The first program listed in a QCP file program 0 is stored to non volatile memory address 512 by default See Non Volatile Memory above for the memory map The last command in the default Initialization program is an LRP at 512 By default on power up or restart the device executes the Initialization program stored at non volatile 0 and then executes any program stored at non volatile 512 This can be changed by modifying the LRP in the Initialization program as well as the non volatile memory location where the program is stored in the device To manually control the non volatile memory storage address of a program select a program for display in
204. rting Raising this will make the cycle time shorter Register 30 contains the beginning position for the move The accumulator is used with most of the CLC operations in a similar manner to how the accumulator is used in an assembly program In this exercise the accumulator s value is not used directly by the motion command The value in the actual position register should be User 30 User 25 at the end of each move 4 Press the Download Restart button to download and run the program The motor will begin its first move of 30 000 counts 5 The calculation process is reasonably simple using a few math operations to accomplish its task Any data in the accumulator is first cleared and then the actual position is subtracted from the accumulator This results in a negative position value After this the binary value in the accumulator is bit shifted right which is the binary equivalent of dividing by two This value is placed in the register used by the move After this the absolute value of the accumulator subtracted from the value in register 25 If the result of this calculation is negative the new move distance will be less than the value in register 25 and the program will reset the position to 30 000 counts NOTE Single Step or Trace through the program to see how each CLC command effects the registers in Register Watch NOTE Using the commands CLX and CLD simplifies this example and should be used on SilverDust servos Si
205. rvive These include Kill Motor which affects Thread 1 Over Voltage Under Voltage Driver Under Voltage Processor Halt command and Stop command The default condition is to halt Thread 2 on any of these conditions unless the user specifically configures Thread 2 to ignore them Just as Thread 1 can startup a Thread 2 Thread 2 can force a new program upon Thread 1 acting much like a software invoked Kill Motor Recovery routine Thread 1 is also capable of stopping Thread 2 Thread 2 also ceases if it encounter an END command The time slice and the command buffer space are returned to Thread 1 if Thread 2 execution ceases Attempted execution of Thread 1 only commands in a Thread 2 program will result ina Thread 2 Command Error Code 17 see Appendix C All other Command Errors Codes for Thread 2 errors are their respective Thread 1 Command Error Code plus 64 0x40 CIS Clear Internal Status clears the common register so care must be taken if this command is used in both threads SilverLode User Manual Rev 5 00 Page 122 of 159 Chapter 3 Unique Features and Commands The Delay counter used in DLY DLT and WDL is common to both threads Do not use these commands in both threads Use it in one or the other only For timing in the other thread use the Count Up Timer reg 244 or the Count Down Timer reg 245 Using QuickControl To Launch Thread 2 Thread 1 and Thread 2 programs are written normally and exist as programs within
206. rvo responds to different motion commands when multi tasking is enabled Servo Cycle A SilverLode servo uses a 120 microsecond period for its digital control calculations This period is called the servo cycle All functions including command execution are synchronized by the servo cycle When multi tasking is enabled with a few exceptions such as a delay or wait command a command in a program takes one servo cycle to SilverLode User Manual Rev 5 00 Page 116 of 159 Chapter 3 Unique Features and Commands execute When multi tasking is disabled the device still performs its regular functions like servo calculations and communications every servo cycle but does not execute program commands if a move operation is still underway i e the Trajectory Generator is active The tasks the device completes during each cycle are shown below Notice that the serial communications task is completed three times per servo cycle Task 1 Task 2 Task 3 Task 4 Task 5 Task 6 Serial Every 120 Communications Program Motion Update Status Command Command Words and Execution Execution 1 0 Error Checking Serial Servo Control Communications Loop Serial Communications e Task 1 Serial Communications A SilverLode servo checks for serial communications every 40 microseconds or three times per servo cycle During each 40 microsecond period the device can send or receive one ASCII character if using the ASC
207. s PMC command to execute a move that does not stop when the target position is reached Once in position this operation will wait until the position parameter is changed so there is no need to reissue a move command Multi Tasking must be enabled for PMC to function properly This continuous move can be terminated with a Stop on Input condition or the stop techniques mentioned previously SilverLode User Manual Rev 5 00 Page 136 of 159 Chapter 5 Advanced Topics Both Profile Move commands use Data Registers 20 to 24 for parameter storage The Profile Move commands use linear acceleration and deceleration parameters where a separate deceleration parameter is provided for different acceleration and deceleration profiles The S Curve Factor SCF command does not work with the Profile Move command Profile Move commands also use an offset parameter which causes the servo to move an offset distance after a Stop on Input condition is met see Chapter 4 for stopping on inputs Arie Description Comment 20 Position Absolute destination value Sets the acceleration rate that is used when increasing the move 21 Acceleration speed 22 Velocity The maximum speed that is allowed during a move Sets the deceleration rate that is used when decreasing the move 23 Deceleration speed When a stop condition is met this value is added to the current 24 Offset position and copied to Register 20 for a profiled stop If set
208. s section Many of the advanced applications for SilverLode products use this capability SilverLode User Manual Rev 5 00 Page 24 of 159 Chapter 1 Introduction and Getting Started QuickControl Overview SilverLode products have an extensive command set that allow them to be programmed for a wide variety of complex applications SilverLode products need to be pre programmed if they are to be used in a standalone or hybrid configuration In host configuration the host issues commands directly to the servo for execution and no user program other than initialization is stored in the non volatile memory SilverLode products are programmed from a series of commands issued through a serial communications link The most practical way to program a SilverLode product is to issue these commands from the QuickControl software running on a PC QuickControl is QCl s Windows based software interface for the SilverLode products QuickControl can run on a Windows 9x NT ME 2000 or XP based PC connected to a SilverLode product using one of the PC s serial ports QuickControl is designed to make programming SilverLode products easy and efficient Programming a SilverLode product and using its advanced features is the topic of most of this manual and QuickControl is used in nearly all of the examples It is also the only programming interface fully supported by QCI and is always required to change the factory default initialization program Progra
209. s twenty seconds to complete the program will wait and do nothing for twenty seconds With multi tasking enabled the move command will execute normally but the rest of the program will also continue to run Disabling multi tasking makes the logic of a program much simpler and prevents some common programming errors This is why multi tasking is disabled by default Some applications however require multi tasking anda good understanding of how multi tasking works is essential for these applications This section explains how multi tasking operates describes how to properly use multi tasking and gives some examples of the effects of multi tasking on a program written with QuickControl Multi Tasking Operation Multi tasking enables the servo to continue executing a program while a motion is in progress With multi tasking disabled when the servo executes a motion command the program stops execution until the move is complete i e the Trajectory Generator is inactive or until a stop condition is met With multi tasking enabled the program continues to run during the move allowing much greater versatility in the program The Enable Multi Tasking EMT command enables multi tasking and the Disable Multi Tasking DMT command disables it Using multi tasking correctly requires a firm understanding of how the servo controls program timing the system tasks that the servo executes in the background along with program commands and the ways the se
210. s being used are those of the selected motor See Register Devices for more details Jog Slider The motor velocity can be set in real Time by sliding the pointer with the mouse The Jog Vel field is used to set the full scale velocities at each end of the slider NOTE If the Shift key is pressed when the mouse is released the servo will continue at the same velocity it will not stop This is useful if you want to test constant velocity application SilverLode User Manual Rev 5 00 Page 43 of 159 Chapter 1 Introduction and Getting Started Restart Press this button to restart the servo Zero Press this button to zero the motor target and position It also zeros out the Max Error latched value STOP Press this button to stop the current sequence and motion Motor Driver This radio button allows the motor driver to be enabled or disabled Inputs Outputs This displays the states of all 7 I O Channels A Red I O Channel indicator denotes a logic low and a Green indicator denotes a logic high If the SilverDust IGB is connected the additional 16 I O are also shown Individual I O can be Set by clicking on the respective I O while depressing the SHIFT key They may be cleared by clicking on the respective I O while depressing the CTRL key The I O may be set to Tri State by clicking on the I O NOTE I O 101 to 116 Set causes the output to be high open drain driver turned off only passive 5v pul
211. s on Factory Block This program simply adjusts to flash sequence to correspond with the other faults and runs the Flash Seq program See SilverLode Indicator LEDs latter in this chapter for flash definitions Factory Default Initialization File Details The following is a summary of the initialization commands contained in the default file For more information on any of these commands please see the Command Reference IDT Identity Each device needs to have a unique unit identity to establish communication to a single drive Values between 1 and 254 may be chosen for these identities Multiple devices may have the same group identity to communicate with multiple drives at once The group identity must be different from any individual identity on the network NOTE The allowable range is limited by the option Automatically Scan ID Range see Options PRO Protocol Select either 8 Bit ASCII 9 Bit Binary or Modbus communication protocol See Technical Document QCI TD053 Serial Communications on our website for a complete discussion on differences between communication protocols SIF Serial Interface Choose either RS 232 or RS 485 serial communications hardware interface See Technical Document QCI TD053 Serial Communications on our website for a complete discussion on differences between serial interfaces The Auto check box within this command automatically configures the serial interface to match the interface currently setup in
212. scaled internal encoder output function The input is configured with the Modulo Trigger MDT command and functions just like any of the other digital input functions More information on this command is available in the Command Reference Configure I O CIO Configure UO Command The ClO command configures one UO line at a time At power up all I O lines are configured as inputs The CIO command is needed if an I O line is reconfigured as an output and then needs to be used an input again More information on the ClO command is available in the Command Reference Configure UO Immediate Cll Command The Cll command SilverDust only Rev 06 is similar to the ClO command but may be sent by the host via the serial port at any time Digital Input Filter DIF Command The DIF command sets up a filter time for any of the I O lines used as a digital input The filter time affects how long a digital input state must be held for the SilverLode servo to see the given state This filter is useful for noisy systems or for de bouncing switches because it causes the servo to wait for the specified number of servo cycles 120 usec before recognizing a change in the state of the input Using Digital Outputs The digital outputs are used as signaling or control outputs They can be used to indicate the internal status of the servo to an external device like a PLC or used to control another device like a relay or another the device The main commands used
213. sdessacionteceeuecdacns 139 Register Moves ia 131 Register Watch 47 96 Register Watch Monitor Checkbox 48 EE 84 Relative Jump Labels otitis 91 Relative Motion isa 80 RJO EEN 103 RTS iii 105 A E E 140 RSA E 140 S SAU arin A eet eee Oe 78 e 77 Save OM Exit eau 60 SCA EE 76 A cot seks ties 8 Serial Communications ooooccccoccnnnoncninnnos 139 Serial Interface a 140 Servo Motor fies 15s Asari eetdansecieede 140 Servo Tuning ss jecccssccsestetisiiacssticcenececcnss 140 EE 55 Shutdown and Recovery ceeeeeeeeeee 139 A s 66 SilverLode Acceleration Unit SAU 78 SilverLode Actual Velocity Unit SAV 77 SilverLode Torque Units STU 79 SilverLode Velocity Unit SVU 11 Single Step isaac 95 Single Step TE ca ee 95 Standard Stop Conditions 0 0 0 eee 130 Start Up Phase Alignment ee 57 Status A 99 Stop Command cit 135 SilverLode User Manual Rev 5 00 Index A eieiei erd ee dE 130 Strip Chattes dai 40 42 45 SP aes atari 79 SV E E A MEA 71 T Target Velocity EE 77 Test 96 gea See eege 122 Three Letter Acronym TLA 008 32 Time Based Moon 80 Time DEE 79 Torque Controlan iii 139 Torque Lim ir 139 Torque UNIS sia ion 79 Hee ee ene ee en ee 139 KEE ER 95 Trajectory Generator 75 Tuning Wizard sici n diaria 65 U Unit D ica atada don 22 66 Unknown Device Wizard 41 Using Inputs to Stop Moon 129 V Velocity Actual EE 71 Velocity Based
214. se the I Grade SilverDust reads most of the information it needs from I Grade motor memory 1 Press Download File to Device The Initialization Wizard uploads motor ID and encoder information from the Grade motor memory and initializes the motor 2 Finish A screen will appear indicating that the selected initialization qcp file has been downloaded Select OK to exit The unit should now be initialized and ready for operation It may need to be restarted if the No Restart on Download option was selected Press Exit to leave the Initialization wizard SilverLode User Manual Rev 5 00 Page 61 of 159 Chapter 1 Introduction and Getting Started Scenario 2 I Grade SilverDust With Non I Grade Motor 1 Press Download File to Device E The Initialization Wizard fails to upload the motor EE data and displays the Error Reading Data From Choose from one of the following options Motor Memory dialog box 1 Continue Continue The attached motor No Motor Memory has no memory 2 Error Reading Data From Motor Memory Dialog 2 Continue Continue will attached a motor Box Motor Memory with memory The following choices are presented a a Cancel out of wizard e Continue No Motor Memory Select for non l Grade motors e Continue Motor Memory Select if an l Grade motor will be used but is not currently attached to the SilverDust e Cancel Press Continue No Motor Memory Select Motor 3 S
215. sing a command that controls program flow based on I O status There are several commands a program can use to do this The wait on bit commands WBS and WBE can stop program execution until a digital input signal changes while jump commands JOI JOR etc allow a program to jump to another command within the program based on one or more inputs For example if an application required the servo to start a move if a switch were thrown the Wait on Bit State WBS command could be used This command can be tied to any I O line configured as an input and can be set to wait until the input goes high or goes low If the command were set to wait until l O 1 went high for example the program would pause at the WBS command for as long as I O 1 stayed low As soon as UO 1 went high the program would continue If a motion command immediately followed the WBS command then the start of the move would be tied to the state of I O 1 A looping structure with a jump command could be used for the same application if multitasking were enabled A loop could be set up using the Jump JMP command to repeat the loop and a Jump On Input JOI command could be inserted into the loop and tied to the state of I O 1 If I O 1 were low the loop would continue running repeatedly When I O 1 went high the JOI command would cause the program to jump out of the loop If the JOI command pointed to a motion command the start of the move would be tied to th
216. sking is enabled the motor drivers will remain active during the Kill Motor routine if the Kill Enable Driver KED command has been issued With multi tasking disabled the motor drivers are always disabled during a Kill Motor routine regardless of whether or not a KED command was issued See Technical Document QCI TD052 Shutdown And Recovery on our website End Program END Command If multi tasking is enabled and an END command is issued the device will finish the current move if a motion command is active and then end the program SilverLode User Manual Rev 5 00 Page 119 of 159 Chapter 3 Unique Features and Commands Multi Tasking Examples The following examples illustrate how multi tasking works with the programs Example 1 UO Control During a Move This program starts a 10 revolution MRV move waits for Command a 1000 msec delay then toggles I O bit 1 for 50 msec while the Enable Multi T asking Move 10 revs acc 1 pss vel 5 rps Wait for 1000 mSec Clear Output Bit 1 Wait for 50 mSec Set Output Bit 1 Wait On Bit State Until Trajectory Active is LOW FALSE move is still in progress The WBS command in line 7 causes the program to wait on that command until the move command is complete The move completes before bit 2 is o j Clear Output Bit 2 cleared in line 8 This program sends an output signal when the move is finished but also allows other commands to be executed before the WBS comman
217. t controller waiting for each command before performing any operation This allows for extended operations not available in a SilverLode only network In cases where many axes of control are required a host configuration can achieve very complex or highly coordinated multi axis control A host controller can also retrieve data from registers Hybrid Configuration A hybrid configuration utilizes a SilverLode servo operating such that the servo receives command from an external controller executes internal programs and uses its internal I O This configuration is more versatile than either a pure standalone or pure host controlled configuration The SilverLode product can use its standalone abilities to execute internal programs and interact with the system through its I O Also an external host can issue commands or interact with programs For example a PLC could direct the device to switch tasks or stop motion in response to a digital input or serial command from the PLC SilverLode User Manual Rev 5 00 Page 23 of 159 Chapter 1 Introduction and Getting Started Multiple SilverLode Servo Configurations A SilverLode product can be part of a small RS 232 or a larger RS 485 network In addition two or more devices can be interconnected through their I O lines The possible configurations for multiple device systems are seemingly endless although all of the configurations are just combinations of the two basic configurations listed in thi
218. t is asserted and data may be sent and received clocked by the serial clock signal running as a burst of 1 5MHz pulses The number of data bits transferred is selected via the SSI command from 8 to 32 bits Note For data gt 16 bits there may be a slight pause between the first 16 bits transferred and the remaining Data OUT MOSI by SPI specifications takes data from CAN object 2009h sending up to 32 LEFT JUSTIFIED bits to the SSI port as clocked by Clock Data IN MISO by SPI specs takes data from the SSI port and deposits it right justified into register 253 Upper unused data bits are masked to zero No wrap around is provided for absolute encoders operated past their limits Mode 3 configures the SSI port the same as does Mode 2 except that the SSI port is flagged as the source for dual loop data if the DLC command is activated following this selection The dual loop source may not be changed if dual loop is active Note All differential signal pairs are AC differentially terminated using a series RC circuit consisting of a1000 pico Farad capacitor and a 120 Ohm resistor This provides impedance matching for dynamic signals while reducing power draw when idle A similar termination is suggested for the user end of any cables driven by this port SilverLode User Manual Rev 5 00 Page 156 of 159 Index 8 8 Bit ASCII inanici n 41 54 66 9 DEBIDA EE 54 A Absolute Moon 80 Acceleration e TC 78 ACK RE 66 Actual Velocity EE 11
219. t value the servo only enters Anti Hunt after the end of a move when it is holding a position The end of a move occurs when the Trajectory Generator goes inactive In this default setting the servo uses closed loop control throughout the move When the AHM command is set to the non default value the servo can enter Anti Hunt at any time moving or stopped This allows the servo to use open loop control during a move if the other Anti Hunt conditions are met e Closed loop torque optional If the AHC command is set to its default state the servo compares the torque being used during closed loop operation with the open loop torque limit the open loop moving limit during a move the open loop holding limit while holding position If the closed loop torque exceeds the open loop torque limit the device will not enter Anti Hunt and switch to open loop control This extra condition can be disabled with the AHC command This would be used to implement conventional dead band by setting the open loop torque Anti Hunt Commands Five different commands are important to Anti Hunt operation Anti Hunt Constants AHC Anti Hunt Delay AHD Anti Hunt Mode AHM Torque Limits TQL and Error Limits ERL The AHC and AHD commands set the conditions under which the device enters and exits Anti Hunt while the AHM command sets the type of anti hunt operation the device uses The AHC AHD and AHM commands are covered below SilverLode User Manual Rev 5
220. ted from the File menu It also includes all the example programs Initialization File This includes the Factory Default Initialization File qcp and any file used by the Initialization Wizard Storing Data Registers When using data registers it is occasionally necessary to store the content of a register into the non volatile memory User data register contents can be stored to non volatile memory from a single register or an array of registers using the RSN and RSM commands respectively QuickControl Register File System allows the user to access SilverLode User Manual Rev 5 00 Page 85 of 159 Chapter 2 Basic Motion and Programming Fundamentals non volatile memory using names instead of memory addresses See Application Note QCI AN048 Register Files for details As the EEPROM is internally accessed 16 bits at a time it is advised to only store from and recall to user memory locations that will not be changing while the store or recall operations are taking place For example storing the Actual Position directly to non volatile memory can cause the upper and lower words to be written with positions from different times resulting in missed roll over calculations and errors in stored position of 65535 counts First copy to a user register all 32 bits are transferred in a single atomic operation and then save that register to non volatile memory Multiple register storage recall must only be done from user register space
221. ter 3 for details Programs that are contained in the buffer can also be written to the non volatile memory for long term storage The following is a list of commands that pertain to the program buffer These commands are described completely in the Command Reference e Clear Program CLP Clears the contents of the program buffer e Start Download SDL Puts the device into download mode e Store Program SPR Stores the currently loaded program into non volatile memory e Run Program RUN Executes the currently loaded program e Load Program LPR Loads a program from non volatile memory into the program buffer e Load and Run Program LRP Loads a program from non volatile memory to the program buffer then executes the program e Thread 2 Start T2S Loads and Runs a program from non volatile memory to a second program thread Thread 1 Force LRP T1F Provides ability for Thread 2 to force a program to load in Thread 1 s Program Buffer See Multi Thread in Chapter 3 for details Data Registers Data Registers are used as data storage locations that may be used and modified by a host controller or by internal functions There are a number of 32 bit data registers available within the device They provide data storage for the parameters of register based commands Some registers contain two separate pieces of data These values are stored as two 16 bit numbers one in the upper 16 bits of the register and one
222. ter Button again select User 29 select Acceleration for the Data Format and press OK Press the Add Register Button again select User 30 select Velocity for the Data Format and press OK Press the Download Restart button to download and begin execution of the program Once the program is downloaded press the OK button Notice the values placed in the selected Data Registers by the program Toggle I O 1 LOW HIGH The servo will execute a simple move Toggle I O 3 LOW HIGH the servo will execute a different move Click once in the Data column of the User 25 Register Enter the position value 100 revs into the cell and push the Enter key on the keyboard Click once in the Data column of the User 26 Register Enter the acceleration value 150 rps s into the cell and push the Enter key on the keyboard Click once in the Data column of the User 27 Register Enter the velocity value 25 rps into the cell and push the Enter key on the keyboard Toggle I O 1 LOW HIGH Note Acceleration Range is 0 to 277 78 rps s Velocity Range is 0 to 66 66 rps 4000 rpm Modify the Position User 28 Acceleration User 29 amp Velocity User 30 data for the second move Toggle I O 3 LOW HIGH Experiment with different values When finished close the active program delete all registers on the register list 8 close the Register Watch Tool SilverLode User Manual Rev 5 00 Page 133 of 159 Chapter 4 Motion
223. ter version of the standard motion commands take only a single register as a parameter The specified register is used as the position distance parameter The following two registers are used for the second two parameters A SilverLode servo has other register based motion types They are even more powerful with changes in register values being applied on the fly These commands are covered in detail in other chapters Following is a quick listing of these command types Profile Moves All Profile Move commands PMV PMC PMO PMX use the contents of registers 20 24 as parameters See chapter 5 for more information on Profile Moves Registered Step and Direction RSD This command is operationally the same as Scaled Step and Direction SSD but the scale factor is retrieved from the specified register to allow dynamic scaling See chapter 6 for details on Step and Direction commands Input Modes Three commands Position Input Mode PIM Velocity Inout Mode VIM and Torque Input Mode TIM are used to access three special operating modes The Input Modes use seven data registers for processing position velocity and torque information They allow the servo to use data from an analog input or an external host to directly control motion For example this a good way to configure the servo to respond to a joystick or analog input These powerful commands are beyond the scope of this document See Application Note QCI AN047 Input Mode J
224. tes on the entire I O State Word IOS Jump on Register Greater Than or Equal JGE Jump on Register Greater Than JGR Jump on Register Less Or Equal JLE Jump on Register Less Than JLT Jump on Register Not Equal JNE Jump on Register Equal JRE These jump commands compare a register value to a constant Jump On Register Bitmask JRB This jump command compares a register to a set of 32 bit constants for jump on Bitmasked AND OR NAND or NOR Another option is jump on register range between the two constants See JRB in Command Reference for details SilverLode User Manual Rev 5 00 Page 94 of 159 Chapter 2 Basic Motion and Programming Fundamentals Program Debugging QuickControl provides several debug tools to aid in program development D M n Info T bug eo A e b u g H d e e j View Thread B reakpoints Enter Debug Mode by checking the gt Lei C2 Disable Enable Debug checkbox in the Program Info ene IL Single Step Trace RealTime Trace Single Step Bieak Toolbar presen peseta Programs gt Label Command ae i Download Move forward and back While in Debug mode QuickControl Verkl Bowicseesa ove foai are kack H z R H _ Sealing _Download Run_ J OOP ramp time 50 mSec will highlight the program line as CATA follows Se m 0 e Program Line Being Executed Program List ees PPS Highlight Yellow and italic TLA Program Name 0 ape Ke e Program Line Ready for Single St
225. the Registered Step and Direction RSD command the Dual Loop Control DLC command and the Single Loop Control SLC command Direct Motion Control Inputs The external encoder input function allows the servo to accept a signal from an external source This feature is usually used with an external optical encoder or magnetic resolver but can actually be used with any kind of device that can produce the appropriate signals The three signal types that can be used step and direction step up step down and A and B quadrature were covered earlier in this section Note the SilverDust only accepts step and direction or A B quadrature See Application Note QCI AN019 Electronic Gearing for more details Dual Loop Control In addition to simple encoder following control the external secondary encoder input function can be used in a position feedback configuration This Dual Loop Control operation uses the external secondary encoder signal count to replace the position portion of the internal primary encoder feedback in the PVIA control algorithm The internal encoder position signal is still used for motor commutation velocity estimation and acceleration estimation The SilverLode servo positions itself according to the external encoder source This feature is very useful for two applications high resolution feedback applications and applications requiring feedback directly from a machine or SilverLode User Manual Rev 5 00 Page 152 of 159
226. the device If changing the interface type uncheck the box or no change will occur BRT Baud Rate Change the BAUD rate of the device This does NOT change the PC s baud rate Select Normal mode to choose from a list of baud rates ADL ACK Delay SilverLode User Manual Rev 5 00 Page 66 of 159 Chapter 1 Introduction and Getting Started This command sets the time delay the device waits before sending an Acknowledgement ACK Negative Acknowledgement NAK or data to the Host PC after the device receives a command MCT Motor Constants This command initializes the driver stage to produce appropriate drive signals to the device It is dependant on both the motor type and the supply voltage The Initialization Wizard does this automatically Auto is the default setting and recommended by OC FLC Filter Constants These constants select the cutoff frequency for the velocity and acceleration tuning filters These filters help minimize high frequency noise The default values can be changed by un checking the Use Default For Device checkbox These values are modified when using the QuickControl Control Panel for tuning See Technical Document QCI TD054 Servo Tuning on our website for information on tuning CTC Control Constants This command sets the various servo loop gains used for tuning Variations of these constants in conjunction with the Filter Constants allow oscillation and error to be minimized See descripti
227. the latched bits function as flags to indicate that the associated condition occurred at some time after the last time the flag was cleared The meaning of each bit is explained later in this section Clear Internal Status Word CIS Command The CIS command is used to clear the latched bits of the ISW and IS2 Latched bits must be cleared with this command in order to be reset This makes the CIS command an important part of the Kill Motor feature See Technical Document QCI TD052 Shutdown And Recovery on our website Check Internal Status CKS Command Bit 6 of the Polling Status Word PSW shows the CKS status This allows a host that is polling a device to indirectly use the ISW just by polling The CKS command sets the conditions that will trigger the Polling Status Word bit There are 15 conditions for the CKS command to match the 15 bits used in the ISW The conditions are toggled on and off and then combined with a logical OR This means that if any of the conditions set with the CKS are true bit 6 on the Polling Status Word will be set The purpose of this is to add functionality to the Polling Status Word by allowing one or more conditions of the ISW to be flagged If a host detects that bit 6 on the Polling Status Word is set the host could then check the ISW the host essentially checks the ISW and Polling Status Word using just the Polling Status Word 1 0 3 Disable Low Voltage Disable Over Temperature Disable Select
228. the program as Thread 2 See Multi Thread in Chapter 3 for details Note for SilverDust Rev 06 Program Buffer has been extended to 1023 words Programs using more than 254 words of program buffer require an additional word of overhead in addition to the checksum word count word used on shorter programs This SilverLode User Manual Rev 5 00 Page 88 of 159 Chapter 2 Basic Motion and Programming Fundamentals extra word must be taken into account if manually assigning EEPROM storage addresses It is automatically taken care of is using the automatic management Program Execution Programs are constructed from a series of program type commands Programs enable the device to execute complex operations independent of any external controller Programs can consist of commands from the following categories Initialization Motion Program Flow I O Data Register and Miscellaneous Programs can be created and edited using QuickControl Creating programs involves combining a series of commands together in the desired order downloading the series of commands into the device and optionally storing the series of commands the program in the non volatile memory Only program type commands can be stored as part of a program See the Program Types section earlier in this chapter How Programs Operate Programs execute commands sequentially starting at the first line and continuing until the end of the program or until a command with override cap
229. the servo as quickly as possible immediate stop options may re generate a significant amount of power back into the power rail that could damage the driver circuitry or motor windings of the servo Technical Document QCI TD0006 contains more information regarding QCI voltage clamp modules that safely dissipate the re generated power Note SilverDust IG and IGB have onboard clamp circuits only use with load resistor attached When designing a stop for the motion consider the move velocity load inertia available back EMF protection and importance of the stop condition The Stop STP command not only stops the present motion but also exits the current program and puts the servo into a holding state once stopped The STP command can be formatted to use a specific deceleration use the current move s acceleration parameter to decelerate to a stop or use maximum deceleration to achieve an immediate stop where the target position is set to the present position EI The red stop hand button in the QuickControl Icon Bar is issues an all stop command It sends the Stop STP command to ID 255 and all the servos connected to the PC will stop The Halt HLT command stops the execution of any command program and motion in progress It also disables the servo drive which allows the shaft to spin freely and starts the Kill Motor Recovery routine where the recovery method can be programmed see Technical Document QCI TD052 Shutdown And Recovery on ou
230. this command follows a PMC command the PMC operation will end when the target position is reached effectively changing the functionality of PMC command to act like the simpler PMV command Normally the PMC command will not end unless explicitly stopped by a stop condition Using the PMO command after a standard PMV command will have no effect other than using any new stopping conditions contained in the PMO command PMO will also override other modes if Multi Tasking is enabled e g Step and Direction The Profile Move Exit PMX command will stop any profile move currently executing bringing the servo to a halt using the Profile Move deceleration register 23 Profile Velocity Continuous PVC PVC is a velocity based PMC PVC accelerates the servo to the register based velocity using the register based acceleration During the move any move parameter can be updated either by a Host controller using the serial interface or by an internal program assuming Multi Task EMT is enabled If Multi Task is not enabled the program execution will hold on the PMC command See PVC in Command Reference for more details Note as there is no position parameter the servo can maintain the desired velocity indefinitely SilverLode User Manual Rev 5 00 Page 138 of 159 Chapter 5 Advanced Topics Input Mode Commands Three commands Position Input Mode PIM Velocity Inout Mode VIM and Torque Input Mode TIM are used to access three special o
231. to download the factory default configuration to the E 485 Bridge Note this only configures the E 485 Bridge and does not alter the controller s memory Set All E 485 Bridges to Defaults Press this button to download the factory default configuration to all E 485 Bridges on the local subnet see Set To Default above This is sometimes required before QuickControl can Browse a device For example if a device was previously configured for IP address 10 10 10 200 and was then moved to subnet 10 10 20 Browse would not find it For additional information on the E 485 Bridge see Technical Document QCI TD056 E 485 Bridge Ethernet SilverLode User Manual Rev 5 00 Page 55 of 159 Chapter 1 Introduction and Getting Started Program Line Right Click Pop Up Menu Right clicking on the a program line will bring up a menu with the following items Add Add a new program line below this line Insert Insert a new program line above this line Edit Edit this program line Edit Details Edits the selected program line with all the command details Delete Delete this line Disable Disable this line in a program The program line is grayed out and is not downloaded Enable Enabled a disabled line Expand Collapse Expand or Collapse this Combo Command Test Executes this line For example if the line was a move command the attached servo would move Column Width Set the column widths Toggle Breakpoint Add Delete
232. to the host In addition any device connected to the host can be selected in order to view current position and the active I O states The Main QuickControl Screen is divided into five major sections see figure below The Menu Bar contains pull down menus with all the functions of QuickControl The Icon Bar contains the most often used menu items as shortcuts The Program Info Toolbar displays programming and program information The Program Window displays the active program The Status Log displays messages The Device Status Monitor provides information about all connected devices DEB 1 2 3 4 5 6 FE QuickContr dl QCIMotionPr g1 Device Status Monitor Active Device m Program Line 1 Add Cntl 4 Edit Cntl E ID 16 E counts Insert Cnt Delete Crt D 120 MaS ajaja jajajajaja Progam H Download Download Restart oP i i oo JJ Scaling Download Run Stop Polling Pain Test Line Run w o Download posta Debug E Program List AEREA IGB A23H1 0 of 1023 words used m Device To Program Restart UID 16 016 018 sn 1 716 rev 45 11 0226 2009 GB 016 _ Moto 0CI l Grade 23H e an for Unit IDs 1 through 20 complete Select Setup gt Options to change scan SilverLode User Manual Rev 5 00 Page 26 of 159 Chapter 1 Introduction and Getting Started Menus Bar The Q uickControl Menu Bar provides access to all f
233. tor LEDs latter in this chapter for flash definitions Kill Motor Recovery This program is called whenever a condition set in the Kill Motor Conditions KMC command is tripped This may be modified if special processing is required The default program disables the driver and flashes the green LED twice See SilverLode Indicator LEDs latter in this chapter for flash definitions For example if the device is required to set an error output anytime it detected a jam Moving Error needs to be set in the KMC command because a mechanical jam will induce moving error An appropriate error limit must also be set via the Error Limits SilverLode User Manual Rev 5 00 Page 65 of 159 Chapter 1 Introduction and Getting Started command Finally add a Set Output Bit SOB command to the Kill Motor Recovery program Power Low Recovery This program is called whenever voltage drops below the specified threshold in the Low Voltage Trip LVT command and may be modified if special processing is required on a Power Low condition The default program disables the driver and ends the program Flash Seq A utility program that flashes the green LED the number of times specified in register 11 The program is called by the error programs to flash the LED See SilverLode Indicator LEDs latter in this chapter for flash definitions Factory Block Fault This program is run when a fault has occurred in the Factory Block see Memory Model for detail
234. triggered 11 Yes Reserved 10 N Delay Counter Status of the Delay Counter High when counting down low o Active when count is expired 9 No Holding Error Holding error limit set with the Error Limits ERL command has been exceeded with the device in a holding control state 8 No Moving Error Moving error limit set with the ERL command has been exceeded with the device in a moving control state Internal sensor determines over temperature condition and 7 No Temperature Ok clears this bit when true Bit is shared by drive enable lines on 34 frame servos disable high enable low 6 No IO 3 Status of I O line 3 normally high low when triggered 5 No IO 2 Status of I O line 2 normally high low when triggered 4 No IO 1 Status of I O line 1 normally high low when triggered 3 No Trajectory Generator When the Trajectory Generator is active the device is Active calculating motion i e a move is in progress 2 No SE An index mark on an external encoder has been detected 1 No Internal Index Found An index mark on an internal encoder has been detected An index mark has been detected on the selected encoder 0 No Index Found A external or internal Only one 120uSec cycle wide Latched bits can be cleared using the CIS command This word is accessible in two ways with the Read I O States RIO Immediate command sent from an external host and through a large number of different Program commands t
235. trol Torque 9 T Strip Chart User 11 I Log to File User or Input Source Data 12 User or Input Offset 13 User or Input Dead Band 14 User or Maximum ScalelLimit 15 User or Maximum Output Scale 16 User or Output Offset 17 gt Sort 1 Alphabetically 3 Select register 5 Delay Count and Register to view the timer register Press OK to bring up the format window Select the desired data format Long and ULong display the exact contents of the register with no units This is useful for inputting basic numbers or for viewing SilverLode native units The Hex option translates the contents from decimal to hexadecimal This format allows easier analysis of individual register bits Position Acceleration Velocity and Time options all scale the register value using the current QuickControl units For information on native units and QuickControl scaling see chapter 2 Select Long to display register 5 in native units 4 Clicking OK a final time places the register into the tool Click on the data box of register 5 which currently contains a zero Enter a numeric value of 10 000 or greater Once the value has been typed press enter At that moment the value typed in will be transmitted to the servo and immediately begins decreasing The Delay Count register is a specialized register that is automatically decremented each servo cycle As demonstrated here QuickControl is also constantly reading registers
236. tting Started Initialization Wizard Options Selecting the Options button will allow you to change the initialization options Restart on Download default checked This option selects whether the device is to be restarted automatically after each initialization file download In order for any changes in the initialization file to take affect the device must be restarted The device can be manually restarted by pressing the Restart button on the Program Info Toolbar or by cycling the device s power If you are changing the Identity Baud Rate Serial Interface or Protocol delaying the restart until all user programs have been downloaded may simplify the process Maximum Velocity Scale default 4000RPM This option allows the user to select the default 4000 RPM or to change the velocity scaling in the system for lower top speeds With a lower top speed the scaling for velocity parameters as well as the actual velocity registers is changed so that a full scale value for each of these will correspond to the selected velocity The velocity and acceleration terms in the CTC and FLC commands may need alteration to be lowered in your application if a value other than 4000RPM is selected Velocity control for systems that do not need higher velocities may be improved by selecting a lower Maximum Velocity Advanced Line Resistance default unchecked This option causes an addition dialog box to appear anytime a device is being initialized that allows
237. tures and Commands when moving or when holding position This means that the servo can switch to open loop control whenever the position error is low enough so an entire move could be executed using open loop control Error Limits ERL and Torque Limits TQL Commands These commands are covered in their own sections but are important for Anti Hunt When the servo enters Anti Hunt the ERL delay timer starts Until the timer expires the servo applies torque equal to the open loop moving torque limit as set by the TQL command After the timer expires the servo uses torque equal to the open loop holding torque limit This is true even if the AHM command is set to allow Anti Hunt operation while moving or stopped In this case once the ERL timer expires the servo will use the open loop holding torque limit torque during the move If the optional closed loop torque condition has been enabled with the AHC command the Check Holding Currents box in QuickControl the servo will compare the closed loop torque being used to the open loop moving torque limit before the ERL timer expires After the ERL timer expires the servo compares closed loop torque to the open loop holding torque limit Multi Tasking Multi tasking is a very important feature of the device A SilverLode servo can execute programs with multi tasking either enabled or disabled With multi tasking disabled a program executes one command at a time If acommand starts a move that take
238. ugh to cause a problem Drag Mode allows the control algorithm to forgive excessive position error and prevents extreme motion Smaller settings of the error limits with drag mode enabled allows the unit to slip when the error is exceeded emulating a slip clutch Drag Mode is enabled with the ERL command In Drag Mode when an error limit is reached moving or holding the device adjusts the target position so that it differs from the actual position by no more than the error limit Note the Holding and Moving status bits are still set in the Internal Status Word ISW and will cause a shutdown if they are used in the kill motor condition commands KMC and or KMX Some examples of Drag Mode are A SilverLode servo can be configured to emulate a mechanical slip clutch For this application the ERL command is used to set the error limits and enable Drag Mode and the Control Constants CTC command is used to tune the response When configured for this operation the servo will resist any external force on the shaft with a tunable amount of torque and will not fly back to its original position when the external force is removed e Ifthe shaft were jammed the actual position would not change since the shaft would be stuck Drag Mode would freeze the target position until the jam was cleared preventing the target position from running away The target position would freeze a number of counts away from the actual position equal to the holdin
239. unctions of the software These pull down type menus offer many selections that can bring up other menus to accomplish certain objectives Above the Menu Bar next to the QCI logo A QuickControl name is the active filename being displayed in the QuickControl Program Window See Menu Details below for more information BS QuickControl QCprog1 File Edit View Programs Tools Setup Window Help File Menu Edit M o New Program File Opens blank program template New Sequence File Advanced Feature see Technical Document QCI TD025 Events and Sequences Open Opens a saved file Close Closes the active file in QuickControl Save Saves the current file Save As Saves the current file with user set parameters Program File Properties Contains scaling password protection and user defined names This dialog box can also be accessed by pressing Scaling on the Program Info Toolbar See File Menu Details below for more information Upload Program File Retrieves the current program residing in non volatile memory See File Menu Details below for more information Print Prints the active QuickControl Program file to the default printer Print Setup Allows the user to change printer and paper settings All Halt Sends the All Halt command Recent Files Displays a list of files recently open in QuickControl Exit Closes the current files opened and exits QuickControl enu Cut Removes h
240. up in the real world Enter your packet in the selected Display Format You can freely switch between Display Formats while entering a Custom Transmit packet For example you would like to enter the packet This is a test packet with a 0 at the end and a 0x02 hex at the beginning Switch to ASCII and enter the string Switch to Decimal cursor to the end and enter 0 Switch to Hex cursor to the beginning and enter 02 Your packet is complete Switch between the three formats as much as you like Press the Transmit button to send the packet Add CR or Add CS or Add CRC Depending on the Communications Protocol pressing this button will add an 8 Bit ASCII Carriage Return decimal 13 hex 0x0D a 9 Bit Binary Checksum or a Modbus CRC to the end of Custom Transmit line This is useful for creating custom packets SilverLode User Manual Rev 5 00 Page 50 of 159 Chapter 1 Introduction and Getting Started Diagnostics The Diagnostics dialog box displays the real time states of all the Diagnostics for Device Dev 1 16 Status Words states in real time Test Encoder commonly used status words For those status words that are part of the KMX or KMC command the Kill motor column will display Kill if the corresponding bit was the cause of the Kill Motor The Kill Motor LED top right of dialog box will be red if a Kill Motor is in effect and green otherwise Test Encoder Press this button and follow
241. ures and Commands Internal Status Word 3 IS3 Description The meaning of each bit in the IS3 is explained in the table below The description for each bit indicates the condition indicated by a 1 in that bit 1S3 is the lower word of register 203 Bit Latched Definition Description 15 No Reserved 14 No Reserved 13 No Multi Tasking Active 1 active Driver Enabled 1 allows driver to remain on while in Kill Motor 12 No at KMR Entry Recovery program if multitasking is active when fault occurs 411 No Driver Disabled DMD 1 driver disabled via enable disable command or because of fault 10 No Reserved 9 No Reserved 8 No Reserved 7 No Reserved 6 No Anti Hunt Mode 0 Standard 1 Allow Anti Hunt while motion active Mode set by Closed Loop Mode CLM command S No serve Coop Made O Position 1 Velocity Index Phase Alignment Index Phase Alignment was enabled during 4 No SE Active initialization and is currently being used 3 No Reserved Index Phase Alignment 0 Normal 1 realignment from index has occurred 2 No Fault normally due to encoder counts lost 1 No Reserved 0 No Reserved SilverLode User Manual Rev 5 00 Page 107 of 159 Chapter 3 Unique Features and Commands Internal Status Word 4 154 Description SD 05 The meaning of each bit in the IS4 is explained in the table below The description for each bit indicates the condition indicated by a
242. ut line is once every servo cycle every 120 usec These functions can be used in many different types of applications This chapter covers each UO function s operation the commands used with each function and the different uses for each function in an application Input and Output Operation The SilverLode servo has seven fully programmable I O lines Each line can be used as a digital output or a digital input while some of the lines can be used as analog inputs or configured for special uses Each I O line can be configured dynamically either by a program or by an external host This section covers the functions that the I O lines can be used for the operation of the I O lines and the conflicts that can occur between different I O functions UO Lines The I O lines on the servo are TTL level TTL LVTTL signals are 0 or 5 V and 0 or 3 3 V respectively TTL signals are only capable of driving low currents QCI offers an optical isolation module designed to work with the I O lines that provide input and output optical isolation and can handle larger currents 1 O lines 1 through 7 can be used as digital inputs or digital outputs UO lines 4 through 7 can be used as digital inputs or outputs but can also be used as analog inputs When used as analog inputs they must receive a 0 to 5 V signal for the SilverNugget and 0 to 3 3 V for the SilverDust An understanding of the electrical characteristics and requirements of the seven I O lines is
243. uting Enabling multi tasking allows the device to execute commands sequentially as normal while allowing a motion command to complete the background e Multi Threading SilverDust Rev 27 and new have the ability to run two programs at the same time e Specialty Commands The Calculation CLC CLX CLD and Write Command Buffer WCW WCL commands are very useful for some applications Properly using them requires a solid understanding of binary numbers but accesses some very powerful features of the device Status Words For a SilverLode servo a word is defined to be a 16 bit number two bytes Three special status words provide a wealth of information about the operating state of the device the Polling Status Word PSW the Internal Status Word ISW and the I O Status Word IOS The information contained in the 16 bits of these words can supplement information available elsewhere in the device such as in the data registers or can provide information not available anywhere else Proper use of these SilverLode User Manual Rev 5 00 Page 99 of 159 Chapter 3 Unique Features and Commands words is critical for proper program flow when the device is in the standalone or hybrid configurations and useful for almost any host application This section describes each of the three status words the meaning of each bit in each word and the commands used to read and work with the words Diagnostics for Device Dev 1 16 Oi x
244. which conditions to check Press the buttons to Ser Ee ren e Cancel Index Found Disable Moving Error From Error Limit Disable Last Calculation Was Zero Disable Holding Error From Error Limit Disable Last Calculation Was Positive Disable Halt Command Was Sent Disable Last Calculation Was Negative Disable Input Found On Last Move Disable 140 1 Disable Wat Delay Count Exhausted Disable 170 2 Disable Over Voltage Disable ite we iwe SilverLode User Manual Rev 5 00 Page 105 of 159 Internal Status Word 2 IS2 SD05 Chapter 3 Unique Features and Commands The meaning of each bit in the IS2 is explained in the table below The description for each bit indicates the condition indicated by a 1 in that bit 152 is the upper word of register 236 SD GE SE Bit Latched Rev Definition Description 15 No 6 UO 7 IO 7 bit 14 No 6 UO 6 1 O 6 bit 13 No 6 UO 5 IO 5 bit 12 No 6 UO 4 1 O 4 bit 11 No 25 Thread 2 Running Thread 2 Running 25 CAN Communication Error 10 No CAN Comm Error See 2000h Critical Error Mask in CANOpen User Manual for details 6 Check data passed through the isolation barrier to the extended IO and back to the processor was S YES Extgndad OF allt corrupted Indicates loss of 24v IO power and or ground 6 Encoder signals analog levels out of specification indicating the connector is loose or n

SilverLode™ Servo Family User Manual

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SilverLode™ Servo Family User Manual