SimStep manual - Mclennan Servo Supplies Ltd.
Contents
1. 31 Sim Step Manual 3400 Iss G 9 August 2007 page 2 1 Description The system is a single axis stepper motor control and drive rack Motor motion is commanded either from a computer or from a terminal via the RS232 or RS485 serial data port or from a manual Jog Box or Joystick controller The controller can drive stepper motors in open loop step counting mode or encoded motors mechanisms in closed loop mode The controller consists of 1 MSE570 Evo2 3 5A Stepper Drive 1 PM600 Motor Controller 1 MSB867 Backplane 1 MSE779 Power Supply Board These are mounted in a 30 high 28HP rack unit Sim Step is supplied with a mains lead an RS232 cable and an RS232 terminator A range of standard motor encoder limits datum and I O cables are available Fig 1 1 Sim Step Front View The system has a PM600 controller and a MSE570 Stepper drive powered by a power supply based on the MSE779 power supply board The PM600 controller and the MSE570 plug into the MSB867 backplane Step clock and direction signals from the PM600 are fed to the MSE570 Stepper drive The bipolar stepper motor is connected to the MSB867 backplane via a rear panel connector Sim Step Manual 3400 Iss G 9 August 2007 page 3 The PM600 position controller generates the clock and direction signals for the MSE570 drive in response to move commands2. 26 27 9 2 TYPICAL CONNECTIONS 4 ta tn 27 9 3 READ PORTO 27 9 4 WRITE PORTS 28 9 44 Inductive 28 SEQUENCE a 28 10 1 SEQUENCE DEFINITIONS sed scstacicini stcaianadaccieitacacancntoasacaiaccacansaaccatsantsiaisnnaciaadensduaianaicaaideadsieadnecsiends 28 10 2 CONFIGURATION 29 10 3 RUN SEQUENGE dann a eda px CERE FE VL YES CERE FE TUR 29 ORDER CODES mM NR Rcx 30 MESES ET 30 112 MOTOR ENCODERS CREE TA DPA 30 E 30 11 4 JUNCTION BOXES rk PI D 30 11 5 Joa BOXES 30 1 156 30 LIMITATIONS OF USE
3. 18 MANUAL OPERATION USING THE JOG BOX OR JOYSTICK cec nenne nennen nnne 19 TA oGBOXESP JG SERIES i i i o a t ex ean dd Cn a Paw e ed gu d eun d Ur t E raii 19 7 2 SINGLE AND DUAL Axis JOG BOX 2 2 2 nennen nennen nennen nennen 20 7 3 MurTI AXIS JOG BOX OPERATION 20 7 4 JOYSTICK JG SERIES iac ee etre e Eres e eh x eam d d d td 21 7 5 JOYSTICK OPERATION scires et a er EY E Ra NE d a Pon d d a yd d td a un d aua 21 PM600 INTELLIGENT STEPPER MOTOR CONTROLLER esee 22 8 4 GENERAL dd usd eu duda 22 8 2 SETTING UP THE ENCODER CLOSED LOOP CONTROL MODES 22 8 2 1 TermihatiQn o Ono woe nai edu na 22 6 2 2 Encoder Scaling ii a iet En slant oi 23 8 2 3 Encoder DeO O 23 8 3 PROGRAMMING VIA THE RS232 INTERFACE ccce nemen nennen nennen nennen nennen nnne 23 8 4 GENERAL COMMAND STRUCTURE 4444 0 25 8 5 EXAMPLES OF COMMAND 25 CABLE AND BREAKOUT
4. Fig 3 1 Motor and Limit Datum Cables 3 2 Electro magnetic Compatibility EMC The Sim Step complies with EN 50081 1 and EN50082 1 when properly with cables that use EMC connectors The cable used to connect the motor to the drive should be a screened twisted pair type The screen should be connected at both ends of the cable On the drive end the screen should be connected to earthed metalwork of the case and on the motor end the screen should be connected to the motor body The EMC profile may be improved by fitting ferrite sleeves to the motor cables For cable diameters from 7mm to 8 5mm use RS part number 260 6492 For cable diameters from 8 5mm to 10mm use RS part number 309 7962 Sim Step Manual 3400 Iss G 9 August 2007 page 10 3 3 Encoder Cables The Sim Step can be connected to the encoder via an encoder cable that is equipped with connectors at each end One connector plugs into the controller the other into the motor encoder extension cable as shown in fig 3 2 Alternatively if the motor has a connector box the cable can be plugged in directly pug m Datum eum Motor encoder Encoder Cables Type 507 01893 507 02893 507 03893 507 05893 507 10893 Fig 3 2 Encoder Cable 3 3 1 Typical Motor Encoders Frame size Motor Encoder Order Code Size 23 23HSX 206 CI 500L 301 5 00053 23HSX 306 CI 500L 301HSE00054 Size 34 34HSX 10
5. 38 3 NJ 4W 3 NJ Of On 23A 25A 27A 29A 30A 31 33A 35A WARNING Failure to make the correct current settings can damage the motor Sim Step Manual 3400 Iss G 9 August 2007 page 18 7 Manual Operation Using the Jog Box or Joystick The Sim Step controller can be operated in manual mode by means of either a jog box or joystick These devices should be connected to the Jog connectors on the rear of the unit 7 1 Jog Boxes JC Series JC Series Jog boxes provide a convenient way to manually control motor control systems Three models the JC100 single axis the JC200 dual axis and the JC809 multi axis are available and provide the following manual control functions Bi directional single step jog function by momentary depression of or buttons e Slow speed continuous operation in desired direction by the depression and holding of the or buttons The speed of movement can be programmed using SJ command into the Sim Step during commissioning e Fast speed continuous operation in desired direction by depressing amp holding the F button together with either the or button The fast positioning rates are can also be programmed using SF command into the Sim Step during commissioning Figures 7 1 to 7 3 show the connections of the JC series Jog Boxes to the Sim Step For single axis drives specify JC100 Jog box and connect it to t
6. TERT ATO Fig 1 2 Sim Step Rear Panel Connections for motors limits datum I O encoders RS232 and mains are taken from the MSB867 backplane to connectors on the rear panel Sim Step Manual 3400 Iss G 9 August 2007 page 4 The mains input is a filtered IEC inlet The MOTOR connector has outputs from the PM570 Evo2 stepper drive to connect to a bipolar stepper motor WARNING Serious damage will occur if the motor is connected or disconnected whilst the power is switched on Allow 30 seconds after switching off The LIMITS DATUM connectors have inputs for the Upper and Lower Limit switches a Datum Approach switch and a Datum Stop switch The connections to the Limit switch inputs must be made for normal operation of the PM600 controllers Limit switches must not be used as a safety device or part of a safety system for ensuring the safety of persons The ENCODER connector is for the position encoder input It has a 5V supply to energise the encoder complementary quadrature inputs and complementary index inputs The JOG A and JOG B connectors have inputs for Jog pushbuttons a Joystick control and data connections for a JC809 Jog Box They have connections for Jog Jog and Jog Fast pushbuttons compatible with a JC100 Jog Box and 5V OV Joystick input and Joystick centre tap compatible with a JC400 Joystick The JC100 and JC400 may be plugged into either connector If using a JC809 Multi axis jog box the axis
7. WP1 RP1 WP2 RP2 WP3 RP3 WP4 4 WP5 RP5 WP6 RP6 WP7 RP7 WP8 RP8 o WP com RP com Diode com N C VLL VLL ov oV Screw Terminal connections Fig 9 2 VO Breakout Box Connections Sim Step Manual 3400 Iss G 9 August 2007 page 26 9 1 Isolation The Read Port inputs and Write Port outputs are opto isolated A 24V nominal supply must be used as the common for these inputs This supply can either be a separate external supply or the Sim Step s internal 24V supply If the internal supply is used then the WP com terminal must be connected the VLL terminal on the Breakout box and the RP com terminal must be connected the OV terminal on the Breakout box If a separate supply is used then the WP Com terminal must be connected to the 24V terminal of the external power supply and the RP Com terminal must be connected to the OV terminal of the external power supply The 24V output from the external supply can be used for the common of the switches 9 2 Typical Connections Typical Output Line Connections Typical Input Line connections WP RP Ow current Relay WP com Diode com 4VLL ov S Fig 9 3 Typical Connections to the Breakout Box Typical Output Line Connections Typical Input Line connections Low current Relay Diode 24V OV External PSU Fig 9 4 Typical Connections using an External Supply 9 3 Re
8. this is the deadband around the centre position If the joystick is moved by less than the deadband value the motor will not move Note You must use the 1BD backup digiloop command in order to store these parameters otherwise they will be lost when power to the controller is switched off For further information refer to the Joystick Calibration section 2 19 of the PM600 manual Sim Step Manual 3400 Iss G 9 August 2007 page 21 8 600 Intelligent Stepper Motor Controller The PM600 is a microprocessor based unit for controlling servo or stepper motors The controller has a wide range of functions available these are described in detail in the PM600 manual included with this documentation The Sim Step will operate under manual control with either a jog box or joystick or can run under remote control through the RS232 or RS485 interface Basic information on the command structure and the RS232 interface is given below the user should refer to the PM600 manual for complete details 8 1 General The PM600 s switches have been set as follows RS232 Control The controllers are set to axis address 1 The baud rate is set to 9600 baud The word mode is set to 7 bits even parity Quiet mode is selected Rotary switches SW1 and SW2 set the axis address These are set to the actual address required SW3 sets the communication configuration For further information refer to the Switch Setting section 10 of the PM600 m
9. Parity Even Flow Control None Once the communications software has been set up the remote computer should be connected to the Sim Step via the RS232 IN port Multiple Sim Step units can be daisy chained together to build multi axis systems Rotary switches SW1 and SW2 on the PM600 card are used to set the units axis address 0 to 99 This is the address of the serial commands that it will respond to Each controller in a system will be set to a different address The switches on the PM600 are accessible by removing the slotted top cover of the unit The left hand switch SW1 sets the decade value and SW2 sets the units They can be set using a small screwdriver See figures 8 2 and 8 3 Note that the RS232 loop back connector must be fitted to the RS232 OUT connector of the final Sim Step in the RS232 chain Sim Step Manual 3400 Iss G 9 August 2007 page 23 10 1 SW3 ON 3 12345678 swi SW2 1 ULOAD LD1 LD2 LD3 L o o 8195752 no f re sware Fig 8 3 Positions of PM600 Switches SW1 SW2 and SW3 Sim Step Manual 3400 Iss G 9 August 2007 page 24 8 4 General Command Structure The PM600 responds to a char
10. Sim Step Manual 3400 Iss G 9 August 2007 page 12 4 2 Connecting The MSA889 Junction Box Motor Lead connections 4 Lead motors Link for parallel Operation Motor Lead 507MOCxx892 Link for series Operation Motor Lead connections 8 Lead motors Ej Motor Lead 507 892 gt H M Motor Leads T RRQONMN 4 Junction Box MSA889 Fig 4 5 Series Motor Coil Connections Sim Step Manual 3400 Iss G 9 August 2007 page 13 4 3 Connection of Limits And Datum Limits datum cable VLL 507LDCxx894 Limit datum connections EB over travel limit over travel limit EM datum approach BE EM datum stop BI abort stop OVLL VLL Upper Limit VLL Lower Limit Datum App VLL Datum stop VLL Abort stop C Allow sufficient deceleration over tr
11. The PM600 enable output is connected to the enable input of the MSE570 drive If the PM600 s enable output is turned off e g as a result of an error the motor current will turned off The enable output may be turned off by an AB abort command or reset turned on by an RS command see Section 6 4 The dle output from the PM600 is connected to the current reduction input on the MSE570 to reduce the motor current to about 25 when the motor is not moving An incremental encoder can be fitted to the motor or mechanism to monitor the movement of the mechanism The quadrature signals from the encoder are connected to the PM600 to allow passive closed loop operation The system is initially supplied with the PM600 configured for open loop operation The PM600 must be reconfigured for closed loop operation see Section 8 2 The MSB867 has a multi axis jog receiver it allows the PM600 s Jog inputs to be controlled by a JC809 Jog Box The axis addresses shown on the JC809 may be changed by altering the settings of the rotary switches accessible by removing the top cover of the unit The power supply provides 24V nominal to energise the supply rail on the PM600 controller and 40V nominal to energise the supply rail on the MSE570 drive The PM600 manual referred to in this document can be found on www mclennan co uk 1 1 Rear View lt 2
12. as datum inputs In applications where space is limited the over travel OVLL limit switches may also be used as the datum stop switch In the example shown the lower limit switch is E A also connected to the datum stop input and the Lower Limit controller is configured to utilise the high speed ver datum approach facility VLL Datum Stop VLL Abort stop Fig 4 6 Limit Datum Connections Sim Step Manual 3400 Iss G 9 August 2007 page 15 5 Power Supply Unit The power supply unit used in this system has been designed to energise an MSE570 stepper drive and a PM600 Position Controller It provides the unregulated logic supply of 24V nominal to the PM600 and an unregulated supply of 40V nominal to the MSE570 There is a mains fuse fitted in the mains inlet its rating is 2A anti surge There are two front panel fuseholders that protect the DC outputs of the power supply The rating of the fuses are 3 15A for the motor rail and 1A for the logic rail The mains voltage may be changed from 230V to 115V by changing the position of the links on the MSE779 PCB Fig 5 1 Mains Voltage Selector Sim Step Manual 3400 Iss G 9 August 2007 page 16 6 MSE570 Stepper Drive The MSE570 stepper drive translator is a 3 5A per phase bi polar stepper drive The clock and direction signals from the PM600 controller are converted into chopped constant current drive levels to energise a bipolar stepper mo
13. or buttons causes the motor to move at the Fast Jog SF command speed that has been programmed into the PM600 see pages 7 48 and 7 49 of the PM600 manual 7 3 Multi axis Jog Box Operation The MSB867 interfaces between the JC809 Multi axis Jog Box and the PM600 It communicates to the JC809 via signals transferred over a RS485 link The outputs from the MSB867 connect to the PM600 s Jog inputs Connecting the Jog Daisy Chain lead between the JOG B connector on one system to the JOG A connector on the next system allows further systems to be connected to the JC809 A rotary switch on the MSB867 sets the axis address that is shown on the JC809 This switch is accessible by removing the rear top cover of the unit A setting of 0 will mean that the axis cannot be controlled by the JC809 The default axis is 1 but any axis between 1 and 15 can be selected Note that axes 10 11 12 13 14 and 15 are represented by the letters A B C D E and F respectively Fig 7 4 Jog Axis Selector Sim Step Manual 3400 Iss G 9 August 2007 page 20 7 4 Joystick JC Series The JC Series Joysticks provide an alternative way to manually control motor speed The JC400 is a dual axis Joystick that can be used to control either one or two axes The JC400 is connected in a similar way to the JC100 and JC200 Jog Boxes shown in figures 7 1 and 7 2 7 5 Joystick Operation In order to set the joystick parameters the RS232 connection must be connected t
14. over temperature activates PM600 abort stop input On LK3 Drive overload activates PM600 abort stop input On LK4 to LK7 1 2 selects RS485 2 3 selects RS232 RS232 LK8 Select internal on or external off abort stop Internal LK1 If LK1 is on the current to the motor will be reduced to about 25 of the current set on the drive when the motor has finished its move and the controller returns to Idle The primary use of this function is to reduce the heating effect caused by the motor It is not intended to produce a precise holding torque If LK1 is removed the motor current will remain at the current set on the drive This setting is usually only needed when a high holding torque is required E g when driving a mechanism with an offset load LK2 If LK2 is on over temperature fault detected on the drive output stage will cause the controller abort stop input to be activated LK3 Likewise if is on an overload fault detected on the drive output stage will cause the controller abort stop input to be activated LK4 7 These two position links select either the RS232 or RS485 communication interfaces When the links LK4 to LK7 are all in the 1 2 position RS485 is selected and when all in the 2 3 position RS232 is selected If using RS485 communication The last Sim Step in the line should have SW3 8 on the PM600 switched to the ON position This selects a 100Q terminating resistor See figs 8 2 and 8 3 in section 8 3 If L
15. 100 line encoder 400 counts per revolution mounted on a 400 step per rev motor then the encoder scaling factors Encoder Numerator and Encoder Denominator can be left at their default of 1 otherwise they will need to be changed If the Encoder Numerator EN is set to the number of motor steps per revolution and the Encoder Denominator ED is set to the number of encoder counts per revolution then the ratio will be correct For example if a 400 step per revolution motor fitted with a 500 line 2000 counts encoder then set the Numerator to 400 and the Denominator to 2000 ER400 2000 or EN400 ED2000 8 2 3 Encoder Direction On switch on both the Command Position and the Actual Position will both be at zero Try a test move e g MR1000 and query the positions with the OC and OA or QP commands to ensure the scaling is correct If one is the negative of the other then the sense of direction needs to be reversed by either swapping the A and B signals OR by setting the Encoder Numerator to a negative value 8 3 Programming via the RS232 Interface Any suitable communication programme can be used to communicate with the Sim Step controller For example the MyTerminal programme available from www Sim Step co uk or the Windows Hyper Terminal programme can be used to make the communications link Whichever software is used the communications interface is set by default as follows Baud Rate 9600 Data Bits 7 Stop Bits 1
16. 2 11122222212 1xs3 1122222122 1 54 1 52 1es 1ds3 1wp22222002 1ma1000 1we 1wp22222012 1wa22222202 1xs2 1es 1ds4 1wp22222002 1ma5000 1we 1wp22222102 1wa22222022 1xs2 1es 1bs 1 0 Sequence 2 Scan for Move inputs Is Move 1 input on Yes do move Is Move 2 input on Yes do move No rescan inputs Sequence 3 Move 1 Turn off At Position outputs Move to position 1000 Wait for end of move Turn on At Position 1 output Wait for Move 1 input to go off Goto input scanning sequence Sequence 4 Move 2 Turn off At Position outputs Move to position 5000 Wait for end of move Turn on At Position 2 output Wait for Move 2 input to go off Goto input scanning sequence Save sequences Execute sequence 0 on power up 10 2 Configuration Configure the Sim Step to set the position to zero when the datum position is found This will mean that moves are relative to the datum position 1dm00100000 1bd Set datum position to home position 0 Save settings 10 3 Run Sequence Either the sequence can be run by sending a 1xs command or as sequence 0 has been set as an automatically executing sequence by cycling the power to the Sim Step Sim Step Manual 3400 Iss G 9 August 2007 page 29 11 Order Codes 11 1 System Type Order C
17. 8 RI 500L 301HSE00055 34HSX 208 RI 500L 301HSE00056 Sim Step Manual 3400 Iss G 9 August 2007 Cable length page 11 4 Motor Connections 4 1 Colour Code for 8 lead motors The motor will have eight leads that can be identified as shown in figure 4 1 Fig 4 1 Eight lead 23 amp 34 frame size motors Motor Lead identification 1 1 2 2 3 3 4 4 HS Red White White Yellow Black White White Orange Series Red Yellow Black Orange or Red Black White White White White Orange Green Hed Green Black 23HSX Red White White Yellow Orange White White Brown Red Yellow Orange Brown 34HSX Red White White Yellow Black White White Orange Red Yellow Black Orange The motor can be connected into the MSA889 junction box as shown in fig 4 4 Internal links select parallel or series operation This function is shown in figures 4 2 and 4 3 Phase AO 2 2 T 1 Phase A O Phase BO Phase B O Fig 4 2 Coils in Parallel Phase AO 2 2 1 1 Phase A Phase BO Phase Fig 4 3 Coils in Series The maximum drive current for coils wired in parallel is the unipolar motor phase current rating x V2 The maximum drive current for coils wired in series is the unipolar motor phase current rating V2 To reverse motor direction swap the connections to one phase E g swap B with B
18. K8 is removed off the external Abort Stop input selected Pins 7 and 14 the Limits Datum connector must be linked via a normally closed contact or switch to enable moves Sim Step Manual 3400 Iss G 9 August 2007 page 6 2 External Interface Connections MAINS suppl Connector type IEC chassis plug L N Live input 115 230 AC Internally selectable Neutral input Earth THIS UNIT MUST BE EARTHED MOTOR Connector type HAN 4A socket Mating Cable 507 892 xx length Terminal Connection 1 Motor Phase A Motor Phase A Motor Phase B 2 3 4 E Motor Phase B Screen LIMITS DATUM REDO Connector type 15 way D Plug Mating Cable 507LDCxx894 xx length Terminal 7 10 11 12 13 14 15 ___ e Link pins 3 and 10 to enable positive moves Link pins 4 and 11 to enable negative moves Link pins 5 and 12 for fast datum search If external Abort Stop selected link pins 7 and 14 to enable moves Sim Step Manual 3400 Iss G 9 August 2007 page 7 ENCODER BLUE Connector type 15 way D socket Mating Cable 507 893 xx length Terminal Channel A Channel B Channel V 7 PC O PC O 11 Channel A Channel B 13 Channel I 15 Terminal 7 Lo Read Port Common Isolated 0V OV Controller OV Refer to PM600 Manual sections 2 18 and 3 16 for typical connections Term
19. Mclennan Servo Supplies Ltd User Manual for Single Axis Stepper Drive amp Controller User Manual for Sim Step Single Axis Stepper Motor Drive and Controller Mclennan Drg No 3400 Issue G Associated Documents MSE570 E2 Data Sheet PM600 Manual Software McTerminal Terminal and Monitor Program The associated documents are available from the technical documents section of our web site www mclennan co uk SAFETY NOTICE Position control systems are inherently hazardous Even a small motor if coupled to a leadscrew gearbox or any other form of mechanism that provides a mechanical advantage can generate considerable force and could cause serious injury Incorrect operation can also lead to damage to the motor or associated machinery It is essential that the purpose of the various fault detection features built into the Sim Step s PM600 controller be fully understood and used correctly Mclennan Servo Supplies Ltd Unit 1 The Royston Centre Lynchford Road Ash Vale Surrey GU12 5PQ UK Telephone 44 0 8707 700 700 FAX 44 0 8707 700 699 Sales EMAIL sales mclennan co uk Technical support EMAIL tech mclennan co uk The manufacturer reserves the right to update the data used in this manual in line with product development without prior notice Sim Step Manual 3400 Iss G 9 August 2007 page 1 CONTENTS 1 10 11 12 DESCRIPTION MET
20. TE coved 3 LS MEW MM 4 ka 6 EXTERNAL INTERFACE 7 e NIAE 10 3 1 MOTOR AND LIMIT DATUM 5 10 3 2 ELECTRO MAGNETIC COMPATIBILITY EMC sssssssssesessseeeee ener 10 39 9 ENCODER OABLES a rire dri Fe ada Diae dap EE 11 3 8 1 Typical Motor Encoders esses seines easet 11 MOTOR CONNECTIONS aesa 12 4 1 COLOUR CODE FOR 8 LEAD 5 12 4 2 CONNECTING TO THE MSA889 JUNCTION BOX 13 4 3 CONNECTION OF LIMITS AND 14 40d Datum PoslllOh t reo 15 4 3 2 Using Over travel limits as datum inputs esses eene 15 POWER SUPPLY UNIT 2 16 MSE570 STEPPER 17 6 1 GENERAL SETUP cnr rr ch ra den ra c ra ea e FO Ro e Fa e FE ara E FE d au y 17 6 2 CURRENT nen rr n ri d d d e d e d e d d d d d d d da d 17 6 3 OTHER MSE570 CURRENT
21. acter string sent over the RS232 interface that defines a command in the following way adXXnnn cr where ad address for the axis see 8 1 above XX command notation all commands are two letters nnn numeric value for the command argument if required lt gt carriage return Command strings must be terminated with a carriage return ASCII OD hex Upper or lower case characters maybe used for the command Spaces in the command line are ignored Commands are acted upon sequentially as they have been entered 8 5 Examples of Command Structure Set up commands 2SA5000 Set Axis 2 acceleration to 5000 steps sec 1LL 20000 Set Axis 1 lower software limit to 20000 steps 10A Query all settings for Axis 1 MOVE COMMANDS 1MR5000 Move Axis 1 relative to current position by 5000 steps 1ST Soft stop on Axis 1 2MA 2000 Move Axis 2 to absolute position 2000 steps 20A Output the encoder position of Axis 2 The Sim Step controller responds to all commands once the command has been accepted However not all commands can be accepted immediately For example a move command sent whilst a previous command is still taking place will be delayed until the previous one is finished Commands in general will have an OK response Some commands however will produce a numeric response 0 2 or produce string of data e g 1QA All replies are preceded by the address of the axis that generated the response e g for axis
22. ad Ports The read ports can be connected to a PNP signal output a switch or another Sim Step s write port The RP Read input Port command is used to check the operation of the read ports This instruction returns an eight digit binary number of either 0 or 1 characters to represent the current state of the read port These start with read port 8 through to 1 Referring to figures 9 3 and 9 4 a 1 represents a closed switch and a 0 represents an open switch The input voltage that is considered as a logic 1 signal is 10 35V and the input voltage that is considered as a logic 0 is 0 5V Sim Step Manual 3400 Iss G 9 August 2007 page 27 9 4 Write Ports The write ports can be connected to an indicator LED an opto isolator a low current relay or another Sim Step s read port The WP bit pattern command is used to write to the output port The bit pattern is specified as an eight digit binary number The digits will be either characters 0 1 or 2 starting with write port 8 through to 1 A 0 defines that the output will be off a 1 defines that the output will be on and a 2 defines that the output will not change from its current state The power on states of the write ports are 00000000 i e all off The outputs are rated at 50mA 35V 9 4 1 Inductive Loads The write ports must not be reverse biased If used to drive an inductive load such as a relay then protection diodes must be used If using an MSE891 this can be done by conn
23. address that is assigned to Jog is set on the MSB867 interface board using a rotary switch see section 5 2 The JC809 can be connected to other axes by using a Jog daisy chain cable plugged into the vacant JOG A or JOG B connector The Jog Terminator supplied with the JC809 must be plugged into the vacant connector in the last axis in the daisy chain The I O connector has inputs and outputs from PM600 s Read inputs and Write outputs There are also connectors for RS232 IN for connecting to the computer or terminal that supplies the control data and RS232 OUT for connecting either to a subsequent control rack daisy chain or to an RS232 terminator These connectors can also be configured for RS485 communications see section 1 2 Note The RS232 Terminator supplied with the control system must be fitted to the last unit in the daisy chain This allows both replies from and commands sent to the controller to be echoed back WARNING To avoid overheating the vents in the top and bottom of the unit must be unobstructed at all times Sim Step Manual 3400 Iss G 9 August 2007 page 5 1 2 Link Settings The control operation of the Sim Step can be configured by means of links fitted to the MSE867 The links can be accessed by removing the rear top cover of the unit LK8 LK7 to LK1 Fig 1 Link Location Link Action Default LK1 Select automatic current reduction from PM600 idle output On LK2 Drive
24. anual The control mode has been set to open loop stepper mode by the command 1CM11 When using the Sim Step with an encoder the control mode can be changed to closed loop stepper by the command 1CM14 8 2 Setting Up The Encoder Closed loop Control Modes Only Each edge of the quadrature signals is counted so the number of encoder counts per revolution will be four times the line count of the encoder The PM600 can be used with encoder producing either 5V TTL signals or 5V line driver signals The correct termination should be set This gives maximum noise immunity The use of encoders with line driver type signals is recommended where the encoder lead length will exceed 1m 8 2 1 Encoder Termination Switch SW4 selects the termination for the encoder signals If using differential signals then the encoder termination should be switched on With 5V TTL encoders the encoder termination switches should be switched off sw4 1W OA 1 Single 1 L Line Driver 2M N 1B gt ended 2 Default TO Sim Step Manual 3400 Iss 9 August 2007 page 22 8 2 2 Encoder Scaling The incoming encoder pulses are scaled by the encoder ratio ER formed by the Encoder Numerator EN and the Encoder Denominator ED i e the number of pulses received is multiplied by the numerator and divided by the denominator to become the Actual Position If the ratio between the number of steps and the encoder counts is 1 1 e g
25. avel deceleration deceleration zone working zone zone C G E Limit Fig 4 5 Limit Datum Connections All limit and datum signal inputs should utilise normally closed contacts Note a Note The datum approach signal is not always required This is the case when The motor is operated at slow creep speed since it is not necessary to decelerate before stopping at the datum point In this case the datum approach terminals should not be connected When the controller is configured to utilise the high speed datum registration feature In this case the datum approach connections should be linked This connection enables an external open contact to abort a move However for this feature to be utilised it is necessary to remove an internal link LK8 within the controller It should be noted that the limit switches should be placed sufficiently within the total travel distance to allow the motor to decelerate from high speed They should also be mounted for sliding operation so that they do not become crushed on first use No mechanism can decelerate instantaneously Sim Step Manual 3400 Iss G 9 August 2007 page 14 4 3 1 Datum Position The datum position is detected as the datum stop switch opens It is also summed with the encoder index signal if fitted For further information refer to the Datum Search Strategies section 2 13 of the PM600 manual 4 3 2 Using Over travel limits
26. ecting Diode Com to OV either OV on the Breakout box or the external supply OV 10 Sim Step Example Sequence An example sequence is shown below Three switches are connected to the Read Port to control the action of the sequence and three outputs are used to monitor the action of the sequence One switch executes a to datum move and two switches initiate moves The home to datum move must be done before the other moves can be selected The moves are controlled by the following inputs Read Port 1 home to datum datum search Read Port 2 move to position 1 Read Port 3 move to position 2 When the moves are completed the following outputs turn on Write Port 1 datum search complete Write Port 2 at position 1 Write Port 3 at position 2 10 1 Sequence Definitions Sequence 0 waits for the Home to Datum input to be 1 and then executes a home to datum HD move 1450 Sequence 0 Search for Datum 1wp22222000 Turn off outputs 1wa22222221 Wait for Home input to go on 1hd Search for datum 1 Wait for end of move 1wp22222001 on axis 1 homed 1wa22222220 Wait for Home input to go off 1xs2 Goto input scanning sequence les Sim Step Manual 3400 Iss G 9 August 2007 page 28 Sequence 2 scans the read port inputs and depending on the state of the inputs executes the moves in sequence 3 or 4 After the move is complete the operation goes back to scanning the read port inputs 1ds
27. erous for the users Good engineering practices should be employed when using this product The operating temperature should be between 0 C and 30 C Users should take suitable precautions in the application of this product to ensure that the overall system complies with EN50081 1 and EN50082 1 EMC directive These products should not be put into service until the machinery in which they are incorporated has been declared in conformity with the provisions of The Supply of Machinery Safety Regulations 1992 and The Supply of Machinery Safety Amendment Regulations 1994 Machinery Directive Motor control systems are inherently hazardous Even a small motor if coupled to a leadscrew gearbox or any other form of mechanism that provides a mechanical advantage can generate considerable force and could cause serious injury Incorrect operation can also lead to damage to the motor or associated machinery Sim Step Manual 3400 Iss G 9 August 2007 page 31 SAFETY NOTICE Motor drive systems are inherently hazardous Even a small motor if coupled to a leadscrew gearbox or any other form of mechanism which provides a mechanical advantage can generate considerable force and could cause serious injury Incorrect operation can also lead to damage to the motor or associated machinery Static sensitive devices This unit has static sensitive devices Observe handling precautions Hold card by edges only Do not touch connector pi
28. he green D connector on the Sim Step as shown in fig 7 1 Sim Step Fig 7 1 Single axis installations For dual axis drives specify JC200 Jog box and connect it to the green D connector on the Sim Step as shown in fig 7 2 Note Jog link cable is handed identified by the colour of the screw heads as shown J JC200 Use jog link cable 507JDC05916 1 Fig 7 2 Dual axis installations Sim Step Manual 3400 Iss G 9 August 2007 page 19 For 3 15 axes drives specify JC809 Jog Box and connect it to the green D connector on the Sim Step as shown in fig 7 3 Lr Jn Lr JL uie mie JC809 e 2 6 Fit terminator ied with Use jog link cables 507JDC05916 Supplied it Fig 7 3 3 15 axis installations 7 2 Single and Dual Axis Jog Box Operation Jog box operation is very straightforward Once connected the jog box will control the motor as follows Pressing either the or button causes the motor to move in the positive or negative rotation direction The speed of rotation is determined by the Slow Jog SJ command speed that has been set in the PM600 Momentarily pressing the or buttons causes the motor to move in single steps Pressing the F button together with either the
29. inal 5 Z 8 9 Sim Step Manual 3400 Iss 9 August 2007 page 8 406 306 GREEN Joystick Supply 5V Joystick Input eee eee Joystick Centre Tap Input 5 22 5 8 9 RS2322IN 0 RS485 B fi oe Se 2 Receive Data Linkto echo replies 3 Transmit Data and commands 464 2 Link to echorepes 8 cts andcommands Sim Step Manual 3400 Iss G 9 August 2007 page 9 3 Cables 3 4 Motor and Limit Datum cables Motor and limit datum cables fitted with connectors to plug into the rear panel of the Sim Step may be specified The available lengths are shown below The motor cables have a connector on both ends which can be connected either to the connector fitted to the stepper motor or to the stepper motor wires via an MSA889 Junction Box Likewise the Limit and Datum connections can be made either by connecting to the socket on the end of the cable or via an MSA889 junction box The connections to the 889 junction box are shown in figures 4 2 and 4 3 Limit Datum Cables Length Type 1m 507LDC01894 2m 507LDC02894 3m 507LDC03894 5m 507LDC05894 10m 507LDC10894 Limit Datum Cable Junction Box Type 889 N B N 4 Motor Cable Motor Cables Type 507 0 01892 Limit 507 0 02892 507MOC03892 507MOC05892 507MOC10892
30. ns Ship only in anti static packaging Warning Mains voltages can be present within a system do not adjust service dis assemble or otherwise work on this system whilst power is applied In accordance with European directive 2002 96 EC on Waste Electrical and Electronic Equipment WEEE disposal of this item must be through the correct channels for WEEE It should not be disposed of by landfill 24 gt This item can be returned to Mclennan for end of life disposal under the WEEE directive contact Mclennan for further information Sim Step Manual 3400 Iss G 9 August 2007 page 32
31. o a PC The joystick option gives variable control of the motor speed the further the joystick is moved from the centre position the faster the motor moves Before the joystick option can be used the joystick centre and minimum maximum positions must be calibrated Note that the Sim Step is set up for Jog Box operation as standard The controller must then be told to accept the joystick input using the command 1JM01000000 see PM600 manual page 7 27 Assume that the controller is set as Axis 1 and that the joystick is in the free i e mid range position The command 1 will interrogate the joystick position the controller will then display a value in the format 01 2126 where 01 refers to Axis 1 and 2126 is the joystick centre position Now hold the joystick at one extreme of its range and repeat the 1AI3 command note this number and then repeat at the other extreme of the joystick range Let us assume that the following data are given from the 1AI3 command Low 1688 Centre 2126 High 2568 This means that the range either side of centre is 440 units note that the centre position may not be exactly in the middle of the upper and lower readings 1JC2126 This sets the centre position A value of JC 0 will use the value of a joystick centre tap signal connected to Analogue input 5 to set the centre position 1JR340 This sets the range of the joystick JR range 2 x JT 1JT50 This sets the joystick threshold
32. ode Sim Step 508SMS09749 11 2 Motor Encoders Frame size Type Order Code Size 23 23HSX 206 CI 500L 301HSE00053 23HSX 306 CI 500L 301HSE00054 Size 34 34HSX 108 RI 500L 301HSE00055 34HSX 208 RI 500L 301HSE00056 11 3 Cables Type Order Code Motor 1m 507MOC01892 Motor 2m 507MOC02892 Motor 3m 507MOC03892 Motor 5m 507MOC05892 Motor 10m 507 10892 Encoder 1m 507ENC01893 Encoder 2m 507ENC02893 Encoder 3m 507ENC03893 Encoder 5m 507ENC05893 Encoder 10m 507ENC10893 Limits Datum 1m 507LDC01894 Limits Datum 2m 507LDC02894 Limits Datum 3m 507LDC03894 Limits Datum 5m 507LDC05894 Limits Datum 10m 507LDC10894 Jog Link 0 5m 507JDC05916 0 5m 50710C05895 1m 50710C01895 2m 50710 02895 3m 50710C03895 11 4 Junction Boxes Type Order Code MSA889 Motor amp Limits Datum 506 5 00889 MSA891 I O Breakout 506 5 00891 11 5 Jog Boxes amp Joystick Type Order Code JC100 Single Axis 506JCT00100 JC200 Dual Axis 506JCT00200 JC809 Multi Axis 506JCT00809 JC400 Dual Axis Joystick 506JCT00400 11 6 EMC Ferrites Type Order Code Cable Dia 7 8 5mm 114 Cable Dia 8 5 10 5 114FER00004 Sim Step Manual 3400 Iss G 9 August 2007 page 30 12 Limitations of Use This system has been designed to drive a hybrid type stepper motor Any other use has not been considered therefore could damage the drive and could be dang
33. one the replies will be preceded by 01 OK Important if the set up of the PM600 is changed then the BA backup all command must be executed to save set up values and sequences to Flash memory If this not done the values will be lost on power down The user may encounter error message from the controller under certain circumstances e g mistakes in commands or conflicting instructions The messages are usually self explanatory they are listed on page 8 1 of the PM600 manual Sim Step Manual 3400 Iss G 9 August 2007 page 25 9 Cable and Breakout Box Eight inputs Read Ports and eight outputs Write Ports can be used for external digital interfacing An cable with the breakout DIN rail mounting terminal box can be used to interface to the Sim Step without needing to make a special cable The I O breakout box features screw terminals to enable the 16 Digital to be connected The unit is DIN rail mounted so that it can be sited next to a typical PLC control unit 000000000000 3 d Breakout Box ordering details Limit Datum Limit 1 I O Breakout 506 5 00891 Motor 1m I O Cable 50710C01895 2m I O Cable 50710C02895 3m I O Cable 50710 03895 5m I O Cable 50710 05895 Fig 9 1 Breakout Box and I O Cable 1 Breakout box 506MSC00891 Connections Output Lines Input Lines
34. tor The step sequence is set to half step Using a hybrid type stepper motor 400 steps per revolution will be obtained A thermal sensor protects the output devices in case of overheating If the drive temperature exceeds 80 C the thermal sensor will operate With the switch settings shown below the drive is disabled SW1 1 on and the condition is latched SW1 2 on The latched condition can only be reset by removing the power Fig 6 1 MSE570 Set up Switches 6 1 General Set up SW1 1 18 DT 2 M LT 1 1 55 Off Disable on Overtemperature on Latch Overtemperature on Current Control Type slow Slave Sync off 6 2 Current Setting As delivered the motor phase current is set to 3 5A phase SW2 2 m E Off Sim Step Manual 3400 Iss G 9 August 2007 page 17 6 3 Other MSE570 Current Settings The current setting for the motors detailed below when wired with coils in parallel is 3 5A default Current settings for motors wired with coils in series Motor Current A 23HSX 206 2 1 23HSX 306 2 1 34HSX 108 2 7 34HSX 208 2 7 SW2 a 38 3 ce NH NH 4W d Of On 00 05A 09 12A 13A 16 1 85A 24A SW2 28 73
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