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Q training guide a

1. Electronic Gearing eT nice aaies Feed and Change Velocity Io PvP Feed to Double Sensor 12 Q User s Guide E aane aaia doa daa Eua ores Rane Follow Encoder e NINE Feed to Length i ee T Feed and Mask Sensor o9 meo Feed and Set Output EE Feed to Position ly ppp CES Feed to Sensor ag cm HER Feed to Sensor with Distance Limit EE Hand Wheel M M M 8 Jog Accel Decel JD lic fe Jog Disable JE je Jog Enable CERE Jog Mode JS ee esses Jog Speed SH oc o Seek Home SM EEN Stop Move SP EM eeeeeeeeeeeeeees Set Absolute Position EE E Change Velocity VE EE Velocity VM EE Maximum Velocity Servo Commands LEE eere Alarm Reset EP EE Encoder Position AS oo EE Servo Filter KD MEE ccc MEN Derivative Gain KE NER sees Derivative Filter SEENEN EE Velocity Feedforward Gain ENNEN Integral Gain ht EL e Acceleration Feedforward Gain mr pcne cm Proportional Gain M EE Velocity Feedback Gain KW ee Velocity Feedback Filter d RRE gen Motor Disable T o Y Motor Enable M Velocity Mode Integral Gain VEe Velocity Mode Proportional Gain Configuration Commands roc Change Continu
2. Y Stop amp Kill buffer queue EE Stop 17 Q User s Guide Data Registers Many of the commands described in the preceding section function by transfering data to a drive for later use The data values sent by these commands are stored in data registers inside the drive Values remain in registers until new commands change them or until power is removed from the drive NOTE Some registers are automatically saved in non volatile memory and there fore not lost at power down of a drive Examples of these are the registers affected by the PC Power on Current and PM Power on Mode commands Also you can choose any data registers you d like to store in non volatile memory by placing them in non volatile data register storage locations using the RW command An example of a command that transfers data to a drive for later use is the DI Distance command This command places a value in the D register and this value is used for many other commands like FL Feed to Length FS Feed to Sensor CJ Commence Jogging and others In effect the function of the DI command is to change the contents of the D register There is another command that can change the contents of the D register and it is the Register Load command RL is the immediate version RX is the buffered ver sion This command can also place a value in the D register In fact the Register Load command can place values in any writeable registers and you will f
3. M o aooe o oaeo Velocity Feedforward KEEN 0 Qv Position Error Move Token P Phase Error 19 Q User s Guide Read Write Registers Read write registers are predetermined registers that contain drive and move parameters that can be set by the user These parameters include acceleration rate velocity move distance continuous current peak current and more Read write regis ters are represented by capital letters Here is a listing A Sissel cee Sst Svc Se et weet Acceleration TTT Deceleration C eect eeee _ _07 Change Distance D EE Distance Se ale EET Encoder Position I 2 Other Flags Chey E Current Command ee L Reserved ee T Input Counter HI esse Velocity Command WEEN EE Jog Acceleration o c eee cece ee E EEE EE Jog Deceleration U Lees Maximum Velocity Pe H Continuous Current o 99 Peak Current eo eres Position Command Q oo Reserved Oo Steps per Revolution T VEDI Step Position T eee EBD Total Count EEN Change Velocity VE aoooooooooo ooo C Velocity UU sso Time Stamp q cr Analog Position Gain g EEN Analog Threshold KAN 0 0 0 0 0 oc Analog Offset QUser s Guide User Defined Registers User defined registers are read write registers that are not predetermined These registers are avail
4. FL then set output 1 low If the last distance set by ma Me Wee j WT 0 50 the DI command is sufficiently long the drive s output 1 will be set low before the FL command E 30 7 L has completed 3 J E This example is actually quite basic even QUser s Guide though it illustrates the function of mult tasking well If you try these sequences with your drive make sure the last DI command is sufficiently large enough to see a notice able difference in when the drive sets the output NOTE Because it is physically impossible for a motor to make two moves at the same time move commands are always blocked even with Multi tasking turned on For example if you have Multi tasking turned on and the program has two move commands in a row the drive will wait to execute the second move command until the first move command is finished MOONS Shanghai MOONS No 168 Mingjia Rd Industrial Park North Minhang District Shanghai P R China 201107 tel 8621 5263 4688 fax 8621 5263 4098 WWW moons com cn Q User s Guide Version Ac 10 29 04
5. Negative Acknowledge Codes 1 Command timed out 2 Parameter is too long 3 Too few parameters 4 Too many parameters 5 Parameter out of range 6 Command buffer queue full 7 Cannot process command 8 Program running 31 Q User s Guide Acknowledge characters are always sent out of the RS 232 port When operating on a 2 wire or 4 wire RS 485 network the Acknowledge characters are sent out under the following conditions 1 An Acknowledge character is sent when the received command has an Address character at the beginning 2 An Acknowledge character is NOT sent when Global commands com mands without Adresses that do not request data from the drive are used 3 Global commands that request data will cause data to be returned from a drive This can cause data collisions if there are more than one drive on a network Use Addresses with commands to avoid this problem NOTE When possible avoid using Acknowledge characters 96 as drive Addresses to prevent confusion Good command Example Tx DI8000 Global set distance to 8000 Rx Normal Ack is returned RS 232 only Tx 1D18000 Drive 1 set distance to 8000 Rx 1 Drive 1 sends normal Ack Bad command Example TX VE200 Global set velocity to 200 rps Rx 75 Negative Ack Nack is returned RS 232 only TX 1VE200 Drive 1 set velocity to 200 rps Rx 1 5 Drive 1 responds with Negative Ack Nack Buffered command Example Tx
6. The FP Feed to Position command Segment 1 is used for absolute moves When ex Line Label Cmd Baan Param ecuted the motor will move to a position TR DI 4000 with linear acceleration and deceleration AC 500 ramps and a maximum velocity based on nem the internal motor position of the drive LII The move parameters are set using the VE 30 AC DE VE and DI commands In the case of the FP command the DI com mand sets the motor position not the relative move distance il FP E L __ l a Here is a sample sequence showing a move to motor position 4000 counts motor may move CW or CCW depending on the actual motor position before the start of the move with a velocity of 30 rps and accel decel rates of 500 rps s QUser s Guide Another command to keep in mind when using absolute moves is the SP Set Position command This command allows you to zero the motor position at any time by entering SPO or to set the motor position to another value The parameter in the SP command is encoder counts For example with a 2000 line encoder on the motor an SP5000 command would set the current motor position to 2 5 revolutions CW from the zero position after the input changes state and the direction of the move Parameters for the FS command are the input number 0 7 and the input state the drive should look for H high L low R risi
7. command This command can be executed at any time even while a drive is running a program The RL command is an immediate command To load a register within a program we use the RX command which is a buffered version of Reg ister Load Uploading Uploading data registers can only be done from a host command line not within a program The command to upload a register is RU Register Upload It is an immedi ate command and therefore can be executed while a program is running The upload command has an extra feature that is designed to work with host command systems A second parameter can instruct the command to send up to 10 data registers in se quence back to the host command device This is great when an array of information is required at one time Writing Writing a data register allows the user to store data register values in non volatile memory To write a data register we use the RW Register Write command There are 125 storage locations for data registers in NV memory Note that the user must keep track of where data registers are stored because the NV memory locations are not associated with any specific data register Reading Reading a data register allows the user to move data previously saved in NV memory into a data regster To read a data register we use the RR Register Read command Reading is typically done in the midst of a program Manipulating Data Registers Moving Data register values can be moved from one
8. quence contains an FL command with Ge E EE t related parameter commands ahead of it AC DE DI VE After the FL command is a WT Wait Time command with a time of 0 5 seconds and then a QG command that points to line 1 This sequence will loop Q User s Guide forever now with the segment always starting at line one after it executes the QG com mand The second method for looping utilizes the QR Queue Repeat com mand It works by jumping to a given segment line for the number of times indicated in a user defined data register Any user defined data register will work In the example to the right the QG com mand from the previous example has been replaced with the QR command and parameters have been added In this sequence the segment will jump to line 2 for the number of times indicated in regis segment 1 Line Label Crd Param Baam lee Rx 3 5 es Di 40000 fel Ac 600 nu Im H 5 VE 20 H Beil FL 7 wT Op 8 QA 3 2 a ter 3 Notice on line 1 of the segment that data register 3 has been loaded using the RX command with the value 5 Therefore the FL command in this example as well as the DI AC DE VE and WT commands will repeat five times Branching Branching in a program is done using the QJ Queue Jump command Branching is different than looping in that a branch or jump is done based on a tested condition The QJ command will always work in conjunction w
9. Categories What follows is a listing and the descriptions of the 7 categories of buffered com mands These categories are the same that you will find when editing programs in the Q Programmer Motion Servo Configuration yo Communication Q Program Register Motion Commands Motion commands relate to position and velocity control of the motor shaft incre mental relative moves absolute moves conditional moves jogging stopping motion etc as well as commands that affect the parameters of these moves acceleration deceleration jog speeds maximum acceleration velocity limits etc Servo Commands Servo commands are for tuning and servo status This category includes com mands for adjusting the PID loop filters and velocity loop terms It also includes com mands for enabling and disabling the servo 12 QUser s Guide Configuration Commands Configuration commands are for setting peak and continuous current levels defining mulit drop address setting position fault and limit encoder resolution and more UO Commands UO commands affect the digital inputs analog inputs and digital outputs of the drive For digital inputs these include wait for input defining limits filtering inputs defining alarm input defining servo enable input and more For the analog inputs there are commands for filtering the input setting a threshold offsetting and zeroing the input For the digital outputs there are commands for th
10. The rest of this section describes the types of commands available in Q drives Command Structure All commands in Q drives are made up of three possible parts the command itself also referred to as the command code and two parameters Some commands never use parameters some always use parameters and others change their function slightly depending on whether or not they are followed by a parameter In general the structure is like this Command Parameter 1 Parameter 2 where command is usually two letters some commands are made up of three letters and the parameters 1 and 2 are made up of ascii characters letters num bers and other ascii characters Here are a few examples FL Feed to Length command no parameters executes an incremental move SO1L Set Output command Parameter 1 1 Parameter 2 L sets physical drive output 1 low RL91000 Register Load command Parameter 1 9 Parameter 2 1000 loads the User Defined data register 9 with the value 1000 For a complete reference of commands their syntax parameters and usage please consult the Q Command Reference which is a separate document Buffered and Immediate Commands There are two types of commands buffered and immediate Buffered commands are stacked in the queue one on top of another They are executed in the order they enter the queue If you send two buffered commands into the queue in succession the se
11. host being able to communicate to the drive s you will need to choose one of the three available serial connections Available Host Serial Connections RS 232 2 wire RS 485 4 wire RS 485 When choosing the best serial connection for your project the choice may be made for you based on the host controller you plan to use For example some devices only communicate via 2 wire RS 485 If you are not restricted by your host controller here are two guidelines for choosing the best connection Single or mutli axis If your project calls for communicating to only drive you can consider any of the three options If your project calls for communicating to more than one drive you should use 2 wire or 4 wire RS 485 Long communication cables In many applications the limitation of 50 feet on RS 232 will be sufficient In appli cations where the distance between drive and host controller will be more than 50 feet up to 1000 feet you will need to choose 2 wire or 4 wire RS 485 A Quick Summary of 2 wire and 4 wire RS 485 connections The 2 wire and 4 wire RS 485 protocols that Q drives utilize are based on industry standard RS 485 and RS 422 protocols Strictly defined RS 485 is a 2 wire interface that allows multi node connections limited to half duplex serial communications Up to 24 QUser s Guide 32 nodes that both transmit and receive can be connected to one network On the other hand RS 422 in the strictest definition is a 4
12. its RS 232 port is addressed 1 and the second drive is addressed 2 Here is what you will see Send data Example Tx 2D18000 Drive 2 set distance to 8000 Rx 2D18000 Echoed packet from drive 1 RS 232 and RS 485 Rx 2 Drive 2 responds with Normal Ack Request data Example Tx 22 Drive 2 request distance Rx 2DI Echoed packet from drive 1 RS 232 and RS 485 Rx 2DI8000 Drive 2 responds with distance Bit 5 Red Lion 3 character Data Register number Each data register in a Q drive is normally accessed using its single letter number or other ascii character See the Data Register section for more character assign ments With Bit 5 set Bit 5 1 each of the data registers is instead accessed with a 3 character number 000 to 074 See Q Command Reference for registers equivalent 3 character numbers The Bit 5 option implements this specific usage for the RL Regis ter Load and RU Register Upload commands This option was added to make the Q drives compatible with HMI s from Red Lion Controls NOTE When data is returned from a drive with whether Bit 5 is set or not set the data register is always represented by its single character designation RL Command Example Tx RLO17100 Load register 017 register A with the value 100 Rx nothing TX RLO17 Request contents of register 017 register A Rx RLA 100 Drive sends contents of register A RU command Example TX RUO174 Upload array
13. of 4 registers starting with 017 A Rx RUA 100 Contents of register A are returned Rx RUB 150 Contents of register B are returned Q User s Guide Rx RUC 140 Contents of register C are returned Rx RUD 210 Contents of register D are returned PR Command Examples Now that you know what the bits in the PR command s 5 bit binary word mean here are a couple examples whoing how you would set the serial communications protocol of your Q drive Example Turn on Ack Nack Bit 2 and Red Lion function Bit 5 The 5 bit word for this combination is 100100 and it s decimal equivalent is 36 Therefore to set your Q drive with this serial protocol you would send PR36 to your Q drive Example Turn on RS 485 adaptor function Bit 4 The 5 bit word for this combination is 010000 and it s decimal equivalent is 16 Therefore to set your Q drive with this serial protocol you would send PR16 to your Q drive QUser s Guide Alarm and Status Codes One of the Q drive s diagnostic tools is its ability to send alarm and status codes back to a host The AL ALarm code and SC Status Code commands can be used by a host to query a drive at any time If a drive faults or sets an alarm the AL command allows the host to find out what alarm or alarms has been set Similarly the SC com mand allows a host to find out what the status code of a drive is at any time during drive operation A status code provides information a
14. to make this type of setup really useful and so we have created the Q Programmer software to assist users in working with Q drives as efficiently as possible The Q Programmer software provides these major functions for the user It establishes and configures serial communication with a Q drive It monitors drive status by continuously polling a Q drive It provides a host command line for sending commands directly to a drive s queue It helps the user create edit and troubleshoot programs Here is what the main screen of the Q Programmer looks like Q Programmer V1 2 17 File Show Help Serial Comm Port Drive Polling Information NONE State Status Program Eg iid pen BS No Status Available Si ick Sau Run Click Status button If Not Polling Baud Rate button to toggle Program 9600 Polling On Off Drive Detected Revision Segment tt wssrsQ v Segment Segment Segment3 Segment10 Segment11 Drive Address Line Segment Segmen2 Seament3 Segment4 Segments Segment6 m Use 0 Address This Segment Command Script Responses Open Save Download Upload Execute Clear Print Segment 1 Line Label Cmd Baam Param2 Comment Execute P Q at Powerup Set Password r ee p Check onitor Sum Q User s Guide Segment Editing When program ming a Q drive you will by default always be programming a particular program segment The seg Segment 8 Segmen
15. 485 connections The following paragraphs illustrate the various connections Connecting to a PC using RS 232 Each Q drive comes with a programming cable for use with the drive s RS 232 port This cable is made up of two parts a 7 foot 4 wire cable looks just like a 7 foot tele phone cord and an RJ11 to 9 pin DSUB adapter This adapter allows you to connect to the COM port serial port of your PC Here are the general directions for connecting your Q drive to your computer Locate your computer within 6 feet of the Q drive Plug the 9 pin end of the adapter supplied with your Q drive to the COM1 serial port of your PC Secure the adapter with adapter s two screws If the COM1 port on your PC is already used by something else you may use the COM2 port of your PC On some PCs COM2 will have a 25 pin connector rather than a 9 pin If this is the case with your PC and you must use COM2 you will have to purchase a 25 to 9 pin serial adapter at your local computer store NOTE If you are using a laptop computer that does not have any COM ports only 25 Q User s Guide USB ports you will have to use a USB to Serial adapter There are a variety on the market and some work better than others But in general once you ve installed the USB to Serial adapter your PC will assign the adapter a COM port number Remember this number when you go to use your MOON software Also if you are having troubles with your adapter contact MOON
16. AC10 Global set Acceleration to 10 rps s Rx P Exception Ack is returned RS 232 only Tx 1AC10 Drive 1 set Acceleration to 10 rps s Rx T Drive 1 responds with Exception Ack Bit 3 Use 8 bit Checksum Not implemented at this time Call factory for schedule Bit 4 Special RS 485 adapter mode Allows using the drive as an RS 485 adapter by letting the host communicate on an RS 485 network through a drive s RS 232 port When the host sends commands with a tilde at the beginning of the command to the drive s RS 232 port the command is echoed out of both the drive s RS 232 and RS 485 ports Drives connected to the RS 485 network will receive the same command with the stripped off 32 QUser s Guide Without the Bit 4 option Bit 420 a Q drive will normally echo any addressed command out of the RS 232 port only whether the command was received from the drive s RS 232 or RS 485 port What the Bit 4 option Bit 4 1 does is force the drive to echo commands out the RS 485 port as well allowing a host that is connected to a drive through it s RS 232 port to communicate to an RS 485 network of drives NOTE When both Bits 4 and 2 are set Bit 4 1 Bit 271 the host will receive back both the echoed packet and the Acknowledge packet For example two drives are connected in an RS 485 network and they both have PR command Bits 4 and 2 set The first drive which is also connected to the host via
17. Address toggle box is used for turning the drive address function on and off Program The Program window is a status indicator that shows which program segment is being executed This number will change rapidly when a program is being executed from within the Q Programmer application It Line will remain steady when there is no program executing or when a pro m gram is halted This feature is useful for following the flow of programs created with the Q Programmer This window only updates when polling is on The Line window is just like the Program indicator except it shows the actual line that is being executed within a program segment The Line and Program indicators are very useful for monitoring a program that is executing from the Q programmer This window is also only active when polling is turned on GES The Host Command Line When working with a Q drive we often want to test commands and check parameters or settings either imme QUser s Guide diately or without affecting the edited Command Script Responses segments The Q Programmer allows us to do this by including a host command WT line for sending commands directly to the AX drive In doing this we are not Download ME ing commands Downloading is a non WINKEL volatile function it saves program seg DUET 2 ments into non volatile memory When we Ls use the host command line we are simply 1312 placing comman
18. C 27 Connecting to a host using 2 wire RS 485 ee 27 Getting and Connecting an RS 485 2 wire adpater to your PC 28 Before you connect the servo drive to your system eeeee 28 Host Serial Communication Protocols 30 The PR commandiinidetail RE 30 Bit 0 Default No Acknowledge AKA Standard SCL sse 30 Bit 1 Alvaus Send Address Character PER 30 Bit 2 Send Acknowledge Character Ack Nack eee 31 Bit 3 NT Se ZRI C ns l Sey A 32 Bit 4 Special RS 485 adapter mode essere 32 Bit 5 Red Lion 3 character Data Register nnmbegig me 33 PR Command Earl eren neuen e sasana 34 Alarm and Status Codes ss 35 Alarm Code Definitions i Mm ce cerr eee eee eren erre nnns 35 Status Code Definitions a O aai aeaiiai enanar 36 A useful tool for converting alarm and status codes to binary 37 Programs ERE D D ru 38 Getting ready et sle l rcl 38 The G e TE EE TC 39 Segmen BENE EE 40 Working with Segment and Program files qsg and qpr eee eee 40 TENEO 3 R DOMOS 3 99 d ipHBbd e PEE KE Ere EEPERO EHE EMd etii GM METHOD EE
19. Drive Idle pm button When polling is off this window is green and displays Comm B Comm 6 t Comm Comm8 41 Q User s Guide Comm Port OPEN When polling is on this window is purple and displays Comm Port POLLING with the word POLLING flashing With automatic polling on the Drive Idle button will e turn green and display Program Running when a program is executing turn red and display Drive Faulted if the drive has faulted and cannot recover e turn red and display No Reponse if communication with the drive is lost e turn yellow and display Faulted Program Running if the drive has faulted but is able to recover If auomatic polling is off the Drive Idle button will not correlate to the actual status of the drive Baud Date aon P Baud Rate This drop down menu allows you to select one of the available baud or bit rates The available baud x rates are 9600 19200 38400 57600 and 115200 Elder fp BE Cue bits per second MSST5 Q D Drive Information and Status windows Drive Address T Drive Detected will tell you which drive is con 0 Address nected to your computer MSST5 Q MSST5 I MSSTAC6 I etc Revision shows the firmware level of the drive For example 1 52 Drive Address shows an ASCII character address that can be user defined Changing the drive address is necessary when using the RS 485 connection of a drive in multi drop scenarios The Use
20. Q User s Guide MOONS irae Q User s Guide QUser s Guide Contents TOS Gele ei a mc c 6 Getting Started with your Q E E 6 Stand Alone Stored Program or Host Control sse eee 7 Single or Multi axis Host Control EE 7 Overview m E E svec s 8 What does the lettera Ime ay EENEG uu uuu urere 8 How are commands placed into the queue eeeeeeeeeeeeeeeeeeeeee 8 Programs we cc css ERO aaa aaa 9 Commands REL 11 Command E nar TN cosssseccssnenaess 11 Buffered and Immediate Commands eeeeeeeeeeeeeeeeeeeeee 11 Buffered Command C ategories 9 9 9 anann nianna 12 Motion CU BETEN sss 12 Servo 060 el ss 12 Config rmilisslummands eeeeeeeeeernn S EB 13 l O Cormmme i ee 13 Communisalieallesmmands een REED D 13 Q Programi Commands es E 13 Register cS e ne ss 13 Buffered Commondllisiing GEES sssssssssssssss 13 Motion Commands E erred BED ess 13 Servo Command ee eres 14 Configuration Coram pp asr eee ec ce ve c ce 14 ele ul Ef 15 Communication Commands ege asse cce e cce e cere ereenn eenn 15 Q Program Commands Vm 15 Register Commands mmm kk 16 Immediate Command Leg nen see 17 D
21. S for help with recommended adapters Now take the 7 foot cable and plug one end into the adapter you just attached to your PCs COM port and plug the other end into the RS 232 RJ11 jack on the Q drive If you need to locate your drive farther from the PC you can replace the 7 foot cable with any 4 wire telephone cord Do not exceed 50 feet WARNING Never connect a Q drive or other MOONS drive to a telephone circuit It uses the same connectors and cords as telphones and modems but the voltages are not compatible 6 1 Servo Drive RJ11 Front View 5 GND 2 Drive RX 4 Drive TX 3 5 Volt output for MMI amp HUB rem ee EEN LM pe e A et be pe m ee ee ee zm SE ee DBO9 to RJ11 Adaptor Pin assignments DB9 female Signal Name RJ11 Signal Name l I l I l I l l l I 2 RX 4 TX l 3 T 2 RX l 5 GND 5 GND l l l 5 32 1 6 l l I LT Adaptor DB9 Adaptor RJ11 Front View 0000 l l l Front View l 1 2 PC TX 5 PC Ground i PC DB9 to 8 No Connection 4 PC Rx Servo Drive RJ11 Adaptor NOTE Pins 1 A 6 are not connected l l Connecting to a host using 4 wire RS 485 Our 4 wire RS 485 implementation is a multi drop network with separate transmit QUser s Guide and receive wires One pair of wires connects the host s TX and TX signals to each drive s RX and RX terminals Another pair connects the RX and RX signals of the host to the TX and TX terminals of each drive A com
22. S 41 Serial Come Por DUBOUIS nodu PE EHEFEEEEHEPHERE D PP ROREPEXEPDWDE HEU H ERE nanei 41 DUOC PONI 3 23 siete eruta Pura E QU ERE ERE EUM M I PAPE AM ME MEE 41 tolici Me 42 Drive Information and Status ele 42 The ele E EE 42 Bc Be pog eere Ee KE NEE 43 QUser s Guide Dive VO SIalUS Meme E OMM NC 43 Sample Command Sequences 44 Seh RU A4 Feed to POSItIOM 44 Focd tO SONSON 45 LOOPING 45 TT ING A 46 li ME E EE T 47 Multi tasking j AA asses 48 Q User s Guide Introduction This training guide is provided as help in getting started with MOONS Q programmer compatible drives Q drive for short hereafter in the document Now MOONS Q drives available include MSST5 Q MSST10 Q MSST5 I MSST10 I MSSTAC6 Q MSSTAC6 I and STM23Q For more information regarding your specific Q drive including wiring and mounting please consult the Hardware or User s Manual for your drive All Q drives can be programmed with the Q Programmer software This software allows you to create sophisticated single axis motion control programs Q drive features include e Simultaneous stored program execution and serial host command func t
23. VE50 Global set velocity to 50 rps Rx nothing Tx 1VE50 Drive with address 1 set velocity to 50 rps Rx nothing Request data Examples Tx VE Global velocity request Rx 1VE 50 Drive responds with velocity and address 1 Tx 1VE Velocity request from drive at address 1 Rx 1VE 50 Drive responds with velocity and address 1 Bit 2 Send Acknowledge Character Ack Nack This option causes the drive to acknowledge every transmission from a host whether the command is requesting data or not If a host requests data for example a DI command with no parameter the response is considered the acknowledgement However if the host sends commands that do not request data from the drive the drive will still respond with one of the following characters The percent character is a Normal Acknowledge Ack character that means the drive accepted the command and executed it The asterisk character is an Exception Acknowledge Ack character that means the drive accepted the command and buffered it into the queue Depending on the state of the queue command execution can occur at any time after the acknowl edge 2 The question mark character is a Negative Acknowledge Nack character that means an error occured while the drive was receiving the command A second character may follow the question mark which provides an error code describing the type of error Here is the list of error codes
24. able for you to create more flexible and powerful programs These registers are represented by single digit numbers and other ASCII characters Here is a list of the available user defined registers 0 1 2 3 4 5 6 7 8 9 nennen unn OO colon H MEM semi colon vI EE less than QE 2 P equals T eee ae eec eee greater than yu ooo EM question mark Gum 0 S9 WEM left parenthesis IEEE ME backslash EEN eese righ parenthesis UEM EE Shift 6 Mu v CANI underscore pu e e MU esent apostrophe Non Volatile Data Register Storage In addition to the three types of data registers mentioned above there are 125 non volatile memory locations that can be used to store data register values Each of the 125 non volatile memory locations can store the contents of one data register None of the data registers are associated with a particular non volatile memory location so it is up to you to remember which memory location you are using when writing a data regis ter to non volatile memory See the following sections on Writing and Reading data registers for more information 21 Q User s Guide Accessing Data Registers Loading Accessing data registers is done by Loading data into a register and Uploading data from a register Loading a data register can be done from a host command line or from a line in a program To load a register from a host command line use the RL Register Load
25. abled Similarly when Bit 10 1 the drive is seeking the home sensor de fined by SH Seek Home command A drive will set any and all bits that pertain to its immediate status condition at the moment of receiving the SC command from the host When a host sends the SC com mand the response from the drive will actually be the Hexadecimal equivalent of this 16 bit word This hexadecimal value is considered the Status Code and the equivalent hexadecimal value 1111 1 11 1 11 11 1 111 Bit 0 lt Disabled Bit 1 Tuning Bit 2 Fault Bit 3 In Position Bit 4 lt Moving Bit 5 Jogging Bit 6 Stopping Bit 7 Waiting Bit 8 Saving Bit 9 Alarm Bit 10 Homing Bit 11 Delay Bit 12 Wizard Bit 13 Encoder Bit 14 Enabled Bit 15 not used for each of the bits in the diagram is given below Description Hex Value Bit Disabled 0001 0 Tuning 0002 1 Fault 0004 2 In Position 0008 3 Moving 0010 4 Jogging 0020 5 Stopping 0040 6 QUser s Guide Waiting 0080 7 Saving 0100 8 Alarm 0200 9 Homing 0400 10 Delay 0800 11 Wizard 1000 12 Encoder 2000 13 Enabled 4000 14 not used 8000 15 Example The drive is enabled Bit 14 it s in position Bit 3 and it s waiting Bit 7 for an amount of time specified by the WI command The 16 bit word for this condition is 0100000010001000 and the hexadecimal equivalent i
26. adding the functionality of that setting to the serial protocol Think of this 5 bit word as a bank of 5 dip switches You can turn each dip switch on or off and in doing so add or subtract a particular setting from the overall protocol The PR command in detail The diagram to the right shows the assign ments of each of the 5 bits in the protocol word Remember that when you use the PR command Eu gi ult No Ack the parameter that you send along with the com EE E piat mand code PR is the decimal equivalent of this BI Checksum binary word Below are the details of each of the Bit 4 RS 485 Adapter bits and the settings they are assigned to Bit 5 Red Lion HMI Bit 0 Default No Acknowledge AKA Standard SCL When commands that do request returned data are received by the drive no other response is sent from the drive Send data Examples TX DI8000 Global set distance to 8000 Rx nothing TX 1DI8000 Drive with address 1 set distance to 8000 Rx nothing Request data Examples Tx DI Global distance request Rx DI 8000 Drive responds with distance Tx 1DI Distance request from drive at address 1 Rx 1DI 8000 Drive 1 responds with distance Bit 1 Always send Address Character QUser s Guide With this option set Bit 121 a drive s address character will always be returned with any requested data Send data Examples Tx
27. ata Registers ERR 18 Read ONIY FSGS CEES EEN 19 llo X X 20 User Defined Registers 21 Non Volatile Data Register Storage ssssssseeeee eee eee 21 Accessing Data Registers E 22 Eet 22 le E 22 TENNIS Seen ene nek ua oM ECLI SMS I CM IDE IN Renner MINIMI UNIO IER LE MEE 22 eege 22 Manipulating Data Registers eere nennen 22 Q User s Guide MOVNO Re nn ene en cds d d M d ds E 22 Incrementing Decrementing sees esse eee eee eee eee eee 22 CONUM EE 23 cip Np T 29 eee RINT e ease 29 Host Serial Connections 24 Tz sre TR oe 24 Available Host Serial Connections RS 232 2 wire RS 485 4 wire RS 485 24 Single or mutli axis uam EE Lese eese daiane iiaeaae 24 Long communicatio ea le Se e a a aaaea anana 24 A Quick Summary of 2 wire and 4 wire RS 485 connections 24 Connecting to your Q drive s serial port s eeeeeeeeeeeeeeeeeee 25 Connecting tglalBusmng RS 232 VE seen 25 Connecting to a host using 4 wire RS 485 eee 26 Getting and Connecting an RS 485 4 wire adapter to your P
28. cc MC THp ep Send String LL Wait Input WIM e Q Wait Move r gm Wait Time WD on ee eS Em SEC Wait Delay Register cpo Queue Call OG Queue Goto AUF Queue Conditional Jump 15 Q User s Guide 6 EE Queue Kill s X eons Queue Repeat O EN Oueue Upload OK eae Queue Load amp Execute Register Commands eege Compare Register DIS ones HDD baud aet b EE Data Register for Compare b oq acc cee Register Counter RD ooo uo fii 55255505550500000000000500 Register Decrement RR Register Increment Rr enne Register Add Reuse BEEN Register Subtract ooo fe Register Multiply R Eu Register Divide R amp ERI Register AND PR EE oco Register OR RM eae Register Move RR ERE eee Register Read RW PEE eee Register Write KEEN E Register Load S I co Set Register Pointer CENE WEM Set Register Value TS se EE eo Time Stamp Read 16 QUser s Guide Immediate Command Listing What follows is a listing of immediate commands available in Q drives These commands are always going to be used by a host device never in a stored program so they focus primarily on sta
29. cessor etc and the Upload command allows that same device to upload the contents of the queue Furthermore the Load command can also be used to load a program segment from a non volatile memory location into the queue The Save QS command allows the contents of the queue to be saved as a program segment in a non volatile memory location Part of the flexibility of these drives is that program segments can be loaded and executed in any order There are only a couple of important rules Segment 1 is always loaded first when a drive is set to run its stored program at power up stand alone You can think of Segment 1 as a kind of auto exectuion segment Also when using the input interrupt function On Input Ol the program will always default to Segment 10 Therefore your command sequence for what to do after an interrupt should always be placed in Segment 10 Aside from these two rules you are free to jump from segment to segment in any order 10 QUser s Guide Commands As stated in the Overview section of this guide commands are executed by a Q drive once they ve been fed into the queue Commands are fed into the queue from two sources a drive s serial port via a host and a drive s non volatile memory In all applications you will start using a Q drive by sending commands to it serially Then if your application calls for your Q drive s to run a stored program you will save com mands into the drive s non volatile memory
30. cond command will not be executed until the first command finishes See section on multi tasking for an exception to this rule Immediate commands are executed right away regardless of what s happening in 11 Q User s Guide the queue and therefore can be executed in parallel with a buffered command All commands are either buffered or immediate Only buffered commands can be used to create a stored program The reason is simple In a stored program commands are sequenced together because of timing with external events in the application An immediate command does not obey the timing of a sequence When using a host controller device to send commands to your Q drive you can use both immediate and buffered commands The choice over one or the other will often be very simple because certain drive functions are naturally commanded with immediate or buffered type commands However some drive functions can be com manded with either an immediate or equivalent buffered command and in these cases you will have to choose which command type is best in your application To illustrate this some more here are some sister commands in their immediate and buffered forms Alarm Reset AR Immediate or AX Buffered Stop Move ST Immediate or SM Buffered Queue Kill SK Immediate or QK Buffered Register Load RL Immediate or RX Buffered Queue Load amp Execute Combination of QL QE Immediate or QX Buffered Buffered Command
31. ct as follows Adaptor Terminal Drive Terminal 1 RX 2 RX 3 TX 4 TX Set the switches on the Jameco adaptor for DCE and TxON RxON Don t forget to plug in the DC power adapter that comes with the unit Connecting to a host using 2 wire RS 485 Our 2 wire RS 485 implementation is a multi drop network with one pair of wires that is used for both transmit and receive To make this type of connection you will first need to jumper the TX terminal of a drive to it s own RX terminal and then do the Q User s Guide same with the TX and RX terminals To then connect a drive to the host PC you will need to connect the TX RX terminals of the drive to the host PC s TX RX terminal and then the TX RX terminals of the drive to the host PC s TX RX terminal Here is a diagram toPC GND Qm mom e 7 EI to PC TX RX or B to PC TX RX or A SSSSS sees SSSSS RX TX GND RX TX GND RX IX GND Drive 1 Drive 2 Drive 3 Getting and Connecting an RS 485 2 wire adpater to your PC If you are using your computer to communicate to the drive s and therefore need an RS 485 adaptor model 485 25E from Integrity Instruments 800 450 2001 works well It comes with everything you need Connect as follows Adaptor Terminal Drive Terminals A TX RX B TX RX Before you connect the servo drive to your system If you plan to implement a 2 wire or 4 wire RS 485 network of Q drives you will fir
32. ds in the drive s queue for SEN Load Completed execution lt The Command Script Responses window shows a history of commands that are sent to the drive from the Q Program mer This includes commands that are entered into the host command line as well as commands that are sent during downloads both program downloads and individual segment downloads The Data Monitor D ata Monitor The data monitor button opens a smaller second window in Q Programmer which is used for Data Register Monitor monitoring up to 5 data registers BEE Which 5 data registers are moni H Ho Data Register Value tored is up to the user and for this R e i Encoder position g feature to work Automatic Polling Current command c must be turned on In the example AnalagCommand a to the right the GC a andi read Uzer Defined 1 only data registers have been selected for monitoring as well as user defined register 1 You can select which data register you want to monitor by clicking in one of the fields in the Data Register column of the window When you do this a button will appear This button allows you to select from all of the available data registers Drive Input Status al oT X3 M4 xh xb af Drive I O Status OL EOE IOL EE The status of digital inputs and outputs on the drive is shown in the upper right hand corner of the Q Programmer screen The two status indicators are Drive Outputs only active when Aut
33. e Hexadeci Bit 14 lt not used mal equivalent of this 16 bit word Bit 15 lt not used This hexadecimal value is consid ered the Alarm Code and the eqivalent hexadecimal value for each of the bits in the diagram is given below Description Hex Value Bit Comments Position Limit 0001 0 As set by PF command CCW Limit 0002 1 Drive input 6 activated CW Limit 0004 2 Drive input 7 activated Over Temperature 0008 3 Drive gt 85 deg C not used 0010 4 Over Voltage 0020 5 Bus voltage gt 58 volts Under Voltage 0040 6 Bus voltage 18 volts Q User s Guide Over Current 0080 T7 Phase current gt 20 amps Hall Sensor Bad 0100 8 Bad Hall sensor pattern Encoder Bad 0200 9 A or B signal not present Comm Error 0400 10 Bad serial communications Data Save Failed 0800 11 Unable to save data Wizard Failed 1000 12 Timing Wizard failed not used 2000 13 not used 4000 14 not used 8000 15 Example The drive has hit the CW clockwise limit Bit 2 there is an under voltage condition Bit 6 and an encoder wiring connection has been lost resulting in a bad encoder fault Bit 9 The resulting 16 bit word is 0000001001000100 and the equivalent hexadecimal value is 0244 Therefore when the host sends AL the drive will respond with AL 244 Status Code Definitions Here is a diagram showing the meaning assigned to each of the 16 bits in the Status Code s binary word For example when Bit 1 1 the drive is dis
34. e alarm brake and motion outputs as well as setting general purpose outputs Communication Commands This category contains three commands for setting the communication protocol adjusting the bit rate and setting the transmit delay Q Program Commands There are three subcategories in this category Q Miscellaneous and Wait The Q subcategory consists of commands used for loading uploading and saving commands to and from the queue as well as branching looping and calling within a program Miscellaneous commands include those for multi tasking interrupts password protec tion and others The wait subcategory has four commands wait for input wait for move to finish wait time wait delay register Register Commands Register commands are for doing math on register data and moving data into and between registers This category includes commands for counting decrementing incrementing adding subtracting multiplying dividing AND OR comparing registers moving data reading writing loading and more Buffered Command Listing Here is a listing of the buffered commands available with the Q drives in alphabeti cal order by category Motion Commands PUPPI pP Acceleration Eegeregie Maximum Acceleration el Commence Jogging bpocce Q Change Distance p GE Deceleration p Mu P Distance lc
35. e used for parameters that follow the inital two or three letters There are two basic types of commands immediate and buffered An immedi ate command executes immediately regardless of what is already ahead of it in the queue A buffered command works by waiting its turn in the queue behind other buff ered commands that may already be stored in the queue NOTE The queue is large enough to hold 62 commands at any given time We create programs for Q drives by sequencing commands together into the queue Now while 62 of our powerful commands can create a lot of functionality we real ize that many applications will require more than this number We address this differ ence when we access a drive s non volatile memory This non volatile memory used for storing commands is physically much larger than the queue and we break it up into locations that are the same size as the queue E the queue program segments volatile RAM non volatile memory locations 1 12 There are 12 non volatile memory locations located in each drive and in each location we can store a sequence of commands A sequence of commands stored in a specific non volatile memory location is referred to as a program segment Program segments are 62 lines long the exact same size as the queue Any of the 12 program segments can be immediately loaded from its corresponding non volatile memory loca tion directly into the queue When we program a Q drive we use specific com
36. ents are saved with files on disk but are not maintained in the drive If you download a segment with com ments to a drive and then upload the same segment the comments will not be retained Working with Segment and Program files qsg and qpr When you use the buttons available in the segment editors you are Opening Saving Downloading Uploading and Executing a particular segment When doing these operations you are working with a qsg file extension In the image above you can see that the Power up segment qsg file name is shown just underneath the Open and Save buttons QUser s Guide Looking at the main programming screen above the segment tabs we see there are but Open Program iind tons for doing the same Open Save Download Upload and Execute operations but with all Download Al segments together as a program When using senis rst Program Segment these buttons we are working with a qpr file extension A qpr file contains all of the indi Upload All vidual segment files in one program file Program Segments These buttons are useful because a pro gram is the set of all 12 segments together and most often we will be working with many segments in creating a program For example if you click on the Open Program window you will open a qpr file from disk and all of the segment tabs will be filled with their corresponding segment files The START button j Another button that affects the entire prog
37. etween EN sU el m each SO command to make the changing ER WT 0 25 output states more noticeable Segments 5 RU YT H 1 and 2 work in conjunction when seg E WT 0 25 ment 1 reaches its first QC command mx ep ein a with the parameter 2 indicating seg EH DC m ment 2 At this moment the program Exc calls segment 2 to execute its sequence Kee TI of commands Notice at the end of the sequence in segment 2 we ve placed a QC command with no parameter A QC com mand with no parameter means return to the original calling line and segment So 47 Q User s Guide what happens then is the program returns to segment 1 completes the second move calls segment 2 again returns to segment 1 once more and then starts the process over by looping to line 1 QG1 Multi tasking The multi tasking feature of Q drives allows you to inititate a move command FL FP CJ FS etc and proceed to execute other commands without waiting for the move command to finish Without multi tasking or more accurately with multi tasking turned off a Q drive always executes commands in succession by waiting for the completion of a particular command before moving on to the next command In the case of move commands this means waiting for the move to finish before executing subsequent commands For example if you have an FL command Feed to Lenght incremental move followed by an SO command Set Output the drive will wait to
38. finish the motor move before setting the drive s digital output With multi tasking turned on a Q drive initiates a move command and then imme diately proceeds to execute subsequent commands For example doing the same FL and SO commands as above but this time with multi tasking turned on the drive will initiate the move command and immediately proceed to execute the set output com mand witout waiting for the move command to finish Multi tasking is turned on and off with the MT command MT1 turns multi tasking on and MTO turns it off To illustrate the use of the MT command some more here are a couple of sample command sequences Segment 1 In the top command sequence to the right ils SN notice that multi tasking is turned off MTO Line Label md Param When this sequence is exectued by a drive the IS MT FL Feed to Length incremental move will com 2 FL plete before the drive waits 0 5 seconds ES WI n 5 WTO 50 and then sets output 1 low SOY1L IER Keil In the bottom command sequence to the 3 L right notice that mulit tasking is turned on ix MT1 When this sequence is executed by the drive the drive will not wait for the FL command Segment 1 to complete before executing the WT and SO Data commands In other words the drive will initiate 1 MT the FL command then wait 0 50 seconds and T T 2
39. ind that it is an extremely useful command There are many data registers in each Q drive The following sub sections detail the three types of data registers available 18 QUser s Guide Read Only Registers Read only registers are predetermined registers that contain information about drive parameters settings and states These include registers for the commanded current in the servo amplifer the motor s encoder position analog input levels drive temperature internal bus voltage and more These registers cannot be changed by the user but they can be monitored by the user All read only registers are represented by a lower case letter Here is a listing of available read only registers EEUU oce Analog Command MEET 0 0 0 5 05 5 1L omo Queue Line E lt i Current Command d eese MEER Relative Distance AME Encoder Position ey 111 AE Alarm Code EEN E Sensor Position ee Condition Code D sssccsccccccsescsconsssseseeersneaenens Driver Inputs NNEN Analog Input 1 k sese Analog Input 2 Pe E Comm Error m eee e uus Control Mode NNEN Velocity State T a Position State p MENU sese Segment Number q EE ees Actual Current NNEN EE Average Clamp Watts C NR 0 sooo ERREUR Status Code EE EE Drive Temperature J eee ENEE Bus Voltage n ee Velocity l
40. ionality Data registers e Multi tasking e Math functions Multi drop RS 485 for communication with more than one drive Robust communication protocol e Analog Inputs e Velocity Mode Jogging Password Protection for Stored Programs Q Programmer software features include Intuitive interface One click buttons for most functions e Active data register monitor Continuous drive status with Automatic Polling e Host command line for sending commands to drive Easy to use editor for creating programs Getting Started with your Q drive It is strongly recommended that all users familiarize themselves with the Overview Commands and Data Registers sections of this guide These sections provide essen tial information for working with Q drives The Overview section describes the basic QUser s Guide archictecture of Q drives with some diagrams that show how the drives function inter nally The Commands section describes the two different types of commands available in Q drives immediate and buffered and how they are used The Data Registers section lists all of the data registers available in Q drives and how to access them After that because this User s Guide covers information for using Q drives in different types of applications you may benefit from reading only the sections that pertain to your specific application or project Stand Alone Stored Program or Host Control You will want to determine whe
41. is is useful when we have a sequence of commands that is used over and over within a program Rather than repeatedly pro gram these commands into our segment s we locate the frequently used sequence in its own segment and then call that segment whenever we need to In this example we are making two Segment 1 distinct moves FL one fast move and one slow move After each move we d Line Label Cmd Param Param like to turn 2 outputs on and off To ac S AC 200 EN complish this using the QC command we 2 DE 450 must program two segments In this 3 VE 18 5 example segment 1 is the primary or EN DI 40000 calling segment and in it we program the 5 FL two distinct FL commands We are using R OC the same accel and decel rates for the EL VE 1 two moves but the velocities and dis tances change After each move we d H DI 3000 like to set outputs Y1 and Y2 on then off BES PL and rather than entering the necessary 10 QC d 11 12 commands to do this after each FL com Op E mand in segment 1 we place the com mands in segment 2 and then use the QC command to call it In segment 2 we place the desired Segment 2 SO Set Output commands that turn output Y 1 on then output Y2 on then output Y2 off and finally output Y 1 off Line Label Cod Baam Param2 GD YTL T Notice we ve also placed WT Wait Time 2 WT 0 25 commands of 0 25 seconds b
42. ith one other command TI Test Input TR Test Register or CR Compare Register Let s say we have an application with two possible moves We always want to Segment 1 make a CW move unless input X5 islow Line Label Cmd Paan Paan in which case we want to make a CCW TI AC 300 move In this example we set all of the ca DE 450 WM move parameters except distance at the SR VE 18 5 top of the segment We set accel to 300 Al wT 0 25 rps s decel to 450 rps s and velocity to Fo TIxB5L 18 5 rps There is a WT Wait Time of 8 DIT 10 0 25 seconds so that we may have a S71 e a OO l LZ DI 50000 noticeable delay between moves Then eem we test input X5 to see if it s low using the H PL 1i TI Test Input command If it is true i e ERN HB input X5 is low we branch using QJ to d DI 50000 line 10 set the distance to 50000 counts 11 FL O o and make a CCW move Otherwise the 12 UG program proceeds to line 7 sets the md l o E distance to 50000 counts and makes the CW move To keep from doing the CCW move right after the CW move and to repeat QUser s Guide the segment forever QG commands are placed after each FL command Calling Calling is similar to using sub routines The QC Queue Call command allows us to exit a segment execute another segment and then return to the original segment to the line where the call was initiated Th
43. mand in the Q Com mand Reference Math amp Logic Math and logic functions can be performed on data registers Math is limited to integer values Some of the math functions are also limited to 16 bit values When doing math only one operation can be done per instruction Math and logic results are stored in the Accumulator register 0 This register is part of the user defined register set Math functions include Add Subtract Multiply and Divide Logic functions include Logical AND and Logical OR Conditional Testing When constructing complex programs it is usually necessary to do some condi tional processing to affect program flow Two commands are available for evaluting a data register for conditional processing the TR Test Register and CR Compare Reg ister commands The TR command wil compare the First value of a given data regis ter against a Second immediate value The CR command compares the First value of a given data register against the Second value of another data register When using the TR and CR commands an internal Condition register is set with the result The result can be gi eee the First value is either positive or negative b az rcm the First value is not a value it s zero las the First value is positive KEE the First value equals 0 Greater Than the First value is more positive than the Second value Less Than sese eees ese the First value is mo
44. mands to load segments into the queue For example we may start our program with segment 1 and at the end of segment 1 place a command that loads segment 2 into the queue The segment loading process takes a mere 125 microseconds so the jump from seg ment to segment is basically seamless Now you can see that with 12 program segments linked together and 62 lines in each segment you can create programs in a Q drive with up to 744 commands This is a significant number of commands and we think it s enough to make very powerful flexible and funcitional programs So the key to programming a Q drive then lies in using the 12 available program segments together to create a program with the desired Q User s Guide functionality The next diagram shows a little more detail of how the queue is accessed from both the serial port of the drive RS 232 RS 485 and the drive s own non volatile memory Non volatile Memory Locations 1 12 Program Segments The Queue RAM Buffer Line 1 Line 2 Loading Queue QL QX Loading Queue QL RS 232 RS 485 Serial Port Uploading Queue QU Saving Queue QS Line 62 Queue Execution QE Immediate QX Buffered In the above diagram the serial port of a drive is used to access the queue using Load QL and Upload QU commands The Load command allows a sequence of commands to be placed in the queue by a host device PC HMI micropro
45. mon ground terminal is provided on each drive and can be used to keep all drives at the same ground potential This terminal connects internally to a drive s ground connection so if all the drives on the 4 wire network are powered form the same supply it is not necessary to connect the logic grounds You should still connect one drive s GND terminal to the host s signal ground Before wiring the entire system you ll need to connect each drive individually to the host so that a unique address can be assigned to each drive See following sub section Before you connect the servo drive to your system Proceed as follows using the figure below 1 Connect the drive TX to the host PC RX 2 Connect the drive TX to the host PC RX 3 Connect the drive RX to the host PC TX 4 Connect the drive RX to the host PC TX 5 Connect GND to the host PC signal ground tobeIGND NT e s to PC RX to PC RX to PC TX to PC TX W W WN N N W W WN N N W N N N N RX TX GND RX TX GND RX TX GND Drive 1 Drive 2 Drive 3 Getting and Connecting an RS 485 4 wire adapter to your PC If you are using your computer to communicate to the Q drive s and therefore need an RS 485 adapter model 117701 from Jameco Electronics 800 831 4242 works well This adaptor is for a 25 pin serial port If you are like most people and have a 9 pin serial port on your PC you will also need to purchase Jameco cable 31721 Conne
46. ng edge or F falling edge Feed to Sensor The FS Feed to Sensor command Segment 1 causes the motor to move at a fixed meara leste lege velocity until an input changes state q DI 4000 When the designated input changes state f 2 AL 500 the motor decelerates to a stop The Ee parameters of the move are set by the E BS w AC DE VE and DI commands InanFS 4 VE 30 command the DI command sets both the 9 FG EL distance in which the motor should stop 6 Eu B ol Above is an example where the motor will move in the clockwise direction starting off with an acceleration rate of 500 rps s and a maximum speed of 30 rps until drive input X6 goes low at which point the drive will use the distance set in the DI command 4000 counts and the deceleration rate set in the DE command 500 rps s to bring the motor to a stop Looping There are two ways to accomplish Segment 1 looping or repeat loops within a pro Line Label Cmd Paraml Param gram The first method accomplishes an 1 DI 40000 infinite loop and uses the QG Queue CS AL EC Goto command The parameter for this 1 command is a line number in the seg EN DESO ment and whenever the sequence gets to E VE 20 the QG command the segment will jump D FL to the designated line EN MT D B l d DG In the example to the right the se EE 1 r
47. oftware provides diagnostic and troubleshooting functions that are helpful in any application Getting ready to program We ve taken an overview of the Q drives and we ve looked at the types of com mands available Now let s look at how we create programs in Q drives using the Q Progammer software We ve already seen that Q drives operate by executing se quences of commands in sets of up to 62 commands at a time These sets of com mands are called segments and there are 12 segments in a program Remember not all segments have to be used to make a program Some segments can be blank but there will always be at least one segment in a program To start programming a Q drive the best approach is to break your application down into stages For example if you ve got a homing sequence followed by some absolute moves then a jogging routine and finally a series of incremental moves it might be best to devote one program segment to each stage of your application With this in mind you would program one segment for your homing sequence one for your absolute moves sequence one for your jogging routine and then one for your incre mental moves That s only four segments so far and you ve got eight left you can use Keep in mind that Segment 1 is the default power up segment so it makes sense to put globabl parameters like accel decel rates interrupt settings register values and other housekeeping commands in this segment It is also common
48. omatic Polling is turned on Drive inputs that are wi i wi active are indicated with a green dot and drive ouputs that are active IT C are indicated with a purple square Driver Inputs Q User s Guide Sample Command Sequences What follows are sequences of commands that give examples of how to create motion and logic within a program All of the commands in this section are buffered type commands Feed to Length The FL Feed to Length command Segment 1 is used for relative or incremental moves c When executed the motor will move a Lime Label Lng Param Param fixed distance using linear acceleration IR EE DUU and deceleration ramps and a maximum l Z AC 500 u velocity These move parameters are set 2 DE 500 u using the DI Distance AC Accelera 4 WE ag tion DE Deceleration and VE Veloc 5 FL ity commands The direction of the G move is determined by the sign of the DI al parameter DI80000 is 80000 counts in the CW direction whereas DI 80000 is L 80000 counts in the CCW direction Here is a sample sequence showing a move of 80000 counts with a velocity of 30 rps and accel decel rates of 500 rps s The FL command initiates the move Also the order of the commands is not signifcant except that any changes to the move param eters must be done before the FL command Feed to Position
49. ous Current OM M P Y ee Control Mode p m E Change Peak Current p Define Address ER Encoder Resolution p Power Up Current EE Position Fault 14 QUser s Guide Eeer Positioning Limit a MEET Power Up Operating Mode xm Power Up Peak Current E geseet Positioning Time zo M Save All NV Parameters UO Commands PI oce E eee ee E ELM ees ee Analog Filter n Uter Alarm Reset Input PO RET e Alarm Output AT serene Ul MEE en Analog Threshold n 0 P Analog Offset pL 1 A Analog Zero BD AERE Brake Release Delay BE ERR Brake Engage Delay BO EE Brake Ouput DL PEE ee Define Limits Fl EE Filter Input d CP cc cernere Motion Output Ql EEN On Input S I MESE Servo Enable Input SO cc EEN Set Output SOY GEE EE Set Output Extended Tl MER WEE Test Input LUNA 10 ccc Wait for Input Communication Commands BR esen E Bit Rate ia esen ee Protocol UE ate c if Transmit Delay Q Program Commands MT ge Multi tasking p TH MI On Fault p On Input Po MR Pause Li E Password
50. ow are commands placed into the queue Commands enter the queue either via a drive s serial port from a host or from the drive s own non volatile memory Initially we always send commands to a Q drive via its serial port Most often this will be done using the Q Programmer software running on a Windows based PC and connected to the drive via a PC COM port RS 232 How ever commands can also be sent by other programmable devices hosts like HMIs microprocessors or other types of machine controls via either the drive s RS 232 or RS 485 port These other devices only need to follow the communication protocols required by the Q Once serial communication has been established we can do one of two things with the commands we send We can simply place commands into the queue for immediate or buffered execution or we can route commands via the queue into the drive s non volatile memory storage We refer to the latter as programming and one of the benefits of programming is that programs stored in non volatile memory are not lost when a drive is powered down QUser s Guide Programs in Q Drives To understand a little more how we program a Q drive that is place commands in a drive s non volatile memory lets take a look at some terminology A command is comprised of two or three ascii characters only letters are used for the commands themselves Some commands also have parameters letters numbers and other ASCII characters ar
51. ram is the green START button The START button initiates execution of a program that has been down loaded to a Q drive by executing Segment 1 This button simulates a power up situa tion when the Execute Q at Power Up toggle box has been selected The START button will change its color to red and display STOP when a program is running Let s take a look at the rest of the screen to see what other functions are available Serial Comm Port f Comm 5 Commz Serial Comm Port buttons F Coma t Comm4 These buttons allow you to choose which comm port of your PC will be used for connecting to your Q drive When you launch the Q Programmer the application will automatically detect an available comm port starting with Comm Port 1 You may also manually select a comm port Once the comm port has been established Q Programmer will remember that comm port the next time you launch the application Automatic Polling wein One of the Q Programmer s features is to continually poll the attached drive for status information This feature is extremely useful in troubleshooting your drive and program You can turn automatic polling on and off using the Drive Idle button This button is yellow when you first launch the Q Programmer and displays the words Drive Idle You can activate polling by click on the Drive Idle button The status of polling is displayed in the Comm Port status window This status window is located directly above the
52. re negative than the Second value Rac the First and Second values are equal Unequal 2o teresa puras the First and Second values are not equal NOTE The QJ Queue Jump command is designed to use the Condition codes above for jumping Q User s Guide Host Serial Connections Introduction When communicating to a Q drive you will always be using one of the following serial connections RS 232 2 wire RS 485 or 4 wire RS 485 Out of the box we sug gest starting with RS 232 along with the programming cable and software that was supplied with your Q drive so that you may be communicating to and familiarizing yourself with the Q drive as quickly as possible All software from MOONS com municate to a Q drive via the supplied RS 232 programming cable These software include Q Programmer create and edit stored programs emulate a host SCL Setup Utility basic host terminal for host emulation If your project calls for a Q drive or drives running stored programs you will use the supplied RS 232 programming cable along with Quick Tuner and Q Programmer to setup configure and program your drive s If your project calls for your drive s only running stored programs you can read up on the RS 232 sub section in this section and not read any more about the other serial connections However if your application calls for a serial host controller PC PLC HMI or other serial device that can act as a
53. register to another This is done with the RM Register Move command When executing an RM command the contents of the originating data register are retained Contents of read only registers can be moved into read write registers and user defined registers However as implied by its label no register values can be moved into read only registers Attempting to do so will have no effect and no error code is generated Incrementing Decrementing Read write and user defined registers can be incremented and decrmented by 1 Two commands are used for these functions the RI Register Increment and RD Reg ister Decrement command NOTE Incrementing past the range of a data register will cause the value to wrap around QUser s Guide Counting A special data register the I register Register Counter is designated for count ing input transitions and input state times of a selected digital input The I register is a read write register that can be used with all other register functions including math and conditional testing The RC Register Count command is used to assign digital inputs to register counting There are four different input states that can be chosen and that have differ ent effects on input counting When using the high or low level states the counter acts as a timer with a resolution of 125 microseconds Edge type states like falling or rising are used for input counting See details of the RC com
54. s 4088 Therefore when the host sends SC the drive will respond with SC 4088 A useful tool for converting alarm and status codes to binary If you re using a Windows based PC as a host with your Q drive which you ll defi nitely be doing if you re using any of the MOONS software supplied with your Q drive you can use the Calculator utility that comes with Windows to conver hexadecimal values into binary values or words This utility is usually found in the Accessories folder of your Programs Folder in the Start menu Once open make sure the Scientific view is set by choosing it from the View menu of Calculator This view provides some radio buttons for switching between Hex and Bin as well as Dec and Oct To figure out what your Alarm or Status Code is telling you check the Hex radio buttion and enter the hexadecimal code sent by the drive Then check the Bin radio button and your code will automatically be converted to a binary word Note Calculator does not allow leading zeros in entries so you may see less than 16 bits That s OK just start counting from the right with Bit 0 and you will be able to determine the condi tions set in the codes 37 Q User s Guide Programs This section provides assistance in using the Q Programmer to create a stored program for your Q drive If your application does not require a stored program in the drive familiarizing yourself with the Q Programmer is still beneficial as the s
55. s to whether the drive is running in position disabled homing and other conditions Both alarm and status codes can be very useful when initially setting up and integrating a servo system into your machine The Alarm and Status codes are hexadecimal equivalents of 16 bit binary words Each bit in each binary word is assigned a meaning and therefore a code word can actually show information about more than one alarm or status condition Alarm Code Definitions Here is a diagram showing the meaning assigned to each of the 16 bits in the Alarm Code s binary word For example when Bit 0 is L Bit 0 Position Limit logic high 1 it means the servo Bit 1 CCW Limit motor is in position Similarly if Bit Bit 2 CW Limit Bit 3 Over Temperature 5 1 there is an Over Voltage ESTE not used UUUUUUUUUUUUUUUL condition at the drive A drive will Bit 5 Over Voltage set any and all bits that pertain to Bit 6 Under Voltage its immediate alarm fault condition Bit 7 lt Over Current at the moment of receiving the AL Bit 8 Hall Sensor Bad Bit 9 Encoder Bad Bit 10 Comm Error command from the host When a host sends the AL PICTI Dale ave Mallea Bit 12 Wizard Failed command the response from the Bit 13 lt not used drive will actually be th
56. ss is already in a Q drive type DA then press Enter The drive will respond with DA x where x is the address that was last stored To change the address type DAy where y is the new address character then press Enter To test the new address type yRV where y is the address you ve just assigned to the drive and then press Enter For example if you set the addresss to and want to test the address type RV then press Enter The drive should respond with RV x where x is the firmware version of the drive Once each drive in your network has been given a unique address you can pro ceed to wiring the whole system together Q User s Guide Host Serial Communication Protocols Because of the intense nature of serial communications required in Q drive applica tions you are allowed to adjust a drive s serial communications protocol to best fit your application This adjusting of a drive s serial communications protocol is done using the PR command Typically the PR command is used one time when configuring a drive and saved as part of the startup parameters However it can be changed at any time to dynamically alter the serial communications The PR command works by sending the decimal equivalent of a 5 bit binary word Each bit in the word represents a different setting of the serial communication protocol These settings are additive meaning when you set a bit to 1 or turn it on you are
57. st need to address each drive individually An easy way to do this is prior to hooking your drives up with one of the RS 485 implementaions using the RS 232 cable that came with each Q drive and the SCL Setup Utility If you ve already connected your Q drive using one of the RS 485 implementations completing this sub section will allow you to test your connections First connect your PC and Q drive See preceding sub sections on connecting to a PC or host for help with this Then launch the SCL Setup Utility on your PC If you don t have the SCL Setup Utility installed you can get it either from the CD ROM that came with your Q drive or from MOONS website www moons com cn Once the SCL Setup Utility is launched select the proper COM port of your PC and then apply power to the Q drive Press the Caps Lock key on your keyboard be cause the drives only accept commands in uppercase Type RV then press Enter If the drive has power and is properly wired it will respond with RV x where x is the firmware version of your drive This confirms that communication has been established If you don t see the RV x response check your wiring and follow the above proce dures again Next you must choose an address for each drive Any of the low ascii characters many of which appear above the number keys on a PC keyboard are acceptable 28 QUser s Guide 1 8 96 amp 0123456789 Q To find out which addre
58. t 9 Segment 10 This Segment Open Save Download Upload Execute Clear ment editor section of Power up segment asg theQ Programm er Line Label R EH Param2 Comment has 12 tabs one for DE 100 each segment You VE 10 make a segment E am active for editing by Al 3 clicking on its tab 5013 ER In the picture to ZS 3 the right Segment 1 Wi X7L is the active seg HP 12 ment Taking a look Man at this segment tab we see that there are several buttons underneath the tab We have Open Save Download Upload Ex ecute and Clear The Open button allows you to open a segment file qsg that has been saved to disk The Save button allows you to save the contents of the active segment to disk The Download button sends the contents of the active tab to the Q drive The Upload button retrieves the active segment from the Q drive The Execute button tells the Q drive to execute the active segment must be Downloaded first The Clear button deletes the contents of the active segment though only in the Q Program mer not in the Q drive To clear the contents of a segment in the drive you must down load a blank segment Each of the segment tabs also has an area for editing the sequence of commands in a segment There are 62 lines in each segment and for each line you can specify a Label a Command Cmd Parameters Param1 Param2 and a Comment Labels are used for branches and jumps inside your program segment Comm
59. ther your Q drive will be running a stored program or not If so you will need to familiarize yourself with the Q Programmer software which is described in the Programs section of this guide Q Programmer is provided free with all Q drives and provides a simple way of creating and editing stored programs for Q drives If your application does not require a stored program and therefore your Q drive will be receiving all commands from a host controller you will need to choose a serial connection RS232 two wire RS485 or four wire RS485 and familiarize your self with both the Host Serial Connections and Host Serial Communication Protocols sections of this guide In many applications it will be common for a Q drive to do both of the above that is run a stored program and receive commands from a host controller in the same applica tion If this describes your application you will still need to determine the best serial connection and communication protocol for your host controller The Q Programmer software running on a Windows based PC only communicates with a Q drive via RS232 and a compatible programming cable is provided with each Q drive However you are still free to choose from the three available serial connections RS232 two wire RS485 or four wire RS485 for communicating between the Q drive and your host controller Single or Multi axis Host Control If you are planning to send commands to your Q drives from a host controller
60. to turn multi tasking on in this segment Next remember to decide what interrupt handling your program has to take care of If for example after an input interrupt you want to seek a home position put your commands to accomodate this in Segment 10 which is the default On Input Ol inter rupt segment Also if you re going to add some commands for recovering from a fault you will have to use the On Fault command Segment 1 is a good place to put the OF command which designates which segment the program will branch to in the case of a drive fault In this segment should go your fault recovery commands And finally start thinking about your program and how you can break it into logical chunks or blocks of functions Sometimes it s easiest to program the functions for one part of your application and then move on to the next part of your application taking one application requirement at a time After you ve worked a little with the Q drives your ability to segment an application and create a program for it will be much better QUser s Guide The Q Programmer software All Q drives can be controlled and programmed from just about any serial or host terminal device Because the communication protocol for Q drives is based on simple serial communications a simple terminal utility like the SCL Setup Utility from Applied Motion can be used to access every single function of a Q drive However the range of functions in a Q drive is too wide
61. tus and parameter requests and other immediate type functions AC M Alarm Code Eed Dr MES Alarm Reset Buffer Status CE T Comm Error ee Change Speed ee Continue GC lt o A Current Command T re Immediate Analog value Oe ee Immediate Commanded Current ee ee Immediate Distance request Se EE Immediate Encoder request I E Immediate Format lH D E Immediate High output lL Immediate Low output eo sss Immediate Position request IO I E Immediate Output status request LGE 0 ll o Immediate Current value IS eee lt 5000o EE Input Status request SO WE Expanded Input Status request IMEEM o o ooo ee Immediate Temperature N E Immediate Velocity UN ee Immediate DC Bus Voltage Le eee Immediate Position Error MN c Model Number 6 CREE EE Queue Execute e MEME 0 00 0Q ooon Queue Load M ATE Queue Save EE Re start or Reset U Register Load o CHE Request Status RU T Register Upload pP PUMP EUER PIRE Revision Level request c o Re Request Status in Hexadecimal c Stop Jogging o
62. wire point to point connection that allows full duplex serial communications when connected to a single node RS 422 has one node that is the driver or transmitter and up to 10 nodes that are receivers RS 422 was not designed for a true multi node network The Q drives are designed to work in a multi node environment and so they use both the standard 2 wire RS 485 connection and a modified RS 422 4 wire connec tion that has been termed 4 wire RS 485 This is because unlike the standard RS 422 which is desinged for single node connections the 4 wire RS 485 used by Q drives allows multiple nodes NOTE In general we recommend using half duplex communications with Q drives Even though the 4 wire RS 485 network can support full duplex their is now the capa bility to have multiple nodes and therefore data collisions might occur For this reason we recommend limiting communications to half duplex even with the 4 wire RS 485 connections Throughout this User s Guide we refer to the three possible serial connections as RS 232 2 wire RS 485 and 4 wire RS 485 Connecting to your Q drive s serial port s Each Q drive comes with two physical connectors for connecting to a PC or other serial host controller device The first connector is an RJ11 connector same as a 4 wire phone jack that is used strictly for RS 232 communications The second connec tor is a removable 5 position terminal block for use with 2 wire and 4 wire RS
63. you may also opt to connect more than one drive to your host controller s serial port 2 wire and 4 wire RS 485 allow you to connect more than one drive to a hosts serial port Furthermore 2 wire and 4 wire RS 485 allow you to use longer communications cables up to 1000 feet than with RS 232 which we suggest limiting to 50 feet If you plan to connect more than one drive to your host controller s serial port you will find more information in the Host Serial Connections section of this guide Q User s Guide Overview What does the letter Q mean The Q designation of our Q drives comes from the word queue This is because these drives operate by executing commands that are fed into a queue or buffer lo cated in the controller section of the drive By definition a queue is a list or sequence of items in which items enter at one end of the queue and exit at the other In the case of our drives the items in the Commands enter the queue are commands and queue and are buffered when a command reaches ar execution the end of the queue it is executed by the controller Here is a basic diagram of how this works m DI80400 the queue The queue is physi cally located in a volatile area of the controller s memory We stress vola tile because at power down any commands that are left in the queue and have not been executed will be lost As commands exit the queue they are executed by the drive f H

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