HIWIN PCI-4P Motion Maker Operation Manual
Contents
1. WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 HIWIN PCI 4P Motion Maker Operation Manual PPH WObit mgr inz Witold Ober 61 474 Poznan ul Gruszkowa 4 tel 061 8350 620 621 fax 061 8350704 e mail wobit wobit com pl htto www wobit com pl Ver 1 01 2003 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 W Contents 1 INTRODUCTION 3 2 MECHANISM PARAMETER SETTINGS 4 3 INITIALIZATION nerit rebns 8 4 MOTION 8 10 4 1 GENERAL MOTION 4 11 NC JOG ee ec ETO ER eee ee ee eer rere er ene 12 Am oleo i t EREII 13 5 MULTIPLE POINT 2D MOTION 8 15 W Obit 2003 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 1 Introduction Motion Maker is a man machine interface designed by Hiwin for PCI AP motion control card With it users can test if PCI 4P works normally and each I O 1s connected correctly and do a simple motion test so that setting up a motion system become2. 4 Motion Test Pressing the Motion button the upper area of Fig 5 it will show motion test screen You can switch between general motion jog motion and homing motion by using buttons with label A B and C shown as Fig 8 Fig 9 and Fig 10 The following three sections explain the three functions separately General Motion Line F apren 1o00 Repeat Delay MI Command pulse J0G Mode Axis SEDENS Distance EE ses Home r 5 0 Order 0 ZA E NEN D 35 3 5 3 W Obit 2003 10 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 1 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 lI w 4 1 General Motion Linear E Motion Maker Yer 1 U Testing Speed uise sec EN apani Delay BH Relative Command pulse Acc Curve Made D 1 2 E 1000 100 000 Dec CurveMode C JOG Mode Axis 3 Axes xis 0 1 2 Speed ES Over Travel Up OT 3 Distance oo Q Home Over Travel Down Speed pulse sec H Home Sensor Fig 8 General motion Linear The explanation about Fig 8 is as follows Label 1 in the figure Linear interpolated motion When Repeat checkbox is enabled it repeats the motion You can also set delay time between motions Press
3. Run button to execute the motion Acceleration time and deceleration time are set by values with label 12 and 13 in Fig 2 Label 2 in the figure Display of coordinate acceleration and deceleration type Fig 2 Label 3 in the figure Upper lower limit and home sensor status red ON green OFF Label 4 in the figure Executing the edited motion command except Jog Motion Label 5 in the figure Stopping and aborting motion command Label 6 in the figure Resetting motion library Clear error status actual and command position Label 7 in the figure Display executed commands W Obit 2003 11 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 1 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 w 4 2 Jog Motion Motion Maker 1 0 UICE Parameter Motion General Motion Line F 1 4 Speed EN Delay BN Coordinate Mode Command pulse Acc Curve Mode 0 1 Enn 2 LM CMM LM Dec CurveMode 8 JOG Mode Distance Axes 5 Speed pulse sec Over Travel Up OT Distance Imm puises J j Q Q Q Q Home Over Travel Down OT Speed pulse sec O Q Home Sensor HH Run Line Motion Command Stop Motion 0 2 0 Stop Motion Stop Motion The explanation about Fig 9 is as follows Label 8 in the figure Jog moti
4. 150000 100000 50000 150000 Actual Command 0 Fig 13 Display motion trajectory W Obit 2003 16
5. Deceleration Curve Relative 10 Acceleration Time Deceleration Time 16 Software Limit Limit limit Pulses Pulses Check Software Limit a 0 Axis 1 Axis L 2 Axis 3 Axis Hardware Limit Limit _ Limit Normal Open Normal Open m Nom F Check Hardware Limit for All Axes 20 Driver Pulse Mode Norma v Sensor Mode Normal Open Find Home Direction 0 Leave Home Direction 0 Type Encoder A B AB Phase Swap NO D Fig 3 Mechanism parameter setting each axis The followings explain Fig 2 and Fig 3 Label 6 in the figure Mechanism parameter setting button for each axis W Obit 2003 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 pressing the button the screen will display as Fig 3 Label 7 in the figure Mechanism parameter setting button for all axes pressing the button the screen will display as Fig 2 Label 8 in the figure Setting speed limit of general motion Label 9 in the figure Setting relative or absolute coordinate type refer to chapter 4 Motion Test Label 10 in the figure Setting acceleration as T cure or S curve Label 11 in the figure Setting deceleration as T cure or S curve Label 12 in the figure Setting acceleration time for general motion unit ms Label 13 in the figure Setting deceleration
6. inear arc and circular and display trajectory in execution Motion Maker Yer 1 Motion Line 1000 20000 20000 Circle 200 0 150000 Command Fig 11 Multiple point 2D motion test screen The explanation of Fig 11 is as follows Label 1 in the figure Editing motion commands Pressing this button an edit screen as Fig 12 appears Label 2 in the figure Deleting motion command Press this button to delete a motion command label 4 of Fig 11 which is shown reversed Label 3 in the figure Clearing motion command Pressing this button it will clear all motion commands also clear display of trajectory screen label 5 of Fig 11 and reset motion library Label 4 in the figure Displaying motion command When a motion command is executed 1t 1s shown reversed Label 5 in the figure Displaying motion trajectory Ideal motion trajectory is shown in purple motion command trajectory is shown in yellow as Fig 13 W Obit 2003 15 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 w Editor Editor Motion Circle Speed Destination Position for LinefArc Motion 0 20000 Pulses ferencefCenier Pos for ArctCircte Motion Pulses 1 20000 Pulses Direction for Circle Motion Fig 12 Editor Motion Maker Ver 1 0 Motion Line 1000 20000 20000 Circle 1000 20000 20000 20000 20000 0 200000
7. ing e Motion Maker ro TE Speed Mii Delay B Coordinate Mode Command pulse Acc Curve Mode 0 mm 1 Emm 2 Mirum 10000 10000 Mode hse u o Axes 0 1 2 3 Speed pulse sec Puer Travel up odo Distance 1100000 Muses Q 2 9 Home ver Travel Down OT 10000 10000 10000 10000 Order HH Home Sensor up 12 sr 440 Stop Motion TNT Stop Motion 149027 o Stop Motion Fig 10 Homing The explanation about Fig 10 15 as follows Label 12 in the figure Homing There are fields for inputting homing speed and homing sequence for each axis Press Run button to start a homing motion Acceleration time and deceleration time are set by values with W Obit 2003 13 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 w label 12 and 13 in Fig 2 Label 13 in the figure Displaying homing status Red means not finished green means homing motion finished W Obit 2003 14 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 5 Multiple point 2D motion test After successfully initializing motion library press Testing button in the upper area of Fig 5 it will become the screen as Fig 11 It lets user edit general motion commands l
8. j When mechanism parameters setting has been finished please press the button with label 14 to finish W Obit 2003 7 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 3 Initialization When user presses the button with label 14 in Fig 2 and finishes parameter setting the screen will become a new one displayed as Fig 4 Press Initialize button to start motion library After successfully starting motion library screen will become the one as Fig 5 and Initialize Successful 1s displayed in the left lower corner If fail to initialize motion library it displays as Fig 6 and Fig 7 program will be closed automatically after pressing OK button at this time please check if driver of 1s installed correctly 3 Motion Maker Yer 1 0 Paramete r Initialize Command 0 2 Fig 4 Initialization W Obit 2003 8 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 P Motion Maker Yer 10 Parameter B initialize JH Motion Ver 1 0 4 Initialize Successtul Command J Fig 5 Initialize successfully Cannot open this PCT AP card Fig 7 Initialize fail W Obit 2003 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4
9. on Here are only short stroke Jog mode and continuous Jog mode to choose There are totally 3 kinds of Jog mode please refer to section 2 6 2 of HIWIN PCI 4P motion library user s manual After inputting speed positive integer and distance positive integer press ll button to move toward positive direction press lI button to move toward negative direction The acceleration and deceleration time are set by values with label 12 and 13 in Fig 2 When continuous Jog mode is being executed pressing ll or U button to make a positive or negative motion The acceleration and deceleration time are set by values with label 12 and 13 in Fig 2 If you find continuous Jog motion 1s not working please check whether the software limit set by value with label 16 in Fig 3 is reasonable or confirm if motor already W Obit 2003 12 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 reaches the software limit position When Jog motion is being executed the button with label 9 Hold in the Fig 9 becomes operational When you press Hold button to pause the Jog motion then the label 10 and 11 of Fig 9 become operational At the time you can choose to continue or abort that Jog motion Label 9 in the figure Holding motion Pause Jog motion Label 10 in the figure Continuing motion Continue Jog motion Label 11 in the figure Aborting motion Abort Jog motion 4 3 Hom
10. s more convenient and quicker Motion Maker provides mechanism parameter settings initializing motion library motion test and multiple point 2D motion test function Details regarding how to use are explained in this manual In Motion Maker blue button means operational gray button means not operational CAUTION Before using Motion Maker please read also PCI 4P MOTION LIBRARY USER S MANUAL W Obit 2003 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 Mechanism Parameter Settings Fig l is the first screen when execute Motion Maker Motion Maker 1 0 Fig 1 The first screen of execution Label 1 in the figure Setting mechanism parameter Pressing the button it will become Fig 2 Label 2 in the figure Closing Motion Maker Label 3 in the figure Displaying motor current position feedback value unit pulse Label 4 in the figure Displaying PCI 4P current command position unit pulse Label 5 in the figure Version number When you press Parameter button the screen will become like Fig 2 and Fig 3 W Obit 2003 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 Motion Maker Yer 10 Speed pulse sec Coordinate Mode In Position IDisable FAX 48 61 8350 704 804 Acceleration Curve
11. time for general motion unit ms Label 14 in the figure Mechanism parameter setting press this button to confirm setting Label 15 in the figure Choosing the axis number for setting parameter Label 16 in the figure Software limit setting There are positive and negative software limit this setting will influence the range of continuous Jog mode please refer to section 4 2 and it is possible to choose if enable software limit function Label 17 in the figure Hardware limit setting There are wiring type normal open or normal close for positive and negative limit switch and it is possible to choose if enable hardware limit function Label 18 in the figure Homing parameter setting There are homing type home sensor wiring type and direction of phase and phase 1 Please refer to section 2 7 of HIWIN PCI 4P motion library user s manual Label 19 in the figure Encoder parameter setting There are encoder signal type and it is possible to choose if swap phase A B Label 20 in the figure Pulse mode setting There are Pulse Direction CW CCW and A B phase pulse modes to be selected The parameters under the tab of all axes 2 apply to all axes the parameters under the tab of each axis Fig 3 apply to each axis and can be set independently according to each axis W Obit 2003 6 WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 L 4
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