Home

Motion Control System and Operator Interface (VC1) User Manual

1. Page 36 lOW ae Page 37 Position snapshot inputs kom dud a SE e Cl SURE Page 56 Position trigger reme da 60 Print help display EE ed Page 69 Privileged mode Page 12 Page 19 Programme example Page 101 Prompt eked tai We resa 78 Status ooo ne Ae Ee Neste Page 77 Proportional qain 2 km opened Reason Page 40 Sr RS 56 PM ose alain are nat net Sena eon bake Page 19 FRA ec s E tad Aus eme toa ge Page 14 Page 15 Ramped stOp RE OMG ah ech eye Page 20 RES aceite Page 25 RD sean La Rae tie eed Page 14 Read external counter input Page 55 INPUTTING jess ont iR Re Page 44 se retenta Page 46 Read current parameter value Page 12 Reference adjustment position Page 52 correction limit Page 52 correction overrun Page 53 correction velocity Page 53 inputs etie ie Page 82 Offset sd ment Leod u
2. 72 Jam detection anne S gel eden Sone Leet 36 ID Se iue tree NT ste TS se eerte E oos Page 41 Keypad abort from current operation Page 20 debounce time Page 26 interactive with LCD display Page 75 set sequence for arrow keys Page 49 variable entry e eR etd Page 75 Keypad input enable urea au PISOS hae eb qi Page 48 mask reos dee ser Pede aal eres Page 48 numeric codes Page 115 ets de pU ee Imam nets Page 34 dan e acd ele de i ote oua t Page 41 meten ditata Nat rt Toe eoe decre ade Pati rede Page 41 KMI or ote n ertet netten end Page 43 KP edie ls a ed as td d ros mie pP Page 40 Ne ent app QURE NR Page 49 KM esas NIU Lie PL be quias Page 41 L E D s indicator e oos net eeu eue ee Page 80 Te Me ei ad LEO E Page 15 Last errors dant te dues Page 38 Page 69 LCD display continous output Page 75 cursor control Page 71 Page 87 interactive with keypad Page 75 send character string Page 70 Copyright 2006 Pan Controls Limi
3. du ea xit Page 66 tats OT QU DEN Page 59 Deadband as MA Eee aaa Nena Page 25 Settling time sas eee NRA ae amet e Page 25 Debounce time Page 26 Page 59 Debugging continuous display mode Page 67 history of sequences Page 28 Dec lerated Stop eue de ui nr Ee Page 20 D celeration ts de eee ea Page 24 Decimal numbers Page 68 Decimal point set up for display Page 75 set up for variable display Page 74 Default serial settings Page 90 D faults tup Ram gad ed REEL RE WES Page 15 manual control Page 15 Deferred adjustment position Page 52 Define error output sense Page 59 expanded inputline Page 58 external counter input Page 55 input line function Page 57 limit switch input Page 56 output line group Page 60 position snapshot input Page 56 position trigger output Page 60 reference input sense Page 55 zero marker input Page 55 De IMIS ze RI tert rere Su beer eris Page 11 De
4. Page 41 Find current parameter value Page 12 Find home position Page 21 i Merc Page 17 Nora ds ois eS deat Real Dates reid ta Jee Page 62 Following Ermon oie pce ee Re da RE Page 36 ep RR nat SR rA Ip aint Page 62 termination Page 28 Formats Numeric isle ee bee de oed PR itat x Page 11 Parameter i i lade duds Page 11 Function input enable usu Delirium Re ins Page 47 mas Kou eid mcntem t eee Bus Poele 5 Page 47 Gain differential verse Page 41 integral Page 41 monitor output Page 43 proportional Page 40 velocity feed forward Page 41 velocity feedback Page 41 Gain Commands stepo eet ane en ed Page 39 Get current parameter value Page 12 OR eee E Page 32 Page 63 Global control word Page 16 Go to sequence line number Page 32 Page 63 en Ch elude eum AUDE TE AS Page 65 GW ne Page 16 Handshake nt 82 Handshaking hardware Lines se dass e dotum HMS REG Page 96
5. Page 14 Display mode inea eg em ei re hee pe eR pet dg Page 67 Display options Page 18 Page 68 Division continuous display Page 75 link ERI rM Pueri Page 17 variabl S ases desee han dire Page 73 bee eai iue Dus ee Page 67 c EE MS Page 56 DIM he Rin RM Lp eese Rev RE a Bed Page 67 BNA acto eed met e Page 68 DO NE Dessus Page 67 jnre Page 66 DRE atm Matar eU o RM ki Page 55 DS da atus Oi stot de dur ep ipt Page 67 eso de Eu ed Pets ee aao a e a emu Page 67 DTE Page 66 D A TOME RE PEE ROO IPRC CDS Page 68 estet Aetolos stir Page 33 DX 22 sheds o fige nd ped qoe es Sw e ud E qos icon et Page 58 55 Lae NE indoles 55 MOSS Off m zu Page 67 Mode ON ede 67 EE Rap MR Ee de Blas ed toute des Page 30 El eie tts Vett Doa die ee AN cud a Ete ao s ros Page 1 Page 47 EK rm e eus os ee lets coe debate ke d Page 48 Electrical characteristics uou Ses s tob A Ei tss Page 83 EM xis DLL ia 67 Emerg
6. ES97 D D1 PAN CONTROLS LIMITED ES98 D D1 PAN CONTROLS LIMITED XS249 Set up continuous position display ES99 IVz250 IFcz XSVc Execute sequence defined by variable ES150 ivb0 mi4 XS97 Copyright 2006 Pan Controls Limited Page 109 sample programme TI5 XS151 4 Manual mode VC1 Controller User Manual Revision 1 9 xit II5 XS152 ES151 mk ek1 ek6 ek16 mi3 DI4 XS17 Start move D3 F3 Manual move D4 F5 Enable arrow keys ES152 mk ek1 ek2 ek6 ek11 ek16 DI4 XS210 Start programme I4 D D1 F2 Change programme D2 F3 Start programme D3 F4 Change parameter D4 F5 Display prog ES202 D2 ERROR Value out of bounds 4 D4 Maxi sh Manis MS ES203 XS98 D2 ERROR No programme P es204 XS98 D2 ERROR D3 Start hydraulics ES210 TI3 XS204 XT If not at start of cycle PC ei3 Enable complete signal XS212 XS213 If at home position 0 5194 D2 md2 Cutting md3 md3 Cut no b of c ES195 D2 md2 Aborted cut cycle md3 md3 Need to re start ES216 0 CO1 WT80 SO1 Start cut ES217 115 xs216 xt Set start cut output line II6 ivj9 X8195 X8216 xt pc mavo wt100 ivz9 ifzj xs194 xs216 Set start cut output line 5209 Use to add all cuts avru ivx0 ivz2 vauzu vac u c ivzl vazxx ivz3 igzx rp Page 110 If in auto and beam down Else display then send message
7. Page 19 password Page 19 position control mode Page 18 privileged mode Page 19 velocity control mode Page 21 Send character string to LCD VFD display Page 70 continuous position data to LED Page 68 continuous position data to serial port Page 68 variable to LCD VFD display Page 70 Sequence autostart i edu eoe ute atii b eene Page 31 autostart after reset Page 15 Page 31 27 COMMANAS dete DE 27 execute 2 ERA 28 execute after snapshot event Page 30 execute continuously after time interval Page 29 execute on error condition Page 30 execute on keypad entry Page 29 exit from current level Page 31 goto line number Page 32 Page 63 c rues eie Don REN Pes Page 28 MSCs peso he cite ed ale EEE E Page 27 Bur beep lala vent at Page 28 Serial communications Page 82 Serial port connections Page 90 Page 99 default settings Page 90 send variable to Page 68 Page 36 continuous di
8. Page 96 11 9 PANTERM command Page 97 CONNECTORS cux deep acepte eR X NINIRU E E Up lend Ale AE AR Page 98 12 1 Connector 1 iones une lon Rb aU deer adir Page 98 12 2 Gonnector 2 2 xu eae data xau update tu ee piedi Page 98 12 3 Connector M a pq RD oh a p E ids x Page 99 12 4 Connector 99 12 5 CONDECION atus weise wa quss diea 99 12 6 ceive aha er ee ANDES e un ae Rd Page 100 12 7 CONNECTOr 7 230 Mo dee E deut a a te Le Page 100 Copyright 2006 Pan Controls Limited Revision 1 9 13 APPENDIX 13 1 13 2 13 3 13 4 13 5 14 INDEX Copyright 2006 Pan Controls Limited VC1 Controller User Manual rrr Page 101 Sample programme listing 1 Page 101 Operator interface keypad codes Page 115 Error Codes 25 d orsus uL REG ERE E Page 116 ASCII WADI c Page 118 Operator interface template Page 120 UM itch tein eta dee hese o a AN toe ns cae late dee hk ames Page 121 Page iii VC1 Controller User Manual Revision 1 9 Page iv Copyright 2006 Pan Controls Limited Revision 1 9 VC1 Controller User Manual 1 DOCUMENT MANAGEMENT 1 1 Release Issue Date Comments Soft
9. rre Sues ter eoo e id Page 40 display options Page 68 errof options 2i soho aptes ripper Page 38 global control cisco ERREUR Page 16 lin KS MOTIONS x uei Page 18 reference options Page 51 WIR beauties edie a ae ae Page 34 Wrap external counter input Page 56 Wraparound position Page 23 positive numbers only Page 51 CL rt Page 33 LEE Page 56 Xon xoff handshake Page 82 CETERO REESE M orar Page 28 ACT ae sauna nude dee ay edu UR Papia te t Page 31 25 25 Cer a Eod Page 25 Zero external counter input Page 56 position counters Page 25 Zero market NDUT sg tive dun IE up DAE Page 55 po CETTE Page 56 Copyright 2006 Pan Controls Limited User Manual Revision 1 9 Index Copyright 2006 Pan Controls Limited Page 127
10. 5 User Manual Revision 1 9 7 2 12 FN vint na ns Page 62 Loop commands For variable to step do command line Variable range a tozor A to Z ni amp range 2 147 483 647 to 2 147 483 647 n3 range 1 to 127 This command allows the programmer to use a variable lower case letter type to control a loop within a line of a sequence More complex operation may be performed by calling sequences from the line It allows numeric variables to be indexed from the loop variable if a lower case variable is used The step parameter is optional and when entered its sign must be positive This command can be nested but note that if the same variable is used for different interacting FN loops there is scope to get into indefinite loops The constants and can be replaced by variables A for next loop can be terminated by the ERF command see page 28 Example 1 gt FNa2 4 OVa User input to start loop 0000000002 0000000003 0000000004 1 gt 1 gt IVb8 IVc2 IVd2 FNab c d OVa User input to start loop using variables 0000000008 0000000006 0000000004 0000000002 1 gt 1 gt 1 20 10 1 22 4 1 24 2 1 gt 20 22 24 User input to start loop using variables 0000000010 0000000008 0000000006 0000000004 1 gt 1 gt 1 20 10 1 22 4 1 24 2 User input to start loop using variables 1 gt 20 22 24 22
11. Page 47 keypad input sve sncf et Page 48 Maximum length of input line definition Page 57 nt A Rares Pratt es Rex d ate Ed Page 70 admin las Delve gli ai d rend Ra a an da Page 70 Memory Space iu urere BEE BAe dates Page 31 Messages SLATS eet ane Du decerni Page 77 FOI Parad ade bud Page 78 ME ches mas arme Perte ein an Dispute vo deh as le Page 31 1 47 48 Page 18 aote ee 67 linK AXES e 17 ente s 18 Normal ttu 19 position control Page 18 privileged Page 19 velocity control Page 21 Monitor output function Page 42 PEIPER Page 43 esce deca en ier means Page 43 Motor off mode ool ost ace ed Page 18 relays ases Page 81 Move absolute PDA bid Page 20 block of variables Page 75 constant velocity Page 21 Wedge iis ire ted dog e Page 17 rel tive ei ei ene derum Page 21 MIRY aal eds ot oss eet t e tees Rot o n Bard ees Page
12. ES247 XS242 XS239 Set to motor off amp reset velocity amp re enable arrow keys es248 D4 Pos mm VO1 4 12 Continuous variable display ES249 4 ivzl ieiz xs248 ivz0 ieiz MD4 Press green button ES254 XS97 Eoo D2 ERROR o ES170 ivzl ig 241 z ivzl vs 241 z 241 Up arrow 579 5172 1 220 142 241 1 21 2 241 241 Down arrow 579 5174 ivzl iggz vsgzg Left arrow 576 Copyright 2006 Pan Controls Limited Appendix sample programme Page 113 5176 ivz4 igzg ivzl vagzg 576 5180 5 5246 5 5170 5181 115 5247 5182 5 5241 5 5172 5183 115 5247 5184 115 5240 5 5174 5185 115 5247 5186 115 5243 5 5176 5187 115 5247 51 180 511 181 KS2 182 521 183 KS3 184 KS3 185 KS4 186 KS4 187 End Page 114 Manual mode Auto mode Manual mode Manual mode Auto mode Manual mode Manual mode Auto mode Manual mode Manual mode Auto mode Manual mode Right arrow VC1 Controller User Manual Revision 1 9 Copyright 2006 Pan Controls Limited User Manual Revision 1 9 13 2 Operator interface keypad codes Backspace 08 Enter 13 ESC 27 42 43 44 45 4T 0 48 1 49 2 50 3 51 4 52 5 53 6 54 7 55 8 56 9 57 Le
13. POSEE de soe os e es Page 53 RISE soe A ee oats ce beaten Gen de in Page 44 RE aedis UR was R ne S es Bp Page 54 RM Page 1 ROM idees to en OA E et Er A AR TM Hate co Page 46 RR ieee she Peale tal ee bon te etx bial Page 28 RS 232 wees rar genda uud Page 90 RS 232 Se rialLportise tasse ep Dea emp tale Zoey Page 82 RS 422 serial port Page 82 RTI sh Page 37 Copyright 2006 Pan Controls Limited User Manual Revision 1 9 RMS stad Ie EN Page 53 RW ae EN A RUNI RO tpe tod ere ut soe aed Page 51 ROS nds ge alg d os le Ce ie UG Page 55 QUAL c sans RHENO ERES e elatus ilem ca ad seal ee Page 24 Safety features i uoa venue eut age uper li der dre Page 80 Save Variables iu egre deris Page 14 Save parameters and setup Page 14 SB 23 lets eMe Nb ah usse D P Page 23 Sete ato ol ey See Page 24 SD od dante ace eee bi t bae ess muere cu Page 25 SE ies veis ge Unter lod is mes pue In inde Page 36 Select display mode Page 67 link mode uos dua debe Page 17 motor off mode Page 18 normal mode
14. o Error Messages Binary number required Decimal number required Error unrecognised or invalid command Failed parameter save or checksum test position error Greater than maximum Hexadecimal number required Limit switch detected or position limit exceeded No room in memory parameter Out of range Restricted command Timeout abort line in Use C10DOZTIONMOX Copyright 2006 Pan Controls Limited Summary Page 89 PANTERM communications programme VC1 Controller User Manual Revision 1 9 11 PANTERM communications programme for personal computer 11 1 Introduction The program can be run on an IBM Personal Computer or compatible MS DOS computer PC to make that PC act as a terminal to a PAN digital control system Please note that this programme operates best outside of a Windows shell This is because the interrupt response time of a Personal Computer is degraded by the time slicing requirements of a multi tasking operating system If the Personal Computer being used is running Windows 95 it is recommended to use the option Restart the computer in MS DOS mode Once installed and running most commands entered on the PC are transmitted directly to the control system and any responses from the control system are displayed on the PC In addition some special commands are provided which are not transmitted to the control system but are handled locally by the PC These commands allow text files to be edited locally on t
15. 2006 Pan Controls Limited Page 105 55 598 ivb0 IVc250 av 241 p ivzl vspzu ivzl0 vmzuu Use u to index ivz0 igzm xs6 xt MD2 Programme entered WT20 SPV MD3 6 and saved xs7 md2 MD2 ivz 1 vmz u u ERROR Indicates illegal programme es7 md3 md3 Illegal programme 5161 ivu242 Variable pointer ivel62 Sequence no for entry xs94 Start keypad entry 591 vm 242 Fx vdxGxz ivzl10 vdxzxz Set up x to be saw thickness Set up x to be encoder counts ES92 ifyw xs211 4 Clear programme if previously changed type avyw Set up to define if Chain 2 Abs 1 ES94 Set up for keypad entry XS96 Enable numeric keys av u x Set up x to be previous value ivzO0 iffz iezx avfx If 0 then set default to f avxy Set up to display current value VK XSve es93 If stopped programme early because of 0 entry ivzO ifzy xs95 xt Exit if not zero ivzl10 vmzpx Use x to index into correct variable ivzO0 avz u ivzl vazuu igxu rp xs95 ES95 ivz0 ifbz iezy XSvb XT Skip if 0 IGyh XS202 WT800 avxy XSve XT If out of bounds IGly XS202 WT800 avxy XSve XT avy u XSvd Else carry on ES162 597 D2 Parameter mode md3 Saw width x 10mm ivc95 ivd163 iv120 ivh50 vk4 y SK99 ES163 ivu243 164 594 Variable pointer Sequence no for entry
16. EE ee EU NE ST ET RU Page 46 Page 64 rn eres oido Die He one bte decer peg Page 21 Index Vartable i2 ss Me un Page 62 Indicator LE DS 25 Dr nm REGE Page 80 Inequality test for variables Page 65 Page 74 Initialisation sequence Page 82 Initialise demand offset Page 22 POSITION a Xo Page 21 Input line definitions cscs Sey eee eae EE Page 61 enable s s ue oes area EA Page 47 function definition Page 57 mask etes deed aise dene pe cba ramp DE eu ERE Page 47 IGad stecken choi den viendo Page 44 set variable from Page 44 1 xL es Em Page 33 Input lines connections Page 99 Page 100 show states on VFD display Page 70 Input output configuration Page 55 Installation Note Sa nissa ara RE etin Page 79 Integral gain Page 41 Integration time constant Page 42 Interfacing acere ad nag meten One IE p get Page 79 ccc Page 47 Page 64 IS Lau cete tote ette dn eds dede VEREOR S T Page 65 Page 73 FTJ uDL MP C TERI Ier Page 79 IT ies onis dy dare tics oen I D d ox dnce Page 42 lur
17. Start keypad entry ES164 597 D2 Parameter mode md3 Unload move mm Page 106 VC1 Controller User Manual Revision 1 9 clear rest of prog return to previous sequence with error Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 ivc95 ivd165 iv1100 ivh800 vk4 y SK99 5165 ivu244 Variable pointer ivel66 Sequence no for entry xs94 Start keypad entry av 244 245 4 Save old value temporarily ES166 D Di Parameter mode md2 Start Point x 10mm md3 Sht short reduce Par ivc95 ivd167 iv1400 ivh1000 vk4 y SK99 ES167 597 D2 Parameters entered DS EIL uM IVc250 WT20 SPv D3 6 and saved mo ddox Get current position vs 244 245 y Subtract old reading from new one ivo0 ieoy xt If the same then exit vmyFz vdzGzo 17010 vdzozo vazxz ZCVZ Zero to offset ES19 XS96 Enable numeric keys VK 597 MD2 md3 Move position Set up x to be previous value ivl0 valDl Min start position is offset ivl40 ivc18 avHh Vk4 Q ES17 598 D2 Moving to md3 vmQFo vdoGoz Get start position in encoder counts vmIFq vdqGgz vaqoo Calculate backlash eliminate move 585 Check that position is legal ivzl iexz xs86 xt If out of bounds do not move pc mavo wt100 md2 md2 Removing backlash vsoqo 585 Check that position is legal ivzl iexz xs86 xt If out of bounds do not move SvvW Set slow speed pc mav
18. This sets up an active low expanded input group on lines 4 upwards as above When a strobe signal is detected on line 8 the unit looks for a sequence number derived from the other input lines in the group and if it is defined then it is executed Thus if the input lines 7 4 are in the binary pattern 0111 when the strobe input is seen then sequence 7 is executed 0111 27 Line State Bit Value Decimal Value 8 High gt low 7 High 0 0 6 Low 1 4 5 Low 1 2 4 Low 1 1 3 Total 7 2 1 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Configuration Commands DB nn DE Set input debounce time restricted Range 0 to 255 Default 5 This command sets up a debounce time for all the digital inputs It is specified in 1 256 second about 4ms ticks Before an input signal is recognised as valid it must be stable for the number of samples given by the DB command This facility may be used to reduce the effect of noise in a system by reducing the number of false triggers due to noise NOTE The debounce value does not apply to reference inputs These inputs are programmed so as to be detected immediately on a change of state to get the most accurate position information possible Example DB 2 This sets the debounce time to about 8 ms 2 samples Define error output line restricted Range 1 to 8 This command defines the specified output line as an error outp
19. gt Normal prompt List sequence Range 1 to 255 This command allows the user to examine a sequence that has previously been entered into the system The sequence is listed on the display or terminal one command entry per line The sequence may be listed continuously or the system can print one line at a time and wait for the user to press the CR key before printing the next line This is useful when using the system with a membrane keyboard or a hand held terminal which only has a small number of display lines This list pause facility is controlled by one of the flag bits in the DW command Example LS 1 This will list sequence 1 on the display or terminal The output for the sequence given above would look like this gt LS 1 CR User input to list sequence S1 ID IN 51 MA100 W T256 MA0 W T256 RP3 51 MA2000 gt Copyright 2006 Pan Controls Limited Page 27 Command Reference Sequences VC1 Controller User Manual Revision 1 9 XS RP ER F HS Page 28 nn nn nn Execute sequence Range 1 to 255 This command tells the system to execute sequence number n The normal status messages for each part of the sequence are printed on the display as they are executed The sequence will abort automatically if any error condition occurs A sequence may be aborted by using the AB command The ST stop command may also be used to stop the currently executing move command Example XS 3 The system execu
20. input line restricted Range 0 to 7 This command sets up a group of input lines as an expanded input command facility It operates in a similar way to the DI function input lines but allows a larger range of different functions to be programmed into the system When the DX function is used input line 8 is used as a strobe or trigger input The sense of the strobe input is given by the sign after the parameter Lines 8 downwards are used for the expanded input function To reset the expanded input group use the command On detecting the strobe input the remaining input lines from line 7 most significant bit down to the line number specified in the DX command are read as a binary code This value is used as the number of a sequence which is executed immediately if itis defined This allows a maximum of 127 possible different operations to be controlled by lines 1 to 7 on a single controller If the strobe input is active low as defined by the sign in the command then the data lines are also inverted when deriving the number of the sequence to be executed This keep the strobe input and data inputs consistent The MI mask input command may be used to disable any of the expanded input lines If the strobe input is masked no DX functions are executed until itis enabled by the El command If any DX data input lines are disabled those input bits are masked out when deriving the DX number for the signal or sequence Example DX 4
21. sample programme ivb5 ivc93 ivd61 iv10 ivh50 vk4 y SK99 ES61 ivzl vazuu Variable pointer ive62 Sequence no for entry ivf10 Default value if cleared xs94 Start keypad entry ES62 597 D2 Prog sp parc g md3 Chain move ivb0 ivc93 ivd63 iv110 ivh2000 vk4 y SK99 ES63 av u x ivzl0 vmxzx vaxEx ivzl vsuzu av u z Var E is saw thickness vmzxx vsmxm Update m needs to be positive ivz2 vazuu ivzl vazgg Variable pointer ivz4 iggz XS5 xt 4 If entered all chain cuts then skip ive60 Sequence no for entry 0 Default value if cleared xs94 Start keypad entry 5211 Clear current programme vauxr iv r varxr iv r varxr iv r varxr iv r varxr iv r varxr iv r varxr iv r varxr iv r varxr iv r O OO od ES102 597 D2 Prog p part 9 md3 No of chain cuts ivx0 vax r x Set up x to be previous value ive3 ivl0 ivh50 Min number 0 max 10 vk4 r ES3 ivzO0 iez r XS5 XT Skip if 0 IG r h XS202 WT800 vaxz r XS102 XT 1G1 r XS202 WT800 vaxz r XS102 XT ivzl vazrr XS103 ES103 597 D2 Prog Wot part g md3 Chain move ivx0 vax r x Set up x to be previous value ivc4 iv110 ivh2000 Min number 0 max 900 vk4 r 54 ivzo IG r h XS202 WT800 vaxz r XS103 XT IG1 r XS202 WT800 vaxz r XS103 XT igrp XS5 xt 4 If entered all chain cuts then skip ivzl vazrr vazoo xs102 Else repeat Copyright
22. OM SF nn nn nn nn n set Error options Word display Last Error set High position Limit set Low position Limit set Reference Timeout Set maximum position Error set TimeOut Set analogue output to global value set control word set Integration Time constant set differential gain constant set velocity feed forward gain constant restricted set integral gain constant set proportional gain constant set velocity feedback gain constant set Monitor output gain constant Set lower stepper resonance velocity bound set Offset on Monitor output Set monitor Function Reference commands RW SR Sdb RV RL RF nn nn set Reference options Word Set maximum Reference correction Set deferred adJustment position set Reference correction Velocity Set Reference repeat Length Set Reference oFfset Input output commands and EK ant MI OC Rio SOL WK Page 86 Clear Output line s Enable Input s Enable keypad input If Input true do command line If Output true do command line Mask Input s Mask keypad input Output Code value Read Input line s Read Output line state s Set Output line s Wait for keypad entry VC1 Controller User Manual Revision 1 9 restricted restricted scaled restricted scaled restricted restricted scaled restricted restricted restricted restricted restricted
23. The system calculates the point at which it should start decelerating to minimise any overshoot The rate of deceleration at the end of the move is the same as the acceleration at the start If the change in position is small the motor may not reach the set velocity and will follow a triangular profile instead The motors may be controlled at a constant velocity instead of controlling the motor position In velocity control mode the system accelerates the motor until it reaches the specified system velocity and then maintains that velocity The motor may be stopped with the normal deceleration or may be stopped abruptly in an emergency The system has up to 16 digital input and 8 output lines which may be used in various ways Inputs may be programmed to start either single commands such as a move or stop command or to execute a string of commands or a stored sequence Outputs may be set and cleared and can be used to control external relays or valves or just be used for status indication They may also be used to allow the system to be controlled from an industrial programmable logic controller PLC The facilities allow the user to define move profiles other than a trapezoidal or triangular profile in order to follow a specific motion or to mimic some mechanical system Sequences of commands may also be defined by the user The use of variables allows a fixed programme to operate in a flexible manner Copyright 2006 Pan Controls
24. 21 Multi axis move Page 17 Multiplexed input line definition Page 58 output line definition Page 60 Multiplication continuous display Page 76 lin K factor ust ee BER Page 17 variables ds usu ss veio 4 Page 73 abus aa dele dpt No basta stets Page 75 Page 123 cetur Speedie ne sitar Beane Set ca D Page 30 NM Ree gods UV ED se ee ad sen ral aa as qe ded Page 19 NO SS dealer iod nca eu nl ead eg qued Page 79 Notfmal Stop bassa sea ph ire e Me Page 20 mesh dE Cu eue bs erbe Era Page 44 Offset continuous display Page 76 r f rence SEPA GT Cei EX Page 53 Offset correction Page 22 5 ELE 43 Output character string to LCD VFD display Page 70 continuous position data to LED Page 68 continuous position data to serial port Page 68 Output code c coria ARN REM ets aires DDR ARE Page 44 Output line CIGar at fci en an ee ta Page 44 SOUR eund dec Page 44 Output lines connections Page 99 Page 100 definitions josie a idee I Page 61 FOU UE datas Gras atr ife Dee ep E neste Page 60 show sta
25. 91 editor name RE EEE 96 file loading delay Page 95 Handshaking Page 96 loading files Page 94 Page 95 repeating commands Page 92 R9 232 niii i darle nedum Page 90 sequences Page 92 serial link si sagi ae dues Page 90 serial mode Page 95 slow or fast mode Page 96 Software or Hardware Handshaking Page 96 spreadsheet Page 93 system programme files Page 95 terminal Page 91 Parity uper ERAS aie it dui Page 82 P ssSWOId Lines na EY es edo elder ml ete Page 19 PAUSE suoni den de as En I IE Page 33 s nae pee veo e Rue Page 18 Personal computer communications programme Page 90 A PT m NT Dee meo dA RC USE un Page 30 nari ie o ond ese std oe eiu desti hui RI AUS UR e uds Page 19 PO NE earn me D LE riens edes iode Page 60 Position control mode Page 18 Page 124 User Manual Revision 1 9 Position display mode Page 67 Position ncoQders ci is espe eee Mes RR unb REPRE Eun Page 80 Position limit
26. Alt U option Otherwise this option is similar in operation to the Alt L load file option 11 7 Configuring PANTERM PANterm will generally be configured when you receive it This facility allows you to set up differences required for your system once and then to use that version in future without further difficulty To reconfigure PANterm type Alt C when you in terminal mode A new window will appear with the header Configuration Each entry together with its default value is explained below Communications Port Normally PCs have up to 4 serial ports one of which will be used to talk to the control system PANterm is set up to use Port 1 by default Some PCs have more than four ports because this is not standard and methods of implementation between different computers vary it has not been possible to write PANterm to use other ports Baud Rate This item indicated the speed at which PANterm will attempt to talk to the control system This is normally set at 9600 baud because this is the default speed at which the control system will communicate You may want to change this value if you are talking to a different device other than a control system Serial mode RS232 422 or 485 PANterm is designed to operate in conjunction with the standard 16450 or 16550 UART device This option allows the use of an RS 422 or RS 485 converter as manufactured by KK systems to be connected to the standard RS 232 serial port of a
27. If out of bounds do not move SvvW Set slow speed mavo SVVV ivj2 ivzl iewz vazpr av r t Get next position in r absolute move es215 ivz2 iezw ieba ivz2 vauzu vaszs vaa u a If at end of chain group increment ivzl vazbb Increment cut counter 598 md2 Moving to next cut CuC no b of c ivz2 iezw xs218 xt Chain move ivzl XS221 iezw xs219 4 Absolute move es218 av s x Set up x to be change mdi mdl Next cut x mm Copyright 2006 Pan Controls Limited Page 111 sample programme VC1 Controller User Manual Revision 1 9 vmxFx vdxGxz Get change in encoder counts vsoxo Subtract from current abs move xs91 Set up x to be saw thickness VSOXO Subtract saw thickness ivjl Set up absolute position in encoder counts xs85 Check that position is legal ivzl iexz xs86 xt If out of bounds do not move pc mavo wt100 xs217 Start saw es219 vm r Fo vdoGot Get abs position in o mm ivzl vazrr av r t Get next position in r absolute move md2 Moving to md3 Cut no b of c vmIFq vdqGgz vaqoo f Calculate backlash eliminate move 585 Check that position is legal ivzl iexz xs86 xt If out of bounds do not move pc mavo wt100 md2 Removing backlash vsoqo 585 Check that position is legal ivzl iexz xs86 xt If out of bounds do not move SvvW Set slow speed mavo wt500 SVVV ivj2 mo md2 Push foot switch md3 to continue es220
28. If speed averaging is enabled by the command then the displayed velocity is the average measured velocity and has a correspondingly higher resolution Set velocity averaging time constant Range 0 to 8 Default 0 The VT command sets up an averaging mechanism such that the number of speed samples doubles for each increment of the value of VT When VT is zero no averaging takes place When VT is 8 2 256 samples are averaged over a period of a second to give a speed measurement accurate to 1 count per second The system keeps a running average of the speed which is updated at each 4ms sample so that the latest average speed is always available Note that whenever the averaging time is changed the current average value is reset to zero and the running average is restarted The averaged speed value is returned by the DV display velocity command Display position bound overflow count Displays the current value of the position bound overflow count Each time the motor passes the bound in the positive direction this counter is incremented When the motor passes the negative bound in the negative direction the counter is decremented The suffix 2 or B resets the overflow counter for the auxiliary channel For more information see the SB command in section 7 2 4 page 23 Display reference position error This command displays the last measured absolute position error relative to the reference input for this channel in encoder
29. Limited Page 7 VC1 Controller User Manual 5 GENERAL DESCRIPTION SOFTWARE FUNCTIONALITY Position data DISPLAYS MAINTENANCE TERMINAL lt COMMAND INTERPRETER Highest priority interrupts Revision 1 9 REFERENCE MARKERS Cae Hardware interrupt DEBOUNCE SOFTWARE Switch state i Polled scan EXTERNAL INPUTS The control software is highly deterministic being interrupt driven by a hardware timer GLOBAL DATA Data flow diagram DEMAND GENERATOR POSITION MEASUREMENT CONTROL ALGORITHM The control algorithm is implemented every time this hardware timer generates an interrupt every 1 256 second In addition polling of the external inputs is carried out during the same servo loop closure process Serial character receipt and transmission is also handled by the interrupt mechanism and a special high priority interrupt is used for reference marker detection This gives a response time of better than 15us The command interpreter is executed in background mode together with display routines The modular approach to the software means that system can be easily adapted to particular situations Page 8 Copyright 2006 Pan Controls Limited Revision 1 9 VC1 Controller User Manual 6 MODIFICATIONS TO THE USER PROGRAMME The user programme consists of sequences
30. Page 75 Page 73 MMS LE BAL NES Page 14 MO aha Men deh ane tetas Leine od mdp Page 75 Mu EN e PVT US EE EN Page 74 VS us ie Qs efto cen lu tort arde eue dide a adage Page 73 eee Page 66 ann Ot NE Page 33 126 User Manual Revision 1 9 Wait for keypad entry Page 34 ONG Wend E Pais d Page 35 for absolute position Page 33 for bound overflow count Page 34 for bound position Page 34 Forinputline 222 RE Page 33 for reference input Page 34 for relative position Page 34 fe target nee te Page 33 Watchdog timer Page 80 stairs ere ed ae nire ie vise don Pattes Page 34 WC she io teaches Page 34 ME ida t bate p oes aestas Page 35 Ne edite rez itte ve to cd el dade Reed ie vv ee thet etme Wo Page 34 CIT eae each es 33 Mil dOW ed uve pere epe Page 23 WKS cadens Lottie cats es ed ne en ede Page 34 Word
31. Pan Controls Limited Page 99 Connectors 12 6 12 7 Page 100 VC1 Controller User Manual Revision 1 9 Connector 6 Optional 17 way Klippon connector Isolated inputs ON O a NOOR NN Input common Ov Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 Input 9 Input 10 Input 11 Input 12 Input 13 Input 14 Input 15 Input 16 Labelled 1 Labelled 2 Labelled 3 Labelled 4 Labelled 5 Labelled 6 Labelled 7 Labelled 8 Labelled 9 Labelled 10 Labelled 11 Labelled 12 Labelled 13 Labelled 14 Labelled 15 Labelled 16 Connector 7 Optional 9 way Klippon connector Isolated outputs Output common 24v DC Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Labelled 1 Labelled 2 Labelled 3 Labelled 4 Labelled 5 Labelled 6 Labelled 7 Labelled 8 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 13 APPENDIX 13 1 Sample programme listing Dew24 GW11 Comments 1 Slower backlash correction Need up to 4 chain size number of cuts screen 5 Beam raised input from relay contacts a Wire through amplifier enable circuit Inputs Foot switch Limit Switch Finished cycle Start programme Manual auto switch 1 on manual Beam raised relay 1 when raised Variable list Used for sub chain counter Used to define next programme if zero e
32. SOftWAre he sind bets Page 82 Page 96 Hardware display breakdown Page 15 Hardware handshaking Page 96 Hardware setup display ed esee eot aet erdt proe RS eda Page 15 EIE Ero caren RET E RE E EO RR T dE TERES ONT Page 69 Help displays en ast ee oe Baa xdi Page 69 Hexadecimal numbers Page 68 History of sequences executed Copyright 2006 Pan Controls Limited User Manual Revision 1 9 display ere dave ep ME ER the Page 28 FIN 25e eee an Dee A gate e OR Eee eR ARM RUE RU eed Page 68 Home Command 2 cem eimi once ey reve i ng RY Page 21 HR a a ete Page 15 Page 31 tatio Bowel dba dead Page 28 IBM PC communications programme Page 90 ICS urne emos dre ee eaa eX afe Page 65 Page 73 IB 52 asc ires aeter Andes odd eit b ome prar Page 22 TEE Page 64 Page 74 RS RE SPRECHEN I ES MORET Page 65 Page 74 input line Page 46 Page 64 output line Page 47 Page 64 variable bits clear Page 65 Page 73 variable bits set Page 65 Page 73 variable greater than another Page 65 Page 74 variables equal Page 64 Page 74 variables not equal Page 65 Page 74 ET Page 65 Page 74
33. The encoder interface multiplies the resolution of the encoder by four such that each complete cycle of the encoder signals represents four counts The encoder signals are decoded and counted by hardware on the PC3 120 board The software converts these to numbers which represent the measured position This signal is then used to compare with the demanded position information as described above The system is set up by high level commands from a serial link Most commands are two letters sometimes followed by a numerical parameter These commands can be built up into programmes which can then be stored on non volatile memory EEPROM on the system The motors may be controlled using simple proportional control where the demand signal depends on only the position error The proportional gain constant is set by the user Itis also possible for the user to set gain constants for integral feedback differential feedback velocity feedback and velocity feed forward terms providing very flexible control over the system transfer function When a move command is entered the system moves the motor according to a trapezoidal velocity profile defined by the acceleration velocity and distance of the requested move The system velocity and acceleration may be set by the user The motor speed increases at the set acceleration until it reaches the set velocity It continues at this velocity until it is near enough to the required position to begin decelerating
34. amp then position wood manual mode then exit programme cutting Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Appendix sample programme ES212 ivbl ivzl vs 241 zp ivz10 vmzpp Use p to index into correct variable Set up to type of programme ivzl vazpp vazpr Use r to index into change vazrs Use s to index into no of cuts ivz0 av p x Set up x to be absolute start position iezx xs203 xt If no programm ntered then exit avru vmxFx vdxGoz Get start position in encoder counts ivz2 iezw ivcl vac r c avca xs209 avru Get no of cuts c if chain ivzl iezw avCc Get no of cuts in c if absolute xs214 Move to start position es213 598 md2 Load position md3 Cut qno Mb of e wt50 MO es230 TI3 XS204 XT If not at start of cycle then send message amp exit mi4 xs 98 md2 Initialising md3 md4 dz0 rml pc in wt50 id wt50 vm 244 Fz vdzGzo 17010 vdzozo ZCVZ Zero to offset ivil Set flag to indicate initialised mo DI4 XS210 Set green button to start programme ei4 mk EK1 XS150 Set up display es214 598 md2 Moving to start md3 Ccut no D ook c vmIFq vdqGgz vaqoo Calculate backlash eliminate move 585 Check that position is legal ivzl iexz xs86 xt If out of bounds do not move pc mavo wt100 md2 Removing backlash vsoqo 585 Check that position is legal ivzl iexz xs86 xt
35. are designated by a character followed by a number from 0 to 255 followed by a full colon if the variable name is not the end of the variable command There are two extensions to inputting and outputting data 1 V for inputting a parameter from a variable 2 O for outputting a parameter to a variable Example MRVC This moves relative an amount defined in variable C Example TOOa Put the current value of Timeout into volatile variable a 1 Input variable A to 2 Range 2 147 483 647 to 2 147 483 647 Allows variable to be set up Example IVC 12000 This sets up variable C to a value of 12 000 Example IVa 24 IV 345 This sets up variable a to a value of 24 and then variable 24 to a value of 345 OV Output a variable Prints a value for variable Example 0 36 This displays the value of variable 36 on the display terminal The optional string can be placed between inverted commas before the variable name This is useful for de bugging a system and allows a meaningful display to be set up on the terminal VBC S Set or Clear a bit in a variable ni vi This commands allows individual bits within a variable to be set or cleared This command can be useful for directing the flow of instructions in conjunction with the condition bit test commands IS Example VBS13 F Set bit 13 of variable F Page 72 Copyright 2006 Pan Controls Limited VC1 Control
36. be gt 1st PO 34 output group defined OC 35 Not an output DSC 2 RO 36 Cannot use this input while initialising DSC 2 Numeric errors 37 Binary no expected 38 Decimal no expected 39 Hex no expected 40 Numeric overflow Copyright 2006 Pan Controls Limited User Manual Revision 1 9 Appendix error codes Other errors 41 Password incorrect 42 Nocommands before 43 commands after 44 Only 1 repeat per line 45 Cannot execute string while busy 46 Command decode error 47 Variable name out of range 48 Time out for auxiliary serial port 49 A Already doing VK Motor off errors 107 Limit switch errors from 1 to here 108 Reference timeout error 109 Reference error outside limits 110 Reference error correction overrun 111 Position error 112 Timeout error 113 High position limit error 114 Low position limit error Motor off errors unique to multi axis version 115 Map update timeout error 116 Map position overflow out of range 115 Bounds limit error Copyright 2006 Pan Controls Limited Page 117 User Manual Revision 1 9 Appendix ASCII table ASCII Table 13 4 American Standard Code for Information Interchange EQUIVALENT FORMS ASCII EQUIVALENT FORMS ASCII 00100000 00100001 space amp 0 1 2 3 4 5 6 7 8 9 lt gt 00000000 00000001 Copyright 2006 Pan Controls Limited Page 118 User Manual Revision
37. command is outside the range of the previous move command then the system gives an O error message to indicate that the position was out of range Example SV 200 MA 2000 WA 1500 SV 100 This sequence performs a move with a change of speed at a certain position The velocity is initially set to 200 units per second The motor begins a move to position 2000 at this velocity and at position 1500 the velocity is changed to 100 units per second The move is completed at the new velocity Copyright 2006 Pan Controls Limited Page 33 Command Reference Wait Commands VC1 Controller User Manual Revision 1 9 WRz nn WF WB WK Page 34 Wait for relative position Range 8 000 000 8 0E6 encoder counts This command is similar to the WA command above It tells the system to wait until it reaches the specified position relative to the last position used in a command Example VC WR5000 SV1000 WR2000 ST The system starts moving at constant velocity It moves at the previously specified system velocity until it reaches 5000 units from the start position At this point the velocity is changed to 1000 units per second This velocity is held for the next 2000 units and then the motor decelerates to a stop Wait for reference input This command sets the system into the wait state until a reference input is seen It may be useful in sequences to allow the reference action to be changed after detecting the first
38. command line options The PC will then display its copyright message for a few seconds before going into terminal mode When you receive your copy of PANterm it should already be configured to work with your control system Typing RETURN at this point should produce a control system prompt on the screen 1 If this does not happen you will need to configure PANterm to work with your control system which is explained in the Configuration section below At this stage control system commands such as CH1 PC MR1000 etc can be typed and will be transmitted directly to the control system The responses from the control system such as 1 1 gt and 2M will be displayed onthe PC Your PC is now working as a terminal on the control system To leave the PANterm terminal program and return to MS DOS type Alt X Exit 11 4 Preparing system command files PANterm has been designed not just to send single commands to a control system but also for the preparation and issuing of files of command to the systems PANterm can also be used to receive a set of commands which actually exists on a control system and place these commands in a file You are then able to edit this file as required and issue the new commands to the control system in a similar way You may edit a file of commands with any text editor PANterm also allows you to set up a specific editor for use with the program and this is explained in the configuration section Note that your edit
39. constant position error due to a steady load or friction or in steady state velocity control but also tends to make the system overshoot the target position at the end of a move because of the error accumulated during the move This problem is known as wind up The integral action may be set up to avoid this problem such that it is operative only when the system is static by setting bit 7 of the control word to 1 Set differential gain constant restricted Range 0 to 65535 Default 0 This command sets the gain for the differential term in the controller transfer function This term uses the differential of the position error rate of change of error which represents the velocity error of the system This is useful where the position error is changing rapidly for example if the required motion is a step change in position In practice if the system is anywhere near correct tuning the position error is small and the rate of change of error is smaller still so that the differential gain only has a limited effect on the system Set velocity feedback gain constant restricted Range 0 to 65535 Default 0 This command sets the velocity feedback gain constant The system uses the measured position to calculate the motor velocity and this velocity scaled by KV is used in the controller transfer function Note that differential control uses the rate of change of error while velocity feedback uses the rate of change of position Ad
40. control but not moving there will still be a demand position but it will not change This positional error information is used as the basis for a PID proportional integral and derivative calculation whose output is fed to a Digital to Analogue Converter DAC The analogue voltage is sent to an analogue drive as a velocity command Most high performance drive systems will have an analogue velocity control loop built in This takes the form of a Tacho generator on the end of the motor shaft which generates a voltage proportional to its velocity and an associated gain potentiometer on the drive This allows a stable high gain system to be set up Page 6 Copyright 2006 Pan Controls Limited Revision 1 9 VC1 Controller User Manual There are two additional control terms built in to the software which can be useful under particular circumstances The first of these is a digital velocity feedback system This is only really useful where no tacho feedback is available and is bound to be of a lower performance that an analogue system due to the limitations of digital sampling The second is called velocity feed forward and is proportional to the rate of change derivative of the internally generated demand position signal This feature is particularly useful for helping a mechanical system to anticipate changes in velocity The system is intended for use with digital incremental position encoders which provide two signals in quadrature
41. counts The suffix 2 or B allows a mechanism for interrogating whether the auxiliary channel has been initialised If it has been initialised it returns 1 and if not it returns 0 For more details on the reference commands see section 7 2 10 and the DR and DZ commands in section 7 2 11 page 55 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Display Commands DS1 2 DT EO EM DK DM DO CD nn Display snapshot position data This command displays the absolute position for the main or background channel designated by 1 or 2 measured when a snapshot input signal was detected For more details see the PS command in section 7 2 11 page 55 Display time Displays current time in dd mm yy hh mm ss format Echo mode off This command stops characters from being echoed back to the display terminal It is subtly different from using bits 13 amp 15 of the display word which will only allow requested data to be send to the display terminal Echo mode on This command enables characters to be echoed back to the display terminal the default state It reverses the effect of the EO command described above Display system constants The system displays various parameter values in the following order Proportional gain constant Integral gain constant Velocity feedback gain constant Velocity feed forward gain constant Scale factor for length related units V
42. error Page 36 maximum reference correction Page 52 Copyright 2006 Pan Controls Limited monitor output function Page 42 monitor output gain Page 43 monitor output offset Page 43 output line siue esce Page 44 password Juke I enr weh utbs Bes ae Page 19 POSILION uem Page 25 position bound Page 23 position error limit Page 36 proportional gain Page 40 reference correction limit Page 52 reference correction velocity Page 53 reference offset Page 53 reference options word Page 51 reference repeat length Page 54 reference timeout Page 37 reset autostart sequence Page 15 Page 31 settling time sene ern nee oe sega Page 25 slow creep speed Page 24 speed cnni Page 24 ates ese ep Rane Page 25 time for continuous sequence event Page 30 timeout Lese Le dome 0 Page 36 update rate for continuous display Page 75 VeloCily s payer nes ee ree Page 24 velocity averaging time constant Page 66 velocity feed forward gain Page 41 velocity feedback gain Page 41 WIRKOW cuoi R
43. is clear This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a programme Example IC 3 b MR 25000 805 If bit 3 in variable b is clear then the system executes a move of 25000 counts and then sets output line 5 If bit of variable is set then do the rest of the command line This command executes the remainder of the current command line if bit number in variable is set This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a programme Example IS 17 35 25000 5 5 If bit 17 in variable 9635 is clear then the system executes a move of 25000 counts and then sets output line 5 Copyright 2006 Pan Controls Limited Page 65 Command Reference Display Commands VC1 Controller User Manual Revision 1 9 7 2 14 DP 2 DD DV VT n DC 2 B DF 2 B Page 66 Display commands Display actual position Displays current position in encoder counts The optional parameter 2 enables the command to display the position of the second encoder Display demand position Displays current demand position in encoder counts Display velocity Displays the current measured velocity of the system in encoder counts per second Note that the velocity is normally calculated as the difference between two successive position samples and is therefore a multiple of 256 counts per second
44. may be returned to normal operation by entering this command without the sign A single input line can be defined as a position snapshot for both channels Note that once a snapshot line has been triggered it needs to be re armed using the PS command This is to remove the possibility of switch bounce causing mutliple triggering This command is restricted and is only available in privileged mode Example PS 4 This defines that the snapshot position for motor channel 2 is detected on a low to high transition on input line 4 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Configuration Commands DI Define input line function restricted Range 1 to 12 This command defines a specified input line to have the given function The sign specifies the active state of the input such that the system executes the function when the input changes to the specified state Alternatively the sign be replaced by a I character This indicates the action when a previously defined input line reverts to its normal state The command function may be a single command or may be a sequence of commands The text of the command function is separated from the DI command by any delimiter character The length of each definitions is limited to 80 characters If there is not enough memory for the new line definition the system will return an N no room error message Note that a line that has been
45. numeric outputs Decimal numbers are entered as signed or unsigned assumed positive numbers Hex numbers are entered as signed 23 bit or unsigned 24 bit two s complement numbers Leading zeros may be omitted Any number may be entered as a variable a to z by suffixing the command with a V followed by the variable In addition commands which output numeric data may be re directed to a variable by suffixing the command with an O followed by the variable The normal character set consists of the letters A Z and a z the numbers 0 9 and space Multiple command sequences may be entered as one command line with the individual commands separated by a delimiter character Any character may be used as a delimiter between commands The maximum input line length is 255 characters Backspace or delete may be used to remove characters from the current input line Command extensions usually use a character to separate parameters Other non printing characters are simply echoed and have no effect The escape character Hex 1B will exit from any command which is producing a long list of many pages The tilde character Hex 7E will cause the system to halt any current activity and perform a soft reset For systems without a keypad and display the commands which relate to this hardware will obviously not function The commands allow very flexible control of the system They fall broadly into the following categories a Miscellan
46. of instructions which are stored in non volatile memory on the Pan controller To make the management of the construction of the user programme simple a system has been developed to allow the user to develop and modify a master copy of the user programme on a personal computer The sequence of programme development can be summarised as follows 1 Develop programme on personal computer using any editor which will generate an ASCII file i e no embedded control codes 2 Download programme from personal computer to Pan controller to the controller s RAM volatile memory 3 Save the programme from the controller s RAM to EEPROM non volatile memory This procedure means that a master copy of the programme is always maintained a personal computer and can be copied and maintained for archiving purposes A utility programme called PANTERM is supplied to run on an MS DOS based personal computer This enables the personal computer to emulate a terminal and to allow file transfer The personal computer must have a serial port COM1 COM2 COM3 or COM4 It is suggested that a batch file be set up to enable the user to enter the programme by entering a single name e g control This will start the PANTERM programme and prompt the user to press a key to start terminal emulation If the Pan controller is connected to the personal computer and switched on then any keys which are pressed on the personal computer will be ec
47. passes the lower bound This effectively provides a 32 bit high order extension to the absolute position The overflow count may be displayed by using the DC command and may be reset to zero by the RC command The bound position defined by the SB command is also used as the expected reference position when the system is set up to continuously monitor the reference input Refer to section 7 2 10 page 50 for more details about the reference commands Example SB1000 This sets the position bounds to 1000 counts An application of this is where it is required to know the motor position to within one revolution of the motor only but it is not necessary to distinguish between complete revolutions of the motor If a move from zero to position 1200 is executed the final position is 200 The motor has moved a total distance of 1200 counts as required but the final position is the remainder when divided by the bound value If a move from zero to 1200 is executed the final position is 200 In this application the position overflow counter represents the number of complete revolutions of the motor from the zero position to the current position and the normal position value defines the position within one revolution Copyright 2006 Pan Controls Limited Page 23 Command Reference Set Parameters SV SA SC 55 24 nn nn nn nn VC1 Controller User Manual Revision 1 9 Set velocity speed Range Creep velocity
48. personal computer The hardware handshake mode see below can only be selected if the RS 232 option is selected since the RS 422 and RS 485 adaptors do not have hardware handshake facilities The RS 485 option uses the RTS line to control the direction of data flow File Loading delay The rate of loading a file to the control system will be controlled by this value which is in milliseconds You may also speed up file loading by pressing Alt F which has the effect of halving the delay time on each press or pressing Alt S which has the reverse effect When you start to download a new file the initial delay time will revert to this value The default value is 0 milliseconds Copyright 2006 Pan Controls Limited Page 95 PANTERM communications programme VC1 Controller User Manual Revision 1 9 File loading mode Transparent or Check for acknowledge This determines how PANterm communicates with the control system Under transparent mode PANterm will load files using Alt L exactly as they are entered on the keyboard Under check for acknowledge mode PANterm always waits for acknowledge after each CR character and before starting to transmit the next line It also performs a checksum check on the complete file at the end of transmission If this fails the personal computer displays the failure and waits until the operator presses a key before continuing Software or Hardware Handshaking If set to software handshaking PANTERM will
49. reference since the system was started Example RW 10100001 WF RW1 SO3 This command string sets up the initial RW such that the reference input behaves as a fast ZC input It then waits for the first reference input to be detected and changes RW to the normal auto correction setting Finally an output line is set to indicate that the unit has initialised and is ready Wait for bound position This command tells the system to wait until the motor passes the next bound position positive or negative before continuing with the command string Wait for bound overflow count Range 2 000 000 000 This command tells the system to wait until it the bound overflow counter increments or decrements by the specified count before continuing with the command string It may be used for example to wait for a given number of machine cycles to complete before stopping Wait for keypad entry Range 1 to 64 A to Z or no parameter This command sets the system into the wait state until an value has been entered using the VK command page 75 An optional parameter can be entered which corresponds to a code for the particular key see appendix page 115 and page 48 The system will then wait until the key referred to has been pressed Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Wait Commands WE End wait state This command ends the current wait state as if it had completed norma
50. restricted restricted restricted restricted restricted restricted restricted restricted restricted scaled restricted restricted restricted we we wa Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Configuration commands BO define Bound Overflow Output set input DeBounce time DE Define Error output sense DI Define function Input DL Define Limit switch input DR Define Reference input sense Define eXpanded input group DZ Define zero marker input on off restricted nt Define external counter input LI List I O line definitions OX define eXpanded Output group PO define Position trigger Output PS Define position snapshot input restricted RX Read external counter input W Xan Wrap for external counter input 2 Zero external counter input or set counter input Display commands CD set Character Delay CN Stop continuous display of position data to serial port number CP Sets decimal Point position for Continuous variable display CRn c Switch on off cursor on the LCD VFD display DC Display bound overflow Count DD Display Demand position DF Display reFerence error DK Display system constants DM set continuous Display Mode on DN use Decimal Numbers DO Display mode Off DP Display current Position DS Display snapshot position data DV Display current Velocity DT Display time DW pb
51. string and the variable can be entered If the command is entered with no parameter the display is cleared If the command is entered with a line number and no other parameter the line referred to is cleared If the command is entered with a line number character number and no other parameter the line referred to is cleared starting from the character number entered The optional parameter allows the real time display of the states of inputs and outputs This uses the bottom 2 lines of the display The table below shows the displayed symbols when the matching characters are enclosed in single quotes Where a is indicated the character is illegal as ZEN a 1 855444425 088005558563 55541454152 TETE TETE FEEEEEELERE TETE TETE 141442 515144147 ME R E 4 2 4444 4 Sends a variable to the LCD VFD display This sends a variable to line number of the LCD VFD display starting at character number The first parameter allows a number 1 to 8 of variable sites to be set up for editing When the MEE command is executed the flashing cursor starts and the up and down arrow keys can be used to index through any ME variables displayed on the screen The parameter specifies the maximum number of characters allowable for a field entry When the enter key is pressed any of the 8 variable sites which have been se
52. t ivy0 ieyv xt Exit if zero vaCzC md4 11 P 5 v eil mi3 Enable inputs ES23 D Di Prog Chain p prt D2 Srtart poss iE ivzl vazuu av u t Page 108 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Appendix sample programme ivz0 iezt xt md3 No of chain cuts t ivzl vazuu av u t ivz0 ifzt md4 Chain distance t ES75 mi eil ei5 4 Mask inputs 523 4 Display chain programme ES76 ivz2 ifzw xt If not chain then exit av 241 p ivzl vspzu ivzl10 vmzuu Use u to index into correct variable ei4 av u w ivzl vazuu Increment pointer to first entry av u t Get absolute value into t start pos ivz2 vmzgz vazuu ivz2 vsuzu f Increment to correct part xs75 Chain programme ES77 597 D2 Programme p D3 No programme entered ES79 D av 241 p ivzl vspzu ivz10 vmzuu Use u to index into correct variable ei4 av u w ivzl vazuu Increment pointer to first entry 572 Enable arrow keys ivz2 iezw ivgl av u t xs75 Chain programme ivzl iezw xs28 eil mi3 Abs programme ivz0 iezw xs77 No programme ES71 TI5 XS73 4 Manual mode 5 579 Auto mode ES73 VK 598 ivv0 ivc22 ivll ivh20 MD2 Manual mode md3 Arrow keys enabled 572 572 Enable arrow keys mk ek1 ek3 ek7 ek8 ek9 596 Enable number amp enter keys K EK1 EK12 EK13 EK14 EK17 EK18 EK19 EK22 EK23 EK24 EK25 EK28 EK30
53. then the system will print a T error message and go to the motor off state The system must be returned to position control mode before any further move commands are accepted Example TO 512 This sets the timeout to 2 seconds Set high position limit restricted Range 4 000 000 4 0E6 Default 4 000 000 This command sets up a user defined limit position If at any time the absolute position of the motor exceeds the high position limit the system gives the LH error message and goes to the motor off state This is similar to the action taken on detecting a limit switch input The value is defined in user units Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 LL RT nn nn Command Reference Error Trapping Set low position limit restricted Range 4000 000 4 0E6 Default 4 000 000 This command sets up a user defined limit position If at any time the absolute position of the motor is less than the low position limit the system gives the LL error message and goes to the motor off state This is similar to the action taken on detecting a limit switch input The value is defined in user units Example LH 10000 LL 0 This sets the high position limit to 10000 units and the low position limit to zero If the motor position goes outside the range 0 to 10000 units the system gives the appropriate error message and goes to the motor off state Set reference timeo
54. value defined by the WX parameter The counter subsequently wraps to zero The counter be read at any time by the use of the RX command The external counter function uses the same mechanism as the reference input function to get an accurate count on an input signal An EC input line may be returned to normal operation by entering this command without the sign This command is restricted and is only available in privileged mode Example EC 1 This specifies that the input line 1 is to be an external counter RX Read external counter input This command reads an external counter value Copyright 2006 Pan Controls Limited Page 55 Command Reference Configuration Commands VC1 Controller User Manual Revision 1 9 WX nn ZX DL PS Page 56 Wrap for external counter input Range 1 to 2 147 483 647 Default 2 147 483 647 This command sets the value at which an external counter wraps to zero Zero external counter input or set counter input Range 0 to 2 147 483 647 This command reads sets an external counter value to zero If a value is given the system sets the current external counter to the given absolute value If no value is given it sets the external counter to be zero The ZX command may be used at any time Define limit switch input restricted Range 1 to 12 This command defines the specified input line as a limit switch input for the current motor channel The sign define
55. what some of the commands and definitions currently on the control system are You can start this recording by typing Alt R You will be prompted to enter a name for the recording file Both the commands that you type and the control system s response will be recorded You can stop the record at any time by pressing AIt R again While loading a command file you may wish to abort the load and return to the terminal mode Press AIt T terminal if you wish to do this Pressing Control C which stops many programs will not affect PANterm this gets sent straight to the control system You might have aborted because you spotted an error in your command file If so you will want to edit your file PANterm allows you to type Alt E which will start up your editor without leaving PANterm provided that PANterm has been told which editor to use in the configuration section You may use your editor as normal On exiting your editor you will return immediately to PANterm in its terminal mode By leaving PANterm in your PC s memory in this way restarting PANterm is considerably speeded up Page 94 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 PANTERM communications programme 11 6 Loading system programme files The controller system programme can be changed by using the UP command from the boot programme A system programme in Motorola S record format must have bee prepared in advance and this can be uploaded using the
56. with complementary outputs providing high rejection of common mode noise In addition spurious signals on one encoder track produce both up and a down count and thus cancel out However in particularly electrically noisy environments it is still possible to get position counting errors The system will be set up so that its position is continuously adjusted for any errors by using a repetitive reference signal to correct them Without such facilities such errors would otherwise be accumulated over long periods of continuous operation unless the system was stopped at regular intervals to re initialise the absolute position The digital input and output lines are designed to be used with 24 volt logic levels These lines are optically isolated from the microprocessor based circuits This provides protection and allows higher voltage signals to be used for greater noise immunity Copyright 2006 Pan Controls Limited Page 79 Safety VC1 Controller User Manual Revision 1 9 8 2 Safety The Pan control system provides many safety facilities and it is recommended that these are used in addition to external safety systems such as hard wired limit switches Pan Controls can accept no responsibility for problems due to incorrect use of the safety features provided The safety features of the system are provided for very good reasons It is important to understand the operation of all these facilities as it is possible to do vast amounts of d
57. xs98 ivv0 md2 Cut complete ivz9 iejz mi eil ei4 ei5 xt If foot switch pressed in middle then exit iecb xs222 ivj0 xt Cycle complete igcb xs215 Do incremental moves until complete es221 Move to unload position xs98 md2 Moving to unload pos md3 vm 243 Fo vdoGoz Calculate unload pos ivx0 vsxoo Change sign xs89 Check that position is legal pc ivzl iexz vmLFo vdoGoz mavo xt If out of bounds move as far as poss mrvo wt75 es89 Check to see if move is legal ddoz vazoz Convert to abs position xs88 ES85 AVoz Get abs move into z xs88 ES88 IVx0 vmHFy vdyGyx Get upper limit in encoder counts ivx0 IGzy xs87 xt Set flag in x if outside a limit vmLFy vdyGyx Get lower limit in encoder counts ivx0 IGyz xs87 xt Set flag in x if outside a limit ES87 586 597 D2 ERROR Page 112 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 D3 Move out of bounds WT300 ES222 Cycle complete xs98 mo md2 Cycle complete XS221 Move to unload position PC xs212 xs213 Move back to start position 5239 Set to motor off amp reset velocity amp re enable arrow keys XS72 SVVV ES240 XS249 Set up continuous position display mk EK1 SVVV PC MOS ES241 XS242 mk EK1 PC SVVW VC ES242 ST ES243 XS249 Set up continuous position display mk EK1 SVVV PC VC ES246 mk EK1 ivw8 vdWwwz PC SVVw VC
58. 1 9 Appendix ASCII table ASCII EQUIVALENT FORMS ASCII EQUIVALENT FORMS n Char Binary Hex Dec Char Binary oct nec 01000000 100 40 9 01100000 140 6 A 01000001 101 41 65 a 01100001 14 141 61 97 B 01000010 102 42 66 b 01100010 142 62 98 C 01000011 103 43 67 01100011 143 63 99 D 01000100 104 44 d 01100100 144 64 100 01000101 105 45 69 01100101 145 65 101 F 01000110 106 46 70 f 01100110 146 66 102 G 01000111 107 47 71 9 01100111 147 67 103 H 01001000 110 48 72 h 01101000 150 68 104 01001001 111 49 73 01101001 151 69 105 J 01001010 112 4A 74 j 01101010 152 6A 106 K 01001011 113 4B 75 k 01101011 153 6B 107 L 01001100 114 4C 76 01101100 154 6C 108 M 01001101 115 4D 77 m 01101101 155 6D 109 N 01001110 116 4E 78 n 01101110 156 6E 110 O 01001111 117 4F 79 01101111 157 6F 111 P 01010000 120 50 01110000 160 70 112 Q 01010001 121 51 81 q 01110001 161 71 113 R 01010010 122 52 82 r 01110010 162 72 114 5 01010011 123 53 83 s 01110011 163 73 115 T 01010100 124 54 t 01110100 164 74 116 U 01010101
59. 125 55 85 u 01110101 165 75 117 V 01010110 126 56 86 01110110 166 76 118 01010111 127 57 w 01110111 167 77 119 X 01011000 130 58 88 x 01111000 170 78 120 Y 01011001 131 59 89 y 01111001 171 79 121 2 01011010 132 5A 90 2 01111010 172 7A 122 01011011 133 5B 91 01111011 173 7B 123 01011100 134 5C 92 01111100 174 7 124 01011101 135 5 93 01111101 175 7D 125 01011110 136 94 01111110 176 7E 126 _ 01011111 137 5F 95 DEL 01111111 177 7F 127 Copyright 2006 Pan Controls Limited Page 119 Operator interface template User Manual Revision 1 9 13 5 Operator interface template The following template can be copied and used as a template for creating new screens DISPLAY TEMPLATE ETT ETT TET Ty Ey LLLLELLLELLLELLLELLLT TEP E ETT ETT Ey yy TTT ETT TET ETT Ey yy TEEPE FETT ETT ETT TET yey 17 Copyright 2006 Pan Controls Limited User Manual Revision 1 9 14 INDEX io ME Ne tee ae DOR ak ah ek aa SUN CUT Page 20 2155s eg Page 20 from keypad operation Page 20 Absolute MOVE shied wid ert Gavi enia rs Page 20 position for 33 value
60. 227 UNT ate Page 73 Output iiie cene mene que los Page 72 read from LCD VFD unit Page 70 SAVE t Lolita SEDED RS bad Page 14 send continuously to LCD VFD display Page 75 send to LCD VFD display Page 70 set from input lines Page 44 SUDITACE o nd RE paraben brun Page 73 test for bit clear Page 65 Page 73 test for bitset Page 65 Page 73 test for equality Page 64 Page 74 test for inequality Page 65 Page 74 test if greaterthan Page 65 Page 74 test if greater than time counter Page 65 hats reu dir Page 72 MG situe odi elio nas eel pone je Me Page 21 ESI dee e poi e dad cado Page 73 Velocity ss aeni aleve wath Goad Rb Page 24 Velocity averaging time constant Page 66 Velocity feed forward gain Page 41 Velocity feedback gain Page 41 Velocity signal bipolar dum der M b rig Page 16 UNIPOIAT Less ARR hee Page 16 Version high level software Page 15 Mersiomnumber sus Re tnd cate Page 14 A mur io pepe nih ot DURS Page 45 VI as he OR SR ated Page 29
61. 3 1 Circuit boards There are several different circuit boards which have been developed together with their associated software These consist of 3 1 1 Control board PC3 120 This is a microprocessor driven circuit board based on a Motorola 68HC11 microprocessor It communicates with a personal computer by asynchronous serial port Its functions include to 2 channels D to A output 12 bits resolution Bipolar 10 10v output 1 8 channels A to D input 8 bits resolution These channels not isolated and must be in the range 0 5v iii 2 channels Quadrature amp ref input RS 422 inputs differential signals iv 4 channels of general purpose parallel inputs 2 of which may be used for reference inputs 5v un isolated inputs v 4 channels of general purpose parallel outputs 5v un isolated outputs vi 2 asynchronous serial ports One of these is also taken to an isolated RS 485 422 circuit for use on a proprietary bus or general purpose RS 422 vi Hardware watchdog viii Scanning keypad interface 8x8 ix LCD VFD character display interface x EEPROM facility for parameter storage xi Site for daughter board 3 1 2 Control daughter board PC3 121 This is a daughter board for use with the PC3 120 board It communicates with the host control board by an asynchronous serial port Its functions include Up to 8 channels isolated parallel outputs ii Up to 16 channels isolated parall
62. 4 1 0 Note the use of the loop variable for indexing 0000000010 0000000040 Value of variable 10 0000000008 0000000032 Value of variable 8 0000000006 0000000024 Value of variable 6 0000000004 0000000016 Value of variable 4 1 gt Copyright 2006 Pan Controls Limited User Manual Revision 1 9 Command Reference Loop Commands GL Go to line in sequence Range 1 to no of lines in current sequence This command allows looping to a specified line number within a sequence Note that it can only be executed from within a sequence Example A sequence might consist of the following CO3 MR5000 SOA WT500 II5 XT GL1 This will continue looping to line 1 until input line 5 is negative when the XT command will escape from the sequence Copyright 2006 Pan Controls Limited Page 63 Command Reference Conditional Commands VC1 Controller User Manual Revision 1 9 7 2 13 I nn IE vaya Page 64 Conditional commands If Input true do command line Range 1 to 12 This command allows the programmer to specify that a command or command line is conditional on the current state of an input line If the input line specified in the command is in the specified state the condition is true then the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of
63. 6 Pan Controls Limited Page 1 VC1 Controller User Manual 1 3 Key additions to software The purpose of this section is to highlight additions to the language in software revisions 1 3 1 Version 106 6 July 1998 First variant of software with daughter board 1 3 2 Version 106 7 August 1998 Added display keypad features to controller Added reset of parameters on fifth LED light after switch on Allowed SP without interfering with DAC 1 3 3 Version 106 8 August 1998 Added display pos snapshot and referencing 1 3 4 Version 106 9 October 1998 Fixed bug with VT Improved MD with no parameter Allowed 256 numeric variables Added VO UR UM UD UO 1 3 5 Version 107 0 October 1998 Added EE HS Fixed LL 1 3 6 Version 107 1 October 1998 Added selective SP v 1 3 7 Version 107 2 October 1998 problem with numeric variables 1 3 8 Version 107 3 April 1999 Fixed keypad scanning in rp loops added reset and snapshots for b channel 1 3 9 Version 107 4 June 1999 Set up for new keypad 1 3 10 Version 107 5 September 1999 Corrected snapshot 1 3 11 Version 107 6 Added HR reset watchdog allowed all keys on Calman keypad enabled wired or mode for keypad outputs 1 3 12 Version 107 7 Jan 2000 separated SPV ans SP functions 1 3 13 Version 107 8 Jan 2000 added GL EC WX ZX amp RX commands 1 3 14 Version 107 9 Feb 2000 added NE amp ZD commands Revision 1 9 Page 2 Copyrigh
64. Commands Note that some commands are restricted These commands can be used only in privileged mode Miscellaneous commands BH Breakdown of current Hardware CS CheckSum test EV ccc Enter a user software revision no string GW bb Set global control word restricted LA List all parameters RA Reverse analogue output sense RD Read data from nonvolatile memory restricted RE 2 B Reverse encoder input sense RS ReSet complete setup to defaults restricted SP Save Parameters restricted VN display Version Number and revision date Mode commands EO Echo mode off EM Echo mode on FD Set link factor for division FM Set link factor for multiplication LM Link motion to second encoder Link motions control word restricted MO set to Motor Off NM set to Normal Mode PC set to Position Control mode PM set to Privileged Mode PW set PassWord restricted Move commands AB ABort emergency stop ID Initialise Demand signal offset IN INitialise to reference position Move to Absolute position scaled MRz Move Relative to current position scaled ST STop with normal deceleration VC set to Velocity Control mode VX Move multi axis at constant velocity Page 84 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Set parameter commands DB RC SA SB SC SD SL SS SV SW ZC nn nn nn nn nn set input DeBounce time R
65. DAC port B 12 connection 13 Velocity Ov analogue ground 14 Relay Common 15 Relay normally open or normally closed jumper selectable 12 2 Connector 2 15 way D connector 3 row for position encoder reference i p analogue 1 Aux encoder track A 2 Aux encoder track 3 Aux encoder track B 4 Aux encoder track y 5 Aux encoder track Z 6 No connection 7 No connection 8 Aux encoder power supply Ov 9 Aux encoder power supply ve 10 Aux encodertrack 11 Aux velocity signal DAC port B 12 No connection 13 Aux velocity Ov analogue ground 14 Aux Relay Common 15 Aux Relay normally open or normally closed jumper selectable Page 98 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Connectors 12 3 Connector 3 15 way D socket Isolated inputs Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 Input 9 Input 10 Input 11 Input 12 Input common 0v _ _ BPA WON CO 12 4 Connector 4 9 D plug Isolated outputs Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Output common 24v DC N X 125 Connector 5 9 way D socket RS 232 terminal connection Tx data from controller Rx data to controller No connection No connection Ground No connection No connection No connection No connection Copyright 2006
66. Motion Control System and Operator Interface VC1 User Manual Revision 1 9 January 2006 CONTROLS LIMITED Optional keypad and display Revision 1 9 VC1 Controller User Manual Table of Contents 1 DOCUMENT MANAGEMENT 4 0 Page 1 Tat Release ets ed don ee Nia e end Page 1 1 2 Critical changes to software 4 Page 1 1 2 1 Version 107 6 October 1999 Page 1 1 2 2 Version 107 8 February 2000 Page 1 1 2 3 Version 108 0 March 2000 Page 1 1 2 4 Version 109 7 August 2003 Page 1 1 3 Key additions to software 1 Page2 1 3 1 Version 106 6 boards Sond waked Oa ead dhe 2 1 3 2 Version 1006 7 es Ep A edil Page 2 1 3 3 V rsion106 8 vocc oder bei ee Oy ata eas e E EP E AM SRR Page2 1 3 4 yersin s e xp eto Mes peal As BR A Page2 1 3 5 Version TOF O erea be bete I oe pata e ea Page 2 1 3 6 Version T T Late tr DEREN LE ee Page 2 1 3 7 Version 107 2 cierre per ER Res ad
67. OFF protocol are DC1 11 hex cntl Q for and DC3 13 hex cntl S for XOFF Page 82 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Electrical Characteristics 9 ELECTRICAL CHARACTERISTICS AC supply voltage Minimum 85 Volts Maximum 264 Volts AC supply frequency Minimum 47 Hz Maximum 63 Hz DC logic voltage Minimum 19 Volts Maximum 29 Volts Serial link diagnostic terminal Signal levels RS 232 Baud rate 9600 Data format 8 data bits 1 stop bit even parity Encoder inputs Input impedance 6kQ Input signal levels 5V Input cycle rate 250 kHz max Track A input leads track B input for positive movement Command signal output Isolated output range 10V Resolution 12 bits Digital Inputs isolated Input signal levels 24V set by resistor network Input current 10 ma typical at selected input voltage Digital Outputs isolated NPN Darlington outputs Load current 100ma maximum Relay contacts Rated load 1A 60V d c 0 3A 110V resistive 0 5A 60V d c 0 2A 110V a c inductive Carry current 2A Switch voltage max 60V d c 125V a c Switch current max 2A d c 1A a c resistive 1A d c 0 5A a c inductive Switch power max 60W 60VA resistive 30W 30VA inductive Inductive load power factor 0 4 max Contact resistance 50 max Copyright 2006 Pan Controls Limited Page 83 Summary VC1 Controller User Manual Revision 1 9 10 SUMMARY 10 1
68. OV UD UM UO UR VA 23 VBC S n1 v1 VM vs VS vivevs VD VK VO VP ni v1 Page 88 Absolute value of variable ABS gt Sets decimal Point position for Continuous variable display If bit of variable is clear then do the rest of the command line If variable v12v2 do command line If is not equal to then do the rest of the command line If variable 1 gt 2 do command line If bit of variable is set then do the rest of the command line Input a Variable Move a block of numeric variables Output a Variable Set continuous display parameter for division Set continuous display factor for multiplication Set continuous display offset parameter Set update rate ticks for continuous variable display Add variables v1 v2 v3 Set or Clear a bit in a variable Multiply variables v1 x v2 v3 Subtract variables v1 v2 v3 Divide a variable gt Set a variable from the keypad Sends a variable continuously to display Sets decimal Point position for Variable display Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 10 2 Status Messages normal prompt character motor off prompt character parameter value prompt character executing slow Creep Initialising to reference position Moving to new position executing a Profile Stopping under normal deceleration Velocity control mode Waiting sc DU OS
69. SS to 800 000 8 0 5 Default 1024 This command is used to set the system velocity in user units per second It may be used when the motor is stationary or when moving at constant velocity after a VC command Example SV 5000 This sets the system velocity to 5000 units per second Set acceleration Range 1 to 2 000 000 000 2 0E9 Default 1024 This command sets the normal system acceleration to the specified value in user units per second squared Note that the acceleration is rounded to the nearest multiple of 256 giving a resolution of 256 counts Example SA 10000 This sets the system acceleration to 10000 units per second squared Set creep distance Range 0 to 65535 Default 0 The normal trapezoidal velocity profile for a position move can be modified to include a slow speed creep to the final required position The creep distance is the distance from the final position over which the system moves at the slow creep speed set by the SS command This may be used to minimise overshoot at high speeds and accelerations Example SC 200 This command sets the creep distance to 200 units position move command will now start to decelerate earlier than normal such that the system reaches the slow creep speed at least 200 units before the final required position Set slow creep speed Range 1 to system velocity SV Default 32 This command allows the user to set the speed of the slow creep to the final pos
70. This command is restricted and may only be used in privileged mode Example PO5 1000 2000 This example sets up an output as a position trigger such that it goes low between positions 1000 and 2000 Variables can be used to define position trigger points Example 1V 34 245 IV 43 900 PO2 V 34 V 43 The position range for the PO outputs is cyclic and repeats at the bound position defined by the SB command To illustrate this consider the above example again Suppose that the bound position is set to 2000 In this case the active position range for the position trigger output repeats at positions 3000 to 4000 one cycle later at 5000 to 6000 two cycles later and so on It also repeats in the negative direction at 1000 to 0 at 3000 to 2000 etc Define expanded output line group restricted Range 0 to 8 This command sets up a group of outputs that may be set to a binary code with a single OC command instead of using a string of individual SO and CO commands It reserves from line number 1 up to the line number given for the expanded output group and the sign determines whether or not the output data should be inverted To reset the expanded output definition use OXO If any of the outputs required for the expanded output group function are already defined as some other function the U error message is returned This command is restricted and may only be used in privileged mode Example OX3 This example defi
71. a Page2 1 3 8 Versiom 104 23 rv ds ke ek ie ELIO I E NEN Page2 1 3 9 Version 10024 ig dte aseo b Y edu a d bo ened ae dh wee Re e Page 2 1 3 10 Version rtu te atop tata eset RO tet n bre Page2 1 3 11 Version 107 6 t de RR RR oe Ea dA Page 2 1 3 12 Version ovv wr ERR DAS Mar eh ae ae MA Page 2 1 3 13 Version 107 8 v ev ke ecd st Li eec Page2 1 3 14 VOPSIONS1OF 9 Es Page 2 1 3 15 Version 108 0 nil crees perenne ete s et pU E epe op Seog ig eae Page 3 1 3 16 Version 108 1 ziii Laert be aue de ee Re dea ue hate Page 3 1 3 17 Version 109 0 ets MAE ERES SON oe Ed Page 3 1 3 18 Version 10971 22 vut bre dace gadis Page 3 1 3 19 Version 1092 x scit top eR bum a DE Tae E A Dx RE A Page 3 1 3 20 Version 109 9 Y Ee Page 3 1 3 21 Versiorni 109 4 std ere NUS dde are edu d Page 3 1 3 22 Version 109 5 s ot ooa Abe s ode e ree PD LS Page 3 1 3 23 Version 109 6 2 5522 ue Ege OR ERE e Page 3 1 3 24 Version team Bye dong SOR TAE 3 2 INTRODUCTION 3 42 Ia ELI ELDER PET s Page 4 3 SYSTEM OVERVIEW sie ide at date d db weed de LR diei Page 5 Sali Circuit boards area Re eR Ua dE
72. added to the zero position b The bigger the offset value the smaller the cuts will be Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 vmzGz vdzFzo ivol0 vmozz UMVz 1 1 decimal point UR50 Update rate for continuous display AS255 5255 5 150 Execute sequence 150 after K EK1 Only enable F1 5 40 Execute sequence 40 after F2 key SKC21 Execute sequence 21 after F3 key SKD161 Execute sequence 161 after F4 SKE71 Execute sequence 71 after F5 key DI1 XS217 Foot switch DR2 Reference limit DI3 XS220 Cycle complete DI4 XS230 Start programme DI5 MK EK1 XS150 Manual DI5 MK EK1 XS150 Auto wt500 597 md2 Press green button md3 to initialise the md4 saw position 5 4 SK99 ES40 ivu241 Variable pointer ive41 Sequence no for entry xs94 Start keypad entry 541 597 D2 Programme mode md3 Programme no 1 20 ivc95 ivd42 ivll ivh20 vk4 y SK99 542 av 241 p ivzl vspzu ivz10 vmzuu key key avsu w Set up w to define if Chain 2 ive43 Sequence no for entry ivf2 Default value if cleared xs94 Start keypad entry ES43 XS97 D2 Programme p md3 Abs 1 or Chain 2 ive95 ivd44 ivll ivh2 vk4 y 544 592 ivzl vazuu Variable pointer ive45 Sequence no for entry ivf200 Default value if cleared xs94 Start k
73. ads lines to 16 chars Prints lt CR gt lt LF gt after each line Reserved for future expansion Verbose error messages One or two char error messages Hexadecimal input amp output Decimal input amp output Reserved for future expansion Reserved for future expansion Conditional tests in wait state Conditional tests immediate execution Reserved for future expansion Reserved for future expansion Reserved for future expansion Always output required data Normal operation Reserved for future expansion No characters sent to terminal Characters sent to terminal The default value of 100010 is for a PANTERM 80 column terminal and uses decimal input and output It produces verbose error messages This command is restricted and is only available in privileged mode Note that bit 13 should be used in conjunction with bit 15 in order to have an effect The result of combining bits 13 amp 15 is to only transmit data of requested items e g DP OV etc This can be useful when the system is being controlled on the terminal port from a PLC Itis subtly different from using the EO echo off command since the echo off command sends prompts error messages etc Example DW 101 This sets the display options for use with a 40 column display terminal and turns the list pause on The list pause is used when listing sequences and profile tables on a display with a small number of display lines Copyright 2006 Pan Controls Limited VC1 C
74. age 81 8 8 Operation of Limit Switches Page 81 8 9 Reference inputs isis Rb ERI Ee xa dni exa d AURA NE d d REPE Page 82 8 10 Serial Communications Page 82 8 10 1 Diagnostic 22 2 22 2 Page 82 ELECTRICAL CHARAGTERISTICS cm RE ERG RR EAR RR Page 83 SUMMARY far vl A Page 84 10 1 Commands eate eite eta RAUS ails oe 84 10 2 Status Messages 14 cent ed Saeed eed RI TRIS set doter Page 89 10 3 Error Messages ihe ke py pa wa dee OSA eR AORTA Page 89 PANTERM communications programme for personal computer Page 90 11 1 eb P eet 90 11 2 Setting up the serial link Page 90 11 3 Using PANTERM as a simple terminal Page 91 11 4 Preparing system command files Page 91 11 5 Loading command files Page 94 11 6 Loading system programme files Page 95 11 7 Configuring PANTERM 41 Page 95 11 8 Automatic baud rate configuration
75. age 98 input lines Page 99 Page 100 Copyright 2006 Pan Controls Limited Index output lines Page 99 Page 100 serial port ce os ea nimes Page 90 Page 99 Constant velocity move Page 21 Continuous display divider Ath bedi ton dade mh isa ete Page 75 ECD VFD display lt sudes iex Page 75 MUltiplien sce ee tee AS ee ee res Page 76 M eens E 76 Continuous display mode Page 67 Gontrol algorithm es stera ee be Page 39 Control word 40 Correct offset pes Euntes pese egt Page 22 Correction adjustment limit iine ess Page 52 NGIOCILY i e ve eder eR as eee asi Page 53 Couriter input 5 252 Page 55 Page 56 imer e MIS duties NS Page 75 TT 71 87 dist fiCe snd eh Sele a ee an Page 24 Speed uis toe cee ue cate Reb ee on Page 24 Sis dh uer AS TR sata oe CA ti Page 14 Cursor control for LCD VFD display Page 71 Page 87 eMe TEM Page 40 DAC output sense Page 40 DBS sta ane E E Page 26 Page 59 CREE cp PL eee eh ge Page 66 DD
76. amage to both machinery and people with high performance motors and drives It is not sufficient to decide that these facilities are not relevant to a particular application they are provided to monitor the correct operation of the whole system and if the system gives an error then it is telling you something important The relevant commands are listed here SE Set maximum position error TO Set timeout LH LL Set position limits DL Define limit switch inputs Please read thoroughly the descriptions of these commands at least if no others 8 3 Indicator L E D s The control boards have two indicator L E D s to indicate various system functions These can be viewed by looking through the window between the 2 position encoder amplifier connectors i The left hand indicator is used to show whether the system is functioning correctly For correct operation this flashes on and off equally once per second If there is a hardware fault or if the saved parameters do not match the hardware found this L E D will flash on and off with a different time period for on and off If a terminal is connected to the RS 232 port it will be possible to identify what the problem is ii The right hand indicator shows the state of the on board watchdog timer which is in turn connected to the on board relays When the watchdog is activated the L E D is off 8 4 Position Encoders The system is designed for use with digital incremental position encoder
77. ameter The largest multiplication factor is 65535 256 If bit 7 of LW is set then negative multipliers are allowed Example FM 9 This sets the link multiplication factor to 9 Example FM 5888 FD5 This sets the link multiplication factor to 5888 and the division factor to 2 32 The resultant factor is therefore 5888 256 32 0 71875 Copyright 2006 Pan Controls Limited Page 17 Command Reference Mode Commands LW bbbb bit PC MO Page 18 ND VC1 Controller User Manual Revision 1 9 Link motions control word restricted Range 0000 0000 to 1111 1111 binary Default 0 This command allows the user to set various motion linking control options Note that the leading zeros may be omitted The link motions control word bit functions are described below Bit set Bit cleared Position link Velocity link Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Allow negative multiplier for FM Positive multiplier only for FM Enter position control mode This command puts the system back into the normal state with the motor position continuously controlled after an MO command has been executed or a position error abort has occurred The prompt character gt is returned in position control mode In position co
78. cond profile move numbered 2 of 600 counts could be created by amending just two cells E1 and B5 Copyright 2006 Pan Controls Limited Page 93 PANTERM communications programme VC1 Controller User Manual Revision 1 9 11 5 Loading command files Once you have prepared a control system command file and set up PANterm in its terminal mode you are ready to transmit command files to the control system This is called loading To do this type UP to put the controller in Upload mode followed by Alt L Load You will then be asked the name of the file that you wish to load Type its name and press return PANterm will now start sending the file to the control system The characters that you will see on your screen are all echoed back from the control system so that you know they have been received correctly The exception to this rule is the comment comments are not sent but printed directly to the screen in reverse colours When your command file has been loaded the programme will revert to the terminal mode Also pressing any key while loading will cause the load to be paused a second keypress will continue the load PANterm incorporates a delay mechanism so that you can check the response of the control system to your command file You can type Alt S Slow or Alt F Fast to slow down or speed up the loading very slow speed combined with pausing can be useful for spotting errors While in terminal mode you may want to record
79. d always works normally The exceptions to this are bit 3 of the RW reference options word which disables the move back to the new zero point and bit 4 of RW which defines whether any reference input is valid or only a combination of them The reference offset value is also effective during the initialisation sequence such that the position at which the reference signal is detected is defined as the absolute position given by the value of RF not necessarily zero For more details read the reference command section section 7 2 10 page 50 later in this manual If no reference input or marker input is defined then the IN commands returns the E error message and the initialisation sequence is not executed Example RWO IN The motor moves in the positive direction until the reference input is seen It then stops and in this example it moves back in the negative direction to the reference position Copyright 2006 Pan Controls Limited Page 21 Command Reference Move Commands VC1 Controller User Manual Revision 1 9 ID Page 22 Initialise DAC offset Under normal conditions there may be some constant offset in the demand signal analogue output amplifiers which causes the motor to settle at a position slightly different to the required position The ID command sets the system up to allow for this assumed constant offset in all subsequent position control operations It must be used every time the system is powered on when the s
80. d to tuning a system Code number 8 allows the user to set up an independently calculated value This can then be sent out using the AO command Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 AO nn KM nn OM Command Reference Gain Commands Set analogue output to global value Range 2 32767 Default 0 This command selects a particular global value to output on the auxiliary output channel The parameter defines the value of the output Note that the D to A convertor has a resolution of 12 bits and that actual values will be rounded to the nearest digit The actual output voltage will depend on the KM and OM values A value of 32 768 is a special case which will open the relay associated with this analogue output setting the output to ground Any other value will close the relay Set monitor output gain restricted Range 0 to 65535 Default 0 This command sets the gain for the monitor output signal The monitor output functions are scaled by the monitor gain and not by the gains used in the control algorithm The monitor output signals are also independent of the settings of the gain term enable bits in the control word Set monitor output offset restricted Range 32767 Default 0 This command allows the auxiliary monitor output to be offset by a fixed voltage Example SF2 KM100 OM25 This selects the measured velocity function to be output on the monitor l
81. defined as a function input cannot be set or cleared A function input line may be returned to normal operation by entering this command without the sign and the function text This command is restricted and is only available in privileged mode If a line is defined as an input and is already in the true state when it is defined as a function input the system does not act on the input until it has gone false and become true again If an input is currently masked by the MI command when it is defined it does not become active until itis enabled by the El command Example 011 AB This defines line 1 as a single command such that when line 1 goes to a logic high the system executes the AB command Example DI2 ID IN W T256 MR 5000 ZC DI2U ST This defines line 2 as a command sequence such that when it goes to a logic low the system executes the given sequence It initialises the DAC offset initialises the position to the reference position waits for 1 second moves 5000 units and zeros the position counters at this position When the input line reverts to a logic high the ST command is executed If the system is still in motion it will then stop Example DI 3 This returns line 3 previously defined as a function input to normal operation Copyright 2006 Pan Controls Limited Page 57 Command Reference Configuration Commands VC1 Controller User Manual Revision 1 9 58 Define
82. defined time interval until CEO or an AB command is entered Note that the time interval relates to the start of the sequence even if the sequence takes a significant time to execute Example PL512 CE 12 The system executes stored sequence no 12 after continuously every 2 seconds Copyright 2006 Pan Controls Limited Page 29 Command Reference Sequences VC1 Controller User Manual Revision 1 9 PL nn EE nn NE Page 30 Set parameter for looping continuous event Range 20 to 65535 Default 256 This command sets the time parameter for the CE continuous sequence command The units are system ticks 1 256 second Example PL128 This sets the delay between continuous sequence events to second Execute sequence on error condition Range 1 to 255 or no value This command sets up the system to execute sequence number n as soon as a system error state is encountered This allows for system to interrogate the system error and display an appropriate message Example EE 123 The system executes stored sequence no 123 after an error state has been reached Execute sequence after snapshot event Range 0 to 255 This command sets up the system to execute sequence number as soon as a snapshot event has taken place This command needs to be reset after each operation Example NE 55 The system executes stored sequence no 55 after an a snapshot event has taken place Copyright 2006 Pan Controls Limit
83. der input normal Power up in Power up in position motor off state control mode Integral term active Integral term active when static only continuously The default control word value of 01001011 allows integral velocity feedback and velocity feed forward control and the channel powers up in the motor off state Example CW 0000 0001 This enables proportional and integral control only Proportional control is always enabled Set proportional gain constant restricted Range 0 to 65535 Default 256 This command sets the proportional gain of the system The proportional gain acts on the measured position error which is calculated as the difference between the current demand position and the position measured by the encoder High gain gives the system a faster response and tighter position control but if the gain is too high the system may oscillate For best results the proportional gain should be set as high as possible without inducing severe overshoot or oscillation Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 KI KD KV KF nn nn Command Reference Gain Commands Set integral gain constant restricted Range 0 to 65535 Default 0 This command sets the gain for the integral term in the controller transfer function When integral control is used the system integrates the position error by adding the current error to a running total Integral gain is useful to remove a
84. ding velocity feedback is similar to the effect of a tachogenerator connected externally to the motor drive in that it adds damping to the system This allows higher values of proportional gain to be used without giving excessive overshoot or oscillation thus improving the speed of response of the system Set velocity feed forward gain constant restricted Range 0 to 65535 Default 0 This command allows the user to set the gain for the velocity feed forward term in the controller transfer function It uses the demand velocity as opposed to the measured velocity and is particularly useful when following a set position or velocity profile If a system is using proportional gain only then there will be a steady position error when running at constant velocity known as velocity lag The feed forward gain has the effect of reducing the velocity lag by adding a component dependent on the demand velocity into the demand signal output The velocity lag error may be easily reduced to zero or even made negative by increasing the value of the feed forward gain Alternatively velocity lag may be reduced to zero by use of the integral gain but this has other effects as well Copyright 2006 Pan Controls Limited Page 41 Command Reference Gain Commands VC1 Controller User Manual Revision 1 9 IT n SF n Page 42 Set integration time constant restricted Range 0 to 2 Default 0 The position error is integrated with respect t
85. document describes the Pan Controls motion control system The system controls a servo motor with position feedback It monitors a second position channel and provides a second auxiliary analogue output The second position channel can be used as an input to the system For example the servo channel can follow the position encoder The system be set up with a Personal Computer using software provided Programmes can be developed on a personal computer and downloaded to the controller These can then be stored on the controller Digital control systems not simple but can be very useful when applied correctly It is important to understand the basics of the operation of the system before it is installed on an expensive machine The system is completely programmable in all aspects of its operation and it is recommended that users carry out training to experiment to familiarise themselves with the facilities available This is best done on an off line test machine which is not directly linked into a production unit Page 4 Copyright 2006 Pan Controls Limited Revision 1 9 VC1 Controller User Manual 3 SYSTEM OVERVIEW The control systems are based on a microprocessor running on Eurocard sized circuit boards using established hardware and software technology The system is designed to be able to provide an integrated solution to a wide range of motion control situations There is an option for an integrated keypad an display
86. e if variable is not equal to variable Example IF tO MA 0 If variable t is 516 and variable O is 516 then the system moves to an absolute position of 0 counts If is greater than then do the rest of the command line This command executes the remainder of the current command line if variable is greater than variable Example IG VW IVVO If variable W is 12 and variable V is 13 then O is allocated to variable V Sets decimal Point position for Variable display Range 0 to 9 Default 0 This command sets up the system to allow variables to have a decimal point displayed The actual number will have to be scaled using the multiply and divide commands and the decimal point is merely placed by the defined number of digits from the least significant This arrangement ensures maximum flexibility combined with a minimum load on the microprocessor Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Variable Commands M Vvivevs VK VO nt n2 n3 n4 UR UD Move a block of numeric variables This commands moves a block of type variables from address to Example iva20 ivb150 ivc220 MVabc Move a block of 20 variables from 96150 to 96220 Set a variable from the keypad This command waits for an input from the keypad It displays the current value of the variable on the left hand side of line number of the LCD VFD displa
87. e automatic reference facilities are enabled by the RW command See the Reference Commands section 7 2 10 page 50 for more details on the reference facilities and commands This command is restricted and is only available in privileged mode Example DR 2 This specifies that the reference position is detected by a transition on input line no 1 for the current channel DZ B Define zero marker input on off restricted Range 0 to 1 This command defines whether the encoder zero marker input is on or off The sense of the sense of this input is fixed and cannot be programmed If the value passed with the DZ command is zero the fast reference input is turned off If the value is non zero the zero marker input is turned on When the zero marker input is enabled the system looks for a pulse on the zero marker input or a transition on any other reference inputs when the IN initialise position command is executed and when the automatic reference functions are enabled by the RW command For more details of the operation of the reference inputs see the Reference Commands section 7 2 10 page 50 DZ operates on the primary channel and DZB is for the secondary position channel This command is restricted and is only available in privileged mode EC Define external counter input restricted Range 1 to 4 This command an input line to be an external counter whose frequency must not be greater than 100Hz The counter has a maximum
88. e listed with the LI command Many commands that affect the behaviour of the system are restricted or privileged and can be used only in privileged mode after entering a password This allows the system to be configured as required by the Control Engineer or Systems Engineer while preventing access to the more fundamental setup parameters by the machine operator The system can be programmed to start up automatically or to operate from external digital signals The complete system setup including all parameter values input and output line definitions sequences and profiles may be stored in non volatile memory using the SP save parameters command The setup data is Page 12 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Description General saved together with a checksum value This is used when the system is initially powered up to check the integrity of the stored data If the data has changed at all the checksum test fails and the system gives an error message and resets the system to the manufactured default configuration Copyright 2006 Pan Controls Limited Page 13 Command Reference Boot Programme VC1 Controller User Manual Revision 1 9 7 2 7 2 1 SP V CS RD RA Page 14 Command Reference Miscellaneous commands Display version number This command prints information about the version of software fitted to the system It gives the version number of
89. e programmed so as to be detected immediately on a change of state to get the most accurate position information possible Example DB 2 This sets the debounce time to about 8 ms 2 samples Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Sequences 7 2 5 Sequence commands This section describes the sequence facilities They provide comprehensive facilities for defining reviewing and executing complex command sequences Sequence definitions may be entered up to the memory capacity of the system If the system runs out of memory it returns an no room error message ES LS nn Enter sequence Range 1 to 255 This command is used to enter sequences into the system The system responds with S prompt for the sequence entries Each entry in the sequence is any valid command line Command sequences on one command line are accepted as one sequence entry Sequence entries may also include commands to execute other sequences and profiles To end the sequence make a blank entry by just entering a CR and the system then returns to normal operation The sequence is accessed by means of the sequence number assigned by the user when it is entered Example System User Comments gt 5 1 Enter sequence 1 51 ID IN CR Initialise position 51 100 WT256 0 WT256 Do this 3 times S1 MA 2000 CR single move S1 CR End sequence
90. ed VC1 Controller User Manual Revision 1 9 MF AS R HR XT Command Reference Sequences Display free memory This command displays information about the memory space available for sequences and profiles This command returns the amount of free space as a number of bytes The maximum space available is about 12 kbytes It is possible under certain circumstances for the internal memory to become fragmented when maps and profiles are being entered and deleted This could give rise to the system reporting an N out of memory error message when the total amount of spare memory is larger than the data being entered This occurs because the system allocates a contiguous block of memory for each map or profile A simple solution to this problem is to save and restore the parameters using the SP and RD commands This compacts the data and forces all the spare memory into one single block Example System User Comments gt MF lt CR gt Enter MF command 6538 System returns number of bytes free gt Set autostart sequence Range 0 to 255 Default 0 This command is used to set up a command sequence to execute automatically when the system starts up after all the saved setup parameters and configuration details are loaded from the non volatile memory If no sequence number is given the system prints the current autostart sequence number If the R option is entered an auto start sequence for startup after software watchdog r
91. ed number of encoder counts It may be used to eliminate false reference signals at positions far away from the expected reference position or to allow the position reference facilities to be used even when the machine cycle length is not the same as the distance between reference marker signals When a reference signal is seen the reference error is calculated as the difference between the zero position defined by the reference input and the zero position or nearest bound position as measured by the normal system encoder counters If enabled by bit 0 of RW and inside the limit defined by the SR command the position is corrected by this reference error If the reference error is greater than the maximum limit the action taken depends on bit 6 of RW If it is clear then the position is not corrected the out of limits error reference value is discarded and the reference is ignored completely If itis set the position is corrected by an amount equal to the maximum correction limit If required the system may be programmed to generate a motor error when the reference error is outside this limit This facility is enabled by setting bit 1 of EW the error options word When this is set a reference error greater than the reference set by SR gives RL reference limit error message and the channel goes to motor off Note that the reference error and the out of limits error are only reported if RW bit 6 is set to 1 to enable correction by up to the de
92. ees uhi BU ich op APR HL d ned Hd Page 23 ZeroipositlOn E ELS egets Page 25 Settling titme ios yen Ghd n sum ey Page 25 Setup Save xo d n penser teg eger ttg end Page 14 SEI tte A e Eh t etel aur netu Page 42 Shaft ncoders Du pri a aeo ekg Page 80 SH E ee INR 52 SK ons aste t n sse Gi Page 1 Page 29 SR Page 25 Slow creep distance Page 24 SloW cre p Speed oag ex ane ex bee neg dat Page 24 edic eoe mean Mee ME me Pate ARS role E nd TM Page 68 Snapshot trap using sequence Page 30 Snapshot position displaya rete or Me a Eee Page 67 SO eine PU hoes Page 44 Software handshaking Page 82 Page 96 SR Aside E et 14 Specification wise RR eh ich teen Ie cae eee EVO Page 83 wate ag MO S Re DR S ete tas Page 83 Speed iilis DRM DB LN Page 24 ROM AL ed tie nt ths Page 24 SR ci ee ME iu LLL t d erts eat Rss a Page 52 a ata doe KP 24 Ir atre eer 20 Start Stop bils 4 xi v LESE AE Page 82 Status messages Page 77 Page 89 Steppe
93. el inputs iii Up to 4 channels stepper control iv Hardware watchdog v Scanning keypad interface 8x8 Copyright 2006 Pan Controls Limited Page 5 VC1 Controller User Manual Revision 1 9 4 GENERAL DESCRIPTION CONTROLLER Demand mp Asem eres rare va Ho re er pose gt i t4 Incremental encoder Control board PC3 120 This section gives an overview of the operating principles and a brief description of the facilities of the digital motor control system The hardware resides on Eurocard circuit boards The host processor and the motion control interface for two axes are taken from an PC3 120 circuit board The control system works on the basis of continually sampling information and performing a control algorithm at a defined timer interval known as the sampling time This sampling time is set to be 1 256 second In other words the time interval between updating calculations is about 3 9ms The control software uses two key pieces of information to generate a positional error These are the current demanded position and the current measured position The demanded position is calculated by the controller on the basis of a target positional move For example if the controller is asked to move a distance of 4000 encoder counts at a speed of 500 counts sec and an acceleration of 2000 counts sec it can generate a velocity profile in terms of the desired position at every 1 256 second If the system is under
94. elocity Acceleration to nearest multiple of 256 Maximum position error Continuous display mode Turns on a continuous display of demand position measured position position error and time Display mode off Turns off the DM continuous display This is the default state Character delay terminal Range 0 to 255 Default 0 This command sets the delay between characters sent to the serial terminal port in units of 1 256 seconds It allows the system to be used with terminals that do not support XON XOFF protocols Copyright 2006 Pan Controls Limited Page 67 Command Reference Display Commands DN HN DW bbbb bit Page 68 ND gt cx nt Oo BR N VC1 Controller User Manual Revision 1 9 Use decimal numbers for input and output This is the default state This command is restricted and is only available in privileged mode Use hexadecimal numbers for input and output This command is restricted and is only available in privileged mode Display options word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0010 0010 This command allows the user to set various display configuration options Note that the leading zeros may be omitted The display option word bit functions are described below Bit set Bit cleared Reserved for future expansion PANTERM terminal Standard terminal List pause on List pause off P
95. ency Stop enr ean e y e Re eg Den 20 function input 3 emu ned xu merde Page 47 keypad input zuo Re Page 48 Encoder connections Page 98 Encoders koe Get pre nad eg eril tp Page 80 ID DUtS uiae s Dan Page 80 multiplication Page 80 teVerSal su sette de e qM wi Eris Page 40 End waitistates asus ble RR mon Page 35 End repeat or loop Page 28 Enter display mode Page 67 high level software revision Page 15 link miode nud rms Page 17 motor off mode Page 18 normal mode ule or esr Page 19 position control mode Page 18 privileged mode Page 19 27 variables iiu iei exe x pud Page 72 velocity control mode Page 21 Ae Us Page 67 Equality test for variables Page 64 Page 74 ER 8 4e TS Page 28 Error E 38 messages Page 78 Page 89 options word Page 38 OU TPO adeat Page 59 Page 122 User Manual Revision 1 9 trap usin
96. eous Commands to change between channels and to handle the stored setup data b Mode commands These include commands to change between motor off and position control modes and between privileged and normal modes c Move commands These include commands to move to absolute and relative positions to find the zero reference position to move at a constant velocity and to stop the move either normally or abruptly d Set parameter commands These commands set up a wide range of system parameters including the velocity and acceleration of the normal moves and setting up the creep and deadband facilities e Sequence commands These include commands to enter list and execute complex command sequences Copyright 2006 Pan Controls Limited Page 11 Command Description General VC1 Controller User Manual Revision 1 9 f Profile commands These commands are used for the profile move facilities Software Profiles can be executed simultaneously on channels 1 and 2 g Wait commands These commands may be used in command sequences to wait until a condition is true before executing the next command in the sequence Error trapping These commands set up the system error conditions i Gain commands These include commands to set up the constants used in the closed loop control algorithm 1 Digital input and output commands These are commands to directly control the input and output lines Refe
97. erforms a move similar to the absolute move above but the move distance is defined relative to the current position The move distance is entered in user units Example MR 3000 The motor moves 3000 units from its current position in the negative direction Move at constant velocity The system accelerates the motor at the system acceleration until it reaches the system velocity in the specified direction It then controls the motor at constant velocity until asked to stop by the ST command Velocity control mode can only be entered from position control mode and not directly from the motor off state Example SA 1000 SV 2000 VC This command sequence sets the acceleration to 1000 units per second squared the velocity to 2000 units per second and then accelerates to the set velocity in the positive direction Initialise position The system performs the initialisation sequence to find a zero position reference signal The system gives the I initialise prompt character while executing the initialisation sequence The motor accelerates to the system velocity in the specified direction When the system detects a reference input signal it resets the position counters to zero immediately The motor then decelerates to a stop and moves back to the new zero position NOTE The IN command works independently of the settings of all the other reference commands This is so that whatever the reference setup for normal running the IN comman
98. eset bound overflow Count Set Acceleration Set position Bounds Set Creep distance scaled Set Deadband Set settLing time Set Slow creep speed Set Velocity Set Window on final position Time Set Zero position Counters or set position Sequence commands AS EE ER ES GL HR 5 NE SK XS XT nn nn nn n nn nn Wait commands WAH WB WCH WE WF WI WK on WN WRz nn set AutoStart sequence Execute sequence on error condition End Repeat Enter Sequence Go to line in sequence Set Hard Reset sequence orinitiate Hard Reset Display history of sequences executed List Sequence display Free Memory Execute sequence after snapshot event RePeat command line Execute sequence on keypad entry event eXecute Sequence Exit from current sequence Wait for Absolute position Wait for Bound position Wait for bound overflow counter Wait End Wait for reFerence signal W ait for Input Wait for keypad entry Wait for network acknowledge response Wait for Relative position Copyright 2006 Pan Controls Limited Summary restricted scaled restricted scaled scaled scaled scaled restricted scaled restricted restricted restricted restricted scaled scaled Page 85 Summary Error handling EW pb LE LHn RT SE nn Gain commands CW IT KF Klin KP KV KM LV in
99. eset can be entered This could be the same as the AS auto start sequence but could be some alternative sequence to ensure a safe re start To disable the autostart sequence facility set it to zero If the sequence specified in the AS command is not defined then the system simply does nothing at start up Set Hard Reset sequence or initiate Hard Reset Range 0 to 255 Default 0 This command locks the software watchdog in order to force a system reset after about 2 seconds Exit from current sequence This command tells the system to exit from the sequence which is currently running If this is a sequence which has been called from another sequence then the calling sequence will continue execution Copyright 2006 Pan Controls Limited Page 31 Command Reference Sequences VC1 Controller User Manual Revision 1 9 GL Go to line in sequence Range 1 to no of lines in current sequence This command allows looping to a specified line number within a sequence Note that it can only be executed from within a sequence Example A sequence might consist of the following CO3 MR5000 SOA WT500 II5 XT GL1 This will continue looping to line 1 until input line 5 is negative when the XT command will escape from the sequence Page 32 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Wait Commands 7 2 6 Wait commands The wait commands are most useful in command seque
100. eypad entry 545 Copyright 2006 Pan Controls Limited Appendix sample programme Use u to index into correct variable Page 103 VC1 Controller User Manual Revision 1 9 597 MD2 Programme md3 Absolute start posn ivb0 ivc93 ivd46 ivll avHh vk4 y SK99 ES46 vs u Lm ivz10 vmzmm Available mmx10 for chain moves ivzl vazuu Variable pointer iezw ive47 Sequence no for entry ivz2 iezw ivgl ive60 Sequence no for entry 0 Default value if cleared xs94 Start keypad entry 547 597 D2 Programme md3 Abs posn No 2 ivb5 ivc93 ivd48 ivl0 avHh vk4 y SK99 ES48 ivzl vazuu Variable pointer ive49 Sequence no for entry xs94 Start keypad entry ES49 597 D2 Programme md3 Abs posn No 3 ivc93 ivd50 ivl10 avHh vk4 y SK99 ES50 ivzl vazuu Variable pointer ive51 Sequence no for entry xs94 Start keypad entry ES51 X897 D2 Programme p md3 Abs posn No 4 ivc93 ivd52 ivl10 avHh vk4 y SK99 ES52 ivzl vazuu Variable pointer ive53 Sequence no for entry ivf200 Default value if cleared xs94 Start keypad entry ES53 X897 D2 Programme p md3 Abs posn No 5 ivc93 ivd5 ivl0 avHh vk4 y SK99 ES60 597 D2 Prog part 9 md3 No of chain cuts Page 104 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Appendix
101. ference inputs The reference inputs are used during the IN initialisation sequence to define the zero reference position for each motor They may also be used to continuously update the system absolute position from the external zero reference if required They are connected to marker signals from the position encoders The reference inputs have differential input circuits similar to the encoder inputs IN initialisation sequence is as follows 1 Accelerate to the system velocity in specified direction 2 When the reference switch is detected zero the absolute position counters and decelerate the motor to stop 3 Move to the new zero position if allowed by RW options The sense of the reference input for the current channel is programmed by using the DR command 8 10 Serial Communications 8 10 1 Diagnostic terminal The serial link to the diagnostic terminal uses RS 232 signal levels The serial word format used is 8 data bits 1 stop bit and even parity The baud rate is fixed at 9600 baud The serial interface is buffered in software and echoes back the characters as they are received It uses XON XOFF software handshake where it sends XOFF to signal that its input buffer is becoming full and sends XON when it is ready for more characters Note that if the XOFF is ignored the buffer may overflow and characters will be lost The system also responds to XON XOFF to control its output The characters normally used for the XON X
102. fined limit If RW bit 6 is set to 0 then reference errors outside this maximum limit are discarded and ignored completely no error is reported Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 RF RV nn Command Reference Reference Commands Set reference offset restricted Range 4 000 000 4 0 6 Default 0 This command sets the offset for the reference position of the current motor channel It defines the absolute position for the reference input signal Example RF500 This sets the reference offset on channel 1 to 500 counts This means that the position where the reference input signal is seen is defined as absolute position 500 and not zero Set reference correction velocity restricted Range 0 to 8 Default 0 This command sets the correction speed for any reference error It is used to make large reference error corrections less harsh by spreading the correction over several time steps If RV is set to zero then the reference error correction is performed immediately in one step If RV is not zero then the position correction is limited to a set maximum speed given by the sum of the reference velocity and the current instantaneous motor velocity The reference correction velocity is a power of two fraction of the current motor speed defined by the value of RV This means that the reference correction speed scales automatically with the machine speed such that t
103. for arrow keys Range 1 to 4 or no parameter and sequence no 1 to 255 This command is used to enable the arrow keys to perform programmable jogs The option sets the operation when the key is pressed and the option sets the operation when itis released The operations are defined in terms of sequences KS1 corresponds to the up arrow KS2 down arrow left arrow and KS4 right arrow If no parameter is entered then all the current settings are displayed Copyright 2006 Pan Controls Limited Page 49 Command Reference Reference Commands VC1 Controller User Manual Revision 1 9 7 2 10 Reference commands This section describes the commands available to make use of the position reference facilities In particular these commands allow the user to set up a repetitive position reference marker and use it to automatically adjust the absolute position of the system The position of the reference input is immediately stored when the reference input signal is detected This position is compared with an expected reference position either the current zero position or the nearest bound position The difference is defined as the reference error and the absolute position may be corrected by this amount if required For more details on the SB set bound command refer to section 7 2 4 page 23 Page 50 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Reference Commands RW ip b
104. from any pending keypad operations e g VK whilst maintaining all other current system operations Likewise AB without the K parameters maintains any current keypad operations whilst stopping all motion operations Stop The motor stops under controlled deceleration set by the SZ command The stop command may be used during a normal move or constant velocity move to decelerate the motor to a stop The ST command may also be used to break out of sequences The optional parameter allows the stop to finish at a defined absolute position Stop command received Velocity 3 Time Figure 2 Move with normal stop Move to absolute position Range 4000 000 4 0E6 encoder counts The motor moves to the absolute position given in the command It follows a trapezoidal velocity profile graph of velocity against time The motor accelerates from rest at the system acceleration set by the SA command until it reaches the system velocity set by the SV command At the end of the move the motor decelerates at the same rate to stop at the desired final position The position is entered in user units which are equal to encoder counts Example MA 2000 The motor moves to absolute position 2000 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 MR VC nn Command Reference Move Commands Move units relative to current position Range 8 000 000 8 0E6 encoder counts The system p
105. ft arrow 60 Right arrow 62 Up arrow 94 Down arrow 95 Secret key 126 F1 177 F2 178 F3 179 F4 180 F5 181 F6 182 F7 183 F8 184 Left display 193 Centre display 194 Right display 195 Copyright 2006 Pan Controls Limited Appendix keypad codes Page 115 Appendix error codes User Manual Revision 1 9 13 3 Page 116 Error codes 0 None General errors 1 7 Unknown command Invalid command entry Command not allowed at this time Cannot change parameter at this time Parameter out of range Restricted command Restricted parameter NOOR N Reference errors 11 No reference input defined Memory errors 12 No more room in memory for sequences profiles 13 more room for DI strings 14 Stack overflow Nvm and checksum errors 15 write timed out 16 Nvm verify failed 17 Data overflowed save space 18 Calculated checksum differs from saved 19 Cannot calculate checksum Move errors 20 Move target outside limits 21 Failed to reach final position window 22 Moving away from specified wait position WR Sequence profile errors 23 Undefined sequence 24 Undefined profile 25 Profile step data too large 26 Cannot enter a sequence while running any sequence 27 Cannot enter profile while it is in use 28 Cannot execute command unless in sequence 29 Cannot goto sequence line no line errors 30 Line in use busy 31 Line not yet defined 32 Inputline too noisy II 33 2 must
106. g sequence Page 30 Errors numeric codes Page 116 dh Le se A E ede Fe atn 27 Escape from multiple page listing Page 11 EV gant RC pe ee NE ENS Ak Ree dng Page 15 Event eror conditioni 32a ea nue Page 30 keypad entry Page 29 snapshot o etre Page 30 timed continuous Page 29 EW mE Page 38 Example programme Page 101 Execute absolute move Page 20 continuous constant velocity move Page 21 initialise sequence Page 21 relative move Page 21 SEQUENCE 20 RE EG Page 28 sequence after time interval Page 29 sequence on error condition Page 30 sequence on keypad entry Page 29 Exit from currently executing sequence Page 31 Expanded input line definition Page 58 output line definition Page 60 External counter input defines e oria URS isl ee Page 55 Gad 55 Wrap yaly VES pa IE IRL Page 56 Nr ete ne Sr nate S Page 56 us terete gay dite as Get vs d qb tec Page 17 Feed forward gain
107. hat the DAC offset on the current channel has been initialised with the ID command If not the offset may be large enough to put the motor outside the window when it is stopped and the system will stay in the move state without returning the normal prompt If this occurs the ST or AB commands may be used to get back to the normal state Note that the window is specified in encoder counts This command is restricted and may only be used in privileged mode Example SW 25 This command sets the window to 25 counts Thus the system returns the normal prompt at the end of a move only when the motor is within 25 counts of the required position Set position overflow bound restricted Range 1 to 4 000 000 4 0E6 Default 4 000 000 This command sets upper and lower bounds on the absolute position of the system If the position of the motor exceeds the upper bound then the position bound value is subtracted from the current position If the position goes below the lower bound the bound value is added to the current position to keep the position within bounds The suffix B sets the bounds for the auxiliary channel Note that this does NOT limit the range of any move commands but only changes the value of the final position for moves outside the position bounds This is illustrated by the example below There is also a 32 bit position overflow counter which is incremented when the position passes the upper bound and is decremented when the position
108. he PC and then transmitted to the control system This allows complex command strings for the control system to be created and amended using the PC and then transmitted to the control system together 11 2 Setting up the serial link Some PAN control systems have more than one serial port The port marked Terminal should be used Most PCs have up to four serial ports referred to as COM1 COM2 COM3 amp COM4 PANterm assumes that COM1 will be used but this can be changed RS 232 levels should be used and it is assumed that the PC has a 9 way or 25 way D connector plug If the PC has a different connector type then the PC and control system should be linked with a four wire lead having the following connections The connections between a PC and the Control Board are as follows Connections for cable for compatible Personal Computer 9 pin plug Controller 25 pin socket PC 9 pin socket PC 2 gt 3 2 RX 3 lt 2 3 TX 5 lt gt 7 5 GND RS 232 serial connections PAN value control system s terminal ports are configured to run at 9600 baud and to use software handshaking by default PANterm defaults to the same settings but can be changed by means ofthe configuration menu Page 90 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 PANTERM communications programme 11 3 Using PANTERM as a simple terminal PANterm is started from the MS DOS command prompt A gt or C gt by typing PANTERM There are no
109. he value of RV may be chosen for correct operation at full machine speed without causing unnecessary quick corrections at lower machine speeds At the maximum value of RV 8 the correction speed is equal to the current motor speed and the correction is thus performed at twice the current motor speed Each time RV is reduced by one the correction speed is halved down to the minimum value of RV 1 when the correction speed is 17256 times the current motor speed If the reference correction velocity is set too small or the reference error is too large then it is possible for the next reference signal to arrive before the correction for the previous reference is complete This condition is called reference correction overrun and is indicated by the RO error message This error may be set to give either a user error or a motor error by setting bit 2 of EW the error word If this error occurs it indicates either that the machine is not performing correctly and is giving excessive reference errors or that the value of RV is too small and should be increased Copyright 2006 Pan Controls Limited Page 53 Command Reference Reference Commands VC1 Controller User Manual Revision 1 9 RL nn Page 54 Set reference repeat length restricted Range 0 to 4 000 000 4 0E6 Default 0 This command sets the reference repeat length for the current motor channel This is the position at which the system expects to see the reference positio
110. hen set to 0 the reference limit error is treated as a user error and the system simply prints an error message 2 When set to 1 the reference correction overrun error is treated as a motor error and the system goes to the motor off state when it occurs When set to 0 the reference correction overrun error is treated as a user error and the system simply prints an error message Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion NOOR Display last error This command redisplays the error message for the last error detected by the system It is useful for finding an error message which has stopped the system when there is not normally a display connected to the machine or to display the long error message for an error which has been reported with a short error message This is done by setting bit 5 of DW before executing LE This command can output to a variable which can use the information to intelligently trap errors within a sequence Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Gain Commands 7 2 8 Gain commands The motor control system operates by sampling the position of the motor at regular intervals and calculating a motor demand signal according to some control algorithm The algorithm used is of the following form e KD e e KV
111. hoed back to the screen characters are not echoed then there is something wrong with communications The leads should be checked Also the PANTERM configuration can be modified by pressing ALT A sample screen might appear as follows Configuration Communications Port 1 4 1 Baud Rate 9600 Serial mode RS232 422 or 485 232 File loading delay milliseconds 0 File loading mode Transparent or Check for acknowledge C Software or Hardware handshaking S Colour or Mono display C Parity None or Even E Editor name ed In order to modify a source programme it is necessary to access the editor by pressing ALT E The user is then prompted to enter a file name e g ICI6 1 The editor then enables the user to move around the programme using the cursor keys and the Page Down amp Page Up keys Modifications can be made until the user is satisfied The user can then leave the editor by pressing esc followed by E to Exit and save followed again by esc In order to download a source programme from the personal computer to the Pan controller it is first necessary to ensure that the controller is in the privileged mode see command PM It is suggested that the user resets Copyright 2006 Pan Controls Limited Page 9 VC1 Controller User Manual Revision 1 9 the controller to its default state by using the RS command particularly when doing a final installation This will enable a defin
112. ich the VO display is updated e g If a value if 2 is set the display will be updated every 2 ticks Set continuous display parameter for division Range 0 to 16 Default 0 This command sets the division factor for the VO continuous display parameter The actual data is offset by the UO parameter and divided by 2 in conjunction with being multiplied by the UM parameter The largest division factor is 256 Example UD 2 This sets the VO parameter division factor to 2 4 Copyright 2006 Pan Controls Limited Page 75 Command Reference Variable Commands VC1 Controller User Manual Revision 1 9 UM n UO Page 76 Set continuous display factor for multiplication Range 1 to 65535 Default 256 This command sets the multiplication factor for the VO continuous display parameter The actual data is offset by the UO parameter and multiplied by n 256 in conjunction with being divided by two to the power of the FD parameter The largest multiplication factor is 65535 256 Example UM 512 This sets the VO parameter multiplication factor to 512 256 2 Set continuous display offset parameter Range 32767 to 32767 Default 0 This command sets an offset for the VO continuous display parameter The actual data is offset by the UO parameter in conjunction with being multiplied by the UM parameter and divided by two to the power of the FD parameter The largest division factor is 256 Example UO 3400 This
113. ight 2006 Pan Controls Limited Page 47 Command Reference Digital Inputs Outputs VC1 Controller User Manual Revision 1 9 Mask keypad input Range 1 to 64 A to Z or no parameter This command is used to disable the action of certain keys on the keypad The parameter A to 2 corresponds to the SK definitions and is converted to the numeric keypad map Note that not all the keys can be represented using the A to Z parameter The numeric parameter corresponds to the following keys on the keypad 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 MK 1 3 5 7 EK Page 48 If no parameter is entered then all the above keys are disabled Enable keypad input Range 1 to 64 A to Z or no parameter This command is used to enable the action of certain keys on the keypad It allows the keypad to start events in conjunction with the SKn command page 29 at any time The parameter corresponds to the same keys as shown in the MK command above If no parameter is entered then all the above keys are enabled Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Digital Inputs amp Outputs KS Set keypad sequence
114. incorrect the system sends E error message and stays in normal mode Example System User Comments gt PW lt CR gt Set password command Enter password password The new password is echoed gt Enter normal mode This command is used to return to normal mode from privileged mode if the user no longer needs access to the restricted commands Note that the system powers up into normal mode Set password restricted This command allows the user to set the privileged mode password The system replies Enter password and the user should then type in the new password The new password is limited to a maximum of ten characters It is saved in non volatile memory with the other setup parameters when the SP command is executed The PW command is itself restricted and is only available in privileged mode Example System User Comments gt PW lt CR gt Privileged mode command Enter password password The password is not echoed OK Password accepted gt Copyright 2006 Pan Controls Limited Page 19 Command Reference Move Commands VC1 Controller User Manual Revision 1 9 7 2 3 AB K ST nn MAX Page 20 Move commands Abort emergency stop The motor stops immediately ignoring the system acceleration This may be used instead of the ST command where an abrupt stop is required The AB command may also be used to break out of sequences The optional K parameter enables a selective abort
115. inder of the current command line if variable is equal to variable v2 Example IE NA MR 5000 CO3 If variable N is 16 and variable A is 16 then the system executes a move of 5000 counts and then clears output line 3 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 IF IG vive GT v1 ni v1 n1 v1 Command Reference Conditional Commands If is not equal to then do the rest of the command line This command executes the remainder of the current command line if variable is not equal to variable Example IF tO MA 0 If variable t is 516 and variable O is 516 then the system moves to an absolute position of 0 counts If is greater than then do the rest of the command line This command executes the remainder of the current command line if variable is greater than variable Example IG VW IVVO If variable W is 12 and variable V is 13 then O is allocated to variable V If variable is greater than the time counter then do the rest of the command line This command executes the remainder of the current command line if the time counter is greater than variable Example GT 5012 If variable X is 544 and the time counter is 300 the output line 12 is set If bit of variable is clear then do the rest of the command line This command executes the remainder of the current command line if bit number in variable
116. ine sets a gain of 100 and an offset of 25 Copyright 2006 Pan Controls Limited Page 43 Command Reference Digital Inputs Outputs VC1 Controller User Manual Revision 1 9 7 2 9 Digital inputs and outputs The system has 12 inputs and 8 outputs See the hardware connections for details of the pin numbers SO nn CO nn OC nn RI Page 44 Set output line pn Range 1 to 8 This command sets up the specified output line to a logic high Note that the output state is maintained until superseded by another command for the same output line If no output line number is set then all available output lines are set to a logic high Example SO 1 This sets up line 1 to a logic high Clear output line Range 1 to 8 This command clears the specified output line to a logic low Note that the output state is maintained until superseded by another command for the same output line If no output line number is set then all available output lines are set to a logic low Example CO 7 This sets up line 7 to a logic low Output code via expanded output group Range 0 to maximum value possible on defined output group This command sets the expanded output line group as defined by the OX command to the given code data value If the group was defined as active low the data is inverted It allows a number of output lines to be set or cleared at the same time instead of using a string of separate SO and CO command
117. input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Example DP II6 MR20000 SO2 This displays the current position and if input line no 6 is negative the system moves 20000 counts and sets output line 2 If input line 6 is positive the current position is displayed and the remainder of the line is ignored If Output true do command line Range 1 to 8 This command allows the programmer to specify that a command or command line is conditional on the current state of an output line If the output line specified in the IO command is in the specified state the condition is true then the remainder of the command line is executed If the output line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on output line states Example DP IO3 MR5000 CM6 This displays the current position and if output line no 3 is positive the system moves 5000 counts and complements output line 6 If output line 3 is negative the current position is displayed and the remainder of the line is ignored If is equal to then do the rest of the command line This command executes the rema
118. irst cut overshoot to eliminate backlash Absolute machine limit lower Velocity fast Velocity slow xm eduudgmuio roZgiusgtmcGutH Numeric variables 1 Absolute start position 2 Relative cut position 3 No of cuts iv 241 1 Default programme no iv 242 35 Saw thickness x 10mm iv 243 102 Unload position iv 244 890 Offset x 10mm Default programme IVH102 Unload position 900 Offset x 10mm IVE30 Saw thickness x 10mm Sequence numbering 40 49 Programme entry 160 169 Parameter entry Chain defined by negative start position w 2 when chain 1 for absolute moves Data format for programmes groups of 10 Chain type Abs pos type Start position No of additional cut 1 No of additional cut 2 Nowe H caling factor is 1870000 2963 952 6235354 counts mm O n EV Dewar saw 2 4 IVF60980 Multiplication factor IVG64 Division factor IVL40 Low machine pos limit IVH2050 High machine pos limit IVI5 5mm overshoot before first IVV52000 CW1011011 KP150 8A100000 SVVV SW50 IVW8 VDVWWz Set slow speed velocity SE3000 SW50 UD13 Set display division factor ivz2097152 4 256 x 65536 8 Page 102 Start position 2nd abs position Increment for additional cut 1 3rd abs position 4th abs position Increment for additional cut 2 5th abs position VC1 Controller User Manual Revision 1 9 set 90mm the amount which is
119. is only available in privileged mode Checksum test This command is used to verify the data stored in the non volatile memory The system calculates a new CRC value for the stored data and displays it It then compares the new value with the CRC value that was stored with the data when it was saved If the values are different an F fail error message is displayed If the CRC test fails it indicates that the stored data has changed since it was saved If this occurs please contact your supplier Reload stored data restricted This command reloads all the parameters input and output line definitions sequences and profiles from the stored setup in the non volatile memory If the stored data checksum is not correct then this command returns the F failed error message and the stored data values are not loaded Reverse analogue output sense This command reverses the output sense of the main control DAC The command actually toggles the sense of bit 4 of the control word Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Miscellaneous Commands RE 2 B RS D HR nn LA BH EV ccc Reverse encoder input sense This command reverses the input sense of either encoder The command actually toggles the sense of bit 4 of the control word The suffix 2 or B reverses the input sense of the auxiliary channel encoder Reset to default setup restricted This command rese
120. it Set reference options word restricted Range 0000 0000 to 1111 1111 binary Default 0001 0000 This command allows various reference functions to be enabled and disabled The bit functions for the reference word are described below When set to 1 enables the position correction on detecting a reference signal When set to 0 disables the position correction but still allows the measurement of reference error When set to 1 limits the position correction to a maximum value set by the SR command by setting RW bit 0 to a 1 When set to 0 allows the full correction to be made regardless of the maximum value set by SR When set to 1 defers the position correction until the motor passes the adjustment set by the SJ command When set to 0 the correction takes place immediately the reference signal is detected When set to 1 inhibits the move back to the new zero position in the IN command sequence When set to 0 the IN command finishes with a move back to the new zero position defined by the just detected reference input When set to 1 the system always uses positive numbers when displaying its position This means that while the system is moving in the negative direction past the zero position it will wrap to the current bounds value set using the SB command When set to 0 the system will display negative numbers as it passes the zero position moving in the negative direction It will only wrap when it reaches either the posi
121. ite checksum to be established on a particular machine This means that any subsequent changes accidental or intentional can be identified If the file loading mode is set to checksum The programme is downloaded by pressing ALT U The user is then prompted to enter a file name e g ICI6 1 and the programme will then be transferred If the programme uses stored profiles these will need to be downloaded in the same way e g ICI6 PRF ASCII programme Volatile memory RAM Non volatile memory Flash Personal Computer Diagnostic terminal PAN controller PANTERM programme maintenance environment Page 10 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Description General 7 COMMAND DESCRIPTION 7 1 General This section gives full details of all the system commands and syntax Numeric parameters are denoted by an Parameters entered as a binary string O s and 1 s are denoted by All commands are terminated by carriage return CR or by a carriage return and line feed LF The system responses are all followed by CR LF Numeric parameters are input and output in either decimal or hexadecimal Commands are available to set the system to use one or the other Decimal numbers are output by the system as signed seven digit numbers Hexadecimal numbers are output in 24 bit two s complement format as six hex digits with no sign Leading zeros are not suppressed in
122. ition if required It is specified in the same units as the system velocity Example SS 100 This sets the slow creep speed to 100 units per second Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 SD SL ZC nn nn nn RC 2 B TS hh mm ss Command Reference Set Parameters Set deadband Range 0 to 65535 Default 0 The system normally controls the position of the motor continuously whether moving or stopped This command allows the user to set up a deadband about the nominal position within which the system will not control the position of the motor This may be used for example to prevent hunting in systems with mechanical backlash The deadband only becomes active after the system has reached the required position and the settling time set by the SL command has expired Example SD 100 This sets the deadband to 100 units The system will now only control the position of the motor if it moves more than 100 units away from the required position Set settling time Range 0 to 65535 Default 256 This command sets the time that the system waits after reaching its required position before the deadband becomes active Itis specified in units of 1 256 seconds Example SL 128 This sets the settling time to 128x1 256 0 5 seconds Zero position counters or set position If a position value is given the system sets the current demand position to the given absolu
123. itors to prepare control system command files Any spreadsheet which allows the user to output columns to a disk file in an ASCII format can be used The following example shows how a spreadsheet might be set up to create a move profile lt A gt lt B gt lt C gt lt gt lt gt 1 JOLT FREE PROFILE CALCULATION EPI 2 1 0 3 Parameters 2 1 4 3 3 5 Move distance 500 Counts 4 8 6 Move time 30 Ticks 5 14 7 6 24 8 w 2 3 14159 B6 2094393 7 38 9 8 54 10 Formula used in cells E2 to 1 9 74 11 10 98 12 Profile B5 B6 Dn SIN B8 Dn B8 11 124 13 12 153 14 where n is the row number 13 184 15 14 27 16 15 250 28 27 497 29 28 499 30 29 500 31 30 500 32 If the spreadsheet is used to print column E to a disk file then that disk file would be a suitable control system command file Note that the printout should include row 32 containing a blank entry Note also that column E should be formatted so that the numbers in it are integers It will be obvious to any computer programmer that programming languages such as Basic C and Fortran can also be used to produce control system command files By using such a language or a spreadsheet it is possible to produce complicated profiles and maps and load them into a control system far more easily than can be done by hand Also this approach is far quicker when it comes to making amendments For instance in the above example a se
124. ive numbers as it passes the zero position moving in the negative direction It will only wrap when it reaches either the positive or negative bounds value Copyright 2006 Pan Controls Limited Page 51 Command Reference Reference Commands VC1 Controller User Manual Revision 1 9 SR Page 52 Example RW 11 SR20 This enables the position correction on detection of a reference input limits the allowed correction to a maximum of 20 encoder counts Set deferred adjustment position restricted Range 4 000 000 4 0 6 Default 0 This command allows the position correction on a reference input signal to be deferred until the motor passes a defined position In some circumstances it may not be desirable to allow a sudden position correction to occur at the reference position for example because of some mechanical interaction with other parts of a machine In such a case the SJ command defines a position which the motor must pass before the correction due to the reference signal takes place This function is enabled by bit 2 of RW If this bit is set to zero the reference correction takes place immediately NOTE If the SJ position is set to a value which is greater than the bound set by SB the reference correction will never take place Set maximum reference correction restricted Range 0 to 65535 Default 65535 This command when enabled by bit 1 of RW limits the maximum allowed reference correction to the specifi
125. l Revision 1 9 Command Reference Mode Commands 7 2 2 LM FD FM Mode commands Link axis to second encoder Links the motion of the controlled axis to the second encoder The second encoder and the controlled axis will be linked by a ratio defined by the FD and FM parameters If a velocity link is defined using the LW parameter the current axis will increase in velocity by the defined acceleration rate until it reaches the desired velocity i e the velocity of the channel being followed multiplied amp divided by its FD and FM parameters The derived velocity which can be averaged using the VT parameter from the channel which is being followed the second encoder will be used The ST command will cause the motor to decelerate from its current velocity to a standstill using a deceleration rate defined by the SA parameter Set link factor for division Range 0 to 16 Default 0 This command sets the division factor for linking one axis to another The actual position data is divided by 2 in conjunction with being multiplied by the FM parameter The largest division factor is 256 Example FD 4 This sets the link division factor to 2 16 Set link factor for multiplication Range 1 to 65535 or 32767 to 32767 Default 256 This command sets the multiplication factor for linking one axis to another The actual position data is multiplied by n 256 in conjunction with being divided by two to the power of the FD par
126. le Page 53 options word Page 51 repeat length Page 54 timeout ave ER ees ed oe Page 37 Reference input Walt TOr ax Page 34 Reference input sense Page 55 Reference position error Page 66 Relative MOVE cht na me eie Re Gel Page 21 position wait for Page 34 Relay ContactS eir RR Page 81 R6layS Trete et PAT cedo o een AE Page 18 eee gt E a Page 80 Reload stored data RD m LS es Page 14 Repeat command line Page 28 Repeat end Msn Ar ne ATE ee Page 28 Repeat length reference 22 22 2221 dep urine eR Page 54 Reset variables to zero Page 15 bound overflow counter Page 25 Setup dae nos m os Page 15 Page 31 SO CHAS Page 11 Restricted commands Page 12 Reverse analogue output Page 14 Page 15 output sense 40 encoder sense Page 40 OULPULSENSE esu cei er eR Page 40 stepper direction Page 40 een Bones tion baute ads cre
127. ler User Manual Revision 1 9 Command Reference Variable Commands IC ni v1 n1 v1 VD svavava VM v1v2v3 VA 2 3 VS 2 3 If bit of variable is clear then do the rest of the command line This command executes the remainder of the current command line if bit number in variable is clear This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a programme Example IC 3 b MR 25000 SO5 If bit 3 in variable b is clear then the system executes a move of 25000 counts and then sets output line 5 If bit of variable is set then do the rest of the command line This command executes the remainder of the current command line if bit number in variable is set This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a programme Example IS 17 35 25000 5 5 If bit 17 in variable 35 is clear then the system executes a move of 25000 counts and then sets output line 5 Divide a variable gt This commands divides by and assigns the quotient to The remainder is assigned to Example VD AXu Z If variable A is 15 and variable X is 3 then variable u will be assigned the value 3 and Z will be assigned the value 0 Multiply a variable X gt This commands multiplies by and assigns the result to Example VM GIB If va
128. lly This allows the user to escape from wait state early but to continue with commands following the wait command Example System User Comments 1 gt DI1 WE Escape from wait state on input line 1 going negative 1 gt In this example channel 1 moves to position 10000 waits 4 seconds and then moves back to zero However if input line 1 goes negative during the wait state the motor moves back to zero immediately Copyright 2006 Pan Controls Limited Page 35 Command Reference Error Trapping VC1 Controller User Manual Revision 1 9 7 2 7 SE TO nn LH Page 36 Error trapping Set maximum position error restricted Range 0 to 65535 Default 800 This command sets a maximum position error which is continuously monitored by the system If the position error at any time exceeds this value the system gives a error message decelerates to a stop and enters the motor off state The system must be returned to the position control mode before any further motion commands are accepted by the system See section 7 2 2 page 17 for details of the MO motor off and PC position control commands The value is defined in user units Example SE 500 This sets the maximum position error to 500 units Timeout restricted Range 1 to 65535 Default 32 This command sets a timeout value in units of 1 256 seconds When a move command is executed if the motor does not move for a period that exceeds the timeout
129. ly executed sequences are listed Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 5 nn nn Command Reference Sequences Execute sequence on keypad entry event Range 1 to 255 or no value This command sets up the system to execute sequence number as soon as the enter key has been pressed on the keypad after a VK command page 75 This allows for the system to operate in an asynchronous manner The optional prefix parameter A M allows non numeric keys to start events at any time These keys can be selectively masked using the EK and MK commands page 48 Example SK 56 The system executes stored sequence 56 after a variable has been entered using the VK command Parameter Operator interface Mk2 Operator interface 1 16 key Keypad F1 F1 F2 F2 F3 F3 F4 F4 F5 F5 F6 F7 F8 Left display Centre display Right display ESC ESC Left arrow Right arrow Up arrow Down arrow Secret key Dot key F9 F10 gt top left second top left F11 third top left F12 fourth top left F13 top right F14 second top right F15 third top right F16 fourth top right N lt XS lt CHMOWOVOZEZErFAcC TOmMmMIIATD S Execute sequence continuously as timed event Range 0 to 255 This command sets up the system to execute sequence number as soon as the time defined by the PL parameter has passed This sequence will be repeated indefinitely at the
130. mand outputs Page 81 CD rep xxn Page 66 DA ss EN aah hte inte ertet dant Page 57 Differential gain Mate db DER Re N 41 Digital inputs and outputs Page 81 Display actual position ss sos et ee edes Page 66 bound overflow count Page 66 breakdown of current hardware Page 15 brightness control Page 16 demand position Page 66 cho mode Off ense sos itx TAS Page 67 echo mode Page 67 free memory Page 31 Hardware setup Page 15 Page 121 Index REI Pras So RN ETE ducts Page 69 history of sequences executed Page 28 input amp output states Page 70 last Page 38 Page 69 measured position Page 66 measured velocity Page 66 position c i sme c Page 66 reference position error Page 66 Ah Minar edie nates cs debitus eee e Page 15 snapshot position data Page 67 system constants Page 67 Time re ee dien Maun aC o ete aye dus sve feo Page 67 to LCD VFD continuously from variable Page 75 Variable ehem ERR Ei 4 Page 72 velocity oo du Ape ue Page 66 version
131. n Commands VC1 Controller User Manual Revision 1 9 CW bbbb bit KP nn Page 40 Set control word restricted Range 0000 0000 to 1111 1111 binary Default 0100 1011 This command allows the user to write a value into the system control word for the current motor channel Note that the leading zeros may be omitted The control word allows various components of the demand signal to be disabled if required and allows the sense of the encoder input and ofthe command signal to be reversed The control word bit functions are described below NOTE The encoder and command signal sense should only be changed while the module is in the motor off state as the system may be made completely unstable by reversing either of these This facility is intended to be used only when initially connecting the module to the motor system to avoid having to rewire the system if the encoder connections are reversed It also allows the logical positive and negative directions to be reversed under software control by toggling both the encoder and output reversal bits in the control word Bit set Bit cleared Enable integral control Disable integral control Enable velocity Disable velocity feed forward control feed forward control Enable differential Disable differential control control Enable velocity Disable velocity feedback control feedback control DAC output stepper direction reversed DAC output stepper direction normal Encoder input reversed Enco
132. n signal If RL is set to zero then trhe system uses the bound position set by SB as the expected reference position If RL is set to some value greater than zero then it is used as the expected reference position instead of the bound value When a reference signal is detected the position is compared with the nearest multiple of the reference repeat length instead of to the nearest zero or bound position This allows the expected reference position to be set independently of the bound position A typical example where this is useful is a leadscrew application where the encoder is mounted on the motor and provides a marker signal every turn of the motor while the bound value must be set for the total travel required by the motor Using the RL command the reference repeat length is set to the number of counts per turn of the motor while the position bound is set as required by the linear motion Each encoder marker signal then gives a useful reference error measurement which may be used for correction if required Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Configuration Commands 7 2 11 Configuration commands DR Define reference input restricted Range 1to 4 This command defines the sense of the position reference input for the current motor channel The system looks for the specified change in the reference input when the IN initialise position command is executed and when th
133. nces They allow the user to specify some condition that must be satisfied before the system will execute the following commands The system returns a W status message to indicate that it is waiting If the position specified in a wait for position command is outside the range of the previous move command then the system gives an O error message to indicate that the position was out of range WT WA Wait for time Range 0 to 2 147 483 647 This command tells the system to wait for the given time in units of 1 256 seconds before proceeding to the next command Example MA 2000 WT 512 MA O This command sequence tells the system to move to position 2000 wait there for 2 seconds and then move to position 0 Wait for input line Range 1 to 8xn where nzNo of control boards This command tells the system to wait until the specified input line goes to the specified state Note that if the specified input line has been defined as some other function input the system returns the U line already used error message Example 5000 WI 2 MA 0 This sequence tells the system to move to position 5000 units wait there until input line 2 goes to a logic low and then move to position O Wait for absolute position Range 4 000 000 4 0E6 encoder counts This command tells the system to wait until it reaches the given absolute position before executing the next command If the position specified in a wait for position
134. nes output lines 1 3 as an active high expanded output group This allows output codes from 0 to 8 to be put on these lines with the OC command Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Configuration Commands LI List I O line definitions This command lists the current definitions of the lines on the display Lines defined as function inputs are shown as 1 function and lines defined as limit switch inputs are shown as mn t L where nis the I O line number Lines not defined as either function or limit switch inputs are left blank The I O line definitions are listed on the display or terminal one per display line They may be listed continuously or the system can print one line at a time and wait for the user to press a key before printing the next line This is useful when using the system with the membrane terminal which only has a two line display This list pause facility is controlled by one of the flag bits in the DW command Example LI This will list the I O line definitions on the display or terminal The display for some of the above definitions would look like this gt LI CR User input to list sequence Inputs 1 AB Function input definition 2 IN WT256 ID MR 5000 ZC 3 Normal I O lines undefined Active low limit switch inputs 00 eI OY Orc O9 Copyright 2006 Pan Controls Limited Page 61 Command Reference Loop
135. ntrol mode an onboard relay on the hardware is energised such that the motor command signal is available from the command signal output The spare contacts of the relay are also switched over for use as a drive enable signal if required Motor off Turns off the position control servo loop action All other facilities still operate normally including the input and output lines and the encoder position is continuously monitored When the system is returned to position control mode the motor does not jump back to its last controlled position but remains at its new position The system returns a character as a prompt when in the motor off state In the motor off state the motor command signal output is switched directly to Ov by the onboard relay The spare relay contacts are also switched to their normal unenergised state It is recommended that this relay is used to disable the drive completely If the drive is not disabled in the motor off state then it is likely that the motor position will drift due to some offset in the drive circuits since the motor position is not controlled in this state The MO command may also be used as a third stop command to put the motor directly to the motor off state from any other state instead of using the ST stop or AB abort commands Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Mode Commands PM NM PW Enter privileged mode For m
136. ntry Used to define next programme after VK Used to define next sequence after kpad entry Used to define sequence after invalid keypad entry Used to set a default if memory at zero Indicates part no when entering chains Higher limit for keypad entry Set to 1 after initialisation Lower limit for keypad entry Used for chain moves Index var for cutting relative move for chain Used for displaying parameters in display mode Used as pointer for parameter after keypad entry Indicates which part of cycle Indicates whether chain or absolute Used for comparisons and repetitive asignments Used for comparisons and repetitive asignments No of cuts absolute Offset x 10mm Saw thickness x 10mm ultiplication factor no of encoder counts per mm Division factor to increase resolution on F Absolute machine limit higher Tm AGO GOGU PN X lt QT O 5 3 HU H ST ww Copyright 2006 Pan Controls Limited Only allow arrow keys in manual mode with F5 pressed Indicates which part of cycle 9 foot switch exit Used as temporary parameter store while entering params Appendix sample programme 2 3 Absolute programme needs to wait for footswitch after each move 4 Manual auto switch display F4 only in manual parameters gt manual set b Logical input to controller gt no forward move with beam down Page 101 sample programme F
137. o SVVV mo md2 md2 Moved to Q Copyright 2006 Pan Controls Limited Appendix sample programme Page 107 sample programme 518 ivz0 IGQh XS202 WT800 vaxzQ XS19 XT IG1Q XS202 WT800 vaxzQ XS19 XT 597 md2 Press green button md3 to move to position md4 ME DI4 XS17 Start move ei4 md1 1234567890abcdefghij ES21 II5 ivq0 XS19 Manual mode II5 XS30 Auto mode ES30 ivu241 Variable pointer ive31 Sequence no for entry xs94 Start keypad entry ES31 597 D2 Run mode md3 Programme no 1 20 ivc95 ivd32 ivl1l ivh20 VC1 Controller User Manual Revision 1 9 vk4 y SK99 ES32 av 241 p ivzl vspzu ivz10 vmzuu Use u to index into correct variable av u w Set up to define if Chain 2 or Abs 1 ivz0 igz u xs7 xt Illegal programme ivzl vazuu 4 Set pointer correctly for programme ivf2 Default value if cleared ivz2 iezw ei4 ivgl eil mi3 av u t xs23 Chain programme ivzl iezw ei4 eil mi3 xs33 eil mi3 Abs programme ivz0 iezw xs77 No programme ES28 mi eil ei5 Mask inputs 533 Display absolute programme es33 mal MD1I Programme Abs p av u t ivCl Get absolute value into t MD2 Start pos t ivzl vazuu av u t vazuu av u v ivy0 ieyt xt Exit if zero md3 vaCzC md3 P 2 t ivy0 ieyv xt Exit if zero vaCzC md3 11 P 3 v vazuu av u t vazuu av u v ivy0 ieyt xt Exit if zero md4 vaCzC md4 P 4
138. o be executed immediately but to be stored on the control system for future use we could edit the file to look like enter sequence to move forward and back ES1 CH1 PC SA500 SV1000 MR5000 SV200 MR 5000 end of sequence now define input line 1 DI1 XS1 When this is sent to the control system the sequence will be stored and input line 1 will be set up so that when it is activated perhaps by an operator pushing a button then the sequence will be executed Note that the file contains a blank line at the end of the sequence This tells the control system that the end of the sequence has been reached This blank line must also be included when entering profiles and maps Note that this command file could be written on fewer lines by putting several commands on one line with a delimiter between them enter sequence to move forward and back ES1 CH1 PC SA500 SV1000 MR5000 SV20 MR 50000 end of sequence now define input line 1 DI1 XS1 Putting several commands on one line has no effect on the way the control system will respond The only exception to this rule is the repeat RP command This is used as the last command on a line and causes all the previous commands on that one line to be repeated in order the specified number of times Page 92 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 PANTERM communications programme Spreadsheet programs can also be used instead of ed
139. o time by adding the position error at each sample to a running total This integral of error is then multiplied by the integral gain when required in the control algorithm This command allows the time constant for the error integration to be set to three different values as given in the table below Note that the different time constants also give different scale factors on the integral gain this means that the integral gain setting is only correct for one time constant setting Code Time constant Scale factor 0 1 256 256 1 1 1 2 256 1 256 The table indicates that with a short time constant only small values of integral gain are usable without producing instability because of the increased scale factor Conversely with a larger time constant larger gain values may be used Set monitor output function restricted Range 0 to 8 Default 0 This command selects a particular control value to output on the auxiliary output channel The possible monitor output functions and their associated gain terms are as follows Code Function Associated gain term 0 No output function 1 Demand velocity KF 2 Measured velocity KV 3 Position error KP 4 Integral of error KI 5 Velocity error KD 6 Absolute demand position 7 Absolute measured position 8 Global output value AO The monitor signal may be viewed with a storage oscilloscope or recorded on a chart or UV recorder This allows the servo control loop to be easily monitored as an ai
140. oads your editor for editing control system command files Faster Increases the speed at which command files are sent to the control system Help Display a list of possible commands and other help information on screen Load Starts loading of a control system command file When your file has been loaded the program will revert to the terminal mode Record Allows recording of control system commands to a file You will continue to record all commands until you repeat the Alt R command Slower Slows the speed at which command files are sent to the control system Terminate Terminates loading of a control system command file and returns to terminal mode Upload Starts loading of a control system S record file This is used for changing the system low level programme and can only be used from the boot controller programme using the UP command When the file has been loaded the program will revert to the terminal mode eXit Exits the PANterm terminal program and returns to MS DOS Copyright 2006 Pan Controls Limited Page 97 Connectors VC1 Controller User Manual Revision 1 9 12 CONNECTORS 12 1 Connector 1 15 way D connector 3 row for position encoder reference i p analogue o p Encoder track A Encoder track Encoder track B Encoder track y Encoder track Z No connection No connection Encoder power supply Ov 9 Encoder power supply ve 10 Encodertrack 11 Velocity signal
141. of variable Page 74 Acceleration REA SRL EIU Page 24 Add a variable IA eme Page 73 Analogue output Connections ia aces nie hope one mnm den Page 98 global value Page 43 IGVOrse dudes c ea Page 14 Page 15 pode TS Page 43 Arrow keys setsequence ee Pons Page 49 ieee Nich TERRENI Page 31 Autostart sequence Page 31 after reset Page 15 Page 31 AV uas ou etes RR Page 74 2250 hoec tin ede ak der Sere fet 82 SOQUENCE Deo 27 i c r Page 15 Binary word error options Page 38 Bipolar velocity signal Page 16 Bit manipulation operations Varna bles ed dob pep Page 72 Bit test for variables Page 65 Page 73 Block move Variables pe RD EE Page 75 BOUNd POSITION i ssc dise ue ome dte B bust e E d Page 23 overflow count Page 66 reset overflow counter Page 25 WAIETOR dac ie cette agente are doi ut Page 34 wait for overflow count Page 34 Breakdown of current hardwa
142. offsets the VO parameter by a value of 3400 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Status amp Error Messages 7 3 Status and Error Messages 7 3 1 Status messages This section gives the system status responses in various circumstances gt Normal prompt character in position control mode The system is ready for the next command Prompt character in motor off state Prompt character for new parameter value Initialising to reference position M Moving to new position P Profile move The system is executing a stored profile 5 Stopping under normal deceleration V Velocity control mode The system is executing a constant velocity move W Waiting The system is waiting for some condition before continuing Copyright 2006 Pan Controls Limited Page 77 Status amp Error Messages VC1 Controller User Manual Revision 1 9 7 3 2 Error messages This section gives the various error messages produced by the system B Page 78 Binary number required The system received a non binary character when it expected a binary number as input Decimal number required The system received a non decimal character when it expected a decimal number as input Error in command The system received a command which was not recognised not allowed at this time or had an invalid parameter Failed parameter save or checksum test The parameters and data saved in non volatile memo
143. ontroller User Manual Revision 1 9 Command Reference Display Commands HE LE Print help display This command prints a complete list of all commands on the system in alphabetical order a screenful at a time It pauses between each page until a character is received Help on a single command is displayed if the command mnemonic followed by is entered Example System User Comments gt DP lt CR gt Request help on DP DP Return current position Single line help Display last error This command redisplays the error message for the last error detected by the system It is useful for finding an error message which has stopped the system when there is not normally a display connected to the machine or to display the long error message for an error which has been reported with a short error message This is done by setting bit 5 of DW before executing LE Copyright 2006 Pan Controls Limited Page 69 Command Reference Display Commands VC1 Controller User Manual Revision 1 9 MD l ccc ddd Send a character string to the LCD VFD display This sends a character string enclosed by double quotes to the line number of the LCD VFD display starting at character number optional Variables can also be displayed before or within text If single quotes are used instead of double quotes then the characters are converted as shown in the table below Any number of variables can be used in this way Either or both the character
144. or must be able to prepare a file which contains pure ASCII test without hidden control codes Most editors will do this in non document or ASCII mode The resulting file should contain a list of control system commands in exactly the same format as you would type them in direct terminal mode The file could look like this move forward and back CH1 PC SA500 SV1000 MR5000 SV200 MR 5000 move complete Note that comment lines can be put in the file by starting the line with a pound or hash symbol In due course we will see what happens to these comment lines When the above example is sent to a control system it would cause the system to execute the move forward and back immediately This assumes that the control system is ready to move and the velocity and accelerations are sensible If an error occurs perhaps because the motor cannot achieve this acceleration then the system will respond in the normal way with an error message If the move fails early on then all the subsequent move commands will generate errors and a whole batch of error messages may be received by the PC Error messages can be recorded to a file disk using the Alt R PANTERM command In addition the last error on the control system can be interrogated using the LE last error command Copyright 2006 Pan Controls Limited Page 91 PANTERM communications programme VC1 Controller User Manual Revision 1 9 If you do not want the sequence of commands t
145. ost applications it is only necessary to make full use of the command set when the system is first programmed and not during normal operation Many of the commands control the basic setup of the system such as the gain commands used to tune the system Unauthorised access to these commands could result in a severe loss of performance or even damage to the machine For this reason the command set is divided into normal and restricted or privileged commands The normal commands are always available These include the basic move commands and many of the simple set parameter commands such as those used to set the velocity or acceleration for the system Restricted commands are only available in what is termed privileged mode Entry to privileged mode is only permitted with a password which itself is programmable If restricted parameters must be changed during normal operation the relevant commands be executed from a stored sequence This bypasses the privileged mode check at runtime but still prevents unauthorised access to the system programming since the ES enter sequence command is also restricted The PM command is used to enter privileged mode and gain access to the complete command set The system responds with Enter password to prompt the user to enter the password The password is not echoed as it is entered If the password is correct the system responds with an message and goes into privileged mode If the password is
146. oves 20000 counts and sets output line 2 If input line 6 is positive the current position is displayed and the remainder of the line is ignored Page 46 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 IO MI El nn nn Command Reference Digital Inputs amp Outputs If Output true do command line Range 1to 8 This command allows the programmer to specify that a command or command line is conditional on the current state of an output line If the output line specified in the command is in the specified state the condition is true then the remainder of the command line is executed If the output line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on output line states Example DP IO3 MR5000 CM6 This displays the current position and if output line no 3 is positive the system moves 5000 counts and complements output line 6 If output line is negative the current position is displayed and the remainder of the line is ignored Mask function input Range 1 to 12 or no parameter This command is used to disable the action of defined function inputs or any expanded input group lines It allows several input lines to selectively lock ou
147. p p KF d d 1 ou where KP proportional gain constant integral gain constant KD differential gain constant KV velocity feedback gain constant velocity feed forward gain constant e position error demand position measured position demand position p measured position The dynamic behaviour of the system depends on these gain constants and on the mechanical characteristics of the system being controlled Tuning the control system to get the best performance on a particular mechanical setup requires setting up these gain constants Some of the gain terms in the control algorithm may be disabled by setting appropriate bits in the control word For more details see the CW command description below The actual scaling between position error and output voltage for proportional gain only is as follows Us ppp Es gut 256 2048 where KP is the proportional gain term and Error is the position error measured in encoder counts The other control terms are similar The performance of the system may be monitored by means of the auxiliary analogue output channel Commands are provided to output various signals on this channel for viewing on an oscilloscope or chart recorder These are described at the end of this section The scaling of the monitor output is similar to that of the main demand output but uses the KM monitor output gain Copyright 2006 Pan Controls Limited Page 39 Command Reference Gai
148. r direction sense Page 40 Stop current keypad operation Page 20 emergency Page 20 ramped sn o rete din Page 20 Stored sequence os os neo go PEE RI ques Page 27 SU d d ute oem det Page 1 S btr ct Variabl sement et eae as IRAQ Page 73 SV aid dw uet oe ferm dnd coner ah Page 24 SW duco sett note ie RE End Eu eon c tbe qd Page 23 System constants Page 67 Template operator interface display Page 120 Terminal Page 9 Tilde Soft al a As EV Page 11 Time counter test if variable greater Page 65 Time Set ete ba D ni de Pie dom eens Page 25 Timed event oh dak ous ech ide aeaa Page 29 Timed sequence see mue NUM Page 29 Page 125 Index IIMS OU eR EE Ere De tr aly ee ect SA Page 36 reference wie ce 37 set period for command Page 75 T CMM Page 36 Trap errors using LE nare Page 38 Triggero tputs dee ud Ge ue dee em Page 60 VS A iu aed os Mor Page 25 UD ss Statu capte Ste ee PORE Onde Page 75 CIM eee Ro te AURA ra
149. re display Laisse un axe deb LA Page 15 Brightness vacuum fluorescent display Page 16 CD res eges nee Hoa loan siege ee p Page 67 oj RE Page 29 Character delay terminal port 2 555 DS PS Page 67 Character Sets Lm eta e es ROT ERROR RUE Se Page 11 Character string send to LCD VFD display Page 70 Characteristics electrical Page 83 Check stored data checksum test Page 14 Clear MEN ME TRE ER Page 44 OO SE ders E een Page 44 Codes 116 E 115 Command 2 2 Poe en Mach ne Page 84 Conditional test enter state Page 68 Immediate execution Page 68 input line Page 46 Page 64 output line Page 47 Page 64 variable bits clear Page 65 Page 73 variable bits set Page 65 Page 73 variable greaterthan Page 65 Page 74 variables equal Page 64 Page 74 variables not equal Page 65 Page 74 Configuration of inputs and outputs Page 55 Connections analogue output Page 98 encoder x uus xara eo he nd of BRS orne P
150. re De DS Page 76 Unipolar velocity signal Page 16 Do ATRIDES MRNA Page 76 Upper position limit Page 36 UR dem reri MEM eerte Page 75 Use decimal numbers Page 68 hexadecimal numbers Page 68 User programme download 9 modification user oe ER Exp Page 9 modify se ede a ath agen forse Sra ien Page 9 VR E buic euo n pim Page 73 Vacuum fluorescent display brightness control Page 16 continuous output Page 75 cursor control Page 71 Page 87 interactive with keypad Page 75 send character string Page 70 show input amp output states Page 70 Variable reset to zero Page 15 absolute value Page 74 addit 4 octo nn 73 bit set or clear Page 72 block move Page 75 divide or pui 73 entry from keypad Page 75 forsnextloOp and Lom 62 indexing A v mee Lee Page 62 input a uso aces Page 72 MOVE ett Page 75 miultiply 2
151. re d YS ua d Page 5 3 1 1 Control board PC3 120 Page 5 3 1 2 Control daughter board 121 Page 5 4 GENERAL DESCRIPTION CONTROLLER Page 6 5 GENERAL DESCRIPTION SOFTWARE FUNCTIONALITY Page 8 6 MODIFICATIONS TO THE USER Page 9 7 COMMAND DESCRIPTION result aad etant on uen e p RE E pea Page 11 Sok dee do e Gh aN As adu cout DA LR rr det Page 11 7 2 Command Reference Page 14 7 2 1 Miscellaneous commands Page 14 7 2 2 Mode commands 1 Page 17 7 2 3 Move commands eu iri piece ted en hed ee a RANET ERE RUSA Page 20 Copyright 2006 Pan Controls Limited Page i VC1 Controller User Manual Revision 1 9 10 11 12 Page ii 7 2 4 Set parameter commands Page 23 7 2 5 Sequence Page 27 7 2 6 Waitcommands gt xev RACER RE Y dese Ad Yr aed Page 33 7 2 7 Error trapping i csse 24 rmv EEG aee aan aa tet Page 36 7 2 8 Gain commuands ilti ERAI REA EE Page 39 7 2 9 Digi
152. relays which switch the demand outputs to OV in the motor off state have a spare set of changeover contacts These may be used to derive inhibit signals to the motor drives in the motor off state or for example to switch a joystick onto a drive input to allow manual control of the motor 8 7 Digital Input Output Lines The control system has fourteen isolated input and eight isolated output lines Inputs may be programmed as a signal to execute a user defined command sequence or as limit switch inputs Outputs may be controlled directly from command sequences if required In addition there is a dedicated error output line which may be programmed to give an indication of any serious system error condition the input lines indicate high if left unconnected 8 8 Operation of Limit Switches The limit switch inputs are programmable by means of the DL command This allows the user to select any of the inputs as limit switch inputs and to define the active state of each input The inputs will float to a logic high if left unconnected If a limit switch is operated the system will stop the motor immediately and go into the motor off state The system displays L error message to indicate that a limit switch has been detected All limit switches should be wired such that operation of any switch gives an error signal to the system Copyright 2006 Pan Controls Limited Page 81 Safety VC1 Controller User Manual Revision 1 9 8 9 Re
153. rence commands These include commands to set up continuous position correction on the reference input signal 1 Configuration commands These commands allow the user to configure the digital input and output lines for various automatic functions m Display commands These include commands to display parameter values and status information via the serial port n Variable commands These commands allow the user to set up and read values by means of variables o Conditional commands These commands allow the system to test certain conditions and to execute commands depending on whether or not those conditions are met The command reference section 7 2 gives the allowable range and any default value of all the system parameters and in most cases gives an example of the use of the command Any lengths or length related units are defined in terms of position encoder counts multiplied by an optional user defined scale factor Note that the range and default values are given in encoder counts and if a scale factor is used then the allowed range and default values change accordingly The current value of any parameter may be found by entering the command to set the parameter without entering a new value The system then shows the current value on the display followed by a prompt character The user may then enter a new value or just type return to keep the current value The current definitions of all the input and output lines ar
154. riable G is 5 and variable I is 3 then variable B will be assigned the value 15 Add a variable gt This commands adds to and assigns the result to Example VA XTO If variable X is 16 and variable T is 5 then variable O will be assigned the value 21 Subtract a variable gt This command subtracts from and assigns the result to v1 Example VS HBZ If variable H is 27 and variable B is 8 then variable Z will be assigned the value 19 Copyright 2006 Pan Controls Limited Page 73 Command Reference Variable Commands VC1 Controller User Manual Revision 1 9 AV v2 IE 2 IF IG vive VP Page 74 Absolute value of variable ABS gt This command takes the absolute value of variable and assigns the result to Example AV Be If variable B is 357 then variable e will be assigned the value 357 Example AV ZJ If variable Z is 24 then variable J will be assigned the value 24 If is equal to then do the rest of the command line This command executes the remainder of the current command line if variable is equal to variable v2 Example IE NA MR 5000 CO3 If variable N is 16 and variable A is 16 then the system executes a move of 5000 counts and then clears output line 3 If is not equal to then do the rest of the command line This command executes the remainder of the current command lin
155. ry have not verified correctly Please contact your sales office The previous move command was aborted when the instantaneous position error was greater than the maximum allowed position error set by the SE command Hexadecimal number required The system received a non hexadecimal character when it expected a hexadecimal number as input Limit switch detected or position limit exceeded No room The space available for input function strings sequences or profiles is full Out of range The value entered was outside the allowed range for the command Restricted command This command is available only in privileged mode Timeout The last move command was aborted when the system detected a timeout error Line already in use It is not possible to set or clear an output line that has been defined as an error output or to redefine an input line that is already defined as a reference limit switch or function input Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Interfacing 8 INTERFACING 8 1 Notes on installation The system relies on the position information from the incremental encoders and any noise on the encoder signals can give rise to errors in the absolute position Care must be taken in installation of the control module and the encoders to minimise any noise on the encoder signal lines The encoder interfaces on the PC3 120 board have differential input stages for use with encoders
156. s If this command is used when there is no output group defined and E error message is returned If the parameter value given cannot be represented as a binary number with the number of lines in the output group then the O error message is returned Example OC 5 This sets the output group lines to the binary value 0101 5 Read input line s Range 1 to 12 This command reads the current state of the specified input line and prints it as a 0 or 1 on the display A 0 represents a logic low and 1 represents a logic high If no line number is given in the command the system displays the current state of all available input lines Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Digital Inputs amp Outputs Example This reads the state of input line 3 and prints it on the display System User Comments gt Read a particular input 0 Input line 3 is low gt Normal prompt Example This reads the state of all 8 input lines and displays them System User Comments Reads inputs Line 1 is low Line 2 is high oo 000 0 gt 12 1 gt Normal prompt Copyright 2006 Pan Controls Limited Page 45 Command Reference Digital Inputs Outputs VC1 Controller User Manual Revision 1 9 RO Read output line state s Range 1 to 8 This command reads the current state of
157. s These encoders provide two signals in quadrature one is phase shifted by 90 relative to the other The system can monitor these signals and determine both the direction and distance of any movement The direction is defined by which signal leads the other The normal definition for both channels is such that the track A encoder input leads the track B input for movement in the positive direction The system generates four counts for each complete cycle of the input signals such that an encoder with 1 000 counts per revolution is seen as generating 4 000 counts per revolution The maximum count rate is 10 counts per second 1 MHz giving a maximum encoder cycle rate of 250 kHz On a 1000 line encoder this is equivalent to a maximum speed of 250 revolutions per second or 15 000 r p m The encoder inputs have differential input circuits for use with encoders with complementary output signals The encoder signals are complementary signals with line driver outputs which gives good noise rejection Page 80 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Safety 8 5 Demand outputs The demand outputs to the high power drives are analogue signals with a range of 10V at 12 bits resolution These outputs are switched directly to OV in the motor off state The motor drives should be connected such that a positive demand output signal causes the motor to move in the positive direction 8 6 Relay Contacts The
158. s which logic state represents the out of limit condition When the line goes to the specified state the system stops the motor immediately prints an L error message to indicate that a limit switch input was detected and goes to the motor off state Note that a line that has been defined as a limit switch input cannot be set or cleared A line which has been defined as a limit switch input may be returned to normal operation by entering this command without the sign This command is restricted and is only available in privileged mode Example DL 8 This defines input line 8 as an active low limit switch input The system detects a limit switch when line 8 goes to a logic low Example DL 4 This returns line 4 previously defined as a limit switch input to normal operation Define position snapshot input restricted Range 1 to 4 This command defines the specified input line as a position snapshot input for the system s current motor channel The sign defines which logic transition is used to detect the snapshot position The system monitors the snapshot input and stores the absolute position value at that time The snapshot position data may be read at any time by using the DS command The snapshot function uses the same mechanism as the reference input function to get an accurate measurement of position on an input signal Note that because of this only inputs 1 to 4 may be defined as a snapshot input A position snapshot input line
159. set Display Word EO Echo mode off EM Echo mode on HE print HElp display HN use Hexadecimal Numbers LE Display Last Error MD ccc Send a character string to the LCD VFD display ME R E 2 354 v2 va Sends a variable to the LCD VFD display VT Set velocity averaging time constant Loop commands FN vininons For variable 4 to step do command line Go to line in sequence n Copyright 2006 Pan Controls Limited Summary restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted scaled scaled restricted scaled scaled restricted restricted Page 87 VC1 Controller User Manual Revision 1 9 Conditional commands i IF vivo Want IO nt Gav 151 XG vi If bit of variable is clear then do the rest of the command line If is not equal to then do the rest of the command line If Input line true do command line If Output true do command line If variable v12v2 do command line If variable v1 gt v2 do command line If bit of variable is set then do the rest of the command line If variable is equal to the external counter then do the rest of the command line If variable is greater than the external counter then do the rest of the command line Variable commands AV v2 n IC lE 4v2 IF vivo IG ni vi Mt vs
160. splay offset Page 76 decimal point position for display Page 74 Page 75 keypad sequence Page 49 acceleration ares ee Page 24 analogue o p to global value Page 43 autostart sequence Page 31 character delay for terminal port Page 67 continuous display divider Page 75 continuous display multiplier Page 76 Control WOrd rone Page 40 creep distance Page 24 creep speed Page 24 haw se anions Page 25 deadband settling time Page 25 debounce time Page 26 Page 59 deferred adjustment position Page 52 differential gain Page 41 display options word Page 68 error options word Page 38 external counter input Page 56 global control word Page 16 high position limit Page 36 integral gain Page 41 integration time constant Page 42 link factor for division Page 17 link factor for multiplication Page 17 link motions control word Page 18 low position limit Page 37 maximum following error Page 36 maximum position
161. t 2006 Pan Controls Limited Revision 1 9 VC1 Controller User Manual 1 3 15 Version 108 0 Mar 2000 Allowed rev f board with direct bus display Fixed arrow key masking bug 1 3 16 Version 108 1 Apr 2000 Allowed rev c daughter board Allowed bounds counter for aux channel Removed RM n b Uses memory map which requires Config register to disable EEPROM Use DD command having entered priveleged mode using Pan password DP shows current state of CONFIG register 0F factory setting 0E after DD DC shows hex memory table starting address from variable A Allowed rev c daughter board 1 3 17 Version 109 0 Nov 2000 Split with operator interface code 1 3 18 Version 109 1 Feb 2001 Scan for Calman mk 2 keypad 1 3 19 Version 109 2 June 2001 Fixed bug with OX command 1 3 20 Version 109 3 August 2001 Allowed KPO SAO etc to variables 1 3 21 Version 109 4 V109 4 September 2001 Added VBC S IC IS modified to allow 14 inputs with Rev C daughter board 1 3 22 Version 109 5 March 2002 Fixed bug relating to upper amp lower limits Fixed PO and allowed use with variables 1 3 23 Version 109 6 October 2002 Added CE and PL Fixed bug with KS to allow KSn to reset within sequence 1 3 24 Version 109 7 August 2003 Added FN ME MV and cursor control CR Removed EP LP XP amp PV profile commands Copyright 2006 Pan Controls Limited Page 3 VC1 Controller User Manual Revision 1 9 2 INTRODUCTION This
162. t defined actions depending on the current function activated For example a machine start sequence assigned to a function input may disable itself once the machine has started until the stop sequence assigned to another sequence re enables it This prevents any subsequent signal on the start input from generating unnecessary start sequence commands which may not be allowed when the machine is running Disabled inputs are enabled again by the El command If a line number is given as a parameter then the specified line is disabled If no line number is given then all function inputs and or expanded group inputs disabled Enable function input Range 1 to 12 or no parameter This command is used to enable the action of defined function inputs or any expanded input group lines where they have been disabled by the MI command If a line number is given as a parameter then the specified line is enabled If no line number is given then all function input and or expanded group inputs are enabled NOTE The disable enable action applies only to inputs defined as function inputs with the DI command or as expanded group inputs with the DX command Input lines which are not currently defined for any particular function may be masked or enabled but this has no effect unless the lines are subsequently defined as DI or DX inputs It is not possible to disable other types of defined inputs with the MI command or to inhibit the WI command Copyr
163. t up will be read from the screen to their respective variables and the cursor will go off The SK command or WK13 wait for enter key can be used to trigger another event after the screen has been read The optional R suffix allows all the variable sites to be read without the enter key being pressed It also resets the variable site pointers This reset operation can be performed by using ME followed by lt CR gt only Page 70 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 Command Reference Display Commands CRn c Switch on off cursor on the LCD VFD display This controls the cursor by switching it on line number of the LCD VFD display at character number optional The cursor can be switched off by entering CR with no parameter Copyright 2006 Pan Controls Limited Page 71 Command Reference Variable Commands VC1 Controller User Manual Revision 1 9 7 2 15 Variable commands The system allows the use of integer variables This enables fixed programmes to be modified merely by changing one or two key parameters This can be particularly useful for controlling machine tools The variables 32 bits long and are signed There are 308 of them 26 of them are designated by the letters A Z case sensitive and are saved in non volatile memory with the SP command Another 26 are volatile and are designated by the lower case letters a z case sensitive The remaining 256 are non volatile and
164. tal inputs and outputs Page 44 7 2 10 Reference commands Page 50 7 2 11 Configuration commands Page 55 7 2 12 Lop commands oa ee Es RE 62 7 2 13 Conditional 64 7 2 14 Display commands eredet dodand de dated De plats Page 66 7 2 15 Variabl commands ebat eee Reg E Reed Leg s Page 72 7 3 Status and Error Messages Page 77 7 3 1 Status messages zie Page 77 7 3 2 Error messages 2 2 2 deb dete andes Page 78 INTERFACING wis acm tI ettet get eda os anu re ode Page 79 8 7 Notes on installation rense eae BA Pere eA eh eL PRX RE Page 79 8 22 9 nx e exp cx ed EE dale Page 80 8 3 Indicator LEDS iilos deu ek RR doe RO EAR UR Edge e Page 80 8 4 Position Erncoders s cens pee e Da eps Page 80 8 5 Demand outputs 4 Page 81 9 6 Relay Contacts 4 LER LETERA AERE Rea ES Ad Ed p es Page 81 8 7 Digital Input Output Lines P
165. te value If no value is given it sets the current demand position to be zero absolute position The ZC command may be used at any time Example MA 5000 ZC This moves the motor to position 5000 and sets the position counters to zero at that position Example ZC8000 This defines the current demand position as position 1000 Reset position overflow counter This command resets the position overflow counter to zero The overflow is incremented when the position exceeds the upper bound and is decremented when the position passes the lower bound The suffix 2 or B resets the overflow counter for the auxiliary channel Time set This command allows the user to set the system time It expects the time to be in the format jn mm ss Copyright 2006 Pan Controls Limited Page 25 Command Reference Set Parameters VC1 Controller User Manual Revision 1 9 DB K nn Page 26 Set input debounce time restricted Range 0 to 255 Default 5 This command sets up a debounce time for all the digital inputs It is specified 1 256 second about 4ms ticks Before an input signal is recognised as valid it must be stable for the number of samples given by the DB command This facility may be used to reduce the effect of noise in a system by reducing the number of false triggers due to noise The suffix K allows the keypad debounce time to be adjusted NOTE The debounce value does not apply to reference inputs These inputs ar
166. ted Index update rate for continous display Page 75 EU Page 38 Page 69 LED display send continuous position data Page 68 ul eer aes a eed peek et 36 61 Limit position LA ete net See ee aa Page 36 NE 37 Limit switch input definition Page 56 inputs s eget tad ede ost Page 81 Link factor division D IR Page 17 multiplication ose se te es eA Rr eins Page 17 LINK mode nre REI aAA me TM Page 17 Link motions control word Page 18 List parameters Page 15 input output line definitions Page 61 Sequerice Page 27 E Page 37 Messages ea eb ile que aed tba Page 17 ofer SORA AE ee ecu 28 forenext cx ls eet ee M RE ees Page 62 goto line number Page 32 Page 63 Lower position limit Page 37 LS RE die nde kent ee Bate Gea ed Page 27 DEW Page 18 MA usd mdr ter ed oldie Oboe edem etes Page 20 Map motion of one axis on another Page 17 Mask function input
167. tes on VFD display Page 70 Outputiread ium Es erepta dede Page 46 Output reversal M E vee Page 40 ON casita nian dates oo eq TT alea ce e aod cesar pec ie Page 72 Overrun reference correction Page 53 OX LR TE Er TREE Page 60 PANTERML 5 snp ne Go Rp ig a Page 9 Page 90 File loading mode Page 96 alt B inusit Page 96 Page 97 AGE x uae eue ART Seas Page 95 Page 97 AD es ubl scires E att ote Page 97 ead Page 94 Page 97 Page 94 Page 97 cdl itr tie dures means the EI Page 97 SAA ae ieee Page 94 Page 97 94 97 Page 94 Page 97 mea Beak Page 94 Page 97 AU cereo rent Gade rey eri Page 95 Page 97 alt X Page 91 Page 97 automatic baud rate setting Page 96 baud rate Page 95 Page 97 ales tht tak eee 4 Page 90 colour OF MONO eee Ib le ne Page 96 command files Page 91 Page 94 comments Les aique 91 communication mode Page 96 communications port Page 95 configuration Page 9 config ring sx lege eus Des Page 95
168. tes stored sequence no 3 Repeat Range 1 to 255 or no value This command tells the system to repeat the sequence of commands on the current command line up to the RP command times If no repeat count is given the system will repeat indefinitely Example MA 2000 MA 0 RP5 This moves the motor to position 2000 and then back to position 0 repeated 5 times End repeat This command allows the user to exit from a repeat loop cleanly at the end of the current loop This is in contrast to the stop and abort commands which stop the system immediately in the middle of whatever action is taking place It may be used in repeat loops with a repeat count or in endless repeat loops In either case the loop terminates normally at the end of the command line When the ER command is executed any commands following the original RP command are not executed Commands following the ER command are executed when the repeat loop terminates This allows a command line beginning with the ER command to override the current operation and neatly replace it with a new operation at the end of the repeat loop The optional F parameter allows the termination of a for next loop next time the loop is completed See page 62 Display history of sequences executed Range 1 to 255 or no value Displays a list of the numbers of the most recent sequences executed in inverse chronological order If no parameter is given all of the last 256 most recent
169. the firmware its revision date and some configuration information If there is user programme information entered using the EV command page 15 it will also be displayed The optional D parameter re directs the version information to the display unit Save parameters restricted This command saves all the programmable parameters in non volatile memory There may be a short delay while the save operation takes place The saved parameters become the new defaults used by the system on power up The SP command also saves any profiles sequences and variables A Z together with numeric non volatile variables At the end of the save operation the system calculates a cyclic redundancy check byte CRC on the saved data which is then saved in non volatile memory as well This allows the saved data to be verified at any time by comparing the stored CRC byte with a calculated one If the saved data has changed at all the stored CRC will not be the same as the calculated CRC The optional V parameter allows only the numeric non volatile memory to be saved This can be useful when these variables are being used to save operator programmes and need to be saved regularly Since none of the other system parameters are being saved this operation can be considerably faster than SP with no parameter If the save operation fails for any reason then an F error message is returned In this case please contact your sales office This command is restricted and
170. the specified output line reads its current state and prints it as a 0 or 1 the display A 0 represents a logic low and a 1 represents a logic high If no line number is given in the command the system displays the current state of all available output lines Example RO 6 This reads the state of output line 6 and prints it on the display System User Comments gt RO6 Read a particular output 0 Output line 6 is low gt Normal prompt Example RO This reads the state of all output lines and displays them System User Comments gt RI Reads all outputs 11 Line 1 is high 20 Line 2 is low 3 1 4 0 51 6 1 71 80 gt Normal prompt I If Input true do command line Range 1 to 12 nn This command allows the programmer to specify that a command or command line is conditional on the current state of an input line If the input line specified in the command is in the specified state the condition is true then the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Example DP II6 MR20000 SO2 This displays the current position and if input line no 6 is negative the system m
171. tive or negative bounds value When set to 1 the system only corrects the displayed position value not the motor position When set to 0 it corrects the motor position as well as the displayed position This bit defines the action taken if the reference error is greater than the maximum value set by the SR command and bit 1 of RW is set to enable this limit When set to 1 if the reference error is greater than the maximum value set by the SR command the system corrects by this maximum value The RL reference out of limits error is reported and may set the channel to the motor off state if required When set to 0 a reference error greater than the maximum value is ignored completely and its value is discarded This also inhibits the reference out of limits error message and does not update the reference error displayed by the DF command When set to 1 the system always sets the position to zero on detecting a reference signal When set to 0 the system defines the reference position or SB whichever is closest This is the normal setting for use on a cyclic machine where for example SB is set to the repeat distance between encoder marker positions When set to 1 the system always uses positive numbers when displaying its position This means that while the system is moving in the negative direction past the zero position it will wrap to the current bounds value set using the SB command When set to 0 the system will display negat
172. together with the stored parameters If the hardware found does not match the stored parameters then the system will be reset and a warning will be sent to the screen Enter a user software revision no string This stores a character string enclosed by double quotes maximum 16 characters This can be useful for identifying the current setup using the VN command Copyright 2006 Pan Controls Limited Page 15 Command Reference Miscellaneous Commands User Manual Revision 1 9 GW bb bit Page 16 NOOR ND Set global control word restricted Range 0000 0000 to 1111 1111 binary Default 0000 0000 This command allows the user to write a value into the global system control word Note that the leading zeros may be omitted The global control word allows various components of the system to be enabled and disabled as required The global control word bit functions are described below Bit set Bit cleared Vacuum Fluorescent display brightness BRO see table below Vacuum Fluorescent display brightness BR1 see table below Reserved for future expansion Reserved for future expansion Reserved for future expansion Unipolar velocity signal output 0 10v Bipolar velocity signal output 0 10v Reserved for future expansion Reserved for future expansion Bit 1 BR1 BitO BRO Brightness 100 75 50 25 0 1 0 1 Copyright 2006 Pan Controls Limited VC1 Controller User Manua
173. ts all the parameters variables except numeric type input and output line definitions sequences and profiles to their default settings On power up the system recalculates the checksum on the saved data in the non volatile memory If the calculated checksum does not match the stored checksum then the RS function is executed automatically to reset the system to its default state If the reset button is pressed during the fifth ON period of the flashing L E D after power up then the system will reset to its default values If the optional D parameter is used the display unit is re written Set Hard Reset sequence or initiate Hard Reset Range 0 to 255 Default 0 This command locks the software watchdog in order to force a system reset after about 2 seconds List all parameters This command lists all the parameters with the exception of the HW hardware setup word and DW display word input and output line definitions sequences and profiles to the serial port in a suitable format for entering parameters etc at a later date If the system is connected to an MS DOS based personal computer running the PANTERM programme the parameters can be recorded on disk for backup purposes and loaded into another control system to duplicate parameter setting from one machine Breakdown of current Hardware This command displays the hardware which the software has recognised when the system has been switched on This information is saved
174. use the XON and XOFF characters for flow control If set to hardware handshaking PANTERM will use to dedicated hardware lines CTS and RTS for flow control Hardware handshaking is only allowed when the RS 232 serial mode has been selected Colour or Mono display You should set this to colour if you have a colour screen for better presentation The default is mono Even parity or none This should normally be set to Even This performs parity checking on incoming data and generates a parity bit for outgoing data Editor name This item is used to set the editor that you wish to use to edit the control system command files By default it is set to ed 11 8 Automatic baud rate configuration PANterm has the facility to set its baud rate automatically to that of the controller to which itis connected Having established the baud rate of the controller PANterm sets the baud rate of the PC to match and updates the PANterm configuration file accordingly This feature is invoked by typing Alt B Page 96 Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 PANTERM communications programme 11 9 Alt B Alt C Alt D Alt E Alt F Alt H Alt L Alt R Alt S Alt T Alt U Alt X PANTERM command summary Baud rate set Sets PANTERM to the baud rate of the controller automatically Configure Allows configuration PANTERM Dos Starts an MS DOS shell Editor Temporarily leaves terminal mode and l
175. ut restricted Range 0 to 255 Default 0 This command sets up a timeout on the reference input It is used when the system is set up for continuous monitoring of the reference input to give a warning error message if the reference input is not detected A counter is incremented each time the system passes a bound position and cleared each time a valid reference input is detected If the counter reaches the RT value the system gives the RT error message The reference timeout function may be disabled by setting it to zero if it is not required Copyright 2006 Pan Controls Limited Page 37 Command Reference Error Trapping VC1 Controller User Manual Revision 1 9 EW pb bit LE Page 38 Set local error options word restricted Range 0000 0000 to 1111 1111 binary Default 0 This command allows the user to write a value into the error options word Note that the leading zeros may be omitted The error word allows various user and motor error options to be turned on or off The error word bit functions are described below 0 When set to 1 the reference timeout error is treated as a motor error and the system goes to the motor off state when a reference timeout occurs When set to 0 the reference timeout error is treated as a user error and the system simply prints an error message 1 When set to 1 the reference limit error is treated as a motor error and the system goes to the motor off state when it occurs W
176. ut The line is set to the specified state when the system detects any motor off error condition and is cleared to the opposite state when the axis is returned to the position control state with the PC command Error conditions which are signalled in this way are as follows Exceeding maximum position error Exceeding maximum timeout Detection of a limit switch input Motor position outside position limits Any optional errors enabled by setting bits in the error word EW also cause the error output signal to switch More details of the error conditions and commands to set them up are given in section 7 2 7 page 36 This command is restricted and is only available in privileged mode Example DE 4 This sets up an active high error output signal on output line 4 When an error condition is detected output line 4 is set to a logic high Copyright 2006 Pan Controls Limited Page 59 Command Reference Configuration Commands VC1 Controller User Manual Revision 1 9 PO OX Page 60 Define position trigger output restricted Range 1to 8 This command defines the specified output line as a position trigger output The PO command must be followed by two position values These define the range of positions within which the output line goes to the state specified by the sign in the command A line which has been defined as a position trigger output may be returned to normal operation by entering this command without the sign
177. ware 1 1 August 1998 First release V106 7 1 2 April 1999 V107 3 1 3 February 2000 Mk Il keypad V107 8 1 4 February 2001 Rev F control board V109 0 1 5 April 2001 Mk Keypad V109 1 1 6 June 2001 Updated diagrams V109 1 1 7 September 2001 Option for new low end controller V109 4 1 8 August 2003 Improved display commands V109 7 1 9 January 2006 Corrected referencing commands V109 7 1 2 Critical changes to software The purpose of this section is to highlight changes to software revisions where there could be compatibility problems with previous versions 1 2 1 Version 107 6 October 1999 The SK command has had keys re allocated to it This means it is possible the a programme written for an earlier version of software will need to be changed For example SKK5 now enables sequence 5 to be executed after pressing the right hand display key previously it was after the escape key 1 2 2 Version 107 8 February 2000 The RM reference mode command has been removed The same functions are now carried out by the El Enable input and MI Mask input commands when the inputs referred to have been defined for reference activities 1 2 3 Version 108 0 March 2000 The SU Set Units command has been removed The variable system allows scaling to be performed more flexibly 1 2 4 Version 109 7 August 2003 The EP LP XP and PV profile commands have been removed This is to make room for other more useful commands Copyright 200
178. y and echoes the keys entered on the right hand side Only decimal numbers are allowed The Enter key causes the number entered to be assigned to the variable will perform a destructive backspace and ESC will cancel the current entry If the command is entered with no variable any pending keypad input is cancelled Sends a variable continuously to display This command sets up the system to allow display a system variable continuously at a rate determined by the UR command The suffix defines the line number on the display defines the field width and defines the starting character number within line This will carry on updating the display until VO is executed without a parameter has a limited number of values If set to 1 the measured position will be displayed If 2 the demand position will be shown Sets decimal Point position for Continuous variable display Range 0 to 9 Default 0 This command sets up the system to allow continuous display to put in a decimal point The actual number will have to be scaled using the multiply and divide commands and the decimal point is merely placed by the defined number of digits from the least significant This arrangement ensures maximum flexibility combined with a minimum load on the microprocessor Set update rate ticks for continuous variable display Range 0 to 255 Default 1 This the update rate in system ticks for the VO command This is the rate at wh
179. ystem is in position control mode to set the actual position as close as possible to the required position This can be done automatically by using the autostart sequence facility This is particularly necessary when the final position window as set by the SW command is small otherwise the output offset may be such that the motor normally settles at a position outside the final position window and after a move remains in the move state without returning to the normal position control mode The ID command is only effective in normal position control mode with the motor actually controlling the position and it has no effect if the motor is not driving the system Note that friction in the mechanical system can also cause a position offset after a move command is executed If this command is used on a regular basis e g whenever the system is switched on it will have the effect of removing any drift in the analogue amplifier which may have arisen with time Copyright 2006 Pan Controls Limited VC1 Controller User Manual Revision 1 9 7 2 4 SW SB B Command Reference Set Parameters Set parameter commands Set Window restricted Range 0 to 65535 Default 10 This command sets a window around the required final position of a move Its operation is such that the system finishes a move and returns the prompt character to the user only when the motor is within this window Note that when using a narrow window it is important t

Motion Control System and Operator Interface (VC1) User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents