Schrittmotorsteuerung PSPCI mit Leistungsplatine für 5-Achsen
Contents
1. m1 a 5 THe J 3 Speed 100 0 a Instructions in buffer 0 0 2 4 6 MOVE AUTO RESET h Acceleration FOUL mm sec 4 CIRCLE SAWE 5 i Close optimization 3 7 1 Procedure OANNNBWN oO Choose the axis which is to be optimised 1 Adjust the travel range 2 Move to the position which is to be the O position if necessary do so by manual jogging If necessary reset the current position of the machine with 0 3 Adjust the speed with the slide control 4 The speed can also be changed while moving If necessary adjust the acceleration 5 Start the movement by clicking on MOVE 6 You can change the parameters during the moving process To do so click into the field whose value you want to change and enter a new value or use the slide control 8 If necessary adapt the multipliers accordingly 7 By clicking on Circle 9 not available in automatic mode the machine is forced to make a circle for two of the three axes X Y and Z You chose the axes within the column Move Seite 31 iselLPSPCI V3 User Manual 11 A change of the travel range during the moving process affects later because the moving command cache 10 can still contain moving commands Empty this cache by clicking on RESET this way the cache is emptied and the motor control reset 12 You save the newly adjusted values with Save If values have been changed you will be asked whether the new values2. 6 CONTISUTALION O1 AXIS CINCCHON sierpe a E see nithiia 3 6 1 Starting point 3 6 2 Adjusting the axis and reference directions of gantry units 3 6 2 1 DONG E pirate cata EIE AE AE EIE AEAN A ENE E 3 6 2 2 ODS E A E N NA A E E A E E T 3 6 2 3 TAS E state AE E Meas lucdicn i AS E E T 3 6 3 Adjusting the axis and reference direction of flatbed units 3 6 3 1 A AIS kaaa N Aa 3 6 3 2 NAKE NE E 3 6 3 3 AR E EEI E EE EET E E E T S 3 7 OUST G eoria e E E E E ieee nrstasoibaatenedsdusiees 3 7 1 Procedure 3 7 2 Further details for the optimisation 3 7 3 The monitor window iselLPSPCI V3 User Manual 1 Introduction 1 1 Preamble iselautomation has been known for many years for its driving systems and CNC controls with stepper motors Stepper motors have become globally accepted in the small and medium performance range They have practically become irreplaceable for driving systems with medium precision and dynamic requirements Stepper motor controls usually do not work with closed loops so expensive sensor and evaluation units become dispensable The result is a favourable cost performance ratio among an easy assembly and initiation For many years we have been offering systems basing on stepper motor controls which have been applied in many areas of production automation research and training The control PSPCI has been developed to continue this product line It 1s a stepper motor control which was implemented as PCI plug in card fo
3. Mask of both ports Bit Mask Map Port PTI2 _ 000Bh 1 Map The mask of the expanded inpu serve the signalling of the conditions in ProNC Remote The extended input are displayed as a super imposed bit string within the I O direct access window Only those inputs are displayed correctly which have been marked provided with or with the mask of the extended input Changes should not be made here Extended Output In version 3 of the PSPCI you don t have to configure a extended output port because no outputs are available Seite 19 3 5 2 5 I O Actions isel PSPCI V3 User Manual Please read the following descriptions thoroughly A change of the parameters i can result in a dysfunction of the PSPCI card and thus your machine You should not change the pre adjusted values In I O activities you can define and adjust the monitoring of hardware limit switches In other words the assignment of the physical input addresses of the card to the virtual inputs which signal the condition of the limit switch if taking place here To every MAP Port there is a fixed index a start bit and a number of bits assigned In this case the MAP ports with the physical addresses OxOOBOh and Ox00COh no 1 AdrBO no 2 D ipt No Description pac hd ie Bit Mp Ace 2 at O aer ft fo 3 Endsch x WE Ww jfi fo 4 Endsch s Merer j2 1 5 Endsch Y MMMM j 2 gt E Endsch Y WM EE Ijs 3 Memory map In
4. Z axis lifting axis Z upward Z downward gt For gantry units X axis transverse axis X to the right X to the left Y axis longitudinal axis Y away from operator Y towards operator Z axis lifting axis Z upward Z downward The procedure to initiate the axis is explained in the subchapters of each machine type 3 6 1 Starting point e Please check all adjustments of drivers and Mtasc parameters of the previous chapters e Check if the ports on the circuit board are correctly v Are the motor cables plugged in correctly v Are the signal cables for limit switches and brake plugged in correctly v Are the signal cables of the SK module plugged in correctly v Are the inputs and outputs connected according to the standard assignment e Check the power supply of limit switches and circuit boards Y Do the LED of the output stages glow VY Is the power button pushed Please use the delivered documentation of your machine to do the inspection circuit diagram manual etc Seite 22 isel PSPCI V3 User Manual 3 6 2 Adjusting the axis and reference directions of gantry units Follow the instructions for the initiation of the individual axes 3 6 2 1 X Axis 1 Click on the button I O Actions in MtConfig Deactivate the hardware limit switch of the X axis by removing the check in the first check box of the left also see chapter 3 5 2 5 I O Actions 2 Now move to the field Axes within t
5. may be changed with the and buttons respectively More lines can be shown using the scrollbar The button Refresh continuously switches the continuous updating of the values on or off 3 3 7 The Editor The editor is used to send commands to the MTasc ioj x interpreter This makes it possible to test moving instructions and to display or change the parameter settings of the machine If you press Strg Enter the following part of the input will be executed e the highlighted text if there is any e the line where the keyboard cursor is located XYZ if there is no highlighted text AxisLetters The example on the right shows the input AxisLetters which is not highlighted Strg Enter will therefore execute the whole line and show the result XYZ on the bottom of the Editor 3 3 8 Error Status x If an errors occurs which is related to one axis the error Please move into range limits manually status will be displayed in a separate window The error type will be shown along with the axis on which the error occurred In the example the machine moved too far in negative x direction In this case the machine will have to be moved manually in positive x direction It might be necessary to reset the machine by pressing F9 Fange limits Endechalter Following error Error count Reset with F9 Seite 7 iselLPSPCI V3 User Manual Error Description a machine has moved beyo
6. the card The hardware installation assistant opens up You will be asked to name the data carrier or the path where the driver can be found You will find the necessary driver on the ProNC Remote installation CD Rom Put a check mark to the option CD Rom Click on Next The assistant will now automatically search for the driver on the CD Rom and install it Should the according driver not be found you can search it yourself with the help of Windows hardware manager on the CD Rom page 2 iselLPSPCI V3 User Manual 3 1 Technical Data Control specific data Inputs 3 Outputs e O Analog output 0 V 3 2 Connecting control board to power electronics A 37pole 1 1 cable is used as connecting cable between stepper motor control card PSPCI and performance electronics Connect the SubD37 plug with the SubD37 socket of the PCI card Connect the other end of this cable with the SubD37 socket to the designated plug on the circuit board for the output stages Pin Signal Pin Signal 6 24VDC_ S HAVDC 8 User output3 27 Output Spindle Start 9 Output Enable output stages 28 nvnvnreneeneneen 19 Input Startbutton o S O page 3 iselLPSPCI V3 User Manual 3 Initiation of machines with the adjusting software MtConfig 3 1 Introduction MtConfig is a program to configure CNC machines which are navigated through Mtasc The program does not depend on any buttons or objects visible on the screen It configures the se
7. this you have to go to the adjusting field referencing The hardware limit switches of each axis are fixed and should not be changed by means of the configuration program Please take a look at the window for the inputs and outputs Entry no 3 and 4 is 3 Endsch r 4 Endsch Both limit switches are plugged in correctly if the left LED next to the entry is blue in inactive condition Move the Y axis by pushing Alt Ctrl up arrow slowly forwardly towards you in the direction of the limit switch While moving watch the display of the inputs in particular input no 4 limit switch Y Now move until the blue LED for limit switch Y goes out Should this not be the case and the LED for limit switch Y goes out instead you have to exchange the wiring of the signal cables for the limit switches on the circuit board This means you have to exchange limit switch Y and Y for the Y axis As soon as the LED for limit switch Y is out please move to the opposite direction away from the limit switch Now the LED has to be blue again Repeat this step again for the other limit switch Move the axis by pushing Alt Ctrl down arrow Also check the functioning of the limit switch After you have checked both hardware limit switches you have to adjust the referencing direction For this purpose you have to move the axis to the middle of the traverse range Click on Test all the way on the right within the entry field of th
8. was successfully completed save all adjustments Activate the hardware limit switch monitoring for the axis within the entry field I O activities by checking the first check box see also chapter 3 5 2 5 I O Actions Save the adjustments again You can now configure the next axis Seite 24 isel PSPCI V3 User Manual 3 6 2 2 Y Axis 1 Click on the button I O Actions in MtConfig Deactivate the hardware limit switch of the Y axis by removing the check in the first check box of the left also see chapter 3 5 2 5 I O Actions 2 Now move to the field Axes within the driver parameters Check the alignment by manually moving the Y axis For this use the short cut Alt Ctrl up arrow and Alt Ctrl down arrow The following picture shows the correct axis alignment limit switch Y reference switch Se ae Alt Ctrl down arrow Y coordinates increase Alt Ctrl up arrow Y coordinates decrease kaa oe limit switch Y In case the Y axis does not move as shown in the picture please change the direction of the axis by pushing the button s for the direction of the axis Click the button Save in the main window of MtConfig to save the new adjustments Check the alignment again Seite 25 3 4 isel PSPCI V3 User Manual Now the referencing direction of the axis has to be adjusted Make sure the axis is not in a limit switch position To do
9. 4 isel PSPCI V3 User Manual 3 5 2 3 Inputs and Outputs Fixed predefined inputs and outputs can be configured in this frame In each case one byte will be addressed Please enter the hexadecimal offset of the basis address in the address field The mask allows the selection of the bits which should be used for input and if they should be inverted or not Click on the space above the diode to change the bits The inputs will only be read if gt is selected Each change of the output state will be written immediately to the corresponding address The gained values can be re imported through appropriate outputs by selecting gt The LED shows the status of the bits read e Deselected grey e Input bit 1 red e Input bit 0 blue e Non inverted bits are shown normally e Inverted bits are shown in an inverted mode e Deselected bits are shown with shadowed colours Inputs Enable 16 bit Mot Inv H Pro Text Meng ee Mask The PCI card inputs are already hex we pre adjusted The inputs no 1 1 Endsch MMAP A e 8 serve the evaluation of the 2 Endsch x MMAP 0004 A beoooase 0000000 00000000 4 lE ndech MMAP The classification of the 5 lendschz 7 Ensa 00000000 05000000 No of inputs T e gt gt gt hardware limit switches 3 Endsch Y MMAP 000A boooaco ei _MMAP 90050000 a Imit switches must not be fe Enden z Frdech F 4 MAP aa PPE r
10. Now move until the blue LED for limit switch X goes out Should this not be the case and the LED for limit switch X goes out instead you have to exchange the wiring of the signal cables for the limit switches on the circuit board This means you have to exchange limit switch X and X for the X axis As soon as the LED for limit switch X is out please move to the opposite direction away from the limit switch Now the LED has to be blue again Repeat this step again for the other limit switch Move the axis by pushing Alt Ctrl right arrow Also check the functioning of the limit switch After you have checked both hardware limit switches you have to adjust the referencing direction For this purpose you have to move the axis to the middle of the traverse range Click on Test all the way on the right within the entry field of the according axis Watch the movement of the axis If the axis moves to the left in direction of limit switch X the referencing direction is adjusted correctly Now you have to check the reference input that is to be used for referencing In this case input no 1 limit switch X serves as reference switch see picture above If the axis does not move in the right direction please cancel the referencing of axis by pushing F9 or the button essiz Now invert the referencing direction by pushing the button E Save the adjustments Repeat the referencing to check the adjustments again If the referencing
11. Z axis down Alt Ctrl PoslI A axis plus Alt Ctrl End A axis minus Seite 8 isel PSPCI V3 User Manual 3 5 Adjusting Parameters For the adjustment of parameters there is a destinction between driver parameters and Mtasc parameters These parameters will be explained in the following subchapters 3 5 1 Driver Parameters 3 5 1 1 Addresses The address pane offers for each axis a field to insert a Axis ee eee Data output address and to get a Data feedback Not Ix 0o00 ooo each PC card supports data feedback Iv nooo aoo z 0000 ooo There should be 0000 in every field 3 5 1 2 Timer The control cycle frequency indicates how often the real time loop is called per second At Control cycle frequency 1000 Hz the same rate the position of the machine is Backar Frequency 100000 Hz calculated Delay 0 The background frequency is used for example to configure the cycle speed of the stepper motors The frequency must be much higher than the control cycle frequency If a driver is in use which does not need a background frequency enter Q Delay inserts extreme short delays into the background loop The number entered in this field is a loop counter the generated delay depends on the hardware j The pre adjusted value for the cycle frequency is 1000 Hz the value for the base frequency is 100000 Hz using a step precision of a tenth step These values should not be changed Seite 9 is
12. ae eran 14 W113 e A A ooa P 000 Seite 15 The inputs no 9 11 are user inputs Using these inputs it is possible to connect peripheral devices e g length callipers isel PSPCI V3 User Manual F l W Enable 16 Si i ae no est ode hex 8 lEndech A MMAP 000A 9 x21 STOP Taste _MMAP 000E Mot Liny H Frg Mask circuit board 11 828 User In MMAP 0008 These user inputs have already Mz x29 Paner ok MMAP H O00E been pre configured for certain 73 Mapo peripheral devices Depending in on the machine type the according inputs are either assigned or not gt pressure monitors etc to the 10 27 START Tast MMAP 000B gt lyenanoos bancosse gt ka Standard Assignment No 9 Stop button of operating unit No 10 Start button of operating unit No 11 free user input Before connecting new peripheral devices please check whether the according input isn t already assigned Input No 12 serves as Power_ok signal of the safety circuit module It should not be changed under any circumstances because it is being scanned periodically by the control to evaluate a case of Emergency Stop If there is no safety circuit module used this input has to be connected with 24VDC The indicated mode MMAP of inputs no 1 12 is the so called Memory MAP mode This means that the inputs are not read directly through the hardware but through the two MAP ports Within these MAP ports t
13. are to be saved when leaving the optimising window 3 7 2 Further details for the optimisation If the parameters have to be completely recalibrated it is useful to reset the D and I values if available and increase the P values until the machine runs with a fixed noise without becoming loud After that the D controller will be raised until the target actual deviation displayed in the monitoring window are minimal This process can be automatically supported by clicking on AUTO If both values are adjusted the I controller if available can be used for fine tuning The I value is only sensible if using a closed loop It is usually used for axes with high mechanical friction Seite 32 isel PSPCI V3 User Manual 3 7 3 The monitor window Rf Fahrverhalten 1 2 5 x Optimization vor driver type PTH PTH PTH Version 4 54 7 Wtasc dil Yersion E54 i A Hiz ae Scale ir me i Points Freeze a Ais Eg afe Scale z E f Lines Points soll lst 4bwerchung Aves min mas g al a f Soll lst Abweichung y a Ha C Show speed Within the monitoring window either the target actual deviations or optionally the speeds of up to two axes are graphically displayed at the same time The display is two coloured Green is for movement in positive direction and red for movement in negative direction of the individual axis If the shown values are above the horizontal line the current machine ve
14. ates increase i Z coordinates decrease limit switch Z reference switch In case the Z axis does not move as shown in the picture please change the direction of the axis by pushing the button for the direction of the axis Click the button Save in the main window of MtConfig to save the new adjustments Check the alignment again Seite 27 3 4 5 isel PSPCI V3 User Manual Now the referencing direction of the axis has to be adjusted Make sure the axis is not in a limit switch position To do this you have to go to the adjusting field referencing The hardware limit switches of each axis are fixed and should not be changed by means of the configuration program Please take a look at the window for the inputs and outputs Entry no 5 and 6 is 5 Endsch Z 6 Endsch Z Both limit switches are plugged in correctly if the left LED next to the entry is blue in inactive condition Move the Z axis by pushing Alt Ctrl page up slowly up in the direction of the limit switch While moving watch the display of the inputs in particular input no 6 limit switch Z Now move until the blue LED for limit switch Z goes out Should this not be the case and the LED for limit switch Z goes out instead you have to exchange the wiring of the signal cables for the limit switches on the circuit board This means you have to exchange limit switch Z and Z for the Z axis As soon as the LED for limit s
15. axis for gantry units and follow the steps see chapter 3 6 2 1 X Axis 3 6 3 2 Y Axis 1 Click on the button I O Activities in MtConfig Deactivate the hardware limit switch of the Y axis by removing the check in the first check box of the left also see chapter 3 5 2 5 I O Actions 2 Now move to the field Axes within the driver parameters Check the alignment by manually moving the Y axis For this use the short cut Alt Ctrl up arrow and Alt Ctrl down arrow The following picture shows the correct axis alignment limit switch reference switch f heen eee E mmn Ah Ctrl up arrow Alt Ctrl down arrow Y coordinates increase Y coordinates decrease limit switch In case the Y axis does not move as shown in the picture please change the direction of the axis by pushing the button LJ for the direction of the axis Click the button Save in the main window of MtConfig to save the new adjustments Check the alignment again Seite 29 6 7 isel PSPCI V3 User Manual Now the referencing direction of the axis has to be adjusted Make sure the axis is not in a limit switch position To do this you have to go to the adjusting field referencing The hardware limit switches of each axis are fixed and should not be changed by means of the configuration program Please take a look at the window for the inputs and outputs Entry no 3 and 4 is 3 End
16. d rme Confirm the adjustments with OK Seite 12 isel PSPCI V3 User Manual 3 5 1 6 Range Limits The range limits define the space in which Asis mi mar watch IFI the machine is allowed to move All values x Set H000 mm Set 5000 mm have to be machine coordinates Eg Set 5000 mm Set 5000 mm f By pressing Set the current position of the A Cal 5000 nma ea f 5000 mm I machine will be used as range limit The supervision of the range limit will be deactivated while referencing It is possible to activate deactivate it for each individual axis by mark the check boxes on the right If the range limit watching is activated and the machine crosses the border it will stop moving immediately and report the error in the error status window The machine has to be moved in a permitted area to continue 3 5 1 7 Manual Moving On this pane you can set up all needed Akis mininum distance Wi max values for manual moving x 0mm 100 Dg w omm 100 minimum distance describes the distance Z 02 mm 100 the axis will move by pressing a key once V max sets the maximum speed the axis should be able to reach If you press a key more than once in a short time the speed will increase in 20 steps until it reaches V max Seite 13 isel PSPCI V3 User Manual 3 5 2 Mtasc Parameters 3 5 2 1 Feed Rate Ramps Milling speed 100 0 mm sec Rapid speed 100 0 mm sec On this pane you can set the speed and Sub
17. des eo EE 7 gt 7 co 5 CECE Bit Mumber Adr CO are defined with 2 2 the input descriptors no E Eroson z Ea A r js ind o a 13 and 14 The inputs number of actions 10 Details st a e defined on these MAP ports reflect the current condition of the physical inputs of the PSPCI card The six check boxes serve the configuration of the cache writing and reading direction Only the first check box on the left is of interest By checking the box the MAP port is activated The entries from no 3 to no 10 define the actual assignment of the physical inputs to the MAP Ports For each limit switch limit switch limit switch the input descriptor no descriptor bit no map index map bit no and the number of bits to be operated have to be indicated here The configuration has already been adjusted for five axes You should not change the values Only the first check box on the left with the complying entry 1s of interest By deactivating the check boxes of no 3 10 you can deactivate the monitoring of the hardware limit switches Memory map No Description Actors Md Na Bit Index Bit Number Mpm UM enS mo 2 fadrCo VM fifo pe o 3 Endsch Vivo iji 0 sejo 4 Endach VM ijj i pe Oo EE ndech peer HE 2 o gB Endech l el 4 EI EE 7 Endsch Z Viv ijs 4 o number of actions 10 Details d pa s as limit switch Y and Y deactivated Descri
18. e according axis Watch the movement of the axis If the axis moves forwardly towards you in direction of limit switch Y the referencing direction is adjusted correctly Now you have to check the reference input that is to be used for referencing In this case input no 4 limit switch Y serves as reference switch see picture above If the axis does not move in the right direction please cancel the referencing of axis by pushing F9 or the button l button H Save the adjustments Repeat the referencing to check the adjustments again If the referencing was successfully completed save all adjustments Activate the hardware limit switch monitoring for the axis within the entry field I O activities by checking the first check box see also chapter 3 5 2 5 I O Actions Save the adjustments again You can now configure the next axis Seite 26 isel PSPCI V3 User Manual 3 6 2 3 Z Axis 1 Click on the button I O Activities in MtConfig Deactivate the hardware limit switch of the Z axis by removing the check in the first check box of the left also see chapter 3 5 2 5 VO Acti 2 Now move to the field Axes within the driver parameters Check the alignment by manually moving the Z axis For this use the short cut Alt Ctrl page up and Alt Ctrl page down The following picture shows the correct axis alignment limit switch Z i mo Alt Ctrl page up Alt Ctrl page down coordin
19. el PSPCI V3 User Manual Speed limits Ayi Maximun speed hl axirnuirn ae acceleration Speed limits limit the JX 150 00 mm sec 500 00 mm sec requests which are sent to Y 150 00 mm sec 500 00 mm sec the driver by MTasc A 15000 mm sec P00 00 ane When a request exceeds the limit the request will be decreased accordingly If watching of following errors is enabled all axes will be stopped when the should is difference is reached by at least one axis If an axis is blocked the other axes only move with disabled should is difference supervision Same values for all axes Driver depend masimum values Generate trailing error at allt Deactivate watching Speed 12000 Initial 4000 Speed The first input X axis of maximum acceleration takes affect on all further axis Other inputs for residual axis will be ignored The values in the figure can be used for machines with ball screw spindles pitch 4 5 10 mm For belt drive slides e g perimeter of belt pulley is 70mm and gear 2 1 speed values of 800 mm sec and accelerations of 2000 3000 mm sec can be put in here The pre adjusted value for Actuate Trailing Error is 12100 The value for Speed is 12000 The value for Speed Jump is 4000 j These values should not be changed in any case 3 5 1 3 Current settings These adjustments are not of interest for this control board They are only mentioned for the sake o
20. f completeness Seite 10 isel PSPCI V3 User Manual 3 5 1 4 Units Here you can configure the units in which the mm and seconde cm and seconds speed and acceleration will be measured in C m and minutes user defined There are predefined unit pairs such as mm and seconds cm and seconds and m and minutes Lead lirit Gan gad imm You can also define your own unit by pressing Thre Unni ame a user defined Length Unit for accel eT rrr The figure on the right shows the standard Time Unit for acceleration T sec adjustment of area boundaries after the installation of the driver software Enter the travel areas of the according axis into the according fields You can either experimentally ascertain the values by manual operation or use the traverse paths of the data sheet enclosed to the machine 3 5 1 5 Axes Here you can select the number of axes you want to use For each axis you indicate The axis letter Whether the axis is enabled or not Alignment The leading sign of Move indicates in which direction the axis is to move with increasing increments These leading signs should be adjusted thusly that each axis moves in manual jogging in the direction you expect due to the keyboard input The type of the axis L R linear or rotary axis Calibration Indicate the distance one axis moves per increment You can put in this value directly or click on Formula You will then see an input window in which yo
21. he accordingly set above the LED affects the bit which is to be switched Ports no 13 and 14 are the so called Memory MAP ports They each define an 8 bit port with the physical addresses OxOOBOh and OxOOCOh The indicated mode PTI2 is the device type for the PSPCI card You can find the description of the assignment of the inputs with MMAP mode to the Memory Map ports on tab I O activities Seite 16 isel PSPCI V3 User Manual The following chart shows the standard configuration of the inputs with information about port numbers addresses and bit numbers Map Port t Maske Funktion 0x01 Limit Switch X 2 0x02 Limit Switch X 0x04 Limit Switch Y i 2 3 Limit Switch Y 4 Limit Switch Z 5 Limit Switch Z 7 i loccotooo 14 7 o0 o 2 0x08 ES 4 5 0x40 6 Limit Switch A 7 8 2 10 EE 0 7 V V V Limit Switch A Input Stop switch Input Start switch 0x80 0x01 0x02 0x04 9 MMAP i MMAP MMAP MMAP 0 MMAP MMAP 2 MMAP 3 p 2 6 8 SS SS Changes should only be made regarding the description of the user inputs i Changes of addresses and bits can result a faultily behaviour of the control Seite 17 Outputs Version 3 of the PSPCI card has no user outputs User outputs must be realized with an external I O Modul Output no 1 and 2 are automatically set by the PCI card They serve to release the brake of the axes if exi
22. he adjustment of the step resolution of the used output stage This factor can be changed by using the pull down menu The standard adjustment is tenth step Keep this adjustment e Transmission or reduction ratio These values have to be indicated if a gear is used The transmission reduction ratio is indicated through revolutions output end roe revolutions motor end rme Confirm the adjustments with OK Rotary Tilting axes Mi kalibrierung einer Rotations Achse 5 X Spindelsteigung 360 Grad 1 Uab Wollschrite Urmidr 200 W Aufl sung 10 Inkr f Wollschritt 51 Uan Zehntelschritt a T etriebe OF 00025294117647059 Grad Inkrement You have to indicate the following parameters e pitch For tilting axes the adjustment value has to be 360 e steps per revolution This value indicates the number of steps per revolution of the stepper motor The most common stepper motors make 200 full steps per revolution and have a step angle of 1 8 e The factor for the resolution in increments full steps complies with the adjustment of the step resolution of the used output stage This factor can be changed by using the pull down menu The standard adjustment is tenth step Keep this adjustment e Transmission or reduction ratio These values have to be indicated if a gear is used The transmission reduction ratio 1s indicated through revolutions output end roe revolutions motor en
23. he driver parameters Check the alignment by manually moving the X axis Therefore use the short cut Alt Ctrl left arrow and Alt Ctrl right arrow The following picture shows the correct axis alignment Alt Ctrl left arrow Alt Ctrl right arrow i X coordinates decrease X coordinates increase limit switch X limit switch reference switch In case the X axis does not move as shown in the picture please change the direction of the axis by pushing the button s for the direction of the axis Click the button Save in the main window of MtConfig to save the new adjustments Check the alignment again Seite 23 3 4 1 isel PSPCI V3 User Manual Now the referencing direction of the axis has to be adjusted Make sure the axis is not in a limit switch position To do this you have to go to the adjusting field referencing The hardware limit switches of each axis are fixed and should not be changed by means of the configuration program Please take a look at the window for the inputs and outputs The first two entries are Endech 2 Endech 4 Both limit switches are plugged in correctly if the left LED next to the entry is blue in inactive condition Move the X axis by pushing Alt Ctrl left arrow slowly to the left in the direction of the limit switch While moving watch the display of the inputs in particular input no 1 limit switch X
24. iseloufomarion A From Components to Systems isel PSPCI User manual for stepper motor control PSPCI Version 3 isea utomation GmbH amp Co KG D 36466 Dermbach Untere R de 2 F 036964 844 036964 845 10 About this manual The information technical data and dimensions contained in this print have been up to date when published Any eventually existing misprints and mistakes cannot be excluded however We are thankful for any suggestion for improvement and indication of mistakes Please note that the used software and hardware descriptions of each individual company are generally subject to protection of trademarks and patent law All rights reserved It is not permitted to reproduce or electronically process duplicate or spread any part of our prints in any way print copy etc without written permission of isel automation Producer iselautomation GmbH amp Co KG Burgermeister Ebert Strabe 40 D 36124 Eichenzell Tel 06659 981 0 Fax 06659 981 776 email automation 1sel com http www isel com In cooperation with TRIMETA Software GmbH Art Nr 970326 BE852 10 2005 Contents L Anroduchiom sereen eE NEENA E 1 1 1 Preamble neen A A aetna ake 1 2 Description of stepper motor PCI card PSPCI sssseececocossssseeeeoccssssecceecccossssscecocosssssssee 2 2 1 SV SECT redurre menig sissien eaetlceachuesteatiiaoisda EAE 2 22 Assembly of control board in personal computer ccccccecess
25. limit switch Y serves as reference switch see picture above If the axis does not move in the right direction please cancel the referencing of axis by pushing F9 or the button l button H Save the adjustments Repeat the referencing to check the adjustments again If the referencing was successfully completed save all adjustments Activate the hardware limit switch monitoring for the axis within the entry field I O activities by checking the first check box see also chapter 3 5 2 5 I O Actions Save the adjustments again You can now configure the next axis 3 6 3 3 Z Axis Please read the initiating instruction of the Z axis for gantry units and follow the steps see chapter 3 6 2 1 Z Axis Seite 30 3 isel PSPCI V3 User Manual 7 Optimising Within the optimising window the parameters for the motor control are indicated and optimised The axes can be moved separately or coupled within a given travel distance while the parameters are being adjusted The monitoring window always opens together with the optimising window Within the monitoring window the track data of the moving axes are graphically displayed MA Driver Control Optimizer for EdiTasc x Optimization for driwer type PTIT PTIT PTIT Mtasc dil Version 654 AXES Range mm 2 from to opt move link P D D2 ie fr im 0 Pree 0 crer Pio Co ie To cEr on To Me To Factor w 7 P 8 r os 3 i i 0 gm m
26. locity is lower than the target velocity Adaptations 1 2 3 4 5 Select the axes with the Axis selection 1 Change the maximum value of the scale with the scale factor 2 Select between bar and point display with the display selection 3 If you stop the display 4 another button Details appears not visible here and a block of the upper line is marked by a case The contents of this case is displayed with a tenfold resolution in the lower line The detail block can be adapted by moving the case with the mouse Seite 33
27. merging speed 100 0 mm sec acceleration which will be loaded when the silba eea 500 0 mm sec program starts Rapid accel 5000 mimsec l l Sumerging accel SUU0 mm sec The values can be changed if needed while A EAN EE z MTasc is running through programs or MTasc commands The Angle tolerance indicates until which angle the machine should work as 1f it were a straight line That means that until this angle no ramps will be calculated 3 5 2 2 Referencing Awi de gt dj Referencing speed SEQUENCE mz lt f gt distance on Input no Fact Siew SOT ABC x i 0 0 mm wf kfi 3 30 0 5 0 mmzec Test ly Hf o0 0 0 mm fw Ef 3 30 0 0 mm sec Test Z z 0 0 mm fw Gi 30 0 5 0 mm sec Test On this pane you indicate the number of axes For each axis you have to indicate The axis label The direction of referencing The distance between the referencing point and the zero point of the axis Whether referencing takes place or not The number of the input for the reference switch The referencing speed fast is the speed to approach the reference switch With slow the axis 1s moved off the switch while referencing takes place For all axes you can select e The sequence of the axes in which referencing takes place To change this sequence highlight one of the axis letters and move it with the arrow keys to the right or to the left The Test button start the referencing for one axis Seite 1
28. nd closing the program On the right side you will find helpful information related to the parameter or button selected Driver type PTl2 PTI Pile Mhasc dll Version 654 8 Altar right arrow move asis to the fal right Data output Data feedback hes Altar up arrow move y axis Current settings ogg backward Units poog AltGr down arrow move y ais aie forward Range linita oood Manual jogging AltGr Page up move 2 axis up Altar Page ab move asis down Speed Acceleration Referencing Extended Input Extended Outputs Altar Pos move 4 asi Forward AltGr End move 4 axis backward AltGr Ins move B asis Forward AltGr Del move B axis backward Altar F12 move C axis forward 0 actions Start optimization 3 3 2 The Toolbar Driver type FTI PTI Pole Mtase dll Version 654 8 The toolbar shows the following buttons from left to right e referencing of the axis e enable disable watching of the range limits e Stop motion F9 e display coordinates e display inputs and outputs e open the editor The text field to the right contains driver information the version of both the driver and the MTasc dll file Seite 5 isel PSPCI V3 User Manual 3 3 3 Select Parameters You can choose between parameters of the driver Mtdrv ini and the MTasc parameter MT asc ini Referencing Inputs Outputs Extended Inputs Extended Outputs LO acorns Current set
29. nd the range limit More details see MTASC Function MLIMIT in MTasc help file Limit switch The machine has moved into a hardware limit switch in one or more axis The corrosponding hardware limit switch will be shown in the list Following error The difference between desired and current position of at least one axis has exceeded some internal limit TimeOut Depends on the type of the controller Only when communicating with intelligent circuit boards In these cases the machine will stop immediately Error while using Programs for Ex Syntax error will be shown in a separate window along with name and path of the file and the line in which the error occurred 3 4 Notes 3 4 1 Referencing When referencing the axes in order Z X Y A B will be moved towards one end to find the appropriate zero position Before referencing the following values have to be assigned e The output addresses for the axes e The moving direction of the axes axes e The direction used to reference reference run e The functionality of the reference switch To check if the settings are correct use manual jogging 3 4 2 Manual Jogging To move the machine manually use the keyboard combinations Strg Alt Arrow or AltGr Arrow Alt Ctrl right arrow X axis right Alt Ctrl left arrow X axis left Alt Ctrl up arrow Y axis backward Alt Ctrl down arrow Y axis forward Alt Ctrl page up Z axis up Alt Ctrl page down
30. osen by clicking on the input field Extended Inputs Outputs Mot Liny H Frg 3 _ i 16 Bit emmoglichen e Maske Nr Bezeichnung Typ hex 0 Port 1 MMAP O00B gt Anzahl 1 Seite 18 isel PSPCI V3 User Manual e Address of ports In this case the adress is MAP port adress Map 1 e With the mask you can indicate which bits will be used for the input and whether the bits should be inverted or not The inputs will only be read if gt is activated Each change of the initial state is immediately written to the complying address e The number of expanded inputs can be chosen between 0 and 6 and is saved in the file Mtasc ini under the key n If n 1 is written in the according section of Mtasc ini the expanded inputs are not displayed The light emitting diodes indicate the condition of the imported bit string Not imported grey Input 1 red Input 0 blue Directly imported bits are displayed normally Inverted bits are displayed inverted Faded out bits are displayed as un logged The following chart shows the pre adjusted configuration of the expanded inputs Port No 1 with address 00COh Map Port 1 Map1 with device type PTI2 Bit Addr Application Logical Port of BS 435 2 1 1 OxOlh_ Input Stop button 11 lt ce ee ccee of BS 45 21 2 0x02h Input Start button D S SSeeeee xa7 X21 X27 of 65 43 2 1 3 0x04h User Input 23 See eee X28 X29
31. ptor In this configuration the two hardware limit switches of the y axis are deactivated for example mo A SC OERGE 12 2 Seite 20 isel PSPCI V3 User Manual 3 6 Configuration of axis direction In this chapter the configuration of the X Y and Z axis direction will be explained Due to the different constructions and arrangements of the axis on machines and systems the standard adjustments for the axis direction have to be changed As a basic principle two different types of machines have to be distinguished gt Gantry units e g EuroMod P Series The machine table Y axis carries the clamping plate for the work piece It moves in positive Y direction from the tool tip when moving towards the operator gt Flatbed units e g EuroMod F Series FlatCom Series OverHead Series The clamping area for the work piece is solidly fixed on the machine frame A Y movement of the tool in positive direction Y goes away from the operator For both types the axis direction has to be considered regarding the tool tip so the coordinate system adds up to a right system right hand rule Seite 21 iselLPSPCI V3 User Manual Assignment of axis directions The assignment of the moving axes regarding the operating position is gt For flatbed units X axis transverse axis X to the right X to the left Y axis longitudinal axis Y away from operator Y towards operator
32. r PCs It is possible to control up to 4 axes with the help of clock and direction signals This manual is to serve as support for initiating the control or machine and explain the most important parameters and adjustments page 1 iselLPSPCI V3 User Manual 2 Description of stepper motor PCI card PSPCI 2 1 System requirements Supported System Software Microsoft Win 2000 Pro WinXP Home Pro SP2 Minimum hardware requirements of control computer CPU Pentium 4 or AMD at least 1GHz RAM 128MB RAM Graphic Monitor Graphics card with resolution 800 x 600 Pixel Recommended hardware requirements of control computer CPU Pentium 4 or AMD gt 1 5GHz RAM gt 256 MB RAM Graphic Monitor 3D Graphics card with resolution 1024 x 768 Pixel or more 2 2 Assembly of control board in personal computer For the assembly of the PCI card PSPCI please follow the following steps Make sure there is one PCI slot unoccupied on your main board Remove the PC Casing to be able to reach the fixing screws for the PCI slot plates Now look for an unoccupied PCI bus slot Remove the according slot plate of the PCI slot nA BP WwW N e Now plug the PSPCI stepper motor control into the slot Make sure the card was plugged in correctly ON Fix the card with screws Close the casing of your PC 3 Installation of drivers The PCI card PSPCI will automatically be identified when booting Windows for the first time after the successful assembly of
33. sch r 4 Endsch Both limit switches are plugged in correctly if the left LED next to the entry is blue in inactive condition Move the Y axis by pushing Alt Ctrl up arrow slowly forwardly towards you in the direction of the limit switch While moving watch the display of the inputs in particular input no 4 limit switch Y Now move until the blue LED for limit switch Y goes out Should this not be the case and the LED for limit switch Y goes out instead you have to exchange the wiring of the signal cables for the limit switches on the circuit board This means you have to exchange limit switch Y and Y for the Y axis As soon as the LED for limit switch Y is out please move to the opposite direction away from the limit switch Now the LED has to be blue again Repeat this step again for the other limit switch Move the axis by pushing Alt Ctrl down arrow Also check the functioning of the limit switch After you have checked both hardware limit switches you have to adjust the referencing direction For this purpose you have to move the axis to the middle of the traverse range Click on Test all the way on the right within the entry field of the according axis Watch the movement of the axis If the axis moves forwardly towards you in direction of limit switch Y the referencing direction is adjusted correctly Now you have to check the reference input that is to be used for referencing In this case input no 4
34. seeeeececeeeeeaaeeeseeeeeees 2 3 Installation OF ArIVeES cossiriers rera Ea ne 2 3 1 Revel ava Cee Wd Dati rssa E R ne Vente er 3 3 2 Connecting control board to power electronics se essssssssseeersssssssscererssssssseeeeees 3 3 Initiation of machines with the adjusting software MtConfig scccssscccsssssssssseees 4 3 1 rodu Oeean rerterete nim are rian rn To rerin et rn ren re emer rn re E emer rns rer 4 3 2 Starting the adj stne PLO STAIN secseiieec a E E 4 3 3 The windows 0f MtCONDO i sorioeieieisan n r E ce tadanst 5 3 3 1 The Main Window 5 3 3 2 The Toolbar 5 3 3 3 Select Parameters 6 3 3 4 Save and Close 6 3 3 5 The Coordinate Window 6 3 3 6 Inputs Outputs 7 3 3 7 The Editor 7 3 3 8 Error Status 7 3 4 ISO fcc ata cae eet leanne ot A acl E ha etree aaa tate 8 3 4 1 Referencing 8 3 4 2 Manual Jogging 8 3 5 Adjustine Parane ler erana n E E A 9 3 5 1 Driver Parameters 9 3 5 1 1 AQUES SOS acrid a va a a a T 9 3 3 1 2 TIME span E E A EE E E E N 9 roe Is Curren SC UNI OS ssie E 10 3 5 1 4 OEO te ot E taste E E E E A E I T A S A E A T 11 3 5 1 5 AX Sea E O 11 3 5 1 6 Range LIIS eere r EEA 13 JNA Manual MOVIS nna a dear 13 3 5 2 Mtasc Parameters 14 33 2 Peca RCA RI e S 14 eo Rer Tence icsasnuce ee ren seience ieee eee eee 323 Mpu and COU WS sruron a E 33 24 Extended Taput OPU ipie tebicnete teria snaab ete weeviaktetiteacerassasaees Ba 40 WOE AC HIOMNS erie E E daancastuniactaeds nedsbees E E ge 3
35. sting and to Enable the power of the amplifiers isel PSPCI V3 User Manual W Enable 16 bit Pro hot Address no Test Mode iher Mask 1 Enable Endst priz fooao gt Pr 2 Bremse PTl ODAO gt ieee OOD0 3 Analog 0 10 2 gt ERER Monor L Maco oS i al l No of outputs Output no 4 is a virtual output which used by the Mtasc driver It serves the controlled operation of the physical outputs Nor 1 2 Output no 3 defines the output descriptor for the analoque output port of the PSPCI card The software integration of the analoque port takes place with the involvement of the IO modul DLL IoMtasc dll The following chart shows the standard configuration of the outputs with information about port numbers addresses and bit numbers Inv Bit Nr Typ Adresse Bit Maske Funktion Maske 0x02 OxFF 0x00 Output Enable amplifiers 0x00 Output Brake x00 Analogue output 0 10V Port 2a MotOn Off virtual output Changes should only be made regarding the description of the user ouputs j Changes of addresses and bits can result faultily behaviour of the control 3 5 2 4 Extended Inputs The expanded inputs serve the transfer of the user inputs adjusted in MtConfig to ProNC Remote Eight inputs comply here with an extended input input port The following information has to be indicated e Type Here has to be indicated MMAP as type of control This can be ch
36. tings Units RES Range limits Manual jogging 3 3 4 Save and Close If you press Save all changes will overwrite the original settings It is not possible to get the original settings back after the new settings have been saved By pressing the Close button MtConfig will be closed You will be prompted for saving the changes 1f there are any 3 3 5 The Coordinate Window The coordinate window shows the current coordinates of the machine Mtasc is able to manage several coordinate systems object coordinates which are based on a fixed system of machine coordinates If you press Shift F1 to Shift F7 you can change between the following displays Shift F1 Display Off Shift F2 Object Coordinates Shift F3 Machine Coordinates Shift F4 Speed Shift F5 Increments Target Shift F6 Increments Actual Shift F7 Trailing Offset Incr Axes Ioj x Object Coordinates The shown speed is a digital size Seite 6 isel PSPCI V3 User Manual 3 3 6 Inputs Outputs Ein Ausfange This window shows the state of all Inputs and Outputs defined by the Eingange Ausgange descriptors _InpDsc inputs and Endsch Enable Endst OutDsc outputs Endsch Bremse E Endech r Analog 0 10 Endech t _Mot n Off Endech Z Endsch Z Endech A Endech 4 el STOP Taste er START Taste ao User ln 2d Power ok HMapll Map Permanent aktualisieren The number of Input Output lines
37. tting of machine and start parameters especially for EdiTasc ProNc and Remote applications From the main window of MtConfig you have the following options e Configure your driver settings of the Mtdrv ini file e Configure the startup variables for Mtasc dll files stored in the Mtasc ini file e Optimize and check the parameters of a running machine While working with MtConfig you can e display the current coordinates e reference the axes e display Inputs and Outputs e issue motion commands from the editor and display values perform manual jogging with your keyboard Notice when using MtConfig e Start MtConfig only out of a folder which contains the configuration files and MTasc dll e MtConfig uses MTasc Never start MtConfig if any running program uses Mtasc 3 2 Starting the adjusting program To start the adjusting program MtConfig exe you have to click on the shortcut in the startmenu after successfully installing and rebooting the computer Start gt Programs gt MtConfig PSPCI gt MtConfig PSPCI You can also start the adjusting program with the shortcut MtConfig PSPCI on your desktop Seite 4 isel PSPCI V3 User Manual 3 3 The windows of MtConfig 3 3 1 The Main Window The main window shows on the left e at the top the toolbar along with driver information e inthe middle the list for choosing parameters and the Input pane for parameters e at the bottom buttons for referencing and for saving your settings a
38. u have the opportunity to put in axis parameters The reversal clearance correction is the number of increments that has to be added to the calculated reference value so the axis is on the expected position To ascertain the reversal clearance correction put in the value 0 and let the axis alternately go in both directions for x increments The value at which the axis does not yet move is the double reversal clearance correction The number of axes Seis on aes Type romlacrenent Backlash cor Axes Ix m L 105 Lalc oo ICT EE lv a L Dus Calc O incr z r L O Du05 Calc o Incr By clicking on the button Calc of the individual axis you see a window in which you can configure the axis There is a distinction between linear and rotary axes Seite 11 isel PSPCI V3 User Manual Linear axes Mi kalibrierung einer linearen Achse X Spindelsteigung 5 mm y 1 Uab Yollschritte Umer 200 x Auflosung 10 Inkr f ollschritt 1 Uan Zehntelschritt a T etriebe 00025 mm r Inkrement You have to indicate the following parameters e pitch You can find it on the enclosed data sheet or the label plate of the machine e steps per revolution This value indicates the number of steps per revolution of the stepper motor The most common stepper motors make 200 full steps per revolution and have a step angle of 1 8 e The factor for the resolution in increments full steps complies with t
39. witch Z is out please move to the opposite direction away from the limit switch Now the LED has to be blue again Repeat this step again for the other limit switch Move the axis by pushing Alt Ctrl page down Also check the functioning of the limit switch After you have checked both hardware limit switches you have to adjust the referencing direction For this purpose you have to move the axis to the middle of the traverse range Click on Test all the way on the right within the entry field of the according axis Watch the movement of the axis If the axis moves up in direction of limit switch Z the referencing direction is adjusted correctly Now you have to check the reference input that is to be used for referencing In this case input no 6 limit switch Z serves as reference switch see picture above pushing F9 or the button button Save the adjustments Repeat the referencing to check the adjustments again If the referencing was successfully completed save all adjustments Activate the hardware limit switch monitoring for the axis within the entry field I O activities by checking the first check box see also chapter 3 5 2 5 I O Actions Save the adjustments again Seite 28 isel PSPCI V3 User Manual 3 6 3 Adjusting the axis and reference direction of flatbed units Follow the instructions for the initiation of the individual axes 3 6 3 1 X Axis Please read the initiating instruction of the X
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