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1. 12 38 DA DeallocateTheVariables and 12 39 DC 12 41 DE Dual Aux Encoder Position eene 12 43 T 12 44 DM sabia ad anas 12 46 DP MOS EE E Qut ab YO FL S GSC E dS 12 47 DT RETE T OS 12 49 DV Dual Velocity Dual 1 0 12 51 EA Choose ECAM ridus ER EcL aa ce CERO c P 12 52 Enap eECAM 12 53 ED chin ado Pe E VE 12 54 CE OU EComgeco EU m TT 12 56 CACY Pm 12 57 MEME eT 12 58 EO oio KENNT E 12 60 Cam Tablelntervals amp Starting Point 12 61 EQ Quit Disengagp 12 62 EH 12 63 5 EID 12 65 Bletronic cam a 12 66 Feedforeward sese 12 67 ME 12 68 PL gt A 12 70 FL Forward Software 12 71 FV Feedforward
2. 9 31 Command Summary Automatic Data Capture 9 31 Operand Summary Automatic Data 9 32 Deallocating Array 5 9 32 Input of Data Numeric and String 9 33 EOF ER E UTILI Wi NM 9 33 Opa ator Data Entry MOGE 9 34 USING Communication nnne 9 35 Output of Data Numeric and String 9 37 Sending ME GGS VETERE DG ee Han 9 37 Displaying Variables and 9 40 Formatting the Response of Interrogation Commands 9 40 Formatting Variables and Array 9 41 Converting Eo ser UTS 9 43 Programmable Hardware O esses 9 43 9 43 Digital 9 44 NEEREUPE FUNG ON aaa 9 45 ANIO O 9 46 Application Programming 0041 1 9 47 WV SG CY dE 9 47 CONVOI o LUTTE 9 49 Spesd Conteol DY JOVSU CK 9 51 Position Control Dy O
3. 1 7 7 7 7 7 44 77 44 y 4 4 4 7 4 4 4 4 r li i f 4 HAASE 4 7 MN B H il B I LINEAR MOTION PRODUCTS SSC 1 4 Multi Axis Multi Function Servo Stepper Controller User s Manual SL 81111 ee hl F Pra TOL O MATIC INC Excellence in Motion 3600 4608A Copyright 1998 Tol O Matic Incorporated All rights reserved Axidyne and Tol O Matic are registered trademarks of Tol O Matic Incorporated All other products or brand names are trademarks of their respective holders 8 00 amel 763 478 8000 Telephone 763 478 8080 Fax http www tolomatic com SSC TO AXIOM DRV BASIC SCHEMATIC ax SSC fo X axis Anom i Motx Encoder Cable i Fr Ty itii ui rg iz AXIOM DV10 ee E j IL l Wax gr AE dL n ET _ 44 ema m Em i Fund pur FTH PT ee ee 22 Ej SSC TO MSD BASIC SCHEMATIC CONNECTION AMP ENBL W A X MTR CMD W A X FWD LIM X REV LMT X FWD LIMY REV LIMY FWD LIM Z REV Z 2 FWD LIMW REV LIM W HOME W OUT 1 LTCH X IN1
4. 8 35 Dual Loop Auxiliary Encoder 0 eese 8 36 UsangthecE QURE ERI RR Her cO d pa 8 36 Additional Commands for the Auxiliary Encoder 8 37 8 37 b BE dic CHE OO Da Nt 8 38 assa e ER ae e bina ro et bn ut Re ci n D a 8 39 UsingthelT and VT Commands S curve profiling 8 39 8 40 Usingthe KS Command Step Motor Smoothing 8 40 T 8 41 ROMINO EXaMDI OS TUNE 8 42 High Speed Position Capture The Latch 8 44 High Speed Position EXAMPIe ssssssssssssseseeeeeeeeeeeeesessesssssssseseeeees 8 44 CHAPTER 9 APPLICATION PROGRAMMING WITH TWO LETTER COMMAND SYNTAX 9 1 UsingtheSSC Editor to Enter 9 1 Mode COMMGANGS 9 2 TT 9 3 Using as RS CREE EVE XN EU VEDO C E EO Y Fl 9 3 cea T 9 4 Commenting PEOGE TI
5. a 12 144 BY E M 12 145 TAVERNO COOC 12 146 CONTENTS TelD al ENOJ 12 148 TE TALENTO 12 149 12 150 TIME TimeOperand 12 151 TOGOG LIMA 12 152 T a RR 12 153 E Eon 12 154 FNP OS GOP 12 156 IR 12 157 12 158 OU fce 12 160 IV 12 161 TW Timeout for IN Position 12 162 S ME Ic oie MET T TT T TM 12 163 MA Vector ACCeleratl OD 12 164 VD WedorDecereratu 12 166 Vector Sequence ENG EE 12 168 Mablable FOLTTIGE eet ca arene ete 12 169 VM Coordinated Motion 12 170 ME ero POSHO e TURN 12 172 Vator ER ATA 12 174 Nator 12 176 VT J Vector TimeConstant S 12 177 WC Wait for Contour Data niei es
6. 12 6 AD Afte Distan Cecon 12 8 eri cO da px RAS 12 10 AL INDU oeste 12 11 7 MEME 12 12 After EE ee 12 13 AP X After Absolute Position eeeenn HH 12 15 After Relative Position Henn 12 17 AS JAbUSDOGaiucamaueeiiei cider e A vi Tora 12 18 AEM 12 19 AV Atea vetor DISTANCE edite 12 20 BG 12 21 BL enn 12 23 BN System Parameters 00 0000 12 24 BURN PROGRAM 12 26 BUPA VAR ADI sssrin M 12 27 nee 12 28 Configure COMMUNICATION Port 2 12 29 CD a 12 30 oc be ed OR LER Out 12 31 CONTENTS Cl Communication Interrupt 12 32 CM A Sd DE tvi 12 34 mE T TTE 12 35 ce 12 36 CS Clear
7. 1 2 Microcomputer Dart Sep 1 2 Motor CCT ACS HR ARA RA 1 2 COME Ga saat TE SETS 1 2 NAEM cordia eee ert EAR TAG 1 3 CHAPTER 2 SET UP Elements YOU o ru es 2 1 2 2 Eight Steps To Setting Up Your SSC Controller 2 2 12 Seung mper VELO E Cada 2 2 2 Conning DIP OWIE 2 5 3 Connecting POWE 2 5 4 Installing the Tol O Motion SSC 2 5 5 Establishing 2 6 6 Connectionsto Drive aNd Encoder 2 00 4 0 2 6 2 6 b Connect thedrive enablesignal esee 2 6 c 04002 eene nnns 2 7 d Verify proper encoder operation 2 7 7 Connecting Standard Servo 5 2 8 a Check the Polarity of the Feedback Loop 2 8 D DEDE 2 8 t Lr 2 9 d 2 9
8. 5 66 Group Mathematical 5 69 Bl 5 71 CONTENTS tns acc Ur a Dt Eg 5 72 JOO DY OSI COM 5 72 SO Po ERA 5 73 Two Axis Linear 5 74 Circular Inter DO 5 74 TAG 5 75 TITAN MO EUM MTM 5 78 Matte UE SE 5 80 Ji c 5 82 Automatic 5 82 5 83 Tuning the Controller ipu cea tar EXE n BE Peek revera a i 5 85 Description on YER X Y a a Ea lvo i 5 87 Operatinga Drivein 5 88 Operatinga Drivein Velocity 5 88 Perform an Automatic enne nnns 5 89 FineTuneResponse with a Manual 5 89 Save the PID Values VER RI EU 5 89 CHAPTER 6 SAMPLE APPLICATIONS aval m nt 6 1 Exarriple ADDIICAU ON S XE Ea Ck PEEL REDE QURE DIE i ADU 6 1 WV CUA
9. Motor Off HE rable Lu HContigue Vara Paste Cr Motion Pragram Flow SHS Declare varie Delete Del Instruction Ju Main Proc Hall subroutine Modify HLabel HLOOF Insert HM athematical E COUNT COL Insert Comment HSingle Asis Mos Comment Out 109 Axis lt view Code Ctrl D accel 6 25 in s 2 de 4 Figure 5 14 Program Editing Other Windows standard editing functions are available by selecting the line s to be edited and clicking the right mouse button See menu Figure 5 14 Note that multiple or single lines can be selected copied cut pasted deleted or commented out Program instructions can be inserted into the program by selecting the line that the command will be inserted before clicking the right mouse button and choosing Insert from the edit menu then selecting the desired program statement from the instruction list 5 VISUAL PROGRAMMING eee ee TNT 21 wil LEE zx IH Nii rru LL Ped 300di emer Pree ia Tx T VE CER Ta Decr 1 I Figure 5 15 View Code Using variables in visual program modules instead of fixed values In the program module first use followed by the variable n
10. H DONE CANCEL HELP Figure 5 75 Feedforward Gains Loop Rate Change servo control loop rate default 1 ms The loop rate instruction as shown in Fig 5 76 sets the sampling period of the control loop Changing the sampling period will uncalibrate the soeed and acceleration parameters A negative number turns off the internal clock allowing for an external source to be used as the time base The units of loop rate is microsecond x Define DONE Sampling Period of Control Loop 1 gt 100 sec HELP Figure 5 76 Loop Rate Offset Servo command offset volt The servo offset instruction as shown in Fig 5 77 sets a bias voltage in the motor command output This can be used to counteract gravity or an offset in an amplifier VISUAL PROGRAMMING 5 Servo Offset Offset x 0 Vo 3 CANCEL HELP E E Figure 5 77 Servo Offset PID Gains Specify PID gains for servo axis This command can be used to add the PID setting to the program This is desirable when running multiple programs on the same controller that require different PID gains or the load varies enough during motion that it requires changes in the PID setting Proportional Gain designates the proportional constant in the controller filter Derivative Gain designates the Derivative constant the controller filter Integral Gain sets the integral gain of th
11. DONE HELP Figure 5 18 Accel and Decel Analog Feedback Enable analog feedback for selected axis Fig 5 19 The Analog Feedback command 1 used to set an axis with analog feedback instead of digital feedback quadrature pulse direction As the analog feedback is decoded by a 12 bit A D converter an input voltage of 10 volts is decoded as a position of 2047 counts and a voltage of 10 volts corresponds to a position of 2048 counts 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Configuration When using Analog Feedback use analog input 1 for x axis and analog input 2 for 4 axis etc x Enable Analog Feedback on DONE RS Axis Anez CANCEL HELP Figure 5 19 Analog Feedback Arm Latch Enable latch on selected axis Often it is desirable to capture the position precisely for registration applications The controller provides a position latch feature This feature allows the position of X Y Z or W to be captured within 25 microseconds of an external signal The arm latch command enables the latching function high speed position capture of the controller When the command 1 used to arm the position latches the encoder position will be captured upon alow going signal on input 1 X axis input 2 Y axis input 3 Z axis and input 4 W axis Note The latch must be re armed after each latching event To read the latch position use controller parameters in the m
12. Joystick Teach Joystick Teach window is used online to create a series of linear moves that can be loaded into a program 4 Display The display window shows the states of the I O and limit switches Scope Data acquisition panel Tune Tune the system PID gains Jog Manual positioning of system Help Programming help VISUAL PROGRAMMING 5 SETUP To setup the controller click the SETUP toolbar button in the main panel as shown in Fig 5 10 An Online Controller Setup Window Fig 5 11 will show up the default setup value will be loaded from controller s EEPROM to setup window Use the following functions to save or load the setup parameters and finish the controller setup Load Setup Parameters From File load setting parameters from disk file which could be created in your offline controller setup Save Setup Parameters to File Save setup parameters to a disk file WRITE Setup Parameters to EEPROM burn current settings to EEPROM in the controller Save settings and overwrite existing settings in the controller s EEPROM DONE finish setup and go back to the previous window Changes are not saved to EEPROM mier TE ECE mj ir Figure 5 10 Controller Online Main Panel 5 VISUAL PROGRAMMING CONTROLLER ONLINE Setup RJ Online Setup Configure Scaling Signal User Unit From List Define 8000 Unit X Analog Step Dir X finch Y ma 8000
13. esses 12 72 GA Master Axisfor 12 73 Gaus 12 75 c MEE C docerent te 12 76 EINE 12 77 AX Halt EXU ON RR Pu 12 79 22 a 12 80 te ratus iet nep vH Ci EE ci d e uaa ees 12 82 bb WAIVING otro v metido 12 83 T rernenb POSTION P XR E P CHE AGREE ra 12 85 IT Independent Time Constant Smoothing Function 12 87 WOO vc 12 88 JP JumptoProgram 12 89 JS umb toSubFOUtlfie 12 90 CONTENTS KD KS LE _LF LI LM _LR RS control gt control gt S SB SC SH SP ST TB TC ss roris DO 12 92 ACO E 12 93 Proportional RETE tanta 12 94 Step Motor SMON N 12 95 Linear Interpolation 12 96 Forward Limit Switch Operand keyword 12 97 Linear Interpolation 1 12 98 Linear Interpolation 12 100 Reverse Limit Switch Operand keyword 12 102 ES a HM RERO 12 103 ZT e TTC 12 104 Motion Complete IN Position 12 105 Forw
14. Coordinated 5 Asis VP Proadram Figure 5 45 Stop Motion Increment Position The increment position allows for a change the command position while the actuator is moving The command has three effects depending on the motion being executed Case One Motor is standing still An increment position command is equivalent to a relative move command The actuator will moveto the specified position at the requested slew speed and acceleration Case Two Motor is moving toward specified position An increment position command will cause the actuator to move to a new position target which is the old target plus the incremental position user specified The incremental position must be in the same direction as the existing motion Case Three Motor is in the jog by speed mode Theincrement position command will cause the actuator to instantly try to servo an incremental position from the present instantaneous position The speed and acceleration parameters have no effect This command is useful when two axes in which one of the axis speed 15 indeterminant due to a variable diameter pulley 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Motion Incremental Position Position x 05 i 044 dw Ei DONE CANCEL HELP Figure 5 46 Incremental Position Contour Mode Define contour axis axes time interval and incremental displacement The contour mod
15. 5 x Define Wait DONE Time De S Figure 5 67 Wait VISUAL PROGRAMMING 5 Wait For Condition There are five trippoint types position speed clock motion and input available the controller Trippoint Position Wait until absolute or relative position is achieved Fig 5 68 The after absolute position after distance after relative distance and after vector distance options are trippoints used to control the timing of events The after absolute position trippoint will hold up the execution of the following command until the absolute actual position of the motor crosses the position specified Only one axis may be specified at atime The trippoint will also be cleared by the completion of the move The after distance trippoint will hold up the execution of the following command until the position command has reached the specified relative distance from the start of the move The after rdative trippoint will hold up execution of the following command until the specified relative distance has reached from either last after relative distance or after distance trippoint or from the start of the move Only one axis may be specified at a time The after vector distance trippoint is used to hold up execution of the next command during coordinated moves such as circular or linear interpolation Thistrippoint occurs when the path distance of a sequence
16. 6 1 Table 33 6 3 CHAPTER 7 TWO LETTER COMMAND SYNTAX MFU O E 7 1 Command 7 1 Coordinated Motion with morethan 1 7 2 a 2 2 1910 Reo t 0 7 3 Controller Resoonseto DATA x UR EUR 7 3 Interrogati ng the Controller 7 3 Interrogatton 5 7 3 Additional Interrogation 7 4 Command SUMMA 7 5 CONTENTS CHAPTER 8 PROGRAMMING MOTION WITH TWO LETTER COMMAND SYNTAX Gaul m r 8 1 Independent Axis 8 1 Command Summary Independent 8 2 Operand Summary Independent 8 2 Independent Positioning 65 8 3 RETTULIT 8 4 Command Summary Jogging casen a 8 5 Operand Summary Independent 8 5 VOCE clem LT IT UU 8 6 EiriearnterpolatL on QE Doch ee si rbi Lp S 8 6 Specifying Linear 5 8 7 Specifying Vector Acceleration Decelerati on and Speed 8 8 Addi
17. Send data option sends data to the output port of the controller Thisoption turns on the outputs based on the binary sequence of the decimal value O is off 1 is on X Set DONE Output Port 1 ON OFF CANCEL send Data to Output Figure 5 32 Control Output Channel DONE Control Output Channel CAHCEL Output Bit HELP IF condition true set bit jn high othewise clear bit 1 Figure 5 33 Define Output Bit by Logical Expression VISUAL PROGRAMMING 5 Control Output Channel Define Output Channel Logical Expression Output Bit Bit Bit 5 Bit 4 Data Bit 3 Bitz Bit 1 Bit O Figure 5 34 Send Data to Output Port Dedicated Inputs Configure the polarity of dedicated home limit and latch switches See chapter 4 input output connections Changing the home switch from active low to active high also changes the direction of initial home move Limit Switch f Active Low Active High Home Switch f Active Low Active High Position Latch f Active Low Active High Figure 5 35 Dedicated Input Switches 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Contains 14 motion instructions 2D Circular Motion The controller allows a 2 D path consisting of linear and arc segments to be prescribed Motion along the path is continuous at the prescribed vector
18. Ph een gas Bud mau ael Edu mp mil Glace ES 1 Base Ebr kiri 1 Tri LTD mu Bare 74213 Lie imet ad med Kn rs RI Eras eerie E ru eerie Wis ub Dada bh ce pupa aura ere 5r eee da can Figure 5 13 Three Sections of Program A program is started by selecting the relevant group then the desired instruction The new instructions are placed after the last instruction added in the proper section Subroutines are created by choosing the subroutine instruction in the Program Flow group all of the following instructions are placed in the subroutine until an end of subroutine instruction is added Once an end of subroutine is selected the following instructions will revert back to the end of the main section Editing of a program is done by selecting the line or lines that are to be acted upon and choosing the desired command from the edit menu or by right clicking the mouse VISUAL PROGRAMMING 5 Program boiler src Application Name Boller Plate Code EXIT Description Code used to start linear actuator project HALT PROG EXECUTE BURN PROG DOWALOAD Program Group Configuration HL onfigure Dedicated Input 1 1 1 General Echo
19. a TART CANCEL HELP Figure 5 104 Collect Data 5 VISUAL PROGRAMMING Auto tuning and manual tuning methods are available to adjust the PID gains of the controller After clicking the TUNE button the tuning method window will show up asin Fig 5 104 Select the desired tuning method either automatic tuning or manual tuning Tuning Tuning Methods Manual Tuning Figure 5 105 Tuning Methods AUTOMATIC TUNING In automatic tuning mode see Fig 3 106 specify the axis to tune and the current PID gains for that selected axis will be displayed Confirm that drive is connected properly and enabled Automatic tuning will move the actuator back and forth while increasing the KD and KP When KP and KD have been determined KI is increased until desired response is achieved Click START to begin auto tuning When tuning is complete the recommended PID gains are shown Use the SAVE PID GAIN button to save PID settings in the controller s memory permanently x Anis KI KD A Status BURN PID GAIN START BACK HELP Figure 5 106 Auto Tuning VISUAL PROGRAMMING 5 MANUAL TUNING In manual tuning mode see Fig 107 specify the axis to tune and the current gains and feedforward velocity and acceleration for that selected axis will be displayed Adjust the PID gain settings and the feedforward coefficients by using the scroll bar or arrows under of next to the disp
20. A B only or differential A A B Maximum A edge rate 8 MHz Minimum IDX pulse width 120nsec STEPPER CONTROL Pulse TTL 0 5 Volts level at 50 duty cycle 2 000 000 pulses sec maximum frequency Direction TTL 0 5 Volts INPUT OUTPUT Uncommitted Inputs Limits Home Abort Inputs 2 2K ohm in series with optoisolator Requires at least 1 mA to activate Can accept up to 28 Volts without additional series resistor Above 28 Volts requires additional resistor through AN 7 Analog Inputs Standard configuration is 10 Volt 12 Bit Analog to Digital convertor 15 mAmp 0 005 resolution OUT 1 through OUT 8 Outputs TTL 0 5vdc 24mAmp IN 1 through IN 8 Inputs Optoisolated 5 28 vdc AC Power Input 110 or 220 Vac 50 or 60 Hz 2 Amp Inrush 200 V POWER OUTPUTS 5V la 412V 600 ma 12V 20 ma Performance Specifications Minimum Servo Loop Update Time 55 1 250 Position Accuracy Velocity Accuracy Long Term Short Term Position Range Velocity Range Motor Command Resolution Variable Range Variable Resolution Array Size Program Size Pin Out Description for SSC 55902 375 psec SSC3 500 usec 99 4 500 usec 1 quadrature count Phase locked better than 005 System dependent 2147483647 counts per move up to 8 000 000 cts sec 16 Bits or 0 0003 V 4 2 billion 1 10 4 8000 elements 1000 lines x 80 characters OUTPUTS Analog
21. After mation complete C mation complete position Figure 5 71 Motion Trippoint Trippoint Input Wait until input goes high or low The after input trippoint as shown Fig 5 72 is used in motion programs to wait until after the specified input has occurred Select the status to wait for the inputto go high or low 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Program Flow lope DONE C Position C Speed C Clock C Motion nput CANCEL Define Trppoint HELP n 2 mr Input After input T 6 o joo Figure 5 72 Input Trippoint Zero Subroutine Stack Itis possible to manipulate the subroutine stack by using the zero subroutine stack instruction Every time a jump to subroutine instruction interrupt or automatic routine Such as POSERR or _IM SWI is executed the subroutine stack is incremented by 1 Normally the stack is restored with an End instruction Occasionally it is desirable not to return back to the program line where the subroutine or interrupt was called The zero subroutine stack instruction clears one return of the stack This allows the program sequencer to continue to the next line The return stack to original condition resets the stack to its initial value For example if a limit occurs and the 4LIMSWI routine is executed it is often desirable to restart the program sequence instead of returningto
22. Direction Sweep Angle 360 deqree COW f DW C Define Tangent Axis Absolute Position Which The Tangent Scale Factor Axis lt Tangent Angle an Plane ts ero 2000 countsrevolution In counts Velocity Profile Smoothness LOW 4 fo Figure 5 54 Tangent Motion GROUP PROGRAM FLOW Contains 15 instructions for program flow controls Auto Execution Insert the label AU TO at the beginning of program to execute the program automatically when the controller is power on Clear Screen Theclear screen instruction sends clear screen to Tol O Matic SIT or to SSC terminal mode Choose the COM port and specify the SIT or the SSC terminal mode screen Clear Screan Port Main HELP f SSC Seieen m Tamima Mode Cheer Hand held Tamina Screen Figure 5 55 Clear Screen 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Program Flow End The end instruction as shown Fig 5 56 includes end of regular subroutine end of error or limit subroutine or end of interrupt subroutine The End of Subroutine option is used to designate the end of a subroutine If a subroutine has been called by the Jump to Subroutine instruction the end command will return execution to the instruction after the Jump to subroutine instruction The End of Error or Limit Subroutine is used to end a position err
23. ENCODER OUT B ENCODER OUT I ENCODER OUT I COMMON ANALOG CMND ANALOG CMND ENCODER OUT A ENCODER OUT A ENCODER OUT B ENCODER OUT B ENCODER OUT I ENCODER OUT COMMON ANALOG CMND ANALOG CMND ENCODER OUT A ENCODER OUT A ENCODER OUT B ENCODER OUT B ENCODER OUT I ENCODER OUT I COMMOM 2 Figure 2 2 Connecting to the AXIOM Servo Drives 2 13 SSC BREAKOUT MSD TERMINAL J4 PIN TERMINAL STEP X STEP DIR X DIR 5V STEP DIR STEP DIR STEP STEP DIR STEP STEP DIR STEP Figure 2 3 Connecting to the MSD Microstepper Drive SSC BREAKOUT TERMINAL J5 PIN ANALOG 1 BROWN X AXIS ANALOG 2 BLACK Y AXIS INPUT 7 ORANGE RECORD LEFT BUTTON INPUT 8 WHITE DONE RIGHT BUTTON 5V BLUE ZERO VOLT REF GREEN WIRE FUNCTION 5V Jumper wire between Pin 9 and 26 Figure 2 5 Connecting to the JS Joystick Tune the Servo System The intent of this section is to give the user a basic familiarity with the operating modes of the Axiom series of servo motor drives and how they affect tuning The Axiom drive product line manufactured by Tol O M atic Inc consists of three brushless servo motor drives and one drive for brushed motors For specific instructions on tuning the Axiom see your drive s user manual For specific instructions on tuning the SSC see the tuning section of chapter 5 The brushless motor drives DV10 DV20 and DV30 are designed to give opt
24. LTCHY IN2 LTCH Z IN3 LTCH W IN4 ABORT IN MTR CMD X AMP ENBL MTR CMDY AMP ENBLY MTR CMD Z AMP ENBL Z B X B X 1 I X A Y A Y B Y B Y A Z B Z B Z 1 2 I Z A Z aN9 AS X xnv y X V X XNV X Xnv V V 9 AXNV 2 Xnv v 2 V 2 Xnv 2 V V 9 X 19 J3 WOO NI X NI 217 NI 2 HOLTE NI M NI S NI 9 NI LNI 8 NI 8 1NO Zino 9 S 1nO v 1no 1 LINO 21 9 1VNV 9 1 1 1WNV LTVNV SSC J5 MUIG MNDIS AG Z Z 915 Z d31S Z 2 dv Z AUIG Z 18 A HIQ A AJANI AANO YLIN X NDIS X d31S X X C A RED BLU WITH THE MRS171 MOTOR THE WIRING COLOR CODE IS AS FOLLOWS WHT 94 BLK 24 GRN WHT Electrical Specifications SERVO CONTROL ANALOG Amplifier Command 10 Volts analog signal Resolution 16 bit DAC or 0003 Volts 3 mA maximum A A B B IDX IDX Encoder and Auxiliary TTL compatible but can accept up to 12 Volts Quadrature phase on CHA CHB Can accept single ended
25. button to set current position to zero or HOME button to perform homing routine VISUAL PROGRAMMING 5 JOG x Em DN Ew ea EJ pa Ea Z pa STEF SIZE SPEED ACCEL DECEL 1242 17 43 29 26 01 in in s 2 in s 2 lt lt gt gt ERO POSITION HELP Figure 5 88 Independent Jog by Incremental Position JOG BY SPEED Clicking axis Z for independent jog by speed motion will pop up the window as shown in Fig 5 89 Specify the jog speed by usingthe scroll bar or enter the desired value in the text field Then click gt gt button to jog forward lt lt button to jog backward or button to stop Axis Jog by Speed Axis md Siu P TWO AXIS XY JOG LINEAR INTERPOLATION Click the Linear Move the jog motion panel as shown in Fig 5 87 A linear interpolation panel will show up as in Fig 5 90 Use scroll bar or enter desired values in text field and hit ENTER to specify incremental displacement vector speed acceleration and deceleration Then click GO button to begin the jog motion or click STOP button to terminate motion Click BACK button to go back to the previous window CIRCULAR INTERPOLATION To perform two dimensional circular motion click the Circular M ove in jog motion panel as shown in Fig 5 87 An XY circular m
26. name specified Up to four programs may be executed simultaneously to perform multitasking To run a program specify the program name and thread number 0 3 Define Execute DONE Program Mame TEST CANCEL Thread Number 0 HELP Figure 5 57 Execute Halt Task The halt instruction as shown in Fig 5 56 halts the execution of any of the four programs that may be running independently in multitasking The thread number specifies the program to be halted Define Halt DONE CEL Thread Number HELP Figure 5 58 Halt Task Interrupt Specify input interrupt The interrupt instruction as shown in Fig 5 57 enables the input interrupt function for the specified inputs Use ADD to add as many inputs as necessary to the function call UNDO to delete last added input interrupt or CLEAR to clear the input interrupt command string If any of the specified inputs go low during program execution the program will jump to the subroutine with label ANIT Any trippoints set by the program will be cleared The end of interrupt instruction is used to return from the ANIT routine The end of interrupt command also re enables input interrupts 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Program Flow Define Interrupt ADD DONE Interrupt input 1 ND CANCEL CLEAR HELP Interrupt for input s 1 Figure 5 59 Interrupt Jump Th
27. the button and select the View Code has the same effect as selecting E dit View Code Keyboard Shortcut Ctrl D Work with the visual program View the two letter source code created by visual code Indicated if the thread 15 running or not Choose the thread for trace to run on Access the built in help text Display the version of SSC programming software VISUAL PROGRAMMING 5 SSC Programming Tree PROGRAM GROUP GROUP INSTRUCTION PROGRAM GROUP GROUP INSTRUCTION 2 Letter Code 2 Letter Code Pop up window Servo Settings Dual Loop Feed Forward Configuration Loop Rate Acccel and Decel Offset Analog Feedback PID Gains Arm Latch Communication System Limits Following Error Define Position Integrator Drive M otor Disable U pon Encoder Error Extended I O Poition Motor Torque Position Format Record Data Mathmatical Equation User Setup Settings M athmatical Equation Variable and Array Pop up window Write to EEPROM Output Dedicated Inputs Motion 2D Circular Interpolation Abort Motion Begin Motion Contour Mode Electronic Cam Electronic Gearing Disable Electronic Gearing Home Incremental Position Linear Interpolation Motion Parameters Single Axis Move Stop Motion Tangent Motion Program Flow Auto Execution Clear Screen End Execute Halt Task Interrupt Jump Label Print Repeat Subroutine User Interface Wait Wait For Condition Zero Subroutine Stack 5 V
28. 0 5 and 8 where 8 implies the largest amount of smoothing See Command Reference regarding KS RP DE TP and other two letter commands The SSC profiler commands the step motor amplifier All SSC motion commands apply in stepper mode Since step motors run open loop the PID filter does not function and the position error is not generated To connect step motors with the SSC you must follow this procedure Step A Install Step Modejumpers Each axis of the SSC that will operate a stepper motor must have the corresponding stepper motor jumper installed The jumpers are preset at Tol O Matic to match system ordered Step B Connect step and direction signals Make connections from controller to motor amplifiers These signals are found on 20 pin breakout connected to J4 Consult the documentation for your step motor drive See p2 14 for Tol O Matic MSD connection SSC J 2 Main 60 Pin IDC 1 Zero Volt Ref 3 Error 5 Limit Switch Common 7 Reverse Limit X 9 Forward Limit Y 11 Home Y 13 Reverse Limit Z 15 Forward Limit W 17 Home W 19 Input Common 21 Latch Y or Input 2 23 Latch W or Input 4 25 Motor Command X 27 Motor Command Y 29 Motor Command Z 31 Motor Command W 33 A X 35 B X 37 1 39 A4 Y 41 B Y 43 Y 45 A Z 47 4 49 Z 51 A W 53 B W 55 W 57 12 59 5V 2 5V 4 Reset 6 Forward Limit X 8 Home X 10 Reverse Limit Y 12 Forward Lim
29. 4 2 o output LOS set pupus ac a bile Y means app Figure 5 93 Edit Teach Data Single Channel Output i ON Single Multiple pone CANCEL HELP Figure 5 94 Single Output Multiple Channels Output Port Byte Value 0 255 5 VISUAL PROGRAMMING Terminal Aterminal window as shown in Fig 5 100 is available for the user to directly communicate with the controller using the controller s two letter motion language Access Terminal from the Online Main Panel toolbar button Within Terminal an EDITOR is available for programming using the two letter motion control language The program code can be downloaded or uploaded using the editor as shown in Fig 5 101 However the program function provides English commands to allow the user to learn and become efficient in programming with very little practice Terminal 438 SP 40000 A 499 96000 500 56000 501 IT 1 50 PA 7E6626 50 3 Bae 504 SP 40000 505 506 S6000 507 IT alla PA 5155 509 510 LOOP 511 EN alz Figure 5 100 Terminal Panel VISUAL PROGRAMMING 5 Untitled Figure 5 101 Program Editor 5 VISUAL PROGRAMMING A data acquisition panel as shown in Fig 5 102 is available for collecting system data from position position error 2nd encoder position commanded p
30. Abort Motion Abort motion and program or abort motion only Stops a motion instantly without a controlled deceleration Will shut off the motors for any axis in which the off on error function is enabled nca And Program Aet Motion Aborting Progra 1 HELP Figure 5 38 Abort Motion Begin Motion Specify independent or coordinated motion to begin Multiple axis may be selected x Begin Motion Coordinated Motion Axis AllAxes DONE CANCEL HELP Figure 5 39 Begin Motion Electronic Gearing Electronic gearing mode allows 1 2 or 3 axes to be electronically geared to one master axis The master may rotate in both directions and the geared axes will follow at the specified gear ratio The gear ratio may be different for each axis and changed during motion The electronic gearing window as shown in Fig 5 40 specifies the master axis and gear ratio for electronic gearing Only one master may be specified The master may be the main encoder input auxiliary encoder input or the commanded position of any axis The master may also be the commanded vector move in a coordinated motion of linear or circular interpolation type VISUAL PROGRAMMING 5 When the master is a simple axis it may move in any direction and the slave follows When the master is a commanded vector move the vector move is considered positive and the slave will move forward
31. Offset Adjustment For each axis the SSC provides offset correction potentiometers to compensate for any offset in the analog output These potentiometers have been adjusted at the factory to produce 0 Volts output for a zero digital motor command Before making any adjustment to the offset send the motor off command MO to the SSC This causes a zero digital motor command Connect an oscilloscope or voltmeter to the motor command pin You should measure zero volts If not adjust the offset potentiometer on the SSC until zero volts is observed Tol O Motion SSC Visual Programming Introduction Tol O Motion SSC motion control software has been developed to providea windows based and user friendly interface between the Tol O M atic multi axis motion controller and your computer through RS 232 cable When no serial Communication is established the Tol O Motion SSC allows you to setup the controller and program You can setup the controller and save the controller s setup parameters to a disk file The controller s setup settings can be loaded from a disk file when the controller is on line The programming window can help you to create motion programs in plain English style visual code and generate source code assembly like motion commands for the controller When the controller is online the following features are available Display The display window shows the statues of the controller including 1 0 and limit switches Te
32. Switch subroutine LIM Sl C Comm Interrupt subroutine HCOMINT Figure 5 65 Subroutine User Interface The user interface instruction as shown in Fig 5 66 allows a variable to be input from a keyboard on either the main or auxiliary serial port When the variable input command is executed in a program the prompt message 15 displayed The operator then enters the variable value followed by a carriage return The entered value 1 assigned to the specified variable name The variable input command holds up execution of following commands in a program until a carriage return or semicolon is detected If no value 15 given prior to semicolon or carriage return the previous variable value 15 kept Input Interrupts Error Interrupts and Limit Switch Interrupts will still be active 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS User Interface Group Program Flow COM Part Main Define Input Prompt PLEASE ENTER MOVE DISTANCE Motion Parameter iri Ineremental Displacement K User Defined Variable ADD Figure 5 66 User Interface Wait The wait instruction as shown in Fig 5 67 isatrippoint used to time events After this command is executed the controller will waitfor the number of samples specified before executing the next command If the loop rate instruction has not been used to change the sample rate from 1 msec then the units of the wait command are milliseconds
33. W Output 1 Input Common Input 1 Latch X Input 2 latch Y Input 3 Latch Z Input 4 Latch W Abort Input Motor Command X Drive Enable X N lt lt lt lt AN lt lt nN Analog Command Voltage from SSC to Drive sss ss lol ll C1 amp O Amp drive enable output lt lt lt lt lt lt lt lt lt lt 2 lt lt no m5 nm nm n 0O A U x So oS So S oi So To a a ia a Solid State Relay 3 to 32 VDC input 12 Volts DC 12 Volts DC 5 Volts DC Zero Volt Reference Figure 4 7 Enable Output 4 12 INPUT OUTPUT CONNECTIONS 4 Output 2 Analog input 1 Analog input 2 Analog input 3 Analog input 4 Analog input 5 Analog input 6 Analog input 7 Zero Volt Reference 5 Volts DC Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Input 8 Input 7 Input 6 Input 5 Input 4 Latch W Input 3 Latch 2 Input 2 Latch Y Input 1 Latch X Input Common m O N Solid State Relay 3 to 32 VDC input NNN C1 O ci O lt lt lt lt lt lt lt lt M lt lt lt lt lt O Figure 4 8 Output wiring 4 INPUT OUTPUT CONNECTIONS
34. if the gear ratio is positive and backward if the gear ratio is negative The slave axes and ratios are specified in the gear ratio field The gear ratio may be different for each geared axis and range between 127 9999 Theslave axis will be geared to the actual position of the master The master can go in both directions Specifying zero gear ratio disables gearing mode A limit switch also disables the gearing Electronic Bearing Master Giearing Main Encoder C Commanded Position C Auxiliary Encoder Gearing Slave Axis Masher Axis Amis Gear Ratio Direction DONE CANCEL ni HELP _ Powe Figure 5 40 Electronic Gearing Home The home instructions may be used to home the motor to a mechanical reference This reference is connected to the home input line There are three options find home switch find edge and find index in the home programming window as shown Fig 5 41 Individual axes may be chosen or all axes may be selected Option 1 Find Home Switch The find home switch potion performs a three stage homing sequence The first stage consists of the motor moving at the user programmed speed until it sees a transition on the homing input for that axis The direction for this first stage is determined by the initial state of the Homing Input Once the homing input changes state the motor decelerates to a stop The state of the homin
35. indicators on the screen Position latch home reverse and forward position limit switches and controller status of the selected axis are displayed for troubleshooting Lonirolles Status T wa chen x A x POS El win Hoe C Reverse POS Liri Ermo Foran POS Lint in L OUTPUT 2 OUTPUT 3 OUTPUT 4 OUTPUT 5 OUTPUT 6 C OUTPUT OUTPUT 8 5 VISUAL PROGRAMMING jog window as shown in Fig 5 87 is displayed after clicking the JOG toolbar button on the Main Window The JOG panel includes independent axis move and two dimensional coordinated motion Jog Motion Iridependent Jog bp Peligni by Speed ARISA AIS Y Doondeaid Hotii Figure 5 87 Jog Motion Main Window JOG BY POSITION Clicking axis X for independent jog by position motion will bring up the window as shown in Fig 5 88 to configure jog motion parameters Use the scroll bar or enter values in the text field and hit ENTER to specify incremental displacement speed acceleration and deceleration in the user s unit for an independent jog Then click gt gt button to move forward click lt lt button jog backward or click button to stop Hit BACK button to go back to previous window The ZERO POSITION
36. loop produces a component of torque command that is proportional to the integration over time of the position error In other words the magnitude of the torque component due to an integral term increases with both the magnitude of the position error and the length of timethe error has existed In this way an integral term can theoretically eliminate steady state error Excessive integral gain will tend to produce oscillatory behavior in the control loop Derivative Gain Kd Derivative control effectively adds phase lead to a control system The derivative term produces a torque component that is proportional to the rate of change of the position error For example if the actual position began to quickly decrease while the position command did not change this would produce a positive rate of change in the position error The derivative term would produce a proportional positive torque component Derivative gain in the position loop can be increased to improve position smoothness and damping Excessive derivative gain will make the control loop very noisy wasting current 5 VISUAL PROGRAMMING TUNING THE CONTROLLER PID FILTER Acceleration Feedforward Gain FA Acceleration feedforward produces a torque component proportional to the rate of change of the velocity command This term is not part of the closed loop velocity transfer function As acceleration feedforward gain is increased moretorque is produced to boost command changes One
37. reaches the specified value The distance is measured from the start of a coordinated move sequence or from the last after vector distance command 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Program Flow Wait For Condition Type DONE Postion Speed Clock C Motion C Input CANCEL Define Trppoint Absolute ETE HELP TI After Absolute Position i UN Incremental Distance from the start of the move LS C Distance from last distance trippoint Relative vector distance NN 2 Figure 5 68 Wait For Position Trippoint Speed Wait until speed is achieved The at speed trippoint as shown in Fig 5 69 occurs when the generated motion profile has reached the specified speed This command will hold up execution of the following command until the speed is reached The at speed trippoint will operate after either accelerating or decelerating If the speed is not reached thetrippoint will betriggered after the motion is stopped after deceleration 222220 E x Type DONE C Position Speed Clock C Motion nput CANCEL Define Trippairt e 21 s EE m Vector speed Figure 5 69 Speed Trippoint Trippoint Clock Set reference time and wait for a period of time The clock trippoint as sho
38. rotation The sweep angle defines the motion of the arc starting at the start angle through the desired distance in the selected direction of motion The direction of the arc can be either CW or CCW from the start angle See Fig 5 36 for a graphical representation Immediately prior to the execution of the first coordinated movement the controller defines the current position to be zero for all movements a sequence NOTE This local definition of zero VISUAL PROGRAMMING 5 does not effect the absolute coordinate system or subsequent coordinated motion sequences A motion sequence Is completed when the end of move is selected 2D circular motion can be combined with linear interpolation to create continuous motion ADD to add current arc segment to 2D this module or CANCEL to return to the main program SWEEP ANGLE START ANGLE Figure 5 36 Definition of Start Sweep Angle And Radius 20 Circular Motion Define Move First Axis ko l Second Axis l Speed 5 in s Radius e n Acceleration 2 Start Angle degree Deceleration in s 2 Sweep Angle a degree Bre Direction JEQUENCE 1 Nec te End of move Cw Cw Continuous to next move from last 20 vector move Velocity Profile Smoothness ADD LOW 4 CANCEL Figure 5 37 2D Circular Motion 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Motion
39. transition 15 detected the motor decelerates to a stop This function is useful for creating your own homing sequences Note the find edge function does not define position as zero after transition is detected VISUAL PROGRAMMING 5 Click ADD to include the homing procedure for a selected axis or CANCEL to return to the main program Single Axis Move The single axis move window as shown Fig 5 42 includes move by displacement or speed Select the move type and motion parameters for any available axis Then click ADD to include the motion for a selected axis or CANCEL to return to the main program In the position mode motion between the specified axes is independent and each axis follows its own profile The user specifies the desired absolute or relative position slew speed acceleration ramp and deceleration ramp for each axis On execution the controller profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory A new command position alongthe trajectory is generated every sample period Motion is complete when the last position command or target position is generated by the profiler The speed mode of Single Axis Moveis very flexible because the speed direction and acceleration can be changed during motion It should be noted that the controller operates as a closed loop position controller even whilein the motion The controller converts the velo
40. when the position error on any axis exceeds the value specified by the error limit command ER Output 1 Output 8 These 8 TTL outputs are uncommitted and may be designated by the user to toggle relays and trigger external events The output lines are toggled by Set Bit SB and Clear Bit CB instructions INPUTS Encoder A B Position feedback from incremental encoder with two channels in quadrature CHA and CHB The encoder may be analog or TTL Any resolution encoder may be used as long as the maximum frequency does not exceed 8 000 000 quadrature states sec The controller performs quadrature decoding of the encoder signals resulting in a resolution of quadrature counts 4 x encoder cycles Note Encoders that produce outputs in the format of pulses and direction may also be used by inputting the pulses into CHA and direction into Channel and configuring this mode Encoder Index l Once Per Revolution encoder pulse Used in Homing sequence or Find Index command to define home on an encoder index Encoder A B Differential inputs from encoder May be input along with CHA CHB for noise immunity of encoder signals The CHA and inputs are optional Auxiliary Encoder Aux A Aux B Inputs for additional encoder Used when an encoder on both Aux Aux A Aux B Aux l the motor and the load 15 required PIN OUT DESCRIPTION FOR SSC Abort A low input stops commanded motion instantly without a controlled decele
41. you are ready to connect the rest of the motion control system The motion control system typically consists of a drive for each axis of motion and a motor to transform the current from the drive into torque for motion If using a Tol O Matic motor drive see pages 2 12 thru 2 14 for wiring Perform Online setup to set motor and encoder type and initial PID gain See Chapter 5 System connection procedures will depend on system components and motor types Any combination of motor types can be used with the SSC Here arethe first steps for connecting the drives and encoders Step A Connect the motor to thedrive with no connection to the controller Consult the drive documentation for instructions regarding proper connections and startup Step B Connectthe drive enable signal Before making any connections from the drive to the controller you need to verify that the ground level of the driveis either floating or at the same potential as earth WARNING When the amplifier ground is not isolated from the power lineor when it has a different potential than that of the SSC ground serious damage may result to the SSC controller and amplifier If you are not sure about the potential of the ground levels connect the two ground signals drive ground and earth by a 10 K resistor and measure the voltage across the resistor Only if the voltage is zero connect the two ground signals directly The AEN amplifier drive enable signal c
42. 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Input 8 Input 7 Input 6 Input 5 Input 4 Latch W Input 3 Latch 2 Input 2 Latch Y Input 1 Latch X Input Common Isolated Power Supply 5 to 24 VDC Zero Volt Reference Four position selector switch 2i ee ck X li A O N O x xe NN Naam oO lt lt aa Normally open push button Figure 4 2 Input Wiring 4 6 INPUT OUTPUT CONNECTIONS 4 Wiring the Optoisolated Inputs The default state of the controller configures all inputs to be interpreted asa logic one without any connection high Theinputs must be brought low to be interpreted as a zero With regard to limit switches a limit switch is considered to be activated when the input is brought low or a switch is closed to zero volt ref Some inputs can be configured to be active when the input is high see section Changing Optoisolated Inputs from Active High to Active Low The optoisolated inputs are organized into groups For example the general inputs IN1 IN8 and the ABORT input are one group Each group hasa common signal which supplies current for the inputs in the group In order to use an input the associated common signal must be connected to voltage between 5 and 28 volts see d
43. 12V close the circuit wire the desired input to any zero volt reference terminal INPUT OUTPUT CONNECTIONS 4 x Figure 4 4 Connecting a single Limit or Home Switch to an Isolated Supply Limit Santch Common Linut Santch Input Zero Reference Figure 4 5 Connecting Limit switches to the internal 5V supply 4 INPUT OUTPUT CONNECTIONS CHANGING OPTOISOLATED INPUTS FROM ACTIVE LOW TO ACTIVE HIGH Some users may prefer that the optoisolated inputs be active high For example the user may wish to havethe inputs be activated with alogic one signal Thelimit home and latch inputs can be configured through software to be active high or low with the CN command For more details on the CN command see Chapter 12 of the Two Letter Command Reference section The Abort input cannot be configured in this manner RESET INPUT The reset input isaTTL level non isolated signal and is used to locally reset the SSC without resetting the PC Analog Inputs The SSC has seven analog inputs configured for the range between 10V and 10V The inputs are decoded by a 12 bit A D converter giving a voltage resolution of approximately 005V The impedance of these inputs is 10 KW The analog inputs are specified as AN x where xis a number 1 thru 7 INPUT OUTPUT CONNECTIONS 4 Using the Outputs The SSC provides several output signals including eight general outputs an error signal ER and four amp
44. 243 SSC44 sT sT 3600 0144 SSC44 SV ST SV 5 3600 0244 SSC45 SS T sT 3600 0145 SSC45 8751 ST ST 3600 0245 SSC46 sT w sT 3600 0146 SSC46 wv sv ST SV 3600 0147 SSC47 sT w srt 3600 0147 SSC47 _ SV SV 1 ST 3600 0247 SSC48 sT w 3600 0148 55 48 SV SV SV SV 3600 0248 ST STEP AND DIRECTION SV 10 V OUTPUT 2 2 The SSC has jumpers inside the controller box which may need to be installed To access these jumpers the cover of the controller box must be removed The following describes each of the jumpers WARNING Never open the controller box when AC power Is applied to it p For each axis that will be driving a stepper motor a stepper mode SM jumper must be connected T m D SMX SMY D SMW JP40 JP40 The stepper mode jumpers are located next to the GL 1800 which isthe largest IC the board The jumper set is labeled JP40 and the individual stepper mode jumpers are labeled SM X SM Y SM Z SMW The fifth jumper of the set OPT is for use by Tol O Matic technicians only INSTALLING THE SSC EIE RP41 JPA UXY3 UYZ2 E JP41 41 can be used to connect the controllers internal 5Vdc power supply to the optoisolation inputs This may be desirable if your system will be using limit switches home inputs dig
45. 5 54 is used to continuously position the Z axis tangent to the arc being created by the X and Y axis 2D circular or linear motion Define the scale factor for the Z axis in counts per revolution and the absolute position of the Z axis at which the resulting angle of the Z axis equals zero in the X and Y coordinated motion plane Tangent is useful for cutting applications where a cutting tool must remain tangent to the part The start angle is defined as the angle formed between zero degrees on the coordinate system and the start of the arc measuring in the direction of positive rotation The sweep angle defines the motion of the arc starting at the start angle through the desired distance the selected direction of motion The direction of the arc can be either CW or CCW from the start angle See Fig 5 36 for a graphical representation The smoothing is accomplished by filtering the acceleration profile Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value The discontinuous acceleration results in infinite jerk that causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and a finite jerk which reduces the mechanical shock and vibration Define Tangent Move Coordinated Axes XY Tangent 2 Speed Acceleration Deceleration 2 2 Start Angle 0 degree Radius In
46. 8 Connecting Step Motors sseeseeeeeeennnnnnnn nennen nnns 2 11 a Install Step 2 11 b Connect step and direction 2 11 TUNE TNE Ser Vo SySte Vo sebo retina 2 15 Torgu EMOJ mm ON 2 15 U leela doe 2 15 CHAPTER 3 COMMUNICATION fniuge TU 3 1 iu Nasties se uten m basin aU dtu d IE 3 1 d ver RR EDU a 3 1 RS232 3 1 TRSJ22 Mal POLI A 3 1 RS422 PO P 2 3 2 3 2 Baud Rate Sa Ctl OM 3 2 BI M 3 3 CONTENTS Synchronizing Sample ChOCKS a d a ccc ela 3 5 Controller Responseto 3 6 CHAPTER 4 INPUT OUTPUT CONNECTIONS GW 4 1 General Wiring GUIQOGTD6S 4 1 OPO SOl ated 4 2 U 4 2 SWIG COM Ma DOE C UR 4 2 HOMINO ROUTINE e t T TD TE 4 3 DOVE PUT ai 4 5 Unc
47. ADR4 ADR2 ADHR1 ADDRESS Programming of the controllers in daisy chain mode must be done in the two letter terminal mode To communicate with any one of the SSC units give the command where A Is the address of the board All instructions following this command will be sent only to the board with that address Only when anew A command is given will the instruction be sent to another board The only exception 154 command To talk to all the SSC boards in the daisy chain at one time insert the character before the software command All boards receive the command but only address 0 will echo Note The CC command must be specified to configure the port P2 of each unit Daisy Chain Example Objective Control a 7 axis motion system using two controllers an SSC 4 axis controller and a SSC 3 axis controller Address O is the SSC 4 and address 1 isthe SSC 3 DESIRED MOTION PROFILE Address 0 SSC 4 X Axis is 500 counts Y Axis is 1000 counts Z Axis is 2000 counts W Axis is 1500 counts COMMUNICATION 3 Address 1 SSC 3 X Axis is 700 counts Y Axis is 1500 counts Z Axis is 2500 counts INSTRUCTION INTERPRETATION 0 Talk only to controller 0 SSC 4 PR 500 1000 2000 1500 Specify X Y Z W distances 1 Talk only to controller board 1 SSC 3 PR 700 1500 2500 Specify X Y Z distances IBG Begin motion on both controllers SYNCHRONIZING SAMPLE CLOCKS It is possible to synchronize the sample clocks of all SSC
48. ANCEL C Jump to Subroutine When Digital Input 3 oes LOW HELP Figure 5 60 Jump Digital Input as condition Jump Define Jump Jump to Label MAIN m C Jump ta Subroutine Condition 412 CEL Define Jump By Selecte Condition Selecte Digital Input as Condition HELP 1 Figure 5 61 Jump by specified condition Label Enter desired label name in the text field as shown in Fig 5 62 to insert a label to the program x Define Label Label Hame DONE CANCEL HELP Figure 5 62 Label 5 VISUAL PROGRAMMING Group Program Flow Print The print instruction as shown Fig 5 63 sends data out of the controller to an external display device Hand held terminal or monitor This can be used to alert an operator send instructions or return a variable value Select main or auxiliary to specify which serial port to send the message Main main port Auxiliary auxiliary port Use ADD to add output data and its format if necessary to the print command line UNDO to delete last added data or CLEAR to clear the print command string Mi Mar Defi Fridi HELF a Fase Venable Fiat erra ADO In Prev Figure 5 63 Print Repeat Repeat instruction allows user to either specify number
49. ISUAL PROGRAMMING Program Instructions GROUP TWO LETTER SOURCE CODE Allows the user to add two letter command to the visual programming environmnet The 2 Letter Source Code window provides discriptions of the arguments used with each command as well as an example of its usage AFIGUMENTS ABn o 1 1 aborts Without shorting D abortz moion and progesm Abort stops a motion instantly ehou controlled decelerstion fresh opening sko aborts pogan unless 1 angurernt i The command vell off the molo acit in bach Ihe Funchon enabled VISUAL PROGRAMMING 5 GROUP CONFIGURATION Contains thirteen instructions for users to configure the controller settings Accel and Decel Allows the user to set initial acceleration and deceleration rates for each axis in the units specified in Setup The acceleration and deceleration rates are specfied from this window will be used throughout the program Note Specify realistic acceleration rates based on your physical system such as motor torque rating loads and amplifier current rating Specifying an excessive acceleration will cause large following error during acceleration and the motor will not follow the commanded profile Acceleration Deceleration Miel Acceleration and Ar relereinn Liecseleration
50. Kp 6 Ki 20 Kd 64 FINE TUNE RESPONSE WITH A MANUAL TUNE Setup the scope to monitor the actual and commanded position Set the step count encoder counts to a valuethat will create enough motor movement to get a usable response usually about one inch Click start to begin the motion and plot the response on the screen remember to first Click zero position before starting The goal isfor the actual position to exactly follow the commanded position Once the actual closely follows the desired position Change the setup of the graph to monitor the position error The position error graph will show the error in counts during and after the motion SAVE THE PID VALUES When the final values for Kd Kp and Ki have been determined they should be burned into the EEprom memory of the SSC by clicking on SAVE PID GAINS button 5 VISUAL PROGRAMMING Notes
51. Motor Command Amp Enable PWM STEP OUT 10 Volt range signal for driving amplifier In servo mode motor command output is updated at the controller sample rate In the motor off mode this output is held at the OF command level Signal to disable and enable an amplifier Amp enable goes low on Abort and PWM STEP OUT is used for directly driving power bridges for DC servo motors or for driving step motor amplifiers For servo motors If you are using a conventional amplifier that accepts a 10 Volt analog signal this pin is not used and should be left open The switching frequency is 16 7 KHZ The PWM output is available in two formats Inverter and Sign magnitude In the Inverter Mode the PWM signal is 2 duty cycle for full negative voltage 50 for 0 Voltage and 99 8 for full positive charge In the Sign Magnitude Mode J umper SM the PWM signal is 0 for 0 Voltage 99 6 for full voltage and the sign of the Motor Command 15 available at the sign output Pin Out Description for SSC PWM STEP OUT For step motors The STEP OUT pin produces a series of pulses for input to a step motor driver The pulses may either be low or high The pulse width is 50 Upon Reset the output will be low if the SM jumper is on Ifthe SM jumper is not on the output will be Tri state Sign Direction Used with PWM signal to give the sign of the motor command for servo amplifiers or direction for step motors Error The signal goes low
52. Pulses Unit Y Step Din finch Load Setup Parameters From File Save Setup Parameters To File White Setup Parameters to EEPROM Figure 5 11 Online Controller Setup PROGRAM WINDOW The program window as shown in Fig 5 12 provides an easy to use interface for users who are not familiar with controller s language Executable code and plain English pseudo code are generated after defining the application Program boler src zx lc Application N ame Boiler Plate Code EXIT Description used to start linear actuator project HALT PROG EXECUTE BURN PROG gt 1 DOWNLOAD Program Group 2 TU Configuration HLonfigure Dedicated Input 1 1 1 Contiqure Port 2 Baud rate 9600 Handshake General Echo Shut Motor Off upon Error 1 0 HEnable Drive High Output Configuration Contigure Variable and Format 10 4 Declare varable s COUNT Configuration 120 Motion Prograrn Flow Servo Settings Instruction eee Program subroutine HL abel athematical Equation LOUNT COUNT 1 Single Move jog Axis Incremental 1 in speed 2 33 in s accel 6 25 in s z de Figure 5 12 Tol O Motion Programmer VISUAL PROGRAMMING 5 Application name Specify name of the application Description Brief description of the program for refere
53. S 5 ar A ii iu 9 5 Executing Programs amp Multitasking eese 9 6 DUJO PFOGFAITIS EY EYE UTER VER CEDE ur 9 7 Comrnablds saeua vada N 9 7 eic cT RE EU UU Tm 9 8 CONTENTS Prodani FLOW 9 9 Event Trigoers i REPE ME SEXUEL DE rea EET ue QU d rec V ae DUE 9 9 SSC Ec EE ERE RE B 9 10 Event Trigger Exampqples sn nennen nnns 9 11 9 14 9 17 9 18 Mathematical 0 5 9 23 EXPres ONS 9 23 Bit WISe OD ALON 9 24 FUNCIONS m 9 25 VAT ADCS 9 26 1100 9 26 OPNS DR 9 28 Special Operands Keywords esses 9 28 C c EE 9 29 DRAG En v e a IU 9 29 Assignment of Array Entries cccccssssssssssssssssseeceeseeeeeeeesesessssssssssssseasanees 9 29 Automatic Data Captureinto
54. Switch Tol o matic Hall Effect Normally Open Contact i n2 m nm Inm N OF FW 7 Reverse Limit Tol o matic Form C Reed Switch Normally Closed 12 Volts DC Contact 12 Volts DC 5 Volts DC Zero Volt Reference Figure 4 1 Recommended Limit Wiring NOTE When wiring limits normally closed limits must be configured as active high This is done using I O group dedicated inputs or the CN command 4 4 INPUT OUTPUT CONNECTIONS 4 The logic state of the Home input can be interrogated with the command MG HMX This command returns a Lif the logic state is low or high respectively The state of the Home input can also be interrogated indirectly with the TS command For examples and further information about Homing see command HM Fl FE of the Command Reference and the section entitled Homing in the Programming Motion Section of this manual See Figure 4 1 for recommended limit switch and home switch wiring ABORT INPUT The function of the Abort input is to immediately stop the controller upon transition of the logic state NOTE Theresponse of the abort input is significantly different from the response of an activated limit switch When the abort input is activated the controller sto
55. VERVIEW SSC FUNCTIONAL ELEMENTS For each axis the power amplifier converts 10 Volt signal from the controller into current to drive the motor The amplifier should be sized properly to meet the power requirements of the motor For brushless motors an amplifier that provides electronic commutation 1 required The amplifiers may be either pulse width modulated PWM or linear They may also be configured for operation with or without a tachometer For current amplifiers the amplifier gain should be set such that a 10 Volt command generates the maximum required current For example if the motor peak current is 10A the amplifier gain should be 1 A V For velocity mode amplifiers 10 Volts should run the motor at the maximum speed p For stepper motors the amplifier converts step and direction signals into current Encoder An encoder translates motion into electrical pulses which are fed back into the controller The SSC accepts feedback from either a rotary or linear encoder Typical encoders provide two channels in quadrature known as CHA and CHB This type of encoder is known as a quadrature encoder Quadrature encoders may be either single ended CHA and CHB or differential CHA CHA CHB CHB The SSC decodes either type into quadrature states or four times the number of cycles Encoders may also have a third channel or index for synchronization The SSC can also interface to encoders with pulse and directi
56. YSE CK 9 52 Backlash Compensation by Sampled Dual Loop 9 53 CONTENTS CHAPTER 10 HARDWARE amp SOFTWARE PROTECTION UTITUR 10 1 Hardware Protecti ON 10 1 QUEDUE Protection EINES od prr cire ain Eo oou 10 1 Input PFOFeCHOD LINES pb s Ea pus e enti 10 1 WE RFO H ON 10 2 a e ca v eB 10 2 ProgrammablePosition 56 10 3 10 3 Automatic Error ROUTINE 10 4 eem 10 4 CHAPTER 11 TROUBLESHOOTING eau m 11 1 osse sesetat obe que Seo Do ote on NEUE 11 1 be T x 11 2 a PEN 11 2 11 2 CHAPTER 12 COMMAND REFERENCE Command nm Ca a RR RF LV Apr ED eh n EE KR E Ua RV R 12 1 Two Letter Command 12 3 ee 12 5
57. ame a Linear Interpolation Define Move st Axis 2nd Axis rd Asis Displacement A 5 Speed SPD Ins 3 in Acceleration 20 2 Z 4 in Deceleration 2d 2 Cont from last 20 vector move Type Sequence End ncremental f End of move A C Continuous to next move Velocity Profile ADD smoothness Low 4 gt HIGH CANCEL Figure 5 16 Using Variables VISUAL PROGRAMMING 5 Overview of Menu Options Ione ARI AL d T Fi a BEL x Figure 5 17 Menu Bar MENU OPTIONS RESULT FILE MENU New Open a new program file Open Open an existing program file from disk drive Save Save the current program to a disk file Save As Save the current program with a different file name Print Program Print the program Print Code Print the two letter code generated by the program Import Module Import a code module created by the teach or terminal mode Back to Main Window Go back to main program window Exit Quitthe SSC programming software EDIT MENU Copy Use the Copy command any time you wish to send a copy of program instruction to the clipboard for later use without disturbing the text as it appears currently in the program window NOTE Copy is also available by clicking the right mouse button Clicking the button and select the Copy has the same effect as selecting Edit Copy Keyboard Shortcut Ctrl Cut Use the Cut command any time y
58. an be used by the controller to disable the motor It will disable the motor when the watchdog timer acti vates the motor off command is given or the position error exceeds the error limit with the Off On Error function enabled The standard configuration of the AEN signal isTTL active high In other words the AEN signal will be high when the controller expects the amplifier to be enabled See Chapter 4 Input Output connections Step C Connect the encoders For stepper motor operation an encoder is optional For servo motor operation if you have a preferred definition of the forward and reverse directions make sure that the encoder wiring 15 consistent with that definition The SSC accepts single ended or differential encoder feedback with or without an index pulse For encoder connection simply match the leads from the encoder you are usingto the encoder feedback inputs on the breakout terminals The signal leads are labeled XA channel A XB channel and XI index For differential encoders the complement signals are labeled XB and XI Note When using pulse and direction encoders the pulse signal is connected to CHA and the direction signal is connected to CHB The controller must be configured for pulse and direction Step D Verify proper encoder operation Start with the X encoder first Once it is connected turn the motor shaft and monitor the position in the display window The controller respons
59. ard Motion to Position 12 107 mc 12 108 o 12 110 Reverse Motion to 0 4 4444444 449 12 111 TYDE 12 112 ee 12 114 12 115 ELE OIG Te epe hu qu RUNS NC JR OA 12 116 On X 12 118 GUuoliMogMe T rr 12 119 POSIHODADSOLULUG DG Uic d e x eb ci AVE 12 120 TT E 12 122 POSTON RAAVE ceana a 12 124 AN Vanse 12 125 Voar a 12 126 ALT AY 12 127 RECOM M T m 12 128 RECON Dalda 12 130 Return from Error 12 132 Return from 12 133 Report Latcned POSIT 12 134 12 135 Rc M 12 137 Maser EET Ls 12 138 12 139 EOD eee 12 140 12 141 PIE 12 142
60. are selected immediately prior to the execution of the first coordinated movement the controller defines the current position to be zero for all movements in a sequence NOTE This local definition of zero does not effect the absolute coordinate system or subsequent coordinated motion sequences A motion sequence is completed when the end of move is selected 2D circular motion can be combined with linear interpolation to create continuous motion VISUAL PROGRAMMING 5 The linear interpolation window as shown Fig 5 43 specifies the linear interpolation mode where selected axis denote the axes for linear interpolation Any set of 1 2 3 or 4 axes may be used for linear interpolation The displacement field is used to specify the distances or positions for linear interpolation The sequence end sub window specifies the end of the linear interpolation sequence Several linear interpolation segments may be given as long asthe controller sequence buffer has room for additional segments The smoothing is accomplished by filtering the acceleration profile Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value The discontinuous acceleration results in infinite jerk that causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and a finite jerk which reduces the mechanical shock and vibration It should be noted that the controller comp
61. arrays that the user can define is limited to 30 With the thirty arrays the maximum number of elements is limited to 8000 If the user needs only one array then the limitation to maximum number of elements 15 still 8000 The first element of the defined array starts with element number 0 and the last element is at n 1 It also allows the variables and arrays to be formatted for the number of digits before and after the decimal point When displayed the integer portion represents the number of digits before the decimal point and the fraction portion represents the number of digits after the decimal point When in hexadecimal the string will be preceded by a Hex numbers are displayed as 2s complement with the first bit used to signify the sign If anumber exceeds the format the number will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF E X Variable Uption Hamel v i Declare 1 Program Existing Deallocate Deallocate All DONE Array CANCEL Marne of elements Declare NE Existing Deallocate None Deallocate All V arable Arrau Format Number of Digte Number of Digits Qi Pese af Integer of Fraction 10 Hexadecimal Figure 5 30 Variable And Array VISUAL PROGRAMMING 5 Write to EEPROM Write controller pa
62. ata communication control on port 1 If live data is enabled on Port 1 it will not respond to commands sent from terminal 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Configuration x Fort 1 Part 2 Do not interrupt Do not interrupt adi Program C nterrupt on lt ENTER gt C nterrupt an lt ENTER gt C nterrupt on any character C nterrupt on any character DONE Port 1 Live Data CANCEL f Enabled Disabled HELP n Figure 5 23 Communication Interrupt Define Position The define position Main Encoder sets the current motor position and current command position to a user specified value The define position Aux Encoder defines the position of the auxiliary encoders The auxiliary encoders may be used for dual loop applications It is useful when you need an encoder on the motor and on theload The encoder on the load istypically the auxiliary encoder and is used to verify the true load position Any error in load position is used to correct the position Click ADD to move encoder position definition for selected axis and EXIT when finished VISUAL PROGRAMMING 5 A Delina Posibom 00 EM NH me t f py Dire Fasrban Encoder Figure 5 24 Define Position Drive This window allows users to enable disable the motor drive Selecting the Disable option will shut off the servo control and dedicated amplifier enable signal T
63. ath equation window x Enable Latch on O ption sisi Aez Config Ai Y Program DONE CANCEL HELP Figure 5 20 Arm Latch VISUAL PROGRAMMING 5 Communication Configure serial communication port 2 or communication interrupt The communication port option as shown in Fig 5 21 allows the user to configure the RS232 port number 2 Port 2 must be configured before use The interrupt option configures the communication interrupt for Port 1 and Port 2 It also enables live communication for Port 1 A communication interrupt causes a jump to the ZCOM INT subroutine Configure f Communication Port 2 Communication Interrupt Figure 5 21 Configure Communication Port 2 communication By selecting the communication port 2 option in Fig 5 21 and clicking OK a port 2 communication window will pop up as shown in Fig 5 22 which allows you to set baud rate echo mode general or daisy chain and handshaking x Boud Echo sn 1200 AB OF CANET L ro 1 0 un HELF Opin fv Bama Cong Chan f O Pog Figure 5 22 Port 2 Communication Communication interrupt By selecting the interrupt option in Fig 5 21 and clicking OK a communication interrupt window will pop up as shown in Fig 5 23 which provides interrupt control for port 1 and 2 This also enables live d
64. cceleration and deceleration in independent moves to produce a smooth velocity profile The resulting profile known as S curve has continuous acceleration and results in reduced mechanical vibrations The smoothness sets the bandwidth of the filter where 0 lowest means no filtering and 255 highest means maximum filtering Note that the filtering results in longer motion time Hit DONE to exit motor setup or CANCEL to cancel setup 5 VISUAL PROGRAMMING CONTROLLER OFFLINE Offline Controller Setup X AXIS X Encoder Aus Encoder Normal quadrature quadrature C Normal pulse and direction C Normal pulse and direction Reversed quadrature C Reversed quadrature C Reversed pulse and direction C Reversed pulse and direction Smoothness LOW HIGH 4 lo Gain Setting Propotional DONE _ CANCEL Integral Velocity Feedforward FY 0 25 HELP Derivative Accel Feedforward FA Figure 5 7 Servo axis setup B Step Dir f a step or direction signal is selected a stepper motor setup window as shown in Fig 5 8 will display for setting stepper smoothness The parameter smooths the frequency of the step motor pulses Larger values of smoothness constant provide greater smoothness The default value is 2 Note that the smoothness results in a longer motion time Hit DONE to finish stepper motor setup or CANCEL t
65. city profile into a position trajectory where a new position target is generated every sample period This method of control results in precise speed regulation with phase lock accuracy The smoothing function is accomplished by filtering the acceleration profile Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value The discontinuous acceleration results in infinite jerk that causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and a finite jerk which reduces the mechanical shock and vibration 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Motion Single Axis Move Move Position C By Speed Define Move Axis k Speed 20 Distance 4 in Acceleration 19 97 2 Direct Deceleration 19 97 in s 2 Forward Type Backward Absolute Inecremental Velocity Protile Smoothness LOW 4 HIGH 116 ADD CANCEL Figure 5 42 Single Axis Move Linear Interpolation In linear interpolation motion between the axes is coordinated to maintain the prescribed vector speed acceleration and deceleration along the specified path When three or more axis are selected several incremental segments may be given in a continuous move sequence making the linear interpolation mode ideal for following a piece wise linear path There is no limit to the total move length When two axis
66. control response must havea high bandwidth and enough stiffness to prevent external disturbances load changes from significantly affecting velocity regulation Tight control of velocity allows positioning moves to be accomplished with smooth accurate trajectories When operated in velocity mode Axiom TUNE THE SERVO SYSTEM series drives receive their command signal via an external analog signal from the SSC The SSC needs only to handle the position loop calculations to derive a velocity command by tuning the proportional gain The drives require tuning of the velocity PID control algorithm whereby velocity control bandwidth and stiffness can be tailored for maximum performance with a given application The Axiom software provides a very powerful tuning and diagnostic interface to aid the user in achieving optimum velocity control Tuning of the PID values in the SSC is also required Introduction Communication RS232 Ports The SSC has two RS232 ports The main port is the data set and the auxiliary port is the data terminal The main port can be configured through the switches on the front panel and the auxiliary port can be configured with the software The auxiliary port can either be configured as a general port or for daisy chain communications The auxiliary port configuration can be saved using the Burn BN instruction to write controller parameters to EEPROM The RS232 ports also have a clock synchronizin
67. d Rate 1200 Baud Rate OFF ON OFF 9600BaudRate default setting RS232 main port be configured for handshake or non handshake mode Set the HSHK switch 5 to ON to select the handshake mode default setting In this mode the RTS and CTS lines are used The CTS line will go high whenever the controller is not ready to receive additional characters The RTS line will inhibit the controller from sending additional characters Note the RTS line goes high for inhibit The handshake should be turned on to ensure proper communication especially at higher baud rates Baud Hate c 300 c 1200 2400 CANCEL 4800 e 9500 19200 HELP Data Bits Stop Bits Echo C 5 C B 1 0C 15 C On C e Parity Contral Corn Port None fv COM 1 Odd COM 2 Even C ATS COM 3 Xon HTS COM 4 Figure 5 4 Serial Communication Setup VISUAL PROGRAMMING 5 OFFLINE CONTROLLER SETUP To perform offline controller setup click the Offline controller setup option tn Fig 5 3 or click setup toolbar button from main window and hit OK which will pop up the setup window as shown in Fig 5 5 Click on the number of axes of your system which will pop up the window shown Fig 5 6 When configure offline controller window is loaded the set up default value is automatically loaded from C windows win ini to configure offlin
68. d abort signals The controller also has 8 optoisolated uncommitted inputs for general use as well as 8TTL outputs and 7 analog inputs configured for voltages between 10 volts This chapter describes the inputs and outputs and their proper connection Inputs 1 4 and Output 1 are available on both J2 and J5 Connection to the analog inputs or general inputs 5 8 or all outputs except Output 1is accomplished through 26 pin J5 connector on the SSC If you plan to usethe auxiliary encoder feature of the SSC you must also connect to the 20 pin J3 connector General Wiring Guidelines Itis always best to keep power wiring separate from control wiring Properly terminated shielded cables for control wiring will help ensure minimal interference problems but should be combined with good wire routing practice to ensure optimum results Power and control wiring should berun in separate conduit or wiringtrays with as much separation as is practical to achieve When power and control cabling needs to cross it should be doneat right angles Analog torque or velocity command signals are the most susceptible to interference from 50 60Hz power wiring However encoder and other control wiring can pick up interference from the 50 60Hz power itself or transient energy present on the power lines This transient energy is most often caused by relays and contactors other motors and their drives and welders in a typical industrial environment Wh
69. dow as shown in Fig 5 28 allows the user to format the position numbers such as those returned in the display The number of digits of integers and the number of digits of decimals can be selected with this command An extra digit for sign and a digit for decimal point will be added to the total number of digits Hexadecimal format is available with a dollar sign preceding the characters Hex numbers are displayed as 2s complement with the first bit used to signify the sign If anumber exceeds the format the number will be displayed as the maximum possible positive or negative number i e 999 99 999 8000 or 7FF X Define Format DONE Number of Number of m m 10 HELP Decimal C Hexadecimal Figure 5 28 Position Format Record Data The data acquisition window as shown in Fig 5 29 selects one through four arrays for automatic data capture The selected arrays must be dimensioned in the Variable and Array instruction The data to be captured is specified by selecting the data type and sampling rate The record mode 15 useful for recording the real time motor position during motion The data is automatically captured in the background and does not interrupt the program sequence VISUAL PROGRAMMING 5 Data Record Define Data Acquisition A Sampling Data Type DD 256 ms Postion v CANCEL Mame of Array Variable POSITION DONE UNDO Data Acquisitio
70. e Use OUTPUT button to trigger single multiple output s between moves See Figures 5 92 5 94 and 5 95 Step by step or continuous play back options are available under the play back sub window Use the Edit menu to edit the speed acceleration and deceleration associated with each move See Figure 5 93 Collected data can be saved into a disk file by choosing the Save Teach Data option under the File menu Also the program code to perform the teach operation can be saved as a module that can be imported into programs 5 VISUAL PROGRAMMING TEACH BY JOYSTICK Use Save Code As Module to save teach motion code To import the teach motion module use the import module command under the file menu when creating program Tench By Using Joy Stick Edi Option Led L m in Finy Back Joy Mick Enable amp Disable 1 EMEN exo sever Figure 5 92 Teach By Joystick VISUAL PROGRAMMING 5 Teach Uzing Jop Stick Edt Opin oO m2 A 4 The wai for input command is used In de spechc npul has Ede walue poires wets for the bo po he negare the in ga LO Lise 1 ba B to ae HIGH
71. e controller window Offline Setup Main b Controller Setup 11 AXES THREE AES FOUR AXES BACK HELP System Configuration Figure 5 5 Offline Controller Setup LA Offline Configure Salen Signal Typs x X Analog 4 F aaka Y 2 Z w W Analog wl DONE 1117 tp Figure 5 6 Configure Offline Controller 5 VISUAL PROGRAMMING CONTROLLER OFFLINE Offline Controller Setup Save Done After finishing the offline controller setup click SAVE to save settings to a disk file Click DONE to go to offline message window and automatically save setup value to file C windows win ini as a default value User Unit Select user units available from inch foot centimeter meter and count for each axis in your application or define your own unit e g cc The user unit selected here will be used throughout the program Scaling Configure scaling from counts pulses to user s selected unit default inch For example pitch of leadscrew turns per inch TPI encoder resolution counts per revolution total counts per inch Configure signal type A Analog If an analog signal is selected a servo setup window as shown in Fig 5 7 will show up for you to configure the servo settings 1 Configure main and or auxiliary encoders type Normal quadrature Normal pulse and dir
72. e control loop Select the Config or Program option to place the code in configuration or program selection t a 4 ctam L T edet Al 4 4 bam 1l 4 E amm LI 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group System Limits GROUP SYSTEM LIMITS Includes five instructions for configuring system limits Following Error Define position error tolerance for each axis The error tolerance window as shown Fig 5 79 sets the magnitude of the X Y Z and W axis position errors that will trigger an error condition When the limit is exceeded the error output J2 pin 3 will go low true If the Off On Error command is active the motors will be disabled The error limit specified by the error tolerance should be high enough as not to be reached during normal operation Examples of exceeding the error limit would be a mechanical jam or a fault in a system component such as encoder or amplifier Following Error Position Tolerance Option gt 0 1 f Config 4 C Program 05 in DONE p m CANCEL p E HELP Figure 5 79 Following Error Motor Disable Upon Error Enable disable motor when error occurred The motor off on error window as shown Fig 5 80 sets the controller to shut off the motor command if a position err
73. e jump instruction as shown in Fig 5 60 and 5 61 includes jump to a label and jump to subroutine The jump to label causes a jump to a program location on an optional condition The program location may be any label The condition isa conditional statement which uses a logical operator such as equal to or less than A jump is taken if the specified condition is true The jump to subroutine will change the sequential order of execution of commands in a program If the jump 15 taken program execution will continue at the line specified by the destination parameter which can a label name After the next end of subroutine is encountered program execution will continue with the instruction following the jump to subroutine instruction There can bea jump to subroutine command within a subroutine These can be nested 8 deep in the controller By clicking Select digital input as condition the user can select jump to a program location or subroutine based on input status The alternative is a jump taken if the specified condition is true click the Use Math Func button to specify the condition using the mathematical functions Conditions are tested with logical operators The available logical operators are lt less than gt greater than equal to lt less than or equal to greater than or equal to lt gt not equal VISUAL PROGRAMMING 5 Jump Define Jump DONE f Jump to Label JOG C
74. e programming window is shown Fig 5 47 This mode allows any arbitrary position curve for 1 2 3 or 4 axes to be prescribed which is ideal for following computer generated paths such as parabolic spherical or user defined profiles Here the path is not limited to straight line and arc segments Also the path length may be infinite Theincremental displacement sub window specifies the position increment and the time interval list specifies the time for the incremental displacement X Y Z and W axes The units of the command are in user selected unit The time interval list sets the time interval for contouring mode Setting the time interval once will set the time interval for all following contour data until a new time interval command is selected Use ADD to add the contour data to the program or CANCEL to return to the main program window VISUAL PROGRAMMING 5 Contour Mode Define Contour Li Time Interval 128 ms Incremental Displacement n CANCEL Figure 5 47 Contour Mode Electronic CAM The electronic cam is amotion control mode which enables the periodic synchronization of several axes of motion when one of the axes IS independent and is not necessarily driven by the controller The electronic cam is a more general type of electronic gearing which allows table based relationship between the axes It allows synchronizing all the contr
75. e will vary as the motor is turned At this point if display does not vary with encoder rotation there are three possibilities 1 The encoder connections are incorrect check the wiring as necessary INSTALLING THE SSC 2 The encoder has failed using an oscilloscope observe the encoder signals Verify that both channels A and B have a peak magnitude between 5 and 12 volts Notethat if only one encoder channel fails the position reporting varies by one count only If the encoder failed replace the encoder If you cannot observe the encoder signals try a different encoder 3 There is a hardware failure in the controller connect the same encoder to a different axis If the problem disappears you probably have a hardware failure Consult the factory for help 7 Connecting Standard Servo Motors Thefollowing discussion applies to connecting the SSC controller to standard servo motor drives The motor and the drive may be configured in the torque or the velocity mode In the torque mode the amplifier gain should be such that a 10 Volt signal generates the maximum required current In the velocity mode a command signal of 10 Volts should run the motor at the maximum required speed Step A Check the Polarity of the Feedback Loop Itis assumed that the motor and drive are connected together and that the encoder is operating correctly Before connecting the motor drive to the controller read the following discussion on setting Er
76. eceleration rates and slew speed The SSC also provides S curve acceleration for motion smoothing For synchronizing motion with external events the SSC includes 8 optoisolated inputs 8 programmable outputs and 7 analog inputs Despite its full range of sophisticated features the SSC is easy to program Programming is performed usingthe Tol O Motion SSC Software which allows programming to be done in a visual environment that generates two letter commands to be downloaded to the controller Experienced users are able to program the controller directly by using two letter commands in the terminal mode To prevent system damage during machine operation the SSC provides several error handling features These include software and hardware limits automatic shut off on excessive error abort input and user definable error and limit routines 1 OVERVIEW SSC Functional Elements The SSC circuitry can be divided into the following functional groups as shown in Figure 1 1 and discussed below To Host RS 232 RS 422 Serial Cammunica tion Fl FO 80 B ytes Inte ce 4M EEPROM Watch D og Timer Figure 1 1 SSC Functional Elements MICROCOMPUTER SECTION The main processing unit of the SSC is a specialized 32 bit Motorola 68340 Series Microcomputer with 256K RAM 64K EPROM and 4M bytes EEPROM The RAM provides memory for variables array elements and application programs The EPROM stores the firmware of the SSC The EEPROM a
77. eceleration does not take the motion past the limit switch without a SWI routine to ensure further motion in the limit direction Any attempt at further motion before thelogic state has been reset will result in thefollowing error 022 Begin not possible dueto limit switch error The operands LFxand _LRx return the state of the forward and reverse limit switches respectively x represents the axis X Y Z W etc The value of the operand is either 0 or 1 corresponding to the logic state of the limit switch Using a terminal program the state of a limit switch can be printed to the screen with the command LFxorMG LRx This prints the value of the limit switch operands for the x axis The logic state of the limit switches can also be interrogated with the TS command For more details on TS seethe Two Letter Command Reference chapter 13 HOME SWITCH INPUT The Home Inputs are designed to provide reference points for a motion control application Atransition in the state of a Homeinput alerts the controller that a particular reference point has been reached by a moving part in the motion control system A reference point can be a switch or an encoder index pulse The Home input detects any transition in the state of the switch and toggles between logic states 0 and 1 at every transition INPUT OUTPUT CONNECTIONS 4 HOMING ROUTINES There are three homing routines supported by the SSC Find Edge Find Inde
78. ection Normal pulse and direction ADD Reversed quadrature Reversed quadrature Reversed pulse and direction Reversed pulse and direction Figure 5 26 Define Encoder Type Motor VISUAL PROGRAMMING 5 Define motor type and its initial status for each axis The motor configuration window as shown tn Fig 5 27 selects the type of the motor and the polarity of the drive signal Motor types include standard servo motors which require a voltage in the range of 10 Volts and step motors which require pulse and direction signals The polarity reversal inverts the analog signals for servo motors and inverts logic level of the pulsetrain for step motors The Motor OFF option will shut off the control algorithm when configured however the controller will continue to monitor the motor position X Configure Matar DONE Servo Motor Servo Motor SAGES C Servo Motor C Servo Motor HELP Reverse Polarity Stepper Motor C Stepper Motor Reverse Polarity OFF Asis 2 Servo Motor Servo Motor Reverse Polarity f Stepper Motor Stepper Motor Reverse Polarity Motor OFF Reverse Polarity Stepper Motor C Stepper Motor Heverse Polarity Motor OFF Figure 5 27 Define Motor Type 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Configuration Position Format Define position format The position format win
79. ection Reversed quadrature Reverse pulse and direction Note For each axis of motion the controller accepts inputs from incremental encoders with two channels in quadrature or 90 electrical degrees out of phase The controller performs quadrature decoding of thetwo signals encoder signal A and B resulting in bi directional position information with a resolution of four times the number of full encoder cycles For example a 1000 lines encoder is decoded into 4000 quadrature counts per revolution An optional third channel or index pulse encoder signal may be used for homing or synchronization Several types of incremental encoders may be used linear or rotary analog or digital single ended or differential Any line resolution may be used the only limitation being that the encoder input frequency must not exceed 2 000 000 full cycles sec or 8 000 000 quadrature counts sec The controller also accepts inputs from an additional encoder for each axis These are called auxiliary encoders and can be used for dual loop applications The encoder inputs are not isolated VISUAL PROGRAMMING 5 2 Set PID gains feedforward gains and compensation gains Proportional gain KP Integral gain KI Derivative gain KD Velocity feedforward gain FV Acceleration feedforward gain FA Compensation gain GN not used for current version of controller 3 Set servo smoothness time constant S curve The smoothing function filters the a
80. ee net 12 178 WE WN tend 12 179 AQ ExecuteProgralriszcuussnseesut up UD D ELE 12 180 Zi EP com 12 181 ZS Zero SUDMOULING SLACK uasa ee 12 182 Overview Introduction The SSC Series are packaged motion controllers designed for stand alone operation Features include coordinated motion profiling uncommitted inputs and outputs non volatile memory for stand alone operation and RS232 RS422 communication Extended performance capabilities include fast 8M Hz encoder input frequency precise 16 bit motor command output DAC 47 2 billion counts total travel per move faster sample rate and multitasking of up to four programs Designed for maximum system flexibility the SSC is available for oneto four axes and can be interfaced to a variety of motors and drives including step motors servo motors and hydraulics Each axis accepts feedback from a quadrature linear or rotary encoder with input frequencies up to 8 million quadrature counts per second For dual loop applications that require one encoder on both the motor and the load auxiliary encoder inputs are included for each axis The powerful controller provides many modes of motion including jogging point to point positioning linear and circular interpolation with infinite vector feed electronic gearing and user defined path following Several motion parameters can be specified including acceleration and d
81. ere a great deal of interference is present on the power lines a linefilter may be necessary Choose one with the appropriate voltage and current rating for the controller The drive may also require a line filter Also follow the manufacturer s recommendations for installations This must include a proper ground 4 INPUT OUTPUT CONNECTIONS Using Optoisolated Inputs LIMIT SWITCH INPUT Theforward limit switch FLSx inhibits motion in theforward direction immediately upon activation of the switch The reverse limit switch RLSx inhibits motion in the reverse direction immediately upon activation of the switch If a limit switch is activated during motion the controller will make a decelerated stop usingthe deceleration rate previously set with the DC command The motor will remain in a servo state after the limit switch has been activated and will hold motor position When a forward or reverse limit switch is activated the current application program that is running will be interrupted and the controller will automatically jump to the 1MSWI subroutine if one exists This is a subroutine which the user can include any motion control program and is useful for executing specific instructions upon activation of a limit switch After a limit switch has been activated further motion in the direction of the limit switch will not be possible until the logic state of the switch returns back to an inactive state Be careful that the d
82. essage as shown in Fig 5 3 which responds no controller is connected or serial communication settings are incorrect There arefour options available without the controller connected S eral Communicatian tek Serial communication setup Offline controller setup ERIT Offline programming Offline mause teach HEL Figure 5 3 Controller Offline Message SERIAL COMMUNICATION SETUP To set serial communication parameters click the SERIAL COMMUNICATION SETUP option in Fig 5 3 and hit OK which will bring up the serial communication window as shown Fig 5 4 The serial communication setting window allows you to select the baud rate data bit stop bit controller echo parity flow control and the communication port on your computer You can simply click on appropriate option for each setting and click DONE to resume serial communication The default settings of the serial communication parameters are Baud rate 9600 Data bit 8 Stop bit 1 Parity None Echo Off Flow Control XOn RTS Both request to send and XOn handshaking Port COM1 5 VISUAL PROGRAMMING CONTROLLER OFFLINE mE Serial Communication Setup Be sureto set the communication settings in the controller the same as those set in the software The dip switch settings on the controller front panel corresponding to different baud rate are listed as follows Dip Switch Settings Interpretation 9600 3 300 Bau
83. f you are using single ended encoder interchange the signal CHA and CHB If on the other hand you are using a differential encoder interchange only Note Reversing the Direction of Motion If the feedback polarity is correct but the direction of motion is opposite to the desired direction of motion on abrush DC motor reverse the motor leads AND the encoder signals For a brushless motor see documentation for drive on reversing direction of rotation Note Tuning When the position loop has been closed with the correct polarity the next step is to adjust the PID filter parameters KP KD and KI It is necessary to accurately tune your servo system to ensure fidelity of position and minimize motion oscillation as described in the tuning section of this chapter 8 Connecting Step Motors In Stepper Motor operation the pulse output signal of the SSC has a 50 duty cycle Step motors operate open loop and do not require encoder feedback When a stepper is used the auxiliary encoder for the corresponding axis 15 unavailable for an external connection If an encoder is used for position feedback connect the encoder to the main encoder input corresponding to that axis The commanded position of the stepper be interrogated with RP or DE The encoder position can be interrogated with TP The frequency of the step motor pulses can be smoothed with the filter parameter The filter parameter has a range between
84. g This Manual Your SSC motion controller has been designed to work with both servo and stepper type motors Installation and system setup will vary depending upon whether the controller will be used with stepper motors or servo motors To make finding the appropriate instructions faster and easier icons will be next to any information that applies exclusively to one type of system Otherwise assume that the instructions apply to all types of systems The icon legend is shown below lt gt Attention Pertains to servo motor use such as the Tol O Matic Axiom Drive Attention Discussion under this icon typically refer to stepper motors but also include other drivers that accept step and direction signals such as Tol O Matic s MSD Microstepping drive Please note that many examples are written for the SSC 4 four axis controller Users of the SSC 3 three axis controller SSC 2 two axis controller or SSC one axis controller should note that the SSC 3 uses the axes denoted as XYZ the SSC 2 uses the axes denoted as XY and the SSC uses the X axis only WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machine Tol O M atic shall not be liable or responsible for any incidental or consequential damages Contents CHAPTER 1 OVERVIEW 1 1 Functional
85. g input can be configured using the I O Dedicated Inputs instruction 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS DEM The second state consists of the motor changing directions and slowly approaching the transition again When it detects the transition it stops Type Find Home Switch Find Edge Find Index Define Move Axes Asis Avis Speed Acceleration nection Deceleration 2 Figure 5 41 Home The third stage consists of the motor slowly moving forward until it detects an index pulse from the encoder It stops at this point and defines it as position 0 When a step motor is used the homing function consists of the first two stages J Option 2 Find Index The find index option allows the motor to move until an encoder index pulse is detected The controller looks for a transition from low to high When the transition is detected motion stops and the position is defined as zero To improve accuracy the speed during the search should be specified as 500 counts s or less The find index function 1 useful in custom homing sequences The direction of motion 1 specified by the sign of the jog speed function Option 3 Find Edge The find edge option moves a motor until a transition is seen on the homing input for that axis The direction of motion depends on the initial state of the homing input Once the
86. g line that allows synchronization of motion on more than one controller The RS232 pin out description for the main and auxiliary port is given below Note the auxiliary port is essentially the same as the main port except transmit and receive are reversed The SSC may also be configured by the factory for RS422 These pin outs are also listed below Note If you are connecting the RS232 auxiliary port to a terminal or any device which is a DATATERM it is necessary to use a connector adapter which changes a dataterm to a dataset This cable is also Known as a null modem cable RS232 MAIN PORT P1 1 DTR output 6 Not Used 2 Transmit Data output 7 Not Used 3 Receive Data input 8 Not Used 4 Carrier Detect input 9 Can be connected to 5V or sample 5 Zero Volt Ref clock with jumpers RS232 AUXILIARY PORT P2 1 Carrier Detect input 6 Not Used 2 Receive Data input 7 Not Used 3 Transmit Data output 8 Not Used 4 Data Terminal Ready 9 5V Can be disconnected or connected 5 Zero Volt Ref to sample clock with jumpers RS422 MAIN PORT 1 1 DataTerminal Ready output 6 DataTerminal Ready output 2 Transmit Data output 7 Transmit output 3 Receive Data input 8 Receive input 4 Carrier Detect input 9 Carrier Detect input 5 Zero Volt Ref 3 COMMUNICATION RS422 AUXILIARY PORT P2 l Carrier Detect input 6 Carrier Detect input 2 Receive Data input 7 Receive input 3 Transmit Data output 8 T
87. ges current temperatures and energy levels exist in this product and in its associated amplifiers and servo motor s Extreme caution should be exercised in the application of this equipment Only qualified individuals should attemptto install set up and operate this equipment WARNING Never open the controller when AC power is applied to it Applying power will turn on the green light power indicator 4 Installing the Tol O Motion SSC Software After you have installed the SSC controller and powered up your computer install the Tol O Motion SSC Software available for Windows 3 1 95 and NT by running setup exe on disc number 1 INSTALLING THE SSC 5 Establishing Communication Use the supplied RS232 cable to connect the MAIN serial port to your computer or terminal The SSC main serial port is configured as DATASET Your computer or terminal must be configured as a DATATERM for full duplex no parity 8 bits data one start bit and one stop bit This be accomplished by using the Tol O M otion SSC software serial communi cation setup see Chapter 3 Communication setup in this manual Select the baud rate switches on the controller to match the default setting of 9600 Settings of The PC 19 2 kb 9600 or1200b For Additional information on auxiliary ports and daisy chaining see Chapter 3 Communication 6 Connections to Drive and Encoder Once you have established communications between theTol O Motion software and the SSC
88. he controller will continueto monitor the motor position Selecting the Enable will causethe controller to set the commanded position to bethe current motor position and to enable the motor drive for the specified axes Use the Config or Program option to place the code configuration or program selection Select the axis axes of motor drive to enable or disable Click DONE when finished Axis Action Option rz Enable ry rw Disshla Program Figure 5 25 Drive 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Configuration Encoder Define encoder type The encoder setup window as shown tn Fig 5 26 configures the encoder to the quadrature type or the pulse and direction type It also allows inverting the polarity of the encoders The configuration applies independently to the four main axes encoders and the four auxiliary encoders The auxiliary encoder may be mounted on the motor the load or in any position The auxiliary encoder may be of the standard quadrature type or it may be of the pulse and direction type The controller also offers the provision for inverting the direction of the encoder rotation Click ADD to add encoder configuration for each axis selected DONE when finished Encoder Ans Option 4 CY C a Config Program Main Encoder Aus Encoder Type Normal quadrature Normal quadrature Normal pulse and dir
89. imum performance with modern permanent magnet brushless AC servo motors The DB20 is for use with traditional brush commutated DC servo motors All of these drives support two primary modes of operation when used with the SSC TORQUE MODE The drive produces motor torque proportional to an analog voltage command signal For operation torque mode the fundamental current control functions are accomplished automatically by the drive When the drive 15 operating in torque mode the command source 15 the analog input from the SSC which can be adjusted for offset and scaled by the drive The user need only configure the drive to select the correct motor and make sure the analog input command signal is appropriately supplied No tuning of the PID proportional integral derivative is required in the drive The tuningis done the SSC by adjusting its PID values to achieve the desired response The SSC creates a motion profile based on the distance speed acceleration and deceleration of the programmed motion that determines the desired motor position at every sampling period The closing of the position loop forces the motor to follow the desired position VELOCITY MODE The drive controls motor speed in proportion to an analog voltage command signal from the controller The fundamental control function of a servo drive operating in velocity mode 1 to control the rotational velocity of the connected motor with precision This means that the
90. instruction under configuration group in Chapter 5 COMMUNICATION 3 To configure Port 2 in terminal mode command the format of m n r p where m sets the baud rate sets for either handshake or non handshake mode r sets for general port or the auxiliary port and p turns echo on or off m Baud Rate 300 1200 4800 9600 19200 38400 n Handshake 0 1 Yes r Mode Port 1 Daisy chain Echo O Off 1 On Valid only if r 0 Note for the handshake of the auxiliary port the roles for the RTS and CTS lines are reversed Example INSTRUCTION INTERPRETATION CC 1200 0 0 1 Configure auxiliary communication port for 1200 baud no handshake general port mode and echo turned on DAISY CHAINING Up to eight SSC controllers may be connected in a daisy chain allowing for multiple controllers to be commanded from single serial port One SSC is connected to the host terminal via the RS232 at port 1 or the main port Port 2 or the auxiliary port of that SSC is then brought into port 1 of the next SSC and so on The address of each of the SSC is configured by setting the three address jumpers P20 ADR4 ADR2 ADR1 located inside the box near the main processor IC 22 3 COMMUNICATION CONFIGURATION ADRT represents the 2 bit ADR2 represents 27 bit and ADR4 represents 2 bit of the address The eight possible addresses 0 through 7 are set as follows
91. ions within a parentheses have precedence Functions may be combined with mathematical expressions The order of execution is from left to right The units of the SIN and COS functions are in degrees with resolution of 1 128 degrees The values can be up to 47 4 billion degrees The following is the listing of available arithmetic functions in the motion controller SIN sine COS cosine SOR square root accuracy is 0004 ABS absolute INT integer portion FRAC fraction portion RND rounds number 5 and up to next integer addition subtraction 0 multiplication 11 division 12 amp logical AND bit wise 13 logical OR On some computers a solid vertical line appears as a broken line 14 parentheses 15 IN read digital input 16 AN read analog input Example V1 ABS V7 Variable V1 is equal to the absolute value of variableV7 V2 5 SIN P1 Variable V2 is equal to 5 timesthesineof thevariable P1 N 1 Variable V3 is equal to thedigital valueof input 1 V4 GAN 5 Variable V4 is equal to thedigital valueof analoginput 5 51 7 5 V1 2 Variable S1 is equal to 7 5 multiplied byV1 and divided by2 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Thevariable COUNT is equal to the current value plus 2 RX TPX COS 45 40 Putsthe position of X minus 28 28 in RX Note 40 cosine of 45 is 28 28 TEMP QIN 1 amp IN 2 TEMP is equal to 1 onlyif I
92. iscussion below The optoisolated inputs are connected in the following groups GROUP COMMON SIGNAL IN1 IN8 ABORT INCOM Input Common FLX RLX HOMEX FLY RLY HOMEY TTE LZ RLZ LSCOM Limit Switch Common FLW RLW HOMEW A logic zero low is generated when at least 1mA of current flows from the common signal to the input A positive voltage with respectto the input must be supplied at the common signal This can be accomplished by connecting a voltage in the range of 45V to 428V into Common Signal of the input circuitry from a separate power supply 4 INPUT OUTPUT CONNECTIONS E E d IH ABORT Figure 4 3 The Optoisolated Inputs USING AN ISOLATED POWER SUPPLY To take full advantage of opto isolation an isolated power supply should be used to provide the voltage at the common signal connection When using an isolated power supply do not connectthe zero volt reference of the isolated power to the zero volt reference of the controller A power supply in the voltage range between 5 to 28 Volts may be applied directly see Figure 4 4 For voltages greater than 28 Volts a resistor R is needed in series with the input such that 1 mA V supply 2 2KQ 15 mA BYPASSING THE OPTO ISOLATION If no isolation is needed the internal 5 12 Volt supply may be used to power the switches as shown in Figure 4 5 This can be done by connecting a jumper between the pins LSCOM or INCOM and internal 45V or
93. it Z 14 Home 2 16 Reverse Limit W 18 Output 1 20 Latch X or Input 1 22 Latch Z or Input 3 24 Abort Input 26 Amp Enable X 28 Amp Enable Y 30 Amp Enable Z 32 Ampo Enable W 34 A X 36 B X 38 40 A Y 42 B Y 44 Y 46 A Z 48 B Z 50 1 4 52 A W 54 B W 56 58 12 V 60 Zero Volt Ref SSC J 3 Auxiliary Encoder 20 Pin IDC 1 Sample Clock 3 B Aux W 5 A Aux W 7 B Aux Z 9 A Aux Z 11 B Aux Y 13 A Aux Y 15 B Aux X 17 A Aux X 19 5V 2 Reserved 4 B Aux W 6 A Aux W 8 B Aux Z 10 A Aux Z 12 B Aux Y 14 A Aux Y 16 B Aux X 18 A Aux X 20 Zero Volt Ref SSC J 4 Driver 20 Pin IDC 1 Motor Command X 3 PMW X StepX 5 7 Amp Enable Y 9 Sign Y Dir Y 11 Motor Command Z 13 PMW 7 Step 2 15 5V 17 Amp Enable W 19 Sign W Dir W 2 Amp Enable X 4 Sign X Dir X 6 Motor Command Y 8 PMW Y Step Y 10 12 Amp Enable Z 14 Sign 2 Dir Z 16 Motor Command W 18 PMW W Step W 20 Zero Volt Ref SSC J 5 General 1 0 26 Pin IDC 1 Analog 1 3 Analog 3 5 Analog 5 7 analog 7 9 11 Output 2 13 Output 4 15 Output 6 17 Output 8 19 Input 7 21 Input 5 23 Input 3 Latch 2 25 Input 1 Latch X AC Power Inputs Hot Neutral Earth SSC Main Port 9 Pin 1 CTS output 3 Receive data input 5 Zero Volt Ref 7 RTS Input 9 5V 2 Analog 2 4 Anal
94. ital inputs or hardware abort and optoisolation is not necessary for your system For a further explanation see section Bypassing the Opto Isolation in Chapter 4 RPXY3 2 20 sets addressing for daisy chain operation See Daisy Chainingin communication section CON 30 3lare used to select RS232 or RS422 These are factory preset cry 1200 CT 9600 LI 19 2K CO HSHK 2 Configuring DIP Switches on the SSC Located on the outside of the controller boxis a set of 5 DIP switches Switch 1is the Master Reset switch When this switch is on the controller will perform a master reset upon PC power up Whenever the controller has a master reset all programs and motion control parameters stored in EEPROM will be ERASED During normal operation this switch should be off Switch 2 3 and 4 are used to configure the baud rate of the main RS232 serial port See section Configuration in Chapter 3 Switch 5 is used to configure both serial ports for hardware handshake mode Set this switch on for handshake mode Please note that the Tol O Matic communication software requires that hardware handshake mode be enabled 3 Connecting AC Power to the Controller Before applying power connect the 60 pin and 26 pin ribbons between the controller and the breakout terminals The SSC requires a single AC supply voltage single phase 50 Hz or 60 Hz from 90 volts to 260 volts WARNING Dangerous volta
95. l Position of Axis X 2 B Commanded Position of Axis X FROM LIST a Data 3 LIST Data td Number of Samples a H 100 DONE CANCEL HELP Figure 5 108 Scope Setup for Manual Tuning VISUAL PROGRAMMING 5 Tune the Servo System The intent of this section is to give the user a basic familiarity with the operating modes of the Axiom series of servo motor drives and how they affect tuning The Axiom drive product line manufactured by Tol O M atic Inc consists of three brushless servo motor drives and one drive for brushed motors For specific instructions on tuning the Axiom see your drive s user manual The brushless motor drives DV10 DV20 and DV30 are designed to give optimum performance with modern permanent magnet brushless AC servo motors The DB20 is for use with traditional brush commutated DC servo motors All of these drives support two primary modes of operation when used with the SSC TORQUE MODE The drive produces motor torque proportional to an analog voltage command signal For operation in torque mode the fundamental current control functions are accomplished automatically by the drive When the driveis operatingin torque mode the command source isthe analog input from the SSC which can be adjusted for offset and scaled by the drive The user need only configurethe drive to select the correct motor and make sure the analog input command signal is appropriate
96. l of 10 Volts should run the motor at the maximum required speed For step motors the amplifiers should accept step and direction signals 8 For stepper motor operation you will need an additional 20 pin ribbon cable to connect step and direction signals 2 SET UP Installing the SSC EIGHT STEPS TO SETTING UP YOUR SSC CONTROLLER Setting jumpers Configuring dip switches Connecting Power Installing software Establishing communication Connections to drive amplifiers and encoder Connecting standard servo motors Connecting step motors CON OU 1 Setting Jumpers on the SSC These switches have been pre configured at Tol O M atic based on the configuration used to order the system and therefore step one 15 not required unless you choose to change the axis type Configuration code AXIS Y AXIS Z AXIS W AXIS PART NO SSC10 ST 3600 0110 55 10 SV 3600 0210 21 3600 0121 SSC21 3600 0221 SSC22 3600 0122 SSC22 3600 0222 31 3600 0131 SSC31 3600 0231 SSC32 3600 0132 SSC32 8600 0232 SSC33 ST SV ST 3600 0133 SSC33 SV SV ST 3600 0233 SSC34 ST ow SV 8600 0134 SSC34 SV SV SV 3600 0234 5541 ST ST ST ST 3600 0141 SSC41 _ SV ST ST ST 3600 0241 58042 eon 55042 _ SV ST ST SV 3600 0242 SSC43 pL Ep m ejm seus SSC43 _ SV SV ST 3600 0
97. lay Manual Tuning Axis Gain x KP 5 0 KI 0 0 KD 20 0 ali SAVE PID GAIN ERO POS UN m Velocity Feedforward 0 4 BACK Acceleration Feedforward 0 4 HELP Status Scope BB actual Position Command POS X Step Size ct REDRAW SAVE 40 50 70 80 B Humber of samples Rate 32s Figure 5 107 Manual Tuning Usethe SETUP button see figure 5 108 to setup the scope to collect the Actual Position and the Commanded Position of the axis that is being tuned Configure the data type sampling rate number of samples and pen color Up to four channels of data can be collected simultaneously by the motion controller The Step Response Step Size ct is based on encoder counts a step size should be entered to givethe desired amount of actuator movement The Zero position button should be clicked before the tuning cycle is started to zero out the graph The Start button starts a manual 5 VISUAL PROGRAMMING TUNE BEL tune cycle using the values entered for the PI D gains When the cycle is complete a graph is displayed showing the response of the system The tuning data can be saved by clicking SAVE button Usethe SAVE PID GAIN button to save PID settings in the controllers non volatile memory X Scope 1 Sampling Pen Color Data Type 16 ms Light Magenta Commanded Position 1 Actua
98. lication The Axiom software provides a very powerful tuning and diagnostic interface to aid the user in achieving optimum velocity control Tuning of the PID values in the SSC is also required VISUAL PROGRAMMING 5 Tuning the Controller PID filter DESCRIPTION ON THE PID FILTER Proportional Gain Kp Proportional isthe most common form of control loop compensation The proportional gain produces a motor command proportional to the difference between the commanded motor position and actual motor position The proportional gain factor defines the ratio by which a control error is multiplied to provide a value for the driving output The effect of this action isto force actual velocity to track the command Increasing proportional gain generally increases bandwidth however system stability margins will limitthe allowable gain value Inertial loadingis present to a greater or lessor degree in all motor control systems The inertia seen by the motor causes velocity to lag torque Increasing proportional gain can reduce this lag by generating relatively large driving torque levels for small position errors Since a proportional gain term requires some finite amount of error to produce an output proportional gain alone will not drive steady state error completely to zero Integral Gain Ki Integral gain is applied to control loopsto eliminate steady state error and to offset changing load conditions Integral gain in a position
99. lifier enable signals AEN All the output signals are TTL See figures 4 7 and 4 8 for how to wire outputs ANALOG COMMAND OUTPUT amp ENABLE OUTPUT The SSC analog command voltage D ranges between 47 10V This signal along with Zero Volt Ref provides the input to the servo power amplifiers The power amplifiers must be sized to drive the motors and load The gain should be set such that a 10 Volt input results in the maximum required current The SSC also provides an amplifier enable signal AEN This signal changes under the following conditions the watchdog timer activates the motor off command is given or the Enable Off On Error command 1 1 given and the position error exceeds the error limit As shown in Figure 4 6 AEN can be used to disable the amplifier for these conditions The standard configuration of the AEN signal 15 TTL active high 5 volts enable volt disable In other words the AEN signal will be high when the controller expects the amplifier to be enabled ACMD INPUT eo pin 60 pin breakout c AS Malad ribbon GND GND Figure 4 6 Connecting AEN to an amplifier 4 INPUT OUTPUT CONNECTIONS USING THE OUTPUTS Zero Volt Reference 5 Volts DC Error output Reset input Switch Common Forward Limit X Reverse Limit X Home X Forward Limit Y Reverse Limit Y Home Y Forward Limit 2 Reverse Limit Z Home Z Forward Limit W Reverse Limit W Home
100. llowing errors at high speeds some FV gain may be helpful OPERATING A DRIVE IN VELOCITY MODE When a driveis set in velocity mode it will betuned first for its Kp Ki Kd values When controlling a drivein velocity mode the SSC proportional Kp is most useful with typical systems Small amounts of derivative Kd and integral Ki gains may improve performance but may not be needed Acceleration feedforward gain FA should be applied only as necessary to help offset large load inertias Velocity feedforward gain FV can probably be left at zero for most systems If friction is causing excessive velocity following errors at high speeds some FV gain may be helpful VISUAL PROGRAMMING 5 PERFORM AN AUTOMATIC TUNE Automatic tuning should be performed when controlling a drive operating in torque mode When controlling a drive operating in velocity mode do not perform an auto tune instead proceed to manual tuning An auto tune should be done to get an initial starting point for the PID filter The auto tune routine starts by increasing the Kd then slowly incrementing the Kp and testing the response of each increment The routine continues increasing Kd and incrementing Kp until the desired response 15 achieved Theroutinethen increased Ki and tests the position error The auto tune may not work for all systems if the auto tunefails to produce a PID filter with smooth motion proceed to the manual tune and restore the default values of
101. llows parameters and programs to be saved in non volatile memory upon power down MOTOR INTERFACE For each axis a GL 1800 gate array performs quadrature decoding of the encoders at up to 8 M Hz generates the 10 Volt analog signal 16 Bit DAC for inputto a servo amplifier and generates step and direction signal for step motor drivers COMMUNICATION Communication to the SSC is via two separately addressable RS232 ports The ports may also be configured by the factory for RS422 The serial ports may be daisy chained to other SSC controllers 8310 G L 1800 VO Mic rocomputer 4 ITT 2 256K 64K EPROM otor ncoder Fr am 8 Analog In OVERVIEW 1 SYSTEM ELEMENTS As shown in Fig 1 2 the SSC 15 part of a motion control system which includes amplifiers motors and encoders These elements are described below COMPUTER SSC 1 4 CONTROLLER DRIVER Figure 1 2 Elements of Servo systems Motor A motor converts current into torque which produces motion Each axis of motion requires a motor sized properly to move the load at the desired speed and acceleration Tol O Matic s sizing and selection software can help you calculate motor size and drive size requirements The motor may be a step or servo motor and can be brush type brushless rotary or linear For step motors the controller can be configured to control full step half step or microstep drives 1 O
102. ly supplied No tuning of the PID proportional integral derivative is required in the drive The tuningis donein the SSC by adjusting its PID values to achieve the desired response The SSC creates a motion profile based on the distance speed acceleration and deceleration of the programmed motion that determines the desired motor position at every sampling period The closing of the position loop forces the motor to follow the desired position VELOCITY MODE The drive controls motor speed in proportion to an analog voltage command signal from the controller The fundamental control function of a servo drive operating in velocity mode isto control the rotational velocity of the connected motor with precision This means that the control response must have a high bandwidth and enough stiffness to prevent external disturbances load changes from significantly affecting velocity regulation Tight control of velocity allows positioning moves to be accomplished with smooth accurate trajectories When operated in velocity mode Axiom series drives receive their command signal via an external analog signal from the SSC The SSC needs only to handlethe position loop calculations to derive a velocity command by tuning the proportional gain The drives TUNE THE SERVO SYSTEM require tuning of the velocity PID control algorithm whereby velocity control bandwidth and stiffness can be tailored for maximum performance with a given app
103. n Command Figure 5 29 Record Data User Setup Settings Allows the user to save the PID and motor type settings in the program Useful if multiple programs are run that require different setup values The system setup does not need to be changed when switching programs Variable and Array Declare deallocate variable and array names and define their formats Many motion applications include parameters that are variable For example a cut to length application often requires that the cut length be variable The motion process 15 the same however the length 15 changing To accommodate these applications the controller provides for the use of both numeric and string variables A program can be written which certain parameters such as position or speed are defined as variables The variables can later be assigned by the operator or determined by the program calculations For storing and collecting numerical data the controller provides array space for 8000 elements in up to 30 arrays Arrays can be used to capture real time data such as position torque and analog input values In the contouring mode arrays are convenient for learning position trajectory and later playing It back The variable and array window as shown in Fig 5 30 defines a single dimensional array with name and number n of total elements 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Configuration maximum number of
104. nce Menus and Buttons DOWNLOAD Download the executable code to the controller EXECUTE Execute the program currently residing in the controller HALT Halt the program and the motion BURN Burns program to EEPROM memory Program The program instructions are arranged in seven groups relating to the function of each instruction To select a program instruction first select the relevent group and then the specific instruction required In the program each instruction 15 treated as an independent module For example a 2D circular motion is amodule which might include several motion segments several arc moves with different soeeds accelerations or decelerations There are three general sections to a program First is the Configuration second is the Main Program and third is the Subroutines See Figure 5 13 5 VISUAL PROGRAMMING 1 j hi oT i CONTROLLER ONLINE ENEE Program Window Apes ana Fed dee cre d j Te E 2 Ed rarr eee ale ogee m b oe ee rmm gE DNE LU I EI Eos TE rami pori gea e Paru Lemma Wem Liu bt ILI m up M Bean iir Werl Pg Com Deter Foe ES mmie REGI hrai l Ba ch rs ERE Eum amid rud E gea Chace
105. nput 1 and Input 2 arehigh Click the Controller Parameter s button to display lists of parameters motion position or velocity system configuration status and input output that are available to be included in the math function Select the desired parameter to return its value from the controller For example X3 RPX will assign commanded position of axis X to variable Click ADD to add an equation to the listing Mathematical Equation Define Equation Existing Ewisting Arafe ADD CANCEL Equation DELTA DELTA ALPHA Controller Parameters Function Keypad SQR RHD al 5 CLA AND DIGITAL 1 8 ANALOG IN 1 8 Figure 5 84 Mathematical Functions VISUAL PROGRAMMING 5 w Pori C Sudan ation Figure 5 85 Controller Parameters Display As shown in Fig 5 86 the display window shows the position of each axis input output status status of dedicated input switches and system status Position is displayed tn the unit that was selected in controller setup The digital I O status is shown as red for ON and gray for OFF state Thel O name can be modified by clicking the change I O name option and then selecting the I O channel When choosing the I O control option you toggle the controller outputs by clicking the output status
106. o cancel setup VISUAL PROGRAMMING 5 Smoothness LOW UNS HIGH CANCEL B HELP Figure 5 8 Stepper Axis Setup Save Exit After finishingthe offline controller setup as shown in Fig 5 5 click SAVE to save settings to a disk file DONE to go back to offline message window and automatically save setup value to file CA windows asa default value OFFLINE PROGRAMMING Offline programming as shown in Fig 5 9 provides as much functionality as the online programming with the exception of execute halt motion burn program and download codeto the controller The program code created in offline programming can be saved in a disk file and beloaded when the controller is connected afterwards 5 VISUAL PROGRAMMING Controller Online When the serial communication ts established the Axidyne Tol O Motion SSC logo and controller type will be displayed There are thirteen toolbar buttons under the Tol O Motion SSC main window Clicking on any of the buttons will take you to the corresponding stage of operation The toolbar buttons are Exit Quit the SSC programming software Save Save the current program to a disk file Open Open an existing program file from disk drive Setup Used to setup the number of axes motors encoders and PID gain In Terminal Terminal window is used to edit the two letter source code Program Program window Is used to create motion programs
107. of commands HM X return BGX lt return gt Standard Homingisa combination of Find Edge and Find Index homing Initiating the standard homing routine will cause the motor to slew until a transition is detected in the logic state of the Home input The motor will accelerate at the rate specified by the command AC up to the slew speed After detecting the transition in the logic state on the Home Input the motor will decelerate to a stop at the rate specified by the command DC After the motor has decelerated to a stop it switches direction and approaches the switch transition point at the speed of 256 counts sec When the logic state changes again the motor moves forward at the same speed until the controller senses the index pulse After detection it decelerates to a stop and defines this position as O 4 INPUT OUTPUT CONNECTIONS USING OPTOISOLATED INPUTS Zero Volt Reference 5 Volts DC Error output Reset input Switch Common Forward Limit X Heverse Limit X Home X Forward Limit Y Heverse Limit Y Home Y Forward Limit Z Reverse Limit Z Home Z Forward Limit W Heverse Limit W Home W Output 1 Input Common Input 1 Latch X Input 2 latch Y Input 3 Latch Z Input 4 Latch W Abort Input Motor Command X Drive Enable X Isolated Power 5 to 24 VDC Zero Volt Reference NNN lt lt lt lt mn lt lt a ees Forward Limit Tol o matic Form C Reed Switch Normally Closed Contact Home
108. of cycles to iterate or trigger condition to repeat Two lines of code will be created begin and end of the repeat loop Any commands added after the repeat ask the user if they are to be inside the loop until the first time NO is selected The user can also cut and paste the begin or end statement anywhere in the program Condilion DONE Hunter ot Loop CANCEL When Inn m Figure 5 64 Repeat VISUAL PROGRAMMING 5 Subroutine The subroutine instruction as shown in Fig 5 65 starts a user defined or system subroutine A subroutine 15 a group of instructions beginning with a subroutine label and ending with an end command Subroutines are called from the main program with the jump subroutine instruction followed a conditional statement Up to 8 subroutines can be nested After the subroutine is executed the program sequencer returns to the program location where the subroutine was called unless the subroutine stack is manipulated with the zero subroutine stack Instruction The system subroutines are Input Interrupt subroutine ANIT IN Position subroutine 4MCTIME Position error subroutine ZPOSERR Limit switch subroutine SWI Communication interrupt subroutine D efine Subroutine DONE Existing Subroutines CANCEL f Subroutine name nterrupt subroutine LHP n Position subroutine HMCTIME Position Error subroutine HPOSERR Limit
109. og 4 6 Analog 6 8 Zero Volt Ref 10 Output 1 12 Output 3 14 Output 5 16 Output 7 18 Input 8 20 Input 6 22 Input 4 Latch W 24 Input 2 Latch Y 26 Input Common Connects to 110 or 220 AC Return for AC Chassis input 2 Transmit data output 4 RTS input 6 CTS output 8 CTS output SSC Auxiliary Port 9 Pin 1 CTS input 3 Transmit data output 5 Zero Volt Ref 7 RTS output 9 5V Figure 2 1 SSC Connector Pinout 2 Receive data input 4 RTS output 6 CTS input 8 CTS input SSC TERMINAL J2 ZERO VOLT REF MOTOR COMMAND X A X A X B X I X ZERO VOLT REF ZERO VOLT REF MOTOR COMMAND Y A Y A Y B Y B Y F Y ZERO VOLT REF ZERO VOLT REF MOTOR COMMAND Z A Z A Z B Z B Z 1 4 1 4 ZERO VOLT REF ZERO VOLT REF MOTOR COMMAND W A W A W B W B W W ZERO VOLT REF BREAKOUT PIN WIRE COLOR WHT GRAY GRAY WHT RED BLUE BLUE RED RED ORG ORG RED BLUE WHT WHT GRAY GRAY WHT RED BLUE BLUE RED RED ORG ORG RED BLUE WHT WHT GRAY GRAY WHT RED BLUE BLUE RED RED ORG ORG RED BLUE WHT WHT GRAY GRAY WHT RED BLUE BLUE RED RED ORG ORG RED BLUE WHT SET UP AXIOM TERMINAL ANALOG CMND ANALOG CMND ENCODER OUT A ENCODER OUT A ENCODER OUT B ENCODER OUT B ENCODER OUT I ENCODER OUT I COMMON ANALOG CMND ANALOG CMND ENCODER OUT A ENCODER OUT A ENCODER OUT B
110. oller axes Theelectronic CAM ECAM window as shown in Fig 5 46 defines the CAM profile position for master slave axis engagement and disengagement Each portion of ECAM is described as follows Electronic Motion Define Electronic Motion Profile CANCEL Engane Slave A amp xis Axes at Master Position Disengane Slave Axis Axes at Master Position HELP C Exit The Electronic Made Figure 5 48 Electronic CAM 2 22 2 PROGRAM INSTRUCTIONS First Define electronic CAM motion profile Start by selecting the master axis and slave axis axes for the electronic cam mode Any available axis may be chosen Second specify the master cycle M 1 M 0 see Fig 5 50 and the net change of slave in one cycle 51 50 see Fig 5 50 If there is a position offset for the master then enter the offset for the master axis Third determine number of data points of the electronic CAM table Lastly click the EDIT ECAM DATA button to enter edit the ECAM data Define DONE Master Asis Ed Moz CANCEL Master Cycle Change of Slave in Cycle HELP 21 Slave Master Position Offset F In in E Number of ELM Data 12 Fonts Figure 5 49 ECAM Motion Profile Slave Position Electronic Cycle 1 Master Position Figure 5 50 Define ECAM Motion Profile Ag
111. oltage output of the controller will be directly related to the velocity of the motor The user is responsible for determining this relationship using the documentation of the motor and drive The torque limit can be set to a value that will limit the speed of the motor For example the following command will limit the output of the controller to 1 volt on the X axis TL1 lt CR gt Note Once correct polarity of the feedback loop has been determined the torque limit should in general be increased to the default value of 9 99 The servo will not operate properly if the torque limit is below the normal operating range Step D Connect the Motor Once the parameters have been set connect the analog motor command signal ACM D to the drive input To test the polarity of the feedback use the jog by position function See Chapter 5 When the polarity of the feedback is wrong the motor will attempt to run away The controller should disable the motor when the position error exceeds 2000 counts If the motor runs away the polarity of the loop must be inverted Note Inverting the Loop Polarity When the polarity of the feedback 15 incorrect the user must invert the loop polarity and this may be accomplished by several methods If you are driving a brush type DC motor the simplest way is to invert the two motor wires typically red and black When driving a brushless motor the polarity reversal may be done with the encoder I
112. ommitted Digital sssini 4 5 Wiringthe Optoisolated 4 7 Usingan Isolated Power 4 8 Bypassing 1 1 0 4 8 Changing Optoisolated Inputs From Active Low to High 4 10 Itm 4 10 Analog IMO UES aay err P 4 10 dcm UTEM 4 11 Analog Command Output amp Enablelnput 4 11 OT Set ATUS E ons v te Qe p OU PF NR RB GARD VUE 4 14 CHAPTER 5 TOL O MOTION SSC VISUAL PROGRAMMING IEE sis rae geo REIR MOERS TM DEM SUN 5 1 D TE 5 2 Seguros NM 5 3 Serial Communication 00000000 00 5 3 OtflineController Setup ck FER VEI eL ERAN ERR QUEE RUFI dU ESI tad 5 5 Re S 5 9 MT 5 10 5 11 5 12 Prog ann SERCH ONS a a nasil 5 20 Group Config ratlofi 5 21 COU HEU 5 31 GrOUD duae vila VERE EN CU ap CA 5 34 GilOUD Progr ali D 5 49 croup Servo SEU EIOS Y FEY ELEVATA AREE Dr 5 63 GOUD V SEn HIS
113. on signals There is no limit on encoder line density however the input frequency to the controller must not exceed 2 000 000 full encoder cycles second or 8 000 000 quadrature counts sec For example if the encoder line density is 10 000 cycles per inch the maximum speed is 200 inches second The standard voltage level 15 TTL zero to five volts however voltage levels up to 12 Volts are acceptable If using differential signals 12 Volts can be input directly to the SSC Single ended 12 Volt signals require a bias voltage input to the complementary inputs Elements You Need Before you start you will need the following system elements 1 SSC Motion Controller and included cables RS232 60 pin ribbon cable and 26 pin ribbon cable 2 Breakout terminals Optional for screw terminal accessibility a 60 pin 26 pin din rail breakout terminal block from Tol O Matic is recommended 3 Servo motors with Encoder one per axis or step motors 4 Motor Driver Amplifier e g Tol O Matic Axiom Servo or Micro Stepper Drive 5 PC Personal Computer with RS232 port 6 Tol O Motion SSC Software lt gt For servo motors the amplifiers should accept an analog signal in the 10 Volt range as a command The amplifier gain should be set so that a 10V command will generate the maximum required current For example if the motor peak current is 10A the amplifier gain should be 1 A V For velocity mode amplifiers a command signa
114. or handling subroutine or limit switch handling subroutine The error handling subroutine begins with the POSERR label The limit switch handling subroutine begins with the SWI If the program was waiting for a trippoint to occur prior to the interrupt the trippoint can either be preserved on return to the main program or the trippoint can be cleared The End of Input Interrupt INIT subroutine 1 used to end the interrupt subroutine beginning with the label The end of interrupt subroutine causes a return to the main program and re enables input interrupts If the program was waiting for trippoint to occur prior to the interrupt the trippoint can either be preserved on return to the main program or the trippoint can be cleared The End of Communication Interrupt Subroutine COMINT is used to end acommunication interrupt subroutine beginning with the label The end of interrupt causes a return to main program The interrupt can either be restored or cleared on return to the main program If the program was waiting for a trippoint to occur prior to theinterrupt thetrippoint can either be preserved on return to the main program or thetrippoint can be cleared Ens od ubrooline Ered SMS S T Figure 5 56 End VISUAL PROGRAMMING 5 Execute The execute instruction as shown in Fig 5 57 starts a program module running Execution will start at the label
115. or in excess of the limit specified by the error tolerance occurs When the function is enabled an abort either from the abort input or the abort command will shut off the motor VISUAL PROGRAMMING 5 If a position error is detected on an axis and the motion was under an independent move only that axis will be shut off However if the motion is a coordinated mode of the types linear or circular interpolation all the participating axes will be stopped Enable DONE ixi CANCEL Axis HELP Figure 5 80 Motor Disable Upon Error Position Set position limits for each axis The position limit window as shown Fig 5 81 sets the forward and reverse software limits If the limit is exceeded during motion motion on that axis will decelerate to a stop Reverse motion beyond this limit is not permitted The reverse limit is activated at X 1 Y 1 Z 1 W 1 Forward motion beyond this limit is not permitted The forward limit is activated at X 1 1 Z 1 W 1 To disable the reverse limit scroll X Y ZW to minimum left The forward limitis disabled by setting its value to maximum Forward Backward Axis 268423 in Puis 26841 in lt 073693 in edu 3725 in de 4 gt 5368463 in m 5358627 in lt H 4 H 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group System Limit
116. osition latch stop code switches and torque Collected data can be saved to a disk file for post analysis Data Acquisition Position Data SETUP COLLECT PLOT REDRAW dad SAVE Humber of samples Rate 1618 Figure 5 102 Data Acquisition Clicking SETUP will pop up a setup window as shown in Fig 5 103 to configure data type sampling rate number and samples and pen color for acquisition Up to four data can be collected simultaneously by the motion controller After setup click the COLLECT button to select the start time for data collection See Figure 5 104 The START button starts data collection after the selected condition Time required for data acquisition depends on the sampling rate and number of samples specified in the setup window When the controller is done with the data collection click the PLOT button to display the data Use REDRAW to redraw the data curves and SAVE to save acquired data into a disk file VISUAL PROGRAMMING 5 X Scope 1 Sampling Rate Pen Color Data Type Ayes 16 ms Black Position m ADDTO LIST B Position of Axis X Data 2 REMOVE FROM LIST Data 3 RESET LIST Data tt 4 Number of Samples 100 DONE CANCEL HELP Figure 5 103 Scope Setup Scope Collect Data Data Collection Trigger when Input it Goes 10 After Right
117. ou wish to cut or delete selected program instruction temporarily and hold it in the clipboard for later use NOTE Cutis also available by clicking the right mouse button Clicking the button and select the Cut has the same effect as selecting Edit C ut Keyboard Shortcut Ctrl X Paste Use the Paste command any time you want to past insert program instruction from the clipboard into your program You can use the Paste command with the Cut command to move program instruction or with the Copy command to complete the copying process NOTE Paste 6 also available by clicking the right mouse button Clicking the button and select Paste has the same effect as selecting Edit P aste Keyboard Shortcut Ctrl V Delete Delete the current selected program instruction NOTE Delete 15 also available by clicking the right mouse button Clicking the button and select the Delete has the same effect as selecting Edit Delete Keyboard Shortcut Del Modify Individual program instruction can be modified by selecting Edit Modify or double clicking on the line to be modified 5 VISUAL PROGRAMMING CONTROLLER ONLINE Program Window Insert Insert Comment Comment Out View Code VIEW MENU Program Source Code OPTION MENU Program Status Trace Program HELP MENU Help on Programming About NOTE Modify is also available by clicking the right mouse button Clicking the button and select the Modify has the same effect as selec
118. ove panel will display as shown in Fig 5 91 Use the scroll bar or enter values the text field and hit enter to specify arc radius start angle in degree sweep angle degree vector speed acceleration and deceleration Then click GO button to start arc move or click STOP button to stop motion Click BACK button to go back to previous window Jog Linear Move Linear Motion BACK HELP Displacement gt 50 l STOP Displacement Y 5 Speed ins B Acceleration ho in 2 Hn Deceleration VISUAL PROGRAMMING 5 E x Circular Motion Radius gt ty Start Angle oO g Sweep Angle 224 4 Speed m Acceleration 4 7 Deceleration B Figure 5 91 Circular Interpolation Panel Teach By Joystick The teach by joystick window as shown in Fig 5 92 has been designed for two axes XY applications Enable the joystick function by clicking the Enable option Use the joystick to move the actuators to a desired position Specify motion parameters Speed acceleration and deceleration and click the left button RECORD on the joystick to record data You can also use the WAIT button to place a wait statement in the teaching sequence After finishing a series of data acquisitions click the right button DONE on the joystick to terminate the teach mod
119. ps generating motion commands immediately whereas the limit switch response causes the controller to make a decelerated stop ALSO NOTE Theeffect of an Abort input is dependent on the state of the off on error function for each axis If the Off On Error function is enabled for any given axis the motor for that axis will be turned off when the abort signal is generated This could cause the motor to coast to a stop since itis no longer under servo control If the Off On Error function 1 disabled the motor will decelerate to a stop as fast as mechanically possible and the motor will remain in aservo state All motion programs that are currently running are terminated when a transition in the Abort input is detected For information on setting the Off On Error function see the Command Reference OE NOTE Theerror LED does not light up when the Abort Input is active UNCOMMITTED DIGITAL INPUTS The SSC has 8 uncommitted opto isolated inputs These inputs are specified as INx where x specifies the input number 1 through 8 These inputs allow the user to monitor events external to the controller For example the user may wish to have the x axis motor move 3 inches in the positive direction when the logic state of IN 1 goes low 4 INPUT OUTPUT CONNECTIONS USING OPTOISOLATED INPUTS Analog input 1 Analog input 2 Analog input 3 Analog input 4 Analog input 5 Analog input 6 Analog input 7 Zero Volt Reference 5 Volts DC Output
120. rameters or variables from RAM to EEPROM in the controller The write controller parameters option as shown in Fig 5 31 saves certain controller parameters in non volatile EEPROM memory Programs are not saved and must be downloaded from the host computer upon power up This command typically takes 250 msec to execute and must not be interrupted See the BN command for a list of parameters The write variables option saves the controller variables in non volatile EEPROM memory This command typically takes up to 2 seconds to execute and must not be interrupted a Write EEPROM Type 17 Oplion Caniraller Faimes 1 Cirig Venables ue f Program DONE ee CANCEL HELP Figure 5 31 Burn EEPROM Use the Config or Program option to place the code configuration or program selection GROUP I O Contains two instructions for input output control Output The Control output channel The control output channel option sets or clears one of the eight programmable outputs See Fig 5 32 Define output bit by logical expression see Fig 5 33 The Define output bit by logical expression option defines output 1 through 8 as either O off or 1 on depending on the result from the logical expression Any non zero value of the expression results in a one on the output 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Send data 0 255 to output port see Fig 5 34 The
121. ransmit output 4 Data Terminal Ready output 9 Data Terminal Ready output 5 Zero Volt Ref D efault configuration is RS232 RS422 configuration available by factory Configuration Configure your PC for 8 bit data one start bit one stop bit full duplex and no parity The baud rate for the RS232 communication can be selected by setting the proper switch configuration on the front panel according to the table below BAUD RATE SELECTION SWITCH SETTING INTERPRETATION 1200 9600 19 2K ON ON OFF 300 Baud rate ON OFF OFF 1200 Baud rate ON OFF ON 4800 Baud rate OFF ON OFF 9600 Baud rate OFF OFF ON 19200 Baud rate Default Setting OFF ON ON 38400 Baud ON ON ON SELF TEST The RS232 main port can be configured for handshake or non handshake mode Set the HSHK switch to ON to select the handshake mode In this mode the RTS and CTS lines are used The CTS line will go high whenever the SSC is not ready to receive additional characters The RTS line will inhibit the SSC from sending additional characters Note the RTS line goes high for inhibit The handshake should be turned on to ensure proper communication especially at higher baud rates The auxiliary port of the SSC can be configured either as a general port or for the daisy chain When configured as a general port the port can be commanded to send ASCII messages to another SSC controller or to a display terminal or panel To configure Port 2 in visual program see communication
122. ration Also aborts motion program Reset A low input resets the state of the processor to its power on condition The previously saved state of the controller along with parameter values and saved sequences are restored Forward Limit Switch When active inhibits motion in forward direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command Reverse Limit Switch When active inhibits motion in reverse direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command Home Switch Input for Homing HM and Find Edge FE instructions Upon BG following HM or FE the motor accelerates to slew speed A transition on this input will cause the motor to decelerate to a stop The polarity of the Home Switch may be set with the CN command Input 1 Input 8 Isolated Uncommitted inputs May be defined by the user to trigger events Inputs are checked with the Conditional ump instruction and After Input instruction or Input Interrupt Input 1 is latch X Input 2 is latch Y Input 3 is latch Z and Input 4 is latch W if the high speed position latch function is enabled Latch High speed position latch to capture axis position within 20 nano seconds on occurrence of latch signal AL command arms latch Input 1 is latch X Input 2 is latch Y Input 3 is latch Z and Input 4 is latch W Using This Manual Usin
123. rid table as shown in Fig 5 51 is available for entering the CAM data Use COPY to copy selected data PASTE to paste copied data to selected field s or CLEAR to clear highlighted fields VISUAL PROGRAMMING 5 COPY PASTE CLEAR DONE CANCEL HELP DO so L ca Figure 5 51 Edit Profile Data Second Engage slave axis axes at particular master position The engage window as shown in Fig 5 52 engages an ECAM slave axis at a specified position of the master If a value is specified outside of the master s range the slave will engage immediately Once a slave motor is engaged its position is redefined to fit within the cycle X Engage Slave s at Master Position E uH n DONE CANCEL HELP Figure 5 52 Engage ECAM Third Disengage slave axis axes at specific master position The disengage window as shown in Fig 5 53 disengages an electronic cam slave axis at the specified master position Separate points can be specified for each axis If a valueis specified outside of the master s range the slave will disengage immediately 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS 5 x Dizengage Slave s at Master Position Y i z im o DONE CANCEL HELP Figure 5 53 Disengage ECAM Fourth Exit electronic CAM mode Tangent Motion Tangent motion instruction as shown in Fig
124. rminal Terminal window is used to edit the two letter source code Joystick Teach Joystick Teach window is used onlineto create a series of 2 axis linear moves that can be loaded into a program Scope A data acquisition panel for collecting system data from position position error 2nd encoder position commanded position latch stop code switches and torque Tune Used to set PID gainsin automatic or manual modes Jog Jogsthe axis by position or speed 5 VISUAL PROGRAMMING INTRODUCTION l INTRODUCTION Hit F1 key on your keyboard use the help button in the window to get help anytime Tree ee Figure 5 1 Menu Bar WINDOWS 95 98 NT INSTALLATION INSTRUCTION 1 Insert the Tol O Motion SSC software installation disk 1in your computer s floppy drive 2 From the start menu choose run 3 In the Run window click in the Command Line box 4 Type A SETUPEXE 5 Follow the on screen instructions that appear After installing the software run SSC software to start the motion control program The following screen will first show up to communicate with the controller Please refer to Controller Offline section if the controller is offline or refer to Controller Online section when the serial communication is established TOL O MOTION SSC Figure 5 2 Startup Message VISUAL PROGRAMMING 5 Controller Offline If no serial communication is established the software will display a m
125. ror Limits and Torque Limits Note that this discussion uses the X axis as an example Step B Set the Error Limitasa Safety Precaution Usually there is uncertainty about the correct polarity of the feedback The wrong polarity causes the motor to run away from the starting position Using the programming terminal the following parameters can be given to avoid system damage Input the commands ER2000 CR Setserror limit on the X axis to be 2000 encoder counts OE 1 CR Disables X axis amplifier when excess position error exists If the motor runs away and creates a position error of 2000 counts the motor amplifier will be disabled Note This function requiresthe Amplifier Enable AEN signal to be connected from the controller to the amplifier Step C Set Torque Limit asa Safety Precaution To limit the maximum voltage signal to your amplifier the SSC controller has torque limit command TL This command sets the maximum voltage output of the controller and can be used to avoid excessive torque or speed when initially setting up a servo system When operating a drive in torque mode the voltage output of the controller will be directly related to the torque output of the motor The user is responsible for determining this relationship using the documentation of the motor and drive The torque limit can be set to a valuethat will limitthe motor s output torque When operating a drive in velocity or voltage mode the v
126. s Torque Set torque limits for each axis unit in volt The torque limit window as shown Fig 5 82 sets the limit on the motor command output For example a value of 5 limits the motor command output to 5 volts Maximum output of the motor command IS 9 996 volts Tongue Limit D phon fas Config 41 Program CONT M jM x HELF 41 EJ Figure 5 82 Torque Limit Integrator Set integrator limit for each axis Select the Config or Program option to place the code in configuration or program selection The integrator window as shown in Fig 5 83 limits the effect of the integrator function in the filter to a certain voltage For example 2 volt limits the output of the integrator of the X axis to the 2 Volt range A negative parameter also freezes the effect of the integrator during the move For example 3 limits the integrator output to 3V If atthe start of the motion the integrator output is 1 6 Volts that level will be maintained through the move VISUAL PROGRAMMING 5 GROUP MATHEMATICAL EQUATION The instruction window of the mathematical function is shown tn Fig 5 84 The numeric range for addition subtraction and multiplication operations is 4 2 147 483 647 9990 The precision for division is 1 65 000 Mathematical operations are executed from left to right Parentheses be used and nested four deep Calculat
127. s in the daisy chain This involves burning in the command TM 1 in all SSC s except for one SSC which will be the source It is also necessary to put a jumper on pins 7 and 9 of the and JP31 jumper blocks ARR E Aem JP30 amp JP31 3 COMMUNICATION Controller Response to DATA Most SSC terminal mode instructions are represented by two characters followed by the appropriate parameters Each instruction must be terminated by a carriage return or semicolon Instructions are sent in ASCII and the SSC decodes each ASCII character byte one at atime It takes approximately 5 msec for the controller to decode each command However the PC can send data to the controller at a much faster rate because of the FIFO buffer After the instruction is decoded the SSC returns acolon if the instruction was valid or a question mark if the instruction was not valid For instructions that return data such as Tell Position TP the SSC will return the data followed by a carriage return line feed and Itis good practice to check for after each command is sent to prevent errors An echo function is provided to enable associating the SSC response with the data sent The echo is enabled by sending the command EO 1to the computer Notes Overview Input Output Connections The SSC provides optoisolated digital inputs for forward limit reverse limit home an
128. speed even at transitions between linear and circular segments The controller performs all the complex computations of linear and circular interpolation freeing the host computer from this time intensive task The smoothing is accomplished by filtering the acceleration profile Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value The discontinuous acceleration results in infinite jerk that causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and a finite jerk which reduces the mechanical shock and vibration First select the proper positive and negative direction for the X and Y axis on the display by clicking on the axis labels in upper right corner to change the display to match your system As shown in Fig 5 37 the circular motion programming shows all necessary parameters for performing an arc move Select the axes for circular motion and specify radius start and sweep angle of the arc and its direction Definethe motion parameters which are speed acceleration deceleration and smoothness for the move The sequence end option is selected to stop at the end of the move or continue to the next move Continue from last 2D vector move is used when the previous move is also a vector move Thestart angleis defined asthe angle formed between zero degrees on the coordinate system and the start of the arc measuring in the direction of positive
129. the location where the limit occurred VISUAL PROGRAMMING 5 ero Subroutine Stack Type f Return Stack to Original Condition CANCEL C Eliminate One Return on Stack Figure 5 73 Zero Subroutine Stack GROUP SERVO SETTINGS Includes five instructions for servo control settings Dual Loop Enable dual loop control The dual loop function as shown in Fig 5 74 changes the operation of the PID filter It causes the derivative term to operate on the dual encoder instead of the main encoder This results in improved stability in the cases where there 15 a backlash between the motor and the main encoder and where the dual encoder is mounted on the motor E X Enable DONE CANCEL Axis 2 E HELP Figure 5 74 Dual Loop Control Feedforward Specify feedforward velocity and acceleration gains for servo axis The feedforward instruction as shown in Fig 5 75 sets the velocity and acceleration feedforward coefficients The velocity coefficient generates an output bias signal in proportions to the commanded velocity The acceleration coefficient when scaled by the acceleration adds torque bias voltage during the acceleration phase and subtracts the bias during the deceleration phase of amotion 5 VISUAL PROGRAMMING x Velocity Acceleration x ata NEN HEN fe NEN mE EN E
130. ting Edit Modify Keyboard Shortcut Ctrl Program instruction can be insert into the program by selecting line that the command will be insert before selecting then select desired program instruction NOTE Insert is also available by clicking the right mouse button Clicking the button and select the Insert has the same effect as selecting E dit Insert Keyboard Shortcut Ctrl Insert Comment used to include explanatory remarks in program Syntax Comment The comment argument is the text of any comment you want to include and comment argument is not an executable program instruction NOTE Insert Comment is also available by clicking the right mouse button Clicking the button and select the Insert Comment has the same effect as selecting Edit lnsert Comment Keyboard Shortcut Ctrl E Individual program instruction can be Comment Out by selecting Edit Comment Out When you select Comment Out the single quotation mark will be added to the head of program instruction Once the program instruction is comment out it IS no longer an executable program statement NOTE Comment Outis also available by clicking the right mouse button Clicking the button and select the Comment Out has the same effect as selecting Edit Comment Out Keyboard Shortcut Ctrl U Individual program instruction s code can be viewed by selecting Edit View Code NOTE View Code is also available by clicking the right mouse button Clicking
131. tonal COMIMANGS POEQUAm EVI QU 8 8 Ren ra uiri cea 8 8 TO DONA EESTI E Gov pide 8 8 Specifying Vector Speed for Each 8 9 Vector Speed Example ket Cere EU GERE 8 9 changing Fedr ate epu TREERE EIU 8 9 Command Summary Linear 8 10 Operand Summary Linear Interpolation 8 10 Linear Interpolation 8 11 Vector Mode Linear and Circular Interpolation Motion 8 13 Specifying Vector 8 14 Specifying Vector Acceleration Deceleration and Speed 8 15 Additional 8 15 8 15 FECA ALC Gat E e ee Cri 8 16 Compensating for Differences in Encoder Resolution 8 16 AINE Mi OU Ol 8 16 Tangent Motion ExampQple nnnm 8 17 Command Summary Vector Mode Motion 8 18 Operand Summary Vector Mode 8 18 Vector Mode Example Ma REY at
132. u cu Pub 8 18 N 8 20 Command Summary Electronic 8 21 Operand Summary Electronic 8 21 Electronic Gearing 66 8 22 msesgeed age 8 23 Step 1 Selecting the Master 8 24 Step 2 Specify the aster Cycle and the Changein the Slave Axis ES 8 24 Step 3 Specify the Master Interval and Starting Point 8 24 Step 4 Specify the 8 25 CONTENTS 510025 Enable Ee CANN 8 25 Step 6 Engage the lave 8 25 Step 7 Disengage the Slave 8 26 Command Summary 8 28 Operand Summary Ecam 8 28 Electronic EXAMP 8 29 TUMULUM 8 30 Specifying Contour Segments cesses 8 30 Additonal COMIMANG S sarei M Ha A poc verd Reads 8 31 Command Summary Contour 8 32 Operand Summary Contour 8 32 Contour 8 32 Teach Record and 8 35 Record and Playback
133. use for acceleration feedforward gain is to help compensate for large load inertias A value of acceleration feedforward gain that is too high for the corresponding system will likely cause current noise oscillation Velocity Feedforward Gain FV The velocity feedforward term will produce a torque component directly proportional to the command velocity As with acceleration feedforward velocity feedforward is not part of the closed loop velocity control scheme Increasing velocity feedforward gain will increase the magnitude of the torque component produced for a given velocity command This gain can be adjusted to help compensate for viscous friction in a system Viscous friction 15 friction that increases as motor speed increases Judicious use of velocity feedforward gain can reduce velocity following error Excessive values of velocity feedforward gain may increase hunting when the motor tries to remain at rest at a given position OPERATING A DRIVE IN TORQUE MODE A drive may be set in torque mode for vertical applications or for tension or force control applications When controlling a drivein torque mode the SSC proportional Kp and integral Ki and derivative Kd gains are most useful with typical systems Acceleration feedforward gain FA should be applied only as necessary to help offset large load inertias Velocity feedforward gain FV can probably be left at zero for most systems If friction is causing excessive velocity fo
134. utes the vector speed based on the axes specified in the linear interpolation mode For example select linear interpolation for the X Y and Z axes The speed of these axes will be computed from VS22XS24Y S24Z7S2 where XS YS and ZS are the speed of the X Y and Z axes If the incremental displacement specifies only X and Y the speed of Z will still be used in the vector calculations 5 VISUAL PROGRAMMING PROGRAM 2 Maton LS Linear Interpolation Define Move Axis v Axis 3rd Axis 4th Axis Displacement A 2 Speed 25 T 3 5 In Acceleration 20 Ines 2 5 in Deceleration 20 Ines 2 uy 0 T from last 20 vector move Type sequence End incremental f End of move pi Continuous to nest move Velocity Profile Smoothness Lo a ADD HIGH 25 CANCEL Figure 5 43 Linear Interpolation Click ADD to add interpolation segment to procedure or CANCEL to return to the main program Motion Parameters Specify speed acceleration and deceleration for selected axes Motion Parameters L efine Move Speed 20 Ir Az Acceleration 1 2 ADD v Deceleration 15 in s 2 CANCEL Figure 5 44 Define Motion Parameters 22222 2 Stop Motion Stop independent coordinated motion all motion or all motion and program Motors will come to a decelerated stop Stop Motion Stop Motion AS
135. wn tn Fig 5 70 is used to hold up execution of the next command until after the specified time has elapsed The time 15 measured with respect to a defined reference time Positive reference value n specifies n msec from the reference Negative reference value n specifies n msec from the reference and establishes a new reference after the elapsed time period 5 VISUAL PROGRAMMING PROGRAM INSTRUCTIONS Group Program Flow DONE Position Speed Clock Motion Input Ht CANCEL Define Trippoint HELP 4 7 P C D Hm C Clock Set reference time at 0 me walt for 1000 ms Figure 5 70 Clock Trippoint Trippoint Motion Wait until motion is completed The after motion trippoint as shown in Fig 5 71 is used to control thetiming of events This command will hold up execution of the following commands until the current move on the specified axis or axes is completed Any combination of axes or a motion sequence may be specified with the after motion trippoint For example Select axis XY waits for motion on both the X and Y axisto be complete Use after motion trippoint with no parameter specified will wait when motion on all axes is complete VISUAL PROGRAMMING 5 x DONE C Position 4 Speed Clock Motion Input CANCEL Define Trippoint AXIS HELP C ex 2 wid E mE Motion
136. x and Standard Home To add Homing to Visual Program use the Home Instruction the motion group Find Edge The x axis Find Edge routine Is initiated by the command sequence FEX lt return gt BGX lt return gt The Find Edge routine will cause the motor to accelerate then slew at constant speed until a transition 1 detected in the logic state of the Home input The motor will then decelerate to a stop The acceleration rate deceleration rate and slew speed are specified by the user prior to the movement using the commands AC DC and SP It is recommended that a high deceleration value be used so the motor will decelerate rapidly after sensing the Home switch The position is not set to zero Find Index The x axis Find Index routine is initiated by the command sequence FIX lt return gt BGX lt return gt Find Index will cause the motor to accelerate to the user defined slew speed SP at a rate specified by the user with the AC command and slew until the controller senses a change the index pulse signal from low to high The motor then decelerates to a stop at the rate previously specified by the user with the DC command Although Find Indexis an option for homing itis not dependent upon a transition in the logic state of the Home input but instead is dependent upon a transition in the level of the index pulse signal The position is set to zero Standard Homing The x axis Standard Homing routine Is initiated by the sequence

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