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1. GROUP System SYNTAX ELECTRONIC GEAR lt Numerator gt lt Denominator gt Op CODE 161 MODES Program Immediate Sequential DESCRIPTION This command enables changing the default gear as defined by Pn202 and Pn203 The new gear is effective 2 msec after fetching the command and it disables the variable follower_ synchronized The gear ratio is a positive value from 1 100 to 100 SYNTAX Numerator The numerator s value ARGUMENTS 1 65535 Serial 2 JU V Denominator The denominator s value 1 65535 Serial 2 JU V EXAMPLE LABEL 1 CONTROL ON SPEED 5000 ACCELERATION 9000 ELECTRONIC GEAR 8 1 MOVE R 2000 JAIT_INPUT 1 1 1 ELECTRONIC GEAR 4 1 MOVE R 1000 END EXAMPLE The electronic gear is set to an 8 1 ratio before the MOVE_R EXPLANATION 2000 command The motor follower is then synchronized and waits for an input to start a new MOVE_R command with a different electronic gear this time 4 to 1 NOTE The synchronization time lasts 2 ms due to the fetching time for the new gear setting 116 Command Reference END GROUP Program Flow Control SYNTAX END Op CODE 70 MODES Program Immediate DESCRIPTION Terminates the user program currently being executed EXAMPLE LABEL 1 WAIT INPUT 1 1 1 CALL 2 END LABEL 2 SET OUTPUT 1 ON RETURN EXAMPLE Wai
2. 8 3 Table 19 Input Signal Selections Table 19 Input Signal Selections Parameter ae Name Setting Description S 0 Sets the input signals to use 0 Input Signal Allocation default values 0 Mode 1 Possible to freely allocate the input signals 0 Inputs from the SIO CN1 40 input terminal 1 Inputs from the S11 CN1 41 input terminal 2 Inputs from the SI2 CN1 42 input terminal 3 Inputs from the SI3 CN1 43 input terminal 4 Inputs from the S14 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal 1 S ON Signal Mapping 7 Sets signal ON 0 Slo Pn50A Servo ON when low 8 Sets signal OFF i 9 Inputs the reverse signal from the SIO CN1 40 input terminal A Inputs the reverse signal from the S11 CN1 41 input terminal B Inputs the reverse signal from the SI2 CN1 42 input terminal c Inputs the reverse signal from the SI3 CN1 43 input terminal D Input the reverse signals from the S14 CN1 44 input terminal E Inputs the reverse signal from the SI5 CN1 45 input terminal F Inputs the reverse signal from the SI6 CN1 46 input terminal P CON Signal 2 Mapping 0 F Same as above 1 S11 P control when low P OT Signal Mappin 3 lovee When hion 0 F Same as above 2 12 N OT Signal Mappin 0 oe when high 0 F Same as above 3 SI3 ALM RST Signal 1 Mapping 0 F Same as above 4
3. Parameter 3 Setting Default Category Number Name Unit Range Setting Reference Pn2A2 Work speed default low Speed units 0 65535 0 5 9 1 2 Speed units Pn2A3 Work speed default high 65536 0 256 0 5 9 1 2 Pn2A4 Work acceleration default low CC 0 65535 0 5 9 1 2 tion units Accelera Pn2A5 Work acceleration default high tion units 0 256 0 5 9 1 2 65536 Pn2a Work jerk smoothing time us 0 63999 0 5 9 1 2 default Pn2A8 Quick stop deceleration low Accelera o 5535 65535 5 9 1 2 tion units Accelera Pn2A9 Quick stop deceleration high tion units 0 256 256 5 9 1 2 65536 Pn2B0 AS a units ratio numerator 0 65535 1 5 9 1 1 Pn2B1 ac units ratio numerator m 0 16383 0 59 1 1 a Pn2B2 Ao units ratio denominator 0 65535 1 5 9 1 1 Cc oO gn z 7 E Pn2B3 fa units ratio denominator 0 16383 0 59 1 1 Q 7 7 2 Pn2B4 Speed units ratio numerator 0 65535 1 5 9 1 1 S low S Pn2B5 on aa eset 0 16383 0 5 9 1 1 a r z E Pn2B6 Speed units ratio denominator 0 65535 1 5 9 1 1 5 low g z 5 Pn2B7 a units ratio denominator 0 16383 0 5914 D 7 7 v5 Pn2B8 Acceleration units ratio 0 65535 1 59 11 numerator low Pn2B9 Acceleration units ratio 0 16383 0 5914 numerator high Pn2BA Acceleration units ratio 0 65535 1 5 9 1 1 denominator low puzgb acceleration units ratio 0 16383 0
4. DELAY GROUP Wait SYNTAX DELAY lt n gt Op CODE 144 MODES Program Sequential DESCRIPTION Waits for the specified period of time before executing the next command The actual delay is up to 2 ms longer than the delay specified by the user SYNTAX n The time to wait before executing the next ARGUMENTS command ms Serial 4 JU V NOTES If this command is used after a MOVE command and the motion time you set is shorter than the delay time the program will not wait until the motion has ended before continuing Therefore in order to synchronize the program with completion of the motion use the MOVE_D or GO_D command 113 Command Reference ECAM_DISENGAGE GROUP ECAM SYNTAX ECAM_ DISENGAGE Op CODE 122 MODES Program Sequential DESCRIPTION Terminates ECAM motion Motion only stops once the current profile has been completed To stop the motion immediately use the STOP_EX command instead See 4 9 13 2 ECAM_DISENGAGE EXAMPLE ECAM ENGAGE 3 CYCLIC DELAY 10000 ECAM DISENGAGE EXAMPLE ECAM profile number 3 will be followed for 10 seconds EXPLANATION After 10 seconds the ECAM motion will continue until the current profile has been completed irrespective of how many cycles have already been completed ECAM motion will then stop SEE ALSO ECAM_ENGAGE ENGAGE_VIRTUAL_AXIS STOP_EX Variables
5. EXT_INT GROUP Interrupt SYNTAX EXT INT lt Priority gt lt Input_Number gt lt Edge gt Op CODE 138 MODES Program DESCRIPTION This command indicates the beginning of an interrupt service routine and is used for interrupts that are conditional on the value of external inputs See Section 4 11 7 1 EXT_INT SYNTAX Priority Specifies the interrupt number from ARGUMENTS 0 to 7 Serial 1 U Input Number Specifies on which user input from 0 to 6 the interrupt is conditional Serial 1 U Edge Specifies how the interrupt is triggered Condition Code Rising By the input value 0 changing from 0 to 1 Falling By the input value 1 changing from 1 to 0 Both By the input 2 changing from 0 to 1 or from 1 to 0 Serial 1 U EXAMPLE ET_VAR Interrupt mask 1 S MOVE D 655360 1 S J G Er _OUTPUT 1 OFF Z J EXT INT 0 1 Rising SET OUTPUT 1 ON NT RETURN 1 119 Command Reference EXAMPLE EXPLANATION The interrupt mask is set so that the program will only respond to interrupt 0 A motor movement to position 655360 is started If during the motion the value of input 1 changes from O0 to 1 Output 1 will be set ON The program will then continue once the motor motion has finished Output 1 will be set OFF
6. SYNTAX parameter number FSP Amplifier parameter see ARGUMENTS Chapter 5 Parameter Reference Serial 2 U value Sets value to specified parameter For setting range see Chapter 8 Parameter Reference Serial 2 U 197 Command Reference 198 Serial Interface Protocol 6 1 6 2 Serial Interface Protocol This chapter describes the FSP Amplifier serial communication protocol FSP Amplifier can work with FlexWorks or with any other software that complies with this protocol Up to 15 FSP Amplifier units can be connected on a bus Broadcast commands can be sent to all axes FSP Amplifier units Basic Communication Specifications Half duplex communication using the following Baud rate 19200 Auto detect Bit Structure Start 1 bit Data 7 bit ASCII code Stop 1 bit Even number parity 1 bit Synchronization Start Stop 1 bit synchronization Protocol Specifications In this master slave protocol a PC or other device is the master and the FSP Amplifier is the slave The master sends a request or a polling message and the FSP Amplifier answers with a response message The master can only send a new message after receiving an answer or ACK acknowledge message or after timeout has expired The master can control up to 15 FSP Amplifier units by using addresses When broadcast messages are sent the master does not wait for an ACK Whe
7. HOME_SW_C GROUP Home SYNTAX HOME SW_C lt speed1 gt lt speed2 gt Op CODE 130 MODES Program Sequential DESCRIPTION Finds the encoder C pulse only after the home switch is found The motor moves at lt speedi gt to the home switch and then changes direction and moves at lt speed2 gt towards the C pulse Only then does the encoder counter zero and the motor decelerate to stop The motor stops after the C pulse Use the GO or GO_D command to set the motor at the zero position lt speedi gt and lt speed2 gt must have opposite signs i e the movement is in opposite directions Note When working with a linear motor and a Yaskawa serial converter for the encoder the maximum speed at which the motor can move to the C pulse is 5000 linear scale pitch per second For example when the encoder scale pitch is 20um the maximum speed at which the motor will move while executing a HOME_C command will be 100mm s SYNTAX speedl The speed and direction of searching ARGUMENTS for the home switch Must have an opposite sign to that of lt speed2 gt speed user units Serial 4 V speed2 The speed and direction of searching for the C pulse Must have an opposite sign to that of lt speed1 gt speed user units Serial 4 V SEE ALSO HOME_C HOME_SW HARD_HOME RELATED Pn2C7 0 Sets home switch input attribution PARAMETERS 137 Command Reference IF GROUP Program Flow Control SYNT
8. 4 7 Charts The Charts option provides a graphical display of signals over a specified time period Two analog signals and two digital I O signals can be displayed 4 7 1 The Chart Main Window Select the Charts option from the View menu to display the Chart Main window Figure 24 l51 x Bs Q Qiglid u i A Trigger Name Value a T m Graph Setting Variables Time ms 50 Wh 1___ Smoothed Target Speed 2 Gre 2_ Position Error Oe Yel 120 1 COIN 2 Pur 140 2 COIN 50 Aqu J vor sf gj 10 2 Figure 24 Chart Main Window 4 7 1 1 Trigger A trigger is a device used to specify exactly when data collection should begin The trigger can be made conditional on any of a range of aspects of the servo operation For example you can specify that data collection should begin after the COIN signal is set ON or after the speed feedback exceeds 100 rpm A trigger condition is specified by four settings Source Trigger object selection Specifies the variable on which the trigger is conditional Any one of the variables listed in the Y1 Y2 I O 1 and I O 2 fields can be selected from the drop down menu Trigger Source Smoothed Target Speed x Smoothed Target Speed Position Error COIN PROG COIN PROG Figure 25 Trigger Selection 1 Pre trigger 50 Operating the FSP Amplifier Using FlexWorks Slope Edge Type Specifies in which direction across the trigger Leve
9. READ_FROM_ARRAY GROUP Variables SYNTAX READ FROM ARRAY lt Index gt lt Variable gt Op CODE 159 MODES Immediate Sequential Program DESCRIPTION Reads the value of an array element according to lt index gt and sets it to lt variable gt SYNTAX Index Decimal value in range of 1 512 ARGUMENTS representing the index of the member in the data array Serial 2 U IV Variable Any of the read write system variables See Chapter 9 List of System Variables Serial 1 U EXAMPLE READ FROM ARRAY 291 Var 01 Index 1 2 3 oe 291 Sead 512 Value 56312 EXAMPLE Var_01 will be equal to 56312 EXPLANATION SEE ALSO SET_VAR WRITE_TO_ARRAY GET_FROM_ARRAY Only in immediate or sequential mode 164 Command Reference REGISTRATION_DISTANCE GROUP Encoder Latching SYNTAX REGISTRATION DISTANCE lt Distance gt OP CODE 151 MODES Program Sequential MOTION MODE Hunting 1 DESCRIPTION This command sets the lt distance gt from the Latched_motor_position over which the motor must decelerate to a stop SYNTAX Distance Sets the distance over which the ARGUMENTS motor must decelerate to a stop user position units Serial 4 IV EXAMPLE Speed 300
10. Answer Field for GET_PAR Command C1 C2 INx_1 INX_2 INX_3 INx_4 V1 V2 V3 V4 Where Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Description Parameter number reference list in Chapter 8 Parameter Reference Description Variable value Answer Field for GET_VERSION Command C1 C2 V1 V2 V3 V4 Where Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message 211 Serial Interface Protocol Description FSP Amplifier version number with the following format Vi V2 V3 _ V4 Note that V4 can only be set as Aor B For example FSP Amplifier with version number 2 80 A will respond with Ci C2 2 8 O JA 212 Serial Interface Protocol 6 2 3 3 Response Message Format Example CONTROL ON command Example of response message to CONTROL_ON command to axis 0 in Immediate mode with message identification of 0x7F Master Message Format N A M IpD1 Ip2 C1 C2 V1 V2 P1 P2 S1 S2 CR N IO JA 7 F 4 5 JO JO JO 1 3 J1 CR Response Message Format in case of no fault N A M ID1 IpD2 Fil F2 SW1 SW2 SW3 SW4 NJ OI
11. MADH ea EEA EE E EEEE EAEE E EAA 154 MOVES aerar E AE E AAO OA 156 MONE Seene E E E A E a 156 MOVED e e E A aac E E E N E 158 MOVE Maea E A E E 160 MOVE Rre e E E E E E 162 READ FROM ARRAY csnsonnensnanniennna nina AAA 164 REGISTRATION DISTANCE ensnicnnio nuo ni E GRE 165 RE PURNA T EE E T E ATE AE AO EE 167 RUNS aranira A AE E TTA AE ROE 168 SET OUTPUT oreesa nan n car EEEE EE ER at AE ERACE OEEO EEE EEEN SOR ESTRESA 169 SET OUTPUTS oeenn E E EE EEEE E 171 SET VAR ea a E E E E 172 SET ZERO POSITION cessssaccasiactecsantinitacurtagiscnsaniguanivnedecnisadriaranusnunectimtanmudsendins 173 SLIDE sAneenera a ER E R T E T E EETA 174 SLIDE ANALOG oecon e E E E E E tance 175 SPEED ee EEA EA EEEE N EE E E ERE 176 SPEED CONTROL sionerien E EE R 177 SPEED LIMIT FOR TORQUE MODE scicscssescecgesenonacssiecsaeenaeceacsseasatoadistaueecees 178 SIART e cccercien A E ance ea oe E E E AAA A AEEA 180 STOP EX airin nE TR AAE AT A RE 180 TORO UE or E E a a a at dass 183 TORQUE ANALOG eserine eE rR ARTEEN E EEEE Ea EEEREN EEEE 184 TORQUE LIMITS cerren en E E E REES 185 WAM EXAC Tongnecen aen aa T a T 186 WAIT FOR STAR VT rcsotscumprcceraccureecniadianiman AREE RE R R 187 WAT INEU Tee A E dm guulcaies 188 WAM STOP eee A E EE E EE EEE 189 WAIT lt A Wii csrasns ccexaatpalenasshiseusaineianasul E A aaa Maras 190 WRITE TO ARRAY sceieaceaashencencuseaseiadatatecatevansond hen cuatetuntinatanaiAte hats al seiedacbutenteeiae 191 5 6 Serial Communication Com
12. Where Description Fault Code Only in cases where Response type m 1 In case of no fault F1 and F2 equal 0x00 Range 0x00 OxFF Description Status word 16 bit of bit string holding FSP Amplifier statuses See Chapter 10 List of Status Word Bits Range 0x00 OxFFFF 209 Serial Interface Protocol 6 2 3 2 Answer Field for Data Request Command A response message is sent either in response to a Data Request command or as a response to the other commands such as ACK Answer to Data Request command accepts only when Response type m 2 The Answer format depends on the specific command General format is C1 c2 Di1 D2 ee DN Where Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Range 0x0 OxFF 0x0 OxF each see Chapter 11 List of Operation Codes Description Data field Number of bytes in data field depends on command type Answer Field for GET_VAR Command C1 C2 INx_1 INx_2 V1 V2 V3 V4 V5 V6 V7 V8 Where Description Response message Operational Code C1 and C2 hold the same Operational Code as the original message Description Variable ID Range See Chapter 9 List of System Variables 210 Serial Interface Protocol Description Variable value
13. 0 ccesseeseeeeeeeee 99 Table of Contents 5 C mmand Referente K isisriitri iinn oinn E A EE AEREA EER 101 Dols o FlexWorks Mod s talc tesd item o ER EE E ER 103 5 1 1 Program Mode User Program Buffer UPB ssesssssessseessesessseessesesesee 103 5 1 2 Sequential Mode Sequential Command Buffer SCB eeeeeeeees 103 5 1 3 Immediate Mode Immediate Command Buffer ICB eee 104 5 2 SCB and UPB Command Flushing cece ceeceesseeeesceeeeceaeeeeeeeeeeesseeesseenes 104 5 2 1 Motion Commands With D Suffix cassis dcsiceatiee ine ahyeeeaanes 104 5 2 2 Motion Commands Without D Suffix cece ceneeeeeeeeeeeeseeees 104 5 32 Motion WOES cx icih sre rai aie a etl cie healt duns A die Taatiy E O E ER 104 Transition Between Motion Modes sain octcs casein nien os ela dali edauai ed Nags ats vould 106 5 4 Motion Command IUTCT a eacs lt aasccyc ales caconasocvenssuss ayanaes vs edansensaeasesyasemedesuceere 107 5 97 PIX Works Commands ss iy 2 lacey bsesacasaavaecistaaivarstaiacesiaedhactaanoeassaraseantaelacesaniiees 108 ACCELERA TION ernan nara aa a shea a ciate a ea 109 ALARM RESE Tedercoe na a e a T E ered maaan 110 CALE aore Sch ates em te A ES A EE A ad Saletan 111 SONNE LO E EEEE A A 112 JDI A Eye O shee A A E ceed cd ean EE N 113 ECAM DISENGAGE so susis niin natn dese E GE 114 BOAME ENGAGE e a A E a uastancn ed acaeneeminonia aie 115 ELECTRONIC GEAR cormans lene Anes Serene Ran toe a Atel
14. Value Current parameter value 0x hexadecimal values Min Minimum value allowed for the parameter Max Maximum value allowed for the parameter o Units The units used for the parameter Default The default value for the parameter Description A short description of the parameter functionality 36 Operating the FSP Amplifier Using FlexWorks Setting Parameters Online 4 3 3 4 4 Right click on the row of the parameter you wish to change A pop up window appears Figure 15 displaying the current value of the parameter Figure 15 Parameter Setting Window Use the buttons below each digit to change the value of the parameter Note that the changed value is sent on line to the FSP Amplifier Some values take effect immediately others are sent to the drive but take effect only after the power is cycled The Need Reset indicator appears in the status line when this action is necessary Setting Parameters Offline Double click on the value field of the desired parameter and enter the desired value The new value is not sent to the drive automatically an asterisk appears in the Parameter status indication column Use the Download function At to send the changed values to the drive Programming the FSP Amplifier FSP Amplifier has built in programming capabilities You can write a program that will be executed by the FSP Amplifier without the need for an external positioning controll
15. 4 9 13 Programming with Electronic Cam Programming commands are used to initiate and terminate movement according to an ECAM profile 4 9 13 1 ECAM_ENGAGE Format ECAM_ENGAGE lt Profile_ID gt lt Mode gt This command is used to initiate motion according to an ECAM profile You must specify the profile number according to which the slave must move as well as whether the motion should continue indefinitely Cyclic mode or only until the profile has been completed once Non Cyclic mode Profile ID 1 X Non Cyclic PROGRAM Figure 43 Programming an ECAM_ENGAGE Command 4 9 13 2 ECAM_DISENGAGE Format ECAM_DISENGAGE This command is used to terminate ECAM motor motion ECAM_DISENGAGE will cause the motion to stop only once the current profile is completed To stop the motion immediately use the STOP_EX command 4 9 13 3 ENGAGE_VIRTUAL_AXIS Format ENGAGE_VIRTUAL_AXIS lt Profile ID gt lt Direction gt This command is used to start ECAM motion when a time based profile is being used In this case the FSP Amplifier clock acts as the master and generates a pulse every 125 us 8 pulses every millisecond In this case the horizontal axis of the profile is in terms of clock ticks You must specify the profile number according to which the slave must move as well as whether the profile should be followed in the positive or negative direction ECAM_MO E_ARRAY ie x Profile ID 1 X POSITI
16. 5 Set to ID number of one of the system variables 6 Set to ID number of one of the writeable system variables 251 List of Operation Codes 252 Glossary of Terms and Concepts 12 Glossary of Terms and Concepts 12 1 Electronic Gear The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value It allows the pulses generated by the host controller to be used for control without having to consider the equipment gear ratio or the number of encoder pulses This is done by setting the Electronic Gear Ratio which is the ratio of the number of pulses that are input to the FSP Amplifier control algorithm to the number of reference input pulses received from the host controller The user position units can then be set in terms of the pulses that are input to the FSP Amplifier control algorithm Electronic Control Gear Current Loop Motor Reference Input Pulse Converted Pulse Figure 59 Illustration of Gear Function 12 1 1 Electronic Gear Parameters The electronic gear ratio B A is ratio of the number of pulses received by the FSP Amplifier from the master or host to the number of pulses seen by the motor e Pn200 specifies the form of the reference input pulse e Pn202 is the numerator of the electronic gain ratio B e Pn203 is the denominator of the electronic gain ratio A It is recommended that the master used should have a higher
17. Position control pulse train o IO W b Serial communication command Programming Axis Address 0 F Sets servo amplifier axis address WIN Reserved 230 Parameter Reference Parameter PA Name Setting Description SE 0 Stops the motor by applying dynamic brake Servo OFF or DB i 0 Alarm Stop 1 Stops the motor by applying dynamic brake 0 Mode DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB Same setting as Pn001 0 Stops the motor by o 0 2 applying DB or by coasting 2 Sets the torque of Pn406 to the maximum 1 Overtravel 1 value decelerates the motor to a stop and 0 c Stop Mode then sets it to servo lock state S Sets the torque of Pn406 to the maximum S 2 value decelerates the motor to a stop and 52 then sets it to coasting state 2 T Not applicable to DC power input Input AC a S AC DC Power 0 power supply through L1 L2 and L3 D 2 Input Selection terminale 9 g 1 Applicable to DC power input Input DC power H supply through 1 and terminals 3 0 ALO1 ALO2 and ALO3 output only alarm 2 codes ALO1 ALO2 and ALO3 output both alarm 3 Warning Code 1 codes and warning codes While warning 0 Output Selection codes are output ALM signal output remains ON normal state Uses absolute encoder as an absolute 2 encoder Uses multi
18. SEE ALSO INT INT_RETURN Variables Interrupt_mask Interrupt_request Interrupt_pending 120 Command Reference FAST_OUTPUT_SETTING GROUP Output SYNTAX FAST OUTPUT SETTING lt Variable gt lt Condition gt lt Value gt Op CODE 154 MODES Program Immediate Sequential DESCRIPTION This command is used to set an output to ON once the specified lt variable gt has met a specified condition The output is set within 125 us of the condition being met Using this command is more effective than using an IF command followed by a SET_OUTPUT command which would result in the output being set only after 2 ms The output to be set to ON is specified in the parameter Pn2D2 0 as explained below Only one output can be controlled by FAST_OUTPUT_SETTING SYNTAX Variable The output can be conditional on any of ARGUMENTS the following variables Variable Code Position_demand_value 8 Position_actual_value 9 Following_error_actual_value 10 Torque_demand_value 17 Distance_from_target 36 Master_position 38 Absolute_position_error 61 In general this code is used for In_position but here it is used for Distance_from_target Serial 1 U 121 Command Reference SYNTAX Condition Select from Condition Code ARGU
19. Position Variables Var_01 67 R W 2147483648 2147483647 User variable User Variables Var_02 68 R W 2147483648 2147483647 User variable User Variables Var_03 69 R W 2147483648 2147483647 User variable User Variables 245 List of System Variables Name Var Unit Read Min Max Description U T Group ID Write Dec Var_04 70 R W 2147483648 2147483647 User variable c User Variables Var_05 71 R W 2147483648 2147483647 User variable c User Variables Var_06 72 R W 2147483648 2147483647 User variable c User Variables Var_07 73 R W 2147483648 2147483647 User variable c User Variables Var_08 74 R W 2147483648 2147483647 User variable c User Variables Var_09 75 R W 2147483648 2147483647 User variable C User Variables Var_10 76 R W 2147483648 2147483647 User variable Cc User Variables Velocity_actual_value 12 S R 2147483648 2147483647 Actual speed 2 e Velocity_demand_value 11 ae R 2147483648 2147483647 Theoretical speed BG vee m NOTE D 1 U T Update Time U T specifies when the value of each variable is updated ST Start setting The variable is updated only after power up or software reset BG Background setting A low priority is assigned to the variable update the drive updates the variable when th
20. The registration process is described below Detailed instructions for the use of the commands and variables are provided in the sections that follow Define a condition for latching using the LATCHING_TRIGGER command Possible conditions are Input 6 connected at CN1 46 changes from 0 to 1 Rising Edge Input 6 connected at CN1 46 changes from 1 to 0 Falling Edge Start motion The registration process can be applied in the following motion modes Position Velocity Hunting Pulse Train and Analog Speed See Section 5 3 Motion Modes After 62 5ms of the condition being met The variable Latched_position_ready changes from 0 to 1 The variable Latched_motor_position is set to the current position of the motor in position user units The variable Latched_master_position is set to the current position of the master if in use in encoder counts Perform the next step only once the Latched_position_ready variable has changed from 0 to 1 Use the command WAIT_VAR lt Latched_position_ready gt or assign an interrupt conditional on this variable Define the distance from where the input is received to where the motor must stop using the REGISTRATION_DISTANCE command The deceleration caused by registration is defined by the variable Profile_acceleration When specifying the registration distance ensure that it is sufficiently long for the motor to be able to decelerate to a stop at the prof
21. 228 Parameter Reference Parameter Setting Default Category ber Name Unit Range Setting Reference Pn500 Positioning Completed Width ref units 0 250 7 5 5 3 Pn501 Zero Clamp Level rpm 0 10000 10 5 4 3 Pn502 Rotation Detection Level rpm 1 10000 20 5 5 5 Speed Coincidence Signal Pn503 Output rpm 0 100 10 5 5 4 Width Pn504 NEAR Signal Width ref units 1 250 7 5 5 8 Pn505 Overflow Level pai 1 32767 1024 6 2 1 Brake Reference Servo OFF 2 Pn506 Delay 10 ms 0 50 0 5 4 4 2 Time z Pn507 ae Reference Output Speed rpm 0 10000 100 5 4 4 5 evel a Timing for Brake Reference 8 Pn508 Output 10 ms 10 100 50 5 4 4 5 during Motor Operation g Pn509 Momentary Hold Time ms 20 1000 20 5 5 9 Pn50A Input Signal Selections 1 2100 5 3 3 Pn50B Input Signal Selections 2 6543 5 3 3 Pn50C Input Signal Selections 3 8888 5 3 3 Pn50D Input Signal Selections 4 8888 5 3 3 Pn50E Output Signal Selections 1 3211 5 3 4 Pn50F Output Signal Selections 2 0000 5 3 4 Pn510 Output Signal Selections 3 0000 5 3 4 Pn511 Reserved parameter Do not D 2 change Pn512 Reserved parameter Do not E change z Pn580 Zero clamp level mm s 0 5000 10 Qa E 8 2 Pn581 Motion detection level mm s 1 5000 20 o caer 7 5 gt S Pn582 EE ance a mmis 0 5000 10 _ ENS a Pn583 a reference output speed mimis 0 5000 100 R
22. A full list of all the parameters available in the FSP Amplifier system and their values is provided in Chapter 8 Parameter Reference The Parameters window is divided into three panes as shown below Parameters fee olki Default Description B J gR 000 Ox00D0 00 10x0FD1 0x00 Function Selectio Advanced Applicatio d abail i Analog Inputs Pn001 0x0000 Ox0000 OxFFFF Ox0000 Function Selectior Analog Monitor Pn002 0x0100 Ox0000 OxFFFF 0x0100 Function Selectior Application Setting PnO03 Ox0002 Ox0000 OxFFFF O0x0002 Function Selectior Auto Tuning p FE Pro oxoono oxoooo OxFFFF 0x0010 CH1 Analog Monit aie pnooy oxoo12 oxoo00 OxFFFF 0x0012 CH2 Analog Monit Mation Profile Pnd80 0x0000 Ox0000 0x0011 Ox0000 Linear Pole Sensc Motor Encoder 40 1 2000 Hz 40 Speed Loop Gain _ Other Pulse Train Input Servo Control e Servo Control Advar Pn000 0 Direction Selection Torque Force 0 Forward direction User Units 1 Reverse direction Cc Pn000 1 Control Method Selection ee n ee oe ee ee bil b Figure 11 Parameters Window Group pane A lists the parameter groups The parameters in the selected group are displayed in the Parameters pane The Parameters pane B displays the details of each parameter Initially the values displayed for the parameters are the default
23. Cam Upload al Uploads data from the FSP Amplifier Print Prints the current program Program Print Prints the parameter list including their values on the Parameters printer The parameters are printed in tabular format Print Chart Prints the currently displayed chart and its corresponding data See Section 4 7 4 Printing a Chart for further information Exit Exits from FlexWorks SD NOTE 1 The ECAM related options are only activated if an ECAM license has been purchased 3 2 2 Edit Menu The Edit Menu options are used to edit the command order of a program in the Program window Table 2 Edit Menu Options OPTION DESCRIPTION Cut Deletes selected text or lines from the program and places Ctri X the selection on the Windows and FlexWorks clipboards Copy Places a copy of selected text or lines from the program on Ctrl C the Windows and FlexWorks clipboard Paste Inserts the contents of the FlexWorks clipboard into the Ctrl V program 18 The Main Screen Interface 3 2 3 View Menu The View Menu options show hide the windows you want displayed on the FlexWorks screen Table 3 View Menu Options OPTION ICON DESCRIPTION Program Displays hides the Program window Parameters Displays hides the Parameters window Cam List Displays hides the CAM window Workspace Displays hide
24. Command Reference GET_PAR SYNTAX GET PAR lt parameter number gt Op CODE 85 MODES Immediate Sequential DESCRIPTION Reads the contents of FSP Amplifier parameter SYNTAX Parameter FSP Amplifier parameter see Chapter 8 ARGUMENTS number Parameter Reference Serial 2 U SEE ALSO SET_PAR GET_VAR SYNTAX GET VAR lt variable gt Op CODE 72 MODES Immediate Sequential DESCRIPTION Reads the contents of the variable SYNTAX variable System variable see Chapter 9 List of ARGUMENTS System Variables Serial 1 U SEE ALSO POLLING SET_VAR GET_VERSION SYNTAX GET_VERSION Op CODE 63 MODES Immediate DESCRIPTION Reads FSP Amplifier version number 196 Table of Contents POLLING SYNTAX POLLING Op CODE 0 MODES Immediate DESCRIPTION Reads FSP Amplifier status For details see Chapter 10 List of Status Word Bits SAVE_PRG_ECAM SYNTAX SAVE PRG ECAM Op CODE 96 MODES Immediate DESCRIPTION Saves program and ECAM table to the EPROM for further use after power up SET_PAR SYNTAX SET PAR lt parameter number gt lt value gt Op CODE 80 MODES Immediate Sequential DESCRIPTION Sets FSP Amplifier parameter The drive must be reset before the change takes effect
25. Message identification contains the same value as master message identification C1 4 C2 8 Response message Operational Code Inx_1 0 Variable Position_Actual_value ID Inx_2 9 Vi V8 Variable value Since Position_Actual_value FFFFFO60 is signed and the leftmost bit is 1 the number is negative and equals 4000 decimal S1 3 S2 D 0x100 0x02 0x65 0x48 0x09 0xFF OxFF 0xFO 0x60 OxFA 215 Serial Interface Protocol 6 3 Troubleshooting PROBLEM POSSIBLE CAUSE SOLUTION Unable to establish Communication cable is Check the cabling communication with disconnected FSP Amplifier Communication setting is different than FSP Amplifier requirements See Section 4 1 1 Communication Settings FSP Amplifier axis address is different than the one referred to by the master Match axis address a second byte to FSP Amplifier axis address Pn000 2 FlexWorks or any other program that communicates with the COM port is online Close all programs that communicate with COM port The response The response message message format or which accepts Data value is different Request Commands than expected response does not necessarily match the master command Data Request Command response will match the master command unless a fault was occur and then fault acknowledgment will be accepted before To accept a specific response message wr
26. R W 65535 The numerator of the ECAM slave scaling factor Changeable only while not in ECAM mode ECAM ECAM_Shift 46 Counts R W 2147483648 2147483647 Specifies the required shift along the master axis of the ECAM profile ECAM Electronic_gear_den 85 R W 65536 Sets the electronic gear s denominator Status Electronic_gear_num 84 R W 65536 Sets the electronic gear s numerator Status Exact_mode 25 R W Defines when a commanded motion is to be considered complete 0 The theoretical motion has ended 1 The actual position error is smaller than specified by Motion_end_window Status 241 List of System Variables Name Var ID Dec Unit Read Write Min Max Description Group Fault_code 82 16384 The fault alarm code that caused the fault To be used in FAULT_MANAGER Automatically resets when exiting the fault manager routine BG Status Fault_line 83 99 The program line that caused the fault The variable will receive a value only in case the program line directly caused the fault Automatically resets when exiting the fault manager routine BG Status Follower_position_offset 40 Position Units 2147483648 2147483647 Theoretical distance from master position master slave N Position Variables Fol
27. YASKAWA The Drive for Quality efesotomasyon com MODE SET A YASKAWA SERVOPACK FSP 08AMH SV3 23 Rp CHARGE FlexWorks Software User s Manual FlexWorks Version 3 0 1 Supporting FSP Amplifier Version 3 23 FlexWorks User s Manual Copyright 2006 by YEA Yaskawa Electric America Inc FlexWorks User s Manual FlexWorks Version 3 0 1 for FSP Amplifier Version 3 23 Cat No YEA SIA FSP 4 Rev 0 December 2006 All rights reserved No part of this publication may be stored in a retrieval system or reproduced in any way including but not limited to photocopy photography magnetic or other recording without the prior agreement and written permission of the publisher Program listings may be entered stored and executed in a computer system but not reproduced for publication This manual is designed to provide information about the FlexWorks software Every effort has been made to make this book complete and as accurate as possible However no warranty of suitability purpose or fitness is made or implied YEA Inc is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of FlexWorks and or the information contained in this publication YEA Inc bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software and manual without prior notice MAIN OFFICE Yaskawa Elect
28. com ox Download Size Profile Download Size 1 21 BE Figure 42 Cam List Window Download size Indicates the number of data points that will be downloaded to the FSP Amplifier when the Download Cam button is pressed Profile The profiles are identified in the Cam List by their numbers Download Check the checkboxes corresponding to all profiles that should be downloaded to the FSP Amplifier when the Download Cam button 49 is pressed Size The number of data points in each profile gt To view or edit a profile 1 Click anywhere in the row corresponding to the profile number that you would like to view or edit The Electronic Cam window is displayed with the Position Setting tab displaying the selected profile Downloading Profiles to the FSP Amplifier A profile is not transferred to the FSP Amplifier until you download it gt To download a profile 1 Ensure that the relevant Download checkboxes in the Cam List window are checked 2 Click Download Parameters are on the toolbar The profiles are downloaded to the FSP Amplifier NOTE After downloading a profile the profile is saved in the FSP Amplifier but unlike parameters and programs which can be uploaded from the FSP Amplifier to FlexWorks profiles cannot be uploaded Thus it is important that profiles are saved ona disk for backup purposes 73 Operating the FSP Amplifier Using FlexWorks
29. 3 Acknowledge with watch variables field 5 Program upload Description Message Identification in case of Fault Response type m 1 Otherwise no fault the Message Identification is set to 0x00 two bytes for two digits If a fault is related to a specific command message Id1 and Id2 contain the Message Identification as sent by the master Since the range is greater than OxF two bytes are required for holding the number N 2 Ii 2 lt i a Ii Range 0x0 OxFF 0x0 OxF each Description FSP Amplifier response Can hold acknowledge ACK or value as response to Data Request Commands such as GET_VAR The format of ACK and Data Request Commands are described below 207 Serial Interface Protocol Description Message checksum two bytes for two digits The checksum is calculated by summing all bytes excluding N and CR in a message body Section 6 2 2 1 Checksum Calculation Range 0x0 OxFF 0x0 OxF each Description Carriage Return Used as a message response termination symbol Constant value Range CR 0x0D in ASCII code 208 Table of Contents 6 2 3 1 Answer Field for Acknowledge ACK A response message is sent either in response to a Data Request command or as a response to the other commands such as ACK ACK accepts only when Response type m 0 1 3 ACK format F1 F2 SW1 SW2 SW3 SW4
30. Option unit detection error 221 Error Messages CODE MESSAGE DESCRIPTION 97 AF1 Power line open phase 98 A AO I O board disconnected 99 A 08 This linear motor is not supported 250 Pn199 Pn280 should be an integer 100 A 33 Wrong Input Power Amplifier is in AC input mode Pn001 2 0 but has DC input or vice versa 101 A 80 Position error 102 A B3 Current detection error Please check motor power line wiring 103 A C3 Encoder AB phase disconnection of encoder signal line 104 A C4 Encoder c phase disconnection of encoder signal line 105 A C5 Linear motor pole sensor position detection error 112 A91 Overload warning 113 A92 Regenerative overload warning 128 Reference to invalid label or END Program flow has been directed command is missing to a non existent label 129 Command not applicable in this Not all commands are applicable programming mode in all programming modes Program Immediate Sequential Program Sequential Immediate The specified command is not applicable in this mode 130 Cannot perform this motion with The requested motion cannot be present profile acceleration performed The specified motion time is too short for the specified acceleration 131 Cannot perform this motion with The required speed for this present profile speed motion is greater than the max motor speed
31. Profile_acceleration Max_Profile_acceleration Parameters Pn2A4 Pn2A5 109 Command Reference ALARM_RESET GROUP Fault_Manager SYNTAX ALARM RESET OP CODE 167 MODES Program DESCRIPTION Resets the current alarm from the alarm buffer The list of alarms can be found at the FSP Amplifier s User s Manual See document number YEA SIA FSP 3 The ALARM_RESET can only reset alarms not marked with If the command is used to clear other alarms the program will be stopped EXAMPLE LABEL 5 TORQUE ANALOG FAULT MANAGER ALARM RESET SET OUTPUT 1 ON DELAY 1000 SET OUTPUT 1 OFF FAULT MANAGER RETURN 5 EXAMPLE When an alarm occurs for example over torque in this EXPLANATION case the program jumps to the fault manager resets the alarm if possible and toggles an output SEE ALSO FAULT_MANAGER_RETURN FAULT_MANAGER Variables Fault_code Fault_line 110 Command Reference CALL GROUP Program Flow Control SYNTAX CALL lt n gt Op CODE 66 MODES Program DESCRIPTION Calls a subroutine The program flow is transferred to the subroutine The called subroutine must begin with a LABEL command and end with a RETURN command SYNTAX n The label number at which the subroutine ARGUMENTS begins
32. SPEED_LIMIT_FOR_TOR QUE_MODE command O not active 1 active BG Status Speed_limit_for_torque_mode User units 2147483647 Speed limit when applying torque commands The value is set by the command SPEED_LIMIT_FOR_TOR QUE_MODE This value is always positive regardless of the torque command sign BG Torque Speed_limit_reference 35 User units R W 2147483647 Defines the speed limit when using the SPEED_LIMIT_FOR_TOR QUE_MODE command and selecting lt Variable gt as the source This value is always positive regardless of the torque command sign BG Torque Speed_reference 43 Velocity Units R W 2147483648 2147483647 Defines the reference speed for the SPEED_CONTROL command when Variable is selected as the input to SPEED_CONTROL Speed Variables Target_position Position Units 2147483648 2147483647 Final destination of motion commands Position Variables Target_torque 0 1 of rated 1000 1000 Target torque or force specified by the TORQUE command Torque Variables Target_velocity Velocity Units 2147483648 2147483647 Target speed specified by the SLIDE command Speed Variables Torque_demand_value 0 1 of rated 1000 1000 Theoretical torque or force value Torque Variables User_encoder 31 Encoder Units 2147483648 2147483647 Actual position in encoder units
33. Set a lower motion 222 Error Messages CODE MESSAGE DESCRIPTION speed 133 Final target too big If a new target position is sent with a MOVE_H command an overflow may occur The motor must first be stopped and only then can the motion continue 134 Speed too low The speed is too low for specified motion 135 SET_VAR Variable value out of The variable value in command range SET_VAR is out of range 136 Program flow error Program flow error RETURN without CALL or CALL nesting too deep 137 Moving time is too short with The specified jerk time exceeds present profile Jerk time the maximum of 64000 ms 139 Home sensor not defined The Home sensor is not defined Refer to the HOME_SW and HOME_SW_C commands in this manual 140 Motion cannot be executed while The motion cannot be executed CONTROL_OFF while the motor is disabled Make sure the motor is enabled CONTROL_ON before issuing the motion command 141 TORQUE LIMITS Invalid torque The maximum torque limit is limits smaller than the minimum torque limit 142 Invalid or duplicated label The label number is either zero or greater than the maximum line number 143 Invalid input number The input referred to in the command is not defined as an event 144 Invalid output number Invalid output index in the SET_OUTPUT command 146 Auto tuning already in progress The Auto tuni
34. Sl4 Alarm reset when low PNnS0B IP CL Signal Mapping 2 Torque control when 0 F Same as above 5 SI5 low N CL Signal Mapping 3 Torque control when 0 8 Same as above 6 SI6 low 235 Parameter Reference Parameter Digit Place Name Setting Description Default Setting Pn50C SPD D Signal Mapping Internal Set Speed Selection 0 F Same as above 8 OFF SPD A Signal Mapping Internal Set Speed Selection 0 F Same as above 8 OFF SPD B Signal Mapping Internal Set Speed Selection 0 F Same as above C SEL Signal Mapping Control Mode Switching 0 F Same as above Pn50D ZCLAMP Signal Mapping Zero Clamping 0 F Same as above INHIBIT Signal Mapping Disabling Reference Pulse Same as above G SEL Signal Mapping Gain Switching Same as above Reserved 0 F Same as above D NOTE When Pn50A 0 is set to 0 for the FSP Amplifier only the following modes are available Pn50A 1 7 Pn50A 3 8 and Pn50B 0 8 8 4 Table 20 Home Switches Table 20 Home Switches Digit me Default Parameter Place Name Setting Description Setting 0 Home switch input 0 F Same as Pn50A 1 8 OFF 1 Reserved 0 ENaC 2 Reserved 0 3 Reserved 0 236 Parameter Reference 8 5 Table 21 Ex
35. The program is written by selecting commands from the Command tab and entering values for the commands parameters See Section 4 4 1 Writing a Program for details on how to write a program gt To change the value of a command s argument after it has been added to the program 1 Double click on the command line to open its window and enter a new value s 215 x MOVE_D 5000 500 3 SET_OUTPUT 1 ON DELAY 1000 SET_OUTPUT 1 OFF MOVE_D 5000 500 SET_OUTPUT 1 ON DELAY 1000 SET_OUTPUT 1 OFF END Figure 10 Program Window History Window The History window displays a list of all the commands that have been downloaded or sent in Immediate mode to the FSP Amplifier For each command the following information is displayed Table 11 History Window Columns NAME DESCRIPTION ID A sequential number assigned to the command Command The name of the command executed Operation Mode The operation mode Program Immediate Sequential active when the command was issued 28 efesotomasyon com The Main Screen Interface 3 5 4 Parameters Window Each project in the FlexWorks system comprises a program and parameters The FlexWorks parameters are divided into different parameter groups and are displayed in the Parameters window Figure 11 For instructions on how to set parameters see Section 0 Setting Parameters Online and Section 4 3 3 Setting Parameters Offline
36. U lt Master Step gt Defines the table increment in master pulses To each increment there is equivalent slave value so it determines the ECAM table resolution Units are according to the electronic gear See section 12 1 Serial 2 U lt N A gt Currently not in use Send 1 byte with O value Serial 1 U SEE ALSO ECAM_TABLE_BEGIN ECAM_PROFILE ECAM_POINTS ECAM_TABLE_END 194 Command Reference ECAM_TABLE_BEGIN SYNTAX ECAM TABLE BEGIN OP CODE 123 MODES Immediate DESCRIPTION Initializes the ECAM table and clears the previous tables Must be sent at the beginning of each ECAM table loading procedure SEE ALSO ECAM_PROFILE ECAM_SEGMENT ECAM_POINTS ECAM_TABLE_END ECAM_TABLE_END SYNTAX ECAM TABLE BEGIN OP CODE 127 MODES Immediate DESCRIPTION Finalizes the ECAM table Must be sent at the end of each ECAM table loading procedure SEE ALSO ECAM_TABLE_BEGIN ECAM_PROFILE ECAM_SEGMENT ECAM_POINTS GET_FROM_ARRAY SYNTAX GET FROM ARRAY lt Index gt Op CODE 160 MODES Immediate Sequential Program DESCRIPTION Reads the value of one data array member SYNTAX lt Index gt Decimal value in range of 1 1000 ARGUMENTS representing the index of the member in the data array Serial 2 U SEE ALSO READ_FROM_ARRAY WRITE_TO_ARRAY 195
37. When applied to linear motors the maximum force in the forward and reverse directions is set by Pn483 and Pn484 respectively SYNTAX FRW Torque limit in forward direction ARGUMENTS 0 1 of the maximum motor torque Serial 2 REV Torque limit in reverse direction 0 1 of the maximum motor torque Serial 2 NOTE Increasing torque limits while the motor is in CONTROL ON can cause a fast and therefore dangerous movement It is highly recommended to first set the motor to CONTROL OFF and only then increase the torque limits SEE ALSO Variable Reverse_Torque_limit Forward_Torque_limit Parameters Pn402 Pn403 185 Command Reference WAIT_EXACT GROUP Wait SYNTAX WAIT _EXACT lt n gt Op CODE 145 MODES Program Sequential DESCRIPTION Waits until the position error is smaller than the motion_end_window and theoretical motion is over velocity_demand_value is equal to zero or the time limit is exceeded before proceeding to the next command Motion_end_window is set by the Pn2C0O parameter in user position units Unlike the Exact_mode flag the WAIT_EXACT command causes a one time delay only SYNTAX n The time period to wait Setting this value to ARGUMENTS 1 specifies that the program must wait for an infinite period of time i e until the motion ends ms Serial 4 V EXAMPLE LABEL 1 MOVE 10800 3000 SET OUTPUT 2 ON WAIT EXACT 1 SET O
38. values The Description pane C displays a short description of the selected parameter 29 The Main Screen Interface 3 5 5 Cam Window The Cam window lists all ECAM profiles that have been defined com o Download Size 21 Profile Download Size 1 v 21 ea Figure 12 Cam Window Download size Indicates the number of data points that will be downloaded to the FSP Amplifier when the Download Cam button is pressed Profile The profiles are identified in the Cam List by their numbers Download Check the checkboxes corresponding to all profiles that should be downloaded to the FSP Amplifier when the LAM Download Cam button J is pressed Size The number of data points in each profile gt To view or edit a profile Double click anywhere in the row corresponding to the profile number that you would like to view or edit The Electronic Cam window is opened with the Position Setting tab displaying the selected profile See Section 4 9 ECAM Electronic Cam 30 Operating the FSP Amplifier Using FlexWorks 4 1 4 1 1 Operating the FSP Amplifier Using FlexWorks This chapter provides detailed instructions on how to operate the FSP Amplifier using the FlexWorks software Connecting the Drive to the PC Serial communication is used between the PC and the drive gt To connect the drive to the PC 1 Connect a communication cable to an available COM
39. when finished return GO_TO continue from 1 the specified lt label gt Serial 1 U 140 Command Reference SYNTAX label Label to jump to as required by ARGUMENTS CONT the operation specified in lt then gt Serial 1 U EXAMPLE LABEL 1 IF_INPUT 1 0 THEN GO_TO 2 SET_OUTPUT 2 ON LABEL 2 MOVE D 4096 1 END EXAMPLE If INPUT 1 is false the condition is true jump to LABEL EXPLANATION 2 and move forward else set OUTPUT 2 to ON and move forward SEE ALSO IF WAIT_INPUT INPUT_CASE 141 Command Reference INPUT_CASE GROUP Program Flow Control SYNTAX INPUT CASE lt input mask gt lt input state gt Op CODE 97 MODES Program RANGE lt input mask gt 1 to OxOOFFFFFF lt input state gt 0 to OxOOFFFFFF DESCRIPTION The program flow is conditional on the state of a combination of digital inputs If the condition is True the next program line is executed Otherwise the next program line is skipped lt input mask gt is used to define which inputs are detected and which are ignored 1 detected 0 ignored For example if lt input mask gt is set to 5 in binary 0101 only inputs 0 2 are checked the rest are ignored Input Mask Oo O O 1 JO i lt input state gt defines the logical combination to be detected as Tr
40. 0 Sign pulse positive logic 1 CW CCW positive logic 2 A phase B phase x1 positive logic F 3 A phase B phase x2 positive logic i Reference 4 A phase B phase x4 positive logic O 0 gt 0 Pulse Form 5 Sign pulse negative logic S 6 CW CCW negative logic S 7 A phase B phase x1 negative logic 5 8 A phase B phase x2 negative logic z 9 A phase B phase x4 negative logic E 0 Clears error counter when the signal goes Ze high AS Error Counter 1 Clears error counter at the rising edge of the ao 1 Clear Signal signal 0 Form 2 Clears error counter when the signal goes low 5 3 Clears error counter at the falling edge of the E signal 8 O _ Clears error counter at the base block S Does not clear error counter Possible to clear 2 Clear 1 error 0 Operation counter only with CLR signal 2 Clears error counter when an alarm occurs 3 Clear signal ignore 3 Filter Selection 0 Reference input filter for line driver signals 0 1 Reference input filter for open collector signals 5 0 Doesn t use check sum ols oe eee Sum 1 Use check sum 1 OS Communication Default comm setting 1 Start 7 data Even NES 1 definiti 0 it 0 EEZ efinitions parity OO 2 Not used 9 3 Not used a o0 Notch Filter 0 Disabled 2 Lop 5 2 Selection 1 Uses a notch filter for torque reference pgg 1 0 coos E AFOP S 2 Not used 3 234 Parameter Reference
41. 1 lt 2 gt 3 lt 4 l 5 Serial 1 U value Set a value with the same units as lt variable gt Serial 4 V EXAMPLE LABEL 1 SET ZERO POSITION demand position SLIDE 50 VAIT VAR Position actual value 20000 SLIDE 0 END EXAMPLE Position_actual_value is set to zero motor starts EXPLANATION moving at a constant speed 50uu as soon as the motor reaches position 20000 the next command is executed and motor stops SEE ALSO IF WAIT_INPUT 190 Command Reference WRITE_TO_ARRAY GROUP Variables SYNTAX WRITE TO ARRAY lt Index gt lt Value gt Op CODE 158 MODES Immediate Sequential Program DESCRIPTION Write lt Value gt into array element according to lt index gt SYNTAX Index Decimal value in range of 1 512 ARGUMENTS representing the index of the member in the data array Serial 2 U V Value Long type Serial 4 V EXAMPLE Array value before Index 1 2 3 ssi e nen O42 Value 98 WRITE TO ARRAY 17 5432 Array value after Index 1 2 3 i ILT ce MOI Value 5432 EXAMPLE Data array 17 was equal to 98 After the EXPLANATION WRITE_TO_ARRAY command it was changed to 5432 SEE ALSO SET_VAR READ_FROM_ARRAY GET_FROM_ARRAY Only in immediate or sequential mode 191 Command Reference 5 6 Seria
42. 1 E 4 FAST_OUTPUT_SET 4 SET_QUTPUT SET_OUTPUTS rogram Flow Control 2 IF_INPUT 4 INPUT_CASE 4 LABEL LOOP RETURN PEJ Figure 9 Workspace Window Command Tab 25 The Main Screen Interface The icon next to each command indicates its current status The availability or unavailability of a command depends on the current working mode Table 9 Command Tab Icons ICON DESCRIPTION A Available command This command can be used in the current working mode Currently selected command When a command is selected its description is displayed in the Description area under the command list K Command is not available in the currently selected mode gt To select a command 1 Double click on the command name The appropriate command dialog box is displayed See Section 4 4 1 Writing a Program for details on how to insert commands into the program Click on a command name to see a short description of the command in the Description pane or see Chapter 5 Command Reference for a more detailed description 3 5 1 3 Command Groups The Command Groups are listed in the table below Table 10 Command Groups GROUP DESCRIPTION INCLUDED COMMANDS EXAMPLES ECAM Controls the motor ECAM_ENGAGE motion according to a ECAM_DISENGAGE profile that is dependent ECAM_VIRTUAL_AXIS on the position of a master axis or
43. 10000 200 5 2 6 E Pn303 Speed 3 rpm 0 10000 300 5 2 6 amp Pn304 Jog Speed rpm 0 10000 500 5 3 2 oO Pn305 Soft Start Acceleration Time ms 0 10000 0 6 2 2 3 Pn306 Soft Start Deceleration Time ms 0 10000 0 6 2 2 Pn307 Speed Reference Filter Time 0 01 ms 0 65535 40 Constant Pn308 Speed Feedback Filter Time 0 01 ms 0 65535 0 Constant 5 p Pn380 Speed1 mm s 0 5000 10 2 8 3 Pn381 Speed2 mm s 0 5000 20 T a g Pn382 Speed3 mm s 0 5000 30 amp I pn383 Jog Speed mm s 0 5000 50 Pn400 Torque Reference Input Gain 9 1V rated 49 499 30 5 2 7 5 torque 2 Pn401 Goraue Reference Filter Time otms 0 65635 100 6 2 2 Oo amp Pn402 Forward Torque Limit 0 800 800 5 1 3 o Pn403 Reverse Torque Limit 0 800 800 5 1 3 S Pn404 Forward External Torque Limit 0 800 100 5 1 3 Pn405 Reverse External Torque Limit 0 800 100 5 1 3 Pn406 Emergency Stop Torque 0 800 800 5 1 2 2 Pn407 ia during Torque rpm 0 10000 10000 5 2 7 o g S g Pn408 Torque Function Switches 0000 6 2 9 22 Pn409 Notch Filter Frequency Hz 50 2000 2000 6 2 9 a Pn40A Notch Filter width Hz 70 1000 70 6 2 9 i Pn480 Speed limit during torque control mm s 0 5000 5000 oof 0 52 Pn483 Forward force limit of rated 4800 10 g ES force 0 S amp Pn4s4 Reverse force limit e of S 0 800 10 After changing this parameter cycle the main circuit and control power supplies to enable the new settings
44. 3 Motion Modes Description A detailed description of the command Syntax Arguments A description of the arguments used in the command syntax including the units where applicable Additional information is provided in the Serial blocks for use when issuing the command using the serial communication protocol see Chapter 6 Serial Interface Protocol The length of each argument is given The number shown is the number of data bytes of each argument Each byte consists of 2 hexadecimal digits e g 01011111 5Fx0 Arguments that must be specified by an unsigned integer are indicated with a U Arguments that can be specified either by a numerical value or by the ID number of a system variable are indicated by a V This is applicable for version 3 0 and upward Where the argument is specified by an option such as a conditional operator and not by a number the numerical code for each option is provided When programming in FlexWorks the numerical code is not required as the options are simply selected from drop down menus 101 Command Reference Example Serial 2 U IV 2 U V indicates that the argument consists of 2 hexadecimal digits is unsigned and can be specified either by a numerical value or by a variable Example An example that shows the use of the command Example Explanation An explanation of the example Notes Additional information that is useful to kno
45. 5 9 1 1 denominator high User Pn2CO Motion end window position 0 250 7 5 9 1 2 units 0 1 of Pn2C1 Torque slope rated torque 1 24000 24000 5 9 2 ms Synchronize window for pulse user See Pn2C4 trai position 0 250 0 FlexWorks rain units Manual Pn2C5 e whenna harg Speed units 0 32000 2 5 9 3 Pn2C6_ Communication switch selection 0001 Pn2C7 Home switch selection 0008 5 9 3 After changing this parameter cycle the main circuit and control power supplies to enable the new settings 227 Parameter Reference Parameter Setting Default Category Number Name Unit Range Setting Reference gt Pn2c8 anoak einen ms 200 2000 400 5 9 5 Cc of E a o E Pnocg Auto tuning Speed of maximum 0 100 50 5 9 5 S movement speed 5 Pn2CA Auto tuning Acceleration time ms 1 1000 50 5 9 5 g Pn2CB Auto tuning Plateau time of m 0 1000 50 595 movement z Pn2CC Auto start user program 0 99 0 5 10 E Pn2D0 Reserved 2 Pn2D1 Expand input signal selection 2 0078 5 9 4 2 Pn2D2 Expand output signal selection 1 0000 5 9 4 D Pn2F0 Reserved Pn2F1 Reserved 0 01 V 150 to Pn300 Speed Reference Input Gain rated 3000 600 5 2 1 speed Pn301 Speed 1 rotary motor rpm 0 10000 100 5 2 6 Pn302 Speed 2 rpm 0
46. 62 5us the accuracy of the latching is dependent on the motor speed and the exact moment in the sampling interval at which latching takes place The position is recorded in terms of master counts 4 10 4 3 Motion_status This variable indicates how the motion ended Motion_status has four possible states O Not in motion Motor not in motion 1 Stopped by registration The latching condition was met during motion and the motion was stopped by registration 2 Motion stopped but not in registration requested position The latching condition was met during motion but the registration distance exceeded the remaining motion distance The motion thus ended normally but further than the registration distance 3 Still in motion The latching condition has not been met and the motor is still in motion 87 Operating the FSP Amplifier Using FlexWorks 4 10 4 4 Latched_position_ready This variable indicates whether or not the latching condition has been met The variable has two possible states 0 The latching condition has not yet been met 1 The latching condition has been met This variable is automatically set to 0 by the LATCHING_TRIGGER command It is set to 1 once the latching data has been processed this may take up to 4ms 4 10 5 Registration Example The following short example program illustrates the use of the commands and variables discussed above 1 Speed 300 Sets the speed for
47. FSP Amplifier Offline or Online D Indicates the current status of the FSP Amplifier ON or OFF Work Area E The Work Area is comprised of the following items Workspace window e Project tab Program window History window Parameters window Cam Window Workspace Window The Workspace window includes Project Tab The subsections of the current project Command Tab A list of the FlexWorks commands divided into six groups Description Pane A description of the currently selected item 24 The Main Screen Interface 3 5 1 1 Project Tab The Project tab Figure 8 displays the subsections Program Parameters and Cam of the current project To view the project subsections click the sign next to the project name in the Workspace window xi Project Command C FlexAmpDemo E Program Parameters Cam 10 Project Information Figure 8 Workspace Window Project Tab 3 5 1 2 Command Tab The Command tab Figure 9 lists the commands that can be used to write the program The commands are divided into groups A full description of each command is provided in Chapter 5 Command Reference To view the commands under a command group click the sign next to the group name in the Command tab Workspace xf Project Command C Encoder Latching E Fault Manager E Home Interrupt E Motion 5 Motion Profile
48. Id2 6 Because of fault message identification Id1 and Id2 contain the same value as master message identification Fis r Fault code SW1 0 SW2 4 SW3 3 SW4 3 Shows FSP Amplifier status No emergency no fault Status word fault only represents FSP Amplifier hardware faults marked as A control off and in position see Chapter 10 List of Status Word Bits S1 A S2 6 0x100 0x01 0x96 0x8C 0x04 0x33 OxA6 214 Serial Interface Protocol Response message format in case of no fault N A M IpD1 ID2 F1 F2 SW1 SW2 SW3 SW4 gt N 0 0 0 0 0 10 JO 4 3 7 S1 S2 CR gt C 5 9 CR GET_VAR command Example of response message to GET_VAR command to variable Position_Actual_value 0x09 to axis 0 in Immediate mode with message identification of 0x7F Master Message Format N A M Ip1 Ip2 C1 C2 V1 V2 P1 P2 S1 S2 CR NIO JA 6 5 4 8 IO IO IO 9 4 JO CR Response Message Format in cases of no fault N A ID1 ID2 C1 C2 INx_1 INX_2 N IO 2 6 5 4 8 0 9 a V1 v2 V3 V4 V5 V6 V7 V8 S1 S2 CR ci F F F F F 0 6 0 F A CR Where A 0 Axis number 0 m 2 Response type is Answer for data request command ID1 6 Id2 5
49. LATCHING TRIGGER Rising Edge MOVE_H 5000 WAIT VAR Latched_ position ready 1 REGISTRATION DISTANCE 100 EXAMPLE Registration is enabled setting the condition that input EXPLANATION CN1 46 must change from 0 to 1 for registration to begin The motor is commanded to move 5000 user units Once the latching condition has been met the registration begins such that the motor will move 100 user units before stopping 165 Command Reference NOTE 1 The command usually follows the command WAIT_VAR Latched_position_ready 1 as the variable Latched_position_ready is set to 1 once the latching condition has been met See 4 10 3 2 REGISTRATION_DISTANCE 2 The variable Motion_status indicates whether the motion ended as commanded by the REGISTRATION_DISTANCE command See Section 4 10 4 3 Motion_status 3 If the New_move_enable input is enabled the execution of a REGISTRATION_DISTANCE command will be delayed until the input is received If the original motion was triggered by this input the Override_new_move_enable may have to be set to allow the REGISTRATION_DISTANCE command to be executed SEE ALSO LATCHING_TRIGGER WAIT_VAR Variables Latched_motor_position Latched_master_position Motion_Status Latched_position_ready 166 Command Reference RETURN GROUP Program Flow Control SYNTAX RETURN Op CODE 77 MODES Program DESCRIPTION Retu
50. MANAGER IF Fault code 151 THEN GO TO 22 IF Fault code 152 THEN GO TO 22 FAULT MANAGER RETURN 1 LABEL 22 HOME SW 1000 100 FAULT MESSAGE CLEAR FAULT MANAGER RETURN 5 EXAMPLE When positive or negative over travel occurs FSP stops EXPLANATION the motor automatically and the user program jumps to the FAULT_MANAGER followed by a jump to label 22 executing the HOME command and clears the fault message buffer Afterwards it starts the program from label 5 As for other faults the FSP acts as defined in the attached table Fault Action SEE ALSO FAULT_MANAGER_RETURN FAULT_MESSAGE_CLEAR ALARM_RESET Variables Fault_code Fault_line 124 Command Reference NOTE In current FSP Amplifier software when alarm fault occurs the user program stops immediately This forces the user to turn the power on and off in order to restart the program and to clear the fault alarm Since this is not a convenient way of working when non critical fault occurs a method for handling fault conditions by user program was added Yet there are some alarm conditions that cannot be overridden 125 Command Reference FAULT_MANAGER_RETURN GROUP Fault_Manager SYNTAX FAULT MANAGER RETURN lt Return Label gt Op CODE 164 MODES Program DESCRIPTION This command complements the FAULT_MANAGER command and acts as the RETURN command for the FAULT_MANAGER routine The program will
51. MB of RAM 64 MB recommended A hard drive with at least 100 MB of free disk space Operating System Windows 95 OSR2 or later IE4 01 Service Pack 2 or later Windows 98 Windows NT4 0 Service Pack 3 or later IE4 01 Service Pack 2 or later Windows 2000 Windows Me Windows XP e Super VGA or better graphics display minimum 256 colors 65536 colors recommended One node or more RS 232C or RS 422A I F CD ROM drive for installation only The FlexWorks software is supplied on a CD Before proceeding with the installation procedure close any applications that are open During the procedure FlexWorks and its related files are installed on your hard disk If a previous version of FlexWorks is already installed the existing program is overwritten gt To install FlexWorks 1 Zi Insert the CD into the CD ROM drive If the procedure does not start automatically i e auto play is not enabled either Click Start Run and type D Install SETUP where D is your CD drive or Using Windows Explorer load the CD ROM contents and double click D Install SETUP EXE The installation screen is displayed the installation procedure commences and a message welcoming you to FlexWorks is displayed 13 efesotomasyon com System Requirements and Software Installation 3 Click Next to continue 4 Follow the onscreen instructions to choose a destination folder for the FlexWorks files 5 Click Next t
52. SET VAR Var 01 8192 MATH ECAM Shift Actual _ position registration Var 01 ECAM ENGAGE 1 Non Cyclic END EXAMPLE The ECAM_SHIFT variable is calculated by dividing the EXPLANATION Actual_position_registration by the value of Var_01 For example if Actual_position_registration is 19300 ECAM_SHIFT will be set to 2 since 19300 8192 2 36 and only the integer part is considered SEE ALSO SET_VAR 155 Command Reference MOVE GROUP Motion SYNTAX MOVE lt distance gt lt time gt Op CODE 113 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor by lt distance gt incremental coordinates in the specified time The controller calculates the speed of the motor based on the profile acceleration See section 12 2 2 and profile jerk See section 12 2 3 The maximum permitted speed is the maximum motor speed variable Max_profile_velocity SYNTAX distance Distance to the next point ARGUMENTS user position units Serial 4 V time The time allowed for the motion ms When setting lt time gt to 1 a motion profile See section 12 2 will be calculated with a maximum speed equal to the profile velocity See section 12 2 1 Serial 4 V EXAMPLE LABEL 1 MOVE 4096 1000 DELAY 2000 MOVE 4096 1 END EXAMPLE The motor moves 4096 user units in the positive EXPLANATION direction 2000 ms
53. Serial 1 U EXAMPLE LABEL 1 NPUT CASE 3 2 Cari 2 END LABEL 2 SLIDE 1000 DELAY 500 SLIDE 0 RETURN EXAMPLE The program checks if a certain input combination has EXPLANATION occurred If the combination exists it will call the subroutine LABEL 2 A SLIDE motion will occur for 500 ms Otherwise the CALL 2 code line is skipped End of program SEE ALSO LABEL RETURN Command Reference CONTROL GROUP System SYNTAX CONTROL lt switch gt Op CODE 69 MODES Program Immediate Sequential DESCRIPTION Enables disables the motor If the servomotor is disabled while a motion is in progress a quick stop is first made using the maximum deceleration before the motor disable command is executed SYNTAX Switch Specifies whether to enable or disable ARGUMENTS Setting Code OFF disables the motor 0 ON enables the motor 1 Serial 1 U EXAMPLE LABEL CONTROL ON DELAY 1000 MOVE D 3600 1 CONTROL OFF END EXAMPLE CONTROL ON enables the servo The MOVE_D command EXPLANATION is executed the servo is disabled End of program NOTES After the CONTROL_ON command is issued an internal delay may occur especially the first time after power cycling or controller reset with AB motors during the phase finding process SEE ALSO Parameter Pn200 2 Clear options 112 Command Reference
54. Target torque Parameter Pn2C1 183 Command Reference TORQUE_ANALOG GROUP Motion SYNTAX TORQUE ANALOG Op CODE 103 MODES Program Sequential MOTION MODE Analog Torque DESCRIPTION Enables use of an analog signal as an input of required motor torque The torque generated by the drive is proportional to the voltage that the potentiometer creates Parameter Pn400 determines the voltage level in 0 1 V that is calculated with motor rated torque to determine generated torque the higher the voltage the greater the torque Torque calculation Motor Rated Torque x Input Voltage 0 1 V Pn400 Generated Torque For example the rated torque is 500 Nm Pn400 is set to 60 6 V if the voltage generated is 3 V the torque will be 250 Nm The rate of change of torque is specified by the parameter Pn2C1 SEE ALSO SPEED_ANALOG Variable Analog torque Parameter Pn2C1 Pn400 184 Command Reference TORQUE_LIMITS GROUP System SYNTAX TORQUE LIMITS lt FRW gt lt REV gt Op CODE 87 MODES Program Immediate Sequential RANGE 0 to 1000 DESCRIPTION Sets torque limits in the forward lt FRw gt and reverse lt REV gt directions in a single command The torque value is specified as 0 1 of the maximum motor torque set by Pn402 and Pn403
55. UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 12 3673 5000 Fax 44 12 3645 8182 MOTOMAN ROBOTICS EUROPE AB Box 504 S38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Yaskawa Electric America Inc January 2007 YEA SIA FSP 4 Printed in U S A
56. a shortened form of the master message format may be used Use the short format only when backward support for old projects written in short format is required N A M Id1 Id2 Ci C2 P1 P2 Pn Si S2 CR To use the short format master message M mode must be set for the short format according to the following table Mode Code Broadcast Message 0x0 Polling Message Ox1 Immediate Mode 0x2 Sequential Mode 0x3 Program Mode 0x4 In this format the V1 and V2 Variable indicators bytes are omitted as the arguments can only be specified by numerical values H NOTE The short format is the same format as was used in previous versions of FlexWorks in which the specification of arguments was limited to numerical values 206 Serial Interface Protocol 6 2 3 Response Message All master messages except broadcast messages are responded to by an FSP Amplifier response message Format N A M Ip1 Ip2 ANSWER S1 S2 CR Where Description FSP Amplifier message start symbol Constant value Range N Description Axis address The response message holds the same axis address as the original message Range 0x0 OxF Description Response type Range 0 Acknowledge without Fault 1 Acknowledge with Fault 2 Response for data request command
57. after the motion begins The next MOVE command is executed this time in the opposite direction The time of the movement is determined internally according to the Motion Profile See section 12 2 you specified 156 Command Reference SEE ALSO MOVE_D MOVE_H MOVE_R GO GO_D ACCELERATION JERK_TIME SPEED Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile_Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 157 Command Reference MOVE_D GROUP Motion SYNTAX MOVE D lt distance gt lt time gt Op CODE 129 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor a specified lt distance gt incremental coordinates in the specified lt time gt This command is identical to the MOVE command in motion execution but it delays the execution of the next program command until the command theoretical motion generated by the MOVE_D command is completed The controller calculates the speed of the motor based on the profile acceleration See section 12 2 2 and profile jerk See section 12 2 3 The maximum permitted speed is the maximum motor speed variable Max_profile_velocity SYNTAX distance Distance to the next point ARGUMENTS user position units Serial 4 V time The time allowed for the motion ms When setting lt time gt to 1 a motion
58. and the Master Step is 20 The number of points in the segment including the start and end points is thus 51 gt To open the Curve Shape window 1 First specify the values of Master End Slave End and Master Step as explained previously in Sections 4 9 4 3 and 4 9 4 4 2 Click in or tab to the Curve Shape field 3 Click the licon that is displayed in the Curve Shape field The Curve Shape dialog box is displayed 4 Select Array from the Curve Shape window Curve Shape O OOOO A table is displayed in the m Select curve shape OK Curve Shape window Each ee row corresponds to one Ea point in the segment For the example shown above Slave Value a Impott a table with 51 rows will be displayed The slave values for the first and last points are entered automatically based on the Slave Start and Slave End values specified Only the slave values need to be entered the master values are calculated automatically based on the end points and the master step value ai Figure 37 Example of Curve Shape Window with Array Table 66 Operating the FSP Amplifier Using FlexWorks Entering the values directly into the table gt To enter the values into the Curve Shape table 1 Enter the values in the Slave Value column Note that the first and last values are entered for you according to the values you assigned to Slave Start and Slave End 2 Click OK The Curve Shape win
59. at the beginning of the motion remains in effect while in Hunting mode see Section 5 3 Motion Modes Use the STOP_EX command to change the motion mode 160 Command Reference SYNTAX Distance The movement distance ARGUMENTS user position units Serial 4 V EXAMPLE SET ZERO POSITION demand position SPEED 1500 MOVE H 600000 MOVE H 400000 VAIT VAR Position actual value gt 800000 SPEED 500 END Smoothed Target Speed Position Error 2500 sae a tia E tay 2 2000 tena er eee 2000 1500 E da ET 1000 1 4 L b 4 1000 500 a ee ee 500 0 I 0 HDD 4 h 4 d H 4 500 1000 4 1000 15004 4 t teleteiel ictaiel delete teieieie r 4 1500 2000 1 7 r r 2000 2500 2500 0 000 200 000 400 000 600 000 800 000 1000 000 5 Sampling Time ms 1 000 Time ms EXAMPLE The speed is set to 1500 rpm and movement commences to EXPLANATION a distance of 600 000 user units While in motion another 400 000 user units is added so the total movement distance is 1 000 000 user units When the Actual position equals 800 000 user units the speed changes to 500 rpm SEE ALSO GO_H 161 Command Reference MOVE_R GROUP Motion SYNTAX MOVE R lt distance gt Op CODE 119 MODES Program Sequential MOTION Pulse train 3 MODE D
60. below describes how the quality of the control coefficients can be checked gt To evaluate control loop performance 8 Click Program Mode 34 to select Program mode 9 Enter the program shown below in Figure 22 See Section 4 4 Programming the FSP Amplifier Program ox CONTROL ON 2 MOVE_D 10000 400 DELAY 400 MOVE_D 10000 400 END Figure 22 Program for Checking Control Coefficients 10 Click Program Download 47 to download your program to the FSP Amplifier 11 Click Chart to open the Chart window 12 In the Graph Setting area set Smoothed Target Speed to 50 13 Click Start Trace The message Waiting for trigger and data collection completion is displayed 14 Click Run Program to run the program The program runs and the data is uploaded A graph of the motion is displayed 15 Study the graph particularly the Position Error Figure 23 shown by default in yellow and decide whether the control coefficients are set appropriately 48 Operating the FSP Amplifier Using FlexWorks Position Error Smoothed Target Speed 2507 7 7 I r Graph 1 ee a ee RE ee egies ae ee b ee ee ee ee ee k Z W E o D Pos 4 h 4 h J 150 100 oeadeana Figure 23 Sample Chart of Position Error efesotomasyon com 49 Operating the FSP Amplifier Using FlexWorks
61. buffers is provided in the introductory section of Chapter 5 Command Reference Program Mode Use this mode when writing a program that is to be executed after the entire program has been written see Section 4 4 1 Writing a Program This mode stores the program in the User Program Buffer UPB Program execution is activated by the RUN command see Section 4 4 3 Running a Program Immediate Mode Use this mode to issue a single command for immediate execution or when sending a single command from a host PC for example to change the state of an output while a program is running or to lower the gain while the motor is enabled and not in motion and no program is running Commands sent in Immediate Mode are stored in the Immediate Command Buffer ICB and are executed within 2 ms or less Sequential Mode Use this mode when using a host PC that sends a command stream that should be executed as a program move the motor and wait for motion completion wait for input make another move etc Immediate mode cannot be used in such cases because commands like MOVE_D move the motor and wait for motion completion are not available in Immediate mode 44 Operating the FSP Amplifier Using FlexWorks 4 6 4 6 1 4 6 2 Tuning the Control Loops The mathematical coefficients of the control loop an advanced control algorithm must be tuned in order to ensure good system behavior These coefficients can be tuned eith
62. cee cca ieetaant snicatundeeceaan anvanmere cou Meecencabaensieeeans 236 8 5 Table 21 Extended Input Signal Selectionic a4 aitcucent heise acai 237 8 6 Table 22 Output Signal S lections 5 cicssicc teccsecsseeseosataasta ces ceai sities ccrseseeiats 237 8 7 Table 23 Extended Output Signal Selection eecceeceeeneeeteeeeteeeteeeees 238 8 8 Table 24 Auxiliary Functions x5 ess vessceis page teas she aatebsubeinnwunaessatetsubeees 239 8 9 Table 25 Monitor Modes cc saci ccaesciassdaccs acaeuuld esaeeantvense maesneeondeeeasalaene 240 9 LIStOk System VearlaDlGS iis cscutiandnid exis ne a a a e E 241 10 List of Status Word Bits nacre seii tices arian Mew ids aes 247 lts Eistof Op ration COGCS ea meenen i e n seeds a i Nees ctswonaer s 249 12 Glossary of Terms and Concepts ssssseseesseesseseesseessessessesseesresreesseserssressesress 253 124 Ble Ctr re Crear sis sss casks hes nannan a a E A a 253 12 1 1 Electronic Gear Parameters asec sack ticisvadncdectnnaleeoshad adel emeranesss 253 12 2 Motion Profile scsuraseiidan a a a eds E A R Sli as 254 12 2 Profile Velocity asne ea en e ae a E E ee mene meee 254 12 2 2 Profile ACCEL ation ssrt ee naiiai AAE EER NRT EA S RARE EE 255 12 2 3 Profile Jerk Smoothing Time is 3 chasicssvisissiees eecrssscadiacssaus acess 255 10 Table of Contents Introduction The FlexWorks software constitutes the user interface and tool of operation for the FSP Amplifier It ena
63. cssclcsaeesictiaet vse idea ea thoiess aadatvene ates 89 4 T14 Interrupt MASKS 322 cass wctscaseelicdsbadbancuaeiaiessansatassuanlcaphatdaxans anid PELES EEan 90 4 11 5 Interrupt Handing 5 ccsseonvscssasiel uy nee a a hed acuadienta inal anes 90 4 11 6 Interrupt V Ania D less 522s aie satusetes ter densugee cen daceunnah sates ommielenisaendwemecdeaceabaaes 91 4 1164 Interrupt CEQUESE ceann vad basse ted tear e tener E ERE 91 AAG Interrupt maskasi a a Ea E E E mein aout 91 4 11 6 3 Interrupt pending s seeseseseeseesessseeseeseessesseserssresseserssrossessessresseese 92 4 11 6 4 Example of Interrupt Variable Functioning ses seesesseseeeessereessesee 92 Interr pt mask i nonnai A a EA E E 92 Tnterr pt reg stn iea e E E E E E E 92 AAAS be Wales easel ea ha a a el ale tia al obit a SS 93 4 11 7 Interrupt Commands ss 25 octes osadedss ean catanea estos Sasses vibes savecase aus eulyonuseenees 93 ARLA EXT IN Ehear A A T a Ea a RE nia 93 AAV T2 IN Preni dict eck ateas aac apes Nea eee a ae 94 AALER INT RETURN e eee e ea e ar ra ar Ae 94 411 8 WMterUptE ample cxca taht sua acids a aby danas 95 4 12 Master Slave Synchronization 2545 0 s5204 acest dedeed as ehevsntedeie acevo eapseoenty hovers cs 98 4 12 1 Using New_move enable to Reduce Response Time ccceeeceeeeeeeeee 98 4 12 2 Overriding New_move_enable x 5 0 anc ceisaet ate cov en aaeniaee hae 98 4 12 3 Example Program for a Flying Shear Application
64. editor to be downloaded to the drive at a later stage For details of all the available modes see Section 4 5 Program Modes Sequential ES Switches to Sequential mode In Sequential Mode mode each command is downloaded individually to the drive and then processed For details of all the available modes see Section 4 5 Program Modes Jog oe Runs the motor at a constant predefined speed Stop Immediately stops the motor motion You can E also click Stop a on the toolbar or press F9 For further details see the STOP_EX command in Chapter 5 Command Reference 20 The Main Screen Interface 3 3 Communication Menu The Communication Menu options are used to switch on off the communication between FlexWorks and the FSP Amplifier and to customize the communication parameters Table 5 Communication Menu Options OPTION DESCRIPTION Online Switches to working in online mode Offline Switches to working in offline mode Setting Opens the Communication Settings window See Section 4 1 1 Communication Settings for details on this option 3 3 1 Tool Menu The Tool Menu options allow you to access the Electronic Cam interface to automatically tune the control loops and to perform a mechanical analysis of the motor load system Table 6 Tool Menu Options OPTION ICON DESCRIPTION Electronic Creates motion according to a specified profile that is Cam dependent
65. inputs the program calls in lines 4 and 6 a different subroutine Label 3 or Label 4 to set the variable values Evaluation of Digital Inputs 1 LABEL 1 2 WAIT INPUT 1 0 1 3 WAIT INPUT 1 1 1 4 INPUT CASE 12 4 5 CALL 3 6 INPUT CASE 12 12 7 CALL 4 Main 8 LABEL 2 9 SET VAR Profile velocity Var_03 10 GO H Var 01 N ans JAIT_VAR Position actual value gt Var 02 SET VAR Profile velocity Var 04 VAIT STOP 1 GO D 0 Var 05 DELAY 500 G OGT F W N GO TO 1 Subroutine 3 17 LABEL 3 41 efesotomasyon com Operating the FSP Amplifier Using FlexWorks 18 SET_VAR Var 01 100000 19 SET_VAR Var 02 50000 20 SET_VAR Var 03 1000 21 SET_VAR Var 04 400 22 SET_VAR Var 05 1 23 RETURN Subroutine 4 24 LABEL 4 25 SET_VAR Var 01 200000 26 SET_VAR Var 02 80000 27 SET_VAR Var 03 1300 28 SET_VAR Var 04 700 29 SET_VAR Var 05 600 30 RETURN The chart below graphs the target speed against time for each of the two cases specified in lines 4 and 6 which call the variable settings specified in subroutines 3 and 4 respectively For example note how the initial peak in target speed for Case 2 exceeds that for Case 1 This is because line 9 sets the profile velocity equal to the value of Var_03 Case 1 specifies Var_03 as 1000 user speed units while Case 2 specifies Var_03 as 1300 user
66. is synchronized to the master line 3 Output 1 is set On line 4 Once the Position_demand_value variable has exceeded 1000 line 5 the New_move_enable function in disabled line 6 Therefore the GO_D function line 7 is run immediately irrespective of the state of the New_move_enable input The New_move_enable input is then re enabled line 8 and the program returns to the beginning line 9 See MOVE_R in Chapter 5 Command Reference 99 Command Reference 100 Command Reference Command Reference This chapter contains an alphabetical list of The commands available for writing a program in the FlexWorks system The commands available in the serial communication protocol The following information is presented for the commands Command Name The name of the command Command Group The group to which the command belongs Syntax The format in which the command should be written Operation Code The operation code of the command in decimal format to be used when issuing the command using the serial communication protocol See Chapter 6 Serial Interface Protocol Modes The modes in which the command is available For details of the available modes see Section 4 5 Program Modes Information on how commands are executed in the different modes is provided below Motion Mode The motion modes in which the command functions applicable to motion commands only See Section 5
67. motion has finished Output 1 will be set OFF SEE ALSO EXT_INT INT_RETURN Variables Interrupt_mask Interrupt_request Interrupt_pending 145 Command Reference INT_RETURN GROUP Interrupt SYNTAX NT RETURN lt Label gt Op CODE 140 MODES Program DESCRIPTION This command indicates the end of an interrupt service routine and specifies how the program should continue See 4 11 7 3 INT_RETURN SYNTAX ARGUMENTS Specifies the label number from which the program must continue running once the interrupt service routine has been completed If set to 1 the program will continue running from the point at which it was interrupted Serial 1 U Label EXAMPLE MOVE D 655360 1 SET OUTPUT 1 OFF END INT Target velocity gt 400 SET OUTPUT 1 ON ul NT RETURN EXAMPLE EXPLANATION A motor movement to position 655360 is started When during the motion the value of the variable Target_velocity reaches or exceeds 400 Output 1 will be set ON The program will then continue from the point at which it was interrupted once the motor motion has finished Output 1 will be set OFF SEE ALSO EXT_INT INT Variables Interrupt_mask Interrupt_request Interrupt_pending 146 Command Reference JERK_TIME GROUP Motion Profile SYNTAX JERK_TIME lt time
68. of priority If while an interrupt routine is being executed a new interrupt of a higher priority occurs the program will exit the present interrupt service routine and handle the higher priority interrupt service routine Once that service routine has been completed the program will continue handling the lower priority interrupt service routine Once all the required service routines have been executed the program will continue at the return point specified by the last interrupt service routine completed 4 11 3 Interrupt Response Time The maximum response time to the highest priority interrupt is 2 ms Each lower priority interrupt is handled only when all higher priority interrupt service routines have been completed 89 Operating the FSP Amplifier Using FlexWorks 4 11 4 Interrupt Masks Using masks you can specify which interrupt events need be handled and which need not be This allows you to specify interrupt service routines for a number of possible events and then to deactivate them from within the program as required If no mask is specified the program will not react to any interrupt event An interrupt mask must therefore always be specified if interrupts are to be used See Section 4 11 6 2 Interrupt_mask 4 11 5 Interrupt Handling The process that occurs when an interrupt occurs is summarized below Detailed instructions on the use of the various variables and commands are provided in the section
69. of the selected segment Flow Chart Position Setting Data List Data Graph Segment Master Width Slave Width Size Subtotal Size 1 1 0 0 10 20 2 10 156 100 120 3 20 309 4 30 453 5 40 567 6 50 707 7 60 809 amp 70 891 9 8 amp 0 951 10 90 987 1414 100 1000 Figure 40 Data List Table 7i Operating the FSP Amplifier Using FlexWorks 4 9 9 Viewing the Data Graph The data graph graphically represents the specified table The dots along the curve represent the interpolated points gt To view the data graph 1 Open the Data Graph tab The data graph is displayed Flow Chart Position Setting Data List Data Graph Slave Position 200 100 0 20 40 60 80 100 120 140 160 180 200 220 240 260 Master Position Figure 41 Data Graph 4 9 10 Printing from the Electronic Cam Window The contents of each of the Position Setting Data List and Data Graph tabs can be printed gt To print from the Electronic Cam Window 1 Select the profile to print from the Profile List 2 Select the tab to be printed 3 Click Print The Print dialog box is displayed 4 Make any necessary changes to the settings shown and click Print 72 Operating the FSP Amplifier Using FlexWorks 4 9 11 4 9 12 D The Cam List Window By default the Cam List window is displayed on the project screen If the window is not displayed ensure that Cam list is checked in the View menu
70. on time elapsed Encoder Controls the latching and LATCHING_TRIGGER Latching registration process REGISTRATION_DISTANCE Home Moves the motor to HARD_HOME HOME_C search for the system HOME_SW HOME_SW_C home position SET_ZERO_POSITION Interrupt Specifies the interrupt EXT_INT INT INT_RETURN routines to be run for various interrupt events 26 The Main Screen Interface GROUP DESCRIPTION INCLUDED COMMANDS EXAMPLES Motion Controls motor motion GO GO_D GO_H MOVE MOVE_D MOVE_H MOVE_R SLIDE SLIDE_ANALOG SPEED_CONTROL START STOP_EX TORQUE TORQUE_ANALOG Motion Changes the default ACCELERATION JERK_TIME Profile values of speed SPEED acceleration and jerk time Output Sets output ON OFF FAST_OUTPUT_SETTING SET_OUTPUT SET_OUTPUTS Program Program flow handling CALL END GO_TO IF Flow commands IF_INPUT INPUT_CASE LABEL Control LOOP RETURN RUN System Enables and disables CONTROL GAIN SERVO control in the TORQUE_LIMITS program Sets gain and torque limits Variables Sets variable values in MATH READ_FROM_ARRAY the program SET_VAR WRITE_TO_ARRAY Wait Delays program flow DELAY WAIT_EXACT either for a specified time or until a condition is met WAIT_FOR_START WAIT_INPUT WAIT_STOP WAIT_VAR 27 The Main Screen Interface 3 5 2 3 5 3 Program Window The Program Window Figure 10 displays the entire program
71. only be used in the fault manager routine EXAMPLE LABEL 5 MOVE 1000 1 FAULT MANAGER FAULT MESSAGE CLEAR SET OUTPUT 1 ON DELAY 1000 SET OUTPUT 1 OFF FAULT MANAGER RETURN 5 EXAMPLE When a fault occurs the program jumps to the fault EXPLANATION manager clears the fault message and toggles an output SEE ALSO FAULT_MANAGER_RETURN FAULT_MANAGER Variables Fault_code Fault_line 127 Command Reference GAIN GROUP System SYNTAX GAIN lt n gt Op CODE 71 MODES Program Immediate Sequential DESCRIPTION Sets a user factor for the control loop gains This command can be used to momentarily decrease system bandwidth i e when the motor is not in motion but holding its position or to increase system bandwidth for short and stiff motion SYNTAX n User gain ARGUMENTS Range 0 1000 Default gain is 100 Serial 2 U 128 Command Reference GO GROUP Motion SYNTAX GO lt target gt lt time gt Op CODE 112 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor to a specified lt target gt absolute coordinates in the specified lt time gt The controller calculates the speed of the motor based on the profile acceleration See section 12 2 2 and profile jerk See section 12 2 3 The maximum permitted speed is the maximum motor speed vari
72. order to reduce the effect of the mechanical restrictions ZS NOTE The process uses the predefined parameters of Notch Filter Pn408 0 Pn409 Pn40A and does not take control gains into consideration gt To start mechanical analysis 1 Click FFT or select Mechanical Analysis from the Tools menu A Warning message is displayed Figure 29 Mechanical Analysis we x A WARNING it is dangerous to operate this function because the motor will rotate Always be sure to check the user s manual before operating Pay particular attention to the following points 1 Perform safety checks around moving parts The motor will turn for 0 25 2 sec for each Excitation Measurement during the execution of this function Perform this after adequately verifying that there is no danger from motor operation 2 Set an appropriate Allowable Rotations Improper setting may lead to damage of the machine due to overrun etc Moreover the Allowable Rotations is the limit to each Excitation Measurement The excitation starting point may shift if excited multiple tines Be sure to check this before ExcitationtMeasurement 3 Do not perform measurement on vertical axes The current version cannot perform measurement for vertical axis or in machine configurations where a load in constantly applied in one direction Do not use this in such application due to the danger 4 Always be sure to perform position reset after closing this
73. port on your PC Note that only COM 1 through 4 are supported by FlexWorks 2 Connect the other end to the CN3 connector on the FSP Amplifier Communication Settings It is important that the communication settings are set correctly gt To change the communication settings 1 Run the FlexWorks software The default location is Start gt Programs gt FlexWorks 2 Select Online from the Communication menu The communication indicator on the status bar indicates whether communication is offline or online 3 Select Setting from the Communication menu The Communication Settings window is displayed Communication Settings Port Baud Rate fiszoo z Parity Even gt Data Bits Fo z Stop Bits Mo Flow Control None Axis Address fo H Cancel Figure 13 Communication Settings Window 31 Operating the FSP Amplifier Using FlexWorks 4 2 4 Set the Port to the correct COM port on your PC the default is COM1 on most computers 5 Set the Axis Address 6 All other communication parameters are predefined and are for display purposes only Baud Rate 19200 Parity Even Data Bits 7 Stop bits 1 Flow Control None If you set the communication to Online and the communication indicator in the status bar changes to Online for a few seconds and then reverts to Offline communication between FlexWorks and the FSP Amplifier has not been established In such
74. profile See section 12 2 will be calculated with a maximum speed equal to the profile velocity See section 12 2 1 Serial 4 V EXAMPLE LABEL 1 MOVE D 4096 1000 MOVE D 4096 1 END 158 Command Reference EXAMPLE The motor moves 4096 user units in the positive EXPLANATION direction Execution of the next MOVE command commences as soon as the previous motion ends after 1000 ms this time in the opposite direction The time of the movement is determined internally according to the motion profile See section 12 2 you specified SEE ALSO MOVE MOVE_H MOVE_R GO GO_D ACCELERATION JERK_TIME SPEED Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 159 Command Reference MOVE_H GROUP Motion SYNTAX MOVE H lt distance gt Op CODE 118 MODES Program Sequential MOTION Hunting 1 MODE DESCRIPTION While the motor is still in motion enables addition of a lt distance gt to the commanded motion This is unlike the MOVE and MOVE_D commands where every command is executed only after the previous one has ended After the MOVE and MOVE_D commands the motor comes to a full stop The motion is according to the motion profile See section 12 2 Speed and acceleration can be changed during motion as shown in the example below The jerk value used
75. read only The position cannot be set to zero while the motor is moving 8 Wrong op code This command does not exist in the command list 9 Wrong motion mode for This command cannot be SET_ZERO_POSITION command performed if the Motion Set STOP_EX command before Command buffer is not empty or if a motion is in progress 10 Reply buffer full The reply buffer is full because the command GET_VAR has been used at a very high rate 11 Incomplete message received The time limit for the message to be sent to FSP Amplifier via serial communication has been exceeded 12 Message too long The size of a message sent to FSP Amplifier via serial communication is limited to 64 characters 217 Error Messages CODE MESSAGE DESCRIPTION 13 C phase Index not found 1 C phase is not defined by Pni90 2 May occur with linear motor if the JOG command was used after power up and then the HOME_C command Reset the FSP Amplifier and execute HOME_C command without first using the JOG command 14 Invalid input assignment A digital input is configured for more than one function 15 Invalid output assignment A digital output is configured for more than one function 16 Selected traced I O not in use The digital I O selected is not defined as an event 17 Command prohibited in present Incorrect operation mode for control method serial command Set parameter Pn000 1 D 18 Para
76. reduced at low measuring frequency The measuring frequency and excitation time depend on the sampling time To begin set the sampling time to a small value Then reset it to a more appropriate value in accordance with the results produced Excitation Amplitude Rated torque Range 1 to 300 Must be set to a value below the Torque Limit Select the size of the reference amplitude applying excitation to the machine as a percentage of the ratio of size to rated torque A larger excitation amplitude tends to give more correct measurements but an excessively large amplitude can cause overspeed A 51 and overcurrent A 10 alarms Problems with 57 Operating the FSP Amplifier Using FlexWorks the load inertia and the balance would cause alarms and accurate measurements would be impossible H NOTE Accurate measurement is not possible if the torque is restricted during excitation Refer to the FSP Amplifier User s Manual for details on the Torque Limit function Allowable Rotations Rotation Range 1 to 1000 rotations The number of Allowable Rotations must be set so the measurements can be taken safely Set the motor revolutions so the setting is within the operable range Select the limit of motor rotations during measurement If the allowable number of rotations is exceeded the zero clamp function will cause the motor to stop and measurements will be halted Consider the deceleration rations for the pulley
77. resolution than the slave 253 Glossary of Terms and Concepts 12 2 Motion Profile In an FSP Amplifier program motion commands are used to specify the required motor motion A motor motion is characterized by the rate at which it accelerates the ultimate speed reached and the rate at which acceleration changes should the ultimate speed be changed When using motion commands these parameters may be specified Alternatively the FSP Amplifier will use the default motion profile parameters which you can set The profile parameters are Profile Velocity Profile Acceleration Jerk Smoothing Time 12 2 1 Profile Velocity The profile velocity is the default speed to which the motor accelerates if the desired duration of the motion is not specified The motor will accelerate until it reaches the profile velocity The profile velocity is recorded in the system variable Profile_Velocity By default Profile_velocity is set equal to the Work Speed Default specified by parameters Pn2A2 and Pn2A3 e Pn2A2 The profile speed in user speed units in the low bits format e Pn2A3 The profile speed in user speed units in the high bits format Pn2A2 is used to store the work speed default if its value is less than 65536 Values over 65536 must be converted to high bits format and stored in Pn2A3 which can hold values up to 256 The value of Profile_velocity can be changed using the SPEED command To set Pro
78. return to the specified label number This command can be used more than once in the routine for example when using a number of conditional sentences SYNTAX Return Label The number of the label number to ARGUMENTS return to Setting 1 as the label number causes the program to return to the FAULT_MANAGER Serial 1 U EXAMPLE LABEL 5 MOVE 1000 1 FAULT MANAGER IF Fault_code 151 THEN GO TO 22 IF Fault _code 152 THEN GO TO 22 FAULT MANAGER RETURN 1 LABEL 22 HOME SW 1000 100 FAULT MESSSAGE_ CLEAR FAULT MANAGER RETURN 5 126 Command Reference EXAMPLE In this example if the error code is neither 151 nor 152 EXPLANATION the program endlessly returns to the FAULT_MANAGER checking this condition over and over again In case the over travel fault occurs then label 22 is called and then the program returns to label 5 SEE ALSO FAULT_MANAGER FAULT_MESSAGE_CLEAR ALARM_RESET Variables Fault_code Fault_line FAULT_MESSAGE_CLEAR GROUP Fault_Manager SYNTAX FAULT MESSAGE CLEAR Op CODE 165 MODES Program DESCRIPTION Used in the fault manager to clear the fault message from the fault buffer The list of faults can be found in chapter 7 This command can
79. signal monitor On Off status of outputs Un007 Input reference pulse speed rpm Un008 Ener counter value reference Error between commanded position unit and actual motor position 0 Un009 Accumulated load rate a RMS torque over the last 10 seconds of max Average power dissipated by the Un00A Regenerative load rate regenerativ regenerative resistor over the last 10 e power seconds Average power consumed by the Pewer consumed by DB dynamic braking resistor over the last Un00B f y of max 10 seconds This is equivalent to the resistor value for the processable power when dynamic brake is applied at 100 Number of Number of command pulses received Un00C Input reference pulse counter pulses in A P h by the amplifier ex Numbgnor Number of feedback pulses received by Un00D Feedback pulse counter pulses in hex the amplifier See notes 2 and 4 below H NOTE Not used in serial communication command 240 List of System Variables 9 List of System Variables Name Var ID Dec Unit Read Write Min Max Description U T Group Absolute_position_error 61 Position Units 2147483647 The absolute value of Following_actual_value N Position Variables Analog _Speed 42 0 1 of max 2147483648 2147483647 Value of analog speed input See Pn300 and Pn380 BG Analog Inputs Analog_Torque 41 0 1 of max 2147483648 2
80. the MOVE_H command 2 LATCHING_TRIGGER Rising Edge Sets latching condition 3 MOVE_H 5000 Starts motion 4 WAIT_VAR Latched_position_ready 1 Delays next command until variable changes to 1 5 REGISTRATION_DISTANCE 100 Starts registration movement to stop 100 user position units after latching condition is met 88 Operating the FSP Amplifier Using FlexWorks 4 11 Interrupts When an event for which an interrupt has been defined occurs program execution is postponed while the specified interrupt service routine is executed This allows the FSP Amplifier to react to events regardless of when they occur Typical interrupt events include the onset of an emergency situation or changes in user inputs or in user or system variables 4 11 1 Interrupt Events Interrupt events can be either e External such as a change in an input from one value to another Or Internal such as a variable value meeting a given condition 4 11 2 Multiple Interrupts The FSP Amplifier provides for eight different interrupts to be specified for a single program Each interrupt is assigned an identifying number from 0 to 7 The identifying number also assigns priority where Interrupt 0 has the highest priority Interrupt 7 has the lowest priority Only one interrupt can be assigned to each priority level If multiple interrupts occur simultaneously the interrupt service routines will be run one at a time in order
81. the Position Setting Table gt To edit an entered value 1 Click the field that you would like to change 2 Enter the new value The value is changed and the table values are automatically updated If the value of a Master End position is changed all subsequent Master End values are automatically adjusted to maintain the size of the segments as they were before the change Changing a Master End value therefore affects only the size of the segment that the point ends The Master Start values are also updated to match the revised Master End values Changing the value of a Slave End position does not result in subsequent Slave End values being updated only the next Slave Start value is updated 70 Operating the FSP Amplifier Using FlexWorks 4 9 7 Deleting a Profile gt To delete a profile 1 Select the profile to be deleted from the Profile List 2 Click Delete Profile WARNING Clicking Delete Profile deletes the profile immediately you will not be asked for confirmation 4 9 8 Viewing the Master Slave Table The Data List tab displays all the interpolated points through which the slave will move listed per segment gt To view the Master Slave table 1 Open the Data List tab 2 Click on one of the segments listed on the left panel of the Data List tab The master slave table is displayed on the right listing all of the interpolated points as well as the specified start and end points
82. turn limit Speed Control 0 None N Option 1 Uses T REF as an external torque limit input S 0 T REF 2 Uses T REF as a torque feed forward input 0 Terminal 3 Uses T REF as an external torque limit input D Allocation when P CL and N CL are ON 5 Torque Control 0 None E Option S fs 1 baaa 1 Uses V REF as an external speed limit input 9 s Allocation 2 0 Uses absolute encoder as an absolute D encoder B Absolute 1 rie ie encoder as an incremental r 2 Encoder Usage Uses absolute encoder as an absolute S 2 encoder Uses multi turn limit 3 Not used 231 Parameter Reference Parameter SE Name Setting Description son 0 Motor speed 2 1V 71000 rpm 8 1 Speed reference 1 V 1000 rpm 5 2 Torque reference 1 V 100 E Analog Monitor 1 3 Position error 2 0 Torque 0 05 V 1 reference units 2 Reference 4 Position error 8 Monitor 0 05 V 100 reference units 2 E Reference pulse frequency converted to ec rpm 1 V 1000rpm 0 a6 6 Motor speed x 4 1 V 250 rpm S 7 Motor speed x 8 1 V 125 rpm D Analog Monitor 2 S 1 S 0 7 Same as Pn003 0 see above 5 eference S Monitor LL 2 Not used 3 Not used 0 Servo position error 1 V 10 encoder counts 1 Servo position error 1 V 5 user units 2 Target speed 1 V 500 rpm 2 3 Target speed after ap
83. variable as the source When the TORQUE 50 command is then executed the motor will generate 5 of the motor s rated torque while not exceeding the 300 user units speed limit NOTE If the desired torque is negative i e 50 the Speed_limit_reference must remain a positive value in this example 300 If an external analog speed limit is used and its value is negative then the actual value will be set as a zero value SEE ALSO TORQUE TORQUE_ANALOG Variables Speed_limit_reference Speed_limit_for_torque_mode 179 Command Reference START GROUP Motion SYNTAX START Op CODE 82 MODES Immediate DESCRIPTION Triggers the execution of a previously defined motion that is held by a WAIT_FOR_START command The START command reaches all the drives provided that several drives are connected via serial communication at the same time as a broadcast message The START command clears the WAIT_FOR_START flag Therefore the WAIT_FOR_START command must be set per motion SEE ALSO WAIT_FOR_START STOP_EX GROUP Motion SYNTAX STOP EX lt Type gt lt Servo gt Op CODE 153 MODES Program Immediate Sequential MOTION Position 1 MODE DESCRIPTION This command is used to stop motor motion The rate of deceleration is dependent on the lt Type gt chosen The lt Servo gt argument specifies whether or not the servo must remain enabled after stoppin
84. viewed in groups The default group setting of the Parameters window is ALL i e all available parameters in the system are shown To display only parameters belonging to a specific group in the Va ue pane select one of the predefined groups e g Digital I O Servo Control listed in the Group pane Parameters See lo x Default Description z 0x0FD1 Function Selectio Advanced Applicatio el A i Analog Inputs 0x0000 0x0000 OxFFFF Ox0000 Function Selectior Analog Monitor 0x0100 O0x0000 OxFFFF 0x0100 Function Selectior Application Setting Ox0002 0x0000 OxFFFF 0x0002 Function Selectior Auto Tuning 0x0010 oxoo00 OxFFFF Ox0010 CH1 Analog Monit Current Control 0x0012 0x0000 0xFFFF 0x0012 CH2 Analog Monit Digital 1 0 4 Motion Profile Ox0000 Ox0000 0x0011 0x0000 Linear Pole Sensc Motor Encoder 40 1 2000 40 Speed Loop Gain Other gt Pulse Train Input Servo Control Torque Force 0 Forward direction User Units 1 Reverse direction Pn000 1 Control Method Selection n ee oe ee S Figure 14 Parameters Window The fields in the panes of the Parameters window are listed below from left to right Group Parameter group selection Parameter status indication An asterisk in this column indicates that the value of the parameter has been changed in the PC but has not been downloaded to the FSP Amplifier Parameter ID The parameter number
85. 0 500 000 Sampling Time ms 0 500 Time ms EXAMPLE A STOP_EX command was issued 200 ms after motion EXPLANATION started Because lt Type gt was set to Emergency the motor decelerated at the quick stop deceleration rate which was higher than the profile acceleration at which the motor accelerated initially The SET_OUTPUT command was executed only once the motor had stopped SEE ALSO Parameters Pn2A8 Pn2A9 182 Command Reference TORQUE GROUP Motion SYNTAX TORQUE lt n gt Op CODE 116 MODES Program Sequential MOTION Torque 4 MODE RANGE 1000 to 1000 DESCRIPTION Defines the torque that the motor generates The slope of the torque increase decrease is defined by parameter Pn2C1 SYNTAX n The torque value ARGUMENTS 0 1 of the rated motor torque Serial 2 V EXAMPLE LABEL TORQUE 100 DELAY 1000 TORQUE 200 DELAY 1000 TORQUE 200 DELAY 1500 TORQUE 0 DELAY 1000 END EXAMPLE The Torque Profile value is changed four times each EXPLANATION time for a period of time determined by the subsequent DELAY command The final TORQUE command sets the profile value to zero see Notes below NOTES A TORQUE 0 command must be entered when it is no longer necessary to apply torque The program END command stops the program but does not set the torque to zero SEE ALSO Variable
86. 125 us 4 12 1 Using New_move_enable to Reduce Response Time The New_move_enable input can be used to reduce the response time to 125 us A parameter Pn2D1 1 is set to activate this feature Once the flag has been set all motion commands except when in Speed Control mode see Section 5 3 Motion Modes will be delayed until the input has been received The remainder of the program will continue to run It is important that a WAIT_INPUT command or any other wait statement be issued after the motion command that is to be delayed to ensure that the rest of the program is also delayed 4 12 2 Overriding New_move_enable The New_move_enable function can be overridden by setting the variable Override_new_move_enable to 1 This results in all following motion commands being run without the program waiting until a New_move_enable input is received 98 Table of Contents 4 12 3 Example Program for a Flying Shear Application The program below controls the implementation of a simple flying shear The parameter Pn2D1 1 is set to 0 mapping the New_move_enable input to input terminal CN1 40 1 LABEL 1 2 MOVE_R O 3 WAIT_VAR Follower_synchronized 1 4 SET_OUTPUT 1 ON 5 WAIT_VAR Position _demand_value gt 1000 6 SET_VAR Override_new_move_enable 1 7 GO_D 0 1 8 SET_VAR Override_new_move_enable 0 9 GO_TO 1 10 END The command MOVE_R 0 line 2 is suspended until an input is received at CN1 40 Once the slave
87. 147483647 Value of analog torque input See Pn400 and Pn480 BG Analog Inputs Application_gain 27 R W 1000 Gain factor multiplies the value of Pn1A0 System Profile Clock 37 ms R W 2147483647 System clock Status Command_mode 26 Program mode 1 Program not running 2 Program running Status ECAM_Master_profile_ position 52 Counts 2147483648 2147483647 The current master position in the ECAM profile It is a cyclic value according to ECAM profile Valid only while ECAM is engaged ECAM ECAM_Master_scale_den 49 R W 65535 The denominator of the ECAM master scaling factor Changeable only while not in ECAM mode ECAM ECAM_Master_scale_num 48 R W 65535 The numerator of the ECAM master scaling factor Changeable only while not in ECAM mode ECAM ECAM_Offset 47 Position Units R W 2147483648 2147483647 Specifies the required offset along the slave axis of the ECAM profile ECAM ECAM_Slave_profile_ Position 53 Position Units 2147483648 2147483647 The current slave position in the ECAM profile It is a cyclic value according to ECAM profile Valid only while ECAM is engaged N ECAM ECAM_Slave_scale_den 51 R W 65535 The denominator of the ECAM slave scaling factor Changeable only while not in ECAM mode ECAM ECAM_Slave_scale_num 50
88. 2 are not to be handled N Interrupt 242 List of System Variables Name Var Dec Unit Read Write Min Max Description U T Group Interrupt_request 62 R W 2147483648 2147483647 Bits 0 7 indicate which interrupt requests have occurred For example 011 indicates that requests for interrupts 0 and 1 have been received and that no request for interrupt 2 has been received N Interrupt Jerk_smoothing_time us R W 64000 Time to reach profile acceleration See Profile Jerk Smoothing Time See section 12 2 3 System Profile Latched_master_position 54 Counts 2147483648 2147483647 The position of the master axis when the latching condition is met as per the value of the Master position Encode Latching Latched_motor_position 55 Position Units 2147483648 2147483647 Actual position of the motor when latching condition is met as per the value of Position_actual_value Encoder Latching Latched_position_ready 66 Indicates if the latched position value is ready for use 0 No 1 Yes Is reset to 0 by the LATCHING_ TRIGGER command N Encoder Latching LimitSwitchStatus 57 Status of limit switch 0 No Limit Switch 1 Negative limit switch ON 2 Positive limit switch ON Status Master_Position 38 Counts R W 2147483648 2147483647 Positi
89. 56 The CLEAR_FAULT command is used outside the fault manager routine 58 Profile_acceleration is greater than Max_profile_acceleration Max_profile_acceleration may be changed by Pn103 64 A 02 parameter breakdown 65 A03 Main circuit encoder error 66 A04 Parameter setting error 67 A05 Servomotor and amplifier combination error 68 A10 Overcurrent or heat sink overheated 69 A30 Regeneration error detected 70 A32 Regenerative overload 71 A40 Overvoltage 72 A41 Undervoltage 73 A51 Overspeed 220 Error Messages CODE MESSAGE DESCRIPTION 74 A71 Overload high load 75 A72 Overload low load 76 A73 Dynamic brake overload 77 A74 Overload of surge current limit resistor 78 A7A Heat sink overheated 79 A81 Absolute encoder backup error 80 A82 Encoder checksum error 81 A83 Absolute encoder battery error 82 A84 Absolute encoder data error 83 A85 Absolute encoder overspeed 84 A86 Encoder overheated 85 AB1 Reference speed input read error 86 AB2 Reference torque input read error 87 ABF System alarm 88 AC1 Servo overrun detected 89 AC2 Phase finding error 90 AC8 Absolute encoder clear error and multi turn limit setting error 91 AC9 Encoder communications error 92 ACA Encoder parameter error 93 ACB Encoder echoback error 94 ACC Multi turn limit disagreement 95 ADO Position error overflow 96 AE7
90. AX IF lt variable gt lt condition gt lt value gt lt then gt lt label gt Op CODE 105 MODES Program DESCRIPTION Defines the different types of conditions terms that control the flow of the program If the IF condition is true the action specified by lt then gt is performed Otherwise the next program line is performed SYNTAX variable System variable see Chapter 9 List of ARGUMENTS System Variables Serial 1 U condition Select from Condition Code 0 gt 1 lt 2 gt 3 lt 4 5 Serial 1 U value Set a value or system variable ID number with the same units as lt variable gt Serial 4 IV 138 Command Reference SYNTAX then Specifies the action to take ARGUMENTS eae CoE ettin CONT 2 CALL call subroutine 0 with specified lt label gt when finished return GO_TO continue from 1 the specified lt label gt Serial 1 U SYNTAX label Label to jump to as required by the ARGUMENTS operation specified in lt then gt Serial 1 U EXAMPLE SET ZERO POSITION demand position SET OUTPUT 1 Off DELAY 1000 LABEL 1 SLIDE 100 DELAY 100 IF Position actual value gt 550000 THEN GO_TO 2 GO
91. ECAM_Master_scale_den ECAM_Master_scale_num ECAM_Slave_scale_den ECAM_Slave_scale_num ECAM_Offset ECAM_ Shift ECAM_Master_profile_position ECAM_Slave_profile_position 114 Command Reference ECAM_ENGAGE GROUP ECAM SYNTAX ECAM ENGAGE lt Profile ID gt lt Mode gt Op CODE 121 MODES Program Sequential DESCRIPTION Initiates motion according to the ECAM profile lt Profile IDs which is specified in the ECAM table See Section 4 9 13 1 ECAM_ENGAGE SYNTAX Profile ID The identifying number of the profile to be ARGUMENTS used Seriali U IV Mode Specifies whether the motion should continue indefinitely or only until the profile has been completed once Setting Code Non Cyclic Profile will be 0 completed once only Cyclic Profile will continue 1 indefinitely Serial 1 U EXAMPLE ECAM ENGAGE 3 NON CYCLIC EXAMPLE ECAM profile number 3 will be followed once EXPLANATION SEE ALSO CAM_DISENGAGE ENGAGE_VIRTUAL_AXIS Variables ECAM_Master_scale_den ECAM_Master_scale_num ECAM_Slave_scale_den ECAM_Slave_scale_num ECAM_Master_profile_position ECAM_Slave_profile_position ECAM_Offset ECAM_Shift 115 Command Reference ELECTRONIC GEAR
92. ES 2g 2 Reserved JO 3 Reserved Online Auto 0 Tunes only at the beginning of operation 0 tuning Method 1 Always tunes 0 D 2 Does not perform autotuning S a Speed Feed o back 0 Enabled i zg Compensation 4 Disabled ooze Selection Isabled op Friction 0 Friction compensation Disabled O 2 Compensation 1 Friction compensation Small 0 Selection 2 Friction compensation Large 3 Reserved ___ Reserved parameter Do not change 0 Yaskawa A quad B model SGM 0 Motor model 1 Yaskawa A quad B model SGMP 0 2 Non Yaskawa rotary motor 3 Non Yaskawa linear motor So 1 Encoder type 0 Incremental A quad B encoder 0 i 2 1 Yaskawa absolute A quad B encoder T ax 0 Yaskawa serial encoder ta 1 A quad B encoder z Encoder A quad B encoder with commutation sensors 2 2 0 selection U V W 3 A quad B encoder with commutation sensors U V W 0 C phase signal used O S phase mask 1 C phase signal mask 9 o S53 Motor phase 0 Not defined a 2285 order ITUN W E 2 2 2 UWV oN 1 3 Not used 0 Disable clear integral function yi 6 8 refer to 6 3 7 toss 0 Integral mode i i 1 o os 1 Enable clear integral function c EF refer to 6 3 7 1 3 Not used 233 Parameter Reference Digit wats Default Parameter Place Name Setting Description Setting
93. ESCRIPTION Starts synchronization to master encoder external pulse source in terms of speed and position As soon as the command is issued the FSP Amplifier starts to count the incoming pulses and accelerates at the profile acceleration See section 12 2 2 rate It reaches maximum speed as defined by the profile velocity See section 12 2 1 in order to meet the master encoder and keep the smallest possible distance from it Specifying lt distance gt other than zero can create motion relative to the master encoder Relative motion can be performed while moving as well see diagram below Slame Speed Profile Speed shme Reference Speed master MOVE_RO gt MOVERI9 Folbwer_Synchrauimd 162 Command Reference SYNTAX distance Specifies the offset from master encoder ARGUMENTS The command adds lt distance gt to the Target_position as per electronic gear See section 12 1 Serial 4 IV EXAMPLE SET ZERO POSITION Demand Position MOVE R 0 VAIT VAR Follower synchronized 1 MOVE R 350 JAIT_VAR Position demand value gt 6000 STOP EX Emergency Servo ON END EXAMPLE MOVE_R 0 Motor starts responding to an input pulse EXPLANATION train When the motor is synchronized to master a relative motion of 350 units starts When the motor has moved a total of 6000 user units it stops NOTES 1 Movement profiles are ac
94. For example to set bits 1 and 2 to 1 and all other bits to O Interrupt_mask would have to be set to 6 which in binary form is 0000110 Note that by default all bits in Interrupt_mask are set to 0 and thus by default none of the interrupts will be handled The 91 Operating the FSP Amplifier Using FlexWorks command SET_VAR must be used to change the value of the mask variable so as to enable an interrupt The Interrupt_mask variable is reset to zero each time the program is started by the RUN command or the auto start switch Therefore the Interrupt_mask must be set each time 4 11 6 3 Interrupt_pending The Interrupt_pending variable indicates which interrupts are to be handled The value of a bit in Interrupt_pending is only set to 1 indicating that the interrupt is to be handled if both of the following conditions are met The interrupt event has occurred and the corresponding bit in Interrupt_request has been set to 1 You have enabled the interrupt in the mask register Interrupt_mask Once the corresponding interrupt service routine has been completed the bit in the variable is reset to 0 Interrupt_pending is a read only variable and its values thus cannot be changed by the user 4 11 6 4 Example of Interrupt Variable Functioning Interrupt_mask To specify that only interrupts 3 and 7 be handled should their conditions be met bits 3 and 7 in the variable Interrupt_mask must be set to 1 and
95. ID1 0 Id2 0 Ignore message ID Ci 4 C2 5 Command operational code 0x45 Vi V2 0 The arguments are specified by numerical values not variable ID numbers P1 0 P2 1 One command argument two digits S1 B S2 8 0x100 0x0A 0x00 0x45 0x01 OxBO 204 Serial Interface Protocol MOVE command Example of MOVE command 600uu in 1000 ms of axis 2 in Sequential mode Format N As a m Id1 Id2 C1 C2 V1 V2 P1 P2 P3 P4 N 2 B3 JO JO 7 i JO JO JO JO JO O0 P5 P6 P7 P8 P9 P10 P11 P12 P13 P14 P15 O 2 5 8 JO JO 0 0 0 3 E P16 S1 S2 CR gt 8 1 F CR Where A 2 Axis number 2 m B Sequential mode ID1 0 Id2 0 Ignore message ID C1 7 C2 1 Command operational code 0x71 Vi V2 0 All the command arguments are specified by numerical values not by variables P1 P8 0x258 600 00000258 P9 P16 0x3E8 1000 000003E8 S1 1 S2 F 0x100 0x2B 00 0x71 00 00 0x02 0 x58 00 00 0x03 0xE8 OXFFFFFFFFFFFFFF1F Since only the last two digits are considered S1S2 Ox1F 205 Serial Interface Protocol 6 2 2 3 Master Message Short Format In cases where all the arguments P1 Pn are specified by numerical values and not by variable ID numbers
96. INPUT 3 4 1U 1U 4u 4V 148 WAIT_STOP 3 4 4V g 110 WAIT_VAR 3 4 1uU 1u lav 158 WRITE_TO_ARRAY 2 3 4 2UV 4vVv SH NOTES 1 Mode of operation 2 Immediate 3 Sequential 4 Program 2 Argument size Number of data bytes of each argument In serial communication each data byte consists of two hexadecimal digits Example to issue a TORQUE command to specify a torque value of 1000 The table shows that the number of data bytes is 2 1000 in hexadecimal form is 0x03E8 The string that should therefore be sent consists of the ASCII values 30 33 45 and 38 U Unsigned integer V Argument value can be specified by numerical value or by a variable 250 List of Operation Codes Example 2 U V indicates that the argument consists of 2 hexadecimal digits is unsigned and can be specified either by a numerical value or by a variable 3 Condition codes Sign Condition Setting 3a 3b 3c 3d 3e Equal to 0 X X Condition gt Greater than 1 X X lt Smaller than 2 X X gt Greater than or 3 X equal to lt Smaller than or 4 X equal to l Not equal to 5 X i Multiply 6 X Divide 7 X MOD Modulus 8 X Plus 9 X Minus 10 X AND AND 13 X XOR Exclusive Or 14 X OR Or 15 X Set equal to 18 X 4 See the command description in Chapter 5 Command Reference for available options
97. MENTS ConT e 1 lt 2 Serial 1 U Value Specify the value against which the variable must be compared using decimal format Serial 4 V NOTES Specify which output must be set to ON by setting parameter Pn2D2 0 as follows 0 Fast output setting disabled default 1 Output 1 CN1 25 26 2 Output 2 CN1 27 28 3 Output 3 CN1 29 30 After configuring Pn2D2 0 the assigned output will function as a Coincidence output until the FAST_OUTPUT_SETTING command is issued A Coincidence output signal is produced when the position error is smaller than defined by Pn500 and the motion command has ended After the FAST_OUTPUT_SETTING command is issued the output selected by Pn2D2 0 will function as specified by the FAST_OUTPUT_SETTING command After issuing a FAST_OUTPUT_SETTING command it is not possible to restore the output to function as a Coincidence output To set the output to function as a Coincidence output use a FAST_OUTPUT_SETTING command with lt variable gt set to Distance_from_target 122 Command Reference EXAMPLE MOVE 300000 1 FAST OUTPUT SETTING Position actual value gt 100000 WAIT VAR Position actual value gt 100000 FAST OUTPUT SETTING Position actual value lt 250000 WAIT VAR Position actual value gt 250000 FAST OUTPUT SETTING Coincidence lt 200 Smoothed Target Speed Position Error 25007 a re po ae ee eae eee e
98. ME_SW 3 4 4V 4V z 130 HOME_SW_C 3 4 4V 4V z 7 105 IF 4 1U 1u av 1 U 1U 108 IF_INPUT 4 fuer ayer 1U 1 U 1U 97 INPUT_CASE 4 4UV 4UV z 139 INT 4 1 U 1U 1U lav x 140 INT_RETURN 4 1U 5 a 5 74 JERK_TIME 2 3 4 4U J z 88 LABEL 4 1U z E 5 a 152 LATCHING TRIGGER 3 4 1 U 7 R 7 75 LOOP 4 2U 4UV 1U F 134 MATH 2 3 4 1 U 1 UP 1 U 1U Tay 113 MOVE 3 4 4V 4V F 2 129 MOVE_D 3 4 4V 4V z A F 118 MOVE_H 3 4 4V z 7 y g 249 List of Operation Codes Mode of Op Code Name Operation 9 17 Arg 2 Arg 3 Arg 4 Arg 5 119 MOVE_R 3 4 4V p p g 0 POLLING g g p 159 READ_FROM_ARRAY 2 3 4 2UV 1 U 151 REGISTRATION_DISTANCE 3 4 4V 3 lt 77 RETURN 4 2 78 RUN 2 3 1U z g p 96 SAVE_PRG_ECAM 2 79 SET_OUTPUT 2 3 4 2UV 1U 107 SET_OUTPUTS 2 3 4 4UV 4UV p 80 SET_PAR 2 3 2U 2U g p 81 SET_VAR 2 3 4 1U 4V p 95 SET_ZERO_POSITION 2 3 4 1 U z 2 2 115 SLIDE 3 4 4V a 102 SLIDE_ANALOG 3 4 3 83 SPEED 2 3 4 4U 5 100 SPEED_CONTROL 3 4 1U 2 i 82 START 2 g g g 84 STOP 2 3 4 1U 153 STOP_EX 2 3 4 1 U 1 U p 99 STOP_MOTION 2 3 4 x z p 116 TORQUE 3 4 2V g g p 103 TORQUE_ANALOG 3 4 z g 87 TORQUE_LIMITS 2 3 4 2 2 z 3 2 145 WAIT_EXACT 3 4 4V 146 WAIT_FOR_START 3 4 2 5 109 WAIT_
99. NTING 3 PULSE_TRAIN 4 ANALOG_SPEED 5 ANALOG_TORQUE 7 ECAM Status Motion_status 65 Motion status indicator 0 Not in motion 1 Stopped by registration 2 Motion stopped but not in registration requested position 3 Still in motion N Status Outputs_State 34 2147483648 2147483647 Output ports state The right most digit is not in use For example when Outputs_State is 010 only output 1 CN1 25 26 is on Only outputs that are set by commands are monitored including the Fast Output embedded function Other embedded output functions are not reflected by this variable N Digital I O Override New Move Enable 58 R W Specifies the functioning of New Move Enable digital input Pn2D1 1 0 Input functions as setup 1 Input ignored N System Profile Position_actual_value Position Units 2147483648 2147483647 Actual position Position Variables Position_demand_value Position Units 2147483648 2147483647 Theoretical position Position Variables Profile_acceleration Acceleration Units R W 2147483647 Acceleration value while running motion commands System Profile Profile_velocity Speed Units R W 2147483647 Speed while running motion commands System Profile Program_line 45 2147483647 Holds the last program line number N Status Pulse_train_counter Count
100. OJO JO 0 JO JO 4 3 7 S1 S2 CR gt C 5 CR Where A 0 Axis number 0 m 0 Response type is acknowledge without Fault ID1 0 Id2 0 No fault so message identification is 0x00 Fl 0 F2 0 No fault so fault code is 0x00 SW1 0 SW2 4 SW3 3 SW4 7 Shows FSP Amplifier status No emergency no fault control on and in position See Chapter 10 List of Status Word Bits S1 C S2 5 0x100 00 00 00 0x04 0x37 OxC5 213 Serial Interface Protocol MOVE Command Example of response message to MOVE lt 600 gt lt 1000 gt command 600uu in 1000 ms of axis 0 in Sequential mode with message identification of 0x96 when control is off Because a motion cannot be executed when CONTROL_OFF fault Ox8C occurs Master Message Format N A M Ip1 ID2 C1 C2 V1 V2 P1 P2 P3 P4 P5 P6 N OIB 9 6 7 1 0 0 0 1O IO JO 0 2 P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 S1 S2 5 8 0 0 0 0 0 3 E 8 A 9 Response Message Format in case of fault CR N A M ID1 ID2 F1 F2 SW1 SW2 SWS SW4 CR N 0O 1 9 6 8 IC JO 4 3 3 7 S1 S2 CR i A 6 CR Where A 0 Axis number 0 m i Response type is acknowledged with Fault ID1 9
101. ON Analog speed 4 MODE DESCRIPTION Enables use of an analog signal as an analog means of changing motor speed The speed generated by the drive is proportional to the voltage that the potentiometer creates Parameter Pn300 determines the voltage level in 0 01 V that is calculated with the motor rated speed to determine the demand speed the higher the voltage the higher the speed Speed calculation Motor Rated Speed x Input Voltage 0 01 V Pn300 Demand Speed Motor Rated Speed Parameter of motor For example the rated speed is 3000 rpm Pn300 is set to 600 6 V if the voltage generated is 3 V the speed will be 1500 rpm NOTE 1 Movement acceleration is according to the profile acceleration See section 12 2 2 and profile jerk time See section 12 2 3 values set by the user 2 SLIDE_ANALOG also maintains position control to minimize position error SEE ALSO TORQUE ANALOG SPEED_CONTROL ANALOG_INPUT 175 Command Reference SPEED GROUP Motion Profile SYNTAX SPEED lt n gt Op CODE 83 MODES Program Immediate Sequential DESCRIPTION Sets the velocity value for the motion profile See section 12 2 The command changes the profile velocity See section 12 2 1 value set by parameters Pn2A2 Pn2A3 The profile velocity value then remains in effect until the next controller reset SYNTAX n Sets th
102. Pn403 the alarm is output Torque exceeded Torque Limits err 33 The Home Position is defined as the actual position when the torque reaches the defined lt torque gt for 2 seconds The torque will not exceed the defined lt torque gt during this procedure It is recommended to first set a low lt torque gt value If the machine hard stop is not found gradually increase the lt torque gt value 134 Command Reference SYNTAX torque The torque limit and torque indication ARGUMENTS for finding the Home position 0 1 of rated Serial 2 V speed The speed and direction of searching for the Hard stop speed user units Serial 4 V SEE ALSO HOME_SW HOME_SW_C HOME_C HOME_C GROUP Home SYNTAX HOME C lt speed1 gt Op CODE 133 MODES Program Sequential DESCRIPTION Sets the home position using the encoder C pulse The motor moves at lt speedi gt to the C pulse and only then does the encoder counter zero and the motor decelerate to stop The motor stops after the C pulse Use the GO or GO_D commands to set the motor at the zero position Note When working with a linear motor and a Yaskawa serial converter for the encoder the maximum speed at which the motor can move to the C pulse is 5000 linear scale pitch per second For example when the encoder scale pitch is 20um the maximum speed at which t
103. SO SLIDE_ANALOG SET_VAR Variable Speed_reference Parameters Pn200 Pn202 Pn203 Pn300 177 Command Reference SPEED_LIMIT_FOR_TORQUE_MODE GROUP System SYNTAX SPEED LIMIT FOR TORQUE MODE lt Source of limit gt Op CODE 162 MODES Program Immediate Sequential DESCRIPTION This command enables the selection of the speed limit source for the torque mode This command is used before a TORQUE command or TORQUE_ANALOG command to define the speed limit for the torque mode The speed limit value is unsigned and the sign is set according to the torque command I e in positive torque command the positive speed will be limited and in negative torque command the negative speed will be limited SYNTAX Source of limit Specifies the source for the speed limit ARGUMENT Setting Code SP_REF_VAR refers to 4 speed_limit_reference as the source ANALOG_SP uses the 2 external analog speed reference value as the source Serial 1 U EXAMPLE LABEL 1 CONTROL ON SET VAR Speed limit reference 300 SPEED LIMIT FOR TORQUE MODE SP REF VAR TORQUE 50 END 178 Command Reference EXAMPLE EXPLANATION Explanation In this example the user sets 300 user units as the speed limit The SPEED_LIMIT_FOR_TORQUE_MODE refers to the Speed_limit_reference
104. T 187 Command Reference WAIT_INPUT GROUP Wait SYNTAX WAIT INPUT lt input number gt lt input condition lt input state gt lt time gt Op CODE 109 MODES Program Sequential DESCRIPTION Pauses execution of program until the condition on digital input is true or until the time specified by lt time gt has elapsed SYNTAX Input Digital input number according to the ARGUMENTS number pin on CN1 Pin CN1 40 corresponds to lt input number gt 0 and CN1 41 to 1 etc Range 0 to 7 Serial 1 U Input Input condition condition Condition Code 0 Serial 1 U Input Oori SERER Serial 1 U time The time to wait until the input is set Setting lt time gt to 1 specifies an indefinite wait ms Serial 4 V EXAMPLE LABEL 1 JAIT INPUT 2 1 1 MOVE 10800 1 JAIT INPUT 2 0 10000 MOVE 10800 1 END 188 Command Reference EXAMPLE Only when Input 2 is set ON does the first movement EXPLANATION commence The second WAIT command pauses the next movement for 10000 ms 10 seconds or until the input is set OFF SEE ALSO INPUT_CASE IF_INPUT WAIT_STOP GROUP Wait SYNTAX WAIT STOP lt n gt Op CODE 148 MODES Program Sequenti
105. TO 1 END LABEL 2 SET_OUTPUT 1 ON SLIDE 0 END EXAMPLE Position is set to zero output 1 is set to off The EXPLANATION motor starts moving at a constant speed After a short delay the term is checked motor is still running If true i e the position value is greater than 550000 go to LABEL 2 output 1 is set to ON motion stops end of program If false the subroutine labeled 1 starts again until the term becomes true SEE ALSO IF_INPUT CASE CALL GO_TO WAIT_VAR 139 Command Reference IF_INPUT GROUP Program Flow Control SYNTAX F INPUT lt input number gt lt input condition gt lt input state gt lt then gt lt label gt Op CODE 108 MODES Program RANGE Input number 0 to 7 DESCRIPTION The program flow is conditional on the state of a digital input If the condition is True the action specified by lt then gt will occur Otherwise the next program line is executed SYNTAX Input number Digital input number according to the ARGUMENTS pin on CN1 Pin 40 is related to lt input number gt 0 and 41 to 1 etc Serial 1 U Input condition Only the equal to condition is available Condition Code 0 Serial 1 U Input state Can be set to either 0 OR 1 Serial 1 U V then Specifies the action to take Setting Code CALL call subroutine 0 with specified lt label gt
106. UTPUT 1 ON END EXAMPLE Motor starts to move output 2 is set ON motion EXPLANATION continues when motion ends output 1 is set ON The WAIT command pauses execution of the following lines of the program until the motion is complete SEE ALSO Variables Exact_mode Motion_end_window Position_error Parameter Pn2CO 186 Command Reference WAIT_FOR_START GROUP Wait SYNTAX WAIT FOR START OP CODE 146 MODES Program Sequential DESCRIPTION This command pauses the execution of motion commands until a sequential START command is applied The main purpose of this command is to enable you to send a group of up to 10 sequential commands so that execution of the commands is delayed until a START command is received This command is used to coordinate axes The START command clears the WAIT_FOR_START command Therefore the WAIT_FOR_START command must be set per motion EXAMPLE Consider a system with X and Y axes that are required to start moving at exactly the same time To ensure that their motions start simultaneously a WAIT_FOR_START command should be sent via serial communication to each of the axes followed by the required MOVE commands which may be different for each axis The axes will not move until a START command arrives A START command can then be sent and it will arrive simultaneously at both of the axes causing both axes to start moving simultaneously SEE ALSO STAR
107. V bit specifies whether the number entered for the argument denotes a numerical value or the ID number of a system variable See Chapter 9 List of System Variables Description Message checksum two bytes for two digits The checksum is calculated by summing all bytes excluding N and CR in a message body See Chapter 11 List of Operation Codes Range 0x0 OxFF 0x0 OxF each Description Carriage Return Used as a message response termination symbol Constant value Range CR 0x0D in ASCII code 203 Serial Interface Protocol 6 2 2 1 Checksum Calculation 6 2 2 2 Checksum is calculated for a binary message Each factor in the equation excluding N and CR is two digits of a hexadecimal number and consists of two adjacent bytes The checksum of the message N AM id1 id2 C1 C2 V1 V2 P1 P2 P3 P4 S1S2 CR is S1S2 0x100 am idlid2 V1V2 P1P2 P3P4 Only the two digits on the right are considered ZS NOTE It is possible to work without checksum by setting Pn2C6 0 When working without checksum set 00 instead of checksum S152 Master Message Format Example CONTROL ON command Example of CONTROL_ON command to axis 0 in Immediate mode Format N A M Ip1 Ip2 C1 C2 V1 V2 P1 P2 S1 S2 CR NIOJAJO 0 4 I5 JO JO JO 1 B IO CR Where A 0 Axis number 0 M OxA Immediate mode
108. VE NEGATIVE ea Figure 44 Programming an ENGAGE_VIRTUAL_AXIS Command 74 Operating the FSP Amplifier Using FlexWorks Modifying a Profile using Variables The FSP Amplifier includes functionality that allows you to stretch and shift a profile without having to redefine each segment Simply by adjusting the values of variables you can Stretch the profile horizontally by adjusting the Master scale Stretch the profile vertically by adjusting the Slave scale Shift the profile horizontally Offset the profile vertically 4 9 14 1 Profile Scaling The Master scale can be adjusted by multiplying it by a fraction A B If A B is larger than one the profile will be stretched If A B is less than one the profile will be contracted A the numerator is defined by the variable ECAM_Master_scale_num B the denominator is defined by the variable ECAM_Master_scale_den For example if a scaling factor of 2 3 was applied to the profile shown below the Master axis would be contracted by a third E CAM Profile 120 E 100 80 a 60 E a o 0 500 1000 1500 Master Position E CAM Profile Slave Position on 0 200 400 600 800 1000 Master Position Figure 46 Sample Profile After Master Axis Scaling 75 Operating the FSP Amplifier Using FlexWorks D Similarly the profile can be stretched or compressed vertically by multiplying the Slave sca
109. _OUTPUTS Program Flow Control ral a END P ID Value Mi Units Rotary Linear Default 2 GO_TO ALL i IF Advanced Applic Je enoot 0x0000 0x0000 A IF_INPUT Analog Inputs z of Analog Monitor Pn002 0x0000 0x0000 0x0100 Application Settir Pn003 0x0002 0x0000 0x0002 erminates the user program Aee PnO06 0x0000 0x0000 0x0010 currently being executed Digital 1 0 Pngoz 0x0000 0x0000 0x0012 Motion Profile Pnoso ox0000 0x0000 0x0000 Motor Encoder Pn100 40 f Hz 40 Other 4 gt Pulse Train Input Servo Control J Functinn Selectinn Racic Switches 4 4 D 2 Onine Servo off Figure 1 Sample Main Screen Title Bar A The FlexWorks title bar displays the name of the currently opened project file Menu Bar B Toolbar C The FlexWorks menu bar provides access to the FlexWorks menus File Edit View Run Communication Tools Maintenance Window and Help The toolbar is located immediately beneath the menu bar It comprises shortcut icons to the most common FlexWorks options In the following descriptions of the menu options the appropriate icon where applicable is listed next to each option NOTE In the different modes some of the menu options are disabled grayed and cannot be accessed Similarly disabled icons indicate that communication is offline 15 The Main Screen Interfac
110. a sinusoidal graph or by a user defined array 4 9 4 3 Defining the Master and Slave End Points gt To define the master and slave end points of each segment that makes up the profile 1 Enter the master position in terms of encoder counts or clock pulses at the end of the first segment in the Master End field 2 Enter the slave position in position user units at the end of the first segment in the S ave End field 4 9 4 4 Defining the Segment Resolution The resolution is set by specifying the distance between successive points in the segment gt To set the resolution 1 Enter the distance in encoder counts or clock pulses between the points that FlexWorks should generate by interpolation in the Master Step field A lower setting will result in more points being generated and in a smoother motion 64 Operating the FSP Amplifier Using FlexWorks 4 9 4 5 Defining the Interpolation Method Once the end points and the resolution of a segment have been specified specify how the positions of the remaining points in the segment must be calculated The number of points generated is dependent on the Master Step setting gt To set the interpolation method 1 2 Click in or tab to the Curve Shape field Click the H icon that is displayed in the Curve Shape field The Curve Shape window is displayed Select curve shape Zs Straight Line Cancel Array sin 30 to 90 sin 0 to 90
111. able Max_profile_velocity SYNTAX target The specified target in absolute ARGUMENTS coordinates user position units Serial 4 V time The time allowed for the motion ms When setting lt time gt to 1 a motion profile See section 12 2 will be calculated with a maximum speed equal to the profile velocity See section 12 2 1 Serial 4 V EXAMPLE GO 10000 1 SET_OUTPUT 1 ON GO 0 300 EXAMPLE Motion will start toward destination 10000 UU following EXPLANATION the motion profile settings Output 1 is then set to ON The second GO command to destination 0 UU starts once the first motion has been completed within 125 us SEE ALSO ACCELERATION JERK_TIME GO_D MOVE SPEED Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile _Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 129 Command Reference GO_D GROUP Motion SYNTAX GO_D lt target gt lt time gt Op CODE 128 MODES Program Sequential MOTION Position 1 MODE DESCRIPTION Moves the motor to a specified lt target gt absolute coordinates in the specified lt time gt This command is identical to the GO command in motion execution but it delays the execution of the next program command until the command theoretical motion generated by the GO_D command is completed The controller calculates the speed of the motor based on the defa
112. al DESCRIPTION Halts program execution until the theoretical motion is over or until the time limit is exceeded before proceeding to the next command SYNTAX n The time period to wait ARGUMENTS ms Setting this value to 1 delays the program for an infinite period of time i e until the motion ends Serial 4 V EXAMPLE LABEL 1 MOVE 4096 800 SET OUTPUT 1 ON WAIT STOP 1 SET OUTPUT 1 OFF END EXAMPLE Motor moves 4096uu in the positive direction EXPLANATION Immediately after the motion begins output 1 is set to ON The WAIT_STOP command delays execution of the next command until the theoretical motion is over 800 ms Then output 1 is set to OFF NOTE The MOVE command followed by WAIT_STOP performs the same operation as the MOVE_D command but enables the execution of commands while the motion is in progress SEE ALSO MOVE 189 Command Reference WAIT_VAR GROUP Wait SYNTAX WAIT VAR lt variable gt lt condition gt lt value gt Op CODE 110 MODES Program Sequential DESCRIPTION Pauses execution of program until the condition on lt variable gt value is met SYNTAX variable System variable see Chapter 9 List ARGUMENTS of System Variables Serial 1 U condition Select a relational operator Condition Code 0 gt
113. al Analysis ccecccesceceseceseceeeeeesseceaeenteeeeeeennees 60 4 9 ECAM Electroni Cami as 0 caisacsssecly eni i r A Wo eA NE RR 61 4 9 1 ECAM Profile Characteristics s sessseeseesseeseeseessessesressressesressressessessees 6l QO D gt EGAM Work flOW iias acc asiek dost carp iaa E Aa eau E onan sacs Ai 6l Os PECA M OPIS ssi Saat nla R R ale Tet 62 4 9 3 1 Time based Profiles Virtual AXIS ccccsscesceeeceeeceeteeeeeceseeeees 62 4 9 4 Creating a Profilseite taroa veina is a EO AA EE aa 63 49 41 Adding a Profile sannersninneea iari tia aa iE Eila Eii 63 4 9 4 2 The Position Setting Tabsccessocescctsvcccatecenceunsaecctaticeeeciaatiecusaasantenteveue 63 4 9 4 3 Defining the Master and Slave End Points ceeeecceesseeteeeeee 64 4 9 4 4 Defining the Segment Resolution ceececcceseceteceeeeeeeeeeeeenaeens 64 4 9 4 5 Defining the Interpolation Method ccccccececeseceseeeeseeeteeenseeees 65 4 9 4 6 Specifying aN ATAY oeiia a e aes ea ae 66 Entering the values directly into the table cece eccceeseceseceeeeeeeeeseeenteeneees 67 Importing the values into the table s scchis ces lhederd Sanacyndceeadedheneaebattes 67 4 9 4 7 Saving a Profiles hna a EE Avesta E Gaseous 69 4 9 4 8 Completing a Profile s sssnssesesseesseseesseessesersssessrssesseesreseesseeseeseessee 69 4 9 5 Loading a Profile nnnirssinae aa A E R E E E E ERa 69 4 9 6 Editing a Profile ccs cceissesicteiecneitinctanie
114. al to a variable use the SET_VAR command 255 Glossary of Terms and Concepts Command Name GROUP The command group under which the command is listed in FlexWorks SYNTAX The format in which the command is written Op CODE The operation code of the command in decimal format to be used when issuing the command using the serial communication protocol see Chapter 6 Serial Interface Protocol MODES Modes in which the command is available For details of the available modes see Section 4 5 Program Modes MOTION The motion modes in which the command functions applicable MODE to motion commands only See 5 3 Motion Modes DESCRIPTION A detailed description of the command and how it is used SYNTAX Argument Description of the argument ARGUMENT cna The units in which the argument is defined when applicable Condition Variable Code Lists the codes to be used when specifying an argument as a condition e g lt gt or a variable variable ID code when using the serial communication protocol When using FlexWorks simply select the required option from a drop down menu The length of the argumentin bytes for use in serial come Indicates that the argument must be specified by an unsigned integer Indicates that the argumentcan be specified bya number or bya variable EXAMPLE An example that shows the use of the command EXAMPLE An explanation of th
115. al to or exceeds 400 10 SET_OUTPUT 1 ON Sets Output 1 value to 1 11 INT_RETURN 1 Returns to program line at which the interrupt occurred 12 EXT_INT 1 1 Falling Interrupt service routine 1 Runs if In 1 becomes False 13 STOP_EX Emergency Servo OFF Stops the motion and turns the servo off 14 INT_RETURN 2 Returns to program to label 2 The program will execute differently depending on whether or not In 1 changes during motion 95 Operating the FSP Amplifier Using FlexWorks Case 1 In 1 does not change during motion Smoothed Target Speed Position Error 4 I I 1 j I j a I I I 500 0 000 100 000 200 000 300 000 400 000 500 000 Sampling Time ms 0 500 Time ms Figure 56 Interrupt Example Output Chart Case 1 From the chart The motor started moving after In 1 became true As the motor target speed reached 400 output 1 was set to ON as interrupt 0 was invoked as a result of its condition Target_velocity gt 400 being met The program returned to the MOVE_D command Once the motor completed its motion the output was set to OFF 96 Operating the FSP Amplifier Using FlexWorks Case 2 In 1 changes during motion Smoothed Target Speed Position Error 200r 1 r r 3 ial lane a a i 500 2000 4 35 eee 400 15007 Se eet ee er ee 300 1 Input 1 o o o N d 4 eee
116. all other bits must be set to 0 as shown BIT 7 6 5 4 3 2 1 0 Setting 1 10 10 JO 1 10 JO IO 136 Variable value Interrupt_mask Interrupt_request If the interrupt conditions for interrupts 1 3 and 4 are met then bits 1 3 and 4 in the variable Interrupt_request will be set to 1 and all other bits will be set to 0 BIT 7 6 5413 2 1 0 Setting O 1O 1O 1 11 O11 J0 Variable value Interrupt_request 26 92 Operating the FSP Amplifier Using FlexWorks Interrupt_reg Because only bit 3 is set to 1 in the Interrupt_mask variable only interrupt 3 will be handled interrupts 4 and 1 will be ignored Only bit 3 in Interrupt_pending will be set to 1 as it is the only bit set to 1 in both Interrupt_request and Interrupt_mask BIT 7 6 5 4 31 2 1 O Setting O 1O 1O 1O 1 10 10 JO Variable value Interrupt_pending 8 4 11 7 Interrupt Commands Commands are used to signal the beginning and the end of each interrupt service routine The commands INT and EXT_INT signal the beginning of interrupt service routines and specify the internal or external interrupt conditions respectively The command INT_RETURN signals the end of the interrupt service routine and specifies the program line to which to return 4 11 7 1 EXT_INT Format EXT_INT lt Priority gt lt Input_Number gt lt Edge gt This c
117. am When the conditions are met and the trigger is applied a message Uploading data is displayed 3 Click Cancel if you want to halt the data sampling process otherwise wait until the process ends The Chart main window is displayed once the specified data has been obtained H NOTE 1 Sometimes the trigger cannot be detected in under 2 ms due to the relationship of the detection period 2 If the sampling time is increased FlexWorks may continue to wait for the trigger even after the trigger has been applied FlexWorks waits because data for the sampling time is saved in the FSP Amplifier after the trigger has been applied 54 Operating the FSP Amplifier Using FlexWorks 4 7 4 Printing a Chart The chart and data of the Chart main window can be printed gt To print a chart 1 Select the Print Chart option from the File menu while the chart is open 55 Operating the FSP Amplifier Using FlexWorks 4 8 Mechanical Analysis Controlling a system amplifier motor and load requires knowledge of its mechanical restrictions such as resonance and anti resonance frequencies The mechanical analysis FFT option samples and analyzes 2000 speed data points The speed is a response to sinusoidal torque frequency commands The response is displayed as a graph of the gain dB and phase angle degree versus frequency Hz in log scale According to the graph the relevant parameters can then be adjusted in
118. ample Spreadsheet for Array Import i i CJL Ee a idl gt To import the values into the Curve Shape table 1 Click Import in the Curve Shape window The Import window is displayed 2 Select the CSV file in which the array is saved 3 Click Open The Curve Shape window is redisplayed and the array table is completed with the values specified in the imported file Note that only the integer part of each value will be imported For example 1 79 will be imported as 1 Janay a Ewn Cancel m Select curve shape Figure 39 Example of Curve Shape Menu with Completed Array Table 68 Operating the FSP Amplifier Using FlexWorks 4 Click OK The Curve Shape window is closed Array will be displayed in the Curve Shape column of the Position Setting table 4 9 4 7 Saving a Profile gt To save a profile 1 Click Save in the Cam Profile File area The Save Cam Profile dialog box is displayed 2 Enter a name for the profile file in the File name field select a folder in which to save the file and click Save The file is saved with an XDP extension SD NOTE After downloading a profile it is saved in the FSP Amplifier Unlike parameters and programs which can be uploaded from the FSP Amplifier to FlexWorks ECAM tables cannot be uploaded Thus it is important that profiles are saved on a disk for backup purposes 4 9 4 8 Completing a Profile gt To com
119. and indicates the beginning of an interrupt service routine and is used for interrupts that are conditional on the value of internal variables See Section 4 11 7 2 INT SYNTAX Priority Specifies the interrupt number ARGUMENTS Serial 1 U Variable Specifies on which variable the interrupt is conditional Any FSP Amplifier variable can be chosen When using serial communication specify the ID number of the system variable Serial 1 U Condition The relational operator that specifies how the lt value gt of the lt variable gt must compare to the specified value for the interrupt to be triggered Conditions include Condition Code 0 gt 1 lt 2 gt 3 lt 4 I 5 Serial 1 U 144 Command Reference SYNTAX Value The value against which the ARGUMENTS specified variable value is CONT compared for an interrupt to be triggered Serial 4 V EXAMPLE ET VAR Interrupt_mask 1 S MOVE D 655360 1 SET_OUTPUT 1 OFF END INT Target_velocity gt 400 SET OUTPUT 1 ON NT_RETURN 1 EXAMPLE The interrupt mask is set so that the program will EXPLANATION only respond to interrupt 0 A motor movement to position 655360 is started When during the motion the value of the variable Target_velocity reaches or exceeds 400 Output 1 will be set ON The program will then continue Once the motor
120. anually The parameters define data such as current limits encoder type and I O configuration as well as data related to specific user applications such as the ratio between the encoder resolution and the user units Uploading and Downloading Parameters Parameters can be sent from the PC to the FSP Amplifier Downloading or read from the FSP Amplifier to the PC Uploading Note too that the Upload function reads the parameters from the FSP Amplifier as well as the program and all other data currently active in the FSP Amplifier excluding ECAM tables Therefore it is advisable to save your program prior to using the Upload function gt To download parameters 1 Click Download Parameters at on the toolbar H NOTE If the motor is not fitted with a serial encoder Sigma II or W Series and the project was opened using Open Project and not by running the Wizard you must enter a password or the motor parameters highlighted in red will not be changed gt To upload parameters 1 Click Upload al on the toolbar 35 Operating the FSP Amplifier Using FlexWorks 4 3 2 Viewing Parameter Settings Parameters are set in the Parameters window Figure 14 This window displays the current value of the parameters in the project Note that parameter values in the project do not necessarily match the values currently active in the FSP Amplifier In order to provide easy access to certain parameters the parameters can be
121. aph after the trigger 51 Operating the FSP Amplifier Using FlexWorks 4 7 1 2 4 7 1 3 4 7 1 4 4 7 1 5 Graph Settings For all of the graph settings described below you can select the scale available values are 1 2 5 10 25 50 100 500 1000 and the color in which the results will be displayed X Sampling Time Interval Specifies the time interval for obtaining trace data default 25ms The total trace time for which results are obtained is the sampling time interval multiplied by 10 Y1 Y2 Sampled Channel Available values are Target Speed Smoothed Target Speed Acceleration Motor Speed Position Error Torque Reference I 01 1 O 2 Sampled Digital I O Select the sampled output and input signals Show Select the objects that will be displayed in the graph Caption Enter the caption to be displayed in the graph Chart Toolbar The chart toolbar is shown below BM SARIA lul A Figure 27 Chart Toolbar The toolbar icons are explained in the following table 52 Operating the FSP Amplifier Using FlexWorks Table 12 Chart Toolbar Icon Definitions DESCRIPTION Saves a copy of the trace graph to a specified file Loads a trace data file Restores the previous zoom level Restores the area shown in the window to its normal size Starts the trigger searching Click the icon again to cancel the search Measures the delta values of X Y1 and Y2 by ri
122. arguments required for the command See Section 4 4 2 Programming Commands with Variable Arguments for instruction on specifying the argument with a variable 4 Click Program to add the command to the program in the Program window It is possible to edit the arguments of commands already listed in the Program window gt To edit a programmed command 1 Double click a command in the Program window to open the command s pop up window 2 Edit the arguments as desired and click Program gt To edit the order of programmed commands 1 Use the standard Windows operations Ctrl X cut Ctrl C copy and Ctrl V paste to re order commands in the Program window When you have completed the program it must be downloaded to the FSP Amplifier gt To download a program to the FSP Amplifier 1 Click Download Program At 39 Operating the FSP Amplifier Using FlexWorks 4 4 2 Programming Commands with Variable Arguments Instead of entering a number to specify the value of an argument you can set the argument to equal one of the system or user variables The variables that can be selected depend on the command being programmed Arguments that can be specified by variables are indicated by the letter V in Chapter 11 List of Operation Codes and in the Syntax Arguments section of each command table in Chapter 5 Command Reference gt To set an argument equal to a variable 1 Open the relevant command grou
123. arily small Master Step values The maximum slave step is 32767 user position units The maximum master step after scaling is 32767 counts ECAM Workflow When working with ECAM the following process is followed Designing the ECAM Profile You define the profile using FlexWorks FlexWorks automatically generates a Master Slave Table The Master Slave table is downloaded to the FSP Amplifier Programming an Application CAM motion is engaged or disengaged upon external events or logical conditions e Running a Program The profile table can be adjusted by applying a shift or offset or by scaling the master or slave positions 61 Operating the FSP Amplifier Using FlexWorks 4 9 3 ECAM Profiles A profile defines the relationship between the motion of the master and the motion of the slave The profile dictates the required slave position for a given master position The graph below illustrates a typical profile ECAM Profile Z 2 wn D gt Ep Master Position Figure 33 Example of an ECAM Profile A profile consists of a number of segments For example the profile shown consists of four segments the first stretches from Master Position 0 to 100 the second from 100 to 200 and so on You need only specify the start and end points of each segment FlexWorks interpolates between those points according to shape specified FlexWorks can interpolate along straight line
124. ative side second loop marked by LABEL 3 The two sets of movements will be repeated 5 times 2nd nesting level that contains the two ist nesting level loops SEE ALSO LABEL 153 Command Reference MATH GROUP Variables SYNTAX MATH lt Result gt lt R Operator gt lt Variable gt lt Operation gt lt Value gt Op CODE 134 MODES Immediate Sequential Program DESCRIPTION Sets the value of the specified lt variable gt to the result of a mathematical operation on two elements If the result is a fraction it will be rounded downward to the nearest integer SYNTAX Result The result of the calculation will be ARGUMENTS stored in the lt Result gt variable Any of the read write system variables can be specified See Chapter 9 List of System Variables Serial i U R Operator Operator Operator Code 18 Serial i U Variable Can be an integer number or any of the system variables See Chapter 9 List of System Variables Serial 1 U 154 Command Reference Operation Available operations Operator Code SYNTAX F ARGUMENTS CONT 7 MOD 8 9 10 AND 13 XOR 14 OR 15 Serial 1 Value Long type Serial 4 EXAMPLE LABEL 1
125. bles parameter setting control loops tuning fault status reporting and facilitates programming of the drive both for professional programmers and novices The topics described in this manual include Software installation including system requirements and setup instructions Description of user menus and toolbars Operation of the FSP Amplifier using the FlexWorks software including communication parameters and program handling Command Reference which lists alphabetically The commands used in the FlexWorks software The commands available in the serial communication protocol Description of the FSP Amplifier serial communication protocol e Error Messages Parameter Reference providing information on all the parameters available in the FlexWorks software System Variables Status Word Bits Operation Codes Related documents TITLE CATALOG NUMBER Sigma FSP Amplifier User s Manual YEA SIA FSP 3 TOE C231 2 for Sigma AC SERVO MOTOR INSTRUCTIONS II servomotors or other compatible motors FSP Amplifier FSP SERIES AC SERVO DRIVE Short Form Installation YEA SIA FSP 2 Guide 11 System Requirements and Software Installation 12 System Requirements and Software Installation System Requirements and Software Installation For optimum performance FlexWorks requires Computer Pentium 166 MHz Pentium II 350 MHz recommended At least 32
126. cases check the following The drive is powered on The communication cable is connected both to the PC and to the FSP Amplifier Select the Setting option from the Communication menu and make sure that the Port is set to the correct COM port of your PC the default is COM1 on most computers Setup Wizard To facilitate the setup procedure FlexWorks offers a Setup Wizard that guides you through the following steps gt gt gt Select Motor Yaskawa or other Set Reference Command Type Pn000 1 Set User Units Set Motion Profile See section 12 2 Default Set End of Motion definitions Set analog input command of Speed and Torque if required Set pulse train settings for master slave applications if required Set digital I O Set PG divider output ratio 32 Operating the FSP Amplifier Using FlexWorks gt To operate the wizard 1 Select New Project from the Fi e menu 2 Follow the instructions on the following Wizard screens Motor Selection Select your motor from the list or adda new motor Basic Selection Set the control method usually programming For host controller applications with pulse train output use Position control Pulse train Set motor direction Set axis address FSP Amplifier supports networking of up to 15 drives connected by serial communication RS 232 for single FSP Amplifier and RS422 for 1 15 Set FSP Am
127. city SEE ALSO MATH WRITE_TO_ARRAY READ_FROM_ARRAY 172 Command Reference SET_ZERO_POSITION GROUP Home SYNTAX SET_ZERO POSITION lt mode gt OP CODE 95 MODES Program Immediate Sequential DESCRIPTION Zeroes motor position according to lt mode gt Actual position Sets the actual motor position as zero position Demand position Sets the demand position as zero position the position error remains SYNTAX mode Specify the mode ARGUMENTS Mode cae Actual position Sets the actual 0 motor position as zero position Demand position Sets the 1 demand position as zero position The position error will remain Serial 1 U EXAMPLE LABEL 1 HOME C 200 GO_D 7800 1000 SET ZERO POSITION demand position EXAMPLE This example shifts the home position zero position EXPLANATION from the C pulse location to a different location After searching the C pulse with the HOME_C command the motor moves to position 7800 UU When the motor is theoretically on position 7800 UU the scale is changed and Position _Demand_vValue is set to zero Position_Actual_Value is Position _Demand_Value plus Following_Error_actual_Value NOTES If error 9 Wrong motion mode for SET_ZERO_POSITION command Set STOP_EX command before occurs insert a STOP_EX command before the SET_ZERO_POSITION comman
128. cording to the Command profile you set Make sure that the profile velocity See section 12 2 1 is greater than that of the master encoder and that the profile acceleration See section 12 2 2 is sufficient to follow it If the profile velocity See section 12 2 1 is less than that of the master encoder the axes can be never synchronized 2 Speed and acceleration can be changed during motion The jerk value used at the beginning of the motion remains in effect as long as motion mode is Pulse Train Input Use the STOP_EX command to change the motion mode 3 The deceleration for the end of synchronization uses the profile acceleration 4 If a filter on command is set Jerk Pn2A6 or smooth factor Pn216 the motor will lag after the master encoder according to the value of the filter 5 For information on using New_move_enable to enable faster execution of the MOVE_R command see Section 4 12 Master Slave Synchronization 163 Command Reference SEE ALSO Variables Follower_synchronized Follower_position_offset Parameters Pn200 Determines the reference pulse form Pn202 Pn203 The number of received pulses is multiplied by the electronic gear See section 12 1 ratio you defined Pn2A8 and Pn2A9 quick stop deceleration Pn2C4 Synchronizes window for pulse train Defines the difference between the Target_position and Position_actual_value where the Follower_synchronized flag is set to True
129. d SEE ALSO HARD_HOME HOME_SW HOME_SW_C HOME_C 173 Command Reference SLIDE GROUP Motion SYNTAX SLIDE lt n gt Op CODE 115 MODES Program Sequential MOTION Velocity 3 MODE DESCRIPTION Moves the motor at the specified speed Acceleration to a speed of lt n gt is according to the profile acceleration See section 12 2 2 and jerk time See section 12 2 3 parameters SYNTAX n Speed of movement A negative number ARGUMENTS moves the motor in the negative direction Zero stops the movement user speed units Serial 4 V EXAMPLE LABEL SLIDE 10000 DELAY 1000 SLIDE 2000 DELAY 1000 SLIDE 2000 DELAY 1500 SLIDE 0 DELAY 1000 END EXAMPLE Motor accelerates to 10000uu decelerates to 2000uu EXPLANATION decelerates to 2000uu and accelerates in the positive direction to 0 i e motion ends end of program The DELAY commands after each SLIDE command determine the length of movement by stalling the next command NOTES The SLIDE command sets unlimited travel jog motion In order to stop the motion the user must enter a SLIDE 0 command or STOP_EX SEE ALSO ACCELERATION JERK_TIME 174 Command Reference SLIDE_ANALOG GROUP Motion SYNTAX SLIDE ANALOG Op CODE 102 MODES Program Sequential MOTI
130. d Parameters windows are opened with their default contents 16 The Main Screen Interface OPTION ICON DESCRIPTION Open Project Ctrl O Opens an existing FlexWorks project When this option is selected the Open Project window is opened Look in eo FlexWorks Projects e E FlexAmpDemo XDR Files of type Project DR x Cancel 4 Figure 3 Open Project Window Save Project Saves the current project under its existing name If the project has not yet been named the Save Project window is opened Save in O Flexworks Projects e cea B FlexAmpDemo XDR File name Save Save as type Project XDR Cancel 4 Figure 4 Save Project Window In the File name field type in a name for the project and click Save Save Project as Saves the current project under a new name When this option is selected the Save Project window is opened Close Project Closes the current project If the project has not been saved the following message is displayed Save changes to lt project name gt Click Save to save the project 17 The Main Screen Interface OPTION ICON DESCRIPTION Download Al Downloads a program to the FSP Amplifier Program Download at Downloads a set of parameters to the FSP Amplifier Parameters Download aye Downloads cam profiles to the FSP Amplifier
131. dition gt lt Value gt is entered in decimal format Variable Position_actual_value gt Priority Value decimal PROGRAM Figure 54 Programming an INT Command 4 11 7 3 INT_RETURN Format INT_RETURN lt Label gt This command signals the end of an interrupt service routine lt Label gt specifies the program label to which the program must proceed once the interrupt service routine has been completed Setting lt Label gt to 1 specifies that the program must simply continue running from the point at which the interrupt occurred If an interrupt service routine of a lower priority interrupt is executed after a higher priority interrupt service routine the program will continue from the position defined by the last INT_RETURN command Return Label 1 Figure 55 Programming an INT_RETURN Command 94 Operating the FSP Amplifier Using FlexWorks 4 11 8 Interrupt Example The following example program illustrates the use of interrupts 1 SET_VAR Interrupt_mask 3 Activates Interrupt 0 and 1 2 LABEL 2 3 SET_OUTPUT 1 OFF Sets Output 1 value to 0 4 WAIT_INPUT 1 1 1 Waits for In 1 to become True 5 CONTROL ON Starts the servo 6 MOVE_D 655360 1 Moves motor 655360 UU at profile speed 7 SET_OUTPUT 1 OFF Sets Output 1 value to 0 8 END Program ends 9 INT O Target_velocity gt 400 Interrupt service routine 0 Runs if Target_velocity variable is equ
132. dow is closed Array will be displayed in the Curve Shape column of the Position Setting table Importing the values into the table FlexWorks allows you to import data into the array table This allows you to prepare an array in a spreadsheet and then import it The following specifications must be adhered to when creating the file The number of rows in the spreadsheet must be the same as the number of rows in the table displayed in the Curve Shape window e The slave values of the first and last points must be the same as those in the table displayed in the Curve Shape window The spreadsheet table may have any number of columns The slave values must be located in the right most column The values may have any number of digits after the decimal point but FlexWorks will import only the integer part of each value For example 1 79 will be imported as 1 The file must be saved in CSV format The file must not be in use by other software while being imported into FlexWorks A sample spreadsheet is shown in Figure 38 on the following page 67 Operating the FSP Amplifier Using FlexWorks pn tees gee 0 0 0 4472 0 199988 0 8944 0 799951 1 3416 1 799891 1 7888 3 199805 2 236 4 999696 2 6832 7 199562 3 1304 9 799404 3 5776 12 79922 4 0248 16 20 5712 423 1743 4 472 19 21 0184 441 7731 4 9192 24 21 4656 460 772 5 3664 28 21 9128 480 1708 14 5 8136 33 22 36 500 Figure 38 S
133. e GO_TO GROUP Program Flow Control SYNTAX GO_TO lt n gt Op CODE 73 MODES Program DESCRIPTION Changes the flow of the program by specifying a label to which to jump SYNTAX n The number of the label number to which to ARGUMENTS jump Serial 1 U EXAMPLE LABEL MOVE 3600 500 MOVE 3600 500 GO TO 1 EXAMPLE An endless loop application EXPLANATION A movement in the positive direction occurs followed by a negative direction movement The Go_TO 1 command returns to the beginning of the program LABEL 1 SEE ALSO LABEL LOOP 133 Command Reference HOME Commands The home switch is a digital input that defines the start point to search for the C pulse Do not define the over travel switch as the home switch e The accuracy of Home position in A quad B encoder by C pulse is 1 count if the motor searches in the same direction If the motor searches in both directions the accuracy is the C pulse width 1 count HARD_HOME GROUP Home SYNTAX HARD HOME lt torque gt lt speed gt Op CODE 131 MODES Program Sequential DESCRIPTION Sets the home position using the machine hard stop The motor moves at profile acceleration and lt speed gt until the lt torque gt is reached for 2 seconds and the position does not change during that time If the torque exceeds the torque limit parameters Pn402
134. e 3 2 1 File Menu A project contains all the data currently active in FlexWorks such as the user program parameter settings and definitions The File Menu options are used to create new FlexWorks projects open existing projects and save changes to projects Project files which are handled like any other file are automatically assigned an extension of XDR for example project1 XDR In addition the File Menu options are used to download upload and print programs and parameters Table 1 File Menu Options OPTION ICON DESCRIPTION New Project Ctri N Creates a new FlexWorks project When this option is selected the Motor Selection window in which you select the motor that will be used for this project is displayed FCC SS eee xi Motor Selection Select a motor from the the list Authorized users may define a new motor as well Motor Series r Motor Models Linear om ZZ Linear scale pitch Pn280 Add Another Mota fi um r New Motor Setting r Motor Model m Motor Series Motor Type coc e Figure 2 Motor Selection Window Select the appropriate manufacturer and then one of the listed models If you are using a model that is not listed click Add Another Motor Enter the name of the model in the Motor Model field and select the Motor Type either Rotary or Linear Click Finish to proceed the Workspace Program History an
135. e command is issued For the change to affect the motion the motion mode must first be changed e g by using the STOP_EX command 147 Command Reference NOTE 5 The jerk time value lt time gt can only be specified CONT by a number To set the profile jerk time See section 12 2 3 equal to the value of a variable use the SET_VAR command SEE ALSO SET_VAR Parameters Pn2A6 Pn216 148 Command Reference LABEL GROUP Program Flow Control SYNTAX LABEL lt n gt Op CODE 88 MODES Program DESCRIPTION Defines the beginning of a program or subroutine May be used to mark the beginning of a code line in order to use the GO_TO CALL or LOOP commands or for program auto start after power up SYNTAX n The label number ARGUMENTS z sv Serial 1 U EXAMPLE LABEL CONTROL ON DELAY 1000 GO D 10000 1 F INPUT 1 1 THEN CALL 2 CONTROL OFF END LABEL 2 SET OUTPUT 1 ON RETURN EXAMPLE Servo enabled motor moves to position 10000 if INPUT EXPLANATION 1 is true calls LABEL 2 subroutine The subroutine sets OUTPUT 1 as true If INPUT 1 is false servo is disabled program ends SEE ALSO GO_TO LOOP END CALL RUN Parameters Pn2CC Auto start 149 Command Reference LATCHING_ TRIGGER GROUP E
136. e example EXPLANATION NOTE Addition information relating to the use of the command SEE ALSO A list of related commands variables and parameters 256 Glossary of Terms and Concepts 257 YASKAWA The Drive for Quality YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 847 887 7000 Fax 847 887 7310 Internet http www yaskawa com MOTOMAN INC 805 Liberty Lane West Carrollton OH 45449 U S A Phone 937 847 6200 Fax 937 847 6277 Internet http Avwww motoman com YASKAWA ELETRICO DO BRASIL COMERCIO LTDA Avenida Fagundes Filho 620 Bairro Saude Sao Paolo SP Brasil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 Internet http www yaskawa com br YASKAWA ELECTRIC CORPORATION New Pier Takeshiba South Tower 1 16 1 Kaigan Minatoku Tokyo 105 6891 Japan Phone 81 3 5402 4511 Fax 81 3 5402 4580 Internet http Awww yaskawa co jp YASKAWA ELECTRIC SHANGHAI CO LTD 4F No 18 Aona Road Waigaoqiao Free Trade Zone Pudong New Area Shanghai 200131 China Phone 86 21 5866 3470 Fax 86 21 5866 3869 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomanwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China Phone 86 21 6553 6600 Fax 86 21 6531 4242 SHANGHAI YASKAWA TONJI M amp E CO LTD 27 Hui He Road Shanghai 200437 Ch
137. e profile velocity See section ARGUMENTS 12 2 1 user speed units Serial 4 U EXAMPLE LABEL 1 CONTROL ON DELAY 500 SPEED 50 MOVE 3600 1 SPEED 200 MOVE D 3600 1 CONTROL OFF END EXAMPLE Servo enabled speed profile is set to 50uu first EXPLANATION movement occurs speed profile is set to 200uu second movement which uses the new speed profile is faster and in the opposite direction servo disabled end of program NOTES The speed value lt n gt can only be specified by a number To set the profile velocity See section 12 2 1 equal to the value of a variable use the SET_VAR command SEE ALSO MOVE MOVE_D MOVE_H MOVE_R GO GO_D GO_H SET_VAR 176 Command Reference SPEED_CONTROL GROUP Motion SYNTAX SPEED CONTROL lt switch gt Op CODE 100 MODES Program Sequential MOTION Speed control 0 MODE DESCRIPTION Changes control to NCT speed control The type of speed command is determined according to the lt switch gt setting SYNTAX switch Mode Co ARGUMENTS de ANALOG_INPUT Analog speed 2 command similar to the SLIDE_ANALOG command except that a speed control loop is closed on the command PULSE_TRAIN_INPUT Pulse 3 train speed command VARIABLE Speed command 4 set by a variable Use the SET_VAR command to change the variable Speed_reference which changes the motor speed Serial 1 U SEE AL
138. ed forward compensation Hz 10 2000 2000 PniBC Filter on command acceleration 0 01 ms 0 2500 300 Pn1BD Reduction of vibrations due to Hz 10 2000 2000 system flexibility Pn1BF Integral switch advance 1 15 3 6 3 7 Pn1C0 Integral offset averaging time ms 0 25 0 6 3 6 PniC1 Integral switch advance 125 us 0 8 3 Position Control Reference 2 Pn200 Selection Switches 7 T 0099 iad 2 Pn201 PG Divider rotary motor Pulse Rev _0 65535 2048 5 2 3 z Pn202 Electronic Gear Ratio _ 1 65535 4 525 5 Numerator Z Electronic Gear Ratio 2 Pn203 Denominator 1 65535 1 5 2 5 S See note 3 o Pn205 Multi Turn Limit Setting Rev 0 65535 65535 5 7 2 Pn216 Command smoothing 0 1 ms 0 65535 0 5 s Ssg 25 Ss aie Counts 5 2 5 Pn281 PG Divider Scale Pitch 0 65535 1 Lag _ a l S Pn2A0 Rotation base in user units low 0 65535 65535 20 2E oO 5 Pn2At Rotation base in user units a 0 32767 32767 high After changing this parameter cycle the main circuit and control power supplies to enable the new settings The multi turn limit is valid only when parameter Pn002 2 Absolute Encoder Usage is set to 2 The value will be processed in the range of 32767 to 32768 for other settings even if the value is changed There is no need to change the multi turn limit except for in special cases Be careful not to change the setting unless necessary 226 Parameter Reference
139. ee 500 i i i 1 i i i i i 25004 4 500 0 000 100 000 200 000 300 000 400 000 500 000 01 1 02 Sampling Time ms 0 500 Time ms EXAMPLE After motion has started a quick output is set EXPLANATION conditional on Position_actual_value exceeding 100000 Output 1 is set ON as soon as this condition is met The fast output condition is then changed so that Output 1 will remain on until position 250000 is reached Once this position is reached Output 1 is turned off The fast output condition is then changed again so that Output 1 will be turned on once Distance_from_target is lower than 200 After the motion has been completed to within the specified position error window of 200 Output 1 is set ON again SEE ALSO Parameters Pn2D2 0 Pn500 123 Command Reference FAULT_MANAGER GROUP Fault_Manager SYNTAX FAULT MANAGER Op CODE 163 MODES Program DESCRIPTION This command allows smart handling of faults and alarms It acts as an interrupt in the highest priority when an alarm or a fault condition occurs The user can define the actions within the fault manager routine for certain conditions The routine ends with a FAULT_RETURN command Refer to the Fault Action page for detailed explanation of each alarm fault behavior EXAMPLE LABEL 5 MOVE 1000 1 FAULT
140. ee ee 500 0 000 100 000 200 000 300 000 400 000 500 000 Sampling Time ms 0 500 Time ms Figure 57 Interrupt Example Output Chart Case 2 From the chart The motor started moving after In 1 became true e As the motor target speed reached 400 output 1 was set to ON as interrupt 0 was invoked as a result of its condition Target_velocity gt 400 being met In 1 became false The motor was stopped at the emergency deceleration by the interrupt service routine for interrupt 1 The program jumped to label 2 Output 1 was set OFF SD NOTE If both interrupts occur simultaneously the interrupt of priority 0 will be handled as in case 1 and then the interrupt of priority 1 will be handled as in case 2 The program will then return to label 2 97 Operating the FSP Amplifier Using FlexWorks 4 12 Master Slave Synchronization For master slave applications synchronization is generally started by a digital input Starting the synchronization process as quickly as possible thereafter is extremely important to ensure accurate synchronization Any delay will result in an unwanted offset between master and slave positions The command MOVE_R is used to commence synchronization Conditioning the MOVE_R command using the WAIT_INPUT command will result in a delay of up to 2 ms which may cause too great a position error between the master and slave The New_move_enable flag can be used to reduce the delay to
141. eececesabcvaeaiacenyessececaevaosenses 204 MOVE commanders erai ni A eee ye AE chy eels eyes een ae 205 6 2 2 3 Master Message Short Format sssseseesseesseseesseessessresresseeseesressee 206 6 2 3 R sponse Message fxg iecsadey nits cars eoin Ea E E A Ee 207 6 2 3 1 Answer Field for Acknowledge ACK ssesssssssssssessssessessesssessesse 209 6 2 3 2 Answer Field for Data Request Command ccccecseeeteeeteeeees 210 Answer Field for GET VAR Command ecceeccecseeseceteeeeeeeeeeeeseeeaeens 210 Answer Field for GET PAR Command ccccccceseceseceeseeeceeeeeceeeenseeenseees 211 Answer Field for GET VERSION Command 0cccceccceesceeeteeeeeeeeeeeeeees 211 6 2 3 3 Response Message Format Example ccsccsssccserscseccssecesnees 213 CONTROL ON commandi aineen apania ai ai bess 213 MOVE C mmand Ziare e raean aa a aE EE RAENT AARAA TAREE 214 GET VAR Comiman dys s cstrverscsins sists A E E eae setae Nace 215 GBs Troubleshooting Senne le umecat on wacds tacasostardeanemenateae E a mayan eaten 216 Je Error Messages no meee danson tila ities plat E a o 217 So Parameter Reference nianie pennaenn alata cea a a R R ih 225 Bile Table T7 Parameters aa e ada a a ea E E a ae 225 82a PADIS TRS SwittheS eitis eR E a a AE EEE AA EEE Sat 230 8 3 Table 19 Input Signal Selections lt ssscaccsaseccestessdocercsavteaedestideveess ariserioceeestesss 235 8 4 Table 20 Home Switches scat
142. egenerative Resistor 0 to 1 2 g p 5 Pn600 Capacity 10 W capacity 0 5 6 1 Od E pneot Reserved parameter Do not E change After changing this parameter cycle the main circuit and control power supplies to enable the new settings Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor The upper limit is the maximum output capacity W of the servo amplifier 229 Parameter Reference 8 2 Table 18 Switches Table 18 Switches Parameter Digit Place Name Setting Description Default Setting Pn000 Function Selection Basic Switches 0 Direction Selection Sets CCW as forward direction Sets CW as forward direction reverse rotation mode 0 Control Method Selection Speed control analog reference Torque control analog reference wWI INIO gt Internal set speed control contact reference Internal set speed control contact reference Speed control analog reference Internal set speed control contact reference Torque control analog reference Co Position control pulse train reference Torque control analog reference Torque control analog reference Speed control analog reference Speed control analog reference Zero clamp Position control pulse train reference Position control Inhibit
143. er 37 Operating the FSP Amplifier Using FlexWorks 4 4 1 Writing a Program A program is written by selecting a command from the command list in the Workspace window Figure 16 and adding it to the Program window Figure 17 For a detailed description of the different commands see Chapter 5 Command Reference You must be in Program mode to write a program gt To enter Program mode Click Program Mode EN in the toolbar or select the Program Mode option from the Run menu xi The maximum length of a program is 180 Project Command command lines for Sigma FSP models fe Encoder Latching without ECAM installed and 100 command 5 Fault Manager lines for those with ECAM installed E Home E Interrupt E Motion E Motion Profile E Output 2 FAST_OUTPUT_SET F SET_OUTPUT C SET_OUTPUTS 0 A A C IF_INPUT INPUT_CASE LABEL LOOP RETURN ea gt CONTROL ON MOVE_D 10000 400 DELAY 400 MOVE_D 10000 400 END Figure 17 Program Window The commands in the Workspace window are divided into groups For further details see Section 3 5 2 Program Window 38 Operating the FSP Amplifier Using FlexWorks gt To add a command to a program 1 Open the relevant command group 2 Double click the required command to open a pop up dialog box Figure 18 relating to the command oa Figure 18 Sample Command Pop up Dialog Box 3 Set the
144. er manually or automatically Auto tuning Two Auto tuning procedures are available one that calculates the coefficients based only on the user specified motor inertia ratio Fast Tuning and one that sets the coefficients experimentally by moving the motor and analyzing its behavior Fine Tuning Manual Tuning Manual tuning can be performed according to the instructions provided in the FSP Amplifier User s Manual Auto tuning Auto tuning is applicable in programming mode only Pn000 1 D When you select the auto tuning option from the Maintenance menu the Auto tuning window Figure 21 is displayed Inertia Ratio Pn103 eoo This parameter enables you to enter a rough estimation of your system s external load as a percentage of the motor s inertia F Oscillation Canceling Algorithm OCA Fast Tuning C Fine Tuning With User Parameters Auto Select Parameters Cancel Start WARNING In Fine Tuning pressing START causes movement Note Move axis to center of travel Figure 21 Auto tuning Window 45 Operating the FSP Amplifier Using FlexWorks The fields and options are explained below Inertia Ratio Pn103 Inertia ratio between the load and the motor as a percentage Fast Tuning The drive loads a group of parameters from predefined tuning groups based on the motor and drive type and the load inertia Fine Tuning The drive moves the motor back and fort
145. er the motion ended as commanded by the REGISTRATION_DISTANCE command See Section 4 10 4 3 Motion_status This command executes immediately and it should thus be preceded in the program by a command that delays its execution until latching has been completed Use the command WAIT_VAR Latched_position_ready 1 or an interrupt conditional on this variable to ensure that REGISTRATION_DISTANCE is executed only once latching has been completed 86 Operating the FSP Amplifier Using FlexWorks 4 10 4 Registration Variables There are four variables related to registration Latched_position_ready acts as a flag to indicate when the latching condition has been met The Latched_motor_position and Latched_master_position variables record the positions of the controlled motor and of the master if applicable at the instant the condition is met Finally the Motion_status variable indicates whether the registration movement was performed 4 10 4 1 Latched_motor_position This variable records the position of the motor when the latching condition was met Because the sampling time is 62 5us the accuracy of the latching is dependent on the motor speed and the exact moment in the sampling interval at which latching takes place The position is recorded in terms of user position units 4 10 4 2 Latched_master_position This variable records the position of the master axis when the latching condition was met Because the sampling time is
146. ere is an opportunity to do so between other operations T Task setting The variable is updated when the relevant conditions are met C Command setting The variable is updated when a command to do so is issued 2 2 ms The variable is updated every 2 milliseconds Whenever specifying a condition based on the value of a variable it is important that the update time or interval of that variable is considered 246 List of Status Word Bits 10 List of Status Word Bits A status word is a 16 bit string containing the current FSP Amplifier status Use the POLLING command to get a status word An acknowledge ACK message also contains a status word The status word updates every 10 ms BIT TERM COMMENT 0 Ready to Switch On Always 1 1 Switched On 0 Emergency ON 1 Emergency OFF 2 Operation Enabled 0 Control OFF 1 Control ON 3 Fault O No Fault 1 Fault A 4 Voltage disabled Always 1 5 Quick Stop 1 only while stopping 6 Switch On Disabled Always 0 7 Warning 0 No warning 1 Warning Over torque 8 Manufacturer specific 1 only while waiting to START command Ready for start 9 Remote Always 0 Profile position mode 1 only while Velocity_demand_value 0 AND Position error lt Pn500 10 Target Reached Profile velocity mode 1 when Target speed reached Profile torque mode 1 when Target torque reached 11 Internal Limit Active 1 motor on Ove
147. et as 0x00 Description Command Operational Code two bytes for two digits Because the range is greater than OxF two bytes are required for holding the number Range 0x0 OxFF 0x0 OxF each see Chapter 11 List of Operation Codes 202 Serial Interface Protocol Description Variable indicators Each of the eight bits in V1 and V2 corresponds to one argument and indicates whether the argument is specified by a numerical value or a variable ID number Range 0 The argument is specified by a numerical value 1 The argument is specified by the ID number of a system variable See Chapter 9 List of System Variables Example Consider the IF command which consists of five arguments Arg 1 Arg 2 Arg 3 Arg 4 Arg 5 If Arg 3 is to be specified by a variable and all others by numerical values then the V string in binary form would be 00100 where the right most 0 corresponds to Arg 1 and the left most to Arg 5 00100 corresponds to 0x4 in hexadecimal format and thus V1 would be set to 0 and V2 to 4 Description Command Argument Each Pn is one byte for one digit The number of arguments and size number of digits if relevant depend on the Command Operational Code see Chapter 11 List of Operation Codes Range 0 The corresponding P bit Notes Either a numerical value or a variable ID number can be specified for some arguments The corresponding
148. eter Pn002 2 Absolute Encoder Usage is set to 2 The value will be processed in the range of 32767 to 32768 for other settings even if the value is changed There is no need to change the multi turn limit except for in special cases Be careful not to change the setting unless necessary 225 Parameter Reference Parameter Setting Default Category Nuber Name Unit Range Setting Reference i Pn190 Motor selection switch 0000 5 8 io Pn191 Motor selection switch 0000 5 8 E Pn192 PUISes number of A quad B Pulses rev 0 9999 2048 5 8 encoder Low a P Pulses number of A quad B Pulse S Rage encoder High 10000 Rev gag 0 a8 O i Pn199 Encoder counts per Scale Pitch Counts 1 256 1 a of linear motor Scale Pitch Pn1A0 Global gain factor Tightness 0 500 60 6 3 3 Pn1A2 Speed feedback filter 0 01 ms 30 3200 40 6 3 4 PniA4 Torque filter low pass 0 01 ms 0 2500 20 6 3 4 Pn1A5 Torque filter second order 0 1 0 1000 0 6 3 4 PniA7 Integral mode switch 1121 6 3 7 5 PniA9 Integral feedback gain Hz 0 500 40 6 3 4 D PniAA Proportional feedback gain Hz 0 500 40 6 3 3 2 Pn AB Supplementary proportional Hz 0 500 30 6 3 3 S feedback gain g Pn1AC Speed feedback gain Hz 0 2000 80 6 3 3 lt PniAF Feed forward gain 0 200 0 6 3 3 5 Pn1B5 Maximum variable gain 100 1000 160 6 3 6 Pn1BB Fe
149. factory default parameters Parameters Note that some parameters are updated at power up only and you must therefore restart the FSP Amplifier after using this option Open Log Starts a new log file and inserts all the File commands sent via communication into the log file The log file is used mainly for debugging purposes When this option is selected the Open Log File dialog box is displayed Look in E My Documerts Tl c My Pictures Files of type Log Files log x Cancel ZL Figure 6 Open Log File Dialog Box Select a directory and select the name of an existing file or type in a name to create a new log file When FlexWorks is in Online mode all the commands sent via communication to the FSP Amplifier are stored in the selected log file To close the log file select the Close Log File option 22 The Main Screen Interface OPTION ICON DESCRIPTION Close Log Stops storing commands in the log file and File closes the currently open log file Password Enables the modification of certain parameters displayed in red in the Parameters window which can only be modified by authorized users who are required to enter a password using this option Send For internal use only Command 3 3 3 Window Menu The Window menu is used to switch between different views in the FlexWorks system and to save a customized screen for future use Table 8 Window Menu Op
150. file_velocity equal to a variable use the SET_VAR command 254 Glossary of Terms and Concepts 12 2 2 Profile Acceleration The profile acceleration defines the default rate of acceleration that is used whenever the motor accelerates in Position mode The profile acceleration is recorded in the system variable Profile_acceleration By default Profile_acceleration is set equal to the Work Acceleration Default specified by parameters Pn2A4 and Pn2A5 Pn2A4 The profile acceleration in user acceleration units in the low bits format Pn2A5 The profile acceleration in user acceleration units in the high bits format Pn2A4 is used to store the profile acceleration if its value is less than 65536 Values over 65536 must be converted to high bits format and stored in Pn2A5 which can hold values up to 256 The value of Profile_acceleration can be changed using the ACCELERATION command To set Profile_acceleration equal to a variable use the SET_VAR command 12 2 3 Profile Jerk Smoothing Time Jerk smoothing time defines the time required for the changing of acceleration and deceleration and is set in milliseconds The Jerk smoothing time is recorded in the system variable Jerk_smoothing_time By default Jerk_smoothing_time is set equal to the Work Jerk Smoothing Time Default specified by parameter Pn2A6 The value of Jerk_smoothing_time can be changed using the command JERK_TIME To set Jerk_smoothing_time equ
151. function The Mechanical Analysis function generates a position deviation because it executes motor excitation by the torque reference After closing this function execute home return and reset the position before normal operation Cancel Figure 29 Mechanical Analysis Warning Message 2 Click OK to open the Mechanical Analysis window Figure 30 56 Operating the FSP Amplifier Using FlexWorks 4 8 1 Mechanical Analysis Window Mechanical Analysis START Si GAY wo 200 Measurement Conditions Setting Excitation Signal Cycle wave Measurement Frequency Hz 1600 Excitation TimesIteration ms 250 Sampling Time us Excitation Amplitude Allowable Rotations Rotations No of Executions Set _t C7 D Graph Setting e e Gain dB jautro z I Lime Phase deg jaro gt Yellow Resonance Frequency 1c 1000 Marker Color Bf Red Frequency Hz Anti Resonance Frequency Marker Color 0 Aqua Frequency Se Caption Graph 1 Figure 30 Mechanical Analysis Window Accurate measurement of the frequency characteristics depends on the settings of the following parameters Sampling Time usec Measurement Frequency Hz Excitation Time ms If the sampling time is shortened a higher frequency can be measured and the excitation time is shortened However frequency resolution deteriorates and measurement accuracy is
152. g but cannot be used to enable a previously disabled servo The program can also be terminated after the motor has stopped 180 Command Reference SYNTAX ARGUMENTS Type Specifies the rate of deceleration and whether the program is stopped Setting Code Profile The motor will 0 decelerate at the profile acceleration See section 12 2 2 Emergency The motor will 1 decelerate at the quick stop deceleration specified by parameters Pn2A8 Pn2A9 Emergency Program Stop 2 The motor will decelerate at the quick stop deceleration specified by parameters Pn2A8 Pn2A9 After stopping the program is terminated Serial 1 U Servo This argument defines the motor state after the motion actually stops Setting Code Servo ON the motor 0 remains enabled Servo OFF the motor is 1 disabled Serial 1 U NOTES Unless lt Type gt is set to Emergency Program Stop the program line following the STOP_EX command will only be executed once the theoretical deceleration has been completed 181 Command Reference EXAMPLE SLIDE 1000 J ELAY 200 STOP_EX Emergency Servo OFF SET_OUTPUT 1 ON Smoothed Target Speed AIEN PRE EE AIE Target Speed i50 eee eee a J Output 1 i 0 000 100 000 200 000 300 000 400 00
153. ght clicking and dragging the mouse The values are displayed on the respective axes now Markers ae information on current cursor location Drive Units Toggles graph units between user units and encoder counts i Saves the graph in bmp format enabling you to view the graph with other software packages Seve foes graph data in Excel format csv 4 7 2 Using Zoom The view of an area selected by the mouse can be magnified gt To zoom in on an area 1 Position the mouse at one corner of the area you want to select 2 Hold down the left mouse button and drag to the opposite corner A white area will appear around the selected area 3 Release the left mouse button The selected area of the graph is enlarged 4 Click Reset zoom to view the original graph 53 Operating the FSP Amplifier Using FlexWorks 5 Click Up one zoom level to view the previous zoom level 2151 x SR ANZIA 4 wll ig A Trigger Name Smoothed Target Speed on Data Change 11 Graph Setting Axis Variables Scale Co x Time ms 50 wh Caption x Axis Figure 28 Chart Zoom Feature 4 7 3 Starting the Trace gt To start a trace 1 In the Chart main window click Start Trace 2 A message Waiting for trigger and data collection completion is displayed 2 To cancel the trace click Start Trace l2 again Otherwise click Run to run the progr
154. gt Op CODE 74 MODES Program Immediate Sequential DESCRIPTION Defines the time duration for the changing of acceleration and deceleration Sets the jerk time value for the motion profile See section 12 2 The command changes the profile jerk time See section 12 2 3 value set by parameter Pn2A6 and remains in effect until the next controller reset The jerk time affects the profile of motions commanded by MOVE MOVE_D MOVE_R MOVE_H GO GO_D SLIDE SLIDE_ANALOG SYNTAX time Jerk time ARGUMENTS us Range 0 63999 us Serial 4 U EXAMPLE JERK_TIME 2000 NOTE 1 The JERK_TIME value has priority over the Low Pass Command Filter Pn216 variable However if the JERK_TIME is smaller than 250 the JERK_TIME is ignored and only the Low Pass Command Filter value is used even if the JERK_TIME is subsequently changed 2 For the motion commands GO GO_D MOVE MOVE_D which are stored in the motion buffer changing the jerk value will affect them only if the change is made before the command is issued i e before the command is sent to the buffer 3 For commands GO_H MOVE_H changing the jerk value will affect them only if the change is made before the first command is issued For the change to affect the motion the motion mode must first be changed e g by using the STOP_EX command 4 For the command MOVE_R changing the jerk value will affect it only if the change is made before th
155. h and searches for the parameters that allow the best system performance Auto Select Parameters Uses Fast Tuning gains as the starting point The motion profile of the motor while tuning is determined automatically according to system characteristics The motor will make approximately one turn to each side and this process is repeated until all coefficients have been set With User Parameters The gain values start at their current values set by parameters such as PniAC 54 The motion during the tuning Auto tuning profile is set according to Pn2C8 Pn2C9 Pn2CA and Pn2CB allowing you to specify how far and how fast the motor should turn during fine tuning 4 6 3 Performing Fast Tuning gt To perform fast tuning 1 Enter a rough estimation of load inertia in Inertia Ratio 2 Click Start The Fast Tuning window is displayed 3 Click OK 4 Enable the servo control and check the performance See 4 6 4 Evaluating Control Loop Performance If the motor behavior is good you can either perform Fine Tuning or leave it as is 5 If you are not satisfied with the performance the following methods can be used to improve the performance and stability of the system Adjust the global gain Pn1A0 Seta different Inertia ratio NOTE ZS The value of the command filter is calculated automatically and stored in parameter Pn216 during fast tuning 46 Operating the FSP Amplifier Using FlexWorks Perf
156. he motor will move while executing a HOME_C command will be 100mm s SYNTAX speedl The speed and direction of searching for ARGUMENTS the C pulse speed user units Serial 4 V SEE ALSO HOME_SW HOME_SW_C HARD_HOME 135 Command Reference HOME_SW GROUP Home SYNTAX HOME SW lt speedl gt lt speed2 gt Op CODE 132 MODES Program Sequential DESCRIPTION Sets the home position using the home switch The motor moves at lt speedi gt to the home switch and then changes direction and moves at lt speed2 gt until it is no longer located on the home switch Only then does the encoder counter zero and the motor decelerate to stop The motor does not stop at the zero position Use the GO or GO_D command to set the motor at the zero position lt speedi gt and lt speed1 gt must have opposite signs i e the movement is in opposite directions SYNTAX speedl The speed and direction of searching ARGUMENTS for the home switch Must have an opposite sign to that of lt speed2 gt speed user units Serial 4 V speed2 The speed and direction of searching for the home switch Must have an opposite sign to that of lt speedi gt speed user units Serial 4 V SEE ALSO HOME_C HOME_SW_C HARD_HOME RELATED Pn2C7 0 Sets home switch input attribution PARAMETERS 136 Command Reference
157. he following commands are used to send an ECAM profile to the FSP Amplifier using serial communication More information on these commands is available in Chapter 5 Command Reference 4 9 16 2 ECAM_TABLE_BEGIN Clears any existing table from the FSP Amplifier and initializes the new table ECAM_PROFILE Specifies the identifying number of the profile that is to be loaded ECAM_SEGMENT Defines the range of the master values covered by the next segment that is to be defined and specifies the size of the increments between consecutive points ECAM_POINTS Specifies the difference between the slave positions of consecutive points ECAM_TABLE_END Finalizes the ECAM table that has been loaded Example of Using Serial Communication to Send an ECAM Table to the FSP Amplifier The code that follows downloads an ECAM table as specified in Table 14 Sample ECAM Table and illustrated in Figure 49 Sample ECAM Profile ECAM POINTS 4 13 14 14 15 ECAM TABLE BEGIN ECAM PROFILE 1 ECAM SEGMENT 200 10 0 ECAM POINTS 4 0 2 3 4 ECAM POINTS 4 6 6 8 9 ECAM POINTS 4 9 11 12 12 ECAM POINTS 4 15 15 16 16 ECAM SEGMENT 100 100 0 80 Operating the FSP Amplifier Using FlexWorks Slave Position 600 200 300 Master Position Figure 49 Sample ECAM Profile 81 Ope
158. ifferent motion modes are issued consecutively in some cases the motor will first be stopped at the Profile_acceleration and only then will the second motion commence In other cases the second motion will continue continuously after the first without stopping in between The table below specifies the type of transition between each pair of motion modes C Continuous transition without stopping S The motor will first decelerate to a complete stop according to Profile_acceleration before performing the new motion The command smoothing set by Pn216 will not be applied to the deceleration Table 16 Nature of Transition Between Motion Modes Slel sel e E E P F l sTl E 2 s o v 2 gt 72 T 5 e e e E l s S SER My ee R E s glS lal S Bl BE 8 8 5 N Q Q a T W lt lt Q lt I i ee ms s EE s s MB sistis is Profile position 1 S C C C S S C E S S C Profile Velocity 3 S S C C S S C C S S E Profile Torque 4 S S S C S S C S S S S aa s sis s Ws sislsls is ECAM 7 Analog torque 5 Analog Speed 4 oe s s ian c c ii s fe ate s sis s s s s s s Hs Hunting 1 106 Command Reference 5 4 Motion Command Buffer All motion commands are executed through the MCB The motion buffer can contain commands from only one motion mode at a time For example if you send GO and MOVE commands follo
159. ile acceleration The motor decelerates to a stop Under certain circumstances the motor will not stop at the point command by REGISTRATION_DISTANCE See 4 10 2 Troubleshooting 84 Operating the FSP Amplifier Using FlexWorks 4 10 2 Troubleshooting In certain circumstances the motor will not stop at the point specified by the registration process The variable Motion_status indicates how the motion ended 1 The motor traveled further than the registration distance but not as far as the target position of the original motion command This will occur if the registration distance is not sufficiently long for the motor to be able to decelerate to a stop at the profile acceleration See section 12 2 2 Either increase the registration distance or increase the profile acceleration 2 The motor stopped at the target position specified by the original motion command as if registration had not occurred This will occur if the latching condition was not met To ensure that the motor will stop by registration increase the distance to be traveled specified by the motion command 4 10 3 Commands Two commands are required when using latching one to enable and define a condition for latching and another to define the stopping distance once the condition has been met 4 10 3 1 LATCHING_TRIGGER Format LATCHING_TRIGGER lt Condition gt This command enables latching and specifies the condition that must be s
160. in the variable is reset to 0 The values of the bits are read write therefore interrupts can be reset from within the program using the SET_VAR command This allows you for example to clear all interrupts from within one interrupt service routine Clearing an interrupt cancels the execution of the associated interrupt service routine However if an interrupt is cleared from within its own interrupt service routine the interrupt service routine will be completed first The values of the bits of Interrupt_request are set using the SET_VAR command The value of the variable must be set in decimal format For example to set bits 0 and 1 to 1 and all other bits to 0 Interrupt_request would have to be set to 3 which in binary form is 0000011 4 11 6 2 Interrupt_mask By setting a mask you can specify to which interrupts the FSP Amplifier should react and which should be ignored This allows you to specify interrupt service routines for a number of interrupts and to then enable or disable each interrupt from within the program By setting a bit in the variable to 1 the corresponding interrupt is enabled Setting a bit corresponding to an interrupt that has already occurred to 0 does not prevent the execution of its interrupt service routine but does prevent the interrupt from being handled again The values of the bits of Interrupt_mask are set using the SET_VAR command The value of the variable must be set in decimal format
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162. ion Figure 47 Illustration of the Application of Shift The shift is specified as an absolute distance from the origin of the profile graph In the case of a cyclic profile the next profile will be followed as it was originally specified unless a different shift is specified gt To apply a shift 1 Set the value of the variable ECAM_Shift using the SET_VAR command SD NOTE The size of the shift is not affected by scaling the master axis 77 Operating the FSP Amplifier Using FlexWorks 4 9 14 3 Offset By applying an offset you can shift a profile vertically A positive offset shifts the profile upward increasing the slave position reached at each master position A negative offset shifts the profile downward reducing the slave position reached at each master position The following graphic illustrates a positive offset E CAM Profile 120 100 80 60 40 20 Slave Position 0 200 400 600 800 1000 Master Position Figure 48 Illustration of the Application of a Positive Offset gt To apply an offset 1 Set the value of the variable ECAM_Offset using the SET_VAR command ZS NOTE The size of the offset is not affected by scaling the slave axis Both shifts and offsets can be applied during motion This will usually result in a sudden jolting motion as the target slave position is adjusted instantly across a discontinuity When applying a shift before engaging ECAM motion ens
163. is Toolbar The mechanical analysis toolbar is shown below ujs 8 QQ Als Gill Figure 31 Mechanical Analysis Toolbar The following table explains the function of each icon Table 13 Description of Mechanical Analysis Toolbar Icons OPTION Icon DescrtPTION ss DESCRIPTION Save Chart Saves the current analysis include the settings and the T ger a Open f opens a Opens a previously saved analysis saved analysis Print a Prints the currently displayed chart and its corresponding data Up One Zoom f e one Zoom e restores the previous zoom level Reset Zoom Restores the area shown in the window to its ee ee Dragging the cursor by left clicking the mouse enables the measurement of the difference delta between the endings of the line The delta values are displayed in each axis label Left clicking in a new location starts a new measurement Show Markers Shows exact value of a point A yellow cross reflects the movement of the mouse and the exact value can be seen in each axis label Saves graph in bmp format enabling you to view the graph without the need for the FlexWorks software act Graph Jl ae graph data in Excel format csv 59 Operating the FSP Amplifier Using FlexWorks 4 8 3 Running the Mechanical Analysis gt To perform a mechanical analysis 1 Run the motor to excite the machine and measure the frequency characteristics 2 Run the process by pressing the START bu
164. ite a loop with POLLING command Command Operational Code 0x00 until the appropriate response message is accepted After a variable has been watched in the FlexWorks variable watch window even if FlexWorks is no longer open message response type is changed to 3 m 3 and the message format holds the variable value as well To delete a variable from the watch list set FlexWorks to Online mode Delete the desired variable s and return to Offline mode If FlexWorks is closed rerun the program and go Online and then Offline No checksum value Pn2C6 setting is different accepted on the than 0x0001 response message Set Pn2C6 0001 and reset FSP Amplifier 216 Error Messages f Error Messages Error messages that may be generated by FlexWorks are listed below together with a short description of each CODE MESSAGE DESCRIPTION 1 Sequential buffer full Serial commands were sent to the Sequential buffer at a rate faster than the execution rate 2 Immediate buffer full Serial commands were sent to the Immediate buffer at a rate faster than the execution rate 4 Too many program lines or invalid program line number 5 Message checksum error An incorrect checksum indicates that an error occurred during message transmission 6 SET_VAR Invalid variable index An invalid variable index has been used in the SET_VAR command 7 Variable is
165. ition Setting Tab Segment Each segment is automatically assigned a number Master Start The first segment starts at master position 0 Each subsequent segment starts at the position at which the previous segment ended The master position is defined in terms of master encoder counts Master End Specifies the master position at the end of the segment If a time based profile is being created Master End specifies the time at which the segment ends For example if the segment is to span 100 ms the difference between the Start and End values must be 800 ms as the clock generates eight pulses per millisecond 63 Operating the FSP Amplifier Using FlexWorks Slave Start The first segment starts at slave position 0 Each subsequent segment starts at the position at which the previous segment ended The slave position is defined in terms of position user units Slave End Specifies the slave position at the end of the segment Master Step Specifies the distance required between the points that are interpolated between the start and end points The greater the step size the lower the resolution will be When the start and end points are to be joined simply by a straight line set Master Step to the distance between the start and end points as no points need be interpolated between them Curve Shape Specifies whether the start and end points of the segment are to be joined by a straight line by a portion of
166. l Communication Commands The commands described in this section are available only in the serial communication protocol they are not available in FlexWorks Detailed information about the serial communication protocol can be found in Chapter 6 Serial Interface Protocol CLEAR_BUFFER SYNTAX CLEAR BUFFER lt Buffer gt Op CODE 94 MODES Immediate DESCRIPTION Clears either the program buffer or the sequential buffer depending on the value of lt Buffer gt It is recommended that this command be used before sending a program to the drive by serial communication to remove an existing program from memory Not doing so can result in unexpected behavior such as the program jumping to labels within the old program SYNTAX lt Buffer gt Indicates which buffer is to be cleared ARGUMENTS Buffer Code Sequential Buffer 0 Program Buffer 1 Serial i U ECAM_POINTS SYNTAX ECAM POINTS lt N gt lt Slave Delta 1 gt lt Slave Delta 2 gt lt Slave Delta 3 gt lt Slave Delta 4 gt Op CODE 126 MODES Immediate UNITS Position user units for lt Slave Delta gt DESCRIPTION Specifies the slave position points by setting the delta between each 2 points in the table 192 Command Reference SYNTAX ARGUMENTS lt N gt The number of points that are going to be sent in the command lt N gt dete
167. l output pin to ON or OFF There are three logical outputs that can be set corresponding to the three output pins on the FSP Amplifier SYNTAX n Digital output number set according to the ARGUMENTS table below Output Digital Output number 1 Out_1 CN1 25 26 2 Out_2 CN1 27 28 3 Out_3 CN1 29 30 Serial 2 JU V switch Specifies the required output state State Code Off 0 On 1 Serial 1 U EXAMPLE LABEL 1 SET ZERO POSITION demand_position SLIDE 200 VAIT VAR Position actual value gt 10000 SLIDE 0 SET OUTPUT 2 ON END 169 Command Reference EXAMPLE EXPLANATION Current Position is set to zero slide motion takes place until the position value equals or exceeds 10000uu the WAIT_VAR command stalls the execution of the next command When the position value equals or exceeds 10000uu the SLIDE 0 command stops tells the motor to move at 0 speed the motor output 2 is set ON End of program SEE ALSO SET_OUTPUTS 170 Command Reference SET_OUTPUTS GROUP Output SYNTAX SET OUTPUTS lt output mask gt lt output state gt Op CODE 107 MODES Program Immediate Sequential DESCRIPTION Simultaneously sets a group of digital outputs to ON or OFF SYNTAX Output mask Decimal value of a bit string in which ARGUMENTS the digits define which outputs are se
168. le by a fraction C D If C D is larger than one the profile will be stretched If C D is less than one the profile will be contracted C the numerator is defined by the variable ECAM_Slave_scale_num D the denominator is defined by the variable ECAM_Slave_scale_den The scaling factors cannot by changed while ECAM is engaged gt To apply scaling 1 Set the variables ECAM_Master_scale_num ECAM_Master_scale_den ECAM_Slave_scale_num and ECAM_Slave_scale_den using the SET_VAR command NOTE When using a virtual axis it is recommended that scaling only be used to scale the graph down that is A B and C D should be set to values lower than one If a profile is stretched a lack of sufficient data points will result in a profile that is not smooth When designing a profile you should therefore design it for the largest movements that could possibly be required so that it will only ever be necessary to scale the profile down NOTE The scaling factors discussed above do not affect the size of the shift or offset if defined 76 Operating the FSP Amplifier Using FlexWorks 4 9 14 2 Shift By applying a positive shift the profile graph is shifted in the negative direction along the master position axis Conversely by applying a negative shift the profile graph is shifted in the positive direction along the master position axis Slave Position 400 600 800 1000 1200 1400 1600 1800 2000 Master Posit
169. lower_synchronized 39 Flag for pulse train mode to indicate whether motor is synchronized in position and speed following a Move_R command 0 Not synchronized 1 Synchronized Status Following_error_actual_value Position Units 2147483648 2147483647 Position error calculated as Position_demand_value Position_actual_value Position Variables Forward_Torque_limit 0 1 of max R W 1000 1000 Maximum torque or force to be applied in forward direction The maximum torque or force is set by Pn402 or Pn483 respectively Torque Variables In_position 36 2147483647 Indicates whether the motor is in position Is active in the following Motion modes 1 3 6 1 3 4 and 7 Status Inputs_State 33 2147483648 2147483647 Input ports state For example when Inputs_State is 010 the state of In_1 CN 41 is On and all other inputs are Off N Digital I O Interrupt_mask 63 R W 2147483648 2147483647 Interrupt mask to enable disable interrupts 0 7 Interrupt mask to enable disable interrupts 0 7 For example 010 indicates that only interrupt 1 is enabled interrupts 0 and 2 are disabled Interrupt Interrupt_pending 64 2147483648 2147483647 Bits 0 7 indicate which interrupts are to be handled For example 010 indicates that only interrupt 1 is to be handled interrupts 0 and
170. mands ssisovsisivetssccaveoseseacunsnediaierstvetssneeseiandavcersness 192 CLEAR BOUFFER oore E E E RES 192 ECAM POINTS pricier araisa aiar eE EEE EE EEN EEREN A AEE TE E RSEN iE 192 ECAM PROFILE scisicudiinicen deen aiecianieanneuinonbeunaanmues 193 ECAM SEGMENT eetere E E E E RE 194 EGAM TABLE BEGIN aoe icerersensacsnatasicdationsheduebinpetitieinaatasntuntdicin tedaitenaiionsastueteetera 195 ECAM TABLE EN Dirisio neiiiii irn an ead AREA TEAT AEAT 195 GET_FROM_ARRAY a cauivasesisier unr tasenetiansaesicnittan escausiewa va devusuannaicuepeasunedutatancerinesanties 195 GEL PAR aeee e E E E EEEE E EEE E R 196 GEI VAR e E S E E 196 GET VERSION eiaeia E e aR EANA ERIA 196 POLLING ecenin ERTAN EATE R E A T OT 197 SAVE PRG ECAM stores anre ents aida E S EEE 197 SET PARo E E E E EEE T E G 197 Seral Interface Protocol cscs cccccsdensaieseateasevanbdscenteidexieivasasondiatassarpennaea aS 199 6 1 Basic Communication Specifications cccccceesceeeceeceeescecseeceeeeeeeeesseecsaeenes 199 Table of Contents 6 27 Protocol Sp cifications n stine isiin ra eiar a A A R aat 199 6 2 1 Message Data StruUct re ceria onn E n E EERE E E E IE 200 6 2 2 M ster NICSSA IS ec sauce snare iat nasdenstautiaacaual a a a 201 G22 Checksum C aleulationia seyt etiiciavtevnamsshaudacaaiaenivanttinabecutens 204 6 2 2 2 Master Message Format Example c ccccceecceesceesseceteceeeeeeeeenaees 204 CONTROL ON command oe scussas andes ceacgs eee iceb
171. meter storing fault during Contact your distributor or YEA auto tuning representative 19 Parameter storing fault Contact your distributor or YEA representative 20 Motor moving during FSP Amplifier has detected that CONTROL_ON the motor is moving while performing the first CONTROL_ON after power up 22 Auto tuning available in Auto tuning is available in Serial Programming Command mode Command mode only Change the only working mode by setting Pn000 1 D 23 Program already running The requested program cannot be run because another program is already running 24 Variable does not exist 25 Wrong user units setting 26 Wrong setting profile Speed Acceleration or Jerk 27 Invalid parameter 218 Error Messages CODE MESSAGE DESCRIPTION 28 EEPROM read buffer full 31 Home Command Both speeds are in the same direction 33 HARD_HOME Torque exceeded torque limits 34 Unable to download delete program 35 Prohibited in ECAM mode Set Use STOP_EX command before to STOP_EX command before change mode of operation 36 ECAM Too many profiles max 4 37 ECAM Table already exists Clear ECAM table first using the ECAM_TABLE_BEGIN command 38 ECAM Insufficient number of Insufficient number of points in a points in a segment defined by segment defined by CAM_SEGMENT command CAM_SEGMENT command Number of points is Delta Master Master step 39 ECAM No segment
172. n Axis address Range 0x0 OxF Notes Use Pn000 2 to set Axis address see FSP Amplifier User s Manual Appendix D List of Parameters For a broadcast message and when only one FSP Amplifier is used address 0x0 is written If more than one FSP Amplifier is used use addresses 0x1 to OxF only Description Operation mode Range 0 0xC Mode Code Broadcast Message 0x8 Polling Message 0x9 Immediate Mode OxA Sequential Mode OxB Program Mode OxC 201 Serial Interface Protocol Description Message Identification two bytes for two digits Since the range is greater than OxF two bytes are required for holding the number Message Identification is needed to bind a fault condition to a specific command and to enable download new or replace of FSP Amplifier program lines Range 0x0 OxFF 0x0 OxF each MESSAGE IDENTIFICATION DESCRIPTION NUMBER x 0x00 To ignore message identification El 0x01 0xB4 Program line number Program mode fa OxB5 0xC8 Message Identification Immediate a and Sequential modes Q H 0xC9 OXFF For future use H NOTES Message ID enables rewriting of lines in FSP Amplifier program The program must be stopped prior to line rewriting Message ID enables synchronization between status received from FSP Amplifier and a specific message Message ID may be ignored and s
173. n there is no command to send the master can continue sending polling messages the FSP Amplifier responds with an ACK The diagram below illustrates the communication protocol between a PC master and a single FSP Amplifier 199 Serial Interface Protocol ae Response a M Message E 37 message Leeman Response Figure 58 Master Slave Communication Protocol 6 2 1 Message Data Structure A message consists of bytes where each byte holds one digit of hexadecimal data in ASCII code representation The data can be signed or unsigned according to the Command Operational Code argument type see Chapter 11 List of Operation Codes For signed data the leftmost bit msb determines the sign Negative number representation is according to standard hexadecimal representation and to the size of data Each messages is a string structured according to one of the formats specified in the sections that follow where each block in the format represents a byte Every message in this protocol starts with N and terminates with CR Carriage Return H NOTE Ox represents a hexadecimal number 200 Serial Interface Protocol 6 2 2 Master Message Format N A M Id1 Id2 Ci Cc2 v1 V2 Pi P2 Pn gt gt S1 S2 CR Description FSP Amplifier message start symbol Constant value Range N Descriptio
174. ncoder Latching SYNTAX LATCHING TRIGGER lt Condition gt Op CODE 152 MODES Program Sequential DESCRIPTION This command starts the latching function and specifies the condition that the latching input Input 6 CN1 46 must meet for the latching process to start One of two conditions can be chosen registration will either start once the input at CN1 46 changes from 0 to 1 Rising or once the input has changed from 1 to O Falling Specifying the condition as OFF disables the registration function See 4 10 3 1 LATCHING_TRIGGER SYNTAX Condition Specifies the condition that must be ARGUMENTS met for the registration process to start Condition Code Off Disables registration 0 canceling any previous LATCHING_TRIGGER command Rising Edge Input at CN1i 1 46 input 6 changes from 0 to 1 Falling Edge Input at CN1 2 46 input 6 changes from 1 to 0 Serial 1 U EXAMPLE Speed 300 LATCHING TRIGGER Rising Edge MOVE_H 5000 WAIT VAR Latched position ready 1 REGISTRATION DISTANCE 100 150 Command Reference EXAMPLE Registration is enabled setting the condition that EXPLANATION input CN1 46 must change from 0 to 1 for registration to begin The motor is commanded to move 5000 user units Once the latching condition has been met the registration begins such that the m
175. ndsatscriewdiasen a aa ih 70 4 9 6 1 Inserting Additional Profile Segments cccecceeseeeseeeereeeteeeeeeees 70 4 9 6 2 IDGISHINS AS OMEM a csraiecs chic teats e i S 70 4 9 6 3 Editing Values in the Position Setting Table ee eeeeseeeteees 70 49 7 Deletinga Profiles iisi ar ara a aE AATE O RE eta 71 4 9 8 Viewing the Master Slave Table c csccssscssssssssccsstcesccsesssensssccesaees 71 4 9 9 Viewing the Data Graph s caspreaane ute sdiecariaeevertaasrsasbocacsean manatee tutes 72 4 9 10 Printing from the Electronic Cam Window cccccescesceeeseeetseeseeeteeneees 72 49 11 The Cam List Widow wysissecsevceescvaisccssivteseuveetsds seuss roto aani eari ianh 73 4 9 12 Downloading Profiles to the FSP Amplifier cece ececeseeeeeeeeeeenees 73 4 9 13 Programming with Electronic Cam os scasictas esis avanti Asidussceudse etna 74 ADA CAI ENGAGE coe a eosin EE a EE TEE EE 74 Table of Contents AQN32 ECAM DISENGAGE jz pciecccabacsidecabaesstustangextedseodeatiatontecdaqadiacbannontes 74 4 9 13 3 ENGAGE VIRTUALAAMIS coy casas ei ie aiens 74 4 9 14 Modifying a Profile using Variables cccecccescceeeeeeeceeeeenseeneeeeseeeeaees 75 AO AA Ne Profile Scalig asurin shaw ee lal haan a a eam e iah 75 AQ AD SUE td airs aenieei iea E TE EEA aE E Ea Ae 77 AITAS Oet ne eee a ra a E E aE a EEO a 78 4 9 15 Monitoring Master and Slave Positions ccccesceeeseeeseeeseeceteeeseeeteeneees 79 4 9 16 Se
176. ng process is already in progress It cannot be restarted until the process ends 149 Unable to switch CONTROL_ON 223 Error Messages CODE MESSAGE DESCRIPTION 150 Command argument value is out of range 151 Positive Over Travel 152 Negative Over Travel 153 Can t perform motion Reconfigure New move enable digital input Pn2D1 1 or use Override_new_move_enable 154 ECAM Table is not ready Table sending was not completed or not even started Therefore ECAM motion cannot be executed 155 ECAM Profile ID does not exist Trying to engage to non existent profile ID number 156 Max slave or master Max slave or master displacement displacement in profile is 2531 in profile is 231 after scaling after scaling and gearing and electronic gearing 157 ECAM Master overflow When the time to accomplish the profile plus shift is smaller than one servo cycle 125 us 159 INT_RETURN command is not in interrupt service routine 162 System alarm 163 System alarm 164 System alarm 165 Pulse train counter overflow 166 Encoder counter error 255 Fault message buffer full In case FAULT_MANAGER is activated use the FAULT_MESSAGE_CLEAR command to clear the messages 224 Parameter Reference 8 Parameter Reference This chapter provides information on all the parameters available in FlexWorks 8 1 Table 17 Parame
177. ntial Modes cdes delat caa e e e e a 44 4 6 lt Tuning the Control Loops sineira e E RR 45 4 6 1 Manual Tuning eani an a e i a eels 45 4 6 2 A tOtUNN E a nea a R AREE AEA A a EERS 45 Table of Contents 4 6 3 Performing Fast Tuning cisisoesstadsiacstadeiessandeeaasadedaccstedsstesdavia eavendeckladeienias 46 Performing Fine Tinie vache ces G cage assis cae ase E E E E Ns phate clu ead 47 4 6 4 Evaluating Control Loop Performance 0 ccceccceeceeseeceeeeeeeeeneenteeeeees 48 4T Charts 4 vcsectdatiseatcedvcu turbine tusedied vans e dude A E EE E gua asdant aiaaet a 50 4 7 1 The Chart Main Window s ci3 cccsssccsstvacss daasteresitd ag dadestcciasusuiteaneatanneietiss 50 ATA ST ST AAE hoa ate Noninst dean octets dati a Meade T accentuates 50 4 7 1 2 Graph Settings os essere scare Sen E EEE E E en ates wel cessed 52 AT A 3 SHOW ea cash ahs ues E aeshie etna E I RGE 52 4 7 1 4 Captions iaee a a a a a a 52 4 7 1 5 Chart Toolbar nessieira e e cach T E aaa Sk or 52 ADD Sne ZOOM ere Te e a a A a E E 53 4 7 3 Starting th ATACE enisi terei iaa EA EEE a REAREN 54 4TA Printing a Chart sensns naana R 55 4 8 Mechanical Analysis ahs aecarisoudeteds Sync aos veutiasn ones ar eduanieedauatede steers to Nenduemtidenaeee 56 4 8 1 Mechanical Analysis Window siisscassecncsantivacssestnastel asada ae ades 57 4 8 2 Mechanical Analysis Toolbar ssi cciicccecsieticistedce davsvcccadessdcsvancevetvdbeuttas 59 4 8 3 Running the Mechanic
178. o continue 6 Select the program group to create the FlexWorks icon C Program Files Yaskawa FlexWorks is the default setting 7 After selecting the program group or folder click Next to continue The PC files are copied from the CD ROM During the procedure the installation progress is displayed SD NOTE If new versions of the PC support files are needed to install FlexWorks a window will appear asking whether to overwrite the current version or to cancel the installation FlexWorks may not run correctly if the new versions of the support files are not installed 14 The Main Screen Interface 3 1 3 2 D The Main Screen Interface This chapter describes the FlexWorks main screen which comprises a main toolbar menus and several windows A sample main screen is shown in Figure 1 below For clarity the screen has been divided into separate elements N FlexWorks C Documents and Settings FlexWorks Projects FlexAmpDemo XDR E t 10 x B File Edit view Run Communication Tools Maintenance Window Help or at i Ql amp PRG PAR CAM C OO se BP ml ajajan Ta io F REE isor Projest Command LABEL 93 io_ COMMANDS OPER MOVE_D 5000 500 Profiet Donrioad Size 12 STOP Off IMMEL SET_OUTPUT 1 ON 1 120 182 STOP Off DELAY 1000 SET_OUTPUT 1 OFF MOVE_D 5000 500 SET_OUTPUT 1 ON E i TORQUE ANALOG DELAY1000 Motion Profile SET_OUTPUT 1 OFF Output E FAST_OUTPUT_SET SET_OUTPUT 2 SET
179. ommand indicates the beginning of an interrupt service routine when the interrupt is conditional on the value of an external input The argument lt Priority gt specifies the interrupt priority lt Priority gt is specified as a value from 0 to 7 where 0 is the highest priority and 7 is the lowest lt Input_Number gt specifies the number of the digital input to be monitored lt Edge gt specifies whether the interrupt is to be triggered when the value of the digital input changes from 0 to 1 Rising from 1 to O Falling or whenever it changes Both EXT_INT 2 Priority l Input Number Rising Falling OGRAM a a Bath Figure 53 Programming an EXT_INT Command 93 Operating the FSP Amplifier Using FlexWorks 4 11 7 2 INT Format INT lt Priority gt lt Variable gt lt Condition gt lt Value gt This command indicates the beginning of an interrupt service routine and is used when the interrupt is conditional on the value of an internal variable The argument lt Priority gt specifies the input priority lt Priority gt is specified as a value from O to 7 where 0 is the highest priority and 7 is the lowest lt Variable gt specifies on which internal variable the interrupt is conditional Any FSP Amplifier variable can be used lt Condition gt and lt Value gt specify the interrupt condition As shown in Figure 54 any of the relational operators can be specified for lt Con
180. on of master axis The variable is reset to 0 automatically when the Motion _mode variable is changed to 7 ECAM or to 3 Pulse Train The variable is updated only in these two modes Position variables Max_position_error_level User Units 256 2147483647 Max value for parameter Pn505 Status Max_profile_acceleration Acceleration Units 2147483647 Maximum acceleration while running motion commands BG System Profile Max_profile_velocity Speed Units 2147483647 Maximum speed value while running motion commands ST System Profile Motion_end_window 30 Position Units R W 255 Window for Following_error_actual_val ue Specifies the maximum satisfactory position error at the end of a movement for use when Exact_mode is set to 1 The WAIT_EXACT command delays program flow until the position error is smaller than Motion_end_window System Profile 243 List of System Variables Name Var ID Dec Unit Read Write Min Max Description Group Motion_go 24 R W Indicates whether a motion command is being delayed by a WAIT_FOR_START command and is waiting for a START command before executing 0 Motion commands are not waiting 1 Motion commands are waiting Status Motion_mode 23 Motion mode 0 SPEED_CONTROL 1 POSITION 3 VELOCITY 4 TORQUE 6 HOMING 1 HU
181. on the position of a master axis or on the elapsed time Auto D Automatically sets control loop gains based on actual tuning system measurements and tunes the FSP Amplifier accordingly See Section 4 6 Tuning the Control Loops for full details Mechanical EA The mechanical analysis FFT option samples and Analysis analyzes 2000 speed data points The speed is a response to sinusoidal torque frequency commands The response is displayed as a graph of the gain dB and phase angle degree versus frequency Hz in log scale According to the graph the relevant parameters can then be adjusted in order to reduce the effect of the mechanical restrictions See Section 4 8 Mechanical Analysis for full details H NOTE t The ECAM related options are only activated if an ECAM license has been purchased 21 The Main Screen Interface 3 3 2 Maintenance Menu The Maintenance Menu options allow you to automatically or manually tune the control loops to open close a log file and to send a command to the FlexWorks device Table 7 Maintenance Menu Options OPTION ICON DESCRIPTION Reset 0 Cycles the main circuit and control power supply Drive This is necessary after certain parameters are edited to enable the new settings The Need Reset indicator appears in the status line when this action is necessary Reset to Discards user modifications to the parameters Default and reverts to the
182. ormally used SPEED_CONTROL Homing Homing commands HARD_HOME HOME_SW HOME_SW_C HOME_C start an automatic search for the home position according to the homing parameter values Hunting While in this mode both the target position and the motion profile See section 12 2 can be adjusted during motion The revised settings will be applied even to the motion in progress Note that changing the jerk time See section 12 2 3 while in hunting mode does not take effect until the motion mode is changed Pulse Train A reference position command is given by pulse train from an external source MOVE_R Analog Speed A reference speed command is given by analog input from an external source and the position control loop is closed on the reference value SLIDE_ANALOG Analog Torque A reference torque command is given by analog input from an external source and the position control loop is closed on the reference value TORQUE_ANALOG ECAM In ECAM mode you specify the position that a slave axis must reach depending on the position of a master axis or on the time elapsed Table 15 Mode of Operation Values MOTION MODE NAME MOTION_MODE VALUE POSITION 1 VELOCITY 3 TORQUE 4 HOMING 6 SPEED_CONTROL 0 HUNTING 1 PULSE_TRAIN 3 ANALOG_SPEED 4 ANALOG_TORQUE 5 ECAM 7 105 Command Reference Transition Between Motion Modes When motion commands that function under d
183. orming Fine Tuning During fine tuning the motor moves in the positive direction and then back again and repeats this motion several times The control parameters are optimized by analyzing motor movement Motor movement is as follows If you select Auto Select Parameters the motor will rotate approximately twice If you select With User Parameters the motor will rotate according to the settings of the Auto tuning parameters Pn2C8 Pn2CB gt To perform fine tuning 1 A Place the motor so that it can move according to the Auto tuning profile Enter a rough estimation of load inertia in the Inertia Ratio field Select Auto Select Parameters or With User Parameters depending on the motor motion required Press Start WARNING After pressing Start the motor will begin to move 5 6 7 Wait for a few minutes while the best gain is detected Click OK Enable the servo control and check the performance See 4 6 4 Evaluating Control Loop Performance Ifyou are not satisfied you can easily improve the performance and stability by adjusting the global gain Pn1A0 or by setting a different inertia ratio 47 Operating the FSP Amplifier Using FlexWorks 4 6 4 Evaluating Control Loop Performance After having tuned the control loop coefficients using either manual or automatic tuning it is useful to verify that the coefficients chosen result in adequate control The procedure detailed
184. otor will move 100 user units before stopping NOTE Once a latching function has been completed the latching input will not be monitored further unless this command is repeated SEE ALSO REGISTRATION_DISTANCE WAIT_VAR Variables Latched_motor_position Latched_master_position Motion_Status Latched_position_ready 151 Command Reference LOOP GROUP Program Flow Control SYNTAX LOOP lt n gt lt y gt lt 1 gt OP CODE 75 MODES Program DESCRIPTION Repeats a portion of code beginning at a label a specified number of times Up to four loops may be nested within one another but may not cross one another SYNTAX n The levels of nesting within this loop up to 4 ARGUMENTS Serial 2 U y The number of cycles of this loop to perform Serial 4 JU V l The label to which this loop belongs Serial 1 U 152 Command Reference EXAMPLE Three loops with two nesting levels are shown below the command lines have been separated for clarity Loops 2 and 3 are nested in Loop 1 LABEL 1 LABEL 2 MOVE 4096 1 DELAY 200 LOOP 1 10 2 LABEL 3 MOVE 4096 1 DELAY 200 LOOP 1 10 3 LOOP 251 END EXAMPLE EXPLANATION The program has two nesting levels First level Loop_2 and Loop_3 Second level Loop1 Ten movements to the positive side will occur first loop marked by LABEL 2 then ten to the neg
185. p 2 Double click the required command to open a pop up dialog box relating to the command 3 Click the arrow at the right of the relevant argument field A drop down menu listing available variables is displayed Motion Time ms 01 Motion_status Program_line Resonance_frequency Servo_cycle_time Forward_Torque_limit Reverse_Torque_limit Target_torque ue_demand_value Distance vr var Figure 19 Sample Command Pop up Dialog Box 4 Click the required variable The selected variable name is displayed in the argument field 40 Operating the FSP Amplifier Using FlexWorks 4 4 2 1 Example The following example program illustrates how arguments can be specified by variables In the program a sequence of movements is performed The motion characteristics of each movement are dependent on the value of the digital inputs For each combination of digital inputs a different set of values are assigned to the variables that set the motion characteristics The main part of the program 8 to 16 sets the profile velocity and initiates motion Once a pre specified position has been passed the speed is reduced Once the commanded motion has ended a second motion back to the origin is started 500 ms after the second motion has ended the program restarts Most of the commands used in the main section use variables to specify the value of the arguments Depending on the initial state of the
186. pecified for latching to begin Specifically once this condition has been met the variable Latched_position_ready is set from O0 to 1 ENABLE_REGISTRATION Off Raising Edge Cancel spa e Figure 51 Programming a LATCHING_TRIGGER Command 85 Operating the FSP Amplifier Using FlexWorks The three conditions that can be chosen are Off Setting this condition cancels any previous LATCHING_TRIGGER command Rising Edge Registration will be triggered when Input 6 which is connected at CN1 46 changes from 0 to 1 Falling Edge Registration will be triggered when Input 6 which is connected at CN1 46 changes from 1 to 0 Rising Edge Falling Edge 5 H 5 gt Figure 52 Rising and Falling Edge Conditions 4 10 3 2 REGISTRATION_DISTANCE Format REGISTRATION_DISTANCE lt Distance gt This command causes the motor to decelerate to a stop a specified distance from the point at which the motor position was latched Latched_motor_position The distance over which the deceleration occurs is specified by the lt Distance gt argument which is specified in user position units Note the following The rate at which the motor will decelerate is governed by the profile acceleration See section 12 2 2 The motor will stop at the requested position unless the distance required for the deceleration exceeds the remaining motion distance The variable Motion_status indicates wheth
187. plete your profile definition 1 Once you have completed the profile click Finish 2 The Electronic Cam window is closed 4 9 5 Loading a Profile You can load and use profiles that have previously been saved It does not matter if the profile was originally written for a different project gt To load a profile 1 Select Electronic CAM from the Tool menu or click Electronic Cam on the toolbar The Electronic CAM window is displayed 2 Enter a number that you will use to identify the profile in the Profile Number field 3 Click Add Profile The profile is added to the Profile List 4 Click on the Position Setting tab 69 Operating the FSP Amplifier Using FlexWorks 5 Click Open in the Cam Profile File area The Open Cam Profile dialog box is displayed 6 Select the file to open and click Open The segments of the opened profile are listed in the Position Setting tab 4 9 6 Editing a Profile 4 9 6 1 Inserting Additional Profile Segments gt To insert a segment between existing segments in a profile 1 Click any field in the row of the segment before which the new segment should be inserted 2 Click Insert A new line is inserted 3 Enter the required data to define the new segment 4 9 6 2 Deleting a Segment gt To delete a segment 1 Click any field in the row of the segment that is to be deleted 2 Click Delete The selected segment is deleted 4 9 6 3 Editing Values in
188. plifier address Commutation Settings Only applicable for motors with A quad B encoders Software commutation Phase finding FSP Amplifier finds the commutation angle without sensors This takes several seconds on the first CONTROL ON after powering up With commutation sensors Hall sensors Some FSP Amplifier models support commutation sensors of 5 V or 24 V Set according to the sensors polarity User Units Set user units for position speed and acceleration Position units must be in the range of 0 01 100 Default Profile Set default speed acceleration and jerk speed and acceleration values are mandatory The values can be changed in the program using the appropriate commands Set the end of motion window in Advance Setting screen Analog Input If you plan to use the analog input command set the following values Otherwise skip this screen Ratio between the analog command and the generated speed Ratio between the analog command and the generated torque 33 Operating the FSP Amplifier Using FlexWorks Pulse Train Set the following if your application requires pulse train values Otherwise skip this screen Pulse train form and logic Electronic Gear See section 12 1 between the pulse train and the motor See Electronic Gear in the Glossary If position control Pn000 1 C is set the Position Completed Width screen is enabled When
189. plying command c 0 Analog monitor 1 smoothing 1 V 500 rpm 0 2 4 Torque reference 10 V Max Torque a 5 Motor speed 1 V 500 rpm o 5 6 Target acceleration after applying command 2 E smoothing 10 V max acceleration allowed z Analog monitor 0 Pn003 0 used for analog monitor 1 1 1 selection of 0 amp sae 1 Pn006 0 used for analog monitor 1 5 parameter Analog monitor 0 x1 1 x10 2 x100 2 1 magnification 0 4 3 1 10 4 x17100 0 of signal i 3 Not used 0 0 Servo position error 1 V 10 encoder counts 1 Servo position error 1 V 5 user units 2 Target speed 1 V 500 rpm i gt Target speed after applying command L 0 re monitor 3 smoothing 1 V 500 rpm 0 2 4 Torque reference 10 V Max Torque 5 Motor speed 1 V 500 rpm gt 5 6 Target acceleration after applying command os smoothing 10 V max acceleration allowed a Analog monitor 0 Pn003 1 used for analog monitor 2 Q 1 2 selection of 0 c source 1 Pn007 0 used for analog monitor 2 T parameter vd Analog monitor 0 x1 1 x10 2 x100 2 2 magnification 0 4 3 So 4 Aii an 0 of signal i 3 Not used 0 232 Parameter Reference Parameter ae Name Setting Description Benin 0 Communication 0 With commutation sensors 0 ss sensor switch 1 Without commutation sensors ogas Communication 0 UVW S a8 1 sensor order 1 UWV 9 ER
190. r Travel switch On homing mode 0 while homing 1 After 12 Operation Mode homing Specific On speed mode SLIDE 0 speed 0 1 speed 0 13 Operation Mode On homing mode 0 No homing error 1 Specific Homing error 14 Manufacturer specific O No program running 1 Program running program run Manufacturer specific 1 Need restart 15 need restart 247 List of Status Word Bits 248 List of Operation Codes 11 List of Operation Codes Mode of Op Code Name Operation 9 1 Arg 2 Arg 3 Arg 4 Arg 5 64 ACCELERATION 2 3 4 4U z z k i 66 CALL 4 1U 3 z 3 5 94 CLEAR_BUFFER 2 1U 69 CONTROL 2 3 4 1 U z 7 144 DELAY 3 4 4UV g z i F 122 ECAM_DISENGAGE 3 4 2 2 3 g 5 121 ECAM_ENGAGE 3 4 1UV 1 U 2 3 z 126 ECAM_POINTS 2 1U 2 2 2 2 124 ECAM_PROFILE 2 1U 125 ECAM_SEGMENT 2 4U 2U 1U 123 ECAM_TABLE_BEGIN 2 127 ECAM_TABLE_END 2 70 END 2 4 7 z g 3 136 ENGAGE_VIRTUAL_AXIS 3 4 1UV 1 U z 7 138 EXT_INT 4 1U 1U 1U 2 3 154 FAST_OUTPUT_SETTING 2 3 4 1 U 1u lav 71 GAIN 2 3 4 2U 5 2 160 GET_FROM_ARRAY 2 3 4 2U 85 GET_PAR 2 3 2U z 5 p 72 GET_VAR 2 3 1U p z z 63 GET_VERSION 2 z z z 2 112 GO 3 4 4V 4V z 3 S 128 GO _D 3 4 4V 4V 5 2 117 GO_H 3 4 4V 3 a 7 g 73 GO_TO 4 1U g g p 7 131 HARD_HOME 3 4 2V 4V E 133 HOME_C 3 4 4V z 7 132 HO
191. r bya variable EXAMPLE An example that shows the use of the command EXAMPLE An explanation of the example EXPLANATION NOTE Addition information relating to the use of the command SEE ALSO A list of related commands variables and parameters 108 Command Reference ACCELERATION GROUP Motion Profile SYNTAX ACCELERATION lt n gt OP CODE 64 MODES Program Immediate Sequential DESCRIPTION Sets the acceleration value for the motion profile See section 12 2 The command changes the profile acceleration See section 12 2 2 value set by parameters Pn2A4 Pn2A5 and remains in effect until the next controller reset SYNTAX n Profile acceleration ARGUMENT user acceleration units Serial 4 U EXAMPLE LABEL ACCELERATION 720 SLIDE 200 DELAY 1000 ACCELERATION 360 SLIDE 1000 DELAY 1000 SLIDE 0 END EXAMPLE The acceleration value is defined as 720 which is used by the EXPLANATION SLIDE command The next slide motions SLIDE 1000 and SLIDE 0 will use the new acceleration value i e 360 The SLIDE 0 command stops the motor NOTE The acceleration value lt n gt can only be specified by a number To set the profile acceleration See section 12 2 2 equal to the value of a variable use the SET_VAR command SEE ALSO MOVE MOVE_D GO GO_D SET_VAR SLIDE Variables
192. radius ball screws and so on and then select a number of motor rotations When reducing the number of motor rotations also reduce the excitation amplitude and the sampling time The allowable rotations are a restriction for each excitation period In multiple excitation applications the excitation start position might shift Check the range of motion each time excitation is applied Detection of the allowable rotation in the FSP Amplifier may be delayed by a maximum of 2 ms If so operation may exceed the settings due to factors such as inertia size and interference from speed Include a margin when setting the allowable number of rotations Number of Executions Set Range 1 to 5 Select the number of times that the measurements should be taken for an average measurement to be calculated A set is a back and forth operation that starts excitation measurement from the forward side and excitation measurement from the reverse side More measurement iterations tend to yield more accurate measurements but the time required for measurement increases Excitation Signal fixed Excites the machine with cycle wave Graph Setting Select the graph scale or leave the default setting of AUTO for automatic scale setting Select the colors of the lines used in the graph of the measurement results Caption Enter the caption to be displayed in the graph 58 Operating the FSP Amplifier Using FlexWorks 4 8 2 Mechanical Analys
193. rare eer lek ane aire a 116 END fee dit ala ce athe oo ala acs adele ceca ten aes orisha Siar a canan enna eos 117 ENGAGE _VIRTUAL_AXIS at aeatesacaes cash ecace asa cele videccans ates a adeee inset coset acamndlss 118 IS TINT tects N E A Aceh tan AS ld wabbendusiucnaid heat Se dedaeoee duce 119 FAG LOU TRUT SETIING renine aena a 121 FAULT MANA GER eoeta ir E E A a a a aE 124 FAULT MANAGER RETURN scsssscccansacciae arate detain Sanu i 126 FAULT MESSAGE CLEAR ernan u a Sack aed Soe kis 127 GAINS sss scnssaasusstacabatoaneateernseud awaited audesauseuatacad esa nciy antl EA AEF VA RENA LEE EEOAE ESEAS ES INEA 128 GO rpn ha re aes oie E a otek O E RRR aac eet 129 GO Da eer a a E E 130 GO HU pobere as E EE E A E aetna A 131 GOTO eds O E AR E OER E A aE ane 133 HOME Commands vrn seee e e E E A sauce vi Senate aaeasedeeaceioee 134 HARD HOME 4 itech es a a an ae ees 134 HOME Gosine eaa a e beaecth ahs A E E 135 HOMES Wirra tE R TE E T A ER 136 HOME SW ees cate et Se ni e e E aie ad tea alah rela 137 IES a facet a e edad A E A E a O R cadlad re 138 JA TESS DONT PSV AEE T E EEEE A E E A etbannedinas 140 INPUT CASE hand a5 a a a a a celia Dice atagards 142 TUND E EEE E AE A NEE E E E A 144 INT RETURN os pecinta a a G E E E ante A AE 146 JERK TIME rera a aa a a aa td a a aN 147 LABEL gia E A E EAE R AE eaea Aat 149 PATCHING PRIGGER assis tacit tehran i oa EAE EE A E RE 150 LOOP mea a a a a a a e 152 efesotomasyon com Table of Contents
194. rating the FSP Amplifier Using FlexWorks Table 14 Sample ECAM Table Master Slave Delta slave 15 9 3 6 6 4 3 2 1 82 Operating the FSP Amplifier Using FlexWorks 4 10 Registration and Latching The latching function is used to capture the position of the motor encoder or external encoder when signaled to do so by a digital input Latching is performed within 62 5us of the digital input being received The registration function is used to stop motion in a predefined distance once an input has been received For example a MOVE_H command could have been used to cause the motion shown below Registration terminates the motion prematurely after an input has been received The solid line in the graphic below illustrates the motor motion that results due to the input changing from 0 to 1 The dashed line illustrates how the motor would have moved had the input not been received Figure 50 Illustration of Motion Terminated by Registration In the diagram D1 The delay between the input being received and registration beginning D2 The predefined registration distance The dashed line in the Velocity graph represents the motion that would have taken place had the input not been received eS NOTE Only input 6 CN1 46 is used to trigger registration There is no need to set In_6 to function as a latch input 83 Operating the FSP Amplifier Using FlexWorks 4 10 1 Latching Workflow
195. rial Communication and ECAM 0 ccecceeceesceesseceeeceseeeeeeeeseecnaeeneeeaees 80 4 9 16 1 ECAM Commands for Serial Communication eceeeeeteeee 80 4 9 16 2 Example of Using Serial Communication to Send an ECAM Table to PETS ES IVT LSE i aac cs ca het ss bss Sear end ete tae suc e AR 80 4 10 Registration and Latching 3 i44540552 auiarsacdybaccanedruabenaghstdeaateneaiiaasoavvadenhe tas tauanecnceds 83 41012 atehind Workflow incinn a a 84 AND Troubleshooting erenn i ar ia as 85 4 10 37 C mmandS sts atts re A Sat tea ae e E Palate fe 85 4 103 12 LATCHING TRIGGER cadano ena an eo A E E AE tates 85 4 10 3 2 REGISTRATION DISTANCE 0 ccccsscsssscsescsssesssencesesessnsncens 86 4 10 4 Registration Vanables sxc sasact eterna sev envaeeha awe anes 87 4 10 4 1 Latched_motor POsittOIns cccacutasaines oruten dolicuseaahtevanccetateucalacaeseues 87 410 42 Latehed master posittotivis sscctccissassccsnecdithedasessaas doves teed restageactasans 87 4 10 43 WMOUO Mr State siasi ea a e dean stnak EE daases bates 87 4 10 4 4 TsatChed POSIION TEA Cassie sade eSecses cate sassteaany eacesertcase ce tabadeeneets 88 4 10 5 R gistration Example oss ics 2h ces sserateandatsyneeueeid cs bavdenssleel E EON iS 88 APA Ds TOterruptS e e a snes tan cxedanadedevshde RR E EAE 89 ATi Interript Events errre oae N E E A E 89 4AN2 Multiple Intetr pis nis iursi nenesinin nea n N E a a 89 4 11 3 Interrupt Response Time is 05
196. ric America Inc 2121 Norman Drive South Waukegan IL 60085 United States Tel 1 800 927 5292 Fax 1 847 887 7310 E mail motionproducts yaskawa com Website www yaskawa com FlexWorks User s Manual Table of Contents Table of Contents l 2 3 MEO CVC TION EAEE E E E EA E EE EA T 11 System Requirements and Software Installation cccecceecceeseceteceeeeeeeeeeeeeensees 13 The Main Screen Interface cen nnna i a E E Oh E EREE AREA 15 eA A Wd CoS ET OA D E E E AEE O nee A 15 S22 Men Bar By Toolbar Carsin etaandelds eae ean ee eas 15 Seta SBME IWC sca e e anes secensan E lie ccauctias ccedases ae cance ES 16 32 2 IG Meni konanie iechaaaascis cnaveansaasdcesdsedbactaaniaeissasaseastutncestabiaduabiciges 18 3 2 3 View NIC setena idactiaus aed E eases E E ea ERER 19 3 2 4 MR UIE EGIL ss EAAS E E E E T 20 3 3 Comm nication Ment ss Assets aside oust naa aa na ai 21 3 3 1 Tool Men ainnean a a a a a a a E 21 3 3 2 Mainte ance Men s i535 oe ea iira aE a AE aE A OTEA aS 22 3323s Window Ment sirenen nin ea E T E R RE E aes 23 SA APIS Bar D en aeea a a a a E a a a Elat 24 3a Work Area Erer areta a A A A AP BAS a 24 3 51 Workspace WiIndOw takai ecucae ities ei a ei eters 24 3 5 1 1 Pro e al 2 a ope e ete oe eR Ur a a et 25 3 5 1 2 Command Tabanan a a E E a 25 3 5 1 3 Command Groups cse a a i a 26 SOc Program WDdOWessiroria ia R a EE A E E Ea AES 28 3 53 History Windowns anean ee
197. rmine the number of lt Slave Delta gt arguments Serial 1 U lt Slave Delta 1 The relative distance between 4 gt each pair of slave points lt N gt determines the number of lt Slave Delta gt arguments Serial 2 SEE ALSO ECAM_TABLE_BEGIN ECAM_PROFILE ECAM_SEGMENT ECAM_TABLE_END ECAM_PROFILE SYNTAX ECAM PROFILE lt ID gt Op CODE 124 MODES Immediate DESCRIPTION Each profile loading should start with this command which specifies the profile ID The profile ID is used to run that profile Up to 4 profiles can be loaded SYNTAX lt ID gt Long type Up to 4 profiles can be loaded but ARGUMENTS the ID can have be any number in the range Serial 1 U SEE ALSO ECAM_TABLE_BEGIN ECAM_SEGMENT ECAM_POINTS ECAM_TABLE_END 193 Command Reference ECAM_SEGMENT SYNTAX ECAM SEGMENT lt Master Delta gt lt Master Step gt lt N A gt Op CODE 125 MODES Immediate DESCRIPTION Defines the range and size of increments of master in this segment Must be sent at the beginning of each segment SYNTAX lt Master Delta gt Defines the relative distance ARGUMENTS between the start point and the end point of a segment Units are according to the electronic gear See section 12 1 Serial 4
198. rns from a subroutine to the command following the CALL command that called the subroutine EXAMPLE LABEL CONTROL ON ELAY 1000 ERK TIME 700 E D 7200 1 ALL 2 ET OUTPUT 2 OFF ONTROL OFF ND A O lt BEL 2 ET_OUTPUT 2 ON ERK_ TIME 350 VE_D 7200 1 ETURN oo ee i ae EXAMPLE EXPLANATION Servo enabled jerk time See section 12 2 3 is set to 700 ms MOVE command executes and subroutine LABEL 2 is called Within the subroutine output 2 is set ON jerk time is set to 350 ms movement in the negative direction return to the main program command that follows the CALL code line is executed output 2 is set OFF servo disabled end of program SEE ALSO LABEL CALL 167 Command Reference RUN GROUP Program Flow Control SYNTAX RUN lt n gt OP CODE 78 MODES Immediate Sequential DESCRIPTION Runs a program or a subroutine from the specified label SYNTAX n The label number ARGUMENTS Serial i lu SEE ALSO LABEL CALL Parameter Pn2CC 168 Command Reference SET_OUTPUT GROUP Output SYNTAX SET OUTPUT lt n gt lt switch gt OP CODE 79 MODES Program Immediate Sequential DESCRIPTION Sets a digita
199. s R W 2147483648 2147483647 Continuously counts the pulses in pulse train input Can be Set by SET_VAR command N Position Resonance_frequency 56 Hz 65535 System resonance frequency Only applicable to rotary motors Status Reverse_Torque_limit 20 0 1 of max R W 1000 1000 Maximum torque to be applied in reverse direction The maximum torque or force is set by Pn403 or Pn484 respectively Torque Variables 244 List of System Variables Name Var Dec Unit Read Write Min Max Description U T Group Rotation _base 80 User units 2147483647 Rotation base value The max value of rotation position Set by Pn2A0 and Pn2A1 according to this formula Rotation_base Pn2A1 65536 Pn2A0 N Position Rotation_demand_position 81 User units 2147483647 The rotation demand position according to Pn2A0 and Pn2A1 The value is reset when reaching the Rotation_base N Position Sensor_WVU 21 Commutation sensor input values Each of the three binary digits represents the state of one sensor 100 indicates that the motor is positioned at commutation sensor W 010 at sensor V 001 at sensor U Digital 1 O Servo_cycle_time 29 0 1 us 2147483647 Servo cycle time Status Speed_limit_active 86 Shows if speed limit is active during a
200. s and sinusoidal curves You define the resolution the distance between consecutive data points in the profile with which the curve must be generated The profile created should be smooth to ensure smooth motion 4 9 3 1 Time based Profiles Virtual Axis FlexWorks also allows you to specify a time based profile where the FSP Amplifier s internal clock generates the master pulses A pulse is generated every 125 us In this case the Master Position axis is in fact a time axis 62 Operating the FSP Amplifier Using FlexWorks 4 9 4 Creating a Profile Profiles are defined in the Electronic CAM window 4 9 4 1 Adding a Profile gt To add a profile to your project 1 Select Electronic CAM from the Tool menu or click Electronic Cam on the toolbar The Electronic CAM window is displayed 2 Enter a number that you will use to identify the profile in the Profile Number field 3 Click Add Profile The profile is added to the Profile List 4 9 4 2 The Position Setting Tab Profiles are defined on the Position Setting tab of the Electronic CAM window gt To open the Position Setting tab 1 Click the Position Setting tab The Position Setting tab is displayed Each field is explained below goeegoccceeepesessosesoseeeseosesessosona Flow Chart Position Setting Data List Data Graph Segment Master Start MasterEnd Slave Start Slave End Master Step Curve Shape 1 0 Figure 34 Pos
201. s placed in the SCB and processed sequentially If no program is running a command in the SCB is executed immediately after the previous command in the SCB has been executed In sequential mode motion commands that are executed through the MCB are handled as follows A motion command fetched from the SCB is moved into the MCB The MCB will then execute the motion command after the previously sent motion command has been completed SD NOTE When you issue a motion command MOVE MOVE_D GO GO_D SLIDE the motion is calculated internally by the controller and then placed in a motion queue inside the motion command buffer MCB Therefore changes made in profile commands ACCELERATION SPEED JERK in Immediate mode do not affect motions that are already in the MCB 103 Command Reference 5 1 3 5 2 5 2 1 5 2 2 5 3 Immediate Mode Immediate Command Buffer ICB In immediate mode commands are placed in the ICB and executed immediately If a program is running or sequential commands are being executed an immediate command is fetched only when a delay in the program or the sequential commands occurs For example when a MOVE_D command is executed it pauses the execution of subsequent commands During that pause commands from the immediate command buffer can be fetched and executed An exception is the STOP_EX command which is executed immediately SCB and UPB Command Flushing Motion command fl
202. s that follow Event Occurs External event such as a change in an input value Internal event such as a system variable meeting some condition Interrupt is registered The relevant bit of variable Interrupt_request is set to 1 If the registered interrupt is masked in Interrupt_mask the program flow is interrupted The FSP Amplifier stops retrieving commands from the user program buffer The FSP Amplifier executes the interrupt service routine for the highest priority interrupt received The FSP Amplifier clears the relevant bit in the variables Interrupt_request and Interrupt_pending to indicate that the interrupt has been cleared The FSP Amplifier executes the interrupt service routines for any other outstanding interrupts in order of priority The FSP Amplifier continues running the program Either from the program line where it was initially interrupted Or From another location specified in the interrupt service routine 90 Operating the FSP Amplifier Using FlexWorks 4 11 6 Interrupt Variables The FSP Amplifier uses three variables registers each of which is a system variable Each variable consists of eight bits one for each interrupt labeled O to 7 4 11 6 1 Interrupt_request When an interrupt event occurs the corresponding bit in the Interrupt_request variable is set to 1 Once the corresponding interrupt service routine has been completed the bit
203. s the Workspace window History Displays hides the History window Chart ke Opens the Charts window See Section 4 7 Charts for a description of this window s operation Variable Opens the Variables window zd Dec Hex Bin Descriptic Analog_Speed 0 1 of max Value of Analog_Torque 0 1 of max Value of E Digital 1 0 Inputs_State Input porl Outputs_State Output pe Sensors wYU Commuta Fram me EA Figure 5 Variables Window Toolbar Displays hides the toolbar Status bar Displays hides the status bar 19 efesotomasyon com The Main Screen Interface 3 2 4 Run Menu The Run Menu options enable you to control the program running on the FSP Amplifier Table 4 Run Menu Options OPTION ICON DESCRIPTION Run j gt Runs the program immediately Program Stop E Stops the program immediately Program Servo ON 0 Switches the FSP Amplifier ON i e in control In this mode the drive holds the motor in position under various load conditions even when no motion is required Servo OFF aay Switches the FSP Amplifier OFF i e not in control Immediate ES Switches to Immediate mode In Immediate Mode mode commands are downloaded immediately to the drive s memory For details of all the available modes see Section 4 5 Program Modes Program EN Switches to Program mode In Program mode a Mode list of commands is prepared in the program
204. s were No segments were downloaded downloaded 40 ECAM Too many points in a Too many points in a segment segment defined by defined by CAM_SEGMENT CAM_SEGMENT command command Number of points is Delta Master Master step 41 ECAM Too many points in In ECAM_POINTS command up ECAM_POINTS command max to 4 points at a time can be sent 4 42 ECAM No ECAM table was Distance between profile slave Downloaded ends profile size is limited to 2 31 encoder counts after electronic gearing 43 ECAM Slave overflow 45 ECAM Too many segments in Profile can contain up to 16 profile max 16 segments only 46 ECAM table too long max 256 Table can contain up to 256 points points only 47 Duplicated interrupt number Use different number for each interrupt 219 Error Messages CODE MESSAGE DESCRIPTION 49 Wrong variable indicator Vi The value of Vi doesn t match command arguments 50 Stopped by emergency 51 Position Error level Pn505 is The cumulative position error has greater than reached its maximum value set max_position_error_level by Pn505 52 Duplicated FAULT_MANAGER FAULT_MANAGER command is FAULT_MANAGER command is used more than once used more than once 53 The Rotation base is less than minimum possible value Max_profile_velocity Position UU ms 4 ms 55 Alarm Reset Fail Attempt to reset an alarm that cannot be reset
205. s where every command is executed only after the previous one has ended After the GO and GO_D commands the motor comes to a full stop The motion profile See section 12 2 is calculated according to the command profiles set by the user i e Speed Acceleration and Jerk time SYNTAX target The specified target in absolute ARGUMENTS coordinates user position units Serial 4 V 131 Command Reference EXAMPLE SET ZERO POSITION demand position SPEED 1500 GO H 60000 GO H 1000000 JAIT_VAR Position actual value gt 800000 SPEED 500 END Smoothed Target Speed Position Error 2500 n r 3 r r a a 2 2000 oe eee 4 1 4 2000 1500 pat 1500 1000 l 1 4 b 4 L 1 41000 5007 4 1r T T 500 0 0 500 ee k 500 a ae alle a pace A E SE 0 000 200 000 400 000 600 000 800 000 1000 000 2 Sampling Time ms 1 000 Time ms EXAMPLE The speed is set to 1500 rpm and movement commences to EXPLANATION a destination of 600 000 user units While in motion the destination is changed to 1 000 000 user units When the Actual position equals 800 000 user units the speed changes to 500 rpm SEE ALSO MOVE_H Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile_Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 132 Command Referenc
206. signal is treated as OFF 3 Types of WARN signals Overload and regenerative overload 237 Parameter Reference 8 7 Table 23 Extended Output Signal Selection The following outputs are used in the user program Table 23 Extended Output Signal Selection Parameter S Name Setting Description Pie 0 Disabled 1 Outputs from the SO1 CN1 25 26 output terminal 0 eer gt Outputs from the SO2 CN1 27 28 0 Disabled Pn2D2 output terminal 3 Outputs from the SO3 CN1 29 30 output terminal 1 Not used 2 Not used 3 Not used H NOTES 1 When more than one signal is allocated to the same output circuit data is output using OR logic 2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the COIN signal is treated as OFF 3 Types of WARN signals Overload and regenerative overload 238 Parameter Reference 8 8 Table 24 Auxiliary Functions The following list shows the available auxiliary functions Table 24 Auxiliary Functions Parameter Function Fn000 Alarm trace back data display Fn001 Rigidity setting during online auto tuning Fn002 JOG mode operation Fn003 Zero point search mode Fn004 Reserved function do not change Fn005 Parameter settings initialization Fn006 Alarm trace back da
207. sin 30 to 0 Figure 35 Curve Shape Window Select a curve shape from the drop down menu Straight Line Points will be generated by interpolation to join the start and end points with a straight line Array Instead of selecting a shape for FlexWorks to generate by interpolation you can specify all the points directly See Section 4 9 4 6 Specifying an Array sin 90 to 90 sin O to 90 sin 90 to 0 Points will be generated by interpolation to join the start and end points with the required section of a sinusoidal graph Click OK A new line for the next segment is displayed in the Position Setting tab with the Master Start and Slave Start fields filled in automatically Continue filling in the table until every segment in the profile has been defined 65 Operating the FSP Amplifier Using FlexWorks 4 9 4 6 Specifying an Array Instead of specifying a curve shape along which points must be interpolated FlexWorks allows you to specify each point directly You can either specify the points within the FlexWorks interface or you can import a file created in a spreadsheet program The number of points to be specified is dependent on the Master Step setting For example consider the following specification Segment Master Start Master End Slave Start Slave End Master Step 1 lo 1000 o 500 20 Figure 36 Example of End Point Specification The length of the segment is 1000 master counts
208. speed units Therefore the initial peak in speed for Case 2 exceeded that of Case 1 Smoothed Target Speed Position Error 400 300 ee c_p a l o 200 i i 4 i E i i i 200 000 400 000 600 000 800 000 1000 000 Time ms Figure 20 Graph Illustrating Effect of Variable Argument Settings 42 Operating the FSP Amplifier Using FlexWorks 4 4 3 Running a Program When a program has been completed and downloaded it can be run using any of the following methods Clicking the RUN icon to run the program from the first line In Immediate and Sequential modes selecting the RUN command from the Program Flow Control commands in the Workspace window In the pop up window that is displayed type in the label number from which you want the program to run After downloading a user program to the drive it is possible to run it automatically every time the drive turns ON by setting the parameter Pn2CC to 1 For further information see Section 5 10 of the FSP Amplifier User s Manual 43 Operating the FSP Amplifier Using FlexWorks 4 5 4 5 1 4 5 2 4 5 3 Program Modes FSP Amplifier has three programming modes e Program Immediate e Sequential Each mode utilizes an individual buffer for commands and program processing and execution Note that not all of the commands are available in all the program modes A full explanation on the use of the
209. t and which are ignored The rightmost digit of the string is ignored the next corresponds to OUT 1 on pins CN1 25 CN1 26 etc Setting Code Ignore 0 Set 1 Range 1 to OxOOFFFFFF Serial 4 U V Output state Decimal value A bit string represents the digital outputs to be set The rightmost digit is ignored the next corresponds to OUT 1 on pins CN1 25 CN1 26 etc Range 1 to OxOOFFFFFF Serial 4 U V EXAMPLE JAIT VAR Position_actual_value gt 100 SET OUTPUTS 6 4 END EXAMPLE When the position value equals or exceeds 100uu digital EXPLANATION output 1 is set to OFF and digital output 2 to ON lt Output mask gt is 6 0110 i e only outputs 1 and 2 can be affected lt Output state gt is 4 0100 and determines the value of the affected digital outputs SEE ALSO SET_OUTPUT 171 Command Reference SET_VAR GROUP Variables SYNTAX SET VAR lt variable gt lt value gt OP CODE 81 MODES Program Immediate Sequential DESCRIPTION Sets the contents of a writeable user variable SYNTAX variable Set to the ID number of one of ARGUMENTS the writeable system variables Serial 1 U value The value of the user variable Serial 4 IV EXAMPLE SET_VAR Var_01 329 MATH Profile velocity Analog Speed Var 01 EXAMPLE The value of VAR_1 set to 329 This value is then EXPLANATION used in the calculation of the new value of Profile_velo
210. t a ees a a erai a ori 28 3 5 4 Parameters WindowW 51 seccuae Sacen esas ev Segacsvs tees Setasinen meee accor eens 29 3 5 5 Cami WINDOW estontan ehai io aT a REER E AESA Aan 30 Operating the FSP Amplifier Using Flex Works ccceeccceeceeeseeesceeeeceteeeeeeenaees 31 4 1 Connecting the Drive to the PC s ssssssssessssessessrssressessreseesseesreseesseeseeserssesseseess 31 4 1 1 Communication Settings sesseessesseeseesseesesseesresrreressesstssessessrssresseesees 31 Bed ICU Wizard se esses tanta Aes aE E ie Ata A A E 32 4 3 Parameter Control eniu merene aa ER EESE E TRA EE 35 4 3 1 Uploading and Downloading Parameters s nsesessseossesessesseserssressrssees 35 ASD Viewing Parameter Stuns 5 ca corricect encuaaconat cuss ve ccsnpadaencoaneecouncasantenseneees 36 Setting Parameters mines cxge se cetaceans eden a a tne a a 37 4 3 3 Setting Parameters Offline 22 ccscenteiccs emaisteeeiaete Cataiiis aes 37 AA Programming the FSP Amplifier cci sc odes ecscaatasssie tack eq Soares vase ants secatestcbena stay oausnee es 37 441 Wrtng aPrograMssnesninisdnni n i E E RR E 38 44 2 Programming Commands with Variable Arguments ccceeceeseeeees 40 4 4 2 1 E mple nia e a a E A E a a 41 44 3 Runinga Programi ennienni a A R ai 43 4 5 Program Modes ocen iinn a e a a a a a a a n a 44 AD dy Program Moden nnua ara Ra A A E A O RA tes 44 452 Immediate M desscsinuec menni a a a a NE 44 4 5 3 Segu e
211. ta clear Fn007 Writing to EEPROM the inertia ratio data obtained from online auto tuning Fn008 Absolute encoder multi turn reset and encoder alarm reset Fn009 Automatic tuning of analog speed torque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of torque reference offset Fn00C Manual zero adjustment of analog monitor output Fn00D Manual gain adjustment of analog monitor output Fn0O0E Automatic offset adjustment of motor current detection signal Fn0OF Manual offset adjustment of motor current detection signal Fn010 Password setting protects from parameter amp some function changes Fn011 Motor models display Fn012 Software version display Fn013 Set absolute encoder multi turn limit 239 Parameter Reference 8 9 Table 25 Monitor Modes The following list shows monitor modes available Table 25 Monitor Modes Parameter Content of Display Unit Remarks Un000 Motor speed rpm Measured motor speed Un001 Input speed reference rpm Commanded motor speed Lo Un002 Internal torque reference ae Present torque applied to motor Number of pulses from the origin Un003 Rotation angle 1 pulses Used for commutation not generally useful to user Electrical angle from the origin Un004 Rotation angle 2 degrees Used for commutation not generally useful to user Un005 Input signal monitor On Off status of inputs Un006 Output
212. tended Input Signal Selection These inputs are used in the user program Table 21 Extended Input Signal Selection Digit oe Default Parameter piace Name Setting Description Setting 0 Emergency input 0 F Same as Pn50A 1 8 OFF 1 New Move Enable 0 F Same as Pn50A 1 7 ON Pn2D1 2 Reserved 0 3 Reserved 0 8 6 Table 22 Output Signal Selections Table 22 Output Signal Selections Digit ya Default Parameter Place Name Setting Description Setting 0 Disabled 1 Outputs from the SO1 CN1 25 26 output terminal T e Outputs from the SO2 CN1 27 28 1 S01 apping 2 output terminal 3 Outputs from the SO3 CN1 29 30 Pn50E output terminal q4 V CMP Signal 9 3 same as above 1 S01 Mapping 2 ITGON Signal 0 3 Same as above 2 SO2 Mapping 3 S RDY Signal 0 3 game as above 3 SO3 Mapping 0 OLD Signal 0 3 Same as above Mapping 1 es a i 0 3 Same as above Pn50F ava g 0 Disabled 2 igna 0 3 Same as above Mapping 3 ERM Signal 0 3 Same as above Mapping 0 et Signal 0 3 Same as above 0 Disabled apping Pn510 1 Reserved 2 Not used 0 3 Not used 0 H NOTES 1 When more than one signal is allocated to the same output circuit data is output using OR logic 2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the COIN
213. ters This table lists all the parameters according to their ID number For each parameter this information is provided The group to which the parameter belongs A short description Units Range Default value gt gt gt gt gt Reference to the section in the FSP Amplifier User s Manual which provides a full description of the parameter Table 17 Parameters Parameter P Setting Default Category ARREST Name Unit Range Setting Reference Function Selection Basic 5 1 1 a Pgo Switches 0x00D0 535 z Function Selection Application ore E Pn001 ae 0000 5 4 2 Switches 1 v 5 5 7 P Function Selection Application 5 2 8 S Pnoo2 oes P e 0000 5 2 9 9 5 7 2 e Pn003 Function Selection Application 0002 64 E Switches 3 2 Function Selection Application 2 Pn006 Switches 3 0000 6 4 L Pn007 Function Selection Application n 0000 6 4 Switches 3 Pn100 Speed Loop Gain Hz 1 2000 40 6 2 2 2 Speed Loop Integral Time 6 2 7 3 Pn101 Constant 0 01 ms 15 51200 2000 6 210 5 Pn102 Position Loop Gain s 1 2000 40 6 2 10 6 2 6 c Pn103 Inertia Ratio 0 10000 0 6 3 1 5 6 3 4 Pn109 Feed Forward Speed control 0 100 0 6 2 2 Pn110 Online Autotuning Switches 0010 After changing this parameter cycle the main circuit and control power supplies to enable the new settings The multi turn limit is valid only when param
214. the Source must change to trigger data collection Trigger Smoothed Target Speed Data Change Level No trigger Pre triager Rising edge Falling edge Data Change Figure 26 Trigger Selection 2 As the type of slope select Rising Edge Data collection is triggered when the value of the Source rises from below the trigger Level to above the trigger Level i e when the change is from LO to HI in I O Falling Edge Data collection is triggered when the value of the Source falls from above the trigger Leve to below the trigger Level i e when the change is from HI to LO in I O Data Change Data collection is triggered when the value of the Source crosses the trigger Level in either direction No Trigger Data collection will start at the same time as START TRACE amp is clicked All other trigger settings are irrelevant Level Trigger Level Specifies the threshold value of the Source at which data collection is triggered The units for the setting are the same as those of the trigger object selected in Source The trigger level cannot be set if the trigger object is I O 1 or I O 2 Pre Trigger 0 to 99 A buffer of data is collected even prior to the trigger condition being met This allows FlexWorks to include the period before the trigger in the graph The Pre Trigger setting specifies how long this period should be as a percentage of the duration of the gr
215. tions OPTION DESCRIPTION Project Displays the default FlexWorks Main Screen interface Screen which includes the Workspace Program History Cam and Parameters windows Program Enlarges the Program window to facilitate program Edit editing The History Cam and Parameters windows are Screen hidden User Displays the current user customized screen saved under Screen the Save User Screen option Save The size and location of the Workspace Program User History Cam and Parameters windows can be Screen customized to facilitate your work session This option enables you to save your customized screen for future work sessions Each time you save a new customized screen the previous user screen is overwritten 23 The Main Screen Interface 3 4 3 5 3 5 1 Status Bar D The Status Bar located at the bottom of the FlexWorks screen indicates the status of the current drive and of the servo Ready laxis O W Stop CD NeedReset G9 On line m Servo off A B C D Figure 7 Status Bar The indicators on the right of the status bar are as follows A Indicates whether or not a program is running on the controller Run or Stop B Need Reset indicator After certain parameters are edited the main circuit and control power supply must be cycled in order to enable the new settings When this indicator appears click Reset e C Indicates the status of the connection to the
216. ts for INPUT 1 to be ON and then calls subroutine EXPLANATION that sets OUTPUT 1 to ON Returns to the program end of program NOTES The END command must be used at the end of all programs 117 Command Reference ENGAGE_VIRTUAL_AXIS GROUP ECAM SYNTAX ENGAGE VIRTUAL AXIS lt Profile ID gt lt Direction gt OP CODE 136 MODES Program Sequential DESCRIPTION Initiates motion according to the ECAM profile lt Profile ID gt where the ECAM profile is time based In this case the master pulse is generated internally every 125 us See 4 9 13 3 ENGAGE_VIRTUAL_AXIS SYNTAX Profile ID The identifying number of the profile to ARGUMENTS be used Serial 1 U V Direction Specifies the direction in which the profile should be followed Setting Code POSITIVE In the positive 0 direction NEGATIVE In the negative 1 direction Serial 1 U EXAMPLE ENGAGE VIRTUAL AXIS 2 POSITIVE EXAMPLE ECAM time based profile number 2 will be followed in EXPLANATION the positive direction SEE ALSO ECAM_ENGAGE ECAM_DISENAGE STOP_EX Variables ECAM_Master_scale_den ECAM_Master_scale_num ECAM_Slave_scale_den ECAM_Slave_scale_num ECAM_Master_profile_position ECAM_Slave_profile_position ECAM_Offset ECAM_ Shift 118 Command Reference
217. tton WARNING The motor will begin moving once Start has been pressed Once the process is completed a graph is displayed The values of resonance and anti resonance frequency values if any are displayed at the bottom right corner of the graph Excitation Amplitude 50 Sampling Time us 250 Measurement Frequency Hz 1600 00 Excitation TimeMeration ms 250 Gain dB Phase deg Frequency Hz 4 16 01 PM Estimated Resonance Frequency 03 March 2004 Estimated Anti Resonance Frequency 726 Hz Figure 32 Sample Mechanical Analysis Output efesotomasyon com 60 Operating the FSP Amplifier Using FlexWorks 4 9 4 9 1 4 9 2 ECAM Electronic Cam Cam creates motion according to a specified profile depending either on the position of a master axis or on time elapsed The ECAM feature allows you to specify the position that a slave axis must reach depending on the position of a master axis or on the time elapsed The FSP Amplifier allows up to four profiles to be specified per project Each profile can be comprised of a maximum of 16 segments and may contain up to 256 data points ECAM Profile Characteristics The following must be considered when designing a profile Up to four different profiles can be defined simultaneously Each profile can be divided into a maximum of 16 segments e An ECAM table may contain up to 256 data points To avoid exceeding this limit do not specify unnecess
218. ue For example if lt input state gt is set to 4 in binary 0100 True means input O OFF input 1 OFF input 2 ON and input 3 OFF Input State O IO JO J1 O Ji SYNTAX ARGUMENTS Input mask Input mask decimal value Defines which inputs are detected and which are ignored Setting Code Ignore the input 0 Check the input 1 Serial 4 IU IV 142 Command Reference SYNTAX Input state Input State decimal value A bit ARGUMENTS string represents the digital input Conr state The leftmost is input 0 related to pin 40 on CN1 etc The eighth bit is not in use Serial 4 U V EXAMPLE LABEL INPUT CASE 7 2 MOVE 4096 1 GO TO 1 END EXAMPLE lt input mask gt is 7 in binary is 0111 i e check EXPLANATION inputs 0 1 2 and ignore the rest lt input state gt is 2 in binary is 0010 True means input 0 is OFF input 1 is ON and input 2 is OFF If the condition is true proceed to the MOVE command Otherwise skip the next command and jump to GO_TO command SEE ALSO IF_INPUT 143 Command Reference INT GROUP Interrupt SYNTAX INT lt Priority gt lt Variable gt lt Condition gt lt Value gt OP CODE 139 MODES Program DESCRIPTION This comm
219. ult values of acceleration and jerk The maximum permitted speed is maximum motor speed variable Max_profile_velocity SYNTAX target The specified target in absolute ARGUMENTS coordinates user position units Serial 4 V time The time allowed for the motion ms When setting lt time gt to 1 a motion profile See section 12 2 will be calculated with a maximum speed equal to the profile velocity See section 12 2 1 Serial 4 V EXAMPLE LABEL 1 GO D 10000 1 SET_OUTPUT 1 ON GO D 0 300 END 130 Command Reference EXAMPLE Movement commences to destination 10000 UU 1 EXPLANATION indicates that the movement time will be determined by the motion profile See section 12 2 i e the predefined speed acceleration and jerk time Unlike the GO example in which the output was set at the beginning of the command output 1 is set to ON only after the movement has ended Motor moves to point 0 zero position in 300 ms end of program SEE ALSO GO MOVE MOVE_D SPEED ACCELERATION JERK_TIME Variables Max_Profile_Velocity Profile_Velocity Max_Profile_Acceleration Profile Acceleration Parameters Pn2A2 Pn2A3 Pn2A4 Pn2A5 _H GROUP Motion SYNTAX GO H lt target gt OP CODE 117 MODES Program Sequential MOTION Hunting 1 MODE DESCRIPTION Enables change of the lt target gt while the motor is still in motion This is unlike the GO and GO_D command
220. uring that the profile is shifted to a point at which the slave position is zero will ensure a smooth initial motion Applying an offset will always result in a sudden change to the target slave position When the application of a shift or offset does result in a sudden change to the target slave position the resulting motion will be constrained by the maximum torque settings not by the default profile settings The maximum torque settings in each direction are defined by the variables Forward_Torque_Limit and Reverse_Torque_Limit Use the TORQUE_LIMITS command to temporarily reduce those values Reducing the limits will result in smoother motion at a discontinuity caused by a shift or offset 78 Operating the FSP Amplifier Using FlexWorks 4 9 15 Monitoring Master and Slave Positions The variable ECAM_Master_profile_position reflects the current position of the master The variable ECAM_Slave_profile_position reflects the current position of the slave as dictated by the profile 79 Operating the FSP Amplifier Using FlexWorks 4 9 16 Serial Communication and ECAM This chapter has described how ECAM profiles are created and downloaded to the FSP Amplifier using FlexWorks ECAM profiles can also be sent to the FSP Amplifier by a host using serial communication For more information on using serial communication see Chapter 6 Serial Interface Protocol 4 9 16 1 ECAM Commands for Serial Communication T
221. ushing from the SCB or UPB depends on the command type Motion Commands With _D Suffix These commands are flushed from the SCB or UPB only when the corresponding movement is terminated according to the precision requirement setting i e subsequent commands in the buffer are executed immediately following movement termination of the _D command For example setting an output will occur at the end of the movement Motion Commands Without _D Suffix These commands are transferred to the MCB and are flushed from SCB or UPB immediately following execution This enables you to enter a number of motion commands While the motion commands are being executed by the drive other commands can be executed sequentially Motion Modes The motion commands are divided into Motion modes as described below The current motion mode can be read from the Motion_mode variable Position Motion commands MOVE GO MOVE_D GO_D are calculated and a trajectory movement speed and duration are determined Velocity The velocity command SLIDE can be sent and changed at any time while keeping acceleration and jerk within the limits defined by the relevant variables 104 Command Reference Torque The TORQUE command is immediately applied to the motor the torque changing rate being limited by the Torque_slope variable Speed Control A speed control loop is closed on the reference command instead of the position control loop that is n
222. using programming mode Pn000 1 D the equivalent value is set by Pn2C4 Pulse train synchronization window Inputs Allocate digital inputs to system functions Digital inputs used as general purpose inputs can be simply referred to by their input numbers from within the program The polarity can be reversed by checking the Reverse polarity checkbox Outputs Allocate digital outputs to system functions If digital outputs are to be used as general purpose outputs simply refer to the output number in the program Each output can be used either as a system function output or as a general purpose output Encoder Output Settings In case of a host controlled application where output pulses PG out are required set the output gear Otherwise skip this screen Click Finish to complete the setup and create a parameters file Click Download Parameters 47 to download the parameters to FSP Amplifier Cycle the power or click RESET l to reset the FSP Amplifier You can now proceed to Auto tuning See 4 6 Tuning the Control Loops 34 Operating the FSP Amplifier Using FlexWorks 4 3 4 3 1 Parameter Control In order to control the motor and the peripheral system such as I O lines the FSP Amplifier requires that certain parameters be set in its memory Some parameters are automatically set by the system based on the automatic motor identification when applicable and some must be set m
223. w when using the command See Also A list of additional commands and or parameters that are related to the command Command Reference Conventions The generic term UU found in this section refers to user units For further information see Chapter 5 in the FSP Amplifier User s Manual USER IMMEDIATE SEQUENTIAL PROGRAM COMMAND COMMAND BUFFER BUFFER ICB BUFFER SCB UPB 1 1 1 2 2 2 3 4 5 100 101 MOTION COMMAND BUFFER MCB 1 2 3 4 5 102 Command Reference 5 1 5 1 1 5 1 2 FlexWorks Modes Three modes of operation are available Program Mode Sequential Mode Immediate Mode Program Mode User Program Buffer UPB In this mode a program a group of commands is downloaded into the UPB of the drive Program commands have the highest priority Program execution is activated by the RUN command or by clicking RUN on the toolbar Motion commands in program mode are first calculated and then inserted into the motion command buffer MCB This enables the setting of an output or insertion of a certain term immediately after the motion begins until it ends Commands with the suffix _D are fetched to the MCB Only after their completion i e the MCB is empty is the next command fetched Sequential Mode Sequential Command Buffer SCB In this mode each command i
224. wed by a SLIDE command the buffer will first flush the motion commands before executing the SLIDE command 107 Command Reference 5 5 FlexWorks Commands Command Name GROUP The command group under which the command is listed in FlexWorks SYNTAX The format in which the command is written Op CODE The operation code of the command in decimal format to be used when issuing the command using serial communication protocol see Chapter 6 Serial Interface Protocol MODES Modes in which the command is available For details of the available modes see Section 4 5 Program Modes MOTION The motion modes where the command functions applicable MODE to motion commands only See 5 3 Motion Modes DESCRIPTION A detailed description of the command and how it is used SYNTAX Argument Description of the argument ARGUMENT ame The units in which the argument is defined when applicable Condition Variable Code Lists the codes to be used when specifying an argument as a condition e g lt gt or a variable variable ID code when using the serial communication protocol When using FlexWorks simply select the required option from a drop down menu Serial 4 U The length of the argument in bytes for use in serial comm u Indicates thatthe argument must be specified byan unsigned integer Indicates thatthe argumentcan be specified bya number o

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