Velmex 8601 User manual
Contents
1. 7550 State Route 5 amp 20 Bloomfield NY 14469 9389 VELMEX INC FAX 716 657 6153 Tel 716 657 6151 http www velmex com Email mitch velmex com MODEL 86MM 1 USER S GUIDE One Motor STEPPING MOTOR CONTROLLER DRIVER 11 17 86 Rev 2 10 87 Reformatted 1 16 98 Contents INTRODUCTION FEATURES SETUP CAUTIONS 4 O 5 Turn ON 5 FRONT PANEL INPUT JOG SLEW MODE 6 DIGITIZING 6 MENU SELECTION 7 CLEAR button 7 PROGRAMMING COMMANDS with VARIABLES Settable 7 200 step rev 400 step rev 7 Backlash compensation 7 Programmable 8 Advance per step table 9 IMMEDIATE COMMANDS 10 MEMORY BATTERY RETENTION 12 Bytes of memory for commands table 12 EXAMPLES 13 PROGRAMMING FROM BASIC ON A IBM TYPE COMPUTER 15 LINKING CONTROLS 16 TROUBLESHOOTING PROCEDURE 18 HARDWARE SPECI LIMIT SWITCHES 20 CABLES 20 BATTERIES 20 FICAT ONS FUNCTIONAL 21 MOTOR COMPATIBILITY 21 PHYSICAL 21 ELECTRICAL REQUIREMENTS 21 ENVIRONMENTAL 21 INTRODUCTION The 86MM is a programmable stepping motor control The Control incorporates a one chip microcomputer that has on chip RAM and ROM The RAM is available for storage of a user entered program and motion parameters Commands and data are entered either through the front panel keypad or over the RS 232C interface from any host computer terminal or programmable controller having an RS 232C port Specialized Commands2. Menu RS 232C Input First character applies only to RS 232C input Settable one time entry in a program ACCEL DECEL A Acceleration and Deceleration SET RANGE 1 to 7 or 9 to 15 1 to 7 sets motor to 200 steps rev 1 being 8000 steps sec 2 being 16000 steps sec 3 being 24000 steps sec etc 9 to 15 sets motor to 400 steps rev 9 being 8000 steps sec 10 being 16000 steps sec 11 being 24000 steps sec etc NOTE Acceleration and Deceleration only occurs above 236 steps sec ACCEL DECEL STEPS SEC STEPS SEC STEPS SEC USER I O USER I O USER I O USER I O USER I O USER I O INDEX A UO U1 U2 U4 U8 U16 Baud rate setting A value Baud rate 207 300 103 600 51 1200 25 2400 16 3600 12 4800 8 7200 Turns on backlash compensation Whenever the motor makes a negative Index 16 steps will be added The motor will then reverse moving positive 16 steps every Index will finish approaching positive Turns off backlash compensation Steps sec RANGE 16 to 3000 in 1 step sec increments RANGE 0 to 8191 0 20 usec 1 2 0 1 sec 2 0 2 10 1 0 8191 819 1 sec 13 65 min If Pause control enabled see U2 and U4 commands the USER OUTPUT will go LOW for the duration of the Pause When a PO follows an Index the motor will slow down to 236 steps sec before moving again If STEPS SEC is set to 236 or less the motor will not change spe
3. 5 4 5 4 4 1 2 3 4 5 6 7 8 9 10 1 a SS SS EEE EEE E O E EE S E E N ES E ET E E E O EN HT 3 1 2 3 4 5 6 7 8 9 10 1 4 B E E SS SS EES EE E OEE EEE S N E E ES E ES EEE EPE E EN foto f oss fs 4 5 5 4 9 gt gt gt gt gt gt 4 5 4 A 1 2 3 4 5 6 7 8 9 10 1 END EXAMPLE 5 33 bytes RAM Several different Indexes Pausing between each one 1100 P5 1250 P5 1400 P5 1550 P5 1600 P5 11100 P5 I0 St a a SC 4 4 4 4 ee ee ee ee ee ee 14 PROGRAMMING FROM BASIC ON A IBM TYPE COMPUTER The procedure for programming the 86MM from BASIC is 1 Make the 3 wire RS 232 connection from the host computer to the 86MM Computer 86MM SERIAL I O 25 pin Connector Connector 2 gt 3 3 c 2 7 i If a shielded cable is used connect the shield to connection 12 on the 86MM I O 2 Turn ON the Control and the host computer NOTE A framing error may occur on the host s receiver when the 86MM is turned ON or reset while the host is ON The host will display the Device I O error message when the BASIC program is started To prevent this error turn ON the host after the 86MM or only connect the RS232 cable after the host and the Control have been turned ON 3 Boot BASIC on the computer PC users can also use Terminal program located in Accessories in Windows 3 1 or HyperTerminal with Windows 95 set ba
4. not Delete current value keyed in Also the and are used for menu selection from the front panel Carriage Return Space Enters keyed in value Line Feed Comma Run program Zero Absolute Position register Send Absolute Position of motor Below is what the host would receive if the motor is at negative 1200 A carriage return follows the value 0001200 This is what the host will receive if at positive 91203 40091203 Busy poll Control sends if busy running a program gt if ready Additionally the ready prompt gt is automatically sent to the host when a program has finished Hold flag toggle The program stops prior to every index and sends a to the host When stopped the X command can be used to read motor position an H will toggle the flag off K terminates the program R re starts the program where it left off and a stop will again occur after the next operation This Command allows single stepping through a program for debugging or as a program interrupt from the host 11 T Character Echo ON OFF Toggle Normally all characters sent to the 86MM will be echoed Character Echo will be ON after power up RESET or a CLEAR by the CLEAR button When the echo is OFF the 86MM will still send a response to the X and B commands The T and the E used to get the Control ON LINE are always echoed to the host K Kill current operation Interrupt
5. provide simple and efficient entry of complex yet compact programs Short programs are automatically retained in the portion of RAM which is battery backed FEATURES A complete microcomputer based Control with nonvolatile user memory and motor drive in one package Motor Resolution can be set to 200 or 400 steps per revolution JOG SLEW mode allows motor to be jogged one step or slewed from 16 to 2850 steps second from the front panel joystick emulation A Digitizing function can be utilized with a host terminal connected as a readout of motor position Menu LEDs provide command selection from the front panel Keypad with audible and tactile feedback provides data entry at the front panel RS 232C Port connected to a host allows Command and Data entry Polling for status and Absolute Position Up to 255 controls can be operated from the same RS 232 port Acceleration Deceleration settable from 8000 to 56000 steps sec in 8000 step sec increments Speed settable from 16 to 3000 steps sec in 1 step sec increments Incremental Index distance is programmable from 1 to 41 048 575 steps Programmable Return to Zero position Loop Commands provide from one to continuous repeat operations Programmable Pauses from 100 milliseconds to 13 65 minutes A User Output can be programed to turn ON and OFF an external solid state or reed relay A User Input can be utilized in a program as a WAIT for external switch or relay closure Backlash Compe
6. the Control that are charged when the Control is ON A loss of data retention due to low battery voltage is indicated by a flashing of the LEDs and beeping for 2 seconds after turn on This may be the situation with a new Control that has not been operated long enough to fully charge the batteries or if four or more weeks of non use have elapsed See the section on MEMORY BATTERY RETENTION for more information FRONT PANEL INPUT JOG SLEW MODE JOG SLEW 1 With the Control in the JOG SLEW mode the motor can be jogged one step or slewed from 16 to the last STEPS SEC value SLEW will not exceed 2850 steps sec in either direction 2 To JOG the motor positive press the 1 key momentarily the motor will move one step CW To JOG negative hold the key down and press the 1 key 3 To SLEW the motor hold down the 1 key the motor will run at 16 steps sec To increase speed press the key until the desired speed is reached Release the 1 key to decrease speed The motor accelerates and decelerates at 8000 steps sec DIGITIZING The 86MM stores its absolute position relative to the position when power was applied or when registers were zeroed in memory until the Control is turned off The absolute register reflect the accumulated distance from operating the motor in the JOG SLEW mode and or under program control This register can hold from 8388608 to 8388608 steps With a host terminal or computer connected via the RS 232
7. to the next command in the program The Negative limit is activated by a switch closure between pin B Signal Gnd and A Limit CABLES Caution It is not recommended that the motor cable be extended or altered in any other way If motor cable must be extended the proper wire size should be used to prevent voltage drop For motor cables to 15 feet use 16 wire For motor cables to 30 feet use 14 wire For motor cables to 45 feet use 12 wire Motor and limit switch cables should not be put in a common conduit with other wiring If cables must be near inductive loads transformers motors etc or near high energy sources shielding of the cables may be required RS 232 cables should be limited to a maximum of 20 feet However with special EIA cable 50 feet is possible BATTERIES Batteries do not require servicing they have an estimated life of greater than 1000 charge discharge cycles or 4 to 6 years To replace batteries Unplug Control from AC power Remove screws hex nuts at each corner of the rear panel Tilt rear panel back Pull cover rearward and up to remove Slide battery retaining clips off batteries Replace batteries following polarity markings EYED e E Caution Replacement batteries should have the following characteristics Three 1800 mAH High Temperature Nickel Cadmium C Size 180 mA charge rating SANYO Model No KR CH or SAFT Model No 2 0PT The following batteries can be substituted bu
8. C interface the Control can be used as a digitizer In the JOG SLEW mode the 86MM will send motor position to the host when it receives a D Here is an example of what the host would receive when motor is at absolute 201 0000201 This is what the host will receive if the motor is at negative 1294010 1294010 A linefeed and carriage return follows the above values The host can zero the registers by sending a Z to the Control MENU SELECTION The and keys are used to make selections on the front panel menu Pressing keys other than the RUN or results in an audible feed back from a buzzer within the 86MM Refer to the next section on COMMANDS with VARIABLES for proper values to enter If the Control contained a program the last time the POWER was turned OFF the Control will prevent any menu selection past ACCEL DECEL This feature limits editing to baud rate and acceleration deceleration To CLEAR a program from memory press the recessed CLEAR button on the front panel using a pen or pencil Simple Example Below is an example that will run the motor 200 steps CW From a computer send E 1200 R NOTE The E is sent first to get the Control ON LINE both yellow lights on front panel lit From the front panel Push the key until the light next the INDEX is lit press the 2 key 0 key 0 key Ent key Run key PROGRAMMING COMMANDS with VARIABLES Front Panel Front Panel amp Function
9. OSUB 500 135 REM Clear existing program Index 900 steps 140 PRINT 1 C I900 R 150 GOSUB 500 155 REM Clear existing program Index 1000 steps 160 PRINT 1 C 11000 R 170 GOSUB 500 175 REM Clear existing program 3000 Steps Sec Index to zero 180 PRINT 1 C S3000 I0 R 190 GOSUB 500 390 PRINT DONE RUNNING 86MM CONTROL 400 END 499 REM Wait until ready gt prompt appears in receive buffer 500 C INPUT 1 1 510 IF C lt gt gt THEN 500 515 REM Request motor position from 86MM and print on your computer 520 PRINT X 530 INPUT 1 P 540 PRINT MOTOR POSITION P STEPS 550 REM Your routine for end of Index would go here 600 RETURN LINKING CONTROLS Users that require more than one motor can link 86MM Controls together Multiple Controls can be operated from a single RS232 port by linking When linking multiple Controls together addressing is accomplished by enclosing information in brackets Information between brackets is relayed to succeeding Controls The number of brackets used determines the destination of the information As each Control receives the information it removes a set of brackets and relays the remainder of the instruction to the next Control Up to 255 Controls can be linked together and programmed in this manner All the yellow and green LEDs on the Control s front panel will light when in this relay mode For example if four Controls are linked together and the fourth Control is to be progr
10. ammed the instruction for that Control would be placed within three brackets The first Control receiving the information would remove one set of brackets and relay the information along the second Control would remove the second set of brackets and the third Control would remove the third set and relay the instructions to the fourth without any brackets The targeted fourth Control would then be programmed with the information Additionally requests from the host to a specific Control for Absolute Position Register value or Ready prompt are always relayed by every Control to the host EXAMPLES This will program Control 4 to Index 800 Steps LC 1800 R 16 This polls Control 2 to see if it is busy B This requests motor position of Control 3 XT The procedure for linking Controls 1 Connect the RS 232 from the host to the 86MM Controls as shown f 1 4 HOST 2L 13 CONTROL COMPUTER 3 r 2 1 D H1 J J f L 43 CONTROL r2 2 Hi l J L gt 3 CONTROL r 2 3 H1 l J I q L 3 OTHER CONTROLS L ta to 255 Pla l J 2 Set RS 232 parameters on the host and Controls the same 3 Initialize Controls by sending the following EZT The E commands all the Controls ON LINE The Z Zeros the Absolute Position Registers that would have accumulated steps if the Controls were run in the JOG SLEW mode The T Toggle the echo off preven
11. command directly preceding the Loop will be ignored To prevent a preceding Index from being ignored use one of the U commands or an S command before the Loop command For example this program will index the motor positive and negative 200 steps exactly 100 000 times the U4 command is used as a dummy 1200 1 200 U4 L100 L100 L10 Loop from beginning or loop marker alternating direction of motor Indexes RANGE 2 to 255 loops Actual number of loops is one less the value entered Loops can be nested The following example loops equal 100 000 actual loops is one less or 99 999 times L 100 L100 L10 NOTE When any Loop reaches its last count the non loop command directly preceding the Loop will be ignored To prevent a preceding Index from being ignored use a U command or an S command before the Loop command IMMEDIATE COMMANDS not stored in a program E Enable RS 232C communication Both yellow LEDs on front panel will light The Control must be in the JOG SLEW Mode to respond to this command 10 CLEAR button or ENT RUN Keys DEL lt CR LF Disable RS 232C communication Returns to JOG SLEW Mode Also the D is used for digitizing in the JOG SLEW Mode Clear program from memory ACCEL DECEL Baud and backlash compensation settings are not affected The last STEPS SEC value is remembered by the Control The CLEAR button zeros absolute position registers the C command does
12. ed Wait for LOW on User Input pin 9 of I O Wait for LOW on User Input holding User Output LOW while waiting Disables Pause control of Output Enables Pause control of Output reset state Output HIGH pin 11 of I O Output LOW Index steps for motor to move Positive motor rotates CW Slider moves away from motor on UniSlides Rotary Tables rotate CCW RANGE 1 to 1 048 575 steps INDEX INDEX INDEX INDEX UniSlide Lead Screw P40 C P20 B P10 W1 P5 W2 WE K1 Q1 K2 Q2 K4 Q4 UniSlide Rotary Table B4872TS B4836TS B4818TS B79180TS B7990TS B7945TS LOOP Adv rev 0 025 0 050 0 100 0 200 1 000 1 00 mm 2 00 mm 4 00 mm GEAR RATIO 72 1 36 1 18 1 180 1 90 1 45 1 LO Index steps for motor to move Negative motor rotates CCW Slider moves toward motor on UniSlides Rotary Tables rotate CW RANGE 1 to 1 048 575 steps Index motor to Absolute Zero Absolute Zero is established when the Control is turned on a Z command RESET or CLEAR button is used NOTE Operating the motor in the JOG SLEW mode does not change the location of Absolute Zero Move Positive to limit switch Index off limit entered value and zero Absolute Position register RANGE 1 to 65 535 steps Caution Set Speed to less than 800 Steps Sec prior to this command to prevent damage from the sudden stop when limit switch is encountered Move Negative to limit switch Index
13. eir useful life 21000 charge discharge cycles or 4 6 yrs Inductive surge on AC power line Inductive Static surges coming in the I O con nections Reduce STEPS SEC setting of motor Check cable and connector for broken wires and repair breaks Replace Motor Ship Control back for motor drive repair to Velmex Inc Repair Dept Rt 5 amp 20 E Bloomfield NY 14443 or replace TIP 122 transis tors on inside back panel Use 400 step rev mode Increase or decrease speed to avoid resonance points A damper or flywheel added to the motor shaft or lead screw may dampen the resonance See page 11 MEMORY BATTERY RETENTION for charge requirements Replace batteries See page 19 BATTERIES for replace ment procedures Isolate or remove any equipment that may be putting spikes on the power line Make sure all external equipment connected is properly grounded and inductive loads are isolated from Control 19 HARDWARE LIMIT SWITCHES Limit switches are included on most UniSlide assemblies The 86MM cable with the 7 pin Amphenol connector plugs into these limit switches The limit switch inputs are active low normally high by a 1K ohm resistor connected to 5V The Positive limit is activated by a switch closure between pin E Signal Gnd and D Limit When activated motion in the positive direction Motor rotating CW Slider moves away from motor is terminated and the Control will proceed
14. nsation can be set to automatically finish every index approaching from the positive direction Run Reset Output Input and RS 232C connections are accessible at a removable terminal block on the front panel Limit Switches for CW and CCW directions are provided with plug in connection to UniSlide J assemblies Limits can be used for homing Automatic Power Down reduces power consumption by de energizing the motor when at a standstill Single Step mode is provided for debugging programs or as a controlled interrupt The Control can be polled for its status at any time additionally a ready prompt gt is automatically sent to the host when a program has finished Capable of running large motors up to 10 amps total 5 amps phase Twelve month Limited Warranty SETUP CAUTION HAZARDOUS VOLTAGE DO NOT REMOVE CONTROL PANELS OR COVER DO NOT CONNECT OR DISCONNECT MOTOR WHEN POWER IS ON HIGH TEMPERATURE CONTROL SHOULD BE KEPT AT LEAST 6 INCHES FROM ANY OBJECTS AIR MUST CIRCULATE THROUGH AND AROUND CONTROL DO NOT BLOCK AIR VENT IN BOTTOM OF CONTROL NEVER USE IN AN EXPLOSIVE ENVIRONMENT IN INDUSTRIAL ENVIRONMENTS THE CONTROL MUST BE PROTECTED TO PREVENT METAL CHIPS FROM FALLING INTO IT SEVERE ELECTRICAL DAMAGE MAY RESULT IF OBJECTS FALL INTO THE CONTROLS HEAT SINK 1 Connect cables to motor and limit switches CAUTION Never connect or disconnect motor with power ON this may result in se
15. off limit entered value and zero Absolute Position register RANGE 1 to 65 535 steps Caution Set Speed to less than 800 Steps Sec prior to this command to prevent damage from the sudden stop when limit switch is encountered Adv step Speed at 1000 200 rev 400 rev steps sec Mode Mode 200 rev Mode 0 000125 0 0000625 0 0125 ips 0 00025 0 000125 0 2500 ips 0 0005 0 00025 0 5000 ips 0 001 0 0005 1 0000 ips 0 005 0 0025 5 0000 ips 0 005 mm 0 0025 mm 5 00 mm sec 0 010 mm 0 005 mm 10 00 mm sec 0 020 mm _ 0 010 mm 20 00 mm sec Adv step Speed at 1000 200 rev 400 rev steps sec Mode Mode 200 rev Mode 0 025 0 0125 25 sec 0 050 0 025 50 sec 0 100 0 050 100 sec 0 010 0 005 10 sec 0 020 0 010 20 sec 0 040 0 020 40 sec Loop continually from the beginning LOOP LOOP LOOP L 0 L Sets the loop marker at the current location in memory All loops except LO to the right will branch to here Loops to the left branch to the beginning The maximum number of loops a program can hold is 10 on both sides of the loop marker excluding LO NOTE This Command can be used only once in a program Loop from beginning or loop marker RANGE 2 to 255 loops Actual number of loops is one less the value entered Loops can be nested The following example loops equal 100 000 actual loops is one less or 99 999 times L100 L100 L10 NOTE When any Loop reaches its last count the non loop
16. om a host or keyed in at the front panel Commands cannot be added to the program if the power was turned OFF and ON which is the same as a RESET condition When a RESET condition has occurred the ACCEL DECEL and the Baud rate are the only changes that can be made to a program When other commands are sent from a host the existing program will be cleared from memory The Control will not accept a new program whenbusy executing an existing one 12 EXAMPLES The following examples can be input manually from the front panel or sent by a host computer or terminal over the RS 232C For entries made from the front panel the first letter refers to the Command selected from the menu LEDs using the arrow keys The space between commands is the ENT key on the front panel the R is the RUN key EXAMPLE 1 3 bytes RAM Index 200 Steps 1200 R 1200 INDEX 200 steps R RUN START gt gt gt gt END EXAMPLE 2 6 bytes RAM Auto Reverse 1401 IO R 1401 INDEX 401 steps 10 INDEX to Zero 401 steps in this case R RUN START END pup eet 4 c c NOTE By connecting a toggle switch to Connections 4 and 5 of I O the above program can provide a switch controlled continuous running auto reverse The above example will dwell for 65 ms before reversing By using a PO command this time will be reduced to 4 2 ms The motor will still accelerate and decelerate at the set rate In this example the motor
17. s The Control will not respond to lower case Check with the computer manufacturer to see if the DSR line must be artificially pulled high or if it can be disabled in software Match the RS 232C settings on the 86MM to those of your computer or terminal Check with the computer manufacturer to see if the RTS line must be artificially pulled high or if it can be disabled in software Set STEPS SEC and ACCEL DECEL to specified values Hand operate the system to locate any binding A larger motor or a different ratio in the mechanism may be required Use a lower ACCEL DECEL Use 400 step rev mode Check mechanism for ease of movement A larger motor may be required or your load will have to be reduced or counterbalanced 18 Motor stalls before reaching maximum velocity With Motor remov ed from equipment Motor runs erratically at all speeds has no torque Motor or system resonates vibrates loudly Program is lost every time Control is turned OFF LEDs flash and buzzer beeps when Control is turned ON Control stops operating for no apparent reason Motor torque de creases as its velocity in creases Broken motor cable Faulty Motor Damaged drive transistor s The motor velocity is the motor or system s natural resonant fre quency This is common at speeds below 230 in the 200 step rev mode Control is not ON long enough to charge batteries Batteries have reached th
18. s running program immediately The 86MM sends the gt to the host NOTE When a motor is running at high speed above 700 steps sec command K interruption may cause motor overshooting resulting in loss of position MEMORY BATTERY RETENTION The 86MM Control has 101 bytes of RAM memory for program storage Data in the first 27 bytes of memory is retained when the Control is OFF by rechargeable batteries within the Control that are charged when the Control is ON A loss of data retention due to low battery voltage is indicated by a flashing of the LEDs and beeping for 2 seconds after turn on This may be the situation with a new Control that has not been operated long enough to fully charge the batteries Data loss results in the following default settings ACCEL DECEL 1 STEPS SEC 1000 Baud 1200 and backlash compensation off From fully discharged to fully charged requires 30 hours of Control ON time A full charge will be maintained if the Control is ON for at least 45 min day or 5 hrs week The batteries have the capacity to retain data in memory for 4 weeks of non use The table below shows how many bytes of memory each command will use in a program Command Bytes of memory S 2 P 2 UO 1 Ul i U2 1 U4 1 U8 1 U16 l T 3 I 3 I0 3 IM 3 IM 3 LO 1 L 2 L 2 All other commands use allocated memory or are immediate not stored Each command is stored and executed in the order it is received fr
19. t not being high temperature type useful life may be reduced Radio Shack Cat No 23 141 or Cat No 23 124 The No 23 124 batteries have 1100 mAH capacity reducing program retention to 2 weeks 20 SPECIFICATIONS FUNCTIONAL A complete microcomputer based Controller Driver for stepping motor control Interactive limit switch inputs TTL for CW and CCW direction One User Input TTL and one User Output 0 or 5V 10 ma sinking capability Programming through full duplex RS 232C port 300 to 7200 Baud settable 7 Data bits Even parity 2 Stop bits ASCII or from a 16 key front panel keyboard User available RAM for program storage is 101 bytes 27 bytes with battery back up Motor is manually controllable at the front panel JOG SLEW ACCEL DECEL STEPS SEC PAUSE OUTPUT USER I O INDEX and LOOP menu LEDs for input selection CLEAR Run M Ent and 0 to 9 buttons at the front panel Remote Run and Reset input TTL connection at the front panel Six foot motor and limit switch cables with connectors MOTOR COMPATIBILITY For use with 1 8 Permanent Magnet stepper motors 5 amp phase max The 86MM Control is factory adjusted for a particular motor current PHYSICAL Weight 19 5 lbs Height 8 5 inches Width 11 2 inches Depth 14 0 inches ELECTRICAL REQUIREMENTS 120VAC 60Hz 350 watts ENVIRONMENTAL 32 to 120 F Convection cooling 21
20. ting unwanted replication of information to each Control 4 Use brackets to address each Control 17 TROUBLESHOOTING PROCEDURE SYMPTOM JOG SLEW light does not light when Control is switched on Motor does not operate Control does not come ON LINE when sent E Control does not co ON LINE when sent E or downloaded pro gram does not operate correctly Your computer does not receive data from the Control Motor does not run when sent commands to index Motor stalls it does not move at all Motor stalls after rotating slightly POSSIBLE CAUSE Blown fuse Limit switch es in closed position RS 232C may not be connected properly Your computer or terminal is not sending upper case letters Your computer may require a high on its Data Set Ready DSR line The 86MM does not implement the RS 232C control lines The RS 232C parameters not set properly Your computer may require a high on its Request To Send RTS line STEPS SEC or ACCEL DECEL settings out of range Inertia in system too high or mechanism has seized Acceleration too high Motor cannot overcome friction or load CORRECTIVE ACTION Check fuse located on back of Control Check limit switches for proper action or try without cables attached Trace Transmitted Data Received Data and Signal Ground wires from your computer to the 86MM Control Transmit only upper case letter
21. ud to 1200 Even parity 7 data bits 2 stop bits and set flow control to None 4 Create a BASIC program that incorporates the following a Open the RS 232 port on the computer with an OPEN COM statement b Print EZT to the 86MM Control to get the Control ON LINE Zero the Absolute Position Register and to Toggle echo off The Z Zeros the Absolute Position Register that would have accumulated steps if the motor had been run in the JOG SLEW mode The echo off T will prevent the computer s receive buffer from filling with unwanted characters C Print the 86MM program to the Control d Wait for the ready gt prompt indicating the 86MM program has finished running e Perform data acquisition or control function for this motor position f If desired request motor position from the 86MM g Print another program to the 86MM NOTE To prevent the new program from being added to the last program in the 86MM send the Clear C command prior to the new program 15 The following example demonstrates a method for programming the 86MM over the RS 232 by sending commands from BASIC 90 REM 86MM 1 BASIC Example Program 95 REM Open RS 232 COM1 1200 Baud control lines disabled ASCII 100 OPEN COM1 1200 E 7 2 CS0 DSO ASC AS 1 105 REM Enable Zero position register Toggle echo off 110 PRINT2H EZT 115 REM Clear any existing program 1000 Steps Sec Index 1500 steps 120 PRINT 1 C S1000 11500 R 130 G
22. vere damage to motor drives 2 Plug Control into 120VAC outlet Input Output I O connections other than motor AC power and limit switches are located at a removable terminal block on the front panel PIN DESCRIPTION 1 2 3 12 RS 232C Interface Signal Gnd Tx Rx Chassis Gnd 300 to 7200 Baud 7 Data bits Even parity 2 Stop bits ASCII 4 5 Remote Run Allows program Run from an external switch or relay 6 7 Reset Can be used as a emergency stop or to synchronize the Control with other equipment 8 9 User Input Used as a Go signal from external equipment Pin 9 is internally held HIGH by 1K ohm resistor connected to 5V 10 11 User Output Signals or actuates external equipment between moves Capable of powering a Solid State or Reed Relay I O qr 3 45V n 1 2 3 4 5 6 7 8 9 10 11 12 bd A d i t 1 d 6 o d SIGNAL ar HASSIS GND IN 10ma GND DATA REMOTE RESET USER max OUT RUN SWITCH INPUT USER SWITCH SWITCH OUTPUT normally 5V RS 232 300 to 7200 Baud SOLID 7 Data bits Even STATE parity 2 Stop RELAY bits ASCII PURPOSE Allows constant program and parameter changes from a computer or P C Provides visual feed back when attached to a terminal see A command to set Baud rate 3 Turn ON the Control by pushing the POWER switch to the right The JOG SLEW light will come ON NOTE Data in memory is retained when the Control is OFF by rechargeable batteries within
23. will dwell for only 4 2 ms before reversing direction 1401 PO I0 POR EXAMPLE 73 9 bytes RAM Repeating Index two directions with wait and output U1 1800 L10 L 2 R U1 Wait for LOW on User Input holding Output LOW while waiting 1800 INDEX 800 steps L10 Do 10 times The actual number of times the program is repeated will be one less the Loop value and two less for any non Loop command directly preceding the Loop L 2 LOOP from beginning with reverse direction R RUN U U U U U U U U U U START END bessere doe ener tuoi ee rape med eed 1 2 3 4 5 6 7 8 9 10 U U U U U U U U U U 13 EXAMPLE 4 20 bytes RAM Homing and looping using loop marker 700 IM 200 L 0 1500 U1 1200 L11 S2000 IO L4 700 STEPS SEC to 700 IM 200 Move to Negative limit INDEX off 200 zero position L 0 Setloop marker to here in program Succeeding Loops will branch to this point 1500 STEPS SEC to 1500 U1 Wait for LOW on User Input Output LOW while waiting 1200 INDEX 200 steps L11 Do 11 times The actual number of times the program is repeated will be one less the Loop value and two less for any non Loop command directly preceding the Loop 2000 STEPS SEC to 2000 10 INDEX to Zero L4 Do 4 times from loop marker LIMIT SWITCH cccccccccccccccocccccc START 9222 foto gt gt gt gt gt gt gt gt H 25225242552242222p2222p2222q4252224252224 i 1 2 3 4 5 6 7 8 9 10 1 a SS boost pp 9 3 3 4 5 5 5 4 5 5 9 5 44 9 9 5 E 9 5
Download Pdf Manuals
Related Search