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Mis Programmer Software Manual

1. 7 What if my PC has no Seral POr uscire rre ie area tree pedo pinte aE aai 7 POG aM cai EO Doom 8 Which Software Version do Have sccsiciscncoscacnadansecandsancadsesatndstnvenaaau lt Saeeanctuansnneasinnetstasanadvangedaanaaanaaarinovanasdeedaaaes 9 EMS OUr Prora eener E EOD 9 COPY OMS acosta an ane aA ee eee ee E ee ee EA 11 Inserting and Deleting Program Steps ccccccsssscccccseseeceeceeccaeeseeeeeseauseeeeseaescseeeeeessaeecesesseaeeeeessaaas nnne nnns 12 NrI MP I oRU cc atraer otitis casadas 12 A 13 Setting the Step Motor Current cccccccccsssseccccceecnseceeecseuseceeseaeueceeeesaeeaaaeeeeseesuaeceessuaaseceessessaaaeeeeessaaeeeeeessaaaes 13 dle Current Reducci n cab 14 Setting the Servo Motor QUITE RETI Ean Ea E dbsicostdaeds AENEA EAEE EEEE EEEE EEEE 14 Microstepping Step Motors Only ooocccccccncoccnnccccnoconcncnononononcnnnnnnnnncnnnnonnnoncnnnnnnnnnrnnnnnnnnnrnnnnnnnnrnnnnnnnnrnnnnrnnennnnns 14 nn mo AA AP 15 COntigure in puts ID ie Nom 16 Juro Y I 16 ouek Decel Ral TM T TU Umm 18 E e e 18 MOON OU BLU SONO I aio droits 19 POU ESTADO heia its 19 Blake Oulput BLU Serve and o VAGO useemutie mas ut aio rosca 19 Ue ci TAGO DO resns e e EE on A 20 NEF U MR RM 22 Front Panel Eror COGS EMITIR rm 23 Using the
2. Input Condition Line H fe 1 C XO c High EN We included the If Input instruction for three reasons L ES open 3 CON e Low 1 It allows you to skip part of your program based on an g C x3 closed OK external condition For example let s say you are building a DS machine and the Mis indexer s task is to feed parts E Econo k S Cancel Normally the indexer waits only a half second before C Flew C x6 feeding the next part because that s how long it takes for C S cewlim AP your saw to cut the part But some times you process parts of a different material that takes longer to cut aluminum vs steel maybe On the days you run steel parts you d like to be able to flip a switch and change the delay between parts to 1 5 seconds This is how you do it The program feeds a part during line 4 Line 5 makes it wait ac ee eps IBS a half second If the switch which you ve connected to Input wait 0 5 seconde DE second 1 is closed low voltage signal state then the program jumps to Step 8 skipping the extra 1 second of delay If the switch is open the delay occurs You could then mark your switch s open circuit position as Steel and the closed hwat seconds position as Aluminum Go to line 4 2 The second reason for including the If Input nstruction is to allow you to change a parameter such as distance or speed based on an input Consider that last example How will the cutoff saw know how
3. Click on a program line icon Select the MMI Prompt instruction Type Machine Running Status OK in the text box Select the Display Text Only option button Click the OK button The message will stay on the LCD until another instruction uses the MMI If you have drive firmware 2 10 or later you can also display an MMI variable on line 3 or on line 4 Just select the variable the Mis Programmer software will determine what type of data it is speed distance or count and apply the proper scaling You can also display a variable and the current repeat loop count For example you may want to display the total counts programmed and the present count To do this check the Display a Variable box select the variable Counti and choose line 3 Later in your program when you set up the Repeat instruction choose the same variable Count1 and select display loop count on MMI line 4 MOONS Mis Programmer Software Manual 27 How to pause until user presses ENTER m MMI Prompt Use the Man Machine Interface Please reload labels then press ENTER Display text only Display text amp wait for enter O Display text wait for yes no amp branch on yes Vest to display on MMI Display text amp get distance Please reload Display text amp get speed labels then press dee ENTER Display text amp get repeat count MMI Menu branch on number keys Display a variable Dist Y ipM i online 4
4. O Alarm History 12 8 Position Limit COW Limit Cw Limit drive overtemp excess regen over voltage under voltage T motor short T bad hall sensor ES bad encoder comm error save Failed timing wiz failed current foldback reserved reserved 3 4 EN E m ae 7 m El HN _ EN E SEE srren annees El a Code 1 is the most recent Il indicates an alarm Clear History MOONS Mis Programmer Software Manual 23 Front Panel Error Codes BL series drives show errors by flashing the power LED Position errors are shown as an SOS pattern For the nautically challenged SOS is an endlessly repeating pattern of three long flashes followed by three short flashes An unexpected encounter with an end of travel limit results in the power LED flashing at a constant rate Subroutine stack errors also use the constant rate error pattern BLU DC servo drives use red and green LEDs to indicate alarm codes In the event of an error the green LED on the main board will flash one or two times followed by a series of red flashes The pattern repeats until the alarm is cleared Code 1 red 1 green 2 red 1 green 2 red 2 green 3 red 1 green 3 red 2 green 4 red 1 green 4 red 2 green 5 red 1 green 5 red 2 green 6 red 1 green 6 red 2 green 7 red 1 green Error position error exceeds fault limit ccw limit cw limit drive internal temp
5. Get speed from MMI Name Speed 1000 inch sec sec 1000 inch sec sec Condition C High Rising Edae te Low Falling Edge C Cw f COW Sensor Input x 235 Senco fein 24 4 beca X cci Minimum Distance based on speed and decel rate 0 125 Safety Distance lf distance exceeds safety limit before sensor is found stop motor and goto line 1 L 0 00005 inch 39 Mis Programmer Software Manual MOON G You ll also need to tell the Mis Indexer which input the sensor is wired to and what input condition to look for The four input conditions are High move until the specified input reaches a high signal state This is the default state of an input if nothing is connected to it Low move until specified input is at a low signal state Rising Edge move until the signal goes from low to high This is similar to the high condition but the difference is important Let s say that you have a sensor wired to the Mis Indexer that will go high when you want motion to stop However the sensor signal stays high after motion is complete going low sometime later This often happens in labeling applications where there isn t much space on the roll between labels If you choose high as your input condition the Mis Indexer will complete the motion then refuse to start again because the input signal is still high If you choose rising edge the Mis Indexer would proceed with the in
6. Interrupt If your drive has firmware version 2 08 or later you can assign one of the inputs to interrupt your program and branch no matter what your program is doing For example your Mis drive may be part of a larger material handling system lf something downstream of the Mis drive cannot handle more product perhaps a conveyer jammed a box is full and has not been removed or a labeler has run out of labels or ink you may want to command the Mis drive to stop what it is doing and wait for the condition to clear Interrupts are set in the Configure Inputs dialog as shown above The first step is easy just choose an input and a condition for the interrupt If a sensor closes when a fault occurs and that sensor is connected to input 3 choose input 3 as the input and low closed as the condition Then select Branch on interrupt and choose a line number That s where you will put instructions to handle the interrupt recovery Generally this means waiting for the interrupt condition to clear a Wait Input instruction can do that and then returning from the interrupt This is where is gets a little tricky so please read carefully Two Types of Interrupts The Mis drives support two different kinds of interrupts Call interrupts and Go To interrupts You ll set the Configure Inputs dialog the same way for both The distinction is in the way you build your interrupt handler the instruction that you place at the interr
7. MMI Jogging Allow jogging on MMI arrow keys 4 ccw cw e Select the MMI Prompt instruction e ype Please reload labels then press ENTER in the text box e Select the Display text wait for enter option button e If you want the user to be able to jog the motor using the MMI arrow keys check the box marked Allow jogging on MMI arrow keys e Click OK Multiple Jog Speeds Drive firmware version 2 08 and later allows you to choose from multiple jog speeds You can still use the global jog speed as specified on the main screen You can also select a fixed local jog speed that can be unique to each Wait Input instruction This allows you to build a program with fast rapid traverse and slow creep jog speeds You can also select an MMI variable as the speed This in combination with an MMI Speed instruction allows the operator of your system to enter one or more jog speeds Display Variable If you have drive firmware 2 10 or later you can also display an MMI variable on line 3 or on line 4 Just select the variable the Mis Programmer software will determine what type of data it is Speed distance or count and apply the proper scaling 28 Mis Programmer Software Manual MOON G How to let the user make a decision MMI branching Him Use the Man Machine Interface OK jua do is C Display text only HI Cancel YES or NO CDi i Display text amp watt for enter Text
8. Mis Programmer Software Manual 77 Servo Monitor Actual Speed Target Soeed Command Current Monitor 1 Drive Status ServoOn E Position Error Y 12 SINE Sampling 5 Fault E In Position C Note By clicking on the Encoder Count you PAS can return the value to zero Actual Speed A 4 14 5ps Moving LJ Jogging LJ Actual Current Supply Voltage Encoder Count Alarm Code Ain Voltage Monitor 2 Monitor 3 Stopping Host Terminal Wait Input L The Host Language is not used with the Mis Prog Actual Current 0 06 A Saving rammer However in special situations our tech Alarm E nical support staff may ask you to bring up the Input Status EE Homing O terminal for diagnostic purposes low D WI Wait Time C closed Ginna Wizard 1 Wizard 2 Output Status BL Tuning Tutorial a A Now that we ve reviewed the basics of the PID closed 2 2 O control algorithm and the sampling scope it s time to learn how to tune a servo system Before you begin make sure that the motor is connected to your load The whole point of tuning a servo is to get the best PID parameters for your application You ll also need to have current hall timing and encoder resolution correctly specified If you have not already done this please do so now We ve included set up files for all of our motors If you are using an Applied Motion motor open the set up file for that motor now That will corr
9. Wal T Select an MMI Prompt instruction Type Enter part length in inches in the text box Select the option button Display text and get distance Enter a scale factor or if you re using User Defined Units select user defined units MMI entries will be in inch for automatic scaling e Enter upper and lower limits in this example we want to allow the operator to enter distances between 0 5 and 12 inches e Select an MMI variable to store the distance in we chose Dist this time but any of the eight MMI variables is acceptable for storing any type of data e Later in your program you ll need a Feed instruction Feed to Length Feed Return etc that uses the Dist1 variable for distance MOONS Mis Programmer Software Manual 29 How to get a speed from the user MHI Prompt Lu Enter the flow rate Ea Use the Man Machine Interface DK GE 1 UN NN in gallons minute A H C Display text only F Cancel SE to display on MMI C Display text amp wait for enter C Display text wait for yes no amp branch on yes x Enter the flow rate C z Display text amp get distance in gallons minute gpn Display text amp get speed F Scaling FMI variable variable t multiply MHI entries by 10 to get rev sec E 5 6 C user defined units MHI entries will be in inch sec Save data as ir T Spee Limit S lia Ea
10. 2007 3 14 Mis Programmer Software Manual MOON Configure 140 Tuning Samp z A co Simple c Stiffness 2550 Wi Dampingl 3240 Sample Move Sample Once for MS1240MI MS3540MI MS7080MI Plat Actual Speed Ol Plat Target Speed y o Distance 1 ev Max Speed 20000 1ev sec Accel Decel 200 rev s s Dir cw C cow altemate Sample Continuously Li Si Programmer Y2 4 3 untitled pLuac si y MooNs mama S a Continuous Current Arms 5 00 ME E Peak Current Arms 15 00 et A e A A TA AA Servo Tuning p Alam Histoy T Jog Parameters Speed 4 000 ev sec KIS y Accel 25 0 tev s s E M port EE EE M M S IC sx TT A IE Download Upload Execute Save TUNI Quit name rev steps rev o0 LI v Auto Scale Now Description ait for Input 1 low 5 0 rev 25 0 ips Set Output Y1 low pulse 200 msec fotones MM Backdrop EEG d IM Thick Lines MOONS Mis Programmer Software Manual MOON Ss MOON Ss Mis Programmer Software Manual 3 Contents OU SE A ERE EE D DD A T A A E P E E E A E 5 Installing the Programming Software cccccccccssesseecceeeeeeeeeeeeaeeeeeeeeeeeeeeeeeeeee ceeeeeeseaeeeseeeeeeeessseaeasscsseeeeeeeeessaaaaeses 6 Connecting tO your 0
11. In order to visually see the effect this will have on Position Error make sure the Autoscale Check Box at the bottom of the window is cleared Now click the Start button and observe the results You should notice a reduction in the Position Error the peak values The KAff term has a somewhat proportional affect on the Position error If the error was reduced to half by setting KAff to 3500 then doubling it to 7000 should eliminate the rest of the error If not you can estimate the next setting Divide the previous error by the difference in error value then multiply this times the KAff value KAff previous error delta error KAff KAff 220 90 3500 New KAff 8555 Remember this is an estimation If after doing this the Position Error goes negative during acceleration we went too far Adjust the value in smaller amounts to get as near zero error as possible At any time you can click the Now button near the Auto Scale to zoom in on the new Position Error value Mis Programmer Software Manual 85 KAff 3500 KAff 8555 You may have also noticed that the over shoot of the Max Speed and Stopping is now reduced This is because the servo control is having to do less work to maintain good control 7 Finishing off with the KI parameter The final value to set is the Integral Gain KIY The KI value works to minimize steady state position error This is most often needed to insure very exact position
12. Microstep Hesolution Microstep Resolution The first thing you should do is enter the counts rev of the encoder Many encoders are specified in lines Since the Mis drives use X4 quadrature decoding the counts rev will always be 4 times the number of lines For example the popular U S Digital model E2 1000 250 H encoder has 1000 lines so you would enter O 200 steps rev Full C 400 steps rev Half C 2000 steps rev 1 10 O 5000 steps rev 1 25 O 10 000 steps rev 1 50 O 12 800 steps rev 1 64 4000 counts rev 1000 lines C 18 000 steps rev 02 deg 20 000 steps rev 1 100 C 21 500 steps rev 1 arc mir O 25 000 steps rev 1 125 O 25 400steps rev 1 127 O 25 600 steps rev 1 128 C 36 000 steps rev 01 deg O 50 000 steps rev 1 250 O 50 800 steps rev 1 254 Use encoder to verify all moves If error exceeds 1o counts 50 steps Ignore the error t Correct the error After 20 tries qo to line 25 Correction Move Speed 5 00000 Rev sec 4000 counts You can use any encoder you want as long as your selection of motor steps rev is evenly divisible by the counts rev In the dialog on the left the system is set for 20 000 steps rev and 4000 counts rev 20 000 4000 5 a whole number so this combination is okay You could also have selected 36 000 steps rev with this encoder but not 12 800 Accel 100 Hev s s Custom 8000 steps rev Ne
13. You ll see the execute box in the ala AS prenet middle of the screen If your indexer drive has firmware prior 3 low closed low cased Disabled to 1 40 you l see a simpler execute box than the one shown here Older drives are not able to send real time status IH1 cops O carm j IH2 fic xi nim G 295 7 information to the PC and cannot respond to advanced IH3 CO x2 OuTs commands like Pause and Single Step IH 4 Caco x3 DUT G Wd Ae de M 2 Every second the motor should move one revolution E Cwjag i i N foaim CQO xe ovs A Assuming that you have left the resolution setting at the default 20 000 steps rev lf you have a servo drive then INalccilim CAC XT 20 000 steps is probably more than one revolution Not so exciting perhaps but you have to admit it was easy to do More complex programs are entered in the same manner you just enter more lines and you ll be more concerned about the exact parameters and their importance in your application We ve designed the Mis Indexer to be easy and fun to use If you can think of anything we ve forgotten please give us a call or send a fax We continuously improve our products and are always developing new ones based on what we ve learned from you our customer Note if you need to edit an instruction thats already in your program and wish to go airectly to the appropriate dialog box hold down the shif
14. inch sec Cancel OK Cancel Get speed from MHI Name Speed 2 100 0 Inch s s B m gt 100 0 mchtz s MOONS Mis Programmer Software Manual 41 Set Abs Position This instruction allows you to define the present motor position as any absolute position you like The Seek Home instruction automatically clears the absolute position counter when it s finished defining the home position as 0 But you may want something else Perhaps you want to think of the home sensor as being the 8 inch position or 90 degrees or whatever Simply put a Set Position instruction after the Seek Home instruction or anywhere else in your program where you want to define the absolute position Set Position X 1224 Define the present position ifor ABS moves c 6 inch Cancel 42 Mis Programmer Software Manual MOON Ss T Lj Save Abs Position This instruction allows you to save the present absolute position to an MMI variable This is useful if you want an operator to visually position your load and then be able to return to that position later in your program For a material handling application you could create a program that uses the Wait Input or Hand Wheel commands to allow the operator to move your load into position The operator would then press an ENTER button to exit the Wait Input or Hand Wheel instruction If the next instruction is Save Abs Position the load position that the operator carefully ob
15. 39 Feed to Sensor amp Return The Feed to Sensor Return instruction is just like Feed to Sensor but after the move the motor returns to the starting point Most of the parameters are the same as Feed to Sensor but two new ones are added the return speed and the return delay Feed to Sensor amp Return Move Motor Fixed Distance Past Sensor amp Return Distance SE 6000 Steps beyond T Get distance from MMI OR 6000 sensor Name Dist Cancel Speed Direction 10 00000 Fev sec Get speed from MMI v Cy C COW Name Speed Y I 100 Rev sec sec 190 Rev sec sec m s a 3 W 5 00000 Rev sec Return aj 2 00 Seconds Delay Sensor Input Condition Minimum Distance based on fed 3 ecc Erica iaa t Rising Edge speed and decel rate C2 4 Bb WII facet fe Low Falling Edge 5263 One useful application of Feed to Sensor amp Return is a variable distance application If we were building a machine to cut fabric of different sizes and the Mis Indexer was driving the cutoff knife we might want to set a sensor at the end of the cut off stroke That way we can manually adjust for the width of material we happen to be using on a particular day without having to reprogram the Mis Indexer Each time it s triggered the indexer drive would feed until the knife trips the sensor then return to the starting point You should beware of one thing the maximum dis
16. 8 Et Upper limit 5 rev sec Select an MMI Prompt instruction Type Enter the flow rate in gallons minute in the text box Select the option button Display text and get speed Enter a scale factor in this example one gallon minute equals 10 revolutions sec of the motor Enter upper and lower limits in this example we want to allow the operator to enter flow rates between 1 and 5 gal min Select an MMI variable to store the speed in we chose Speed 1 e Later in your program you ll need a Feed instruction Feed to Length Feed Return etc that uses the Speed 1 variable for speed How to get a repeat count from the user MHI Prompt H e ow many parts Ea Use the Man Machine Interface OK should d run H t Display text only Cancel t Display text amp wait for enter 7 Lm ta display on MMI 7 Display text wait for yes no amp branch on yes How many parts T Display text amp get distance shorii qe pun 7 Display text amp get speed f Display text amp get repeat count Hagae FFF MMI variable vanable ltiply input data by 10 Multiply input data by data e Saba Count Upper limit 500 Lower limit E Py e Select an MMI Prompt instruction e Type How many parts should we run in the text box e Select the option button Display text and get repeat count e Enter upper and lower limits in this example we
17. Execute CC gs C 25x t 50 100 Sage Open 20000 steps rev 4000 count enc Change Print Quit Jog Parameters Speed 4 000 inchfsec Y User Units In our example if a position error occurs the controller tries to correct it up to 20 times then gives up and jumps to line 10 On line 10 we have an MMI Prompt telling the operator to fix the problem OO J Oo m 0 nm TEE qe nene finon Accel 250 inch s s steps inch BICI La foe F Use Jog Cw as Input 5 Use Jog COW as Input 6 At Limits Switches will be COM port ES 9 FA is se you can specify the speed and acceleration rate to be used by the corrective move in the microstep encoder dialog These values are not used by older firmware versions those drives will use the same speed and acceleration rate as the move that failed Corrective move speed and acceleration rate For firmware version 2 08 and later Once the error branch takes place the autocorrection process is turned off until you branch again by using a Go To or If Input instruction Thus the controller will stop trying to make corrective moves while in your error recovery routine and will automatically resume once you ve fixed the problem and jumped back If you have a 3540i drive and you aren t using an encoder select the option Ignore the error That will turn off the autocorrection and error branching If you are using the encoder select Correct the err
18. and deceleration phase It should be set in direct proportion to the load inertia The position error display of the scope can help you correctly set the acceleration feedforward Filters The BLU servos provide three control loop filters for special situations The is the PID Output Filter If your system is subject to mechanical resonance below the natural frequency of your system so that the PID output does not If you have a large inertial load you ll probably find that you need to set the and to get good response Then you will want to increase the damping to likely to be so tight that if you have a springy all metal coupling it may buzz or squawk Reducing the frequency of the velocity feedback and derivative filters can remove this Simple Advanced Filters objectionable sound PID out 1000 Yel FE 4000 Derv 4000 1 1 1 I 1 I 1 I l l All values in Hertz Monitor One of the buttons near the top of the Quick Tuner screen is labelled Monitor If you are using a BLu servo drive you can click on it to reveal the Monitor panel Designed to assist with commissioning and fault finding this configurable screen will display all the condition of all the I O and drive status outputs 76 Mis Programmer Software Manual MOON G The monitor also features three configurable displays that can show live information about the drive Each can be configured to display one of the following parameters MOONS
19. and produces a torque that is added to the torque command from the P term T KPUn KI U In our example the P term allowed the motor to reach equilibrium at a position where the applied torque from your hand equaled the torque of the P term Thus the error was not zero But the term will keep adding up that error and continue to increase the torque until the motor truly returns to the target position D The Derivative So far we ve just talked about a motor that is disturbed when standing still But the objective of motion control is to get that motor moving on it s own The problem with electric motors is that they tend to be very springy a condition known as underdampeo If you tried to run a motor with a pure PI controller the motor would overreact to small errors creating ever larger errors ultimately becoming unstable lf you knew what the 72 Mis Programmer Software Manual MOON G motor was going to do before it did it you could prevent this For those of you who studied calculus you may recall that you can predict what something is going to do by it s rate of change or derivative MOONS Mis Programmer Software Manual 73 If you are driving your car into your garage do you wait until you are in fully in the garage before hitting the brakes That would be a bad idea for you your car and the back wall of the garage Instead most people slow down as they see the distance between them and their objective ge
20. directly to us from the programming software You ll have to enter our fax number at some point which is 831 761 6544 The Quit button exits the Mis Programmer MOONS Encoder Feedback 3540i with Encoder Option Board Mis Programmer Software Manual 61 Most step motor applications run open loop where a motor position is commanded and the controller assumes that the motor obeyed If the system is designed with a reasonable amount of torque margin and nothing blocks the motor s path this works perfectly However some applications require feedback from an encoder to verify that the commanded move has been executed correctly For example if you are processing very expensive parts it s worth spending a little extra money on your motion control hardware so that you don t destroy the parts if something goes wrong In other cases it is desirable to get more accurate positioning by using encoder feedback to compensate for slight errors in the motor position and load linkage To support such applications the 3540i drive that can accept quadrature encoder input with the help of the 1000 175 encoder option board We can also provide a motor with an encoder mounted on the back If you select the 3540i drive and then open the steps rev dialog you can tell the Mis Programmer software what kind of encoder you have and what to do cen about any errors that occur Encoder Feedback Available with 350401 with Encoder Option Board
21. exchanging programs with the Mis Indexer the programming software can also save amp load programs using your hard drive and can print hard copies of programs using your printer The Save button lets you save a program to the hard drive A file dialog box will ask you to pick a name for the program You can enter up to 8 characters not including the suffix SI5 If you don t enter a suffix the software will add SI5 to your file name automatically If you type a different suffix it will automatically change to SI5 The characters in the filename must conform to the usual DOS Windows 3 1 rules The safest approach is to use only letters and numbers in your filename and to avoid special characters like or The Open button provides you with a dialog box showing all the SI5 files on your drive Click to select one then click OK to load it Several example programs are installed with your programming software It s a good idea to load some of the examples and look at them they may help you with your own application Printlets you make a hard copy of your program on any printer that s attached to your computer and installed in Windows Print uses the standard Windows printer dialog allowing you to specify which printer to use if you have more than one If you call for help we may ask you to print your program and fax it to us If you have a fax modem that acts as a printer you can use it to fax the program
22. fast to go when set the switch for Aluminum or Steel Well we could wire the switch that controls the movement of the saw to one of the general purpose inputs This time we write the program as shown below IF Input 1 low go to line E When the indexer gets to Step 4 it will look at the If Input 1 low go to line Steel Aluminum switch If the signal is low Aluminum it Cw 1000 steps ls jumps to the Feed to Length program at Step 7 which Cw 1000 steps 1 ps moves the saw at 3 revolutions per second If the switch is Go to line 8 high the program does not jump but instead executes the Feed to Length at Step 5 which feeds at 1 0 rev sec Then Cw 1000 steps 3 rps the Mis Indexer jumps past the second Feed because of the Go To instruction in Step 5 Don t forget the Go To or you could end up moving the saw twice 3 The final reason we ve given you the power of If Input is so you can have multiple programs within your 100 line program space Perhaps what you want your system to do is two completely different things depending on an input Lets say that each of these tasks requires 4 instructions This is what you do Mis Programmer Software Manual 93 IF Input z high go to line 11 bu First program goes here Go ta line 3 Jur E 2nd program goes here etc etc etc Go to line 3 Depending on the state of Input 2 the program will either execute lines 4 9 or lines 11 15 Either way the
23. for the interrupt Quick Decel Rate When something unexpected happens you usually want to stop the motor quickly The Quick Decel rate is used when a move is interrupted by an end of travel limit and when an interrupt becomes active It is also used for servo faults and when you click the Stop button on the Mis Programmer s execution status box If you set the Quick Decel rate too high a step motor could break lose and coast to a stop though that usually won t hap pen unless you have a high inertia load Servos are so responsive that a very high decel rate could cause damage to the mechanics of your system Limit Switches The Configure Inputs dialog of the Mis Programmer software contains a panel for selecting the type of limit switches or sensors that you have If your switches will close when the motor reaches a limit select the option marked closed This is often referred to as a normaly open switch If your switches are closed when the motor is not at a limit and will open when a limit is reached select open This type of switch is frequently called normaly closed If you re not using limit switches in your application you can select not used making the cw and ccw limit inputs available as inputs 7 and 8 for Wait Input and Feed to Sensor instructions The limit inputs are always available for If Input instructions Earlier firmware versions stop the motor instantly with no decel ramp and always halt the program The red Po
24. gain makes a huge difference in the response of this system It is now tight and well damped If our application required higher speeds or acceleration rates it would be a good idea to test their effect now A little fine tuning could be needed At this point you might ask yourself why can t use these parameters for any system Let s try a quick experiment removing the load inertia Do you see some small oscillations in Trace 5 They re at a higher frequency than the oscillations we saw before That s because the problem now is not too little gain but too much The system reacts so quickly to position errors that it always overcompensates This is called dithering It is a source of position and velocity error and makes an annoying sound This is just a small example of what can happen if you make a large change to your system after tuning it 80 Mis Programmer Software Manual MOON G Despite the fact that we did encounter some dithering when the load was removed it is still very stable over a load range of 164 to 900 g cm2 That robustness combined with its simplicity make the PID algorithm ideal for servo motor applications o0 far we ve only sampled the target speed and actual speed You can also look at current actual position and position error Traces 3A and 4A depict position error for the moves shown in Traces 3 and 4 It is no surprise having already seen the speed ripple in Trace 3 to find high position error too The low
25. gt Reset Repeat Loop on that starts on line E 3 Note you only need to use this instruction if 4 your program branches out of a loop using an 5 IF Input or MMI Branch instruction 6 C Reset Interrupt Cancel 7 iv Also reset call stack g refilling and the loop will automatically fill the remaining 9 40 bottles 10 On the other hand what if you are drilling holes in parts 11 and each part gets five holes The motor is used to 12 advance the part by 1 inch for each hole So you have a 13 repeat loop with a count of 5 Along comes a bad part detected after the 3rd hole is drilled You exit the loop 14 with 2 counts remaining 15 IR epeat 5 times ACS ladvance the part 1 inch Ew 1 0 inch 5 0 ips if part is bad spit it out If Input 2 low go to line 12 x signal drill set Output 1 low pulse 500 msec x7 wait for drill to finish wait for Input 1 Falling edge End Repeat Loop AS advance part 10 inches Cw 10 0 inch 5 0 ips IR eset repeat loop on line 1 5 oto line 1 If you simply reenter the loop again the next part will only get two holes drilled into it What you really want is for the loop to reset itself For this you must use the Reset Repeat Loop instruction as shown above Reset Interrupt Option This option is used for re enabling an interrupt as you exit your interrupt handling routine It is only used for a Go To type interrupt For a Call Return interrupt use the Return from
26. in doubt choose 20000 steps rev The motor will run smoother and more quietly at 20000 steps rev than at lower resolutions like 2000 The microstep resolution of the Mis Indexer is set using the programming software The resolution appears at all times in the Steps revolution panel on the left side of the main window To change the resolution click on the Change button and you ll see a dialog box with option buttons for each resolution Click the one you want then click on the OK button lf you change the step resolution and there are motion instructions in your program the software will warn you that the distances may need to be changed because they are in steps lt also offers to automatically scale the distances so that the distance in revolutions remains the same Note If you are using an Mis 100 indexer you must also set the step resolution at the drive so that it matches the Mis Programmer setting Jogging Two of the Mis Indexer input terminals are provided for jogging the motor If the Mis Indexer is connected to a PC with the programming software running the jog inputs will function under two conditions Jog Parameters Speed 4000 Rev sec pi gt Accel 25 Hewv s s e ifthe program is not executing while connected to the PC e ifthe program is executing a Wait Input command If the Mis Indexer is operating in stand alone mode i e without a computer attached then the jog inputs work when the program is i
27. inertia Download Upload Execute We can t stress enough the wisdom in using one of the recommended motors We re not just trying to make money here we want your application to be successful and the odds of that are highest when you have a high quality motor whose torque rotor inertia and harmonic waveform content are precisely known Furthermore our motors include shielded cables to reduce electrical emissions and enhance safety and come with prewired mating connectors which further reduces the risk of error Having stated our case if you still insist on using a different motor it is possible First you ll need some detailed information from the manufac turer including electrical specification holding torque rated current and rotor inertia plus a wiring diagram And make sure the motor is constructed from high quality magnetic materials that are suitable for a operation with 160 volt Standard motor IHT23 530 Lancel Ur busses such as that of the E STAC6 C Custom motor Define Custom Mota Help ing With this information in Maximum Current rme Motor Specs hand choose the custom motor option and dick on 1 00 amps Holding Torque 118 ozin el iis Custom bipes b Rated Current iso A utton You can enter the current torque and inertia i Fiotor Inertia l 300 gem values into the Add New smoothing Gain 500 Motor dialog For best Phase 100 More smoothness of motion Idle C
28. jumpers inside Just about everything you want the Mis to do is controlled by software The Mis Programmer software that comes with the drive allows you to set the motor current the step resolution jogging parameters and limit switch polarity It also helps you write complex motion control and machine interaction programs Note If you are using a BL or BLU servo drive and it hasn t been configured and tuned yet you should skip ahead to the Servo Tuning section and come back here when you re done The Mis indexer has a user program capacity of 100 lines In this space you can design one or more motion and machine control programs More than 20 commands or instructions are available for this purpose Six of the instructions involve pure motion Feed to Length Feed amp Set Output and Feed amp Return are fixed distance moves Feed to Position is a move to an absolute position Feed to Sensor and Feed to Sensor amp Return move relative to a sensor that is wired to one of the inputs Seek Home searches for a home sensor bouncing off the limits if necessary to find it Two instructions handle timing Wait Time which causes your program to stop for a specified amount of time Wait Input waits for one of the inputs to reach a specified state before continuing the program Five instructions control program flow Go To makes the program jump to a particular line f Input jumps to a line if one of the inputs meets a specified condit
29. left or right Precise adjustments can be made by clicking on the arrows at each end of the scroll bar Note current setting only applies to Mis indexers with built in drives like the Mis5580 and 7080i The Mis 100 does not have an internal motor driver so the current setting has no effect on the Mis 100 14 Mis Programmer Software Manual MOON Ss Idle Current Reduction Your drive is equipped with a feature that automatically reduces the motor current anytime the motor is not moving This reduces motor and drive heating For example setting the idle current to 50 reduces drive heating by about 50 and lowers motor heating by 75 This feature can be set at any of four levels 0 25 50 and 100 The 100 setting is useful when a high holding torque is required as the drive does reduce the current at all The 0 setting is for applications in which no holding torque is required To minimize motor and drive heating we highly recommend that you use the idle current reduction feature unless your application strictly forbids it The idle current setting is chosen using the option buttons in the motor current panel Setting the Servo Motor Current Continuous Current Arms The drive current must be set to match the motor First determine the 100 E E d 3d 4o O P rated current for the motor If you are using one of the motors recommended in the User s Manual for your Mis indexer drive the User s Manual lists the ra
30. real time IN6 ccwjog ui uw E Y2 IN we Ww X5 ccwlm Y3 Step executes the next line of ING gt 27 Acwlim the program then automatically pauses it again Pressing Run makes the Fert 5 n wr program run again from where Run Pause Step you paused it Reset sends program execution back to line 1 MOONS Mis Programmer Software Manual 99 If you have drive firmware 2 22 or later and Mis Programmer 2 5 13 or later the I O status is real time when your program is running and when it is paused The STAC6 Mis BLUAC5 Mis and BLUDC Mis drives with firmware 2 22 or later provide a real time view of the drive s status flags as shown below You can also monitor one internal variable of your choice including motor position encoder position position error motor speed current drive temperature supply voltage and alarm code This feature requires Mis Programmer 2 5 13 or later m Execute Input Status cp Output Status Interupt r Drive Status 9 low closed low closed Disabled Enabled Sampling 4 INT e 3 x0 OUT Fault IN2 a xi OUTS n Position 3 IN3 a 2 OUTS l 1 Moving w IN4 9 9 3 3 DUT4 dogging IN5 cwjon W uw x4 7 Stopping Y ING comjog 2 e 5 Y2 Wait Input Y IN OP 6iccwlm Y3 Alam a INB dd cwlm dm G Monitar E LL LE A NE EMI A 213029 60 Mis Programmer Software Manual MOON G Save Open Print amp Quit In addition to
31. to clear an alarm or to clear the entire history Lead angle deg 60 e The alarms dialog also allows you to dedicate output Y3 to the task of 45 signalling a fault condition to other 3n electronic devices You can also choose to branch to a particular branch of your program should a fault occur Alarm History ee motor stall T CCW Limit NI Cw Limit B drive overtemp Cain excess regen T T T T EF T T S over voltage E 10 0050 004 s 1000 es 00 under voltage m Tn Ease E over curent TTT T open motor winding ae eee bad encoder tana Clear Alarm commer TT TT save failed pss 10 E 1 E Clear Histor reserved Ip ESTE Bees motor resistance EHR ETEN reserved T T T T TTE TES reserved TTT Bi indicates an alarm Cade 1 is the most recent 34 557 H HEN Bilis Bua Drive Fault lf the drive faults f close fault output 1 3 stop mation halt progam t open fault output 3 fe neither stop motion branch to line 1 22 Servo Faults If something goes wrong with your servo system you re going to want to know about it If you are still working in development mode i e the drive is still connected to your PC with the Mis Programmer software running when a fault occurs youll get an on screen message If you have a BLU servo drive with the latest firmware you ll see a dialog like the one to the right detailing any and all errors and providing you with an option to clear the faul
32. you can reboot and operate Windows normally The programming software will install more easily and run much faster if you have more memory Several example programs are instaled with your programming software It s a good idea to load some of the examples and look at them they may help you with your own application Display Settings The Mis Programmer works well with any display resolution At 640 x 480 the Mis Programmer will exactly fill your screen At higher resolutions like 800 x 600 or 1024 x 768 there will be room left over on the screen for other applications or to expand the Mis Programmer window so you can see more program lines 16 bit color setting or higher is recommended In formation in the program window wil not display correctly if your display is set for Large Fonts Please use the Small Fonts setting when running the Mis Programmer software The display settings are found under Start Settings Control Panels Connecting to your PC Locate your computer within 6 feet of the Mis hardware Your Mis product was shipped with a black adapter plug connected to a telephone line cord Plug the large end into the COM1 serial port of your PC and the other end into your indexer Secure the adapter with the screws on the sides If the COM1 port on your PC is already used by something else you may use the COM2 port for the Mis Indexer On some PCs COM2 will have a 25 pin connector that does not fit the blac
33. you have specified If the home sensor is found the motor decelerates to a stop then backs up to the sensor If a limit is encountered before the home sensor is found the Mis Indexer reverses the direction of motion and keeps looking for the home sensor You may have noticed a box in the lower right hand corner of the Seek Home dialog box This tells you how many steps the Mis Indexer needs to decelerate to a stop The Required Clearance box tells you how much distance you must allow between the limit sensors and any hard stop based on the speed and decel rate that you ve set If you don t allow enough clearance the load may crash into something as it decelerates past a limit while seeking home The higher the speed the longer it will take to stop If the decel rate is increased then the motor can stop in fewer steps If you have a BLU Mis drive you will see more input choices including X0 the encoder index With Applied Motion motors XO reads high when you are on the index and low everywhere else 44 Mis Programmer Software Manual MOON Ss Wait Time This is the simplest instruction Just enter an amount of time and the Mis Indexer will pause for that time o Walta Fixed Amount of Time 1 40 Seconds OF 3 gt Cancel before proceeding to the next line in the program The range is 0 01 to 300 seconds What you want to pause for more than 300 seconds Did hear you say 30 minutes Okay we can do that That s
34. you specify You can put an error recovery routine at the branch line number to handle the limit problem Interrupt and Limit Branch MOONS Mis Programmer Software Manual 19 If you have chosen branch on interrupt and branch on limit in the Configure Inputs dialog both events will branch to the same program line You may need to distinguish between the two events If you are using the Call Return style of interrupt then you must have a Return from Interrupt instruction in your interrupt handler But you must not allow the limit branch to encounter that instruction or you will underf low the call stack You can use an If Input instruction to detect the limit and branch to a different set of instructions If your limit condition is low at the limit then use If Input 7 or 8 low If your limit condition is high at the limit then use If Input 7 or 8 high to detect the limit in your handler Motion Output BLU Servo If you select this function output Y2 will automatically close when the motor is at or near its target position You define the meaning of near by entering a tolerance in encoder counts The target position changes from the present position to the end of move position as soon as a new move begins The motion output will not close in the middle of a move even if the servo position error is very low The motion output is designed to tell an other piece of equipment that you ve arrived Motion Out
35. 0 rps 38 Gi dk Once you ve chosen a sample move click on Start The motor should move then the drive will send some data back to the PC and you ll see a plot of speed versus time No doubt the actual speed won t exactly match the target speed Our objective is to get it close enough for our needs Let s try an example Trace 1 shows the effects of KP 1 000 Kl 5 and KD 4000 on a motor with a load inertia of 744 g cm2 4 5 times that of the motor The motor oscillates about the target speed never settling in The system is barely stable We need more damping so let s increase D Trace 2 shows the effects of D 8000 The motor settles out more quickly now and is stable for this move It does overshoot a little when it reaches speed and again when stopping so something is still wrong Let s try a more aggressive move Increase the sample move speed to 10 rev sec and acceleration to 250 Trace 3 shows the results The overshoot is large This time it s not because D is too low but because P is too low We don t have enough gain to respond to the demands of a high acceleration rate with high load inertia Trace 4 indicates the effect of increasing P to 4000 Note tried several values between 1000 and 4000 It s never a good idea to change a parameter by more than 50 between samples because once the system goes totally unstable things can get ugly You might even break something MOONS Mis Programmer Software Manual 79 The increase P
36. 00 steps rev Hall each full step into 254 microsteps providing 50 800 steps per revolution C 2000 stens ree 11 100 when using a 1 8 motor z ii ie Other Mis products may offer a different selection of resolutions than the Pe cesar ive ones shown here The Mis Programmer automatically presents the Co 12 800 steos rew 1 454 resolutions that are available on your hardware if the model number of your 18 000 stegs rev LUZ deg indexer drive is shown in the drive box near the top of the screen E 20 000 steos rey 1 4100 O 21 600 steps rew 1 arc mir In addition to providing precise positioning and smooth motion microstep 8 25 000 steps rev 1 125 drives can be used for motion conversion between different units The 25 400 O 25 4DDsteps re 17127 step rev setting is provided as a means of converting motion from metric to English There are 25 4 mm per inch Other settings provide step angles that are decimal degrees 36 000 steps rev makes the motor take 0 01 steps Some settings are used with lead screws When the drive is set to 2000 steps rev and used with a 5 pitch lead screw you get 0001 inches step C 25 600 steos rey 1 41281 C 36 000 etepe rey 01 deg C 50 000 stopa rev 1 4250 50 800 stegs res 1 4254 MOONS Mis Programmer Software Manual 15 The selection of microstep resolution can be important if you are using the optional MMI and plan to scale the distances or speeds that the user enters If
37. 1 and choose Run from the Start menu Type the command A setup The automatic installer will take over from there You can also download our software and manuals from www moons com cn If you are unable to make your own diskettes you may call the factory and request a set If you encounter errors during installation it is usually due to a lack of memory or conflicts with other programs that are already running on your PC If you experience an error while installing the programming software quit all other Windows applications and try again Holding down the ALT key and pressing TAB will show you all the programs currently running on your PC Laptop computers generally present the biggest challenge to installation as they often come pre loaded with programs that automatically execute on start up such as Microsoft Office and battery managers Furthermore laptops usually have the least memory Programming Notes 1 Always apply power to Mis hardware after the Mis Programmer software Is running on your PC 2 When downloading to the indexer drive make sure the JOG inputs are not activated If in doubt remove the JOG CW and JOG CCW connector plug MOON Ss Mis Programmer Software Manual 7 If all else fails restart your computer and press the F8 key when you see the message Starting Windows Windows will start in Safe Mode which generally solves the installation problem Once you have successfully installed the software
38. Indexer has an acceleration range of 1 to 3000 revs sec sec Decel this is the rate at which the drive decelerates to a stop at the end of the move It s also the rate at which the motor reduces speed if you choose that option The range is the same as for acceleration Because friction encourages a motor to stop you can usually set decel higher than accel Direction you can choose cw or ccw as the direction for the move Just dot the appropriate circle by clicking on it Analysis Click on this tab to see a speed vs time graph of your move It also provides some useful statistics about the move such as the duration of the move and the portion of time spent accelerating and decelerating You can also select a plot of speed vs distance Feed to Lenath Move the Motor a Fixed Distance Cancel OK Parameters time inch Ace 0 100 05 aSped 0350 35 Decel 0 090 0 495 aSpeed2 0 500 05 Final Decel 0 010 0 005 Total 1 050 50 Graph speed vs time speed vs distance Peak Speed 10 00000 inch sec i a c i a c e a E h A 8 e b MOONS Mis Programmer Software Manual 35 Feed amp Set Output The Feed and Set Output instruction is provided for two reasons First it allows you to combine a Feed to Length instruction with a Set Output instruction making your program shorter Feed to Length and Set Output are frequently used in combination beca
39. Interrupt instruction to re enable MOONS Set Output set Output Set an Output Terminal Output 2a TA Pulse Width Condition O High High Pulse Low Low Pulse milliseconds Mis Programmer Software Manual 91 Earlier we discussed the Wait Input instruction as a way to make the Mis Indexer wait for external events to happen before proceeding with the program Sometimes you want the opposite the Mis Indexer should tell other equipment when to proceed The Set Output command lets you pick one of the three outputs seven on a BLU Mis drive and put a voltage signal on it For a detailed description of the circuitry and connections see the section Wiring Inputs and Outputs in your hardware manual There are four choices of output conditions High Makes the photo transistor open In circuits where the output pin is grounded and the pin is pulled up this causes a high voltage to appear on the pin Low Makes the photo transistor close In circuits where the output pin is grounded this causes a low voltage to appear on the pin High Pulse Makes the photo transistor open for a specified amount of time 2 to 500 milliseconds Low Pulse Makes the photo transistor close for a specified amount of time 2 to 500 milliseconds At power up the Mis Indexer sets al 3 programmable outputs high open circuit Repeat 4 times nd Repeat Loop Go to step 1 h
40. MOON G Configure In puts Dialog On the main screen just below the jog settings is the Configure Inputs button it s labelled Configure I O when you re programming a BLU servo drive Clicking this button brings up the following dialog box you won t see the right hand side unless you re programming a BLU servo amp Configure Inputs Interrupt Motion Output 2 Inpui Condition M Closed when pasilian erar is less than ie 1 C Wewiogl t Highfooen Low closed 10 counts E Bccwjag Action EE CU Brake Output 11 f Branch on interrapt A t PE f gnare nbenupt 1 M Automalicaly release brake by le elceing the Brake output Quick Decel Hate Branch Line opening he Brake cutout 4 b 1000 0 tevess elease Hime mee 18 Faleaga t 200 Used for limits Used for limits and interrupts and inbarrupls Engage line aU mec End of Travel Limita 5 orvo Fault Al End of Travel Limit Sieilches wil be Closed IE ihe servo faults Mec IF a move ather than Seek Home orJog reaches a limit se C atop motion hak progam slop malian halt pagam stop motion hranch stop mation branch to line go Jog inpute Normally inputs 5 and B are dedicated Jag inputs that allows en operator En C close Faut output va manually postion the load during a wat Input instiuckion open taut output 3 M Mako INBAleglW a ganaral purpose programeable inpr Make INBAlagCCW a general purpose programmable input nether
41. Optional MMI MREEEEEMEMEMEEEEEEEEEEEEEEEEEEEEEEEEEMMEEEEEEEEM 25 Making Your MOVE EE 31 KINU HOLM rat mE 31 FCC Mene o A e TR A A 33 mob oe DI DU tienes 35 A 36 e A 37 Feed to Sensor amp Alistan ties 39 o sannri e E E OER A E E A EA E E E E 40 SAD FOSI Oeae E E EEEE EEIE E T E E epis qu E 41 Save ADS POSION A E E A E E E EEEN 42 SECR FOMO A 43 Wa ANS POMAR EP o E E E E PO EE E 44 VA ELA 13 E U e tc e E e PE O POS E PE E O 45 melo VC MurE M TE 46 cy 47 PODS sno CDC beer saniem O LU SI O CUM E 48 An E OU III a IER 50 1 110 Uioj fCT 51 Mi AP o uae E O 52 A eo ee UE 54 IGS CUIT T 55 Change SEI MLTc 56 deii arse ges seeee A E O 57 Command BUON S icececsi lt ciacccctt snccchoassnsetnccindscancdadeaeadsashdsnevabcatensedsncie achadnadtisacesdaaad bet sdcece adenestaer annestesioscbhaed anexeedvane 58 Download Upload amp Execute cccccccceccccceeeececeeceeeceecaeecesaeeeceeceeeceeseesseaeceeeeaceeseusecesseaeees ceseaeeessaeeeesaeeeeeas 58 Save Opan Prints QUito iio m 60 Encoder Feedback 3540i with Encoder Option BOAard cccccccccconnnccnncccccncncncnnoonnccnno
42. Start and will not stop until you click Stop Note the Start button becomes a Stop button when you click it in Continuous sample mode It is not necessary to click on the Download button when sampling If the Quick Tuner detects any changes in the drive settings it will automatically download the new settings before each sample move Each time the settings are downloaded to the drive they are written into the nonvolatile memory and will still be there the next time you power up the drive MOONS Mis Programmer Software Manual 71 Control Loop Tuning BL Drive Like most modern servo drives ours employ sophisticated algorithms and electronics for controlling the torque velocity and position of the motor and load Control Loop Sensors are used to tell the drive what the motor is doing P 1000 m That way the drive can continuously alter the voltage and 1000 GE a i a a o a current applied to the motor until the motor does what you want This is called closed loop control One of the loops controls the amount of current in the motor This circuit requires no adjustment other than specifying the maximum current the motor can handle without overheating On the BL7080x BL7080i BLMis7080 and BLx7080 drives the position control loop is a Proportional Integral Derivative PID type This type of closed loop control is used widely not just in motion control but also in other process controls We chose PID control for our d
43. Upload lets you extract whatever program is in the Mis Indexer memory and display it on the screen If you want to modify a program already in your Mis Indexer you can use the Upload command to bring it back to the PC Execute tells the Mis Indexer to begin running the program that is in its internal memory starting on line 1 After hitting the Execute button you ll see a box appear with a status display and five program control buttons Unless your indexer drive has firmware prior to 1 40 in which case you ll see a much simpler execute box Older drives are not able to send real time status information to the PC and cannot respond to advanced commands like Pause and Single Step If the drive is not connected to the PC or the Mis Programmer software is not running the drive execute the most recently downloaded program starting on line 1 Pressing STOP will interrupt the indexer drive at any point in the EIAS Td program and close the execute panel You will find this feature Input Status i Output Status Interrupt useful when the drive starts doing things you didn t intend for 9 low closed W low closed Disabled it to do INT B 0 OUT 1 Pause halts the program but INZ 2 OUT sub Calls does not close the execute box While the program is paused INS lt A2 OUT the display of inputs is IN o 3 3 QLIT continuously updated so you can adjust sensors and switches eas Ei d d 1 and see the result in
44. a buildng to be able to Use the Man Machine Interface OK change permet ike distance speed or repeat count you ll need an MMI C Display text amp wait for enter Prompt to ask the user for Text to display on MMI data and to store it in nonvolatile memory In this case click on the option button for the type of data you want distance speed or repeat count C Display text only Cancel C Display text wait for yes no branch on yes Display text amp get distance enter part length in C Display text amp get speed inches 6 5 6 6 C Display text amp get repeat count C MMI Menu branch on number keys Scaling MMI variable You ll need to set upper multiply MMI entries by fi to get steps and lower limits The MMI user defined units MMI entries will be in inch Save data as Prompt instruction will TU ps2 gt aun the ge nias entered against the limits Upper limit 6 inch you ve specified and tell Lower limit 0 5 inch the user if a value is out of range For ex ample if you set the MMI Prompt to gather a repeat count and you ve set the upper and lower limits to 100 and 1 the instruction will not accept any value bigger than 100 or smaller than 1 You also must tell the MMI Prompt instruction where to store the data in nonvolatile memory There are eight locations to choose from They are named Dist1 Dist2 Dist3 Speed1 Speed2 Count1 Count2 and Count3 Remember where you told
45. about how to accomplish your objective Then once you have a clear idea of what to do you can begin entering the instructions and parameters Note some programming features wil not be available if you are using an older Mis drive because the drive firmware doesn t support them MOONS Mis Programmer Software Manual 9 Which Software Version do I Have There are actually two software programs associated with the Mis Indexer The first is the Mis Programmer Windows program that you installed on your PC from the floppy disks After MOONS you double click on the icon and program begins to load you ll see a l picture of a lightning storm The software version is displayed at that time After the pro gram is loaded you can click on the Applied Motion Products logo to see the software version our internet address and our phone and fax numbers A second software program resides in a chip inside the Mis Indexer Since software in a chip is usually called firmware we will refer to it as firmware for the rest of this DN manual It is the Mis Indexer firmware that runs your drive and executes the Drive 1 41 program you ve downloaded When you connect your drive to the PC and turn the drive on the drive firmware version is displayed near the top of the screen If you are using a BLU servo or STAC6 drive then an additional firmware program resides in the Digital Signal Processor on the drive s main circuit board To discover the firm
46. actor directly into the MMI Prompt dialog box That way you can use different scale factors in different MMI Prompts ocaling is only available when gathering distance or speed data Other Uses of MMI Prompts If you want to pause your program until the user presses the ENTER key on the MMI choose the option marked Display text amp wait for enter If you wish you can allow the operator to use the MMI arrow keys for jogging Note you need an indexer drive with firmware version 1 40 or later to do MMI arrow key jogging To allow the user to make a decision select Display text wait for yes no amp branch on yes Be sure to enter a line number in the Line box The program will jump to that line if the user presses YES If the user presses NO the program will execute the next line after the MMI Prompt The MMI Menu option lets you assign line numbers to as many as eight numeral keys and display text on all four lines of the MMI When the operator presses one of the numeral keys the program branches to the corresponding line This is an easy way to set up a menu driven system If you have drive firmware 2 08 or later you can also display an MMI variable on line 3 or on line 4 if you are using the MMI Text Only or MMI Wait Enter options Just select the variable the Mis Programmer software will determine what type of data it is speed distance or count and apply the proper scaling Securing Your Machine Setup MMI Prompts are ofte
47. alling Edge The opposite of rising edge Mis Indexer waits for input voltage to go high then low If you select Multiple Inputs the Wait Input instruction will scan multiple inputs at once to determine if the program should move on to the next instruction The inputs can be configured as a binary sum Wait for input 1 low or 3 high or as a product Wait for input 1 low and 3 high If you have a BLU Mis drive you will see more input choices including XO the encoder index With Applied Motion motors XO reads high when you are on the index and low everywhere else Multiple Jog Speeds Drive firmware version 2 08 and later allows you to choose from multiple jog speeds You can still use the global jog speed as specified on the main screen You can also select a fixed local jog speed that can be unique to each Wait Input instruction This allows you to build a program with fast rapid traverse and slow creep jog speeds You can also select an MMI variable as the speed This in combination with an MMI Speed instruction allows the operator of your system to enter one or more jog speeds Note the condition LOW or CLOSED occurs when current is flowing through the input terminal HIGH OPEN means that no current is flowing 46 Mis Programmer Software Manual MOON G Hand Wheel The Hand Wheel instruction is similar to Wait Input You specify an input and a condition to be met like Input 4 low and the instruction continues exe
48. amped If you tried to run a motor with a pure PI controller the motor would overreact to small errors creating ever larger errors ultimately becoming unstable If you knew what the motor was going to do before it did it you could prevent this For those of you who studied calculus you may recall that you can predict what something is going to do by it s rate of change or derivative If you are driving your car into your garage do you wait until you are in fully in the garage before hitting the brakes That would be a bad idea for you your car and the back wall of the garage Instead most people slow down as they see the distance between them and their objective get smaller A motor drive can control a motor better if it examines the rate of change of the position error and includes that in its torque calculation For example if the motor has error but the error is decreasing back off on the torque That s what the D term does The final exact PID equation used in the BL7080 and BL7080I is T KT KPUn KIO U KD Un Un 1 74880 where Un is the error in encoder counts Un 1 is the error of the previous sample KT is the torque constant of the motor This calculation is performed 4266 times per second MOONS Mis Programmer Software Manual 19 Vfb Velocity Feedback As motor power per size has gone up so has the size of the loads As more performance is asked of the servo motor we may need to add more damping Velocity f
49. ant to put an MMI Prompt to display text only just before the Repeat instruction telling the operator what the count means as shown below Repeat Countl display count End Repeat Loop Go to line To DANA Gh Note If you use an If Input instruction to exit a Repeat Loop the loop does not automaticaly reset the next time you enter it If you exit a loop by using an If Input instruction you should use a Reset Repeat Loop instruction to reset the loop Otherwise the loop count resumes where it left off 90 Mis Programmer Software Manual Reset Loop or Interrupt Reset Loop Option MOONS Forces a Repeat Loop to reset its counter if it s been terminated by an If Input or Feed to Sensor with Safety Distance instruction Sometimes it is necessary to leave a repeat loop before it is completed Say for example you have a repeat loop that is set up to fill 100 bottles with fluid If the reservoir runs dry you want to leave the loop You can do this by putting an If Input instruction inside the loop triggered by a fluid sensor The If Input would branch outside the loop perhaps to an MMI Prompt telling the machine operator to refill the reservoir Now suppose that 60 bottles have been filled with 40 remaining If you want the loop to pick up where it left off then simply branch back to the beginning of the loop to the Repeat instruction after the operator finishes 1 Co Reset Repeat Loop or Interrupt
50. arily increase the motor current to achieve more torque but are unable to leave it that way all the time without overheating The Change Current instruction allows you to turn off the current to resume the normal current setting or to specify a new current setting Change Current Change Motor Current C Disable no current motor turns freely C Resume normal current 2 244 50 idle AAA AAA AAA AAA L Cancel di f New current amp idle current settings A o ff y Idle Current Ciz 25z 502 C 100 96 Mis Programmer Software Manual MOON G Change Servo This instruction is only available if you are using a BLU Mis servo drive The Change Servo instruction allows you to change the six control loop gains and the continuous and peak current settings You can also turn the servo loop on or off Normally you will use the Quick Tuner software to configure and tune your drive However if you have a changing load you may need to change some or all of the tuning parameters between moves For example if you are transporting objects on a linear slide and the mass greatly changes when an object is placed on the slide you will get better performance if you adjust the gains between moves In particular you might want to increase KAFF the acceleration feed forward to compensate for increased load inertia Before entering values into the Change Servo instruction you should try these values in Quick Tu
51. celeration rate You should select a move that is meaningful to your application There is no point in optimizing your speed around 50 rev sec if your application only calls for speeds of 10 rps The same is true for distance and acceleration The oscilloscope window can display either one or two measurements at a time The choices include Actual Speed Target Speed Position Error Current Command and Actual Position The drive only samples what you have selected so if you change plot parameters you must sample again to update the display By making the oscilloscope full screen you can get a better display resolution and see your move in more detail You may also choose clockwise or counterclockwise rotation If your load is vertical you may want to observe the differences If your load is linear then you can t keep sampling in the same direction or you ll run out of travel For applications where travel is limited choose alternate direction Then the drive will change the direction after each move 70 Mis Programmer Software Manual MOONS Mi ES Quick Tuner opted Save Upload Print Monitor Drive Model BLUAC 5i Products Open Download Close Host Terminal rr vo turre STE Si Firmware 216 Tuning Sampling Motor Encoder Misc i A Simple Stiffness 9550 re re Damping 3240 Inertia 156 Sampling Plot Actual Speed Lil Plot Target Speed El Sa
52. control but also in other process controls We chose PID control for our drives because it is easy to understand which makes it easier for you to set up our drives for your application The PID loop compares the intended motor position to the actual motor position as reported by the encoder The difference is called error and the PID loop acts on this error in three ways the Proportional term the Integral term and the Derivative The BLu series drives add a three additional gain terms to enable greater system control velocity feedback velocity _ simple Advanced Filters feedforward and acceleration feedforward That s a total of Prop 5000 six gain parameters which can be a little intimidating for a first time user The Simple tab combines the six parameters Integral BOO in just three Stiffness Damping and Inertia For advanced users you can click on the Advanced tab and access all six Dery 000 gains separately Vel FB 4000 _ Stiffness Gain Terms vel FF 4000 P The Proportional Term Accel FF 500 74 Mis Programmer Software Manual MO N Ss The simplest part of the PID loop is the proportional or P term The drive applies current to the motor in direct proportion to the error Here s an example if the motor were standing still and you suddenly turned the shaft by hand you d want the drive to increase the motor current so that it goes back into position The far
53. cuting until that happens The Wait Input instruction allows the user to move the motor using the CW JOG and CCW JOG inputs or using the MMI arrow keys Hand Wheel does the same thing except that it positions the motor as you turn a CNC type hand wheel The outputs of the hand wheel connect to inputs 1 and 2 of the Mis indexer You can specify the gearing by telling the Mis how much motor distance to move each time the hand wheel clicks to the next position Hand wheels with 100 counts rev work best Call the factory for availability of a suitable hand wheel if you are interested in this feature You could think of the hand wheel positioning as digital jogging it allows the operator of a machine to achieve very precise adjustment of the load position The Hand Wheel is not supported by the Mis 100 Follow Hand heel Until Input Condition Connect Encoder Channel A to Input 1 Connect Encoder Channel B ta Input 2 Distance Per Encoder Count Condition 5 Steps C High Input f Low C Rising Edge C Falling Edge 63 CElewiod 7 lew lim 4 4 BIGoWwis E T oWlm Follow until HHI ENTER Text to display on MMI MOONS Mis Programmer Software Manual 47 Go To The Go To instruction is used to make the indexer drive jump to another line in the program At the least you ll need to have a Go To at the end of your program to jump back to the beginning Goto a Program Line l inet Te There is only o
54. d Hal signals These are sometimes caled 60 motors Evenly spaced hal waveforms are 120 apart The one type of motor you cannot use is one with 60 degree timing Unless its Hal outputs are differential in which case you can convert it to 120 by swapping the and outputs of Hal 2 If you have a 60 motor with single ended Hal outputs you cannot use that motor with the BL or BLu series drives To set the hall timing you must first wire your system That includes connecting the motor to the drive and the drive to a power source Refer to the hardware manual for your drive when making these connections Once you have connected the motor to the drive we can configure the timing using the Quick Tuner If you are using a motor from another manufacturer try the Hall Timing Wizard first In most cases it can automatically detect your motor timing pattern and configure the Quick Tuner software for it You may also manually configure your motor by skipping ahead to the section Manual Configuration Hall timing varies among motor manufacturers The timing diagrams supplied with motors when they are supplied differ in their format too complicating the task of configuring a motor for the first time To ease this burden the Quick Tuner includes a Hall Timing Wizard that automatically detects the necessary configuration for your motor To use the Hall Timing Wizard you must do the following Note When using BLu servo drives the encoder res
55. display the Mis Programmer software version If you have an Mis Indexer connected to the PC turn it on now After you apply power your computer should beep The Drive box will display the version number of the Mis Indexer firmware that s in your drive If you don t have any Mis hardware connected to your PC you can still write programs Before you begin you should select the appropriate Mis device Mis5580 7080i etc from the list box above the word drive That way you will have access to the specific features of the hardware you plan to use Let s enter a simple program We ll start with a simple time delay by putting a Wait Time instruction on the first line Next to the large number 1 in the Program Window is a button showing the nothing icon That indicates that there is no instruction for that line Anytime the Mis Indexer encounters a nothing program line it simply moves on to the next line as the icon implies with a downward pointing arrow After the Mis Indexer executes the instruction on line 100 it automatically jumps to line 1 unless the instruction on line 100 makes it jump somewhere else To enter an instruction on program line 1 click once on the program icon You should now see the Program Menu shown below Click on the button marked Wait Time The Wait Time dialog box will appear Enter 1 second in the text box and press OK The first line of your program should now display the Wait Time
56. e more math to come up with an Inertia mismatch ratio The file names list the motor first then the load The files are available typically in 1 1 1 5 and 1 10 ratios Select the nearest one and open it QuickTuner will now be loaded with parameters that will give you a start at tuning the servo system We need to give QuickTuner a little more information before we test the servo system The seemingly obvious things to know are the Max Speed Acceleration and Distance requirements of the sample move But what is the not so obvious is what profile shape is required to operate the load properly The motor may be able to accelerate the load very quickly but may induce significant Ring in the motion profile It might be better to accelerate slower and go to a higher Velocity to minimize the ringing Deciding the best profile for a given move is sometimes more Art then hard calculation With all this said you will have to make a good first guess at the motion parameters to begin the tuning pro 82 Mis Programmer Software Manual MOON G cess QuickTuner has a sampling Oscilloscope that will Y Y Filters allow us to execute a move and display a variety of measurements Prop 16000 PF 1 Entering a Sample Move Integral lo p Enter move profile values in the Sample Move section Deriw FOU on For this example we will try a move distance of 8 revolutions We need to choose speeds and acceleration rates that represent the actual ap
57. e operator loads a new roll of labels 3 The MMI can ask the user to make a decision For example you might want to offer the user an option like changing set up parameters that can be responded to by pressing the yes or no keys 4 The user can be asked to enter a move distance If you want to build a machine that feeds out material and then cuts it off the operator can specify how long the resulting material will be 5 The user can be asked for a move speed This option allows the operator to adjust a feed rate flow rate or other motor speed related setting 6 The user can be asked for a repeat count You can let the user set the number of parts that are processed You can also combine a repeat loop with a Wait Time instruction to adjust dwell time 7 You can display a menu wait for the user to press a numeral key then branch to a corresponding program line Any or all of the keys 1 8 can be used each with it s own branch address If you are thinking ahead at this point you might ask If the MMI plugs into the same port as the PC how can run a program from the PC that uses the MMI Like most features of the Mis software it s simple If you press the Execute button and the program in your drive contains any MMI instructions you will see a different execute box on your screen The MMI g execute box looks and acts like the real MMI Muskie it will display messages and you can click on Input Status the buttons to en
58. e stack overflow ccw limit cw ERR subroutine stall overflow drive internal temperature exceeds 85 C excess regen power replay overvoltage power replay undervoltage bad instruction in Mis Program memory or software error over current short curcirt motor resistance out of limit Mis firmware is incompatible with DSP firmware open motor widing error encoder signal serial communication error Other Mis drives with firmware 2 20 or later Code 1 red O green 1 red 3 green 2 red 3 green 4 red 3 green 7 red 1 green Error Description limit subroutine stack overflow subroutine stack underflow bad instruction in Mis program memory or software error serial communication error MOONS Mis Programmer Software Manual 25 Using the Optional MMI Mis drives are available with an optional MMI Man Machine Interface sometimes called an operator panel The MMI attaches to the same RS 232 port that you use to connect to your PC using the same cable The MMI has a four line liquid crystal display LCD and 20 keys for entering data There are seven things you can do with the MMI 1 You can display a message on the LCD You might want to identify your machine ABC Bottle Filling Co Model 20 or display a status message Machine Running Status OK 2 You can pause your program until the user presses ENTER For example if you were applying preprinted labels eventually you ll want to halt the process until th
59. e the system manually But some motors cannot be used with the BLu drives Manual Timing Configuration BL Series only 1 Locate the timing diagram that was supplied with your motor If you don t have one proceed to option 2 If you have a timing diagram compare it to the one shown in the Hall Timing frame If it doesn t look the same try selecting different timing patterns until you find one that matches Please note that the names may differ We label the halls 1 2 and 3 Our phases are called A B and C But not everyone is as smart as we are so you may find that your motor maker has chosen U V and W or R S and T It really doesn t matter as long as you remember how you connected the motor to the drive Just substitute your motor s nomenclature for ours If the relationship of the Halls to the motor phases is inverted click on the check box marked inverted 2 Sometimes it is best to just try things until something works For this reason we have included a Test button Before you try this make sure that the motor is not connected to any load and that it is firmly secured Once we find the right Hall timing the motor is going to run continuously very fast With the drive powered up and motor connected click on the Test button If the motor does not move try another setting from the list until it runs smoothly 3 Next stop the motor by pressing the Stop button the Test button alternates between Stop and Test each time y
60. ectly set the hall timing current and encoder settings It will also give you some good values of KP Kl and KD to start the tuning process To locate the correct file for your motor and load you ll need to know your motor size the rated voltage and the inertial load of your application e Fora 400 watt 60 volt motor with 1 1 inertia the file name is A400V60X1 e Fora 100 watt 24 volt motor with 5 1 inertia the name is A100V24X5 78 Mis Programmer Software Manual MOON G d T a d 4 i Ll 4 i i Ek 1 K 2 KP 1 000 Kl 5 KD 4000 KP 1 000 KI 5 KD 8000 1 rev 5 rps 100 rps 1 rev Arne 100 rne The easiest parameter to set is Kl For most applications any value between 1 and 5 will work For now leave KI at the default value Before adjusting anything set up a sample move that is meaningful to you Ultimately you need to try a sample move where the speed distance and acceleration are values that you plan to use in your application Initially though don t push it Keep the acceleration below 200 rev sec sec and speed below 10 rev sec until we are certain that the system is stable We ll also need to specify which parameters we want to look at For now leave the settings as they are actual speed and target speed A 3 Kl 4 K 5 KP 1 000 Kl 5 KD 8000 KP 4000 Kl 5 KD 8000 KP 4000 Kl 5 KD 8000 1 rev 10 rps 250 rps 1 rev 10 rps 25
61. eedback has been added to the BLu servo drive to provide greater damping for the larger loads This term adds in the motor actual Velocity as negative feedback and usually works in conjunction with the velocity feedforward term see below If the velocity of the motor matches what is expected no feedback value is generated If however the velocitys do not match the negative feedback helps to damp the differences in velocity Typically both terms are set to the same value Vff Velocity Feedforward The velocity feedforward term works with the velocity feedback term to add more damping capability to the servo algorithm The feed forward value is generated by the Trajectory Calculation algorithm This setting is useful for minimizing position error while in motion by automatically providing needed torque to drive the load rather than waiting for position error to build up and then compensating Applications which require the load position to be accurate throughout the move such as CNC machining benefit from velocity feedforward Inertia Gain Term Acceleration Feed forward By anticipating the torque needed to accelerate a load the BLU servo can handle higher inertial loads and provide better positional accuracy during the accel decel segments of a move The acceleration feedforward term does this by adding an acceleration value to the control value The acceleration value is derived from the Trajectory Calculation during the acceleration
62. er value will be pushed onto the stack This process cannot continue forever as the call stack is just five levels deep If you call a sub that calls a sub that calls another sub p eem x you re okay But don t allow more than five calls without a Interrupt Ls Dutput Status low closed Input Status O low closed returns If you are using interrupts then you must save one stack level for that as the interrupt uses one stack level Animation n ae ot ate Sub Calls When you are in development mode drive still being ya OO x2 nura 15 controlled by the Mis Programmer application on your PC INd BUS 10 we animate the call stack in the status window This will IN5 ewiog DO x4 give you a feel for how the stack works and whether youre iN amp ecwiag O O x5 getting close to a stack overflow IN cwlim C XB INS ccwlim OO x7 MOONS Mis Programmer Software Manual OD Change Current Motor current is normally set on the main screen of the Mis Programmer and applies to all program instructions But what if you want to change the current on command For example you may want to temporarily turn off the motor current while the operator makes manual adjustments to a mechanism or loads a new roll of labels Overcoming the holding torque of a step motor by hand can be difficult so it s sometimes best to shut off the current completely In other cases you may want to tempor
63. erature exceeds 85 C motor over temperature power supply voltage is more than 55 VDC power supply voltage is less than 18 VDC over current short circuit current foldback peak current l T time exceeded bad commutation Hall signal bad encoder signal serial communication error BLU AC servo drives have a seven segment LED that displays alarm codes using numbers and letters as shown here Fault codes blink and disable the motor Alarms do not blink and do not disable the motor Code Meaning Fault servo position error limit exceeded Alarm the ccw limit has been triggered Alarm the cw limit has been triggered Fault the Drive PCB temperature has exceeded 75 C This will cause the drive to fault and cannot be cleared until the temperature drops below the limit Overvoltage fault the DC Bus voltage exceeded 400 Volts Under voltage alarm the DC Bus voltage has gone below 100 Volts Overcurrent short circuit fault the motor phase current has exceeded the 20 amps Peak current alarm peak current 121 time exceeded current temporarily reduced to continuous setting Commutation fault hall sensor inputs are incorrect May indicate a failed sensor or Encoder fault encoder not providing correct signals or single ended encoder used but not selected Flash or eeprom memory fault Regeneration fault while attempting to dump power into the regeneration shunt resistor the device limits were reached or there is no regeneration sh
64. es In Single Input mode you must specify the input and the voltage condition to expect The Wait for an Input Condition choices are P f Singe input Multiple Inputs High Wait until the specified input is at a high Input Condition voltage state This is the state an input will be 4 ups in if nothing is connected to it so be careful if 5 open Cancel you use this condition If a wire comes loose TM you could end up with undesired motion a gy ves aper cwiag a Fiising f Use global jog speed Low Wait until specified input is at a low Blcowiag Edge C 0025 Revsec voltage state This happens when the input is Acwin Paling conducting current If you use a momentary f siccum s Edge f Speedi contact switch normally open type this condition will occur when you press the button Rising Edge Wait until the signal goes from low to high This is similar to the high condition but the difference is important Let s say that your signal into the Mis Indexer is one that will go high when you want motion to occur However the signal remains high after the motion is complete going low sometime later If you choose high as your input condition the Mis Indexer will complete the motion and start again because the input signal is still high when it finishes the first move If you choose rising edge the Mis Indexer will wait for the input voltage to go low then high before moving F
65. et distance from MM l you can choose one of the eight MMI variables as the distance Please note that checking Get distance from MM does not automatically make the Mis Indexer stop and ask the user for an entry You ll need an MMI Prompt instruction somewhere else in your program for that Speed this is the maximum speed you want the motor to go in revolutions per second You can set the speed anywhere between 025 and 50 rev sec in increments of 025 rev sec Servo drives have a speed range of 025 to 100 rev sec If you select the check box marked Get speed from MMI you can choose one of the eight MMI variables as the speed You can also reduce speed during the move by checking the box marked Reduce speed during move This is useful for applications where a tool may need to approach a work piece quickly but slow down just before making contact 34 Mis Programmer Software Manual MOON G tion in your program to jump over the MMI Prompts if the switch is in the locked position To see more examples of MMI Prompts turn to page 23 or load the sample programs that are installed with the Mis Programmer Accel motors cannot achieve a high speed instantly The indexer drive must gradually accelerate the motor to speed The rate at which you can accelerate depends on the inertia of the motor and load the torque available from the motor and how fast you want it to go You may need to experiment to find this out The Mis
66. etting Ready A e E 81 1 Entering a Sample MoOV e oooccccnnccnccccnnccnnnnccnonnnononononnnnnnnnnnonnnnnnnnnnnnnnnnn na nnn enisi sssesa anis iris risa nnns aas n sns rs asas annis 82 2 Start with the KP amp KD parameters eeeessssssssessseeeeeenennnennnnen nnne nn nennen nnn nnn nnns nna nnne nsns 82 TECTO MP PP nn a 82 5 The return of KVf and KVff parameters ccccooncncccconcncononcnnccnonanoccnnnnononnnnrnnononcnnconanancnnnnnnrnrnnnnrnnnnnnnrnrnnnaranennss 83 6 Adding in the KAff parameter oooccncccccocccnnccccnoccnconnnonononcnnnnnonnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnrnnnrnnnnnnnornnnnrnnnnnnnns 84 7 Finishing off with the KI parameter ooccccccnoccnccconcnnccnoccncnnncnnconononnnncnnnncnnnnnnrnnnrrnnnnnnnnnnnrnnnnnnnnnrrnnnrnnnnnnanrininnas 85 8 Venty the Drive GUION 86 MOONS Mis Programmer Software Manual Getting Started Thank you for purchasing an Applied Motion Products Mis product We hope you will find that the performance price and ease of programming make our products the best value for your application The Mis Programmer software is used in many Applied Motion products including the 1240i 3540i 70801 Mis2035 Mis3540 Mis5580 and STAC6 Mis step motor drives the BLMis7080 BL7080i BLU100 Mis BLU200 Mis and BLUAC5 Mis digital servo drives and the Mis 100 indexer This manual explains how to install the Mis Programmer software and how to
67. executing the Wait Input instruction To set the Jog Speed and Jog Accel decel rate adjust the scroll bars in Configure Inputs the main programming window We recommend setting the accel decel to a modest rate 25 rev s s usually works well unless you have a very high inertial load in which case you should set it to a lower rate The range of jog accel is 1 to 3000 rev s s The range of jog speed is 025 to 50 rev sec The speed you choose will depend on your application If you don t need to jog you can use the jog inputs as input 5 and input 6 for use with Feed to Sensor Wait Input and If Input instructions The CW JOG input can be assigned as a general purpose input by checking the box marked Make IN5 Jog CW a general purpose programmable input The IN6 Jog CCW input can also be used as a general purpose programmable input These settings are found in the Configure Inputs dialog If you have an Mis indexer drive with firmware version 1 40 or later you can use the arrow keys on the optional man machine interface MMI for jogging This is an option in the Wait for MMI Enter instruction Firmware version 2 08 and later alow three choices of jog speed in the Wait Input and MMI Enter instructions global jog speed the one set by the main screen panel shown above local jog speed specific to each instruction and MMI Jog Speed uses an MMI speed variable to alow the user to enter a jog speed 16 Mis Programmer Software Manual
68. gain system of Trace 3A has over 150 counts of position error throughout the move Trace 4A with higher gain has only 55 counts of position error during acceleration and less than 10 counts at speed It is informative to view current during a move If you guessed that the motor doesn t need much current except when starting and stopping you d be right And if you also think that more current is required to accelerate at 250 rev sec2 than at 100 well you re right again In Trace 2B the peak current is about 1 1 amps In Trace 4B where the acceleration rate is 2 5 times higher the current is just over 3 amps Since this motor has a 5 amp peak current rating we could push it a little harder Reducing the inertia from 900 g cm2 to 164 by removing the load reduces the current to 0 7 amps as seen in Trace 5B Note that the current is spiky because the system is reacting too quickly to small errors In Trace 6B where the system is better tuned for a light load the current waveform is smooth Once your servo system is properly configured save your settings to a file then power down the drive and exit the Quick Tuner software 150 El 4A El 2B MARA HA Yi KP 1000 Kl 5 KD 8000 4B 5B 6B ay ayi i KP 4000 Kl 5 KD 8000 KP 4000 Kl 5 KD 8000 KP 1000 Kl 5 KD 8000 trev 10rev s 250 rps 1rev 10rev s 250 rps 1rev 10rev s 250rps MOONS Mis Programme
69. icon and the description Wait 1 second Click on the icon button for c pro gram line 2 This time when you see the Program Line uc ers Cm box click on Feed to Length In Feed to Lenath Feed amp Return Feed to Position Feed Set Output the Feed to Length box enter the distance as 20000 then i i 1234 ra slide the speed bar to 10 Feed to Sensor Feed Sensor Atn Set Abs Position rev sec Click OK The second program line should now show the motor icon and the caption CW 20000 steps Wait Ti Wait Input dicun ES 10 rps MOONS Mis Programmer Software Manual 11 Click on the line 3 icon Choose Go To When you see the Go To dialog the line number will already be set to 1 Click OK Your program should now resemble the following 4 If you have a motor connected to your drive you can test E the program now 2 Ow 20000 steps 1 O rps so ta line 1 Set the current to match your motor s rated current Then click on the Download button near the middle of the screen If your drive is on and is connected properly the download box will appear and show you the progress of the download which takes 1 3 seconds The transfer time is governed by the speed at which the Mis Indexer can rewrite its internal nonvolatile memory and by the size of your program Once the download has been completed you are ready to execute the program 3 m Execute Ed Press the Execute button
70. if you ve been using the Test button to help set the Hal Timing then the servo loop may be off If the shaft turns freely the servo loop is off Cycle the power on your drive to turn the servo back on then repeat the experiment Positioning Error Fault Positioning error is the difference in encoder counts between the actual position and the commanded position of the motor A small amount of positioning error is a normal part of a servo system But sometimes the unexpected can happen A wire might break a sensor could fail or the motor may encounter a physical obstruction You might even one day forget to set up and tune a drive before installing it into a system In all of these cases you ll want to know that something is wrong as soon as possible and without damaging anything For this reason the BL and BLu drives include a position error fault limit Anytime the position error as reported by the encoder exceeds this limit the drive cuts power to the motor and enters fault mode See the Servo Faults section for details You can set the fault limit to as little as 10 encoder counts or as much as 32000 When yourre first tuning the system you should set this value high so that the drive doesn t shut down as you experiment with tuning parameters Once the drive is properly tuned and you know how much error to expect during normal operation you can set an appropriate fault limit For example set the Quick Tuner s scope to plot position erro
71. igh pulse of 5 seconds on Output 3 QD CD Feed 100 steps cw 10 rps For an example of using the Set Output instruction in your program let s consider the tT Tor input tH fall J example of filling containers Each time the Mis Indexer moves to a new position it should tell the dispenser that it s arrived We ll do this with a low pulse but your choice Set output 1 low pulse 20 msec would depend on the kind of signal the dispenser wants to see in order to be activated ait for input 1 falling edge After adding a Set Output instruction after each Feed to Length we have the program Feed 400 steps cow 10 rps shown on the left Set output H1 low pulse 20 msec There may be occasions where you want a long pulse This can be done by combining two Set Output commands with a Wait Time The instructions shown below will produce a Set output 3 high 5 ait 5 seconds et output 3 low 52 Mis Programmer Software Manual MOON G If Input Go To This instruction allows the Mis Indexer to make decisions based on input signals You can choose Single Input or Multiple Inputs w If Input Go To E You ll need to choose an input terminal for the instruction to check You also need to tell the indexer what signal condition to look for Finally you must set the line number that the instruction will jump to if the input condition occurs If Input Condition Go To f Single input C Multiple Inputs
72. imes screw pitches are expressed as inches per turn 0 2 for example If that case your steps inch would be the steps rev divided by the inches turn Be sure to check the User Units check box You will notice the units of the jog panel change from rev sec to inch sec Any program instruction dialog you open will also be operating in inches and inch sec Other choices of steps rev can be useful when defining units If you have an English screw and wish to work MOONS Mis Programmer Software Manual 13 in millimeters for example setting the steps rev to 25400 is helpful Then the user unit definition for the 2 turn screw would be 2revs inch 254 000 steps rev 2000steps mm 25 4mm linch Note If the Mis hardware you are programming has firmware prior to version 1 28 you can stil pro gram it with user defined units but when you download your program the indexer wil not remember your unit name and pitch The program wil execute correctly but if you upload the user unit definition wil not upload with the rest of the program Front Panel STOP Button Some Mis products have a red button on the front panel marked STOP This button can be used to interrupt motion at any time After pressing the STOP button the motor will stop and the front panel Power LED will then flash until the AC power is removed If the indexer drive is connected to a PC running the Mis Programmer the software will alert the user on screen to the co
73. ing when at Prop 6000 6000 J the new position after the move lt can also help minimize position error during the move Integral 4000 A Again start with a small value and work up Dery i 10000 E The KI value affects how fast the position error is acted on Vel FB 20000 20000 larger values provide faster response times As the value velFF 20000 gets larger you may notice an oscillation in the position Accel FF Bono H revisec counts zt KI 4000 KI 20000 86 Mis Programmer Software Manual MOON G error Adjust the KI value to give the best results without causing an oscillation in the system 8 Verify the Drive Current This can be done at any time during the tuning process to make sure the current supplied to the motor is not being limited by the drive You might also want to see how much current is being required and make changes to the move profile Acceleration 200 rev sec Acceleration 600 rev sec
74. ion otherwise the program just goes on to the next line Repeat and End Repeat set up a loop wherein you can repeat the same instructions many times If your program terminates a Repeat loop before it s finished using an If Input instruction you can reset the loop count with a Reset Repeat Loop instruction One instruction Set Output allows you to signal other equipment that you have reached a particular place in your program Using the MMI Prompt instruction with the optional MMI man machine interface or operator panel the opera tor can enter distances speeds and repeat loop counts on a keypad The drive can also display messages for the operator pause the program until the operator presses the ENTER button or ask the user to make a decision and respond by pressing the YES key or NO key A Comment instruction allows you to leave notes in your program so that it s easier to understand Set Absolute Position lets you define the present motor position in absolute terms Change Current gives you more control over the motor current turning the current off resuming the previous level or defining a new current setting anywhere in the program Hand Wheel lets the user position the motor and load precisely using a CNC hand wheel By combining the instructions in different ways you can construct a nearly infinite variety of useful programs and motion profiles Before entering your program you ll want to spend a little time thinking
75. k adapter plug If this is the case and you must use COM2 you will have to purchase a 25 to 9 pin serial adapter at your local computer store Never connect the Mis Indexer to a telephone circuit It uses the same connectors and cords as telephones and modems but the voltages are not compatible You may also need to set the COM port in the Windows software When the software is loaded it looks for the first available COM port but doesn t always find the one you ve plugged into COM port You can choose the port yourself by clicking on one of the COM port e 31 0203 UA option buttons If the port exists and is not already in use the programming software will use it to communicate with the Mis Indexer What if my PC has no Serial Port You can use a USB port as a serial port if you obtain a USB Serial Converter which looks like a short cable We like the Port Authority USB Serial DB9 Adapter from CablesToGo com part number 26886 lt s inexpensive usually under 30 and works great Programming Notes 1 Always apply power to Mis hardware after the Mis Programmer software is running on your PC 2 When downloading to the indexer drive make sure the JOG inputs are not activated If in doubt remove the JOG CW and JOG CCW connector plug 8 Mis Programmer Software Manual MOON S Programming You may have noticed that the Mis Indexer doesn t have any switches or knobs on the front panel There are also no
76. l Timing Wizard C Brush Motor Quick Tuner EY Configure 140 View Timing Details Current Loop Alarm History Restore Factory Defaults Encoder Regeneration Clamp Resistor 8000 counts tum 2000 lines ol watts C extemal 40 ohms Single Ended not recommended 3125 seconds This tab is for configuring the motor feedback encoder and commutation settings choosing the position error limit and in the case of the BLU AC drive specifying the regeneration resistor From this panel you can also access the alarm history I O configuration and current loop tuner You can even restore all drive settings to the factory defaults with the click of a button Encoder and Hall Timing BLU Drives If you are using an Applied Motion Products Alpha N or M series motor the factory drive settings are correct for this type of motor You do not need to enter the encoder resolution or run the Timing Wizard You can skip this section Three phase brushless DC motors provide three signals that tell the drive when to switch from one phase combination to another These are called commutation or Hall signals The relationship of the commutation signals to the motor phases called Hall timing is not the same for all manufacturers That s okay because he Applied Motion drives can accept motors with nearly any hall timing 66 Mis Programmer Software Manual MOON G A few motors have unequaly space
77. m Subroutine This instruction will enable the interrupt and return to the instruction that was running when the interrupt first occurred If this instruction is a Feed to Sensor Feed to Position or Seek Home move the move will usually reach its intended target Feed to Length moves generally overshoot under these conditions because after the interrupt the move starts over from the beginning For example if a 6 inch Feed to Length move was interrupted after going 3 inches the total move distance will be 9 inches 6 For a Call interrupt do NOT use the Reset Interrupt as part of your interrupt handler or you will experience a stack underflow Also you don t want the interrupt enabled until you return to the main program or the interrupt handler could be interrupted causing a big stack mess BSM Go To In many applications it is better that the program not pick up where it left off after an interrupt You may C Reset Repeat Loop or Interrupt want to start your program over from the beginning or you may wish to always resume from some other A uh e IO IF Pa 4 spot Here s what you do w Reset Repeat Loop Note you only need to use this instruction if 1 When the interrupt input matches the condition allt a aarti uds loop using an you specified the drive stops whatever instruction it Lai II was executing including any move L 2 The drive pushes a return address onto the Call 6 Reset Interrup
78. ming mistakes If you have the same sequence of instruction at more than one place in your program and you decide to change one of the instructions you must remember to change all occurrences of that instruction in your program If the sequence is in a subroutine you only nee to Change TU Ohne piece Example Suppose that you are feeding parts and then cutting them A Call a Subroutine After each move you must signal another device to perform the cut then wait for it to be done A typical sequence would be DK Line a E Set Output to tell the another drive to make the cutting move Cancel Wait Time to give the other device time to respond to the Set Output Wait Input wait for other device to signal completion Note Don t forget to put a Retum at the end of the subroutine To make this a subroutine just place the three lines near the end of your program line 90 for example and add a Return LR from Subroutine instruction Each time you make a move in your program add a Call Line 90 instruction 4 Return When you program the Return instruction be sure to choose fe BITTE TETTE the from Subroutine option from Interrupt reset the interrupt Call Stack Each time you call a subroutine the drive must make note of where you came from so that the subroutine s Return instruction knows where to go We store this return address on the Call Stack If you call a subroutine and it calls another subroutine anoth
79. mple Move Distance 1 rev Max Speed 20 000 rev sec Accel Decel 200 rev s s Dir cw C cow C alternate Sample Once C Sample Continuously v Auto Scale Now Mi Backdiop mG d M Thick Lines If you have selected Sample Once you will get one sample move and one graph each time you click on Start The scope automatically scales the graph to fit the data If you are tuning your drive to minimize position error you may find it hard to tell at a glance that the error has changed because the graphs keep re scaling to fit the entire scope area If uncheck the Auto Scale box the graph vertical axes will no longer change and it will be easier to judge the response to changes you ve made in the tuning parameters If the trace becomes too large to fit or too small to see in detail you can click on the Now button to perform a onetime re scaling of the data If you don t like the colors we ve chosen for the two traces or the grid or background you can change them by clicking on the color buttons Don t worry we won t be offended If you have enlarged the scope by dragging the border of the Quick Tuner screen or clicking the maximize button you might want to check Thick Lines Sometimes it is convenient to keep the sampling process running automatically while you adjust the gain parameter slide bars To do this select Sample Continuously The drive will start sampling and plotting when you click on
80. n used for machine set up In some cases it is necessary to prevent the machine opera tor from changing these settings The Mis Programmer does not provide password protection but a mechanical key switch can be used for this purpose The key switch should be wired to one of the programmable inputs of your Mis drive Please refer to your drive s hardware manual for wiring details Place an If Input instruc MOONS Mis Programmer Software Manual 33 Feed to Length The Feed to Length instruction is used for point to point moves If you just want to move the motor a fixed number of steps this is the instruction to use You can also use speed or distance data that was previously gathered by an MMI Prompt instruction When you click on the Feed to Length button in the Program Line dialog box you ll see the Feed to Length dialog box appear This is where you enter the parameters for the move s Move the Motor a Fixed Distance Cancel OK alysis SO m Direction Get from MMI C Cw e COW Speed 30 00000 Rev sec Get speed from MMI HL lee 7 Accel SL T TH 388 Rewsec sec Decel IL gt F100 Revisecisec Reduce Speed During Move At 1 steps Get speed change dist from MHI Dist2 gt reduce speed to J0 025 Rev sec Get speed from MHI Speed2 gt Distance this is the number of motor steps you want to move The maximum number is 16 000 000 If you select the check box marked G
81. n you must enter the continuous power capacity in watts and the resistance Now for the hard part entering the number of seconds that the peak regen power level can be sustained by your external resistor The peak regen power is 160 000 R where R is the resistance of your external resistor For a 50 ohm resistor the peak power is 3200 watts The resistor manufacturer can help you with this Consult the hardware manual when connecting the external resistor to the drive Reset Factory Defaults If things really get out of hand you can click this button to return the drive to the way it was when we shipped it from the factory Alarm History This provides the same view of recent alarms and faults as the button on the main Mis Programmer screen Please see page 21 Configure I O This activates the same dialog as the Configure I O button on the main Mis Programmer screen Please refer to page 17 The Tuning Sampling Tab This tab allows you to set the control loop parameters also called servo gains and adjust the filters You can also experiment with the response to your choices of gains and filter settings using a built in digital scope The Scope At some point you are going to want to observe how well your choice of gain parameters works We have included a sampling oscilloscope feature for this reason All you have to do is select the move profile you d like to try by entering a move distance a maximum speed and the ac
82. ndition and ask if you want to reset the indexer drive from the PC Setting the Step Motor Current The drive current must be set to match the motor First determine the rated current for the motor If you are using one of the motors recommended in the User s Manual for your Mis indexer drive the User s Manual lists the rated current Otherwise you ll have to go by the manufacturer s rated current which is usually printed on the motor label You can operate a motor at less than the rated current It will have less torque than it would at the rated current but will run cooler and make less audible noise Current 2 50 amp Phase Depending on how you connect the motor to the drive the current setting on the drive may differ from the rated current of the motor For eA A example if you re using an Applied Motion motor follow these rules Idle Current Four lead motor Use the rated current The motor can only be connected one way ei 25 50 C 100 Six lead motor the nameplate current is for the center to end connection If you choose to connect the motor in series divide the current by 1 4 Eight lead motor the nameplate current is for center to end For parallel connections multiply the current by 1 4 For series divide by 1 4 In the Mis Programmer software the current is controlled in the main window by the panel on the upper left side of the screen To adjust the current setting just slide the scroll bar
83. ne parameter to enter in a Go To instruction the line number you want to jump to Click on the spin button to increase or decrease the line number 48 Repeat End Repeat 7 Repeat a Fixed Number of Times L mo Get repeat count from MHI Cancel Name L ouni L Display loop count on MHI line 4 Cocpuntup f count down Mis Programmer Software Manual MOON G Sometimes you need to do the same thing several times and you know in advance how many times that is Re peat loops allow you to repeat the instructions inside the loop up to 65 535 times For example lets say we are dispensing fluids into an array of containers There are five rows and five columns of containers each 100 steps away from the next Each time we receive a trigger command we want to move to the next position After the fifth container is full we must return to the first 400 steps back The Mis Indexer that controls the X axis or motion between columns would be programmed as follows The program begins on line 1 There we enter the repeat loop The next four times the Mis Indexer will wait for the voltage at Input 1 to fall then move clock wise 100 steps taking the dispenser to the next End Repeat Loop container After the fourth time the Repeat 4 times Mis Indexer drops out of the loop into line 5 This time when Input 1 fu alt for Input 1 Falling edge falls the motor is moved 400 steps counter clockwise re
84. ner That way you can measure and observe the performance Changing the current will affect the motor torque Turning the servo off is useful if you want the motor to spin freely w Change Control Loop Tuning E E Proportional Gain 5000 x Integral Gain 5000 If fness Derivative Gain 2000 E Velocity Feedback 4000 gt m Damping Velocity Feedhwd 4000 EE A V Accel Feedtonard 84 HH F Inertia Continuous Current f _ o Arms Peak Current E p Warning do not enter values into this instruction without first testing them with Quick Tuner to verity thatthe motor and load behave as intended v Servo On C Serva Off Cancel Mis Programmer Software Manual 57 Comment The Comment lets you leave notes in your program That way if someone else needs to modify your program in the future they ll understand what you ve done The comments can also help you organize the program for yourself Whether you save your program to disk or just download it to the drive the comments stay with it They do not affect the way your program runs when the Mis Indexer executes a program it skips over the comments We suggest that you place a comment on the first line of your program to let future programmers know who wrote the program when it was written and what it does You can also put in comments at other places in your program Perhaps just before a Feed t
85. nonononanncnnnnnonnnnonnnnananncnnnnnnnss 61 Encoder Feedback S TADO ci eee ee 63 enn nen ena 65 Mis Programmer Software Manual MOON G Toe Motor g oie domm H PRRQ 65 Encoder and Hall Timing BLU Drives cccccccconccnncccconccnnnnconnoncnnnonnnnncnnnononannnnnnnnnnnnnnnrnnnnnnnnncnnnnonnnnrnrnennnnnnnns 65 Encoder and Hall Timing BL Div SS iua tertio perta a e tn etr habea Dhrtppe zc bau bueno t etta piece nio 66 Manual Timing Configuration BL Series ONly ococccococnccnncccnonnoncnnnononancnnnononanennnnonnnncnnncnnnnonnnnrnnnnonnnnennnnnnnas 67 Encoder Direction BL Seres only aiessskema nace tesa iria ici 68 FOSO EMO UN aiii 68 Regeneration ASP o In SA 68 Reset ONY SUN t 69 A A e A 69 o o 69 The Tuning Sampling T3Dssennenstsonsedtenihaesietkettnt uti radica 69 Uche o A e POS O BUE E A 69 COMMON Loop Tunim BL DVE oscense 71 Control Loop Tunng BLU DIV Srita ile A AE Eiai 73 Sine ss Gan TONOS TENURE I 73 AN Gala T e A E EE E EEE 74 Inertia Gain Term Acceleration Feed forWard oooooonnccnncccccccconncnnnnonnnnconononnnennnnnononnnnnnnnnnnnnnnonnnnnnnnnnenanininonnnns 75 FIN OS ate aw e c e 75 e o o un Pe 75 An o E REO O O O 77 BETONI CO c LR mS 77 BEI Ser VO MINIMI c e 81 G
86. ntrol the brake by wiring a power supply and a power relay in series with the brake coil Another power supply usually 24 volts DC is then wired in series with the Brake output Y1 and the relay input coil Please consult the drive hardware manual for wiring details If you want the drive to automatically release the brake when it powers up and to engage it when power fails and or when the motor is disabled just check the Brake Output box You must allow specify the release time or how long you want the drive to wait before making any moves once it has sent the release signal to the brake You must also tell the drive how long to wait for the brake to engage before turning off the motor Please note that in case of a servo fault the motor must be disabled immediately The brake engage time is ignored and some load slippage may occur 20 Mis Programmer Software Manual MOON Ss Special STAC6 Dialogs When a STAC6 Mis drive is selected from the drop down list four special command buttons appear Motor Encoder Alarms and Regen Each button invokes a special dialog box for setting features unique to the STACE The Encoder dialog is explained in the section Encoder STAC6 The Motor dialog is used to select a motor from the list of Applied Motion Products motors that are de signed for use with the drive For optimal performance of the antiresonance and electronic damping features you must also enter or estimate the load
87. o Length move you would want to add the comment Rotate the part 1 4 turn A little time spent now commenting your program might save you a great deal more time later on when you ve forgotten that Feed to Length 3000 Steps means Rotate the part 1 4 turn There is a limit to the number of comments your program can have The Mis Indexer has a string pool of 400 characters All MMI Prompts text goes into the string pool as any Comment instructions whose strings exceed 12 characters Part feeding program 173 97 Enter up to 30 characters OK EE Lancel 98 Mis Programmer Software Manual MOON Ss Command Buttons Download Download Upload amp Execute Upload The Mis Indexer was designed to operate without a host computer once your program is finished and tested At first though you ll probably find yourself running it from the PC much of the time That way you can quickly make changes in your program to fix Execute errors or conduct experiments The Mis Programmer software provides four command buttons for interacting with the indexer drive Download transfers the program from the Windows software to the Mis Indexer that s plugged into your serial port The transfer takes about 3 seconds You must download the program before you can execute it Note when downloading to the indexer drive make sure the JOG inputs are not activated If in doubt remove the JOG CW and JOG CCW connector plug
88. of choosing one of the 20 instructions click on the command button marked Insert The instructions are reordered and the line you need for your new program line is available You can then click on the open line and select an instruction as you normally would Delete Delete Step In addition to inserting a line in your program you can delete one to make room for others farther down You may for example have some available space in the middle of the program but want to add an instruction near the end Click on a program line that you don t need When the Program Line dialog comes up select Delete The line you selected for deletion will be gone and all the other lines will move up one position leaving a blank spot at the end of the program By combining insertions and deletions you can place your program lines wherever and whenever you need to User Defined Units v User Units name inch The Mis Programmer normally expects you to enter distances in steps and speeds in steps inch revolutions sec However you can also define your own units 0000 To define your own unit first enter a name in the name box In the example at the left the name is inch The name you enter cannot be longer than four characters Next you must enter the number of motor steps in one of your units For example 20 000 steps rev with a screw pitch of 2 turns per inch is 2revs inch 20 000 steps rev 40 000steps inch Somet
89. olution and the number of poles must be entered before the folowing procedure is attempted 1 Connect the motor to the drive Wire the phases hall and encoder signals straight across as detailed in your drive s Hardware Manual 2 Do not connect any load to the motor It is important that the motor be unloaded and completely free to move during the operation of the Hall Timing Wizard Connect the programming cable to your PC Launch the Quick Tuner software Connect and apply power to the drive In the motor encoder drive panel click on the Timing Wizard button The Wizard will remind you to disconnect the motor from any load The Wizard will ask you to rotate the motor shaft in the clockwise direction The Wizard will tell you when to stop turning the shaft 9 Click OK and the Wizard will do the rest If successful the Wizard will determine timing apply those settings to the Quick Tuner set up You also wil need to tune the drive we don t have a wizard for that Se SEES Oo o9 Encoder and Hall Timing BL Drives If you are using an Applied Motion Products Alpha motor the default drive settings are correct for this type of motor You can skip this section Three phase brushless DC motors provide three signals that tell the drive when to switch from one phase combination to another These are called commutation or Hall signals The relationship of the commutation signals to the motor phases called Hall timing is not
90. or Notes 1 We do not recommend the use of 0 idle current reduction if you are using encoder feedback 2 To use the encoder feedback feature you must have Mis Programmer software version 1 75 or later and drive firmware version 1 75 or later MOONS Mis Programmer Software Manual 63 Encoder Feedback STAC6 8 GND 2 encoder A 7 5WDC 200m 1 encoder A 6 encoder Z encoder B 3 NG 9 The optional encoder connects to the STAC6 using an HD1 5 male ur ST connector You ll have to add this connector yourself according to encoder Z 5 the diagram below It is not essential to connect the Z index channel If you are using an encoder with single ended outputs shame on k you Differential connections are far less sensitive to electrical NC 15 11 NC interference and life is too short to waste time deciphering the NC 14 12 NC bizarre problems that can occur with a poor quality encoder That MC 13 said single ended encoders should be connected to the A and B terminals Leave A and B unconnected They are internally biased to the proper voltage for best results You ll also need to select the single ended box in the encoder dialog or the drive will think you have a broken encoder wire That s another good reason to use a differential encoder the STAC6 can detect and broken wire or bad signal and alert you to the problem w Encoder Feedback optional Encader 4000 c
91. ou are certain that your motor and load settle more quickly than normal MOONS Mis Programmer Software Manual 37 Feed to Sensor The Feed to Sensor instruction allows you to move the motor until an external event changes the state of an input One useful application for Feed to Sensor is when your motion distance varies Let s say you are using a motor to dispense labels that come on a roll You can t guarantee that the spacing of the labels is exact so you don t want to simply feed out the same number of steps each time Instead you can put a sensor on the feed mechanism that sees the edge of each label and signals one of the Mis Indexer inputs to stop motion Feed to Sensor will ask for many of the same parameters as the other feed programs Speed accel decel and direction You also need to specify a distance That s because the Mis Indexer must have enough space to decelerate to a stop once the sensor is tripped The higher the speed the longer it will take to stop If the decel rate is increased then the motor can stop in fewer steps The Minimum Distance box tells you how many steps you must allow based on the speed and decel rate that you ve set You can t set the distance to less than this minimum Feed to Sensor x OK Name Dist Cancel Direction Move Motor a Fixed Distance Past Sensor Distance os inch beyond 9 0 sensor Speed 5 00000 inch sec M Get distance from MHI
92. ou press it Click on inverted then press Test again Does the motor run the same speed as it did in step 2 as indicated by the RPM readout below the Test button If not go back to Step 2 and find another timing pattern that works equally well in both directions 68 Mis Programmer Software Manual MOON G 4 Okay we ve almost got it When you hit the Test button which way does the motor run If it goes counter clockwise when looking at the front of the motor you are done Save your set up to disk before you forget your results 5 If the motor was running cw then change the inverted setting It should then run ccw Save your results Encoder Direction BL Series only Note the Hal Timing Wizard sets the encoder direction automaticaly If you used the Timing Wizard to configure your motor you can skip this section Incremental encoders provide two signals to the drive channel A and channel B The drive determines the direction of motion from the relationship of channel A to channel B For all Applied Motion motors channel A leads B when going ccw If you are using another motor this may not be the case Documentation is sometimes sketchy on this issue so it s often best to just try both choices Once you are certain that your hall timing is good try to turn the motor shaft with your fingers If it comes back the encoder direction is correct If not then the motor will run continuously at a fairly high speed Note
93. ounts turn 1000 lines Eh A leads Ch B when shaft turns cw cow Single Ended not recommended shaft tuming ecw Stall Detection Fault drive if motor stalls or is forced out of position Stall Prevention iv Automatically adjust torque utilization to prevent stalling Use 100 max v Hard stop fault drive if motor stalls for more than 20 msec Branch on Stall iw IF motor stalls branch to line 15 Ho Caes Encoder Feedback Options Stal Detection continuously compares the actual motor position as reported by the encoder against the theoretical motor position If the motor strays so far out of position that it can produce no torque a position fault occurs This includes a motor at rest being driven out of position by an external force 64 Mis Programmer Software Manual MOON G Check the box below Stall Detection if you want the drive to fault when the motor stalls This fault can be reported by the Fault output and cleared by the Alarm Reset input see I O Dialog Stal Prevention can prevent many stalls before they occur The STAC6 achieves this by using the encoder to monitor the lead angle of the motor a measure of torque utilization If the motion profile begins to demand more torque than the motor can produce the velocity is automatically reduced before the motor stalls To engage stall prevention simply check the Stall Prevention box and enter the maximum torque utilization you want to allo
94. ping 5 5000 rn Ee Inertia 1 A Advanced Monitor Sampling Plot Actual Speed El Plot Position Error Sample Move Distance la ev Max Speed 30 000 rev sec Accel Decel 200 rev s s Dir cew C cow altemate Sample Once Start C Sample Continuously Se 4 Auto Scale Now Backdrop n Grid v Thick Lines At this point don t worry to much about the larger Position Error We will take care of that later 5 The return of KVf and KVff parameters Now add back in the Velocity Feedback KVf and Velocity Feedforward KVff parameters that were zeroed in step 2 For large inertial loads these values can be also be large The goal with these terms is to minimize the Overshoot and get rid of the Ringing when accelerating and decelerating In the plot above the red trace shows overshoot when the maximum speed is reached and again when the motor reaches zero speed There is no ringing in this plot so we are almost damped enough We don t need to eliminate all the Overshoot at this point Simple Advanced Filters because we have another term that will help Prop 116000 dos Typically the KVf and KVff are kept the same If we want to adjust all the Damping values together at the same time Integral E 5 use the Damping slider on the main QuickTuner Window EIE 10000 This control keeps the damping values ratioed to each oa a d a a a og other when adjus
95. plication For this exercise try 30rps and 200 rev s s 2 Start with the KP amp KD parameters Before we try a move let s only start with the Proportional KP amp Derivative KD gain parameters Record the values of the other parameter settings and Zero out there values Do this in the Advance Control Loop screen by clicking the Advanced tab The Accel Feedforward can only be set as low as 1 Starting with only these two terms is a good safe way to begin They are the minimum required in a servo sysiem Note If things go wrong they usualy do there is a Play Pause button in the upper right corner of the QuickTuner Window under the label Servo Clicking the Pause wil disable the servo clicking Play wil enable the servo Be ready to click the Pause if things don t go wel 3 Let s Plot a Move Start by selecting Actual Speed and Position Error for the Plot selections Make sure the direction is set correctly in some cases you may want to select alternate to avoid running the mechanism into a hard stop For now select the Sample Once button Click the Start button and observe the results It may not look very good as shown in the next figure Other problems may have occurred during the move depending on how things were set up If a Fault occurred you will have been asked to clear it but the drive will be left disabled until the Pla
96. program ultimately returns to line 3 to check the condition of the switch again If you select Multiple Inputs then you can combine multiple inputs in a logical or or and expression For example If input 2 low or 3 low or 4 high goto line x If you have a BLU Mis drive you will see more input choices including XO the encoder index With Applied Motion motors XO reads high when you are on the index and low everywhere else Note If you use an If Input instruction to exit a Repeat Loop the loop does not automaticaly reset the next time you enter it If you exit a loop by using an If Input instruction you should use a Reset Repeat Loop instruction to reset the loop Otherwise the loop count resumes where it left off 94 Mis Programmer Software Manual MOON G Call and Return Call and Return instructions are used to create and use subroutines Subroutines are useful programming tools for two reasons First if there is set of instructions that appear in your program more than once you can save program lines by creating a subroutine and calling it from each place the repeated program lines occur For example you may have a handshaking routine at the end of each move You could put the handshaking routines near the end of your program followed by a Return instruction Then you just Call that subroutine after each move That frees up program lines so that you can do more Subroutines can also help you avoid program
97. program your Mis product For information regarding your specific Mis hardware such as wiring and mounting please read the hardware manual for that product Hardware manuals are also included on the CD at our web site or by clicking the Help button in the software The Mis Programmer features include e Powerful flexible easy to use indexer e Nonvolatile program storage e Automatic stand alone execution of stored program e Connection by a simple cable to your PC for programming cable included e Programmable inputs amp outputs for interacting with other equipment e Interrupt on input branch on end of travel limit branch on servo fault e Instructions for motion triggering branching loops subroutines time delays and more e User defined units such as inches degrees gallons etc e Optional man machine interface MM lI allows operator to enter distances speeds loop counts and more e Built in servo configuration and tuning including a digital storage scope To operate your Mis product you must do the following e Install our software program on your PC e Connect a motor for the Mis 100 you ll need a motor and a pulse amp direction drive e Connect any inputs or outputs that you require e Plug into your personal computer for programming e Connect amp apply power If you have trouble getting your Mis Indexer to meet your expectations or if you want to suggest improvements to the product or thi
98. put Cn 62 03 36 Mis Programmer Software Manual MOON G Feed amp Return The Feed amp Return instruction is used for point to point moves where you want to return to the starting point For example if the motor was driving a cutoff knife you would want to retract the knife after cutting Feed amp Heturn i Move Motor Fixed Distance then Return Distance 15000 5000 15000 Steps Cancel P SET Direction 7 50000 Rewsec Get from MMI a E Name Speed gt C CEW Accel aan Hita gt Rev sec sec Decel _ 100 Rev sec sec Eso E El gt 20 00000 fFav sec Feed amp Returnrequires many of the same parameters as Feed to Length distance speed accel decel and direction For explanations of these please refer to the Feed to Length section of the manual You ll also need to set the return speed The range is 025 to 50 revolutions per second Servo drives have a top speed of 100 rev sec In the case of the cutoff knife you might want to feed slowly as the knife is cutting then retract quickly Thus you would set the return speed higher than the forward speed Return delay determines how long the Mis Indexer waits between the end of the feed move and the start of the return This could for example give the machine time to remove a part before retracting Since a motor and load need time to settle out after moving you should not set return delay to less than 0 2 seconds unless y
99. put T 2 Closed when motor is moving Open when motor is moving Motion Output STACO The STAC6 Mis offers four options for the function of output Y2 Choose closed is you want Y2 to be closed when the motor is moving and open at all other times Open causes Tach 100 pulses rev Y2 to be open when the motor is moving and closed at rest fe Mat used Tach is useful if you want another piece of equipment such as a PLC with a built in counter to Know how fast the motor is moving When the tach option is chosen Y2 produces 100 pulses per motor rotation For example if the motor is rotating at 5 5 revs second the tach frequency will be 550 Hz Select not used if you want to control Y2 in your program by using Set Output instructions Brake Output BLU Servo and STAC6 When power is removed from a servo drive or when a fault occurs the motor loses all torque The load is then free to move if acted upon by an external force such as gravity or a spring In applications where it is essential that the load not move when the servo is turned off a brake is required Sometimes the brake is added externally to the shaft or load other times the brake in built into the motor In either case the brake holds position when power is removed and must be supplied with power to release and allow motion A small amount of time is required for the brake to engage or release The BLU servo or STAC6 drive can automatically co
100. put voltage high and stop when the sensor signal goes from low to high again Falling Edge the opposite of rising edge Mis Indexer waits for an input voltage to go high then low If you have a BLU Mis drive you will see more input choices including X0 the encoder index With Applied Motion motors XO reads high when you are on the index and low everywhere else If you are concemed about your load never reaching the sensor for example if your sensor may fail or the load might jam up check the box marked If distance exceeds safety limit You can then enter a safe distance and specify a line number to which the program will branch if it can t find the sensor For example if you are sensing labels on a roll and they are supposed to be about 1 inch apart enter a safety distance of 3 inches Then enter 20 as the branch line On line 20 you will put some kind of error recovery routine like an MMI Prompt telling the operator to check the label stock Note the Mis Programmer software wil not let you enter a move distance that is less than the minimum deceleration distance for your chosen speed and decel rate However if speed or distance is set by an MMI variable no such error checking is performed It is your responsibility to choose an upper limit of speed and lower limit of distance so that an operator cannot enter an incorrect value Failure to do this may result in unexpectedly long moves MOONS Mis Programmer Software Manual
101. r Execute some aggressive sample moves using the maximum speed and acceleration that you plan to use in your application If the maximum position error is say 50 counts then you could safely set the fault limit at 100 Regeneration Clamp If you rapidly decelerate a load from a high speed much of the kinetic energy of that load is transferred back to the power supply This can trip the overvoltage protection of the power supply causing it to shut down For the BL7080i BL7080x BLU100 and BLU200 series DC powered drives we recommend the addition of one RCO050 regeneration clamp for each power supply The BLMis 7080 and BLx7080 drives have built in regen clamps that require no adjustment Due to the extended power range of the BLUACS drive the built in regen clamp may not be enough in all cases If you experience regen faults while operating your drive you should first check to see that the internal regen resistor is actually connected On the bottom of the drive you should see a jumper wire connecting the MOONS Mis Programmer Software Manual 69 outer two terminals of the regen connector as shown below If the wire or connector are missing remove power from the drive and replace them If the internal resistor is connected and you still experience regen faults on your BLU AC you ll need to connect a larger resistor externally You also must inform the drive that you ve done this by selecting the external option button The
102. r Software Manual 81 BLu Servo Tuning Tutorial Blu Servo drives have the same PID control parameters as the BL7080i and BLMis 7080 plus they have a few more As motor power per unit size has increased so has the load requirements for servo motors The basic PID is great for loads that are not greater then 5 1 inertial mismatch the difference in inertia of the motor and the load But to handle the increased demand 3 more control parameters are added to enhance control of high inertial loads The three new parameters are Velocity Feedback KVf Velocity Feedforward KVff and Acceleration Feedforward KAff You could say we now have a PIDVFA servo control algorithm The first thing you may think is Oh no not more things to adjust and have no idea what they are Well it s not really that bad In QuickTuner we have grouped these parameters together in three main functions 1 Stiffness KP Kl These parameters work primarily to keep the servo position with minimal error through out the move profile 2 Damping KD KVf amp KVff These work to minimize oscillations and overshoot in the motion profile The KD works mainly on the higher frequency oscillations while the other two work at lower frequencies especially with high inertia loads 3 Inertia KAff This parameter is specifically used to counter the affects of large inertial loads during acceleration and deceleration We have made it so that you can adjust the se
103. rives because it is easy to understand which makes it easier for you to set up our drives for your application The PID loop compares the intended motor position to the actual motor position as reported by the encoder The difference is called error and the PID loop acts on this error in three ways the Proportional term the Integral term and the Derivative P The Proportional Term The simplest part of the PID loop is the proportional or P term The drive applies current to the motor in direct proportion to the error Here s an example if the motor were standing still and you suddenly turned the shaft by hand you d want the drive to increase the motor current so that it goes back into position The farther you disturb the motor from it s target position the more the torque will increase The P term also called P gain governs how much torque you get for a given amount of error Un In general if you have more load inertia you ll need more torque and therefore a higher P gain The torque provided by the P term is T 2 KPUn I The Integral If you think about the previous example for a moment you may realize that P alone will not give you perfect position If you applied one ounce inch of torque to the motor it would move out of position The P term will increase the motor torque until it is producing as much torque as you are Then the motor stops moving But there is still error The term adds up all the error that the drive has seen
104. rst time To ease this burden the Quick Tuner includes a Hall Timing Wizard that automatically detects the necessary configuration for your motor To use the Hall Timing Wizard you must do the following 1 Connect the motor to the drive Wire the phases hall and encoder signals straight across as detailed in your drive s Hardware Manual 2 Do not connect any load to the motor It is important that the motor be unloaded and completely free to move during the operation of the Hall Timing Wizard Connect the programming cable to your PC Launch the Quick Tuner software Connect and apply power to the drive In the motor encoder drive panel click on the Timing Wizard button The Wizard will remind you to disconnect the motor from any load 8 The Wizard will ask you to rotate the motor shaft one turn in the clockwise direction See the sketch Because the drive has no absolute frame of reference you must provide one by turning it clockwise The amount of rotation does not have to be exactly one turn but try to get it within 30 degrees 9 Click OK and the Wizard will do the rest If successful the Wizard will determine hall timing and the encoder direction and apply those settings to the Quick Tuner set up You still must enter the exact encoder counts per turn manually You also wil need to tune the drive we don t have a wizard for that QU ON UIS DD If the Hall Timing Wizard fails you might still be able to configur
105. rvo parameters in groups or with the Advanced button individually When tuning the BLu servo s we start out in the same way as the BL s We can actually get pretty good control with just the KP and KD terms As with the BL servo drives we have provided Files that contain a good starting point for tuning the Servo drive with our Alpha Servo motors We have expanded the range of inertia s and now have files for each motor that cover inertia s of 1 1 1 5 and 1 10 Getting Ready for Tuning Before you begin it s good to do some homework on the load the motor is intended to drive The two primary load issues to consider are the Frictional and Inertial torque requirements In a servo system Frictional Torque is the easiest to deal with so primarily it is important to know or estimate the Inertial Torque Knowing the Inertial Torque requirement will aid later in know how much gain will be needed in some of the tuning parameters When calculating or estimating the inertial load you will come up with a number that is in units such as g cm2 or oz in sec2 These are good units to use because AMP Alpha Servo motors are rated using them For AMP Alpha Servo motors specifications refer to the product catalog or visit out Web site With a good estimate of the Inertial load and knowing the inertia of the motor you are using you can now select a file from a list generated at the factory that best represents your load You will need to do a littl
106. s manual give us a call at 8621 52634688 or write to support omoons com cn Note This manual was prepared for Mis Programmer 2 5 and the latest drive firmware If your drive contains a previous firmware revision then some of the features described in this manual may not be available to you The Mis Programmer software wil alert you to this fact if you try to download a program that your drive cannot execute If your PC contains an older version of the Mis Programmer software please instal the new version You do NOT have to uninstal the old version first The latest Mis Programmer software is designed work with every version and model Mis drive ever produced seactcss eeen bos L e ro Create Your Program Download Your Program Apply Power Program Autoruns 6 Mis Programmer Software Manual MOON S Installing the Programming Software The Mis Programmer software comes on a CD along with the necessary manuals and other software Before you can use the software you must install it on your hard drive To run the Mis Programmer software you must have a computer with the following requirements e IBM compatible 386 486 Pentium or better CPU Pentium recommended for best performance e Microsoft Windows 95 98 2000 ME NT or XP e At least 32 MB memory e 20 MB available hard drive space e VGA monitor or better 16 bit color setting recommended 65 535 colors sometimes called High Color e Mouse or o
107. t You ll certainly want your Mis program to take action if a servo fault occurs The default action is to halt the motor and freeze your program The drive will then display an alarm code on the front panel Front panel alarm codes are shown on the next page You may also choose to branch to a program line if a servo fault happens That way you alert the machine operator via the option MMI or you can automatically send a hardware signal using the Fault output Y3 on the main board If you are able to fix the problem the servo can be re enabled by the Change Tuning instruction if the Servo On option is selected Mis Programmer Software Manual MOONS Piel ES A Servo Fault has occurred Alarm codes are displayed below w Servo Error Position Lirnit CCW Limit Cw Limit dive overtemp excess regen motor short MA bad hall sensor pr bad encoder comm error save failed over voltage timing wiz failed under voltage curent foldback Bl indicates an alarm Clear Fault If your drive has been operating stand alone and errors have occurred you can connect the drive to the Mis Programmer and have a look at the eight errors Just power up the drive with Mis Programmer present and click on Alarm History Servo Fault lf the servo faults C stop motion halt progam stop motion branch to line 3 C close fault output 1 3 C open fault output 13 f neither
108. t Cancel Stack which we will not actually use Iw Also reset call stack 3 The program branches to your interrupt address The interrupt is also disabled so that you don t keep branching to same address over and over again with your program unable to do anything else If your drive is still connected to your PC with the Mis Programmer software running we call this Development Mode you will see the interrupt status change from Enabled to Disabled 4 You should wait for the interrupt condition to clear If you are using an MMI you may want to alert the operator 5 Once the condition has cleared you need to turn the interrupt back on The Reset instruction can do that Be sure to choose the Reset Interrupt option If you forget this instruction the interrupt will only work once Be sure to choose the also reset call stack option That will remove the interrupt address from the call stack and prevent a stack overflow 6 Use a Go To instruction to complete your interrupt handler 18 Mis Programmer Software Manual MOON S Combining Subroutines and Interrupts The Call Stack is five levels deep The interrupt always uses one level so if you are using both subroutines and interrupts in your program be sure to use no more than four stack levels for your subroutines That way even if you are four levels deep on your subroutine calls a subroutine calling a subroutine which calls a subroutine you will still have one stack level free
109. t key while you click on the instruction icon Copying Instructions There may be occasions where you want to make an exact copy of an instruction or perhaps a copy with only one or two parameter changes The fastest way to copy an instruction from one line to another is to point the mouse at the instruction icon that you want to copy and drag the icon onto another one elsewhere in the program This is referred to as Drag and Drop For example say you ve entered a Set Output instruction on line 5 of your program and you d like an identical Set Output on line 11 Position the mouse over the Set Output icon on line 5 then click and hold the mouse button Move the mouse until the icon is over the line 11 icon Let go of the button and the instruction with all of its parameters will be copied to line 11 12 Mis Programmer Software Manual MOON Ss Inserting and Deleting Program Steps Insert Insert New Step The time will no doubt come when you ve entered many program lines only to realize that you need to add an instruction right in the middle We could be cruel and tell you that you ll have to reenter most of the instructions to make room for the new one But in the spirit of making the Mis Indexer easy to use we ve included a command to insert a new instruction anywhere in your program Its easy to do just click on the program icon where you want the new instruction to go You ll get the Program Line dialog as usual Instead
110. t smaller A motor drive can control a motor better if it examines the rate of change of the position error and includes that in its torque calculation For example if the motor has error but the error is decreasing back off on the torque That s what the D term does The final exact PID equation used in the BL7080 and BL7080i is T KT KPUn KI U KD Un Un 1 74880 where Un is the error in encoder counts Un 1 is the error of the previous sample KT is the torque constant of the motor This calculation is performed 4266 times per second Control Loop Tuning BLU Drive Like most modern servo drives ours employ sophisticated algorithms and electronics for controlling the torque velocity and position of the motor and load Filters Simple Advanced Sensors are used to tell the drive what the motor is doing l That way the drive can continuously alter the voltage and Stifness RODO current applied to the motor until the motor does what you want This is called closed loop control l 2000 p P Damping zum I I I I I I I I I I I One of the loops controls the amount of current in the Inertia S00 E motor This circuit requires no adjustment other than specifying the maximum current the motor can handle without overheating On the BLU servo drives the position control loop is a Proportional Integral Derivative PID type This type of closed loop control is used widely not just in motion
111. tained is recorded in nonvolatile memory Elsewhere in your program you can use a Feed to Position instruction to return the load there Since the Mis indexers support up to 8 MMI variables you can save as many as eight different positions The sample program LPdemo demonstrates the learning of two positions Even though the positions that the indexer has learned will still be remembered the next day because they are stored in nonvolatile memory you will need to home the system each time it s powered up Otherwise the absolute positions that you ve saved don t make any sense Note you need an indexer drive with firmware version 1 52 or later to use the Save Abs Position instruction am Save Abs Position Ex Sl E 7 3 T y Save current absolute position to i an MMI variable MMI Variable Dist 7 Cancel MOONS Mis Programmer Software Manual 43 Seek Home The Seek Home instruction allows you to move the motor until a home sensor is found The home sensor can be wired to any of the general purpose inputs Some applications require the motor to start from a certain position each time you turn on the power but can t guarantee where it was left at the last power down The solution is to wire a sensor to one of the Mis Indexer inputs and place a Seek Home command at or near the beginning of the program Seek Home x Seek Home will ask for many of the same parameters as the nel Find the Home Sensor o
112. tance for any program is 16 000 000 steps That s the longest distance the Mis Indexer can track If you move more than 16 million steps before you hit the sensor the Mis Indexer will not return to the correct position If this is a problem for you consider selecting a lower microstep resolution At 50 000 steps rev you would exceed the 16 million step limit after 320 revolutions At 2000 steps rev you can go 8000 revs before exceeding the limit 40 Mis Programmer Software Manual MOON G Feed to Position This instruction moves the motor and load from wherever they are to an absolute position For example if the load is at the 4 inch position and the program executes a Feed to Position 6 inches the motor will move two inches clockwise If the load was at the 10 inch position and you did a Feed to Position 6 inches the move would be 4 inches counter clockwise Feed to Position requires the usual move parameters speed accel amp decel rates Like other move instructions speed can be recalled from an MMI variable allowing it to be entered by the operator on the MMI panel Position can be a positive or negative number and can be entered on the MMI Please note that the MMI has no minus key so you can t enter a negative number on the MMI You can avoid using negative absolute positions by using the Set Position instruction Feed to Position Move the Motor to an Absolute Position Position 5 0 inch Speed 1 0 00000
113. ted current Otherwise you ll have to go by Peak Current Arms the manufacturer s rated current which is usually printed on the motor 200 label You can operate a motor at less than the rated current It will IEEE Sou have less torque than it would at the rated current but will run cooler EINE E and make less audible noise BLU Servo Drives have separate p settings for continuous and peak current The peak current only lasts for a few seconds but allows you to get extra torque from the motor for higher acceleration Normally you would set the peak current to 3X or 3 times the continuous current unless there is a mechanical limitation such as a gearhead BL servo drives automatically set the peak current to 2X the continuous Microstepping Step Motors Only Most non microstep step motor drives offer a choice between full step and half step resolutions In full step mode both motor phases are 20000 steps rev used all the time Half stepping divides each step into two smaller steps by alternating between both phases on and one phase on Change al I EEF il EFI Microstepping drives like the Mis5580 precisely control the amount of current in each phase at each step position as a means of electronically subdividing sel Microstep Resolution the steps even further All Mis indexer drives offer a choice of 13 step C 200 stepsztrev Full resolutions starting at 2000 steps per revolution The highest setting divides C 4
114. ter data Like the other Enter a move low closed execute box there is a display showing the distance in revs status of inputs and outputs and a control ie 4 panel that allows you to interrupt single step 1 N 39 ya or restart your program at any time IH4 PE lH5 cweg ui ah MA We provided the emulated MMI to save you INGJocwiog ui ui 5 the expense of a second RS 232 port on your 1 2 a INF BPD Mb cowlm ING J DMP culin Mis Indexer It also allows you to try out the MMI before buying one Ex a e cum Diss Output Status Interrupt EN E EA eee Note If your indexer drive firmware is Sub Call prior to 1 40 you won t see the status mul o SPACE EKSP ENTER display because your drive is not able to provide real time status information to the PC Instead you just see the MMI Emulator ee E ee astas ee Hun Pausc Step 26 Mis Programmer Software Manual MOON G How to display a message on the MMI ia MMI Prompt X Use the Man Machine Interface OK Machine Running Status OK Cancel o Display text only Display text wait for enter Display text wait for yes no amp branch on yes to display on MMI Machine running status OK Display text amp get distance Display text amp get speed Display text amp get repeat count m M oe E MMI Menu branch on number keys online 4 Display a variable Dist C online 3
115. the MMI Prompt to put the data When you set up an instruction to use data from an MMI variable you must tell that instruction which variable to use Dist1 Dist2 etc 32 Mis Programmer Software Manual MOON G Programmer removes those spaces when you reopen the instruction dialog It is safer to format your text using other characters like period or underscore For example If you want the operator to be able to set the number of parts your machine produces in a given run put an MMI Prompt instruction in your program to ask for a repeat count and to save it as Counti Some where else in your program you ll set up a Repeat loop to process the parts The loop will start with a Repeat instruction one that you ve configured to get its repeat count from the MMI variable Count1 You can even display the loop count on the MMI as your program runs Note you need an indexer drive with firmware version 1 40 or later to display the loop count on the MMI Scaling The Mis indexers work internally in steps and revolutions per second The MMI Prompt can accept data from the user in other units like inches or inches sec and automatically scale the data to internal units There are two ways to do that The easiest method of scaling is to set up user units on the main screen That way your entire program can be entered in your units See page 14 for an explanation of user defined units Another way to scale user entries is to enter a scale f
116. the beauty of multiple line programs with a wide range of instructions you re only limited by your creativity You can make the Wait Time instruction last longer by placing a repeat loop around it Now know we haven t talked about repeat loops yet so we re going to skip ahead a little here The first trick is to factor your 3 minute delay into two parts 30 minutes is 1800 seconds right The most we can delay in one Wait Time instruction is 300 seconds Okay what if we delay for 300 seconds 6 times Your program would look like this F epeat b times Pu ait 300 seconds E nd Repeat Loop What s the limit Well a repeat loop can go 65535 times so the maximum time you can delay is 65535 x 300 19 66 million seconds or 5461 hours Not long enough Try two repeat loops one inside the other Now we re pausing for up to 40000 years Wow Mis Programmer Software Manual 45 Wait Input Rarely does a motion controller operate completely on its own with no input from the outside world In most cases youll need the Mis Indexer to wait for something to happen before it goes into motion The Wait Input command is used for that The Wait Input command is also the only instruction that allows you to jog the motor using the JOG CW and JOG CCW inputs The Wait Input instruction has two modes of operation single input where it only looks at one input and multiple inputs where it can examine up to 8 inputs at once 16 inputs for BLU Mis driv
117. the same for all manufacturers That s okay because the Applied Motion drives can accept motors with nearly any hall timing A few motors have unequaly spaced Hal signals These are sometimes caled 60 motors Evenly spaced hal waveforms are 120 apart The one type of motor you cannot use is one with 60 degree timing Unless its Hal outputs are differential in which case you can convert it to 120 by connecting the output of Hal 2 to the drive and the outputs of Hals 1 and 3 If you have a 60 motor with single ended Hal outputs you cannot use that motor with the BL or BLu series drives To set the hall timing you must first wire your system That includes connecting the motor to the drive and the drive to a power source Refer to the hardware manual for your drive when making these connections Once MOONS Mis Programmer Software Manual 67 you have connected the motor to the drive we can configure the timing using the Quick Tuner lf you are using a motor from another manufacturer try the Hall Timing Wizard first In most cases it can automatically detect your motor timing pattern and configure the Quick Tuner software for it You may also manually configure your motor by skipping ahead to the section Manual Configuration Hall timing varies among motor manufacturers The timing diagrams supplied with motors when they are supplied differ in their format too complicating the task of configuring a motor for the fi
118. ther feed programs Speed OK Cancel accel decel and direction TT iF 2000 Mets a You ll also need to tell the Mis Accel 2 100 Revsec sec Indexer which input the sensor is Decel a p gt 125 Rev sec sec C CCW wired to and what input condition to look for The four input Sensor Input Condition Required clearance between conditions are g BIG ds C High C Rising Edge limits amp hard stop C2 4 CE Jos Clow Faling Edge 320 Steps High move until the specified eonesessnasos iios assasas Plone input reaches a high voltage state This is the default state of an input if nothing is connected to it Low move until the specified input is at a low voltage state Rising Edge move until the signal goes from low to high This is similar to the high condition but the difference is important If you execute a Seek Home command to a high input and the load is already on the home sensor causing the input to be high then the load will not move If you choose rising edge instead the Mis Indexer will move the load to the edge of the home sensor If you need the load to be at the exact same position after each Seek Home command choose Rising Edge or Faling Edge Falling Edge the opposite of rising edge Mis Indexer waits for an input voltage to go high then low The Mis Indexer begins a Seek Home command by moving the motor in the direction
119. ther input device e CDROM or 3 5 floppy disk drive e Anine pin serial port must be available preferably COM1 If you don t have a serial port get a USB Serial Adapter The software installation is highly automated like most Windows programs so the process is simple e Put the CD into your CDROM drive e ACD Browser should appear within 60 seconds e Select Install Software e From the next screen select Mis Programmer If the CD does not autostart the autoplay feature may have been disabled on your PC This will continue to cause problems for you until you turn Autoplay back on Please consult Help under your Windows Start menu or contact the manufacturer of your PC If you are in a hurry and who isn t you can manually launch the CD by double clicking the My Computer icon Then right click the Mis CD icon and choose Autoplay If your PC does not have a CDROM drive but you have access to one that does you can make your own diskettes as follows e Insert the CD into a computer that has both a CD and a 3 5 floppy disk drive e Wait for the CD Browser e Choose Browse CD Contents e Locate the folder Mis Prog Disks e Inside this folder will be other folders called Disk 1 Disk 2 etc e Open the folder Disk 1 Copy the files to a blank diskette and label it Mis Programmer Disk 1 e Repeat for the other disks e When you are ready to install from the diskettes insert Disk
120. ther you disturb the motor from it s target position the more the torque will increase The P term also called P gain governs how much torque you get for a given amount of error Un In general if you have more load inertia you ll need more torque and therefore a higher P gain The torque provided by the P term is T 2 KPUn I The Integral If you think about the previous example for a moment you may realize that P alone will not give you perfect position If you applied one ounce inch of torque to the motor it would move out of position The P term will increase the motor torque until it is producing as much torque as you are Then the motor stops moving But there is still error The term adds up all the error that the drive has seen and produces a torque that is added to the torque command from the P term T KPUn KI U In our example the P term allowed the motor to reach equilibrium at a position where the applied torque from your hand equaled the torque of the P term Thus the error was not zero But the term will keep adding up that error and continue to increase the torque until the motor truly returns to the target position Damping Gain Terms D The Derivative o0 far we ve just talked about a motor that is disturbed when standing still But the objective of motion control is to get that motor moving on it s own The problem with electric motors is that they tend to be very springy a condition known as underd
121. ting the gains Wel FB 20000 vel FF 20000 AccelFF 1 MM 84 Mis Programmer Software Manual MOON G To much gain on the Velocity parameters may cause an oscillation usually apparent when running at the Max Speed or when Stopped Reduce the gain until the oscillation is acceptable As a general guideline the Velocity Gains values are typically 2X the Derivative Gain value eo Quick Tuner V1 7 39 untitled I E Dive BLU200 S Sev Upload Pint servo EN Products p a 1 36 Open Download Gut me Tuning Sampling Motor Encoder i Inputs Outputs e pen Control Loop Stiffness E 6000 Advanced Monitor m Plot actual Sped y il Plat Posion Erro Ml m Sample Mose Distance T2 my Max Spead 30 000 rev sec eee 200 revie s Dr C cw C cca slemate e Sampe Once C Sample Continueusly tie W Auto Seale Now Backdip J Ged 4 Thick Lines 6 Adding in the KAff parameter Advanced Filters The Acceleration Feedforward KAff is a different kind of Prap 16000 d term from what we have just been working with This term Po is used to deal with the inertia of a system It will request ntegral F more current during the acceleration and deceleration Dery 1 10000 o phases of the move profile Wel FE 20000 Wel FF 120000 Accel FF S000 Is Start by adding in 1 2 of the recorded value from the file
122. to display on MMI f Display text wait for yes no amp branch on yes Change set up parameters press YES or HO C Display text amp get distance C Display text amp get speed C Display text amp get repeat count Multiply input dala by 1 Limits Diet Upper limit 50 Lowe limit E Save dala as Scale MMI variable Put an MMI Prompt instruction on line 1 Type Change setup parameters press yes or no in the text box Select the option button Display text wait for yes no amp branch on yes In the line box type 12 Click OK Starting on program line 12 place your parameter setting instructions At the end of your parameter setting instructions place a Go To line 2 instruction How to ask the user for a move distance Enter the part length in inches Use the Man Machine Interface OK ncel Line Display text only fi Ca Display text amp wait for enter sd Text to display on HHI Enter the part length in inches Scaling HHI variable multiply MHI entries by ji to get steps t user defined units MMI entries will be in inch Limits Disti Upper limit 12 inch O Display text wait for yes no amp branch on yes t Display text amp get distance C Display text amp get speed Display text amp get repeat count Save dala as Lower limit 0 5 inch
123. turning to the cw 100 steps 10 rps original position Sometimes you may need to repeat ail far Input 1 falling edae something more than 65 535 times P q edg Lets say your task is to feed material into a cut off knife and you ECW 400 steps 10 rps want to run 100 000 pieces Go to line 1 The best solution is to set up 2 loops one inside the other The total number of cycles will be the number Repeat 10 times of repeats in the two loops multiplied together 100 000 is Repeat 10000 times 10 000 x 10 so we could set one 1 2 3 4 5 for 10 and the other for 10 000 Ew 100 steps 10 rps p ite E nd Repeat Loop E nd Repeat Loop MOONS Mis Programmer Software Manual 49 The Repeat instruction can also use data that was gathered and stored by an MMI Prompt instruction as the loop count Just check the box marked Get repeat count from MM I and select a variable from the list For example you could put an MMI Prompt in your program to ask for the number of parts to be processed and save that data as Count1 You would then set up the Repeat instruction to get the repeat count from the MMI variable Count1 You can also display the loop count on the MMI as your program runs You can count up displaying the number of parts that have been processed for example or you can count down showing the number of parts remaining When the Repeat instruction displays the loop count on the MMI it uses line 4 You may w
124. unt resistor P L J t O U C rms C H bad cable E F r attached d servo disabled O Mis subroutine stack overflow Mis subroutine stack underf low MOONS 24 Mis Programmer Software Manual Serial communication overrun or bit rate error Attempt to use drive with outdated version of Mis Programmer 1 The drive is in positioning mode This is the mode used when performing point to point moves 2 The drive is in velocity or jog mode 3 The drive is in torque control mode 4 The drive is in Step and Direction Control Mode This is the mode used for Encoder Following or Positioning using Step and Direction inputs 5 Mis positioning mode You will see this indication most of time your Mis program is operating STAC6 Mis has a two color red green LED to indicate status and alarm codes A flashing green LED indicates that the drive is operating normally with the motor energized Solid green means the motor is disabled In the event of an error the green LED on the main board will flash one two or three times followed by a series of red flashes The pattern repeats until the alarm is cleared Code 1 red 1 green 1 red 3 green 2 red 1 green 2 red 2 green 2 red 3 green 3 red 1 green 3 red 2 green 4 red 1 green 4 red 2 green 4 red 3 green 5 red 1 green 5 red 2 green 5 red 3 green 6 red 1 green 6 red 2 green 7 red 1 green Error Description motor stall when using option encoder subroutin
125. upt branch address MOONS Mis Programmer Software Manual 17 Call This type of interrupt uses the Call Return mechanism to a Reun 427 4 allow your program to return to whatever it was doing before the interrupt occurred Sometimes this is referred to 4 Return as slide hold because you can interrupt a move then resume the from Subroutine move after the interrupt condition has gone away Here s from Interrupt reset the interrupt Cancel howitworks est 1 When the interrupt input matches the condition you specified the drive stops whatever instruction it was executing including any move 2 The drive pushes a return address onto the Call Stack If you don t know what the Call Stack is please read the section entitled Call and Return 3 The program branches to your interrupt address The interrupt is also disabled so that you don t keep branching to same address over and over again with your program unable to do anything else If your drive is still connected to your PC with the Mis Programmer software running we call this Development Mode you will see the interrupt status change from Enabled to Disabled 4 You should wait for the interrupt condition to clear If you are using an MMI you may want to alert the operator 5 Once the condition has cleared use the Return instruction to resume your main program Be sure to choose the option Return from interrupt not return fro
126. urrent you ll want to enter the 50 amp 0 50 4 Load Inertia harmonic distortion gain and phase You may need to F n ERE Er experiment by running the E pe motor at a slow speed m e A rator inertia typically 1 rev sec with different gain and phase Idle Current Delay E values to see what works 3 best If you are at a loss for 0 40 secs this data set the gain and phase at 0 F Electronic Darmping Anti tesonance Off Waveform Smoothing Off MOONS Mis Programmer Software Manual 21 If you plan to use the Encoder Stall Prevention feature see the Encoder Dialog you ll need to enter the maximum lead angle and the speed at which this timing advance peaks so that the STAC6 knows when it is producing maximum torque A typical motor produces maximum torque at low speeds with a 90 lead angle To produce maximum torque at higher speeds the lead angle must be increased because of inductance and back emf Above a certain speed further increases in lead angle produce no benefit so you must tell the STAC6 when to stop advancing the timing In the example below the lead angle is increased steadily from 90 at low speeds to 135 at 40 rev sec so you would enter 135 degrees at 40 rev sec as shown above If you are not using Stall Prevention 180 these values are not needed by the 185 STACE The Alarms dialog shows you the a chart of the eight most recent alarm conditions It also allows you
127. use you want your Mis product to signal another device when it finishes a move Feed to Length amp Set Output CH Move Motor Fixed Distance amp Set Output Cancel Move Motor Fixed Distance amp Set Output Cancel J i f Get distance from MMI G cw x inch Name Dist gt MN E 0 050 4 0 125 5 00000 inch sec Get speed from MMI Decel 0 050 0 125 PCL Name Spee taa 0650 30 Acce SIT Ir 3088 ichieciec Decel G Ir 3088 iciiecivec 2 04 06 os SeOupa 0405 22 Graph Peak Speed 5 00000 inch sec speed vs time speed vs distance The second reason the Mis Programmer has a Feed amp Set Output feature is for manufacturing throughput The Mis indexer may be advancing a part which will then be processed by another device for example feeding material to be cut off by blade If the blade requires a little time to approach the material you d like to trigger the blade before you re done advancing the material That way you can process more pieces in the same amount of time Feed amp Set Output allows you to set an output high or low at any point during the move Feed to Length amp Set Output 5 Move Motor Fixed Distance amp Set Output Cancel C Set output at end of move Condition Set output during move High open 2 E Low closed AHigh pules Get output chi from MMI lata aul mm Dist2 BEN AT UGE f2 Dut
128. w In the event that the motor cannot move at all such as hitting a hard stop you can may want to fault the drive after a given amount of time by checking the Hard Stop box and entering a time limit Branch on Stall allows you to handle a stalled motor in your program Typically you would take some kind of action such as alerting an operator via the MMI or setting an output to signal the fault to another piece of equipment Once the condition has been handled you ll need to clear the fault and reenergize the motor with a Change Current instruction choose the resume normal current option The next time your program branches with a Go To or If Input instruction the encoder functionality is restored MOONS Mis Programmer Software Manual 65 Servo Tuning lf you are programming a BL or BLU servo drive you can configure and tune the servo system from Mis Programmer Once you ve chosen the correct drive model from the drop down list a Servo Tuning button will appear on the left side of the main screen Click on it to launch the Tuning screen The Tuning screen has two tabs Tuning Sampling and Motor Encoder Misc The Motor Encoder Tab Save Upload Print Manitor ji Drive Model BLUAC Si DSP Firm Open Download Close SCL Mode T ES ais Si Firmware 216 Motor Encoder Misc Positioning Error Fault Hall Timing 2000 counts Sine U S Timing C Sine Japan Timing C Trapezoida
129. want to allow the operator to enter a number between 1 and 500 O Select an MMI variable to store the count in we chose Count1 e Later in your program you ll need a Repeat instruction that uses the Count1 variable for the repeat count 30 Mis Programmer Software Manual MOON G How to create an MMI Menu Note You need firmware version 1 41 or later to execute the MMI Menu function w MMI Prompt Use the Man Machine Interface Lancel 1 12 oz bottle 2 16 oz bottle Display text only Hep 3 24 oz bottle Display text amp wait for enter ito tee Display text wait for yes no amp branch on yes _ Text to display on MMI Display text amp get distance 1 12 oz bottle Display text amp get speed 2 16 oz bottle 3 2 oz bottle Display text amp get repeat count h custom size MMI Menu branch on number keys Branch T able M Fuser presses 1 branch to line M lPuser presses 5 branch to line Ww Fuser presses 2 branch to line M Ifuser presses 6 branch to line o W lfuser presses 3 branch to line 7 Ifuser presses 7 branch to line 70 M lh user presses 4 branch to line lFuser presses 8 branch to line a0 Select an MMI Prompt instruction Select the option button MMI Menu Type your menu text in the text box you can enter up to four lines Check the boxes indicating which numeral keys you want to use in this example we used 1 2 3 and 4 Assign a program line number to each ke
130. ware version of the DSP click on the Mis firm ware version shown on the main window If you call your distributor or Applied Motion Products for support we will want to know the versions of both the Mis Programmer and the drive firmware so please write them down before calling You may have noticed the list box just above the firmware version number The Mis software is designed for programming all of our Mis drives Please select the appropriate drive from this list before you begin programming Entering Your Program If you installed the software back in the section entitled Installing the Programming Software then you re ready to go If not please go back and review that section Si Programmer A untitled Ema eda BLu100 5i gt Line Description Clear Products Dive V200 Continuous Cuner l rma Download 1 00 A ee Seas Upload 2 3 Peak Cunert krme MEE 200 A 7 2 Dteps rew AAA 800 g Jog Parameters 10 rT Speed 4 000 Hevfsec p UserUnits al J name inch Ti feral 25 Revista stepstinch 12 FO Al 13 ooo Conhgure Inputs CUM port DO GU D co eee 4 4 t ee 4 ee 10 Mis Programmer Software Manual MOON G To activate the software click on the Start button then Programs Applied Motion Products Mis Programmer The main programming window will soon appear as shown on the previous page The title bar will
131. wer LED on the front panel will flash and no future motion is possible You must remove power from the drive to reset this condition If the drive is connected to a PC the programming software will alert the user to this condition and ask you if you want to reset the drive from the PC instead of removing power What Happens When You Hit a Limit Switch If you are jogging using the JOG CW or JOG CCW inputs or the MMI arrow keys and you hit a limit motion will be disabled in the direction that you were traveling You can then jog in the reverse direction to back away from the limit During a Seek Home instruction the motor will reverse direction when a limit is encountered and continue seeking the home sensor If you encounter a limit during a Feed to Length Feed amp Set Output Feed to Position Feed to Sensor Feed amp Return or Feed to Sensor amp Return move the Mis Indexer will immediately stop the motor If you are using drive firmware version 2 08 or later the Quick Decel rate from the Configure Inputs dialog will be used to decelerate the motor What happens next depends on other settings of the Configure Inputs dialog You can choose to halt the program If so your program and all motion will be stopped The drive will flash the power LED and will perform no further action until power is cycled If you choose stop motion branch in the Configure Inputs dialog the motor will stop and the program will branch to the line
132. xt enter the maximum amount of position error your application can tolerate We used 10 encoder counts which is 0025 inches in our example If after a Feed to Length Feed and Return or Feed to Position instruction the error exceeds 0025 inches the controller will automatically try to correct it by making a series of short moves The controller also performs static position maintenance during Wait Input and MMI Prompt instructions Static position maintenance corrects for external forces that push the motor out of position when its supposed to be standing still In the case of a total obstruction or insurmountable force it may be impossible to correct the error In that case you can have the controller give up and branch to another part of your program That way you can have an error recovery routine The picture on left shows a simple example of an error recovery routine 62 Mis Programmer Software Manual MO N Ss We chose line 10 as the encoder error branch line by entering it in the steps rev dialog The error recovery line is automatically shown in light blue Si Programmer 1 75 C VB ENCTEST2 S15 Al ES so that it s easy to identify when looking Applied i escription sar gi EA y nia EE a your program If you have the 1 EE iat Zion printed version of this manual it Current 0 99 4 Phase Download ew 3 0 inch 1 0 ips probably looks gray Upload Go to line 1 Idle Current
133. y button is clicked NOTE Clicking the Pause button then the Play button clears a fault and enables the drive 4 Now we will adjust the motion parameters to get the desired move profile You can repeat the move by clicking the Start button If the drive continues to fault you may be exceeding Current limit or the Position Limit These can be set in the Motor Encoder and Drive tabs To see what current is being required of the drive select Current in one of the Plot lists and click Start again to observe a move This will show the current profile during the move and may give a clue as to why a Fault is occurring After a successful move is accomplished you can begin to do a little tuning Adjust the KP and KD parameters and observe the results Be careful with the KD parameter too little gain and the system will oscillate Too much gain may cause the system to squeal from a high frequency oscillation In some cases where a very springy coupler is used between the motor and load the KD parameter may need to be reduced until the system is stable MOONS Mis Programmer Software Manual 83 52 Quick Tuner 1_7 39 C SiProg BLu Servo Drive A200V48X1_svt Port Drive BLU200 S Save Upload Print Servo Products Revision 1 36 Open Download Quit i cov I Tuning Sampling Motor Encoder Control Loop Stiffness 16000 j Dam
134. y we used 10 20 30 and 40 Later in your program you ll need to put instructions at each of the lines you ve specified These are the instructions that will execute if the user presses the appropriate key on the MMI For example when the user presses 1 the program will branch to line 10 Note if you add extra spaces to your display text to get the look Just right watch out sometimes the Mis MOONS Mis Programmer Software Manual 31 Making Your Move MMI Prompt The MMI Prompt instruction is used with the optional MMI Man Machine Interface MMI prompts allow your program to display messages on the MMI screen and can gather data from the operator to be used by other instructions The MMI can also pause the program until the user presses the ENTER button It can allow the user to make a decision then press the YES or NO button If the user presses YES the program branches to another program line If the user presses NO the program goes to the next line If you just want to display a message such as Machine Running Status OK put an MMI Prompt instruction in your program at the point where you want the message to appear Check the option button marked Display Text Only and type in your message Once the MMI Prompt instruction has been executed the message will stay on the screen until changed by another instruction that uses the MMI display HHI Prompt xl f you want the operator of the machine youre

Mis Programmer Software Manual

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