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1. Parameters This command has no parameters The following program aborts the program 54 Action Label Description Comment 0 Abort Ends the program This command is used in examples 3 and 6 Comment The comment command performs no action This command is used to add extra information into a program for better documentation Each comment line affords an additional 30 characters of comments This command can also be used to add breaks between sections of code making it more readable Create Comment Command Parameters This command has no parameters The following program performs no actions Action Label Description Comment This program performs no function but does help to demonstrate the usefulness of the comment command By adding in a comment command without a comment have made a line break for readability 4 71 3 HO 55 Examples Because of the variety of actuators that this product can be used with examples for every product or a general example for all products can not be achieved All of the following examples assume the use of a Haydon Kerk 43MBC 2 33 double stack captive linear actuator with 1 inch stroke Speeds distances and other parameters will need to be changed for your particular actuator Note For simplicity most examples assume the actuator starts in the full retract position Example One Extend the actuator 0 4 inches wait one second re
2. RS 485 Wiring Diagram RS 485 Cable 56 1536 USB Cable 56 1346 RS 485 Converter UTR4852 NS Power Cable 56 1348 36 VDC power supply e After wiring as shown turn on power supply and close the switch 10 Getting Started Let us assume that the GUI software and drivers have been loaded into your PC and the drive is connected and powered up Please proceed as follows e Start your PC e Double Click the IDEA Icon on your desktop This brings you to the initial screen Screen shot is below Haydon Kerk IDEA Drive Interface Program File Edit Program Drive Commands Comm Mode Programs Help Other Debug Debug Output E Stop Set Outputs Start Debug Select Drive Parameters Go At Speed Select Drive Enter Part Number 43MGC 2 33 Select Measurement Units inches Select Comm Mode Single Cancel VO and Position Current Position 0 1 Inputs O O Program Length 0 bytes 0 pages Outputs e Enter part number of the actuator Note this entry is not case sensitive 9 Select inches mm or steps Click OK 1 After clicking OK many parameters have been placed into memory for this particular actuator e Select the Communication mode 11 1 This will most likely be Single The communications options are explained in the Communications Modes section of Features and Concepts Note The com numbe
3. Position Destination Prionty 0 Highest M Parameters Position The position based upon the position counter of the drive at which the interrupt should be triggered Destination The label of the subroutine that should be executed when the position is reached Priority The priority of the interrupts Note If an interrupt is set for a position and the position counter is adjusted through the use of the Set Position command the interrupt will still occur at the same point Example The drive is turned on and an interrupt is set on position 0 5 The set Position command is then used changing what was the 0 position to the 1 position The interrupt will now trigger when the drive s position counter reaches 13 48 The following program sets an interrupt at position 1 and then begins extending When the actuator reaches the 1 position the interrupt is triggered and the program aborts Action Label Description Comment Int On Position 1 in Destination abort 1 Go At Speed 1 in sec 2 Wait For Move 3 4 abort Abort This command is used in example 6 Int on Input The Interrupt on Input command allows an interrupt to be triggered when any of the inputs are changed For further explanation of interrupts see Interrupts page 24 reate Interrupt on Input Command Input 1 Interrupt Disabled Enabled Destination Trigger Type Priority O Input 2 Interrupt Disabled Enab
4. e Single This is the simplest communication mode In this mode only 1 drive should be attached per USB port All functions are available e Addressed This mode is available for the command of one drive on a bus with multiple additional IDEA drives This mode will behave the same as single mode but can be used with multiple drives on a single bus so long as each drive has a different identifier Addresses can be set through the Set Drive Address menu item in the Drive Commands menu e Broadcast In this mode many drives can be on the same bus regardless of their identifiers This mode is more limited than single or addresses as commands will be sent to the drives but no messages will be received from the drives All drives will execute any commands sent Maximum Speed Due to the speed of the microcontroller in the drive and the number of calculations that are done for each step of a move profile there is a maximum of 75000 steps that can be taken per second The user interface will display the maximum speed for any move in the tooltip that pops up over the speed start speed and end speed textboxes Ramping The IDEA Drive provides easy to use acceleration and deceleration ramps A trapezoidal move profile can be created by entering a speed start speed end speed acceleration rate and deceleration rate The drive automatically calculates a move profile to approximate the desired parameters For a picture of what the
5. Start Debug Commands for Debug output immidiate execution Tooltip Program area Run Control Program To Run v EN EA 1 0 Current Position Run Control VO and Position In the Realtime mode each command executed from the Commands for immediate execution section elicits an immediate action from the drive The program area can display any program currently on the drive These programs can be run or aborted using the Run Control section The I O and position section provides constant feedback from the drive pertaining to the current state of the drive This area can also be used to control the state of the outputs as well as the inputs if in simulation mode The IDEA software provides a powerful debugging feature which allows the user to enter debug mode which causes every command in the program to be displayed in the Debug Output section as is it executed This debugger can be run in two ways manually telling the drive to execute one command at a time Single stepping or executing multiple commands in a row until reaching one of the user programmed labels Run to Label Through this feature the ease of debugging complex programs is greatly increased Program Mode Below is a screenshot of the user interface in Program Mode This mode is available even without a drive attached NS Haydon Kerk IDEA Drive Interface Program Program Mode
6. File Edit Realtime Input Configuration Drive Commands Programs On Drive Encoder Motion Program Flow Commands Extend Retract Jump N Times Goto Goto If Set Outputs Set Position forprogramming Move To Go At Speed 8 Retum To Goto Sub Reset Abort Stop E Stop Wait Wait For Move Int on Pos Comment Action Label Description Comment Program Edit 0 Extend 0 4 Program Name example 1 5 1 Wat For Move Program Editing 2 Wat 1 sec Cony Paste commands 3 Retract 0 2 in Program Area 4 Wait For Move Remove Clear 5 Wait 1 sec 6 Extend 06 in View Edt Plot 7 Wait For Move 8 Wait 1 sec Download 9 Retract 0 2 in 10 Wait For Move Run Control Run Control TO and Position Program length The I O and position section provides constant feedback from the drive pertaining to the current state of the drive This area can also be used to control the state of the outputs as well as the inputs if in simulation mode The Run Control area can be used to execute or stop any program on the drive The Program Edit area contains buttons used to edit the program as well as gather information about individual commands The download button 15 also in this area The Program Area contains the command that make up the program currently being viewed or edited Commands in the program are executed sequen
7. Goto If The Goto If command goes to a specified label if the current states of the inputs match the specified conditions Create GoTo If Command Destination Input 1 not tested v label nput 2 Input 3 Input 4 not tested v not tested not tested Y Dutput 1 Dutput 2 Output 3 Output 4 not tested Y imottested not tested v not tested Label Comment Parameters Destination This is the label of the command that should be jumped to Inputs Outputs Each I O can be specified as High Low or not tested Any I O set to Not Tested will be ignored the state of the I O when the command is executed must match all settings of high or low in order to go to the specified label otherwise the next line of the program is executed The following program extends 25 waits for the move to stop then repeats so long as input 1 is high and input 2 is low Action Label 0 extend Description Comment Extend 0 25 in Wait For Move Goto If extend 1 set to high 2 set to low This command is used in example 5 42 Return The return command ends a subroutine and returns execution to the location from which the subroutine was called For further explanation of subroutines see Subroutines page 22 Create Return Command Parameters This command has no parameters The following program runs a subroutine starti
8. calculated ramp will look like use the plot function on any Extend Retract Move To or Go At Speed command 14 Saving programs to the drive After a program has been written saving the program to the drive is simple The program needs to be named using the Program Name textbox The program name may be up to 10 characters long and cannot contain the character Any spaces at the end of the program name will not be saved so Program is the same as Program1 No two programs may have the same name so attempting to download a program with the same name as an existing program will result in a warning and continuing will cause the existing program to be overwritten When the download button is pressed the user interface automatically finds the first area on the drive that can fit the program If there is no place on the drive where the program can fit the user is responsible for either moving or removing some programs There are 85 pages of flash memory for user program and each user program will likely take up 1 to 2 pages so this scenario is unlikely In order to move a program to free up larger blocks of free space simply save the program to the drive again under the same name and the program will be moved to the first page where it can be fit Removing Programs Programs can be removed from the IDEA drive in one of two ways Either use the Display Table of Contents option under D
9. This places the command in program Note You will notice that when the retract command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Extend and Move To commands This is a command to allow the move to finish before execution of the next command We are now at the fully retracted position to keep track of this we will use the Set Position command Click the Set Position button Enter a position of 0 No Label 15 required You can add a comment in the comment line if you wish Click Add At End This places this command into the program We now want to move to the 0 5 position 66 Click the Move To button Enter a position of 0 5 Enter a speed of 1 per second No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program We now want to wait 1 second Click the Wait button Enter a delay time of 1 second No Label is required You can add a comment in the comment line if you wish Click Add At End This places this command into the program We now want to move back to the 0 position Click the Move To button Enter a position of 0 All other parameters are populated No Label 15 required You can add a comment in the comment line if you wish Click
10. a previously saved program file Save Saves the current program to a file Add File Adds a previously saved program file to the end of the current program Recover Autosave Opens the most recently autosaved file Print Prints the current program Restart Exits the user interface and opens a new user interface Exit Closes the user interface Edit This menu gives access to functions for manipulating the current program 1 2 3 Undo Restores the program to what it was before the last action Redo Restores the program to what it was before an undo Cut Removes a selected line or lines from the program and copies them to be pasted later 4 Copy Copies a selected line or lines to be pasted later 5 Paste Inserts previously copied lines into a program 6 Select all Selects all lines of the program Mode The third menu item toggles between the Realtime Mode and Program Mode Drive Commands This menu allows access to various drive functions 78 Display Table of Contents Gives a listing of the programs on the drive and their page locations Also provides a graphical representation of the used space in the drive Set Startup Program Used to choose what program if any should begin execution when the drive starts up 3 Delete Program Used to remove programs from the drive 4 Input Simulation This item toggles the drive between using the true input status or the simulated status through the
11. motor that was a 01 per step resolution you cannot move 015 forward in full step mode The user interface rounds this value down to the nearest microstep in the given step resolution So if you wish to move 015 forward with a step resolution of 01 a step mode of 1 2 or finer must be selected The program area will reflect the rounded value Note In the case that the motor has been moved to a position between steps if a new extend or retract is done from the position in a coarser step mode the extend or retract will end on a position that is valid for the new step mode and the distance traveled may not exactly match the desired distance For example If the motor has a resolution of 01 per step and is moved to 015 using the half step mode then a new extend of 02 is used in full step mode the motor will extend 015 to the 03 position which is a full step position Communications Modes There are four different modes that the user interface can be in for communications between it and any attached drives these being offline single addressed and broadcast You can change from one of these modes to any other assuming the correct bus configuration is present through the Comm Mode menu item in either the Realtime or Program screens 9 Offline In this mode no communication is present so the Realtime screen is unavailable as well as the drive commands and ability to program 13
12. per second waits 0 5 seconds and the stops the actuator Action Label Description Comment Go At Speed 1 in sec Wait 0 5 sec E Stop 39 Jump N Times The Jump N Times command goes to a specified label a specified number of times Once the number of jumps has been completed execution continues at the next line in the program if any exist SON Create Jump N Times Command Destination qabel Number of Jumps Label Comment Parameters Destination This is the label of the command that should be jumped to Number of Jumps This is how many times the command should jump The following program extends 25 waits for the move to stop then repeats 3 times Note Because the command goes to the extend command 3 times from the jump n times command the extend is performed a total of 4 times Action Label Description Comment 0 extend Extend 0 25 in 1 Wait For Move 2 Jump N Times extend Number of Jumps 3 This command is used in example 2 40 Goto The Goto command goes to a specified label SA Create GoTo Command Parameters Destination This is the label of the command to which the program will go The following program extends 25 waits for the move to stop then repeats until the program is aborted Action Label Description Comment 0 extend Extend 0 25 in 1 Wait For Move 2 Goto extend This command is used in examples 1 5 and 6 41
13. that motor Bad Checksum update aborted This error is most likely caused by communications being interrupted during a firmware update Hit OK and attempt to update the firmware again If the problem persists contact Haydon Kerk Unknown Error If you ever receive this error make a note of what you were doing at the time and contact Haydon Kerk 29 Explanation of Commands Extend The extend command moves the actuator shaft a specified distance forwards from its current location Sex Create Extend Command Accel Rate ID in sec sec Speed Decel Rate 0 in sec sec Run Curent 2 Start Speed in sec Hold Curent 0 558 End Speed 0 in sec Delay Time 005 Accel Boost No v Step Mode Decel Boost No v Total Time Average Speed in sec Label Comment Parameters Distance This is the distance that the actuator will extend Speed This 15 the top speed at which the actuator will extend Run Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator extends Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes extending Delay Time This is the time in between when the actuator reaches the last step in the extend and when the current is changed to the hold current Step Mode This is the step resolution to be used for this extend Accel Rate This is the rate at which the actua
14. to complete then returns then repeats Action Label Description Comment 0 start Goto Sub extend 1 Goto start 3 extend Extend 0 25 in 4 Wait For Move 5 Return This command is used in example 3 45 Wait The wait command delays execution of the next command in the program for a specified time Parameters Delay Time The amount of time that the program should wait The following program begins moving the actuator at 1 per second waits 0 5 seconds then stops the actuator Action Label Description Comment Go At Speed 1 in sec Wait 0 5 sec Stop 1 2 This command is used in examples 1 3 and 4 46 Wait For Move The Wait For Move command delays execution of the next command in the program until a move has completed This command is automatically added after every Extend Retract and Move To but can be removed if necessary reate Wait For Finish Command Parameters This command has no parameters The following program extends the actuator 1 and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Extend 1 in 1 Wait For Move This command is used in examples 1 2 3 4 5 and 6 47 Int on Pos The int on pos command sets an interrupt to be triggered when the actuator reaches a specified position For further explanation of interrupts see Interrupts page 24 ON Create Interrupt On Position Command
15. toggle the outputs on and off Click the Goto Sub button Enter the destination as Toggle No label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now want to stop the program Click the Abort button Input the distance as 1 Input the speed as 1 inch per second All other parameters can be left as the defaults No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program Now we have the main body of the program but we still need the Toggle subroutine Click the Set Outputs button Select High for each of the four outputs Enter Toggle as the label You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program Now we need to wait 0 1 seconds Click the Wait button 63 Enter 0 5 seconds as the delay time No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program Now we need to set the outputs low Click the Set Outputs button Select Low for each of the four outputs No label is required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in prog
16. unit will not run and errors will be reported Subroutines A subroutine is a sequence of commands that can be used from anywhere in the program When a subroutine is called the address of the next command that was going to be executed is stored on what is called a stack When the subroutine is exited using the Return command execution of the program resumes at the address that was stored on the stack A maximum of 10 addresses can be held in the stack If there are 10 addresses on the stack and another subroutine is called without a subroutine completing a Stack Overflow error will be asserted and program execution will abort It is up to the user to ensure that stack overflows do not occur Subroutines are exited using one of two commands Return or Return to When Return is used program execution resumes at the address stored on the stack When Return To is used a destination address is specified Execution now resumes at the label specified and the stack is emptied The use of Return to exits all subroutines at once If a Return or Return To command is used when the stack is empty a Stack Underflow error will be asserted and execution of the program will halt It is the responsibility of the user to ensure that stack underflows do not occur 25 There are two ways in which a subroutine can be called the simplest is the Goto Sub command A Goto Sub command is
17. used to call a subroutine from within the program usually to complete a sequence of commands which is used repeatedly in the program The address stored on the stack when a Goto Sub command is used is the address immediately after the Goto Sub The second way to call a subroutine is through interrupts Interrupts can occur at any time and are explained in the interrupts section page 24 When a subroutine is called by an interrupt the address stored in the stack is the address of the command which would have next been executed If the interrupt is triggered during a Wait or Wait For Move command the address of the Wait or Wait For Move command is stored and if the subroutine is exited by the Return command the wait is resumed until it s completion Note If a Wait command is interrupted the time spent executing the interrupt or interrupts counts toward the Wait command s delay time Interrupts The IDEA drive has three different types of interrupts input triggered position triggered and encoder triggered All three operate in the same fashion the difference being only how they are triggered When an interrupt is triggered it branches to a subroutine with a specific priority All interrupts need two parameters the label of the subroutine to be run when triggered and the priority For more information on subroutines see Subroutines page 22 The priority of the interrupt determi
18. user interface Set Drive Address Used to change the address of the current drive Set Change Password Used to configure the password of the drive Restore Factory Defaults Removes password protection from the drive and removes all programs on the drive 8 Firmware Version Used to find the firmware version of the drive 9 Update Firmware Used to reprogram the drive with the firmware version that was most recent when the user interface was installed Communications Mode Opens the communications mode dialog box This allows for switching between the for communications modes Programs on Drive Shows a list of the programs that are on the drive Clicking on a program loads that program to the program area The startup program if one exists appears in bold on this list Help Allows access to functions to help with the use of the user interface and drive 1 About Displays a brief description of Haydon Kerk and its products 2 User s Manual Displays this manual 3 Communications Manual Opens the communications manual 49 Glossary Abort Stops movement of the actuator with holding current and ends any running program Accel Boost When set to Yes the move profile will include a 30 increase in RMS current per phase during the beginning of the acceleration ramp Accel Rate The acceleration rate to be used with a move Clear Clear the entire program from the program screen Comment Allows t
19. you wish 71 e Click Add At End This places this command into the program We now want to check if the input conditions have changed so we go back to the Goto lfs We don t want the move to finish before we check the inputs again so we will remove the Wait For Move command e Click the line that holds the Wait For Move command e Click the Remove button e Click Yes to confirm the removal of the command e Click the Goto button e Enter Test as the destination e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program The completed program looks as follows 72 SS Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Input Configuration Drive Commands Programs On p el a a Al JE Retract 1 in Wait For Move Set Position 0 in Goto If Retract Goto f Extend Action 0 1 2 3 4 5 6 7 8 9 pan Program Length 252 bytes 1 pages 73 Example Six In this example we will first find the fully retracted position of the actuator The actuator will continuously move in the extend direction until getting 0 9 from the fully retracted position When the 0 9 position is reached the actuator will retract back to the 0 position and resume the extend If at any time during the
20. 3 4 5 and 6 33 Move To The move to command moves the actuator shaft to a specific location based upon the internal position counter or encoder SS Create Move To Command Accel Rate Decel Rate Start Speed End Speed Accel Boost Decel Boost Parameters Position This is the position to which the actuator will move Speed This is the top speed at which the actuator will move Run Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator moves Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes moving Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current Step Mode This is the step resolution to be used for this move Accel Rate This is the rate at which the actuator will be ramped from the start speed to the run speed If this is set to 0 then the move will start at the run speed 34 Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the move will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp 15 used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase a
21. Add At Eno button This places the command in program We now want to check if the input conditions have changed so we go back to the Goto lfs Click the Goto button Enter Test as the destination 70 No Label 15 required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now need the commands that will be used to move the actuator We will start with the Retract move Click the Move To button Enter a position of 0 Enter Retract as the label You can add a comment in the comment line if you wish Click Add At End This places this command into the program We now want to check if the input conditions have changed so we go back to the Goto lfs We don t want the move to finish before we check the inputs again so we will remove the Wait For Move command Click the line that holds the Wait For Move command Click the Remove button Click Yes to confirm the removal of the command Click the Goto button Enter Test as the destination No Label 15 required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We will next add the Extend move Click the Move To button Enter a position of 1 Enter Extend as the label You can add a comment in the comment line if
22. CRIPTION Y NON INVERTING DRIVER OUTPUT Z INVERTING DRIVER OUTPUT GROUND GROUND NON INVERTING RECEIVER INPUT B INVERTING RECEIVER INPUT 19 Inputs and Outputs Integrated drive I O connector pin identification Opto Red White Input 1 Orange VE D 8 ANS Opto Red White Output 3 White Output 4 Brown Open Collector Output Pin Diagram 20 Output Pin Opto Input Pin Diagram Opto RAR 3KQ Input Pin The IDEA drive has four optically isolated inputs and four optically isolated open collector outputs The voltage range for these is 5 24VDC As the outputs are open collector they will need a pull up resistor tied to the Opto supply The outputs are capable of sinking up to 200mA each Note When an input is not connected to anything it is seen as logic high This allows connecting two IDEA drives without the use of pull up resistors The inputs can be operated between 5 and 12VDC without any external components For voltages above 12 VDC an external dropping resistor is required to keep the current between 1mA and 4mA The equation for the dropping resistor s resistance in Ohms is as follows Opto supply voltage 1 25 0 0025 3000 The power rating of the resistor in watts should be at least Resistance 0 0035 0 0035 2 Note The inputs can be used in two ways They can be connected to logic levels that swing between opto grou
23. IDEA Drive User Manual SS Haydon kerk www haydonkerk com All Rights Reserved 1 2010 1 Table of Contents Revision 111 1 6 isrii 4 IDEA DRIVE and Software Basics 5 Realtime Mode ico A ci load 5 Program Mode iaa ii lapa 6 E A O O adele tet 8 Installing the Application 8 Initial 016 3180101 dd 8 Getting Started e 11 DEN Stat Dorta RS a a ant 12 Features and Concepts ra nnna nacio 13 Unit conversions ee melee eens eres do 13 Communications Modes non cnn non ncononnco nono 13 Maximum Speed isis 14 Ramping ti pod 14 Saving programs to the drive 15 Removing Programs sisi de 15 Table of CONICS ie ss 15 Startup Program a Sa scene siete 16 Saving Loading Combining programs 16 AULOSAV iii a 16 Over Current Protection ici iii 17 Accel Decel Current Boost 17 Password Protection nio bas ar aia 18 RS 485 Pin Descriptions 19 DEDUQ OOF santas iii Error Bookmark not defined Inputs and Ouiputs 0 0 4 0 ek A eR ee 20 Simulating INPUtS cunado aida 23 7 1711101021 nace Ad 23 ENCORE dd 24 SUDLOULNES nai 25 INT PIS nn nd
24. a close button Click close e Installation is now complete and the IDEA Icon resides on your desktop and in your start menu under All Programs gt Haydon Kerk Initial Wiring Diagram To connect power to the actuator and control it with the idea drive you will need the following e power supply 12 48VDC e Power cable available from Haydon Kerk p n 56 1348 e USB to Mini B USB cable available from Haydon Kerk p n 56 1346 e 10 wire I O cable available from Haydon Kerk p n 56 1352 Note this cable is only required if the actuator is being communicated to from an external switch etc or the actuator is being programmed to send a signal to an outside device such as a light or LED e f using the RS 485 enabled IDEA drive you will also need the RS 485 converter available from Haydon Kerk p n UTC4852 and the RS 485 cable available from Haydon Kerk p n 56 1536 e f using a stand alone drive you will need to either have a motor with the appropriate connector attached to the leads or use the motor connector assembly available from Haydon Kerk p n 56 1453 and attach the leads of the motor to the leads of the wire assembly e following is the proper wiring diagram for the IDEA drive power supply and PC The I O cable is omitted for initial programming instructions USB Wiring Diagram USB cable 56 1346 switch Power cable 56 1348 36 VDC power supply
25. actuator retracts Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes retracting Delay Time This is the time in between when the actuator reaches the last step in the retract and when the current is changed to the hold current Step Mode This is the step resolution to be used for this retract Accel Rate This is the rate at which the actuator will be ramped from the start speed to the run speed If this is set to 0 then the retract will start at the run speed 32 Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the retract will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp is used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms The following program retracts the actuator 1 and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Retract 1 in 1 Wait For Move This command is used in examples 1 2
26. as 0 5 inches Input the speed as 1 inch per second No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program We now want to repeat the first two moves four times Click the Jump Times button 60 e Enter the destination as Start e Enter the number of jumps as 4 e Click Add At End This places this command into the program We now want to extend 1 Click the Extend button e Input the distance as 1 e Input the speed as 1 inch per second e All other parameters can be left as the defaults e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program The completed program looks as follows SS Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Input Configuration Drive Commands Programs On Drive Encoder Motion Program Flow 66 Wat For Move Comment Extend Move To 5 9 i ll Extend 0 5 in Wait For Move Retract 0 5 in Wait For Move Jump N Times Start Extend 1 in Wait For Move Y a 0 1 2 3 4 5 6 1 0 and Position Current Position 1 puts O Program Length 188 bytes 1 pages Outputs O 61 Example Three This example will extend the actuator 5 turn all four outputs high wait 5 seconds turn all outputs low
27. at a given speed 80 Goto Branching statement for programming Branches to a destination label Goto if Branching statement for programming Branches to a destination label if the input conditions are met Goto Sub Branching statement for programming that navigates the program to a subroutine Hold Current The RMS current per phase that should be applied to the motor windings when the motor is at a standstill 1 0 box Displays the state of each general purpose I O Int on Input Interrupt on Input This is an interrupt tha occurs when an input changes state Int on Pos Interrupt on Position This is an interrupt that occurs when the actuator reaches a specific position Interrupt An asynchronous event that causes the execution of a subroutine Jump N times Allows the program to jump N times to a specified label Label A string that identifies a command Used to branch to the command Move to Moves the actuator to a specified position Paste Used in conjunction with the copy or cut functions After one or more commands are selected another location in the program is then highlighted by the user The paste button is then pressed and the line or lines are inserted above the highlighted line Plot Any move can be shown as a plot of speed vs time Highlight the move command of interest then press the plot button Position A location based upon the drive s internal position counter or encoder counter when enabled Priority Th
28. ds This is a command to allow the move to finish before execution of the next command We are now at the fully retracted position to keep track of this we will use the Set Position command Click the Set Position button Enter a position of 0 No Label is required You can add a comment in the comment line if you wish Click Add At End This places this command into the program We now move based on the input status Set up the first Goto If Click the Goto If button 69 Enter Retract as the destination Set Input 1 is High Set Input 2 as Low Set Inputs 3 and 4 as Not Tested Enter Test as the label You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program Set up the second Goto If Click the Goto If button Enter Extend as the destination Set Input 1 is Low Set Input 2 as High Set Inputs 3 and 4 as Not Tested No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program If we reach this line then either both inputs are high or both inputs are low So we want to stop the actuator Click the Stop button All parameters can be left at the defaults No Label 15 required You can add a comment in the comment line if you wish Click the
29. e bs lo bs ol de 78 Drive COMMANGS A A A 78 Communications Mode nu ut ais 79 Programs ON DNNe 7 2 a 79 HI da 79 A a ne 80 Revision History Date Description January 2010 Initial version February 2010 Save debug output Goto if updated for outputs Interrupt and encoder configuration update January 2011 Added detail to the behavior of interrupts Added detail to the lO wiring diagram Stand alone lO wiring diagram RS 485 wiring Communications features May 2011 Added RS 485 Pin descriptions Added minimum time between resets IDEA DRIVE and Software Basics The Haydon Kerk Motion Solutions IDEA drive and associated software are a complete package for the easy control of stepper motor based linear actuators This solution provides advanced features for both immediate execution as well as user written programs in an extremely user friendly way All basic commands are used through intuitively named buttons and each button and input field is further clarified through tooltips Realtime Mode Below is a screenshot of the User interface in the Realtime mode This mode is only available when a drive is connected and communicating SX Haydon Kerk IDEA Drive Interface Program Realtime Mode O E File Program Input Configuration Drive Commands Programs On Drive Encoder Help NN Haydon kerk Motion Other Debug Debug Output Set Outputs
30. e determining factor in which interrupts are serviced first Program name box This is the location on the screen where the name of the program 15 inputted by the user The program is stored in the drive under this name Program to run box This is a drop down menu that list the programs stored on the drive Double clicking on a given name populates the program into the program screen and creates that program as the active program in the drive 81 Remove This is used to remove one or more lines from a program Highlight the lines to be removed Then click the remove button Reset This command simulates turning the drive off and on again Retract Retracts the actuator shaft The user inputs the distance and speed Items such run current and hold current are auto populated based on the part number of the actuator These values can be over ridden provided the inserted value does not exceed the devices limitations Return Used in conjunction with the goto sub command or interrupts At the end of a subroutine the return command returns to the program to the very next line after the Goto sub line command or the command that was going to be executed before the interrupt was triggered Return to Used in conjunction with the goto sub command or interrupts At the end of a subroutine the return to command returns to the command at a specified label location Run Current The RMS current per phase to be applied to the motor windings du
31. ed long ramp without rest can damage the motor if the boosted current is above the rated current of the motor 17 Password Protection The IDEA drive has a password protection feature When enabled this feature prevents any program from being read back without the correct password Passwords can be up to 10 characters in length and cannot contain the character Spaces at the end of the password are ignored so Password1 is the same as Passwordi Password protection does not prevent programs from being erased from or written to the drive This feature is only meant to ensure that programs on password protected drives can not be copied by a third party Note If a drive has been password protected and the password has been lost there are two options The first is to send the drive back to Haydon Kerk Motion Solutions where the password can be recovered for a fee The second option is to use the Restore Factory Defaults option under the Drive Commands menu This will remove the password protection but all programs on the drive will also be lost 18 RS 485 Pin Descriptions HIROSE CONNECTOR 1 6DP 2D5S 24 MATING CONNECTOR HIROSE DF11 6DS 2C DESCRIPTION Y NON INVERTING DRIVER OUTPUT Z INVERTING DRIVER OUTPUT GROUND GROUND A NON INVERTING RECEIVER INPUT B INVERTING RECEIVER INPUT HIROSE CONNECTOR DF 1 6DP 2DS 24 MATING CONNECTOR PIN 1 HIROSE DF11 6DS 2C PIN DES
32. he user to insert comments within the program Copy Allows the user to copy a given program line or lines and insert them elsewhere in the program Current position box Indicates the current position of the motor Decel Boost When set to Yes the move profile will include a 30 increase in RMS current per phase during the end of the deceleration ramp Decel Rate The deceleration rate to be used with a move Delay Time in reference to a move The time between when the last step in a move profile is taken and when the current it set to the hold current Delay Time in reference to a Wait command The amount of time that the wait command should delay execution of the next command Destination The address to which the program should branch Distance How far a move should go Download Allows the program to be downloaded into drive E Stop Abruptly stops the actuator without any deceleration Encoder A feedback device that converts position data to an electronic signal that the drive keeps track of End Speed The speed at the end of a move profile determines the time between the last and second to last step Extend Extends the actuator shaft forward The user inputs the distance and speed Items such as run current and hold current are auto populated based on the part number of the actuator These values can be over ridden provided the inserted value does not exceed the devices limitations Go at Speed Extends or retracts the actuator
33. ine Click the Return To button Enter Extend as the destination No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now need a subroutine for the interrupt based on the input Click the Abort button Enter Abort as the label You can add a comment in the comment line if you wish Click Add At End This places this command into the program The completed program looks as follows 76 Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Drive Commands Programs On Drive Help Program Flow Move To Jump N Times Wait e Go t Speed Retum To Wait For Move Label Description Comment Int on Input INT GP GP GP Retract 1 in Wait For Move Set Position 0 in Int On Position 0 9 in Go At Speed 1 in sec Goto Extend Move To 0 in Wait For Move Return To Extend Abort gt Q 3 0 J MM MA Program Length 224 bytes 1 pages 77 Comment au oe a 8 aes m 3 Copy Remove View Edit Download a 3 at S The IDEA drive menu items File This menu gives access to functions for manipulation of program files and the User interface itself 1 E TS 09e eps 9 New Clears the current program so a new program can be written Open Opens
34. l Compensation If this is selected any time the motor stall during a move the drive will stop and the move and try again up to the number of times specified in Correction attempts Correction Attempts The number of times the drive should attempt any given move Interrupt Select this if you want an interrupt to be triggered when the drive has exhausted the correction attempts Destination Label This is the label of the subroutine that should be called when the correction attempts are exhausted Priority This is the priority of the interrupt 51 Position verification This should be selected if the position verification feature is to be used Maximum Error This is the allowable distance from the desired position If the drive 15 farther from the desired position it will move to correct The following program configures the encoder and then extends Action Label Description Comment 0 Encoder Configuration Enabled 1 Extend 1 in 2 Wait For Move Set Outputs The Set Outputs command sets the logic state of the outputs SS Create Set Outputs Command Output 1 Output 2 3 Output 4 Ino change v no change no change v no change Parameters Outputs Each output is individually set as either high which will bring the outputs to the opto supply voltage low which brings the output to the opto ground voltage or no change which will leave the output in its current state The following progra
35. l position the move will be stopped and restarted This allows the drive to recover from a stall and complete the assigned move Under this option the number of attempts must be entered For any given move the drive keeps track of how many times it has stopped and retried after a stall condition The drive will only stop and retry a move as many times as are specified in the Correction Attempts textbox The user can choose to have an interrupt trigger if the number of correction attempts is exhausted and the drive detects another stall Interrupts are explained on page 24 The second mode of operation with the encoder is Position Verification With this feature the user specifies some distance called a Dead Band When this feature is enabled whenever the motor is at a standstill the drive checks to see 24 if the rotor is in within the dead band distance from the desired position If within this distance no action is taken if outside this distance the drive automatically moves to correct the error This feature is constantly active so if the drive has stopped and something hits the product causing it to move out of position this feature will automatically correct for the movement Both encoder features can be active at once the stall compensation feature being used during moves and the position verification be used at standstill Note If the encoder feature is enabled on a device that does not have an encoder the
36. led Destination Trigger Type Priority OM o Input 3 Interrupt Disabled Enabled Destination Trigger Type Priority O Input 4 Interrupt Disabled Enabled Destination _ Trigger Type Priority Label Comment 49 Parameters Each input has the same parameters Disabled Enabled Select Enabled if the input should cause an interrupt select Disabled otherwise Destination This is the label for the subroutine associated with the interrupt Trigger Type If Falling Edge is selected the interrupt will be triggered when the input goes from a logic high to a logic low If Rising Edge is selected the interrupt will trigger when the input goes from logic low to logic high If Both Edges is selected the interrupt will trigger any time the state of the input changes The following program sets an interrupt for the rising edge of input 1 and then loops continuously When input one changes to logic high output 115 set to high Action Label Description Comment Int on Input INT GP GP GP 1 goto Goto goto 2 set Output Set Outputs X X X 3 Return 50 Encoder The Encoder command sets the encoder configuration For more information on the encoder feature see Encoder page 21 A Create Encoder Command Encoder Enabled Label Comment Parameters Encoder Enabled If any of the encoder features are to be used this must be selected Stal
37. m sets output 1 high waits 0 5 seconds and then sets output 1 low During this outputs 2 3 and 4 are unchanged Action Label Description Comment Set Outputs H X X X 1 Wait 0 5 sec 2 Set Outputs L X X X 52 This command is used in example 3 Set Position The Set Position command sets the position counter of the drive to the specified value A reate Set Position Command Parameters Position The value to which the current position of the drive should be set The following program retracts the actuator 1 sets the position to 0 and then moves to the 0 5 position which causes a 0 5 extend Action Label Description Comment Retract 1 in Wait For Move Set Position 0 in Move To 0 5 in Wait For Move This command is used in examples 4 5 and 6 53 Reset The Reset command restarts the drive similar to turning the drive off and on If used in a program this command will not be executed less than 1 10 of a second after the drive has seen a reset in order to prevent an uninterruptible cycle of resets Create Reset Command Parameters This command has no parameters The following program resets the drive Action Label Description Comment 0 Reset Resets the device Abort The abort command immediately stops any moves without deceleration applies the last specified holding current and halts execution of any running program SS Create Abort Command
38. mmand into the program The completed program looks as follows 58 SS Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Input Configuration Drive Commands Programs On Wait For Move Wait 1 sec Retract 0 2 in Wait For Move Wait 1 sec Extend 0 6 in Wait For Move Wait 1 sec Retract 0 8 in Wait For Move Wait 1 sec Goto Start Program Length 240 bytes 1 pages 39 Example Two This example will extend the actuator 5 retract the actuator 5 then repeat those two moves 4 more times Once the repetitions are complete the actuator will extend 1 Let the linear speed for each move be 1 inch per second We first want to extend 0 5 Click the Extend button Input the distance as 0 5 inches Input the speed as 1 inch per second All other parameters can be left as the defaults Enter Start as the label You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program Note You will notice that when the extend command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Retract and Move To commands This is a command to allow the move to finish before execution of the next command We now want to retract 0 5 Click the Retract button Input the distance
39. mplete go to Save in the File menu This will open a save file dialog box It is recommended that programs be backed up using the save function to protect your work incase the program on the drive is overwritten To open a saved file go to Open in the File menu This will open an open file dialog box The IDEA user interface also provides the ability to combine two or more different programs With a program open go to Add File in the File menu This will open an open file dialog The file you select will be added to the end of the current program This can be done multiple times to combine multiple programs Autosave The IDEA user interface provides an autosave feature to protect against losing all of your work Once every minute if the program is non empty the user interface automatically saves the file If the program crashes or is accidentally erased the program can be recovered through the Recover Autosave option under the File menu This will restore the most recently autosaved program 16 Note If you lose a program and wish to recover it through this feature be sure not to open any other programs first If this is done the autosave feature may overwrite the file you wish to recover Over Current Protection The IDEA drive and user interface provide protection against overdriving the current in the actuator When the user interface is opened the part number entered for the mot
40. nd and opto supply or they can be attached to a switch connected to opto ground In the second configuration when the switch is 21 open the drive will see this as a logic high when the switch is closed and the input is connected to opto ground the drive will see this as a logic low Note When an input is connected to a mechanical switch or relay a phenomenon called bounce can occur When the switch contact is almost closed several electrical arcs can form If an input is being used as an interrupt each arc will be seen as a rising and falling edge causing several false interrupts to trigger Any input being used as an interrupt source should only be attached to solid state devices or a switch with debounce circuitry In many cases it is desirable to test a program that uses the inputs and outputs without actually connecting the hardware In the bottom right hand corner of the user interface there are eight circles each representing one of the I O These show the current state of all the inputs and outputs with a green filled circle representing logic high and an empty circle representing logic low While a program is not running or while a program is being used in the debug mode these output circles can be clicked to toggle the state of the outputs 22 Simulating Inputs Since the inputs are controlled externally under normal circumstances the user does not control them through the user interface If it is desired
41. nes the order in which any pending interrupts are serviced If an interrupt is triggered while a lower priority interrupt is being serviced the program immediately begins servicing the new interrupt If an interrupt is triggered while an interrupt or equal or higher priority is being serviced the new interrupt is put into a queue of pending interrupts and will be 26 serviced when all higher priority interrupts have been serviced and any interrupts of the same priority which were triggered first have been serviced There are 5 interrupt queues one for each priority level each being 10 interrupts long at most If there are 10 interrupts in one queue and another interrupt of that priority is triggered the new interrupt will be ignored and an Interrupt queue full error will be asserted If an interrupt is reconfigured to trigger a new subroutine when there is an instance of that interrupt in a queue the interrupt in the queue will still execute but will execute the new subroutine not the subroutine that the interrupt was originally configured to jump to Care should be taken when programming ensure this does not occur Input Triggered Each input can be configured to trigger an interrupt through the Int on Input button The INT radio button should be selected for any input which is to be used as an interrupt source The trigger type should also be selected The types are Rising edge Occurs when the input level goes f
42. ng at label extend which extends the actuator 0 25 waits for the move to complete then returns then repeats Action Label Description Comment 0 start Goto Sub extend 1 Goto start 2 3 extend Extend 0 25 in 4 Wait For Move 5 Return This command is used in example 3 43 Return To The return to command ends a subroutine clears the stack clears any pending interrupts clears any Jump N Times commands and goes to a specified label For further explanation of subroutines see Subroutines page 22 SON Create Return To Command Parameters Destination The label of the command that should be executed next The following program runs a subroutine starting at label extend which extends the actuator 0 25 waits for the move to complete then exits the subroutine goes to the abort command and aborts the program Action Label Description Comment 0 start Goto Sub extend 1 Goto start 2 3 extend Extend 0 25 in 4 Wait For Move 5 Return To abort 6 7 abort Abort This command is used in example 6 44 Goto Sub The Goto Sub command goes to a subroutine starting with the specified label For further explanation of subroutines see Subroutines page 22 Parameters Destination This is the label of the command that is the start of the subroutine The following program runs a subroutine starting at label extend which extends the actuator 0 25 waits for the move
43. o da 26 ENTORSES tee cece Soest Sen cg deca 28 Explanation of Commands 6 0 00 9 00 90999 9 9 30 Extend A een te emrnee 30 o 995 cco 7 ne ed ner ue 32 MOVE TO suomi a a ds 34 GO PG SCC a labial 36 O SN O nn de mies 38 E SIOP SES E Re ne Re en 39 dump N TIMES 00 0 ti nine ce 40 GOO una lbs 41 E A A ane pe ne 42 O nO TE nD nny Ese 43 PRT UNV Tice nn dt MA te nt ia ar 44 LAC PER CO A 46 Wait For MOVE us cn ue ne 47 NEON POS nn uen aaia aaia aeaiia 48 DEVE ON ND arcilla diia 49 COC Ts tesa er lle 51 Set Outputs recesses ak ete een ees eed oa ee 52 Set Positioners el o tdo O 53 5 1 7 1 A A E E AS 54 ADO usa lisas 54 Commenti ed e e ined eee do 55 EX ASS susi dd 56 Example One nds eons 56 Example PW nn A aes 60 Example TOTO dame SE 62 Example Four ds 66 Example FIVE hat AA ne is Ana 69 Example Sika di dol old 74 The IDEA drive Menu Dar ui illo 78 A A vs Sia aad 78 O ne 78 Mode stc
44. o wait another second Click the Wait button The delay time will be 1 second as previously entered No label or comment is necessary Click Add At End This places this command into the program We now want to extend 0 6 inches Click the Extend button As before many items are already populated This time the distance and speed are also populated Input the distance as 0 6 inches No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program We now want to wait one second Click the Wait button The delay time will be 1 second as previously entered No label or comment is necessary 57 e Click Add At End This places this command into the program We now want to make the final move of retracting 0 8 inches e Click the Retract button e Input the distance as 0 8 inches e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to wait one second e Click the Wait button e The delay time will be 1 second as previously entered No label or comment is necessary e Click Add At End This places this command into the program We now want to repeat e Click the Goto button e Enter the destination as Start e Click Add At End This places this co
45. or provides the necessary information to calculate the maximum current of the motor The user interface uses this to prevent the user from entering values that would be damaging to the motor When the user interface is started with a drive attached the drive informs the user interface of the maximum current of the drive The user interface then prevents the user from entering values that would be damaging to the drive The drive also has internal protections so that if a program that was written for a larger drive is downloaded to a drive that cannot handle the current values in the program and that program is run the drive will abort the program and raise a drive current limit error Accel Decel Current Boost The IDEA Drive provides the ability to boost the current for the acceleration ramp and deceleration ramp independently If the acceleration current boost option is set to yes then the current per phase will be 30 greater than the set run current during the acceleration ramp if the ramp is 300ms or less in duration For longer ramps the current per phase will be increased for the first 300ms and will be the set run current for the remainder of the ramp The same is true for the deceleration ramp if the deceleration current boost is chosen except that in the case of a ramp over 300ms it will be the last 300ms of the ramp to be boosted Note It is important for the user to ensure that the current boost feature is not over used Repeat
46. pplied to the windings will be 30 higher than the set run current for a maximum of 300ms Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms The following program moves the actuator to a point 1 forward from where the motor was at the beginning of the program and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Move To 1 in 1 Wait For Move This command is used in examples 4 5 and 6 35 Go At Speed The Go At Speed command moves the actuator shaft in a specified direction at a specified speed N Create Continuous Move Command Accel Rate Decel Rate Start Speed End Speed Accel Boost Decel Boost Parameters Direction This is the direction in which the actuator will move Speed This is the top speed at which the actuator will move Run Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator moves Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes moving Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current Step Mode This is the step resolution to be used for this move Accel Rate This is the rate at which the act
47. program input 1 changes state the program will abort We first need to set up the interrupt triggered by the input Click the Int on Input Button Select Enabled for Input 1 Interrupt Enter Abort as the destination Select Both Edges as the trigger type Select 0 Highest as the priority Click the Add At End button This places the command in program We now want to retract the full stroke of the actuator Click the Retract button Input the distance as 1 Input the speed as 0 5 inch per second Select 1 4 as the step mode All other parameters can be left as the defaults No Label is required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program Note You will notice that when the retract command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Extend and Move To commands This is a command to allow the move to finish before execution of the next command 74 We are now at the fully retracted position to keep track of this we will use the Set Position command e Click the Set Position button e Enter a position of 0 e No Label is required e You can add a comment in the comment line if you wish e Click Add At End This places this command into the program In o
48. r will most likely be different from that shown above e The Realtime display now appears This mode allows the program execute immediate actions such as extend retract go at speed etc If the drive is not connected or not turned on you will not be able to select a drive and when the program is entered you will be forced into the program mode If this happens when the drive is connected and powered up try disconnecting and reconnecting the usb cable to the drive Drive Startup When the drive first starts up either by turning the power on or using the Reset command on a drive that was already powered the following occurs Input simulation is turned off All outputs are set low The position counter is set to zero The hold current is set to zero All interrupts are disabled The encoder is disabled 1 OC gt EE If a startup program is selected that program is now begun When a program is started the following occurs 1 All outputs are set low 2 The position counter is set to zero 3 All interrupts are disabled 12 Features and Concepts Unit conversion When starting the program a part number and measurement unit must be selected From this information the number of steps for each command is calculated This allows the user to write programs in their preferred units instead of having to calculate the number of steps As with any conversion some rounding error may be present With a
49. ram Now we need to return to the main body of the program To go back to where the subroutine was called from we use a Return command Click the Return button No label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program The completed program looks as follows 64 SS Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Input Configuration Drive Commands Programs On Motion 54564 0 5 in Wait For Move Goto Sub Toggle Retract 0 5 in Wait For Move Goto Sub Toggle Abort Set Outputs H H H H Wat 0 5 sec Set Outputs LL LL Retum Action 0 1 2 3 4 5 6 7 8 9 10 Program Length 168 bytes 1 pages 65 Example Four This example is different in that the actuator does not need to start in the fully retracted position We will perform a homing routine to find the fully retracted position and then move to 0 5 from that point wait 1 second and then return to the fully retracted position We first want to retract the full stroke of the actuator Click the Retract button Input the distance as 1 inch Input the speed as 0 5 inch per second Select 1 4 as the step mode All other parameters can be left as the defaults No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button
50. rder to force the actuator to go back to the 0 position when the 0 9 position is reached we will use an interrupt based on position e Click the Int On Pos button e Enter a position of 0 9 e Enter Retract as the destination e Select 1 as priority e No Label is required e You can add a comment in the comment line if you wish e Click Add At End This places this command into the program We now want to begin moving e Click the Go at Speed button e Select Extend as the direction e Enter 1 per second as the speed e Enter Extend as the label e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to continuously loop onto the Go At Speed command e Click the Goto button 9 Enter Extend as the destination 75 No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program We now need the interrupt subroutines We will start with the interrupt subroutine for the interrupt based on position Click the Move To button Enter a position of 0 Enter a speed of 1 per second Enter Retract as the label You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program We now need to exit the subrout
51. retract the actuator 5 turn all four outputs high wait 5 seconds turn all outputs low then end the program We will accomplish this by using a subroutine We first want to extend 0 5 e Click the Extend button e Input the distance as 0 5 inches e Input the speed as 1 inch per second e All other parameters can be left as the defaults e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program Note You will notice that when the extend command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Retract and Move To commands This is a command to allow the move to finish before execution of the next command We now want to use a subroutine to toggle the outputs on and off e Click the Goto Sub button e Enter the destination as Toggle e No label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to retract 0 5 e Click the Retract button e Input the distance as 0 5 inches e Input the speed as 1 inch per second 62 No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program We now want to use a subroutine to
52. ring a move Set outputs Allow the programmer to set general purpose outputs Set position Used to change the current position Using this command the position counter can be adjusted usually after a homing routine Then other commands such as move to or interrupt on position can be used in relationship with this set position Speed The desired top speed for a move Start Large green button Starts running a program Start Speed The speed that a move profile should start at determines the time between the first and second step Step Mode Sets how many microsteps are taken for each full step of the motor Stop Stops the movement of the actuator with a specified deceleration Stop Large red button Immediately stops the motor and program when pressed 82 Subroutine A section of code used that is entered by using an interrupts or the Goto Sub command Subroutines must end with a Return or Return To command View Edit After highlighting a specific line in a program the View Edit button can be pressed causing the details for that line to display These details can then be modified and updated Wait Allows the programmer to put in a time specific time delay Wait for move Delays execution of the next line of the program until the motor has come to a stop 83
53. rive Commands then select the program to be removed in the list then press Remove in the bottom left corner or use the Delete Program From Drive option under Drive Commands then select the program to be removed in the drop down menu and press Ok Table of Contents The IDEA Drive user interface provides a list of all programs on the drive the pages being used by said programs and a graphical representation of the contents and free space of the drive This feature is accessed through the Display Table of Contents option under Drive Commands This feature can be 15 helpful in freeing up space for additional programs or seeing which programs could be moved to decrease fragmenting free space Startup Program In real world applications the controller will need to start execution once power is applied as opposed to being started through the user interface In order to set a program to start on power up the set Startup Program option under Drive Commands is used In the associated window the current startup program is displayed in bold and a new startup program can be selected using the drop down menu of all programs currently on the drive If it is desired to not have a startup program No Startup Program should be selected Saving Loading Combining programs The IDEA user interface allows for programs to be saved to your computer or other drives To do this once the program is co
54. rom low to high Falling edge Occurs when the input level goes from high to low Both edges Occurs anytime the input changes state Position triggered Using the Int On Position command in a program an interrupt can be set to trigger when the motor reaches a specific position Encoder triggered When the Stall Detection encoder feature is used an interrupt can be triggered when the number of Correction attempts has been exceeded 27 Errors During operation the user interface may report an error below is an explanation of each of these errors 0 Error An error occurred when attempting to update the lO This error occurs when communications between the drive and user interface is interrupted This may happen on occasion when the drive is busy with a task and temporarily does not respond to the user interface Press Retry If the message continues to appear check all connections Stack Underflow This error occurs when a running program runs to a Return command while not within a subroutine Check the running program for ways that the program could get to a Return without having used a Goto Sub or an interrupt Stack Overflow This error occurs when 10 or more subroutines are called without returning Check the running program to ensure that all subroutines end with either a Return or Return To and that you are not nesting too many subroutines Driver Overtemp Thi
55. s after the completion of the wait When the Run To Label button is pressed the drive begins to execute the program normally until the label in the textbox to the right of the Run To Label 23 button is reached If this label does not exist in the program execution will continue until the red Stop button is pressed or execution ends on its own Note When the drive is executing many commands in a row without any Wait or Wait For Move commands the user interface may be slowed due to the constant communication between the computer and the drive In order to aide in readability as well as documentation the debug output can be saved as a text file using the Save Debug button Encoder The IDEA drive can be purchased with an optional integral encoder The IDEA drive offers several features related to the use of the encoder When the encoder feature is in use the current position in the bottom right hand corner of the User interface is based upon the encoder not the theoretical position based upon the number of steps taken The encoder has two modes of operation Stall Compensation and Position Verification The Stall Compensation feature works by keeping track of how many steps the drive has taken in any given move and comparing that with the actual travel based on the encoder feedback If the encoder feedback shows that the rotor of the motor is four full steps behind the theoretica
56. s error occurs when the internal temperature of the drive exceeds a safe level Consider moving the drive to a cooler location reducing the hold and or run currents adding additional heat sinking or adding active cooling Encoder Error This error occurs when the encoder encounters a problem or when the encoder feature is used without an encoder attached If you do not have a unit with an encoder do not turn on the encoder features If you do have a unit with an encoder and this error continues to occur contact Haydon Kerk Interrupt Queue Full This error occurs when a running program encounters more than 10 interrupts of the same priority without having serviced any This 28 could occur due to an interrupt source causing multiple extraneous interrupts or by one interrupt subroutine not returning thus preventing execution of any other interrupts Check your interrupt sources and ensure that all interrupt subroutines end in a Return or Return To command Loop Overflow This error occurs when a running program is in more than 10 Jump N Times commands at once Ensure that the running program does not nest more than 10 Jump N Times commands Drive Current Limit This error occurs when the drive is given a command with a current setting higher than its capability Check that when you entered the user interface you set the correct part number for the motor and that the drive you are using is appropriate for
57. t the run speed Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current Decel Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator stops Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes moving Step Mode This is the step resolution to be used for this move Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set decel current for a maximum of 300ms 38 The following program starts a move at 1 per second waits 0 5 seconds and the stops the actuator Action Label Description Comment Go At Speed 1 in sec Wait 5 sec Stop 1 This command is used in example 5 E Stop The E Stop command brings the actuator to an immediate stop This does not halt program execution Sex Create E Stop Command Parameters Decel Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator stops Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes moving Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current The following program starts a move at 1
58. the Add At Eno button This places the command in program The completed program looks as follows 67 SS Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Input Configuration Drive Commands Programs On Dri Motion Program Flow Wait For Move Set Position O in Move To 0 5 in Wait For Move Wait 1 sec Move To Qin Wait For Move 1 0 and Position Current Position o in 3 4 O O 0 2 O O Program Length 184 bytes 1 pages 68 Example Five In this example we will first find the fully retracted position of the actuator then the actuator will move to the 0 position if input 1 is high and input 2 is low move to the 1 position if input 1 is low and input 2 is high or stop if inputs 1 and 2 are both high or both low We first want to retract the full stroke of the actuator Click the Retract button Input the distance as 1 Input the speed as 0 5 inch per second Select 1 4 as the step mode All other parameters can be left as the defaults No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program Note You will notice that when the retract command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Extend and Move To comman
59. tially starting at action 1 and moving onto action 2 and so on unless a branching command is used which would send execution instead to a specified label The different commands available are covered in depth below The size of the current program is displayed in both bytes and pages in the Program Length area Each page is 1024 bytes long and the number of pages used is always rounded up Startup Installing the Application This is a one time activity The IDEA drive has a CD ROM disk that is to be installed into your PC Please perform the following instructions Note this is to be performed without the actuator being attached via the USB cable e Insert the disk into the CD ROM drive e Welcome to the IDEA Software setup wizard will appear on screen If this does not appear go to My Computer and double click on the cd rom drive Click next e Select installation folder will appear on screen You may change the location of the installation if you wish Click next e Confirm installation will appear on screen Click next e Installing IDEA Software will appear on screen This may take a few moments e Installation complete will appear on screen A black function window will also appear behind the Installation complete dialogue box This is normal Do not close this window it will close automatically After a few moments the Installation complete dialogue box will show
60. to control the inputs through the user interface the simulate Inputs feature can be accessed through the Drive Commands menu When this feature is turned on the actual states of the inputs are ignored and the user interface tells the drive what state to consider the inputs to be Note The simulate inputs feature can not be turned on or off while a program is running Debugger The IDEA user interface has a debugger to help in troubleshooting programs The debugger is available in the Realtime mode Once in the Realtime mode the program to be debugged is selected either by the Program to Run drop down or through the Programs on Drive menu Once the program is selected the debug feature is started by pressing the Start Debug button So long as the drive is in debug mode each program line executed by the drive is displayed in the debug window This window can be cleared at any time by using the Clear Debug button The most recently executed command is also highlighted in the program area Debug mode is exited by either pressing the red Stop button or when the program ends There are two ways of advancing through programs in debug mode single step and running to a label Each time the Single Step button is pressed the drive executes one command If the button is pressed multiple times while the drive is on a Wait or Wait For Move command the drive will not execute multiple command
61. tor will be ramped from the start speed to the run speed If this is set to 0 then the extend will start at the run speed 30 Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the extend will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp 15 used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms The following program extends the actuator 1 and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Extend 1 in 1 Wait For Move This command is used in example 1 31 Retract The retract command moves the actuator shaft a specified distance backwards from its current location SON Create Retract Command Parameters Distance This is the distance that the actuator will retract Speed This is the top speed at which the actuator will retract Run Current This is the unboosted RMS current per phase that will be applied to the windings while the
62. tract the actuator 0 2 inches wait one second extend the actuator 0 6 inches wait 1 second retract the actuator 0 8 inches wait 1 second and repeat from the first extend indefinitely Let the linear speed for each move be 1 inch per second We first want to extend 0 4 inches e Click the Extend button e Input the distance as 0 4 inches e Input the speed as 1 inch per second e All other parameters can be left as the defaults e Enter Start as the label e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program Note You will notice that when the extend command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Retract and Move To commands This is a command to allow the move to finish before execution of the next command We now want to wait 1 second before moving again 56 Click the Wait button Input the delay time as 1 second No label or comment is necessary Click Add At End This places this command into the program We now want to retract 0 2 inches Click the Retract button Input the distance as 0 2 inches Input the speed as 1 inch per second No Label 15 required You can add a comment in the comment line if you wish Click the Add At Eno button This places the command in program We now want t
63. uator will be ramped from the start speed to the run speed If this is set to 0 then the move will start at the run speed 36 Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the move will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp 15 used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms The following program moves the actuator for 1 second Action Label Description Comment 0 Go At Speed 1 in sec 1 Wait 1 sec This command is used in example 6 37 Stop The Stop command brings the actuator to a stop with an optional deceleration ramp This does not halt program execution XX Create Stop Command End Speed M in sec Decel Rate 0 in sec sec Delay Time 005 sec Parameters End Speed This is the speed at which the move will end if a deceleration ramp is used Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the move will end a

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