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SMC20 Motion Controller

1. m wj t tiri It dW wa ww i t n t w b 4 W b stl n t y k w 2 stl the cole CPU 0 qf wi hi nids p iu a E qa imi COM Bu Table 2 2 Common System Connections Figure 2 4 Common System Connections WARNING p i m mes mes int ni b i dh Fault Protection The SMC20 provides both hardware and software fault protection The hardware includes two fault protections Enable an optically isolated enable input signal must remain On if it goes controller command outputs go to zero Internal Watchdog if the controller s processing units fail the controller command outputs go to zero Wiring the Common System Connections Recommendation Use 14 to 20 AWG stranded wire further if you insert more than one wire into a screw terminal twist the wires together and solder them For the common system connections insert the wire into the green screw type terminal that comes with the SMC20 If you intend to operate from the internal isolated DC supply 24 V on the 20 use its green screw type terminal which also comes with the controller as shown in Figure 2 5 Figure 2 5 Wiring the Common System Connections Using the Internal Isolated Supply Figure 2 6 Wiring the Co
2. Table 2 3A Axis Connection Pins Z32 through Z2 Identical for Each Axis Pin Name Description Description No Function No Function D32 Output drive torque D32 TQ Output drive torque current enable current enable 030 VEL Output drive speed 030 VEL Output drive speed enable enable D28 MTN Output motion in D28 MTN Output motion in progress progress D26 IP Output in position D26 IP Output in position D24 HC Output home D24 HC Output home sequence complete sequence complete 022 ERR Output error 022 ERR Output error D20 O Output uncommitted D20 O Output uncommitted D18 O Output uncommitted D18 O Output uncommitted 016 DRV Input drive amplifier 016 DRV Input drive amplifier OK 014 Input jog direction 014 Input jog direction 012 JG Input jog direction 012 JG Input jog direction D10 LIM Input travel limit D10 LIM Input travel limit 08 LIM Input travel limit 08 LIM Input travel limit D6 HOM Input home switch D6 HOM Input home switch 04 RUN Input run program 04 RUN Input run program D2 1 Input run home D2 1 Input run home sequence sequence Table 2 3B Axis 1 X Connec
3. 8191 counts Any D A offset programmed as an axis parameter CFG mode is added to the PID output in the D A converter The Maximum Position Error which can be processed is limited Note that Maximum Position Error programmed in CFG or PRG mode sets up a value beyond which an error routine is triggered It DOES NOT set the internal limits in the PID algorithm Jumper Settings Factory Jumper Settings The encoder interface card has jumper selectable ouput voltages for the encoder power Refer to Figure 1 Position Interface Card Encoder Jumpers Figure B 1 Position Interface Card Encoder Jumpers The Main Board CPU has many factory Set jumpers no user configurable jumpers are provided on this board The factory jumper positions are shown in FigureB 2 SMC BD Jumpers Figure B 2 SMC Bd Jumpers Index Hit Clear Entry 3 2 EDT3 3 A D3 11 Absolute Jump4 26 4 27 Absolute or Relative Target Position4 4 4 6 4 20 Absolute Position3 34 3 38 4 20 4 21 Fig 3 10 Acceleration3 5 3 34 4 1 4 5 4 14 4 17 4 18 5 5 Fig 3 2B Acceleration Deceleration4 4 4 20 4 21 Active High1 6 2 19 2 20 Active Low1 6 2 19 2 20 ADO 2 11 ADO 2 11 Advance3 34 AGND2 11 2 16 2 18 Alarm Screen5 7 Alarms3 10 Analog I O ConnectionsFig 1 1 Analog 1 2 11 2 17 3 11 Fig 2 11 Analog Input Channel 12 11 2 17 Analog Input Output2 15 Analog Output2
4. 1 Power On 3 38 Power On LED Indicators1 4 5 3 Fig 1 1 Power Input Connections1 7 Fig 1 1 Power Supply 1 1 1 3 1 7 2 4 2 6 2 7 2 9 2 13 2 26 Fig 1 1 Fig 2 2 PRG3 1 3 2 3 8 Printer1 1 1 5 2 30 2 31 3 31 4 30 5 8 Printer Interface1 5 Processor ModuleFig 1 1 Product Registration Card2 2 Profile3 5 3 6 4 14 4 15 Fig 3 2 Profile Definition4a 3 Profile Segment Error5 6 Profile Select 5 6 Program3 1 3 3 4 9 4 10 4 28 4 29 Program Level4 9 Program Limits4 1 4 2 Program Mode3 1 4 8 Fig 4 2 Program Parameters4 9 4 10 4 11 4 16 4 17 4 18 4 22 Fig 3 2 Fig 4 3 Program Screen4 18 Program Segements4 9 4 12 4 16 4 18 4 21 4 23 4 26 Fig 4 2 4 4 Program 8 3 22 3 23 5 4 Program Select Bit 3 22 3 23 Programming Structure3 4 Fig 3 1 Proportional Gain3 16 3 29 3 37 3 38 5 2 2 Proportional Valve Amplifier1 1 Quick Set 0 3 27 RAM 1 6 3 26 RAW3 11 Re assignment3 20 4 11 Reference Position3 32 Relative Position4 4 4 5 4 6 4 20 Fig 3 10 Reset Maximum Position Error3 31 5 5 Fig 3 10 Resolver Feedback2 27 Return3 34 Fig 3 5 Fig 3 6 RS232C Communication Port 1 4 1 5 1 7 2 30 2 31 3 18 4 9 4 12 4 30 5 8 Fig 1 1 RS232C Setup3 17 3 18 3 9 RS232C Signals2 31 RS422 485 Communication Port1 4 1 5 1 7 2 30 3 1 5 3 Fig
5. Motion parameters Initial Values Max Position to be reduced Error 30 in Max In Position Error 1 0 in Axis Event Condi tion Undefined Jog Speed 1 in sec Go to PRG mode Assume that no programs have been saved The following screen should come up PROGRAM MODE T NEW F1 AXIS 1 AXIS F2 SEL DOES NOT EXIST EDIT F4 Press NEW F1 PROGRAM MODE lt F1 AXIS 1 gt F2 F3 DOES NOT EXIST F4 Enter program number i e 10 and press ENTER The following screen will appear PROGRAM _T NEW F1 AXIS 1 AXIS F2 10 SEL F3 J EDIT F4 Press EDIT F4 The following screen will appear PROGRAMA 10 QUIT F1 F2 PROG PARAMETERS EDIT PROG SEGMENTS EDIT F4 For this example the program parameters can be the same as the axis parameters except that we will change the acceleration and deceleration to 100 in sec Press Program Parameters Edit F3 The following screen will appear PROGRAM 10 T QUIT F1 F2 AXIS SAVE F3 1 SEL Press Up Down arrows until the following screen appears PROGRAM 10 T QUIT F1 MAXIMUM F2 ACCEL IN S 2 SAVE F3 300 0000 4 EDT F4 Press EDT F4 CLEAR ENTRY Enter 100 press ENTER then Save F3 The following screen will appear PROGRAMMI 10 T QUIT F1 MAXIMUM F2
6. The SMC20 front panel contains all connections to other components in the motion control system for example the power source feedback sensors I O or a Hand Held Terminal To complete the connections you may use one of a variety of devices for example plug in screw terminals solder terminals or multiple pin plugs For both the isolated DC supply and the common system connections use the plug in screw type terminal supplied with your SMC20 For axis connections you can use either the 32 pin screw type DIN connection supplied with the controller or a 32 pin solder type DIN connector optional This section presents the connections Power supply Common system Axis Position feedback sensor Communications module lo Power Supply The SMC20 is available in two AC power input versions One version operates from standard 115 VAC single phase 50 or 60 Hz fused at 2 amperes The other operates from 230 VAC single phase 50 or 60 Hz fused at 2 amperes The SMC20 is also available with one DC power input version operates from 24 5 and is fused at 1 ampere Power supply input voltages are model code selectable Table 2 1 shows the three versions Figure 2 2 locates the power supply connection on the SMC20 front panel Version Input Voltage Fuse SMC20 9010 125 2 amperes 115 SMC20 200 to 240 VAC 2 amperes 230 SMC20 24VDC 5 2 a
7. 11 2 15 2 16 Fig 2 16 Analog to Digital3 11 Automatic Home Sequence3 32 3 4 3 6 Axis 1 2 X1 4 4 2 5 4 Axis 2 Y1 4 4 2 5 4 Axis Configuration Limits3 36 4 1 4 15 Axis Connections2 4 2 10 2 11 2 12 2 13 2 14 3 19 3 20 Fig 2 7 Axis Gains3 13 3 16 3 37 4 30 5 2 5 5 1 Fig 3 4 Fig 3 7 Axis I O Address Assignments3 20 3 22 3 23 3 24 Fig 3 12 Axis Limits3 36 Axis Parameters3 13 3 14 3 15 3 37 5 2 5 4 3 Fig 3 2B Fig 3 4 Fig 3 5 Axis 3 9 3 38 4 22 4 25 Axis Specific Gains3 16 BACKSPACE3 3 Baud 3 18 4 30 Fig 3 8 Fig 3 9 BRC3 11 CFG3 1 3 2 3 8 CLEAR ENTRY3 3 Closed Loop ModeA 2 COM2 7 2 31 5 8 Common System Connections2 4 2 6 2 7 2 9 Fig 1 1 Fig 2 4 2 5 Fig 2 6 Communication 52 30 Fig 2 20 Communication Interface1 5 Communications Module2 4 Fig 1 1 Conditional 4 22 Fig 3 2B Conditional Jump4 6 4 7 4 26 4 27 Configuration Mode3 1 3 12 3 13 Fig 3 4 Configuration Parameters3 30 3 33 4 1 Configuring vs Programming3 6 Fig 3 2B Connections1 1 1 4 2 4 Control AlgorithmFig 1 1 4 1 6 2 7 5 3 B 1 Creep Speed3 15 Fig 3 2B CTS2 31 Current Output2 11 2 18 D A3 11 1 Fig 3 2 Fig 3 5 D A Offset3 15 A 3 Data Bits1 7 3 18 5 8 DC I O ConnectionsFig 1 1 DC I O LED IndicatorsFig 1 1 DCD2 31 Dece
8. AXIS F2 RESET MAXIMUM POSITION ERROR J F4 Press RSET F3 key then go back to Jog screen by pushing the Up Down arrow keys If the axis still does not move refer to Troubleshooting page Reference Position There are several methods available to provide a positional reference for the axes Automatic Home Sequence The automatic homing sequence can be used as follows The automatic homing sequence requires at least one external input for each axis Input 4 20 HOM for the home location limit switch It also requires that the encoder have a C channel marker input The homing sequence can be started by activating Home Request input 15 31 from the terminal as follows Figure 3 11 Home Switch Connections In the CFG mode press F2 to access Home Axis screens There are four configuration parameters associated with the home sequence Home Position defines the Home Position value Can be any number within the controller position range AXIS T QUIT F1 HOME AXIS F2 POSITION EU SAVE F3 0 0000 EDT F4 Home Offset defines the offset position from Home Limit Switch in the length units previously selected inches meters etc AXIS T QUIT F1 HOME AXIS F2 OFFSET EU SAVE F3 0 0000 EDT F4 During the homing sequence the axis will move to the home limit switch then move the offset amount where it will set position value
9. F3 F4 F1 F2 F4 F1 F2 F3 F4 F1 F2 F3 F4 The next several screens all operate the same MAXIMUM POSITION EU MINIMUM POSITION EU MAXIMUM SPEED EU SEC MAXIMUM ACCEL EU S 2 MAXIMUM DECEL EU S 2 MAXIMUM POSITION ERROR EU IN POSITION ERROR EU The Engineering Unit selected for the axis CFG mode is substituted for EU on the actual screen F1 Quit Return to previous screen F2 Not Used F3 Save Push after leaving Value Entry screen to save to RAM Memory F4 EDT Edit Value Entry screen Event Condition F1 Quit Return to previous screen F2 Not Used F3 DEL Delete a previously programmed event F4 EDT Edit This brings up a separate lower level screen See the section on Logic Equations page PRG Segments Use arrow keys to select the desired screen Upper Screen F1 Quit Moves back to previous F2 SEL Works if there are segments to select F3 NEW If the segment box is empty new program or if segments are to be added at the end of a program pushing New brings up a new block number one bigger than the previous highest number F4 EDT Edit Goes to the Segment Edit screen Fig 4 5 Lower Screen F1 Quit Moves back to previous F2 Del Deletes a segment and increments down the number of any segments which previously had higher segment numbers INS Inserts a segment ahead of the segment shown The new segment uses the number on the screen
10. Typically this type of data applies to the SYSTEM or an AXIS Examples of this type of data are Maximum Axis Speed Jog Speed Maximum Acceleration etc The reason they are only entered once is that these parameters are absolute maximum values or other constants i e gain ratios that relate to the real machinery hardware not a particular program being run on the SMC20 The data that is only entered once or changed very infrequently is entered in the Configuration mode CFG This data is entered in the configuration mode Other types of data are changed frequently For example the position that an axis is to move to in a given profile the speed at which it is to move whether a limit switch an input is to be checked etc are all things that depend only on that particular SEGMENT or group of SEGMENTS a PROFILE The data that is changed all the time is entered in the Program PRG mode The type of data and the level that it applies to is shown in Figure 3 2B Also shown is the mode CFG or PRG where the data is entered LLLL AXIS PARAMETERS AXIS X ENG UNITS GAIN FACTORS MA CED PARAMETERS CREEP SPD HOME SPD HOME POS HOME DIR SEGMENT JOG SPD PARAMETERS MAX ACCEL MAX DECEL MAX POS ERROR 3 INEOS ERRORS MIN POSITION D A OFFSET GLOBAL EVENT MEER MAX ACCEL PRF MAX DECEL SEG MAX POS ERR GAIN FACTORS IN POS ERR
11. use the following procedure to diagnose the problem 1 Verify the printer cable is connected to the printer s serial port Most printers have both serial and parallel ports 2 Verify the printer is set up for 9600 baud 9600 baud 8 data bits 1 stop bit no parity 3 Try switching pins 2 amp 3 on one end of the cable 4 Verify cable construction Check for shorted pins and continuity See Table 2 6 RX TX and COM are the only signals needed Setting the PID Gains PID Parameters Install Conditions At startup the PID gain settings are zero PID gains are AXIS GLOBAL VALUES which are set from the CFG mode Axis Gains see Axis Parameters section page Two PID gains can be altered in any segment by using the GAIN feature when programming the segment Open Loop Mode If the loop has been deliberately opened using the screen available in Run mode the PID algorithm is disabled An offset in counts range 0 to 8191 counts can be entered which directly generates an output The output produced will be Maximum for the Selected Output input counts 8191 WARNING Open loop operation of a normally closed loop can be hazardous Since the actuator will generally move at maximum velocity with full controller output and since an open loop can easily run to the maximum available position it is suggested that a small offset be used and advance precautions should be
12. 1 1 RS4852 25 2 26 2 31 5 3 RTS2 31 Run Input2 23 3 19 3 20 4 27 4 29 5 2 5 4 Run 3 1 3 30 4 28 Fig 3 10 Run Program2 12 2 13 3 19 3 20 3 22 3 23 4 28 4 29 Run Screen4 28 RUNGS 1 3 2 3 8 4 6 4 28 2 31 5 8 Save to FLASH Memory3 3 3 26 3 29 3 34 4 2 4 20 4 21 4 25 Security Code3 2 3 12 3 17 Fig 3 8 Segment3 1 3 5 3 6 4 19 4 22 Fig 3 2B Segment Definitiion4 4 Segment Edit Screen4 13 Segment Gains4 7 Fig 4 2 Fig 4 5 Segment Parameters4 10 4 13 Fig 3 2 Fig 4 5 Set Open Closed Loop ControlFig 3 10 Set Position Reference3 22 3 23 3 35 Set Up Axis Configurations3 8 Set Up Checklist3 37 Silkscreen LabelFig 1 1 Single Ended Analog Output1 3 2 11 2 16 Fig 2 10 SO2 11 2 16 Specifications1 6 Stop Bits1 7 3 18 5 8 Fig 3 8 Fig 3 9 Stop 4 28 4 29 5 4 System Parameters3 17 Fig 3 4 Fig 3 8 Target Position4 4 4 5 Fig 3 2B Target Speed 4 20 4 21 Fig 3 2B Target Velocity4 4 4 5 4 14 Torque Enable2 12 2 13 2 21 3 19 3 20 3 22 3 23 TQ2 12 2 13 2 21 3 19 3 20 Travel Limits3 13 3 20 3 37 4 1 4 15 Two Segment Profile4 14 4 15 TX2 31 5 8 Typical Two Axis Wiring2 14 Fig 2 8 Unconditional Jump4 6 Uncontrolled Motion5 3 Up Down Arrows3 3 V 2 6 2 7 2 26 VAR3 1 3 2 3 8 Variable Mode3 1 Variables3 14 4 4 4 7 4 19 4 22 Fig 4 2 Fig
13. 1 and 3 1B You can use the Up Down arrow keys to scroll through the equations entered It should appear as 1 START 2 OUTPUT TO 3 10 1 06 4 ENDEQ Note Brackets appear in F3 field to highlight the port to be selected Press Save F4 to save to RAM Be sure to go to CFG mode and save to FLASH Memmory when done Now when the axis is extended at the end of Segment 1 the output 06 will go On The next step is to program Segment 2 the retract motion with an Exit Condition as above except that the logic equation to enter is START OUTPUT TO NOT 06 5 Use the same sequence as above to enter the equation Now when the axis is retracted to the 0 0000 inch position the output will turn Off A logic equation can have up to 256 elements for each event Also the equation can include axis positions and variables as arguments Refer to the Programming Reference Manual to learn how to use all of event logic capabilities Jump Instruction The Jump command is used to program branches or repeat cycles There two types of Jumps an Absolute Jump or a Conditional Jump Jumps are allowed only in segments and only from one segment to another Therefore all branches or loops are within a profile The previous example can be programmed to run continuously and repeat the two segment motions as long as the run switch is On The Jump is programmed
14. 2 16 Position Feedback Sensor Connections Incremental Encoder Connections The SMC20 interfaces with industry standard incremental encoders The encoder output which is a square wave consists of A and B channels in quadrature with a C marker pulse channel The SMC20 accepts as input differential line receivers that conform to RS485 however it will also accept single ended signals The position feedback encoder connection also includes jumper selectable 5 VDC or 15 VDC to power the encoder See Appendix B for jumper settings Figure 2 16 locates the position feedback encoder connections on the SMC20 front panel Figure 2 17 shows the pin layout in each encoder connection and Table 2 4 presents the name and description for each pin in the connection The encoder connection mates with a DB 9 female connector Figure 2 17 Feedback Pin Layout Pin Layout Cable End Pin Name Description No Function 1 V s ip Eos tr W th W amp 8 2 GND m s i pik W fei 8 3 A HIE p da n 4 SA LO 5 B HI 5 m md 6 B LO Je 1 Mir i 7 C n 8 mii 9 GND w Table 2 4 Position Feedback Encoder Connections As already mentioned the SMC2
15. 27 Jump Instruction4 26 Jump Segment4 6 4 26 4 27 Fig 3 2 Kd3 16 A 2 Fig 3 2B Fig 3 7 Ki3 16 A 2 Fig 3 2 Fig 3 7 3 16 3 28 3 29 5 2 2 Fig 3 2 Fig 3 7 Last Segment4 4 Fig 3 2B LIM 2 12 2 13 2 23 3 19 3 20 LIM 2 12 2 13 2 23 3 19 3 20 Limit Switch2 23 3 6 3 32 3 36 3 38 Limit 2 12 2 13 2 23 3 19 3 22 3 23 3 24 3 25 3 36 3 37 3 38 Limit 2 12 2 13 2 23 3 19 3 22 3 23 3 24 3 36 3 37 3 38 Limits3 14 List Function4 30 5 8 Logic Equations3 20 4 4 4 6 4 24 4 25 4 27 Logic Output Event4 5 Loop Update Rate3 15 Fig 3 5 Manual Home Function3 35 Maximum Acceleration3 6 3 13 3 15 3 28 3 29 4 11 4 15 4 17 Fig 3 2B Fig 3 5 Fig 4 2 Fig 4 3 Maximum Acceleration Deceleration3 37 Maximum Deceleration3 13 3 15 3 28 4 11 4 15 Fig 3 2 Fig 3 5 Fig 4 2 Fig 4 3 Maximum Move Velocity3 13 3 37 Maximum Position3 15 3 27 4 1 4 11 4 15 3 2B Fig 3 5 Fig 4 2 Fig 4 3 Maximum Position Error3 15 3 27 3 28 3 37 4 11 4 15 5 2 5 5 5 6 5 7 A 3 Fig 3 2 Fig 3 5 Fig 4 2 Fig 4 3 Maximum Speed3 6 3 15 3 28 3 29 4 11 Fig 3 2B Fig 3 5 Fig 4 2 Fig 4 3 Maximum Travel3 38 Maximum 3 13 4 1 4 5 4 15 1 Minimum Position3 15 3 27 4 11 4 15 Fig 3 2 Fig 3 5 Fig 4 2 Fig 4 3 MON3 1 3 2 3 8 Monitor Alarms3 10 Monitor I O Screen3 1
16. 4 In 3 22 3 23 In Position2 12 2 13 2 21 3 16 3 19 3 20 3 22 3 23 4 5 2 In Position Error2 21 3 15 4 11 4 15 Fig 3 2 Fig 3 5 Fig 4 2 Fig 4 3 IN1 2 11 2 17 IN1 2 11 2 17 IN24 2 11 2 2 11 Incremental Encoder2 25 Incremental Move4 3 Input 2 21 4 4 4 7 4 22 4 27 Fig 3 2B Input Event Conditions4 4 Input Output1 4 2 4 2 13 2 14 2 15 2 21 3 13 3 19 3 20 3 21 4 22 Input Status3 8 3 10 Installation Checklist2 32 3 8 3 38 Integrator3 16 2 Integrator 16 2 Fig 3 7 Integrator Delay3 16 2 Fig 3 7 Integrator Gain3 16 2 Integrator Limit3 16 2 Fig 3 7 Internal Address 2533 20 3 22 3 23 Internal Address 2543 20 3 22 3 23 Internal Address 2553 20 3 22 3 23 Internal Flag4 5 4 7 4 22 Internal Watchdog2 8 2 11 2 18 2 11 2 18 2 12 2 13 2 21 3 19 3 20 Isolated DC Supply 1 4 2 1 2 4 2 6 2 7 2 9 2 13 Fig 1 1 2 12 2 13 2 22 3 19 3 20 JG 2 12 2 13 2 22 3 19 3 20 Jog Function3 30 Jog Inputs2 22 2 23 3 19 3 20 Jog 3 38 Jog 3 37 3 38 Jog Screen3 31 3 38 Jog Speed3 6 3 28 4 15 Fig 3 2 Fig 3 6 Jog Velocity2 22 5 2 Jog 2 22 3 22 3 23 2 22 3 22 3 23 Jump Conditional Events4 22 Jump Conditions4 4 4 6 4 7 4 26 Fig 4 2 Fig 4 5 Jump Event4 5 4 26 Jump Event Condition4 6 4
17. DWELL TIME GLOBAL EVENT INPUT EVENT TARGET POSITION MOVE SPEED PROFILES TARGET SPEED ACCELERATION DECELERATION OUTPUT EVENT COND EVENT SEGMENT JUMP SETMENT FIGURE 3 2B Configuring Versus Programming Set Up Axis Configurations Perform the installation and check list in the Installation section page CAUTION At this point power should still be removed from electric or hydraulic axis actuators to prevent unintended motion or damage Apply power to the controller Get into Monitor MON mode as indicated on page You can change to different modes by pressing the corresponding key MON CFG VAR PRG RUN Monitor Mode The Monitor mode MON is used to monitor motion parameters and input and output status Three screens are available MON MONITOR MOTION AXIS F1 POS1 0 0000 SEL F2 PER1 0 0000 SEL F3 VEL1 0 0000 SEL F4 MONITOR I O T F1 PREV F2 ADDRESS 0 EDT NO ALARMS NEXT AXIS 1 ALARMS TAXIS FLAGS 00000000 F2 lt NO ALARMS F4 Figure 3 3 MON Mode Screens The first screen allows you to monitor Axis Position Position Error and Velocity Command for each axis The available parameters for viewing are Axis 1 POS1 actual position position error VEL1 velocity command Axis 2 POS2 actual position PER2 position err
18. F3 9600 l EDT F4 85232 T QUIT F1 F2 WORD LENGTH SAVE F3 8 EDT F4 85232 T QUIT F1 F2 STOP BITS SAVE F3 1 EDT F4 RS232 T QUIT F1 F2 PARITY SAVE F3 NONE EDT F4 System Parameters These affect system operation both axes Security Code 1 Access Modes Past Monitor F1 Quit F3 Save Saves to RAM Memory Edit Edits the value Value Entry Screen 0 to 999 0 no protection RS232 Setup F1 Quit Return to previous screen Edit Go to Section 3 2 5 1 RS232 Setup There are four screens All four work alike Any of the four can be used first Arrow keys move the screen selection up or down RS232 T EDIT BAUD RATE SAVE 9600 EDT RS232 T EDIT WORD LENGTH SAVE 8 EDT RS232 T EDIT STOP BITS SAVE 1 EDT RS232 T EDIT PARITY SAVE NONE EDT Figure 3 9 CFG RS232 Set Up F1 F2 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 Quit Return to previous screen F2 Save Saves to RAM Memory FA Edit Edits the value Use arrow keys to get to another screen Baud Rate Default 9600 Available 300 600 1200 2400 4800 9600 19200 and 38400 Data Bits Stop Bits Parity Available values are 7 or 8 Available values are 1 or 2 Available values are Odd Even None A common setting is 9600 8 1 None The devices at each end of the RS232C communications link must
19. F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 Axis Parameter Screens For each above F1 Quit Go to These screens are identical except for previous the parameter name POSITION ENG UNIT Position F2 Axis Selects feedback counts per measurement 10r2 length Depends on Transducer and F3 Save Saves units used newly entered LOOP UPDATE RATE Range 2 to 19 value to RAM ms This parameter can be useful when Memory tuning an axis for performance The F4 Brings up the Default Value is 0 200ms Parameter MAXIMUM POSITION EU screen MINIMUM POSITION Push Enter MAXIMUM POSITION ERROR EU IN POSITION ERROR MAXIMUM SPEED EU SEC CREEP SPEED EU SEC Error recovery speed MAXIMUM ACCELERATION EU SEC 2 MAXIMUM DECELERATION EU SEC 2 D A OFFSET D A COUNTS HOME POSITION EU HOME OFFSET EU HOME SPEED EU SEC AXIS 1 T QUIT F1 QUIT to Previous Screen POSITION AXIS F2 Select Axis 1 or 2 ENG UNIT SAVE F3 SAVE newly entered value to RAM memory 1 0000 EDT Select engineering unit type FT Foot MM Millimeter RV Revolution CM Centimeter EU Engineering Unit counts AXIS 1 T QUIT F1 QUIT to Previous Screen HOME AXIS F2 Select Axis 1 or 2 DIRECTION SAVE F3 SAVE newly entered value to RAM memory RETURN SEL F4 Selects RETURN or ADVANCE Direction AXIS T
20. QUIT F1 QUIT to Previous Screen JOG SPEED IS AXIS F2 Select 1 or 2 AXIS 1 VAL T QUIT F1 QUIT ASSIGNED TO SAVE F3 SAVE to RAM FOR JOG SPEED AXIS F2 Select 1 VARIABLE 4C EDT F4 Enter Variable Number SELECT VARIABLE OR ENTER VALUE J VAL F4 AXIS 1 T QUIT F1 QUIT to Previous Screen JOG SPEED AXIS F2 Select 1 or 2 VALUE IN SEC SAVE F3 SAVE to RAM Figure 3 6 Engineering Unit Home Direction EDT F4 Enter JOB Speed and Job Speed Screens CFG Axis Gains In the CFG mode use Up Down arrows to show Configuration Axis Gains screen Push Edit F1 Use Up Down arrow keys to obtain any of the screens of Figure 3 7 The function key action is the same for all screens F1 Quit Go to previous screen F2 Axis Selects 1 X or 2 Y F3 Save Saves new value to RAM Memory F4 EDT For all parameters This brings up one of the Axis Gains Screens For Integrator Delay when SAVE is pushed the value entered is adjusted to be an exact multiple of the processor cycle time These are ALL AXIS SPECIFIC gains For a discussion of how to select the values to use see Appendix A on PID adjustment For reference the gains are listed the following page with brief definitions FS Means full scale controller output EU Means engineering units Kp Proportional gain Ki Integrator Gain Kd Derivative Gain velocity Integrator The integrator in the P
21. RS232C compatible port for printer An RS422 485 compatible port for Hand Held Programming Terminal Figure 2 20 Communication Connections For normal operation you only need to plug the Hand Held Terminal into the RS485 connector You can use the RS232C port to list programs programs that have been setup with the Hand Held Terminal to a printer or a personal computer Figure 2 21 below shows the RS232C connection Figure 2 21 RS232C Pin Layout Cable End 1 Inspect controller for damage or missing parts If there is any diffi culty contact your supplier 2 Besure the controller is mounted in accordance with mounting and ventilation recommendations See page 3 Connect AC power Be sure that the GND connection is made to a suitable earth ground Green Wire Pin Name Description No 1 DCD Not used 2 Serial data input 3 TX Serial data output 4 DRT Not used 5 COM Signal common ground 6 DSR Not used 7 RTS Not used 8 CTS Not used 9 5 5V optional Table 2 6 RS232C Port Signals Installation Checklist The following checks should be checked prior to applying power to the SMC20 controller 4 Perform a power up test as follows If you have pre wired the unit temporarily unplug both 32 pin axis connectors Apply AC power and verify that the four 4 power supply monitor lights are on ISOL PW
22. SMC20 Programming Structure Each axis is independently programmed at all levels See Figure 3 1 AXIS PROFILES Figure 3 1 The SMC20 Programming Hieracrcy Axis One actuator and associated equipment and SMC20 connections Profile A profile is a description of a set of motions and associated input and or output instructions always ending with the axis returned to zero velocity but not necessarily the starting position In motion control applications a controlled axis typically executes a series of moves with or without intermediate stops and eventually returns to the starting position This motion is frequently represented by a graph with position on the X horizontal axis and velocity on the Y vertical axis Segment Defines the events or motion over a portion of a profile which consists of a maximum of one acceleration and one deceleration The number of segments in a given profile and the number of different profiles which can be programmed on an axis is not fixed but instead is governed by the available memory The 5 20 can store 900 segments Each profile uses at least one segment but may use many segments Figure 3 2A Segmentation Configuring Versus Programming Associated with each of the elements of the SMC20 hierarchy AXIS PROFILE SEGMENT is data or parameters that must be entered Some of the data or parameters are entered only once for the SMC20
23. User Interface Terminal Specifications trt ri st 16MHz 80C188 and 32MHz DSP Memory SystemiEprom 7254 n ede rd b dre qur nd Duke Yd ed ARD or Rl ubi 128K User Memory Flash 1 1 2 2 64K FAM tee eU ILI M LN DIS UM ra 64K 17 Digital OUtDUIS a didi UN E otha Gade nube bene 16 Programmable Outputs with default functions Optical Isolation 1 CPU Dedicated Fault Output Current Sourcing 50 mA max Active High On High Optional Active Low 1 Digital Inputs oo ce e re DR apex eU RR bx ene aede 16 Programmable Inputs with default functions 1 Dedicated Interlock Input ENBL Current Sourcing 2 5 mA max 10 Vdc min to 24 Vdc max Active High Servo Outputs ixi Sed ae eR Sad ERE 10 Single Ended Standard 10 Vdc Differential Standard Optional 50 mA Current Optional 24 mA Component change required Optional 100 mA Component change required Serial Interface Ports RS232C and RS422 485 Speed RS232C 300 to 38 4K Baud Note Hand Held Terminal operates at 9600 Baud Settings 8 data bits 2 stop bits no parity LCD DISplay ists net DOE RAO 4 Lines x 20 Characters tetas te 115 230 Vac 50 or 60 Hz 2A or 92 to 26
24. and the segment which previously had that number and all higher number segments have their number incremented up F4 List List segment to RS232C port PROGRAMA T QUIT F1 SEL F2 NEW F3 DOES NOTEXIT J EDIT F4 T QUIT F1 DEL F2 INS F3 DOES J EDIT F4 Figure 4 4 PRG Segments Segment Parameters There are six groups of Segment Parameter entries corresponding to the six screens shown in Figure 4 5 These are reached when F4 is pushed at the segment selection Figure 4 4 Programming some segments requires use of all six screens at this level should be examined when any segment is programmed or edited The screen which comes up first depends on which was last accessed Use arrow keys to change screens Use the screens in any order Use of these screens will be explained in the following examples T QUIT 1 VARIABLES EDIT 1 T QUIT 1 CONDITIONS EDIT PROGRAMA 1 T QUIT 1 MOTION PARAMETERS EDIT PROGRAMA T QUIT 1 GAINS EDIT PROGRAMA T QUIT SEGMENTZ DEL EXIT CONDITIONS EDIT 1 T QUIT 1 JUMP CONDITIONS EDIT Figure 4 5 Segment Parameters F1 F2 F3 F4 F1 F2 F3 F
25. number Remember each line represents a weighted power of 2 For example to run program 10 select line 2 and select line 8 must be high Conflicting Parameters If the commanded velocity is too high and or the Maximum Position Error is set too low it is possible to trip the Maximum Position Error Error bit address 235 or 243 set on see Section 5 5 If this is the case set the Maximum Position Error to a much larger value reset the error in Run mode then tune the axis according to Appendix A After the axis is tuned reduce the Maximum Position Error to an acceptable number Itis possible to trip the Maximum Position Error with a seemingly acceptable acceleration or velocity command if the axis gains are too low Refer to Appendix A Motion Not Controlled Well When dealing with erratic operation in most instances it is due to stray signals from EMI or sources entering the controller Be sure all signals are shielded correctly and grounds are installed according to the recommendations described in SMC20 Installation section page When dealing with unacceptable accuracies repeatabilities or long cycle times and you are confident the components of the control system have been selected and installed correctly it is most probable that greater attention must be paid to the tuning of the axes Refer to Appendix A General Faults The following addresses are dedicated to error
26. proceed F1 Not Used F2 Axis Selects the axis but not the program F3 lt DEL Deletes the program shown on the axis shown F4 List Lists the program to the RS232C port It is suggested that any program to be deleted first be listed since all or part of that program might be a useful reference Program Push Edit F4 on the top left screen to get the next level screen F1 Quit Return to previous screen F2 Not Used F3 Edit Program Parameters Program Parameters are to the individual program what Axis Parameters CFG mode are to all the programs on an axis These should be programmed before the segments as these values act as defaults for the segments F4 Edit Program Segments A program consists of one or more segments Remember a program consists of the instructions needed to carry out one motion profile A motion profile is divided into segments for programming purposes Program segments may not necessarily correspond 1 to 1 with profile segments as special purpose program segments can be used to carry out non motion aspects of the profile such as waiting for specific input logic to be satisfied PRG Program Parameters See Figure 4 3 Program Parameters are to a program what Configuration Parameters are to an axis These parameters all have the Configuration Parameter values as defaults so it may only be necessary to enter a few values These program parameter values in turn become defaults and l
27. service representative Verify that the Hand Held Terminal is connected to the RS485 communication port Can t Initiate Motion In this section it is assumed that the SMC20 can be jogged but motion controlled by the execution of the program cannot be initiated or instantly stops and sets an error when initiated If the unit cannot be jogged refer to Section 5 2 before attempting the following procedure Whenever motion cannot be commanded it is most likely due to conflicting operations that have been invoked or the controlling program is not selected correctly The next likely possibility is the existence of conflicting axis parameters which allow the axis to start but then instantly stop Conflicting Operations or Improper Program Selection Verify that the Enable Axis EN LED is illuminated Verify that the Axis Run RUN LED is illuminated It is possible to terminate motion using the STOP function on the Hand Held Terminal and still have the Axis Run LED illuminated Toggle the Axis Run input to ensure motion can once again be initiated by the program Verify that the open loop mode has not been invoked in the Run mode If using the Home function ensure the Home Position has been established 2 X or Y depending on which axis Axis 1 X Axis 2 Y If invoking the program through the Program Select lines be sure the right combination of select lines are high to select the intended program
28. should be used and to properly interpret the abbreviated instructions made necessary by the small input device display The Hand Held Terminal is attached to the RS422 485 port on the lower right corner of the SMC20 front panel Hand Held Terminal The Terminal has five distinct modes of operation three of them for programming plus the Run and Monitor modes Monitor MON Configuration CFG Variables VAR Program Segment PRG Under Program there is a major sub mode Segment which does not have a panel button Run RUN When power is turned on the screen displays the hardware version numbers and a message Hit Clear Entry Key as shown below SMC20 VER X X F1 F2 F3 HIT CLR ENTRY KEY F4 If no security code has been set up pressing any key will automatically set the screen display to the Monitor MON mode As shipped the security code is set to a default value of 0 which implies no protection MONITOR MOTION AXIS F1 POS1 0 0000 SEL F2 1 0 0000 SEL F3 VEL1 0 0000 4 SEL F4 Each of the modes MON CFG VAR PRG RUN is discussed in detail in the Programming section page You can change to different modes by pressing the corresponding key MON CFG VAR PRG RUN When words appear at the right edge of the screen aligned with F1 F2 or F4 the word indicates the function of that blue button for that screen The functions vary with the screen When Up Down ar
29. switches located outside the LIMIT switches be installed and wired such that actuator power electric or hydraulic IS REMOVED when the limit switch is tripped The machine must then be physically reset to an acceptable position When either limit switch is turned On the axis will decelerate at current deceleration value to zero velocity and hold position The axis must then be jogged off the limit Switch in the opposite direction before normal operation can resume Set Up Checklist and Operation Test It is recommended that the following checklist and operation test be performed before entering or running programs This test verifies that the system wiring is correct and that the controller operates correctly 1 ASAMINIMUM the following axis parameters should be set to reasonable values for your sys tem Engineering units feedback sensor counts per engineering units Maximum move velocity Maximum Acceleration Deceleration Home Parameters only if home sequence is used Maximum position error 2 Axis gains are set as a minimum a Kp Gain should be set to 1000 5000 to obtain motion 3 Emergency stop provisions connected and tested 4 Limit and Limit connected if being used 5 Jog motion has been operated and verified Table 3 3 Set Up Checklist Operational Test The following test will verify that the c
30. taken to prevent injury or damage Closed Loop Mode General Discussion At each update interval the difference between reference position and actual position is computed in digital form This is the Position Error If only proportional gain Kp is used constant SMC20 output corresponds to a constant position error This required Position Error is called Following Error and is the amount by which measured position is behind the reference position for a given velocity The Position Error is routed through a PID digital compensation algorithm The version implemented in this controller has a number of features specifically aimed at common electric servo loop applications FS Means full scale controller output EU Means engineering units counts Kp Proportional gain Ki Integrator gain Kd Derivative gain Velocity Integrator The integrator in the PID compensation in each axis of this controller is a part time integrator After the AXIS IN POSITION function has been TRUE for a time equal to DELAY the remaining position error within the INTEGRATOR BAND is integrated The integrator output is limited to a maximum of plus or minus the INTEGRATOR LIMIT Adjustable parameters are DELAY SEC BAND EU LIMIT FS Table A 1 PID Parameters Figure A 1 Control Algorithm The output of the PID module is loaded into a 14 bit Digital to Analog Converter D A at each update
31. tracking in the SMC20 and other versions utilizing the Hand Held Terminal Address Error Condition 232 Over travel for Axis 2 233 Over travel for Axis 42 234 Profile select error for Axis 2 235 Maximum position error for Axis 2 236 Profile segment error for Axis 2 237 Position sensor error for Axis 2 238 DSP error for Axis 2 239 Spare error bit for Axis 2 240 Over travel for Axis 1 241 Over travel for Axis 1 242 Profile select error for Axis 1 243 Maximum position error for Axis 1 244 Profile segment error for Axis 1 245 Position sensor error for Axis 1 246 DSP error for Axis 1 247 Spare error bit for Axis 1 You could assign one of these to an output for example to know immediately when that error has occurred Use the Monitor mode to view these addresses to see what caused the error The cause of error can be quickly viewed in the Monitor mode Alarm screen AXIS 1 ALARMS T F1 FLAGS 00010000 F2 T lt 9MAX POS ERROR gt In this example the 1 represents a Maximum Position Error Each Bit represents a possible error 0 No Error 1 Error Use F3 F4 to scroll across them to display a message on the error flags meaning List Function Inoperative The List Function sends a printer ready listing of the selected parameters through the RS232C port If List is not working
32. 0 Monitor I O Status3 8 3 10 Monitor Mode3 1 3 8 Fig 3 3 Motion Actuator1 1 Motion Parameters3 8 3 9 3 13 4 1 4 4 4 15 4 19 4 21 Fig 4 2 Fig 4 5 Motion Parameters and Motion Profile Data4 7 Motion Profile3 5 3 6 3 14 4 1 4 2 4 3 4 6 4 7 4 9 4 14 4 22 4 28 Fig 4 1 Mounting1 1 2 3 2 33 Move Speed4 5 4 14 4 20 4 21 Fig 3 2 Move Velocity4 4 4 5 MTN2 12 2 13 2 21 3 19 3 20 New Segments4 8 4 12 Non Volatile Memory3 26 02 12 2 13 2 22 3 19 3 20 Open Loop Mode5 3 5 4 1 Operational Test3 37 3 38 Output Event4 5 4 7 4 22 4 23 4 27 Fig 3 2 Output Status3 8 3 10 Overtravel3 36 Overtravel Limit Switches2 23 P X Seg 2 11 Parameters3 11 3 13 3 27 3 28 3 29 4 8 4 30 5 5 5 8 Parity1 7 3 18 5 8 Fig 3 8 Fig 3 9 PER13 9 PER23 9 Personal 2 31 PID Gains4 7 Appendix ParametersA 1 2 POS13 9 POS23 9 Position3 11 Position Eng Unit3 15 3 27 Fig 3 5 Fig 3 6 Position Error3 9 5 2 5 6 2 Position Feedback2 25 2 26 3 15 5 3 Fig 2 15 Position Feedback Sensor1 1 1 3 1 4 2 4 2 24 Position Limits3 27 4 1 5 2 Position Reference3 22 3 23 3 32 3 35 4 5 2 Position Reference Target Position4 5 Position Scale Factor3 13 Position Screen3 38 4 1 Position Sensor ConnectorFig 1 1 Position Sensor 5 6 Position Sensor ModuleFig 1
33. 0 encoder connections will accept single ended inputs Figure 2 18 shows the recommended single ended connections Figure 2 18 Recommended Single Ended Connections SMC20 Resolver Feedback Board 8 pole resolvers User selectable checks the jumper settings Table 2 5B resolutions of 16 14 12 and 10 bits are shows the maximum RPM and number The SMC20 resolver feedback board provides direct interface between the provided via jumpers see Table 2 5A of the counts per revolution for each The SMC20 software automaticall resolution setting SMC20 and Vickers motors with 4 6 or y 9 Resolution Channel 1 Channel 2 JP3 7 JP3 8 JP4 13 JP4 14 16 bit 1 1 1 1 14 bit 1 0 1 0 12 bit 0 1 0 1 10 bit 0 0 0 0 0 Installed 1 Removed Table 2 5A Resolution Jumpers Resolution Max RPM Counts Mech Rev i6bit 500 350 250 131 072 196 608 262 144 14 bit 2 000 1 400 1 000 32 768 49 152 65 536 12 bit 8 500 5 500 4 300 8 192 12 288 16 384 10 bit 10 000 10 000 10 000 2 048 3 072 4 096 Table 2 5 Max RPM amp Counts Wiring and Jumper Selection Connections are made through two male DB9 connectors one for each axis Figure 2 19 shows the pin assignments as well as jumper locations for resolution selection Figure 2 19 Resolver Board Setup Communications Connections The standard SMC20 provides two communication connections An
34. 10 T QUIT F1 SEGMENTZ 1 SEL F2 MOTION F3 PARAMETERS JEDIT Press Edit F4 The following screen will appear SEGMENT2 1 T QUIT F1 ABSOLUTE TARG SEL F2 POSITION IN SAVE F3 0 0000 Press F2 to select Relative or Absolute position Press lt EDT F4 then CLEAR ENTRY Enter 30 and press ENTER then press Save F3 The following screen will appear T QUIT F1 ABSOLUTE TARG SEL F2 POSITION IN SAVE F3 30 0000 lEDT Repeat above for each of the following parameters Target Speed 0 0000 in sec Move Speed 30 0000 in sec Verify that acceleration deceleration are at 100 0000 in sec 2 This completes the programming required for Segment 1 for the example It is a good idea at this point to go to CFG mode and save to FLASH Memory Press PRG key to continue programming of Segment 2 Press Edit F4 then press Program Segments Edit F4 PROGRAM 10 T QUIT F1 1 SEL F2 NEW F3 JEDIT F4 Press NEW F3 to get to Segment 2 Press Edit F4 and use arrow keys to go to the Entry Conditions screen Then press Edit F4 again Use arrow keys again to go to Dwell Time screen SEGMENT 2 1 T QUIT F1 DWELL SEL F2 TIME SAVE F3 0 0000 JEDT Press EDT F4 and then CLEAR ENTRY Enter 1 0 then press EN
35. 4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 Profile and Segment Programming Example The following example shows how to program a simple motion It could represent a simple axis motion move to a position dwell for 1 second and return to a predetermined home position Figure 4 6 Single Axis Motion The motion is easily implemented with a two segment profile Segment 1 starts at rest at zero position and accelerates at 100 in sec 269 to a Move Speed of 30 in sec 1800 rpm It then decelerates to reach a final position at 30 in Segment 2 starts with a wait time of 1 Sec then moves at 40 in sec to return to zero Acceleration and deceleration for each axis is set at 100 in sec Target Velocity in each segment is zero Programming the Two Segment Profile Enter the Configuration Limits Reference Initial Set Up section page Suppose the actual mechanical motion limits are minus 5 inches and plus 40 inches It is generally best not to program to the very last possible count as a mechanical motion that is blocked short of programmed position can develop very high forces Let us choose to set the Configuration mode Maximum Position at 35 0 inches and the Minimum Position at 4 5 inches Mechanical stops 5 0 40 0 Configuration Maximum Position 35 0 Min Position 4 5 Max Velocity 50 Max Acceleration 300 in sec 2 Max Deceleration 300 in sec 2 Home Position 0
36. 4 5 VEL2 12 2 13 2 21 3 19 3 20 VEL13 9 VEL23 9 Velocity2 21 3 5 3 11 3 16 4 3 4 4 4 5 5 5 2 Velocity Command3 9 5 5 Velocity 3 22 3 23 Word LengthFig 3 8 Fig 3 9 Vickers Incorporated 1995 All Rights Reserved Eaton Hydraulics 15151 Highway 5 Eden Prairie MN 55344 Telephone 612 937 7254 Fax 612 937 7130 www eatonhydraulics com 714 Released 5 95 46 New Lane Havant Hampshire PO9 2NB England Telephone 44 170 548 6451 Fax 44 170 548 7110 Printed in U S A
37. 4 Vac 47 to 63 Hz or Optional 24 Vdc 2A Model Code Selectable Optional External Power Supply Digital 10 to 30 Isolated Supply for Digital 24 Nominal 0 5A Environmental Conditions 222222 2 222 2 2 0 to 50 C Operation or storage 10 to 90 humidity noncondensing Installation Receiving the Package When you receive the package that contains the SMC20 motion controller it should contain the following parts The SMC20 two axis motion controller One 2 pin isolated DC supply connector green in place One 6 pin common system connector green in place Two 32 pin screw type connectors 32 solder type DIN connectors are available from Vickers One 4 pin mating connector for AC power One SMC20 Two Axis Position Controller User s Manual One SMC20 Programmer s Reference Manual One Hand Held Pendant 4 line display You need to supply all other parts for the motion control system including the necessary wire and cables Check the package contents to be sure that it contains all parts If one or more parts appear to be missing contact your authorized Vickers distributor Be prepared to give the SMC20 model number and serial number located on the outside of the unit and the description of the missing part Registering Your Controller Manua
38. ACCEL IN S 2 SAVE F3 99 6799 4 EDT F4 Important Reminder The value used by the controller depends on resolution capability of the loop processor The controller responds to an entry with the nearest exact value that it will run with e g with engineering units set at 1000 counts entering an acceleration of 100 00 in sec 2 results in an actual value of 99 6799 in sec 2 Repeat above screen for deceleration of 100 in sec 2 Press Quit F4 to get back to the program screen The following screen will appear T QUIT F1 F2 PROG PARAMETERS EDIT F3 PROG SEGMENTS JEDIT F4 10 Press Program Segments Edit F4 The following screen will appear PROGRAM 10 T QUIT F1 SEGMENTZ SEL F2 NEW DOES NOT EXIST JEDIT F4 Press NEW F3 The following screen will appear 10 T QUIT F1 SEL F2 NEW JEDIT Note that Segment is automatically set to 1 Press Edit F4 The following screen will appear 10 T QUIT F1 SEGMENTZ 1 SEL F2 VARIABLES F3 JEDIT Note If previous programming was done the Entry screen may be a different parameter It will always return to the last screen edited Press arrow keys to reach the following screens Ignore parameters not required for this program The following screen will appear PROGRAMMI
39. F4 now should cause motion Be sure the machine or equipment is in proper configuration to operate Assure that Enable and E Stop circuits are active and operating correctly 2 Selected profiles can be run from either the digital or from the terminal Pressing the Stop key will always STOP any motion running Press RUN F4 key The selected axis should start running and the following screen will appear RUN AXIS 1 QUIT F1 AXIS F2 10 lt SEL RUNNING F4 Pressing Stop F4 will stop the selected axis program motion The Stop key STOPS all motion both axes Running Programs from Digital I O Programs can be commanded to run from the digital inputs in various ways 1 If the program number has been selected to run with the Hand Held Interface then that program will run when the corresponding axis Run input is activated RUN AXIS 1 QUIT F1 AXIS F2 10 SEL F3 RUN F4 Select the program to run by pressing SEL F3 until the desired program number is displayed Program must have been previously programmed 2 The program to run can be selected from digital inputs by using the select inputs Refer to Programming Reference Manual for use of this feature List Several screens provide a function called List Selecting this key will send printer ready listing of the selected parameters through th
40. ID Delay Sec compensation in each Integrator axis of this controller is a Band EU part time Integrator integrator After the Axis Band EU Position function has Limit FS been TRUE for a time equal to Delay the remaining position error within the Integrator Band is integrated The integrator output is limited to a maximum of plus or minus the Integrator Limit AXIS 1 T QUIT Kp SAVE 0 0000 EDT AXIS 1 T QUIT Ki SAVE 0 0000 4 EDT AXIS 1 T QUIT KD SAVE 0 0000 4 EDT Figure 3 7 Configuration Axis Gains Screens CFG System Parameters In the CFG mode use Up Down arrows to get Configuration System Parameters screen Push Edit F1 The screen reached depends on the last screen used Arrow keys move between Screens SYSTEM T QUIT LEVEL 1 SECURITY CODE SAVE 0 EDT SYSTEM QUIT COMM PORT 2 SET UP EDIT Figure 3 8 CFG System Parameters F1 AXIS 1 T QUIT F1 F2 INTEGRATOR AXIS F2 F3 DELAY SEC SAVE F3 F4 0 0999 EDT F1 AXIS 1 TQUIT F1 F2 INTEGRATOR AXIS F2 F3 BAND EU SAVE F3 F4 10 0000 EDT F1 AXIS 1 T QUIT F1 F2 INTEGRATOR AXIS F2 F3 LIMIT 5 SAVE F3 F4 3 1251 lL EDT F4 F1 QUIT to Previous Screen F2 F3 SAVE Code to RAM Memory F4 EDIT Value 0 to 65535 F1 QUIT to Previous Screen RS232 T QUIT F1 F2 SAVE
41. R 5V 15V 15 These LED s are located on the left CAUTION Use of this or similar controllers involves motion of electric or hydraulic actuators which have the potential for exerting force or high velocity motion which can cause machine damage or personal injury Verify all connections before applying power to the controller It is a must that the User install Emergency Shutdown provisions which operate independently of this controller The Emergency Shutdown should remove power from actuators and should be easy to reach by operators at all times 5 Turn power and re install the axis connectors Install or check all wiring required for your application Remove electric and or hydraulic power from the actuators Perform power up test as in 4 above 6 Inspect enable and safety cir cuits wiring for correctness Remove electric and or hydraulic power from the actuators Perform power up test as in 4 above 7 Perform setup procedures in Chapter 3 before applying power to the actuators Table 2 7 Checklist Initial Set Up Introduction to Programming To operate the SMC20 you must have a program a series of commands that define monitor and govern the controller s activities Use of the Hand Held Terminal makes it unnecessary to learn a special language It is still necessary to understand the order in which various features
42. ROGRAMA QUIT AXIS SAVE 1 SEL PROGRAM TQUIT MAXIMUM POSITION EU SAVE 2147483647 00 4 EDT TQUIT MINIMUM POSITION EU SAVE 2147483648 0 L EDT PROGRAM MAXIMUM SPEED EU SEC SAVE 399999 9388 4 EDT TQUIT MAXIMUM ACCEL EU S 2 SAVE 199743 1951 4 EDT PROGRAMA TQUIT MAXIMUM DECEL EU S 2 SAVE 199743 1951 4 EDT PROGRAMA TQUIT MAXIMUM ERROR EU2 SAVE 2000 0000 4 EDT PROGRAMA TQUIT IN POS ERROR EU2 SAVE 10 0000 4 EDT PROGRAMZ EVENT DEL CONDITION EDIT F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 A For existing programs F1 New Not Used F2 Axis Select Axis 1 or 2 F3 SEL Select program F4 Edit Edit second level The Does Not Exist message will go away when an existing program is selected B For a new program F1 New The Program Entry screen appears Enter a program number Push ENTER to end entry screen If a program with the same number already exists an error screen appears Push ENTER to leave the error screen Try again starting with F1 New When new number has been chosen proceed as for an old program a The program number must have been selected from the upper screen Note The program number must have been selected from the upper screen to
43. T F1 AXIS 1 T QUIT ENGINEERING AXIS F2 IN POSITION AXIS UNIT TYPE SAVE F3 ERROR EU SAVE EU J lt SEL F4 10 0000 1 J EDT AXIS 1 TQUIT F1 AXIS 1 T QUIT LOOP UPDATE AXIS F2 MAXIMUM AXIS RATE SAVE SPEED EU SEC SAVE 0 1995 J lt EDT F4 399999 9388 4 EDT 1 TQUIT F1 AXIS 1 VAL T QUIT MINIMUM AXIS F2 FOR JOG SPEED AXIS POSITION EU SAVE F3 SELECT VARIABLE VAR 2147483647 00 L EDT F4 ENTER VALUE J lt VAL AXIS 1 TQUIT F1 AXIS 1 T QUIT MINIMUM AXIS F2 POSITION EU SAVE F3 EVENT DEL 2147483648 0 l EDT F4 CONDITION EDIT F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 CONFIGURATION EDIT AXIS PARAMETERS LIST Figure 3 5 CFG Axis Parameters F1 F2 Not Used F3 Not Used F4 List to RS232 Printer Port AXIS 1 T QUIT MAXIMUM AXIS ACCEL EU S 2 SAVE 199743 1951 EDT AXIS 1 T QUIT MAXIMUM AXIS DECEL EU S 2 SAVE 199743 1951 4 EDT AXIS 1 T QUIT D A OFFSET AXIS D A COUNTS SAVE 0 0000 4 EDT AXIS 1 T QUIT HOME AXIS POSITION EU SAVE 0 0000 4 EDT AXIS 1 T QUIT HOME AXIS OFFSET EU SAVE 0 0000 EDT AXIS 1 T QUIT HOME AXIS SPEED EU SEC SAVE 199999 9694 4 EDT AXIS 1 T QUIT HOME AXIS DIRECTION SAVE RETURN l SEL F1 F2 F3 F4 F1 F2
44. TER and Save F3 to set to 1 0000 sec Press Quit F1 then use the same procedure as above for Segment 1 to program or verify the motion parameters for Segment 2 Move Speed 40 0000 in sec Target Speed 0 0000 in sec Absolute Position 0 0000 in Acceleration 100 0000 in sec 2 Return to the CFG mode and save the program to FLASH Memory Deceleration Event Programming Introduction Digital input and output internal flags variables and axis positions all can be used in logical relationships called Events The logic processing and format is similar to Boolean Logic Arithmetic Events can be programmed to occur as follows Inthe CFG mode Events programmed here are called Global Events because the processing of these events occurs always whenever power is On Thus these logic operations work independent of motion profiles segments etc In the Profile Program Parameters These events are called Global Events also because they are active anytime the profile is in the Run mode regardless of whether motion is occurring or not In the Segments These events are evaluated only when the segment is active The segment has three possible event conditions Entry Events Exit Events Jump to another segment Conditional Events Programming Example The previous example is now expanded to include some I O events Example 1 It is desired that an output t
45. Vickers General Product Support SMC20 Motion Controller Released 5 95 714 Contents Description E Xe DP Ta SUL EIU C Ie ES NIIT Features cinn ree et P a m se ud Front Panel sieut de wer d eti dE Communication Interface iode ttc ecc A be De b Racal estis ine UR go dea rdc TURO Specifications cats suo ot Dae DR ine hopes De DLE UA Du pud Los di Sides e Description The Vickers SMC20 is a stand alone two axis precision motion controller It has a built in electrical power supply and connects to several other components in a typical motion control system A power source A motion actuator for each axis combination of the following adrive amplifier and electric servo motor or a hydraulic servo valve and cylinder or motor a hydraulic proportional valve and amplifier with cylinder or motor A position feedback sensor for each axis of motion In addition the SMC20 includes communication ports for connecting it to the Hand Held User Terminal and printer Th
46. al Set up section CONFIGURATION 7 EDIT SYSTEM PARAMETERS J LIST CONFIGURATION 7 SAVE FLASH MEMORY LOAD See FLASH Memory section Figure 3 4 CFG Mode Screens F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 See CFG Sys Parameters section F1 F2 F3 F4 CAUTION The first time a new controller is powered up with no previous programming the axis gains are set to zero to prevent unintended motion However analog circuit offset voltages and external devices such as servo amplifiers can have offsets which can cause drift motion Axis gain should be set to some value before applying power to the actuators Before proceeding you should determine the parameters applicable to your system Position Scale Factor i e counts inch Maximum Velocity Acceleration Deceleration you desire Equipment should be capable of attaining these values Home Requirements The CFG mode is used to set parameters applicable to all programs for an axis Either axis can be selected Settings for one axis do not affect the other axis This mode is shown in five sections The axis parameters should be set before trying to activate any of the axes When the CFG mode switch is pushed one of the five screens in Figure 3 4 comes up The others are reached by using the arrow keys Any of F1 through F4 not listed for a particular screen
47. al connection Therefore if you use 228 226 use them only with cable that is shorter than 20 feet Use a two wire shielded cable Connect the shield to ground only at the SMC20 end Do not connect the amplifier end of the shield to ground Some installations may require shield ground at each unit Figure 2 10 shows a typical connection Figure 2 10 Single Ended Voltage Output IN1 222 and IN1 220 The 222 IN1 220 1 signals constitute analog input Channel 1 This differential analog input can be used as a variable Please refer to the Programming Reference Manual for use of this input Both connections require twisted pair shielded cable Figure 2 11 shows a typical connection Figure 2 11 Analog Input Typical Connection Z10 and Z8 Z16 and Z14 These inputs are not used IOUT Z6 and IOUT 24 The IOUT and IOUT signals constitute an optional 50 mA current output for driving a hydraulic servo valve or other current driven actuators or amplifiers Figure 2 12 shows a typical connection AGND Z24 Z18 Z12 and Z2 pins provide analog signal ground Figure 2 12 IOUT Z6 and IOUT Z4 Current Output CAUTION f b i kie tae ij 14 we tini kis ce 1 t ing 1 pwd iy D tdt Digital Inputs Figure 2 13 Di
48. as follows Go to PRG mode and select Program Segments for Axis 1 Program 10 as previously programmed for Edit Select SEL segment 2 Edit then use arrow keys to select the screen for Jump Conditions PROGRAM 10 T QUIT F1 2 SEL F2 JUMP F3 CONDITIONS JEDIT Use the arrow keys to obtain the following screen SEGMENTA 2 1 T QUIT F1 DEL F2 JUMP TO SAVE F3 l SEL F4 Push lt SEL F4 to select Segment 1 SEGMENT 2 1 T QUIT F1 DEL F2 JUMP TO SAVE F3 SEGMENTZ 1 Ll SEL F4 Press SAVE F3 Now when the program runs it will keep repeating as long as the run input is On This is an example of an Absolute Jump The Jump Event Condition screen Conditional Jump would be used just as the input and or output event logic equation Thus the previous example could be made to Jump only if an external input is On Run Mode Running the Program Programs can be run from the operator interface unit Hand Held Terminal or from digital I O Running Programs from the Hand Held Terminal Press RUN to get the Run mode screen then press RUN F1 key to get the following screen RUN AXIS 1 QUIT F1 AXIS F2 10 SEL F3 RUN F4 Press Axis F2 to get the correct axis and press SEL F3 to get the profile to run CAUTION 1 Pressing
49. e RS232C port For example to print a listing of the axis gains select F4 from the following screen CONFIGURATION T EDIT F1 F2 AXIS F3 GAINS LIST Refer to SMC20 Installation section page for printer connections The printer must be configured as follows Serial Parallel Serial Baud Rate 9600 Paper Orientation Portrait If you have any problem refer to Troubleshooting section page Portrait is the default paper orientation for most printers For example this page is printed in portrait orientation If the printer is set up for landscape orientation where the page is printed lengthwise some data may be missed Troubleshooting Introduction If you experience a problem with the SMC20 it will normally be associated with one of four conditions Can t test the initial set up Cant initiate motion Does not control motion well General failure Through the use of the error bits described in the General Faults section page and helpful hints described in the following sections an operator in most instances will be able to determine a solution to a problem If after following the troubleshooting procedure the unit is suspected of failure call Vickers and ask for a SMC20 service representative to verify your diagnosis and aid in resolution of the problem Be sure when you call to have the model number and serial number of the SMC20 in question Befo
50. e count another push another count and so on Push and hold for one second or less causes the axis to move at 5096 of the Jog Velocity you set in the Configure CFG mode Push and hold for more than one second allows the axis to move at 100 of the Jog Velocity you set in the Configure CFG mode Figure 2 15 shows typical wiring for the jog inputs D14 and D12 Figure 2 15 D14 D12 Typical Connections 010 LIM and D8 LIM The D10 LIM Limit and D8 LIM Limit inputs connect the SMC20 to overtravel limit switches If the SMC20 receives either input it decelerates motion on the axis to a stop Jog motion is only then allowed and only in a direction opposite of the limit Figure 2 8 shows a typical limit switch connection D6 HOM The D6 HOM Home Switch input when received tells the system that it has reached its home position D4 RUN The D4 RUN input when received causes the system to run the currently active profile that is the profile selected by the Run mode The Run input and the Jog inputs D14 and D12 described earlier in this chapter are mutually exclusive that is the Run input is valid only when the Jog input is Off low and vice versa If both the Run and the Jog inputs go On an illegal state the SMC20 ignores both 02 The 02 1 input causes the system to run its home sequence Position Feedback Sensor Connection Figure
51. e motion controller occupies an 8 x 3 5 x 11 5 case that can be mounted in any standard NEMA type cabinet or mounted flat using the optional hinge mounting Figure 1 1 shows the front panel and connections Features Figure 1 1 SMC20 Front Panel The SMC20 motion controller presents several features High performance for electric and hydraulic motion control applications Two axis event coordination capability linked via programmable digital I O Power supply controller and programmable I Os in one package Hand Held Operator Interface Dual processor design 16 bit interface microprocessor and 32 bit digital signal processor Plug in option boards for position sensors and communications Discrete programmable digital I O 10 V differential or single ended output 0 24 mA 0 50 mA 0 100 mA output command optional Model code selectable Proportional integral and derivative PID compensation Direction sensitive gains to compensate for unequal area cylinders Also Dither and Gain Break are available in Hydraulic mode Programmability in standard engineering units Ability to change gains within a profile to compensate for load changes etc Front Panel The SMC20 front panel provides all the Center Column Axis 1 X and Axis 2 Y connections controller s connections to the motion Axis 1 X each include pins for eight inputs and control system Refer to Figure 1 1 to m eigh
52. ed to continuously run a profile or group of segments as long as Run is commanded A jump is unconditional if a destination is programmed but no logic equation is entered For example SEGMENT 2 T QUIT F1 DEL F2 JUMP TO SAVE F3 SEGMENT 1 4 lt 5 F4 b Conditional Jump Defined by a logic equation evaluated after the Exit Conditions are satisfied For example from the Jump Event Condition screen gt EDIT and ENTER T QUIT F1 1 START DEL F2 2 10 13 INS F3 END EQ Note that not all of the above four categories have to have entries in every segment It is possible to program a segment that does not move at all but only checks logic equation s and it is possible to program a simple move with no special Entry or Exit Conditions A simple move may use several of the axis default values and thus require not much more than an Absolute or Relative Target Position There are two additional things that can be but do not have to be used in a segment 5 Gains A maximum of three gains can be defined These override selected PID gains to change axis stability FOR THIS SEGMENT ONLY A possible use would be with an axis that has a large change in inertia for a few segments of the profile 6 Variables Refer to Programming Reference Manual Sequence of Execution When the SMC20 executes a segment it does not do all of the operations a
53. equal to Home Position Home Speed Defines the speed that the axis will move to the home limit switch AXIS T QUIT F1 HOME AXIS F2 SPEED EU SEC SAVE F3 199999 9694 J lt EDT F4 Home Direction Defines the direction the axis will move to find the home limit switch Advance or Return AXIS T QUIT F1 HOME AXIS F2 DIRECTION F3 RETURN l SEL F4 Note Be sure to save to FLASH Memory after you have entered the home values then the machine can always be homed to the same position after a power down When the homing sequence is activated the axis moves at Home Velocity Configure mode acceleration and deceleration is active until the home limit switch is sensed then the axis decelerates to zero reverses direction and moves at Creep Velocity until the first encoder marker or resolver zero is detected after moving off the home limit Switch The axis decelerates to zero and moves back to the marker position At this time the Home Complete output HC is turned On and stays On until power is Off or a reset occurs This is the reference position and it is set to the value defined in the Home Position command in the CFG mode 0 0000 or any position in range All absolute positions are now referenced to this position If home offset is set to other than zero the axis will move to the offset value Manual Home Function Another method for changing the position re
54. eshooting page Press RUN mode key and refer to Figure 3 10 for the screens available RUN AXIS QUIT F1 AXIS F2 PROGRAM SEL F3 NOT SELECTED RUN F4 See Run Mode Running the Program section HOME AXIS 1 QUIT F1 AXIS F2 DREF F3 HOME F4 See Reference Position section Not Used MOVE AXIS 1 7 QUIT F1 Selects Axis 1 or 2 TO AXIS F2 Not Used ABSOLUTE POS MOVE F3 EDIT the Loop Control 0 0000 i EDIT F4 to OPEN or CLOSE the Position Loop See Programming the Two _ Segment Profile section MOVE AXIS 1 7 QUIT F1 TO AXIS F2 RELATIVE POS MOVE F3 0 0000 EDIT F4 See Programming the Two Segment Profile section JOG AXIS 1 T QUIT F1 POS 1 1 0000 AXIS F2 POS 1 1 0000 JOG POS 1 1 0000 JOG See Testing Initial Set Up section From the main screen press F4 key to go to Jog function Then press F4 key or F3 key to jog the axis in the or direction Press AXIS F2 to change axis The actuator should move If the motion is sluggish or unstable it may be because the axis gain factors are not set properly However if motion is obtained proceed with the set up procedures If the axis does not move it is possible that the error is set for various reasons Push the Up Down arrow keys to reach the Error Reset screen RUN MODE T F1 AXIS
55. ference Target Position At this time the slide may not have reached the Target Position because of following error If the next segment calls for motion in the reverse direction and neither the Exit Event or the Jump Event meet the test for In Position the axis may reverse motion without going all the way to Target Position The In Position signal becomes TRUE when the feedback position matches the Target Position within a tolerance the axis tolerance is set in the CFG mode and a lower program value can be set in the PRG mode The In Position is evaluated in every segment and thus can be triggered on the fly Note that some judgement must be exercised in setting the In Position tolerance If the machine capability is barely good enough to satisfy the programmed tolerance the program may occasionally stop or slow considerably while waiting for the tolerance to be satisfied When it is allowable for an axis to run past a theoretical endpoint it may be better to program the Target Position a little past the theoretical endpoint position and open the In Position tolerance The Exit Event may test multiple conditions and may use several equations Some or all of these equations may output a logic TRUE or FALSE signal to an internal flag location The flag may then be tested by another segment or by the other axis Jump Conditions There are two conditions a Unconditional Jump This would most likely be us
56. ference is the DREF command Define Reference The axis should first be jogged to the desired home position This command is available in the RUN mode on the Home screen HOME AXIS 1 QUIT F1 AXIS F2 DREF HOME F4 Press the F3 key The position reference will now be set to the home position value as set in the CFG mode For incremental feedback transducers such as encoders the DREF position reference is not saved When the unit is shut down and then powered back On you must jog to a desired position and then do DREF to re reference the position The DREF function can be done automatically in programs or any time by use of a digital input The internal function Set Position Reference can be assigned to one of the front panel input addresses page Refer to Programming Reference Manual to learn how to use this function in programs Use of the Set Position Reference function can be used as a Home however the axis must first be physically located at the desired home position Axis Limits Axis plus and minus travel limits should be installed because damage or improper operation can occur from fully extended or retracted actuator operation CAUTION Use of Limit Limit travel limits depend on a correctly operating 20 controller If machine damage or personal injury can result from overtravel it is recommended that back up limit
57. gital Inputs An Active High input is On when input voltage is gt 10 An Active Low input is On when input voltage is 8 Vac Digital Outputs Figure 2 14 Digital Outputs An Active High output when On will provide up to 50 mA of sourcing current voltage depends on isolated supply and load impedance An Active Low output sinks up to 50 mA when On CAUTION Applying more than 50 mA of current to an active low output can cause damage to the controller DO NOT APPLY DIRECT VOLTAGE TO OUTPUTS Digital Input Output The SMC20 provides eight digital inputs D16 through D2 and eight digital outputs D32 through D18 per axis all opto isolated D32 TQ The D32 TQ Torque signal serves as the drive torque enable output Connected to the drive amplifier this output when allows the amplifier to supply current to the electric motor which produces torque For example you can connect D32 to the drive switch DR SW input on J1 on the Vickers BRMAS Servo Drive D30 VEL The 030 VEL Velocity signal serves as the drive speed enable input to the drive amplifier You can connect D30 to the reference switch REF SW input on J1 on the Vickers BRM4S Servo Drive D28 MTN The 028 Motion output remains On when the system executes any motion Ordinarily the D28 signal indicates that motion is in progress but not nece
58. have the same settings Digital Input Output Set Up For normal operation it is not necessary to set up I O address assignments The default address assignments for the front panel input and output are as follows Address Name Description Function 0 TQ tie ura ate 1 VEL the gel ante 2 MTN 3 IP 4 HC St an 5 ERR 6 7 8 DRV tie 9 10 JG fii 11 LIM moo 12 LIM moo 13 HOM si 14 RUN fign 15 Table 3 1A Axis 1 X Connection Pins D32 through D2 Address Name Description Function 16 TQ tie ate 17 VEL the gel ni 18 MTN 19 IP fl 20 were 21 ERR 22 ni 23 24 DRV 25 26 JG 27 LIM m o 28 LIM mood 29 HOM yt 30 RUN pumn 31 n Table 3 1B Axis 2 Y Connection Pins D32 through D2 Use of I O address assignments and function references is described in detail in Chapter 4 and in the Programming Reference Manual An introduction to I O and function reference reass
59. he description consists of a graph of velocity Y coordinate vs position X coordinate and a list of notes related to specific positions or events which might occur during motion Figure 4 1 Typical Motion Profile The above profile is made up of three segments a move to position 20 in at 30 in sec velocity decelerate to 2 in sec The second segment continues at 2 in sec to 30 in The third segment returns to O in at 30 in sec A profile could be as simple as an incremental move one segment Segment Definition One segment can define the following Entry Conditions Motion Parameters Exit Conditions Jump Conditions Gains and Variables 1 Entry Conditions This has 2 parts a Dwell Time This is a time in seconds that the controller should wait after completion of the 3 preceding segment A zero value usually applies to all but the last segment of motion in one direction b Input Event Conditions One or more logical equations to be evaluated at the end of Dwell Time This logic can inhibit the axis until specified conditions are met Motion Parameters a Absolute or Relative Target Position his is the position to be reached at the end of a segment b Acceleration Deceleration These are the values to be used for velocity changes in the segment c Move Velocity This velocity is intended to be used for the requested change in position from Entry Position to Target Pos
60. ignment is given below There are 256 internal I O addresses The first 32 0 thru 31 are normally assigned to the front panel default functions A few internal l O s serve a fixed function 255 254 253 Always TRUE 1 Always FALSE 0 Output dummy address Output functions assigned to this address are ignored These bit addresses can be used in any I O logic equation or for address assignments The following describes how to do this In addition to the normal functions assigned to front panel I O shown in Table 3 1 and 3 1B the controller has several other functions assigned to internal addresses These functions can be accessed externally by re assigning the function to a front panel input or output The FUNCTION list and default assignment for each axis is shown in Tables 3 2A and 3 2B AXIS 1 AXIS 2 Default Address Default Address Function Assignment Function Assignment Torque Enable 0 Torque Enable 16 Velocity Enable 1 Velocity Enable 17 In Motion 2 In Motion 18 In Position 3 In Position 19 Home Complete 4 Home Complete 20 Error 5 Error 21 Program Select 253 Program Select 253 Program Select Bit 0 253 Program Select Bit 0 253 1 253 i 1 253 2 253 OUTPUTS 2 253 3 253 T 3 253 4 253 P 4 253 5 253 5 253 B 6 253 6 253 7 253 7 7 253 8 253 8 253 9 253 2 9 253 10 253 10 253 11 253 11 253 12 253 12 253 13 253 13 253 i 14 253 14 253 D
61. ill apply ONLY to segments The parameters changed are those entered in the CFG mode See Introduction to Programming section page These parameters can only be changed in a downward direction in the PRG mode The PRG mode is entered by pressing the PRG key on the pendent PRG PROGRAM NEW F1 QUIT F1 AXIS 1 AXIS F2 F2 PROGRAMA SEL F3 PROG PARAMETERS EDIT F3 DOES NOT EXIST J EDIT F4 4 PROGRAM SEGMENTS EDIT F4 PROGRAM MODE COPY F1 AXIS 1 SEG F2 PROGRAMA DEL F3 DOES NOT EXIST J LIST F4 PROGRAM NEW F1 AXIS 1 AXIS F2 TQUIT F1 DOES NOTEXIST J EDIT VARIABLES F3 EDIT F4 PROGRAM MODE T COPY F1 AXIS 1 SEG F2 PROGRAMA DEL SEGMENTA F2 DOES NOT EXIST J LIST F4 ENTRY F3 CONDITIONS EDIT F4 PROGRAM amp TQUIT F1 SEGMENTA F2 MOTION F3 PARAMETERS EDIT F4 PROGRAM amp TQUIT F1 SEGMENTA F2 EXIT F3 CONDITIONS EDIT F4 PROGRAM amp T QUIT F1 SEGMENTA F2 JUMP F3 CONDITIONS EDIT F4 Figure 4 2 Program Mode Upper left screen Figure 4 2 Use arrow keys to shift between screens P
62. imits for segment parameter values Note As with the Configuration Parameters changes after segments are programmed WILL NOT result in automatic changes in the segments When the program runs out of limit segment values based on the newest configuration and program parameters it will result in error messages Screens in Figure 4 3 Axis F1 Quit Return to previous screen F2 Not Used F3 Save Saves axis selection to RAM Memory F4 SEL Select Axis 1 X or 2 Y Selection on this screen reassigns the entire program to the axis selected and removes it from the previously selected axis This is NOT Copy but reassignment PROGRAMZ QUIT AXIS SAVE 1 SEL TQUIT MAXIMUM POSITION EU SAVE 2147483647 00 EDT PROGRAMA TQUIT MINIMUM POSITION EU SAVE 2147483648 0 L EDT PROGRAMA TQUIT MAXIMUM SPEED EU SEC SAVE 399999 9388 4 EDT PROGRAMA TQUIT MAXIMUM ACCEL EU S 2 SAVE 199743 1951 4 EDT PROGRAM MAXIMUM DECEL EU S 2 SAVE 199743 1951 4 EDT PROGRAMA TQUIT MAXIMUM ERROR EU2 SAVE 2000 0000 4 EDT PROGRAMA TQUIT IN POS ERROR EU2 SAVE 10 0000 4 EDT PROGRAMA TQUIT EVENT DEL CONDITION EDIT Figure 4 3 Program Parameters F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 F4 F1 F3 F4 F1 F2
63. imum Speed and adjust to your requirements Enter a Home Speed that is fairly slow for a start 10 of Maximum Speed AXIS T QUIT F1 MAXIMUM AXIS F2 ACCEL IN SEC 2 SAVE F3 300 0000 4 EDT F4 AXIS T QUIT F1 HOME AXIS F2 SPEED IN SEC SAVE F3 1 0000 EDT F4 Enter a Kp proportional gain of about 1000 5000 to start AXIS T QUIT F1 F2 Kp SAVE F3 5000 0000 4 EDT F4 Don t forget to push SAVE on each screen and also to SAVE to FLASH Memory after you have entered all parameters Go to CFG mode and get Configuration FLASH Memory screen RUN RUN MODE T RUN HOME POS JOG RUN MODE T AXIS AXIS RESET MAXIMUM X RESET POSITION ERROR J See Testing Initial Set Up section RUN MODE T AXIS AXIS SET OPEN CLOSED LOOP CONTROL J EDIT Figure 3 10 Run Mode Screens F1 F2 F3 F4 F1 F2 F3 F4 F1 F2 F3 Testing Initial Set Up After you have entered and checked the configuration parameters operation of the controller can be tested by using the Jog function The following procedure is performed Apply power to the axis actuators WARNING If one or both axes begin to move quickly remove power from actuators to prevent machine damage or personal injury Recheck all wiring and configuration parameters Refer to Troubl
64. is not active with that Screen The following sections explain in detail how to use the CFG mode screens To proceed with a quick initial set up you only need to enter axis parameters and axis gains see Quick Set Up section page Axis Parameters In the CFG mode use Up Down arrows to go to Configuration Axis Parameters screen Push F1 EDIT Then use the arrow keys to get the screen for a particular parameter These parameters apply as DEFAULTS and LIMITS to all axis programs and all segments of those profiles These values can be lowered but not increased by values entered in the Program PRG mode Therefore these values should represent the maximum values judged obtainable or judged desirable for this axis Note If these axis parameters are changed after profile parameters or program segments have been entered the stored segments profiles WILL NOT be for out of bounds values and where a profile or segment used default values These WILL NOT be revised If it is expected that a particular parameter will be changed it would be better to use a VARIABLE in each segment where that parameter is used See Programming section page AXIS 1 TQUIT F1 AXIS 1 T QUIT POSITION AXIS F2 MAXIMUM POS AXIS ENG UNIT SAVE ERROR EU SAVE 1 0000 J EDT F4 2000 0000 J EDT AXIS 1 TQUI
65. ition After Dwell Time if any and Input Event TRUE if any the axis will attempt to go from the input velocity Target Velocity of previous segment to Move Velocity If Move Velocity can be reached before it is necessary to decelerate motion is carried out at that velocity until deceleration starts d Target Velocity his is the velocity at which the axis is to be moving at the end position of the segment The position at which deceleration should start is computed by the controller A short move with a high Move Speed may therefore never actually reach Move Speed because of the start of deceleration or acceleration to reach Target Velocity Note that Target Velocity can be 0 or any velocity less than the Profile Maximum Velocity Having a Target Velocity as part of the segment allows the controller to compute when to start acceleration or deceleration from the Move Velocity to reach the desired Target Point Velocity rather than having the programmer do this computing and it tends to keep the transition from one segment to another free of acceleration spikes Exit Condition Conditional exiting is accomplished with the Exit Event equation This is a Logic Output Event description which can be a series of equations evaluated from top to bottom as entered from the Hand Held Terminal The Output Event is evaluated when the Position Reference output has reached the Target Position 5 Position Re
66. key Axis should move to the home limit switch stop move to offset position and just off the switch and stop The axis position should now be the programmed Home Position usually 0 000 If Limit and or Limit functions are used perform the following check Go to Jog screen and move axis towards one of the limits When a limit switch is reached the axis should decelerate to zero velocity stop Continued pressing of the same Jog key should not cause any motion Press the other Jog key The axis should move towards the opposite limit switches Keep jogging in this direction until the limit switch is reached Again the axis should stop Table 3 4 Operational Test Introduction Efficient programming requires that several steps be performed in sequence These are 1 Determine overall motion limits on each axis the axis configuration limits These will be entered for each axis from the Configuration CFG mode The controller will use these limits as defaults at other programming levels These configuration parameters should be carefully verified Jog each axis between the extreme axis position limits or the maximum positions that will ever be programmed Test Maximum Velocity Acceleration and Deceleration rates using Position screen Ref Operation Test section page WARNING Motion profile programming should proceed only after these tests are completed and test res
67. l When you have checked to be sure that the package contains all SMC20 parts please take a moment to fill out the Product Registration Card You will find the card just inside the front cover of the User s Manual Among other things the Product Registration Card asks for the serial number on your SMC20 Even if you do have an SMC20 sending in the registration card will allow us to keep you posted on changes to this manual CAUTION This controller is used in motion control systems which involve operation of linear actuators and or rotary motion which can cause machine damage or personal injury For Safety Reasons Read this manual and understand operation of the controller prior to installation and operation The user must install proper interlocks enable fault circuits and emergency shutdown circuits in accordance with accepted safe practices Mounting The SMC20 is designed to be mounted on a panel typically in an industrial NEMA rated enclosure Use 4 10 machine screws The maximum ambient operating temperature is 509C If temperatures higher than 50 C are likely supply air conditioning to the cabinet CAUTION For proper ventilation mount the SMC20 vertically not horizontally Damage may occur Allow 4 inches free clearance above and below the controller for proper air flow Figure 2 1 Screw Locations mm inches Connections
68. leration3 5 3 36 4 1 4 5 4 14 4 17 Fig 3 2B Default Assignment3 19 3 21 3 22 3 23 Define Reference3 35 Derivative 3 16 2 Differential Analog Input2 11 2 17 Differential Analog Output2 11 2 15 Fig 2 9 Digital Input Output1 3 1 4 1 7 2 13 2 19 2 21 3 19 4 28 4 29 Digital Inputs1 6 2 10 2 19 2 21 3 35 4 22 4 29 Fig 2 13 Digital Outputs1 6 2 10 2 20 2 21 4 22 Fig 2 14 Digital Signal Processor1 3 Digital to Analog2 11 3 11 Dither1 3 DO 2 11 2 15 DO 2 11 2 15 DREF3 35 Drive Amplifier1 1 2 10 2 12 2 13 2 16 2 21 2 22 3 19 3 20 Drive Ready3 22 3 23 DRV2 12 2 13 2 22 3 19 3 20 DSP1 6 DSP Error5 6 DSR2 31 DTR2 31 Dwell Time2 21 4 4 4 7 4 21 Fig 3 2B EDIT3 3 Enable1 4 2 7 2 8 2 33 4 28 5 2 5 3 1 6 2 7 2 8 5 2 5 3 Encoder 52 25 2 26 Engineering Unit1 3 3 13 3 15 3 16 3 27 3 37 4 11 4 18 2 Fig 3 2 Fig 3 6 ENTER3 3 Entry Conditions4 4 4 6 4 21 Fig 4 2 Fig 4 5 Entry Events4 22 ERR2 12 2 13 2 22 3 19 3 20 Error3 22 3 23 3 31 4 9 5 2 5 4 5 5 5 6 5 7 Error Bits5 1 5 2 5 5 Error Condition2 22 5 6 5 7 Error Flags3 10 5 7 Error Parameters3 11 Error Recovery Speed3 15 Error 5 3 31 EUS 15 3 16 4 11 2 Event Condition4 11 4 15 Fig 3 5 Fig 4 2 4 3 4 22 Exit Conditi
69. mmon Sys tem Connections with a User Power Supply Axis Connections The axis connections provide the link between the SMC20 and the actuator motor drive amplifier Each axis connection has eight input and eight output digital signals all optically isolated Figure 2 7 locates the axis connections on the SMC20 front panel Figure 2 7 Front Panel Axis Connections Pin Name Description No Function 232 DO Analog output differ ential 730 DO 10 VDC full scale Note 1 228 AGND Analog output single ended t 10 VDC full scale Note 1 Z26 SO Analog output single ended t 10 VDC full scale Note 1 Z24 AGND Analog signal ground 222 IN1 Analog input differential channel 1 Programmable usage 10 VDC full scale See page Z20 218 AGND Analog signal ground Z16 IN2 Not used Z14 2 212 AGND Analog signal ground No connection Not Z10 ADO available on standard Z8 ADO unit Z6 lout Current output high 0 50 mA Note 1 Optionsal Z4 lout Current output low 0 t Note 1 Optionsal 22 AGND Analog signal ground Note 1 A single differential digital to analog conversion channel drives all three outputs simultaneously DO DO differential SO single ended and the current output Thus software controlled scaling affects all three outputs equally
70. mperes 24 Table 2 1 Three SMC20 Versions Figure 2 2 Power Supply Connections CAUTION To connect power use the power supply screw type terminal on the upper left corner of the SMC20 front panel Recommendation Use 14 to 16 AWG wire Figure 2 3 shows the connection Figure 2 3 Power Wiring for the SMC20 NOTE GND refers to earth ground It is important for safety reasons and for proper operation of the controller that the external GND connection is made as described The two ground wires tie to each other internally Connect one ground wire to the machine frame the other to the power company ground When you complete the power supply connection go on to the common System connections Common System Connections Common system connections provide for signals that affect the controller but are not axis specific For example the V connection provides a voltage supply for optically isolated DC input output signals You can connect to one of two power supplies A 10 to 30 user provided power supply The 24 VDC from the isolated DC supply on the SMC20 Table 2 2 lists the common system connections and the signals they carry Figure 2 4 locates the common system and the isolated DC supply connections on the SMC20 front panel Signal Function ENBL n b sm wap D Pais
71. nts of current programs Push Load to load FLASH Memory into RAM Quick Set Up The following parameters should be checked or entered prior to attempting any motion commands The screens are shown for reference The following section describes how to use them Engineering units counts per desired length unit for your sensor i e for 1000 cts in Enter 1000 AXIS T QUIT F1 POSITION AXIS F2 ENG UNIT SAVE F3 1000 0000 EDT F4 Select engineering unit name i e Inch Feet Millimeters Centimeters Revolution Engineering Units Set software position limits Maximum Position Minimum Position AXIS T QUIT F1 MAXIMUM AXIS F2 POSITION IN SAVE F3 12345 0000 J lt EDT 4 Set Maximum Position Error to value equal to 10 of full travel This can be adjusted later after the gains have been optimized Set Maximum Speed to within the specification or your system AXIS T QUIT F1 MAXIMUM AXIS F2 SPEED IN SEC SAVE 45 0000 EDT 4 AXIS T QUIT F1 MAXIMUM POS AXIS F2 ERROR SAVE F3 30 0000 4 EDT F4 Enter a value for Jog that is fairly slow for a start 10 of maximum speed AXIS T QUIT F1 JOG SPEED AXIS F2 VALUE IN SEC SAVE F3 5 0000 4 EDT F4 Enter Maximum Acceleration and Deceleration values within the specification of your system Start with 2 times the value of Max
72. on4 4 4 5 4 6 4 23 4 25 Fig 4 2 Fig 4 5 Exit Event4 5 4 22 Fault Protection2 8 Features1 3 FLASH Memory3 3 3 26 3 29 3 34 4 2 4 20 4 21 4 25 Fig 3 4 Following Error3 11 4 5 2 FS3 16 2 Function References3 20 Fuse1 4 2 5 5 3 Fig 1 1 Gain Break1 3 Gain Factors3 31 Fig 3 2 Gain Ratio3 6 51 3 3 13 3 16 3 27 3 29 3 37 3 38 4 4 4 7 5 2 5 5 1 Fig 4 2 4 5 Global 4 22 3 2 GND2 6 2 26 2 33 Green Arrow Keys3 3 Hand Held Terminal1 1 1 3 1 5 1 7 2 1 2 4 2 30 2 31 3 1 4 28 5 1 5 3 5 4 5 6 Fig 1 2 Hardware Fault2 8 5 3 2 12 2 13 2 21 3 19 3 20 3 34 HOM 2 12 2 13 2 23 3 19 3 20 3 32 Home Axis3 33 3 35 Fig 3 10 Home Complete2 21 3 22 3 23 3 34 Home 3 34 Fig 3 2B Fig 3 5 Fig 3 6 Home Limit Switch2 12 2 13 2 23 3 19 3 20 3 22 3 23 3 33 3 34 3 38 Fig 3 11 Home Offset3 15 3 33 Fig 3 2 Fig 3 5 Home Parameters3 13 3 37 Home 2 23 3 15 3 33 3 34 3 35 3 38 4 14 4 15 5 4 Fig 3 2B Fig 3 5 Home Request3 22 3 23 3 32 Home Requirements3 13 Home Screen3 35 Home Sequence2 12 2 13 2 21 2 23 3 19 3 20 3 33 3 34 3 37 3 38 Home 3 15 3 29 3 34 Fig 3 2 Fig 3 5 Hydraulic 1 1 2 18 12 12 2 13 2 23 3 19 3 20 Address Assignments3 10 3 19 3 20 3 22 3 23 3 24 3 25 4 24 Fig 3
73. ontroller is wired correctly and is operating Basic positioning will be accomplished Performance of this test assumes that Jog motion has been operated and verified Installation checklist is completed Set Up checklist is completed Jog motion for each axis has been tested All parameters have been SAVED Operator has read this manual 1 Power On go to RUN mode Go to Jog screen and move axis to approximate center position inside limits or minimum and maximum travel Record the axis position 2 Push Quit F1 key and then POS F3 key to reach the following screen MOVEANS 1 TQUIT F1 TO AXIS F2 ABSOLUTE POS 0 0000 4 EDT F4 Push EDT F4 key and enter in a position value to move to which is inside the travel range The value should be different than the one recorded above When the Save F3 key is pressed the above screen will return with the position value that was entered Press Move F3 key The axis should move to the position entered above If the axis motion is unstable or exact position is not reached or motion is sluggish it may be because the proportional or other gains are not optimum Refer to Troubleshooting section page for tuning and troubleshooting help Programming 4 If homing sequence is implemented perform the following check Go to Run mode main screen and select Home Press Home F4
74. or VEL2 velocity command Note See pages for information about other parameters displayed in monitor mode Any of the above parameters can be displayed in any of the three fields F2 F3 F4 by pushing the corresponding SEL F2 F3 F4 For example if the Axis 1 screen is currently displayed POS1 VEL1 push lt SEL F3 once and the following screen will be displayed Pushing AXIS F1 will reset the screen to all Axis 1 or all Axis 2 parameters MONITOR MOTION AXIS F1 POS1 XXXXX SEL F2 POS2 XXXXX SEL F3 VEL1 XXXXX SEL F4 Pushing F1 again will show the following Screen MONITOR MOTION AXIS F1 POS2 XXXXX SEL F2 PER2 XXXXX SEL F3 VEL2 XXXXX SEL F4 The second screen reached by Up Down arrow keys is used to monitor Alarms Error Flags See General Faults section page AXIS 1 ALARMS TAXIS F1 FLAGS 00000000 F2 F3 NO ALARMS F4 The Monitor I O screen reached by Up Down arrow keys is used to monitor status MONITOR I O T F1 PREV F2 ADDRESS 0 EDT F3 STATE 0 l NEXT CFG System Parameters section page describes input and output address assignment You can monitor the state ON 1 OFF 0 of any address by scCFG rolling through the addresses with the PREV F2 or NEXT F4 keys specific address can be accessed directly by pressing and then entering in the address number then press ENTER A descrip
75. re performing troubleshooting procedures be sure you are intimately familiar with the operation of the SMC20 and that a means to terminate unintended motion and electrical power to the unit exist and are easily accessible Also be sure to turn Off all power before attempting to remove the I O terminal strips feedback devices or communication devices including the Hand Held Terminal from the SMC20 When starting up a system it is best to initialize the electronics first Can t Test Initial Set Up InTesting Initial Set Up section page the operator is instructed to jog the SMC20 to initiate motion If the axis does not move it is most likely because the axis gains or axis parameters are incorrect Another possibility is the actuator travels to an extreme limit in an uncontrolled manner Another type of fault relates to the physical hardware Gains Not Set Properly Make sure the Kp gain is set to at least 1000 Kp is one of the axis gain parameters in the Configuration mode Try the default Jog Velocity first If the Jog Velocity is set too high and or the Maximum Position Error is set too low it is possible to trip the Maximum Position Error Error bit addresses 235 or 243 set On see General Faults section page Any time a position error bit General Faults section page is set On by a fault as described in some of the following descriptions it is necessary to first reset
76. reen showing Limit AXIS 1 INPUT T QUIT F1 LIMIT AXIS F2 STATE 0 SAVE F3 ADDRESS 11 4 EDT F4 This displays the current address of Limit and its state Push Push CLEAR ENTRY Enter 254 then push ENTER key then push SAVE F3 The screen now reads AXIS 1 INPUT T QUIT F1 LIMIT AXIS F2 STATE 0 SAVE F3 ADDRESS 254 F4 The Limit function for Axis 1 is now always set to 0 Input address 11 is now free to use in any logic event equation The Programming Reference Manual provides detailed information about I O assignment and functions FLASH Memory FLASH Memory is the memory segment where user programs are saved It is non volatile memory thus it is saved during power off The User must tell the controller when to save to memory When you are entering a program CFG PRG VAR modes each time you hit a Save the data is saved to RAM memory but not to FLASH Memory therefore when you are satisfied with the programming you must go to the FLASH Memory screen and Save It is a good idea to go to this screen several times during a programming session to save the current data so that it is not inadvertently lost during a power down or loss In the CFG mode use Up Down arrows to go to Configuration FLASH Memory Screen CONFIGURATION 7 SAVE F1 F2 F3 FLASH MEMORY LlLOAD F4 Push Save to save conte
77. rive Ready 8 Drive Ready 24 Jog 9 Jog 25 Jog 10 Jog 26 Limit 11 Limit 27 Limit 12 Limit 28 Home Switch 13 Home Switch 29 Run Program 14 Run Program 30 Home Request 15 Home Request 31 Program Select 254 Program Select 254 Program Select Bit 0 254 Program Select Bit 0 254 1 254 7 1 254 2 254 INPUTS 2 254 3 254 4 3 254 4 254 i 4 254 5 254 2 5 254 7 6 254 P 6 254 i 7 254 7 254 5 8 254 8 254 9 254 9 254 10 254 R 10 254 11 254 11 254 12 254 i 12 254 13 254 j 13 254 14 254 9 14 254 254 254 253 Ignore Outport 254 Always Low 255 Always High Table 3 2A Axis 1 I O Address Assignments Table 3 2B Axis 2 I O Address Assignments The purpose of each function is described in the Programming Reference Manual Suppose your application does not require use of Limit or Limit and you want to use one of these inputs for a trigger on a particular motion segment with a profile Further Axis 1 Limit will be used It is desired that one of the segments within Axis 1 profile requires that this external signal be On before the segment executes The following program steps are required In the CFG mode use Up Down arrows to go to I O assignment screen CONFIGURATION 7 EDIT F1 AXIS 1 AXIS F2 ADDRESS RSET ASSIGNMENTS LLIST F4 Be sure Axis 1 is displayed Push EDIT F1 Use Up Down arrows to get to the sc
78. rows appear pushing the green arrow keys will change the screen or one of the choices on the screen Continued pushing of either Up or Down keys will go through the entire list of Screens or choices available in that mode or sub mode The choices always form a circular list When screens say EDIT pushing that key leads to a lower level with several screens When the screen shows EDT a single value is to be edited On some screens the word EDIT is spelled out Selecting this function takes the user into other screens for editing The EDT form means the value pointed to and in brackets can be edited No Screen changes will occur On screens for value or name entry CLEAR ENTRY ENTER and BACKSPACE are active F1 and F2 can be used to move the cursor if the entry is to be edited rather than being cleared and completely re entered To delete a character or a digit position the cursor blinking square to the right of the character to be deleted and use the backspace key Otherwise a character entered at the cursor is inserted ahead of the position where the cursor is and the cursor is pushed to the right When values are entered in addition to pushing ENTER on the value input screen it is necessary to push SAVE on a preceding screen after ENTER A program is not saved against power turn off until it is SAVED to FLASH MEMORY from the CFG mode It is therefore a good idea to save to FLASH Memory frequently The
79. ssarily The profile being executed may not currently involve motion that is it may be waiting for Dwell Time to elapse or an input event to occur Thus the output may remain On although no motion is in progress at the moment D26 IP The D26 IP In Position output goes On when the axis reaches the position band specified by the In Position Error parameter The signal remains On as long as the axis remains within the band D24 HC The 024 HC Home Complete output goes On when the system completes the home sequence D22 ERR The D24 ERR Error output goes On when any error condition exists D20 O and D18 O The D20 and D18 outputs are uncommitted outputs that is they have no default usage You can program their usage as needed D16 DRV The D16 DRV Drive Amplifier OK signal provides a system safety feature It indicates that the drive amplifier is OK If the drive amplifier fails the input goes Off low If the input goes Off low the SMC20 stops motion on the axis decelerating at the rate set in the current segment 014 012 JG The 014 Jog 012 JG Jog inputs cause the SMC20 to issue an output that in turn causes axis motion in the direction on 012 in the direction You can affect the jog speed by how long you push on the jog button on the control console One push causes the axis to move on
80. t outputs These inputs outputs are locate the connections viewed from top Enable and CPU LED indicators digital to Paroni left column center column Common system Opto isolation LED indicators immediately adjacent to right column power enable etc Axis 1 and Axis 2 connections show Left Column Axis 2 Y which pins are active Power input 120 2A Right Column Isolated DC supply 24 Volts unregulated Power On LED indicators Fuse Axis 1 X position sensor Axis 2 Y position sensor RS232C communication port RS422 485 communication port Communication Interface Communication between an operator and the SMC20 occurs through the communication interface a board that plugs into the controller The standard communication interface provides two serial ports RS232C and RS422 485 The RS422 485 port is dedicated to the operator Hand Held Terminal The RS232C port is used for a printer Hand Held Terminal The Hand Held Terminal Figure 1 2 connects to the RS422 485 port This menu driven display and keyboard provides a convenient and simple method of programming the SMC20 The terminal is detachable or it can be secured to the SMC20 unit Printer Interface The RS232C port is configured to be used with a serial printer Printer set up is described later in this manual The controller can list program and set up parameters to the printer Figure 1 2
81. t the same time There is an order or sequence in which execution occurs It is important to keep this order in mind as results different than otherwise expected can occur 1 If a Dwell Time has been programmed as part of the Input Conditions it will start timing and completely time out before anything else occurs 2 Next any Input Events that are part of the Input Conditions are executed such as reading inputs or turning On or Off any outputs 3 Next Motion Parameters and Motion Profil Data are executed all at the same time This includes reading any variables required setting new values of gains for that segment and computing and loading all targets 4 Next Output Events that are part of the Output Conditions such as turning Outputs On or Off and setting internal flags are executed 5 Next any Conditional Jumps that are part of the Output Conditions are executed 6 And finally any Jump Conditions are executed direct jumps are those with no conditions attached such as jumping directly to a particular segment number no matter what else is happening Note that if gains or variables are updated at any time prior to step 3 they will take effect in the current segment otherwise they will take effect in the following segment Program Mode The PRG mode is used to enter new segments edit previously entered segments AND to enter changes to parameters that w
82. the error see section using the Reset screen in the Run mode before attempting a new operation Verify that the run inputs are not active Verify that the Maximum Position Limits are not exceeded Error bit I O addresses 232 233 240 and 241 set On see General Faults section page It may be necessary to jog in the opposite direction of the limit in order to achieve motion Verify Enable ENBL input is active Verify the Enable Axis EN input LED is On This input may be toggled after occurrence of an error to reset Uncontrolled Motion Loss of feedback while jogging will cause the axis to move to either extreme position out of control Verify the position feedback reading in the Monitor mode If there is no indication of position and the Enable ENBL is active then the feedback device or the related cabling is faulty or the controller is set to open loop If the polarity of the feedback signal is the same as the axis command signal a run away condition will occur Power down and reverse the leads of the feedback device or the axis command signal whichever is easiest Hardware Fault Verify fuse is not blown or loose Replace with BUSS AGC 2 amp or equivalent See Table 2 1 for value If power supply LEDs are flashing check all power connections including feedback device and communications wiring for a short or improper connection If the CPU fault LED is On contact Vickers
83. tion Pins D32 through D2 Figure 2 8 Typical Axis Wiring Table 2 3C Axis 2 Y Connection Pins D32 through D2 Digital Input Output digital input output are optically isolated and require a power supply either user supplied power at 10 to 30 or isolated DC supply at 24 VDC from the SMC20 Further some digital have a default usage as Table 2 3B and 2 3C show however you can program one or more of them to perform general purpose functions Programming the SMC20 page or the Programming Reference Manual Using Input and Output Connections Table 2 3A lists the name and function description for each analog pin in each axis connection on the SMC20 Table 2 3B and 2 3C lists the name and function description for each digital pin This section gives further information about each pin The information includes a typical connection Analog Input Output DO and DO Together the voltage output DO 232 and DO Z30 signals constitute a differential analog output with a range of 10 VDC full scale The output typically drives a servo Figure 2 9 shows a typical connection Figure 2 9 Differential Voltage Output SO and AGND Together the AGND Z28 and SO Z26 signals constitute a single ended analog output with a range of 10 VDC full scale It serves as an alternative method of connecting the SMC20 to a drive amplifier but is more susceptible to noise than the differenti
84. tion of parameters is available for viewing on the Monitor screen In addition to Position Velocity and Error Parameters the following are available by scrolling left right each line Axis 1 or Axis 2 A D Output in analog to digital counts Used for diagnostic purposes D A Analog input in counts BRC Number times following error exceeded maximum value RAW Feedback counts for absolute encoders such as resolvers P X Seg Displays program number and segment number currently being executed Configuration Mode Press CFG to bring up the Axis Configuration mode Note If the unit has previously been programmed with a security code other than 0 you will have to know the security code to proceed further than Monitor mode Press Up Down arrow keys to change from one screen to the next Configuration mode is required to set each axis parameters Axis Gains Position Sensor Scale Factor counts per engineering unit Software Travel Limits Home Parameters Maximum Acceleration Deceleration Move Velocity and other motion parameters Input Output Requirement CFG CONFIGURATION EDIT AXIS PARAMETERS LIST See Axis Parameters section CONFIGURATION T EDIT AXIS GAINS J LIST See CFG Axis Gains section CONFIGURATION 7 EDIT 1 AXIS ADDRESS RSET ASSIGNMENTS J LIST See Digit
85. ults or values lower than test results are entered in the CFG mode for each axis See Initial Set Up section page for an explanation of the Terminal screens used for entry 2 Determine what axis profile s are to be programmed Choose a program number for each Program numbers can range from 1 to 999 and don t have to be sequential Determine what the limit values for the motion parameters should be for each profile If these are the same as the configuration axis limits they do not have to be entered However it is likely that if several profiles are programmed some should have reduced limit values These individual program limit values default to the axis configuration values In turn the motion parameters in each segment have the program values as defaults Enter the program limits for the first profile to be programmed These are entered from the Program mode PRG described in this chapter 5 Now start programming the segments of the first profile When a program is finished and more often if the task is long save to FLASH Memory 6 Repeat from step 4 to program additional profiles Be sure to be on the proper axis and be sure to select a new program number each time For references Axis 1 is also called Axis X Axis 2 is also called Axis Y Profile Definition A motion profile is a description of the motion of an axis over a complete cycle of motion Typically t
86. urn On when the extend position is reached and stay On until the retracted position is reached use output 6 06 The address for Output 6 06 is zero Figure 4 7 I O Example In PRG mode go to Program Segments and select Segment 1 Program 10 Exit Conditions 10 T QUIT F1 SEGMENTZ 1 SEL F2 EXIT F3 CONDITIONS JEDIT Press Edit F4 SEGMENTZ 1 T QUIT F1 DEL F2 OUTPUT EVENT F3 CONDITION JEDIT F4 Press Edit F4 again The following screen should now be up T QUIT F1 1 START DEL F2 2 END EQ INS F3 3 END EQ SAVE We will now enter a single logic equation to turn On output 06 Press INS F3 SELECT SYM OR T QUIT F1 VAL TO INSERT ACPT F2 SEL F3 OUTPUT TO l EDT The Up Down arrow keys are used to select the options which appear in the bottom row Press Up Down arrows until OUTPUT TO is reached then press ACPT F2 Press INS F3 to get above screen again select IO and press EDT F2 SELECT SYM OR VALUE INSERT F2 F3 104 l F4 Enter 6 and press ENTER key then press ACPT F2 The display will go back to the first screen above and show as T QUIT F1 6 DEL F2 4 END EQ INS F3 5 END EQ SAVE Note Address 06 will actually cause the physical output number 1 to turn On See I O Address Assignments in Tables 3

SMC20 Motion Controller

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