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IDEA PROGRAMMABLE STEPPER MOTOR DRIVE MANUALS

1. Command Symbol Context Arguments Response Read Encoder Settings b Realtime None b deadband stallhunts cr b cr Description This command requests the encoder configuration of the drive Arguments Argument Description Valid Values or Range None Example You want to check the encoder settings on the drive Command b followed by a carriage return Command Symbol Context Argumenis Response Read r er or Executing p Realtime None r cr Description This command requests whether the drive is actively running a program Arguments Argument Description Valid Values or Range None Example You want to check if the drive is executing a program Command _ r followed by a carriage return Command Symbol Context Arguments Response f value cr f cr where value represents the errors present Each bit represents a specific error Read Faults Realtime None as defined below Description This command requests the error status of the drive Arguments Argument Description Valid Values or Range None Example You want to check the error status of the drive Command followed by a carriage return Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Int Over Bad Current Loop Queue Encoder Stack Stack Speed Checksum Lim
2. 17 550 dedi et lost ek eke eee seat 15 RS 485 Pini DescriptiOns 16 EMCOGOE 1 NEE A EA 17 ais 17 Digital 1 Pin 19 Digital 1 0 WINNE aia 20 Digital Output Wiring Examples 24142 001 21 Digital Input Wiring Examples 21 Revision History Date Description September 2011 Initial version January 2012 Added digital input wiring examples March 2013 Manuals combined Wiring examples revised Introduction This manual is intended to provide basic hardware specifications for the Haydon Kerk IDEA drive Several styles of the IDEA drive are available For detailed information on use and programming of the drive please refer to the IDEA Drive User s Manual available at idea drive com ACM4806E PCM4806E IDEA Drive Specifications Attribute Value Drive Input Voltage Range 12 48Vdc Maximum Drive Current per phase 0 6Arms Plus optional 30 boost during ramping Step Modes Full Half 1 8 1 16 1 32
3. Command Symbol Context Arguments Response Software Reset R Realtime Program none None Description This command causes the drive to restart acts the same as cycling power Valid Values or Arguments Argument Description Range none Example You want to restart the drive Command followed by a carriage return Command Symbol Context Arguments Response End Speed Decel rate run current decel current hold current delay time step Stop H RealTime Program mode None Description This command stops the motor using an optional deceleration ramp Arguments Argument Description Valid Values or Range The number of steps per second the motor should move 0 or 50 to 75000 Must End Speed when ending the move in the given step mode be less than Run Speed Rate at which the speed should fall from the current Decel Rate speed to the end speed 0 or 500 to 16777215 Run The rms current in milliamps for the deceleration if too 0 to 3850 dependant Current long to use boosted decel current for the entire ramp on Drive Hold The rms current in milliamps for after the move has 0 to 3850 dependant Current completed on Drive Decel The rms current in milliamps for the deceleration portion 0 to 5005 dependant Current of the move on Drive The time in milliamps between the last step of a move Delay and when the current is set to the hold current 50 to 300 Defines the step size where 1 is a full st
4. 10 GO At Speed eosina nisaire 11 GOIO tree 12 12 COLO SUD ee 12 13 Interrupt Position 14 J mp N TIMES 14 DIVO E E A E 14 Move 15 15 Program ae 16 Read Current Position 16 Read Drive 16 Read Encoder 5 17 Read ENG CUI GG iinan eet 17 Read FNS e a a 17 Read Firmware 17 Read lO 18 Read 18 Read MOVING ai aoa eee aan 18 Read Program 18 Read Startup 19 0
5. Parameters Distance This is the distance that the actuator will extend Speed This is the top speed at which the actuator will extend Run Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator extends Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes extending Delay Time This is the time in between when the actuator reaches the last step in the extend and when the current is changed to the hold current Step Mode This is the step resolution to be used for this extend 30 Accel Rate This is the rate which actuator will be ramped from the start speed to the run speed If this is set to 0 then the extend will start at the run speed Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the extend will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp is used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase applied to the windings will be 30 higher than the set run current fora maximum of 300ms Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms
6. 2 Program Length 224 bytes 1 pages 77 IDEA Drive Menu Items File This menu gives access to functions for manipulation of program files and the User interface itself 1 New Clears the current program so a new program can be written 2 Open Opens a previously saved program file 3 Save Saves the current program to a file gt File Adds previously saved program file to end of the current program Recover Autosave Opens the most recently autosaved file Print Prints the current program Preferences Contains options for GUI behavior Restart Exits the user interface and opens a new user interface Exit Closes the user interface Edit This menu gives access to functions for manipulating the current program 1 2 3 Undo Restores the program to what it was before the last action Redo Restores the program to what it was before an undo Cut Removes a selected line or lines from the program and copies them to be pasted later 4 Copy Copies a selected line or lines to be pasted later 5 Paste Inserts previously copied lines into a program 6 Select all Selects all lines of the program Mode The third menu item toggles between the Realtime Mode and Program Mode 78 e Drive Commands This menu allows access to various drive functions 1 Display Table of Contents Gives a listing of the pro
7. IDEA Drive Software User Manual Haydon kerk www haydonkerk com All Rights Reserved 4 2013 1 Table of Contents Revision eens 4 0 5 Part 5 IDEA DRIVE Software Basics 6 Realtime AEE 6 MOG EAR RE RN 7 9 Installing 9 10 11 Feat res and CONC CIES eR R R R 12 UNIT COR VSTSION ARCEA 12 Communications 2 2220 12 Maxim m 13 13 Saving Programs to the Drive 2 2 2 22 15 REMOVING Programs 15 Tabl e of Contents raps
8. Output 2 Pin 8 lt Output 3 Pin DS Digital signal to external device Output 4 Pin 10 PO Input of another IDEA drive 19 Digital Input Wiring Examples Supply Ground pin 1TH J 7 5 24Vde Supply Pin 2324 Input 1 Open Collector Output or Open Drain Output Such as Haydon proximity sensor Input 2 Pin 454 Input 3 Pin 5 54 Current sourcing PLC output oe 4 Switch Input 4 Pin 6 lt X 20 lt x Output pin of another IDEA drive IDEA Drive Communications Manual amp 6 Haydan kerk www haydonkerk com All Rights Reserved 4 2013 1 Table of Contents Revision cee eee waded ea eee ee 4 IDEA Drive Communications Basics 2 4 5 eed dees 7 ADOM 8 0 8 Check Password 8 8 Configure 9 Configure Input 9 21 79 9 10 Execute PHO IAN
9. PIN 10 PIN4 B PIN3 B MOTOR CONNECTOR MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUG IN MOLEX DUAL ROW CONNECTOR 39 01 2040 2 1 TABLE A TABLE PIN POSITION DESCRIPTION NOTES DESCRIPTION 1 GROUND I O SUPPLY 5 24 VDC Y NON INVERTING DRIVER OUTPUT PIN2 1 0 SUPPLY 5 TO 24 VDC Z INVERTING DRIVER OUTPUT SEE TABLE C FOR PIN DESCRIPTIONS 34 4 1 354 2 0 0 079 COMMUNICATION CONNECTOR HIROSE CONNECTOR DF11 6DP 2DS 24 2 PLACES MATING CONNECTOR HIROSE DF11 6DS 2C SEE TABLE B FOR PIN DESCRIPTIONS PING TABLE oan GROUND PINS INPUT 3 PIN6 INPUT 4 NON INVERTING RECEIVER INPUT DESCRIPTION 5V GROUND INDEX NO CONNECTION CHANNEL CHANNEL INVERTING RECEIVER INPUT PIN7 OUTPUT 1 PINS OUTPUT 2 PINS OUTPUT 3 PIN 10 OUTPUT 4 4826 IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUGIN TYCO CONNECTOR 284506 2 VIA FLYING LEADS 12 48 VDC SUPPLY PIN1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE DF3 10S 2C SEE TABLE A FOR PIN DESCRIPTIONS PIN 10 PIN4 B MOTOR CONNECTOR MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUGIN MOLEX DUAL ROW CONNECTOR 39 01 2040 TABLE A DESCRIPTION NOTES GROUND I O SUPPLY 5 TO 24 VDC 1 O SUPPLY 5 TO 24 VD
10. interrupt can be set to trigger when the motor reaches a specific position Encoder triggered When the Stall Detection encoder feature is used interrupt can be triggered when the number of Correction attempts has been exceeded Errors During operation the user interface may report an error below is an explanation of each of these errors 26 Error error occurred when attempting to update IO This error occurs when communications between the drive and user interface is interrupted This may happen on occasion when the drive is busy with a task and temporarily does not respond to the user interface Press Retry If the message continues to appear check all connections Stack Underflow This error occurs when a running program runs to a Return command while not within a subroutine Check the running program for ways that the program could get to a Return without having used a Goto Sub or an interrupt Stack Overflow This error occurs when 10 or more subroutines are called without returning Check the running program to ensure that all subroutines end with either a Return or Return To and that you are not nesting too many subroutines Driver Overtemp This error occurs when the internal temperature of the drive exceeds a safe level Consider moving the drive to a cooler location reducing the hold and or run currents adding additional heat sinking or ad
11. re 39 J mp N TIMES 40 nek eh nur ne 41 ir eames i err te a a a a 42 43 Return TO 44 46 Wait For 47 MECON Galo Laney et meen 48 49 E rene err enter Re E ere erent 51 Set mene nee eee re Re 52 PO SUMO E 53 Resele e seers deus cece EE E E EEE E E 54 54 22 Programming 56 Example nro ord aeRO 56 Example 60 2 62 Example 66 Example
12. 15 Start p Prog amM s E AE 16 Saving Loading Combining 16 16 Over Current 17 Accel Decel Current 2 2 17 Password 19 5 5 E 19 SINEMA TVG 20 Debugger 21 i 22 4555655 24 in gene ee eee 25 I A a 26 View Command 28 20 30 30 575412151 E 32 34 e E E E 36 38 E StOD
13. The following program extends the actuator 1 and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Extend 1 in 1 Wait For Move This command is used in example 1 31 Retract Index CCW The retract command moves the actuator shaft a specified distance backwards from its current location When using a rotary motor this command rotates the motor counter clockwise as viewed from the output shaft gt Create Retract Command Parameters Distance This is the distance that the actuator will retract Speed This is the top speed at which the actuator will retract Run Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator retracts Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes retracting Delay Time This is the time in between when the actuator reaches the last step in the retract and when the current is changed to the hold current Step Mode This is the step resolution to be used for this retract 32 Accel Rate This is the rate which actuator will be ramped from the start speed to the run speed If this is set to 0 then the retract will start at the run speed Decel Rate This is the rate at which the actuator will be ramped from the run sp
14. Unit conversion When starting the program a part number and measurement unit must be selected From this information the number of steps for each command is calculated This allows the user to write programs in their preferred units instead of having to calculate the number of steps As with any conversion some rounding error may be present With a motor that was a 01 per step resolution you cannot move 015 forward in full step mode The user interface rounds this value down to the nearest microstep in the given step resolution So if you wish to move 015 forward with a step resolution of 01 a step mode of 7 or finer must be selected The program area will reflect the rounded value Note In the case that the motor has been moved to a position between steps if a new extend or retract is done from the position in a coarser step mode the extend or retract will end on a position that is valid for the new step mode and the distance traveled may not exactly match the desired distance For example If the motor has a resolution of 01 per step and is moved to 015 using the half step mode then a new extend of 02 is used in full step mode the motor will extend 015 to the 03 position which is a full step position Communications Modes There are four different modes that the user interface can be in for communications between it and any attached drives these being offline single addressed and broadcast
15. We now want to extend 1 Click the Extend button Input the distance as 1 Input the speed as 1 inch per second All other parameters can be left as the defaults No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program The completed program looks as follows 61 55 Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime InputConfiguration Drive Commands Programs On Drive 8 Program Flow Action 0 1 2 3 4 5 6 Comment of Jump N Times Start Extend 1 in Wait For Move Program Length 188 bytes 1 pages Example Three This example will extend the actuator 5 turn all four outputs high wait 5 seconds turn all outputs low retract the actuator 5 turn all four outputs high wait 5 seconds turn all outputs low then end the program We will accomplish this by using a subroutine We first want to extend 0 5 Click the Extend button Input the distance as 0 5 inches Input the speed as 1 inch per second All other parameters can be left as the defaults No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program 62 Note You will notice that when the extend command populates in program field on the screen that it is followed by
16. 69 74 The IDEA Drive Menu 5 2 22 78 File captors peta E gn nd eee 78 Edit cotati 78 78 Command Soresina AATE AN ETENEE 79 Communications 79 Programs on 255450 79 Help 80 GIOS Saly en nar ay RIO or Ee 81 Revision History Date Description January 2010 Initial version February 2010 Save debug output Goto if updated for outputs Interrupt and encoder configuration update January 2011 Added detail to the behavior of interrupts Added detail to the IO wiring diagram Stand alone IO wiring diagram RS 485 wiring Communications features May 2011 Added RS 485 Pin descriptions Added minimum time between resets July 2011 Removed model specific information August 2011 Added information about command strings September Updated for 2 0 firmware and software changes 2011 Added introduction and part number information December 2011 Clarified Goto if explanation Updated March 2013 Clarified part number entry Introduction This manual is intended to prov
17. Arguments Argument Description Valid Values or Range 18446744073709551616 The positive or negative number of 1 64th steps the to Distance motor should move 18446744073709551615 The number of steps per second the motor should move Run Speed at the top speed in the given step mode 0 or 50 to 75000 Start The number of steps per second the motor should move 0 or 50 to 75000 Must Speed when starting the move in the given step mode be less than Run Speed The number of steps per second the motor should move 0 or 50 to 75000 Must End Speed when ending the move in the given step mode be less than Run Speed Rate at which the speed should rise from the Start Speed Accel Rate to the Run Speed 0 or 500 to 16777215 Rate at which the speed should fall from the Run Speed Decel Rate to the Final Speed 0 or 500 to 16777215 Run 0 to 3850 dependant on Current The rms current in milliamps for the move Drive Hold The rms current in milliamps for after the move has 0 to 3850 dependant on Current completed Drive Accel The rms current in milliamps for the acceleration portion 0 to 5005 dependant on Current of the move Drive Decel The rms current in milliamps for the deceleration portion 0 to 5005 dependant on Current of the move Drive The time in milliseconds between the last step of a Delay move and when the current is set to the hold current 50 to 300 Defines the step size where 1 is a full step 2 is a half Step Mode step
18. Goto If button Enter Extend as the destination Set Input 1 is Low Set Input 2 as High Set Inputs 3 and 4 as Not Tested No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program If we reach this line then either both inputs are high or both inputs are low So we want to stop the actuator Click the Stop button All parameters can be left at the defaults No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now want to check if the input conditions have changed so we go back to the Goto Click the Goto button 70 e Enter Test the destination e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now need the commands that will be used to move the actuator We will start with the Retract move e Click the Move To button Enter a position of 0 e Enter Retract as the label You can add a comment in the comment line if you wish e Click Add At End This places this command into the program We now want to check if the input conditions have changed so we go back to the Goto We don t want the move to finish before we chec
19. Goto Sub Toggle Retract 0 5 Wait For Move Goto Sub Toggle Abort Set Outputs H H H H 0 5 sec Action 0 1 2 3 4 5 6 7 8 9 10 Program Length 168 bytes 1 pages 65 Example Four This example is different that the actuator does not need to start in the fully retracted position We will perform a homing routine to find the fully retracted position and then move to 0 5 from that point wait 1 second and then return to the fully retracted position We first want to retract the full stroke of the actuator e Click Retract button e Input the distance as 1 inch e Input the speed as 0 5 inch per second e Select 1 4 as the step mode e All other parameters can be left as the defaults e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program Note You will notice that when the retract command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Extend and Move To commands This is a command to allow the move to finish before execution of the next command We are now at the fully retracted position to keep track of this we will use the Set Position command e Click the Set Position button Enter a position of 0 e No Label is required e You can
20. IDEA PROGRAMMABLE STEPPER MOTOR DRIVE MANUALS CONTENTS HARDWARE MANUAL COMMUNICATIONS MANUAL SOFTWARE MANUAL IDEA Drive Hardware Manual Haydon kerk www haydonkerk com Table of Contents REVISION 22 3 one er oe 4 4806 amp 4806 5 5 4806 2 aoe Mara 6 PCMA4AS80G6E Drawing cni 7 4826 amp 4826 pecifications 8 4826 9 4826 2 0 00 000000000000 17 7539 amp 7539 pecifications 22 11 75 Drawings 17 75 9 22200250 17 14
21. subroutine for the interrupt based on position Click the Move To button Enter a position of 0 Enter a speed of 1 per second Enter Retract as the label You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now need to exit the subroutine Click the Return To button Enter Extend as the destination No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now need a subroutine for the interrupt based on the input Click the Abort button Enter Abort as the label You can add a comment in the comment line if you wish Click Add At End This places this command into the program The completed program looks as follows 76 5 Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Drive Commands Programs Drive Retract Move To Go At Speed Description Comment Int on Input INT GP GP GP Retract 1 in Wait For Move Set Position in Int On Position 0 9 in Remove Extend Go At Speed 1 in sec Goto Extend View Edit Retract Move To Qin Wait For Move Download Return To Extend L Abort Abort Run Control Program To Run gt 2 8 D 2 Program Edit Program Name
22. Save Debug button 21 Encoder Some versions of the IDEA drive come with an integrated encoder or can be interfaced with an external encoder The IDEA drive offers several features related to the use of the encoder When the encoder feature is in use the current position in the bottom right hand corner of the User interface is based upon the encoder not the theoretical position based upon the number of steps taken The encoder has two modes of operation Stall Compensation and Position Verification The Stall Compensation feature works by keeping track of how many steps the drive has taken in any given move and comparing that with the actual travel based on the encoder feedback If the encoder feedback shows that the rotor of the motor is four full steps behind the theoretical position the move will be stopped and restarted This allows the drive to recover from a stall and complete the assigned move Under this option the number of attempts must be entered For any given move the drive keeps track of how many times it has stopped and retried after a stall condition The drive will only stop and retry a move as many times as are specified in the Correction Attempts textbox The user can choose to have an interrupt trigger if the number of correction attempts is exhausted and the drive detects another stall Interrupts are explained on page 24 The second mode of operation with the encoder is Position Verifica
23. Set Outputs L X X X N This command is used in example 3 Set Position The Set Position command sets the position counter of the drive to the specified value ON Create Set Position Command Parameters Position The value to which the current position of the drive should be set The following program retracts the actuator 1 sets the position to 0 and then moves to the 0 5 position which causes a 0 5 extend Action Label Description Comment 0 Retract 1 in 1 Wait For Move 2 Set Position 0 in 3 Move 0 5 in 4 Wait For Move This command is used in examples 4 5 and 6 53 Reset command restarts drive similar to turning the drive off and on If used a program this command will not be executed less than 1 10 of a second after the drive has seen a reset in order to prevent an uninterruptible cycle of resets Sen Create Reset Command Parameters This command has no parameters The following program resets the drive Action Label Description Comment 0 Reset Resets the device Abort The abort command immediately stops any moves without deceleration applies the last specified holding current and halts execution of any running program Create Abort Command Parameters This command has no parameters The following program aborts the program 54 Action Label Description Comment 0 Abort Ends the program This c
24. and so on 1 2 4 8 16 32 64 Desired move is backwards 9600 1 64th steps in 1 8th step mode at a speed of 3200 1 8th steps per second starting at 1200 1 8th steps per second accelerating at a rate of 40000 1 8th steps per second per second decelerating at a rate of 100000 1 8th steps per second per second to an end speed of 2000 1 8th steps per second with a run current of 1 6 Arms accel current of 1 9 Arms decel current of 2 0 Arms and waiting 05 seconds between the last step and changing to a hold current of 0 5 Example Arms I 9600 3200 1200 2000 40000 100000 1600 500 1900 2000 50 8 followed by a Command carriage return 13 Symbol Context Arguments Response Interrupt on Position T Program Position Destination Priority None Description This command sets an interrupt to occur at a given position Arguments Argument Description Valid Values or Range 18446744073709551616 Position The position where the interrupt should be triggered to 18446744073709551615 0 to 86012 multiples of four only Must be the The address of the subroutine to be run when the address of a valid Destination interrupt is triggered command The priority of the interrupt lower values are a higher Priority priority 0 to 4 10 to disable You want to set a trip point at position 0 that runs a subroutine a
25. second waits 0 5 seconds and the stops the actuator Action Label Description Comment Go At Speed 1 in sec Wait 5 sec Stop This command is used example 5 E Stop The E Stop command brings the actuator to an immediate stop This does not halt program execution 2 Create E Stop Command Decel Curent Ams Delay Time 005 sec Hold Curent 0 558 Ams Label Comment Parameters Decel Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator stops Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes moving Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current The following program starts a move at 1 per second waits 0 5 seconds and the stops the actuator Action Label Description Comment Go At Speed 1 in sec Wait 0 5 sec E Stop 39 Jump Times The Jump N Times command goes to a specified label a specified number of times Once the number of jumps has been completed execution continues at the next line in the program if any exist 2 Create Jump N Times Command Parameters Destination This is the label of the command that should be jumped to Number of Jumps This is how many times the command should jump The following program exten
26. signal that the drive keeps track of End Speed The speed at the end of a move profile determines the time between the last and second to last step Extend Extends the actuator shaft forward The user inputs the distance and speed Items such as run current and hold current are auto populated based on the part number of the actuator These values can be over ridden provided the inserted value does not exceed the devices limitations 81 at Speed Extends retracts actuator at given speed Goto Branching statement for programming Branches to a destination label Goto if Branching statement for programming Branches to a destination label if the input conditions are met Goto Sub Branching statement for programming that navigates the program to a subroutine Hold Current The RMS current per phase that should be applied to the motor windings when the motor is at a standstill box Displays the state of each general purpose I O Int on Input Interrupt on Input This is an interrupt tha occurs when an input changes state Int on Pos Interrupt on Position This is an interrupt that occurs when the actuator reaches a specific position Interrupt An asynchronous event that causes the execution of a subroutine Jump N times Allows the program to jump N times to a specified label Label A string that identifies a command Used to branch to the command Move to Moves the actuator to a specified position Past
27. 19 Remove PASS WOK 19 Remove Program 19 Restore Factory Defaults 20 E a a 20 Return TO eee eer eee 20 R n 20 Set 1 E 21 es 21 Set P sSItIONAS ut ich saat 21 Set Start p POG AIT 21 22 SOD re A 22 Wait For OVC sted Ca oda tat ar hed isn cote ott ca aa nets an ad 23 UTEE T AN RNa TE 23 Revision History Date Description October 2010 Initial release January 2011 Added Execute Program command May 2011 Corrected response from Program command September 2011 Added information about faults Added Read Moving command Updated configure encoder command Alphabetized commands December 2011 Corrected configure encoder example April 2013 Corrected program description Corrected table of conte
28. Current Realtime None value is number Description This command requests the maximum current setting of the drive Arguments Argument Description Valid Values or Range None Example You want to check the maximum current of the drive Command j followed by a carriage return Command Symbol Context Argumenis Response Read oYES cr Moving o Realtime None oNO cr o cr Description This command requests whether the drive is moving Arguments Argument Description Valid Values or Range None Example You want to check if the drive is moving Command followed by a carriage return Command Symbol Context Arguments Response 1 name start page end Read page CR N program2 name start Program page end page CR N CR More Names N Realtime none programs would have more entries Description This command requests that all program names and addresses be sent Arguments Argument Description Valid Values or Range none Example You want to know what programs are residing on the drive Command followed by a carriage return 18 Symbol Context Arguments Response Read K program name CR If there is no Startup startup program program name will be an Program Realtime none empty string Descr
29. INDEX NO CONNECTION CHANNEL CHANNEL ACM4826E 4826 IDEA Drive Specifications Attribute Value Drive Input Voltage Range 12 48Vdc Maximum Drive Current per phase 2 6Arms Plus optional 30 boost during ramping Step Modes Full Half 1 8 1 16 1 32 1 64 Communications USB Mini B connector RS485 Digital I O Voltage Range 5 24Vdc Digital Inputs 4 Digital Sinking Outputs 4 Digital Output Maximum Sinking Current 200mA each Digital Input Maximum Current 8mA each Maximum Temperature 702C Measured at heat sink Program Storage Size Type 85 Kbytes Flash Maximum Number of Stored Programs 85 Referenced by 10 character program names Position counter range 64bit Type of Ramping Trapezoidal Interrupt sources 4 inputs rising falling or both edges internal position counter when reaching a programmed position 4826 IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA FLYING LEADS GROUND 12 TO 48 VDC JST CONNECTOR 55 5 LF SN MATING CONNECTOR 12 TO 48 VDC SUPPLY JST PHR 5S 1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS 60 0 MATING CONNECTOR 2 36 HIROSE DF3 10S 2C SEE TABLE A FOR PIN DESCRIPTIONS 4X 4 50 0 177 THRU
30. We are now at the fully retracted position to keep track of this we will use the Set Position command e Click the Set Position button Enter a position of 0 e No Label is required e You can add a comment in the comment line if you wish e Click Add At End This places this command into the program In order to force the actuator to go back to the 0 position when the 0 9 position is reached we will use an interrupt based on position e Click the Int On Pos button e Enter a position of 0 9 Enter Retract as the destination e Select 1 as priority e No Label is required e You can add a comment in the comment line if you wish e Click Add At End This places this command into the program We now want to begin moving e Click the Go at Speed button e Select Extend as the direction e Enter 1 per second as the speed e Enter Extend as the label You add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to continuously loop onto the Go At Speed command 75 Click Goto button Enter Extend as the destination No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now need the interrupt subroutines We will start with the interrupt
31. a second command that states Wait For This is also true when using and Move To commands This is a command to allow the move to finish before execution of the next command We now want to use a subroutine to toggle the outputs on and off Click the Goto Sub button e Enter the destination as Toggle e No label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to retract 0 5 e Click Retract button e Input the distance as 0 5 inches e Input the speed as 1 inch per second e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to use a subroutine to toggle the outputs on and off Click the Goto Sub button e Enter the destination as Toggle e No label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to stop the program Click the Abort button 63 Input the distance as 1 Input the speed as 1 inch per second All other parameters can be left as the defaults No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program Now we have the
32. add a comment in the comment line if you wish e Click Add At End This places this command into the program 66 We now want to move to 0 5 position Click the Move To button Enter a position of 0 5 Enter a speed of 1 per second No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now want to wait 1 second Click the Wait button Enter a delay time of 1 second No Label is required You can add a comment in the comment line if you wish Click Add At End This places this command into the program We now want to move back to the 0 position Click the Move To button Enter a position of 0 All other parameters are populated No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program The completed program looks as follows 67 Move 0 5 Wait For Move Wait 1 sec Move Qin Wait For Move 68 Example Five In this example we will first find the fully retracted position of the actuator then the actuator will move to the 0 position if input 1 is high and input 2 is low move to the 1 position if input 1 is low and input 2 is high or stop if inputs 1 and 2 are both high or both low We first want to retract the full stroke of the actu
33. be Program The name for the program if it is the same as a program exactly 10 Name already on the drive the old program will be removed characters The page number where the program should begin If the Start program overlaps with any other program the old program Location will be deleted Each page has 1024 bytes of space 1 to 85 Length The number of pages the program will take up 1 to 85 Example You want to write a program name program 1 on the first page of memory 1 1 1 followed by a carriage return Then followed by the commands that make up the program each separated by a carriage return followed by P Command followed by a carriage return Command Symbol Context Arguments Response Read Iivalue cr l cr where Current value represents the Position Realtime None motor position This command requests the position of the motor either theoretical or actual if an Description encoder is enabled Arguments Argument Description Valid Values or Range None Example You want to check the position of the drive Command I followed by a carriage return Command Symbol Context Arguments Response Read Drive k cr where Number Realtime None value is a number Description This command requests drive identifier Arguments Argument Description Valid Values or Range None Example You want to read the drive s identifier Command followed by a carriage return 16
34. be specified as High Low not tested Any set to Not Tested will be ignored the state of the when the command is executed must match all settings of high or low in order to go to the specified label otherwise the next line of the program is executed The following program extends 25 waits for the move to stop then repeats so long as input 1 is high and input 2 is low Action Label Description Comment 0 extend Extend 0 25 in 1 Wait For Move 2 Goto If extend 1 set to high 2 set to low This command is used in example 5 42 Return The return command ends a subroutine and returns execution to the location from which the subroutine was called For further explanation of subroutines see Subroutines page 22 Parameters This command has no parameters The following program runs a subroutine starting at label extend which extends the actuator 0 25 waits for the move to complete then returns then repeats Action Label Description Comment 0 start Goto Sub extend 1 Goto start 2 3 extend Extend 0 25 in 4 Wait For Move 5 Return This command is used in example 3 43 Return return to command ends subroutine clears the stack clears pending interrupts clears any Jump N Times commands and goes to a specified label For further explanation of subroutines see Subroutines page 22 XA Create Return To Command Parameters Desti
35. communications manual 4 Hardware Manuals Manuals for individual products 80 Glossary Abort Stops movement of the actuator with holding current and ends any running program Accel Boost When set to Yes the move profile will include a 30 increase in RMS current per phase during the beginning of the acceleration ramp Accel Rate The acceleration rate to be used with a move Clear Clear the entire program from the program screen Comment Allows the user to insert comments within the program Copy Allows the user to copy a given program line or lines and insert them elsewhere in the program Current position box Indicates the current position of the motor Decel Boost When set to Yes the move profile will include a 30 increase in RMS current per phase during the end of the deceleration ramp Decel Rate The deceleration rate to be used with a move Delay Time in reference to a move The time between when the last step in a move profile is taken and when the current it set to the hold current Delay Time in reference to a Wait command The amount of time that the wait command should delay execution of the next command Destination The address to which the program should branch Distance How far a move should go Download Allows the program to be downloaded into drive E Stop Abruptly stops the actuator without any deceleration Encoder A feedback device that converts position data to an electronic
36. current of 2 0 Arms and waiting 05 seconds between the last step and changing to a hold current of 0 5 Example Arms Command 2000 500 50 followed by a carriage return Command Symbol Context Arguments Response Execute Program m Realtime Program name None This command begins the execution of a program without changing the state of Description the outputs or motor Arguments Argument Description Valid Values or Range Program A string exactly 10 Name The name of the program to run characters long You want to run a program named program 1 without returning to the default Example state Command 1 followed by a carriage return 10 Command Symbol Context Arguments Response Speed Start Speed End Speed Accel Decel Run Current Hold Go At Current Accel Current Decel Speed Q RealTime Program Current Delay Time Step Mode None Description This command moves the motor to a position with the given parameters Valid Values or Arguments Argument Description Range 0 or 50 to The number of steps per second the motor should move at the 75000 or 50 to Run Speed top speed in the given step mode 75000 0 or 50 to 75000 Must be less Start The number of steps per second the motor should move when than Run Speed starting the move in the given step mode Speed 0 or 50 to 75000 Must be less The number of steps per second the motor s
37. main body of the program but we still need the Toggle subroutine Click the Set Outputs button Select High for each of the four outputs Enter Toggle as the label You can add a comment in the comment line if you wish Click the Add At End button This places the command in program Now we need to wait 0 1 seconds Click the Wait button Enter 0 5 seconds as the delay time No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program Now we need to set the outputs low Click the Set Outputs button Select Low for each of the four outputs No label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program 64 Now we need to return to the main body of the program go back to where the subroutine was called from we use a Return command e Click the Return button e No label is required You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program The completed program looks as follows 55 Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime InputConfiguration Drive Commands Programs On Drive Encoder Help 05 7 se Extend 0 5
38. output The more significant nibble decides which of those conditions are to be tested with a 1 representing an input or output should be tested The least significant bit corresponds to Condition inputi the next to input 2 and so 0 to 65535 Example You want to continue execution at address 1024 if input 2 is high Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Total 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 34 L1024 34 followed a carriage return Command Symbol Context Argumenis Response Goto Sub 5 Program Destination None This command causes the program to execute the subroutine at the given Description destination Arguments Argument Description Valid Values or Range 0 to 86012 multiples of four only The address of the subroutine that should be Must be the address of a valid Destination run command Example You want to run a subroutine at address 1024 Command 51024 followed a carriage return 12 Command Symbol Context Arguments Response Distance Speed Start Speed End Speed Accel Decel Run Current Hold Current Accel Current Decel Current Delay Time Index RealTime Program Step Mode None This command moves the motor forward or backwards a defined number of steps Description with the given parameters
39. phase will be 30 greater than the set run current during the acceleration ramp if the ramp is 300ms or less in duration For longer ramps the current per phase will be increased for the first 300ms and will be the set run current for the 17 remainder of the ramp same is true for the deceleration ramp if the deceleration current boost is chosen except that in the case of a ramp over 300ms it will be the last 300ms of the ramp to be boosted Note It is important for the user to ensure that the current boost feature is not over used Repeated long ramp without rest can damage the motor if the boosted current is above the rated current of the motor 18 Password Protection The IDEA drive has a password protection feature When enabled this feature prevents any program from being read back without the correct password Passwords can be up to 10 characters in length and cannot contain the character Spaces at the end of the password are ignored so Password1 is the same as Password Password protection does not prevent programs from being erased from or written to the drive This feature is only meant to ensure that programs on password protected drives can not be copied by a third party Note If a drive has been password protected and the password has been lost there are two options The first is to send the drive back to Haydon Kerk Motion Solutions where the password can be recovered for a fee The
40. problem persists contact Haydon Kerk Unknown Error If you ever receive this error make a note of what you were doing at the time and contact Haydon Kerk View Command String The IDEA drive can be used without the GUI by sending serial commands to it directly from your own programs or devices In order to help in the development of these applications a feature has been created that will show you the string that will be sent for a given command To access this feature select the File menu then the Preferences item then Enable Command Strings Once this is enabled when you are editing parameters for commands the string that would be sent to the drive will appear near the bottom of the window 28 For some commands such as Goto Goto Sub there will be values that cannot be displayed because the location of the program on the drive is not yet known These values will appear as Address and will need to be calculated based upon where in the final program the destination will reside as well as the start page of the program 29 Explanation of Commands Extend Index CW The extend command moves the actuator shaft a specified distance forwards from its current location When using a rotary motor this command rotates the motor clockwise as viewed from the output shaft Create Extend Command
41. second option is to use the Restore Factory Defaults option under the Drive Commands menu This will remove the password protection but all programs on the drive will also be lost Inputs and Outputs The IDEA drive has four optically isolated inputs and four optically isolated open collector outputs The voltage range for these is 5 24VDC As the outputs are open collector they will need a pull up resistor tied to the Opto supply The outputs are capable of sinking up to 200mA each Note When an input is not connected to anything it is seen as logic high This allows connecting two IDEA drives without the use of pull up resistors Note The inputs can be used in two ways They can be connected to logic levels that swing between opto ground and opto supply or they can be attached to a switch connected to opto ground In the second configuration when the switch is open the drive will see this as a logic 19 high when the switch is closed and the input is connected to opto ground the drive will see this as a logic low Note When an input is connected to a mechanical switch or relay a phenomenon called bounce can occur When the switch contact is almost closed several electrical arcs can form If an input is being used as an interrupt each arc will be seen as a rising and falling edge causing several false interrupts to trigger Any input being used as an interrupt source should only be attached to solid state
42. the motor to a position with the given parameters Arguments Argument Description Valid Values or Range 18446744073709551616 The positive or negative position based 1 64th steps to Position the motor should move to 18446744073709551615 The number of steps per second the motor should move Run Speed the top speed in the given step mode 0 or 50 to 75000 Start The number of steps per second the motor should move 0 or 50 to 75000 Must Speed when starting the move in the given step mode be less than Run Speed The number of steps per second the motor should move 0 or 50 to 75000 Must End Speed when ending the move in the given step mode be less than Run Speed Rate at which the speed should rise from the Start Speed Accel Rate to the Run Speed 0 or 500 to 16777215 Rate at which the speed should fall from the Run Speed Decel Rate to the Final Speed 0 or 500 to 16777215 Run 0 to 3850 dependant on Current The rms current in milliamps for the move Drive Hold The rms current in milliamps for after the move has 0 to 3850 dependant on Current completed Drive Accel The rms current in milliamps for the acceleration portion 0 to 5005 dependant on Current of the move Drive Decel The rms current in milliamps for the deceleration portion 0 to 5005 dependant on Current of the move Drive The time in milliseconds between the last step of a Delay move and when the current is set to the hold current 50 to 300 Defines
43. 000 40000 100000 1600 500 1900 2000 50 8 followed by a carriage Command return 11 Command Symbol Context Arguments Response Goto G Program Destination None Description This command causes the program to continue execution at the specified address Arguments Argument Description Valid Values or Range 0 to 86012 multiples of four only The address of the command that should be Must be the address of a valid Destination run command Example You want to continue execution at address 1024 Command G1024 followed by a carriage return Command Symbol Context Arguments Response Destination Condition None This command causes the program to continue execution at the specified address Description if the condition is met Valid Values Arguments Argument Description or Range 0 to 86012 multiples of four only Must be the address of a valid Destination The address of the command that should be run command 2 bytes indicating which are tested and the test values for each The least significant byte corresponds to the inputs and the most significant byte corresponds to the outputs For each byte the least significant nibble represents the condition being tested a 1 meaning a high input or output and a 0 representing a low input or
44. 1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE DF3 10S 2C SEE TABLE A FOR PIN DESCRIPTIONS PIN 10 4X 4 50 0 177 THRU TABLE A PIN POSITION DESCRIPTION NOTES 1 GROUNDI O SUPPLY 5 TO 24 VDC PIN2 I OSUPPLY 5 24 VDC INPUT 1 INPUT 2 PINS INPUT 3 _ 1 PING INPUT 4 pe f ourora M PIN 8 OUTPUT 2 pno ourora bye S 284506 4 4 5 TERMINAL BLOCK CONN GROUND 12 75 VDC 22 0 0 866 8 7 0 34 23 25 0 9153 79 PC COMMUNICATIONS 76 0 USB CONNECTOR 48 0 2 992 MINIB 97 5 0 0 197 JST CONNECTOR S5B PH K S LF SN MATING CONNECTOR JST PHR 5 SEE TABLE B FOR PIN DESCRIPTIONS TABLE DESCRIPTION 5V GROUND INDEX NO CONNECTION CHANNEL 13 CHANNEL Connections Basic Wiring To connect power to the drive and control it with the IDEA Drive User Interface you will need the following A power supply minimum of 12VDC APC Power cable available from Haydon Kerk p n 56 1348 Haydon motor terminated with Molex connector 39 01 2040 4806 amp 4826 drives only 7539 drive has screw terminals for a motor connection 10 wire I O cable available from Haydon Kerk p n 56 1352 Note this cable is only required if the drive is interacting with an external device PCM U
45. 1 64 Communications USB Mini B connector RS 485 Digital I O Voltage Range 5 24Vdc Digital Inputs 4 Digital Sinking Outputs 4 Digital Output Maximum Sinking Current 200mA each Digital Input Maximum Current 8mA each Maximum Temperature 702C Measured at heat sink Program Storage Size Type 85 Kbytes Flash Maximum Number of Stored Programs 85 Referenced by 10 character program names Position counter range 64bit Type of Ramping Trapezoidal Interrupt sources 4 inputs rising falling or both edges internal position counter when reaching a programmed position ACM4806E IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA FLYING LEADS GROUND 12 TO 48 VDC SUPPLY 12 TO 48 VDC JST CONNECTOR S5B PH KS LF SN MATING CONNECTOR JST PHR 5 SEE TABLE FOR 34 4 PIN DESCRIPTIONS 1 354 COMMUNICATION 1 PIN 1 HIROSE CONNECTOR INPUT OUTPUT DF11 6DP 2DS 24 HIROSE CONNECTOR 2 PLACES DF3A 10P 2DS 60 0 MATING CONNECTOR MATING CONNECTOR HIROSE DF11 6DS 2C HIROSE DF3 10S 2C SEE TABLE FOR SEE TABLE A FOR PIN DESCRIPTIONS PIN DESCRIPTIONS PIN 10 4 50 0 177 THRU PIN4 B PIN 3 B MOTOR CONNECTOR MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUG IN MOL
46. Attempts The number of times the drive should attempt any given move 51 Interrupt Select this if you want an interrupt to triggered when the drive has exhausted the correction attempts Destination Label This is the label of the subroutine that should be called when the correction attempts are exhausted Priority This is the priority of the interrupt Position verification This should be selected if the position verification feature is to be used Maximum Error This is the allowable distance from the desired position If the drive is farther from the desired position it will move to correct The following program configures the encoder and then extends Action Label Description Comment 0 Encoder Configuration Enabled 1 Extend 1 in 2 Wait For Move Set Outputs The Set Outputs command sets the logic state of the outputs SON Create Set Outputs Command Output 1 Output 2 Output 3 change change Y no change Parameters Outputs Each output is individually set as either high which will bring the outputs to the opto supply voltage low which brings the output to the opto ground voltage or no change which will leave the output in its current state 52 The following program sets output 1 high waits 0 5 seconds and then sets output 1 low During this outputs 2 3 and 4 are unchanged Action Label Description Comment Set Outputs H X X X Wait 0 5 sec
47. C INPUT 4 OUTPUT 4 PIN POSITION PIN 1 2 10 GROUND 12 TO 48 VDC 4X 4 50 0 177 THRU JST CONNECTOR 55 5 1 5 MATING CONNECTOR JST PHR 5 38 0 2 36 1 50 SEE TABLE B FOR PIN DESCRIPTIONS PC COMMUNICATIONS USB CONNECTOR MINIB TABLE B DESCRIPTION INDEX NO CONNECTION CHANNEL CHANNEL 10 ACM7539E 7539 IDEA Drive Specifications Attribute Value Drive Input Voltage Range 12Vdc up to the lesser of 8 times the motor voltage or 75Vdc Maximum Drive Current per phase 3 85Arms Plus optional 30 boost during ramping Step Modes Full Half 1 8 1 16 1 32 1 64 Communications USB Mini B connector RS 485 Digital I O Voltage Range 5 24Vdc Digital Inputs 4 Digital Sinking Outputs 4 Digital Output Maximum Sinking Current 200mA each Digital Input Maximum Current 8mA each Maximum Temperature 702C Measured at heat sink Program Storage Size Type 75 Kbytes Flash Maximum Number of Stored Programs 75 Referenced by 10 character program names Position counter range 64bit Type of Ramping Trapezoidal Interrupt sources 4 inputs rising falling or both edges internal position counter when reaching a programmed position 11 ACM7539E ID
48. Command Symbol Context Arguments Response Set Password p Realtime Password None Description This command sets a password if none exists Arguments Argument Description Valid Values or Range Password The desired password A string exactly 10 characters long Example You want to set the password as password Command ppassword followed by a carriage return Command Symbol Context Arguments Response Set Position 2 Realtime Program New Position None Description This command adjusts the position counter Arguments Argument Description Valid Values or Range New The position as 1 64th steps you would like the 18446744073709551616 Position current position to become to 18446744073709551615 Example After homing you want to set the current location to 0 Command Z0 followed by a carriage return Command Symbol Context Arguments Response Set Startup Program Realtime Program name None Description This command sets a program as the startup program Arguments Argument Description Valid Values or Range Program A string exactly 10 Name The name of the program to start on power up reset characters long Example You want to set a program named program 1 as the startup program Command Uprogram 1 followed by a carriage return 21
49. EA Drive Engineering Drawings PIN1 MATING CONNECTOR HIROSE DF3 10S 2C SEE TABLE A FOR PIN DESCRIPTIONS PIN 10 4x 4 50 TABLE PIN POSITION DESCRIPTION NOTES PIN 1 GROUND I O SUPPLY 5 TO 24 VDC PIN2 SUPPLY 5 24 VDC PIN3 INPUT 1 PIN4 INPUT 2 PINS INPUT 3 PIN6 INPUT 4 PIN7 OUTPUT 1 PINS OUTPUT 2 INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUGIN TYCO CONNECTOR 284506 2 VIA FLYING LEADS 12 75 VDC SUPPLY INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS 0 177 THRU PINT A PINT A 4 5 TERMINAL BLOCK CONN GROUND 23 25 0 9153 5 0 0 197 JST PHR 5 TABLE B 9 OUTPUT 3 PIN 10 OUTPUT 4 DESCRIPTION Y NON INVERTING DRIVER OUTPUT 2 INVERTING DRIVER OUTPUT GROUND GROUND NON4NVERTING RECEIVER INPUT INVERTING RECEIVER INPUT 12 MOTOR CONN AMP 284506 4 12T0 75 VDC JST CONNECTOR SSB PH K S LF SN HIROSE CONNECTOR 0 11 60 205 24 2 PLACES MATING CONNECTOR HIROSE DF11 6DS 2C SEE TABLE FOR PIN DESCRIPTIONS MATING CONNECTOR SEE TABLE FOR PIN DESCRIPTIONS TABLE DESCRIPTION 5V GROUND INDEX NO CONNECTION B CHANNEL A CHANNEL 7539 IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA FLYING LEADS 12 75 VDC SUPPLY PIN
50. EX DUAL ROW CONNECTOR 39 01 2040 PIN2 A 1 TABLE TABLE TABLE PIN POSITION DESCRIPTION NOTES PIN DESCRIPTION DESCRIPTION GROUND I O SUPPLY 5 24 VDC 1 Y NON INVERTING DRIVER OUTPUT 5V 2 Z INVERTING DRIVER OUTPUT GROUND euT 1 3 GROUND INDEX NO CONNECTION tae 4 GROUND CHANNEL 5 _ A NON INVERTING RECEIVER INPUT CHANNEL OUTPUTA 6 INVERTING RECEIVER INPUT OUTPUT 2 OUTPUT 3 PIN 10 OUTPUT 4 PCM4806E IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA FLYING LEADS 12 TO 48 VDC SUPPLY 52 0 2 05 PIN 1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE DF3 10S 2C SEE TABLE FOR PIN DESCRIPTIONS a PIN 10 MOTOR CONNECTOR MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUGIN MOLEX DUAL ROW CONNECTOR 39 01 2040 TABLE A GROUND I O SUPPLY 5 TO 24 VDC 1 O SUPPLY 5 TO 24 VDC mner Sd PINS INPUT 3 PING PINS ourpuT3 pinto ourpura PIN 7 GROUND 12 48 VDC JST CONNECTOR SSB PH K S LF SN MATING CONNECTOR 60 0 JST 5 38 0 2 36 1 50 SEE TABLE FOR PIN DESCRIPTIONS 4X 4 50 0 177 THRU PIN 3 B PC COMMUNICATIONS USB CONNECTOR MINIB TABLE DESCRIPTION
51. SB version USB to Mini B USB cable available from Haydon Kerk p n 56 1346 ACM RS 485 version USB to Mini B USB cable available from Haydon Kerk p n 56 1346 RS 485 cable available from Haydon Kerk p n 56 1536 4 USB to RS 485 converter available from Haydon Kerk p n UTR4852 The following page contains the proper wiring diagram for the IDEA drive power supply and PC The 1 0 and encoder cables are omitted 14 Basic Wiring Diagram Switch 12 48 VDC 12 75 VDC 7539 ONLY power supply Power cable 56 1348 5 485 cable 56 1536 4 USB cable 56 1346 USB to RS 485 nia UTR4852 USB cable 56 1346 a Motor terminated with Molex 39 01 2040 or spliced to Haydon p n 56 1453 7539 drive is coupled with a screw terminal connector for a connection to the motor Accessories Accessories Part No USB Cable A to Mini B 2 meters 56 1346 Power Cable 1 meter 56 1348 Cable 1 meter 56 1352 RS 485 Cable 1 meter 56 1536 4 Software Installation Disk 55 010 Motor Connector Assembly 56 1453 USB to RS 485 Adapter UTR4852 Encoder Cable with flying leads 1 foot 56 1715 Encoder Harness to E4 encoder 1 meter 56 1639 4 Encoder harness to E5 E6 encoder 1 meter 56 1621 4 15 RS 485 Pin Descriptions Hirose Connector 1 6 205 24 Mating Connecto
52. You can change from one of these modes to any other assuming the correct bus configuration is present through the Comm Mode menu item in either the Realtime or Program screens 12 Offline In this mode no communication is present so Realtime screen is unavailable as well as the drive commands and ability to program e Single This is the simplest communication mode In this mode only 1 drive should be attached per USB port All functions are available e Addressed This mode is available for the command of one drive on a bus with multiple additional IDEA drives This mode will behave the same as single mode but can be used with multiple drives on a single bus so long as each drive has a different identifier Addresses can be set through the Set Drive Address menu item in the Drive Commands menu e Broadcast In this mode many drives can be on the same bus regardless of their identifiers This mode is more limited than single or addresses as commands will be sent to the drives but no messages will be received from the drives All drives will execute any commands sent Maximum Speed The maximum speed of the drive is 25000 full steps per second This limit is due to the amount of time it takes the processor to calculate the time to the next step while ramping When microstepping the time between each step is even less so to allow for microstepping and a maximum speed of 25000 steps
53. a program to start on power up the set Startup Program option under Drive Commands is used In the associated window the current startup program is displayed in bold and a new startup program can be selected using the drop down menu of all programs currently on the drive If it is desired to not have a startup program No Startup Program should be selected Saving Loading Combining Programs The IDEA user interface allows for programs to be saved to your computer or other drives To do this once the program is complete go to Save in the File menu This will open a save file dialog box It is recommended that programs be backed up using the save function to protect your work incase the program on the drive is overwritten To open a saved file go to Open in the File menu This will open an open file dialog box The IDEA user interface also provides the ability to combine two or more different programs With a program open go to Add File in the File menu This will open an open file dialog The file you select will be added to the end of the current program This can be done multiple times to combine multiple programs Autosave The IDEA user interface provides an autosave feature to protect against losing all of your work Once every minute if the program is non empty the 16 user interface automatically saves the file If the program crashes is accidentally erased the pro
54. al 1 Wiring The IDEA drive has four optically isolated inputs and four optically isolated open collector outputs A power supply is necessary to activate the opto isolators with a voltage range of 5 24VDC As the outputs are open collector they will need a pull up resistor tied to the I O supply if a high level voltage is required The outputs are capable of sinking up to 200 each Note The inputs can be used in two ways They can be connected to logic levels that swing between 1 0 supply ground and 1 0 supply or they can be attached to a switch connected to I O supply ground In the second configuration when the switch is open the drive will see this as a logic high when the switch is closed and the input is connected to I O supply ground the drive will see this as a logic low Note When an input is connected to a mechanical switch or relay a phenomenon called bounce can occur When the switch contact is almost closed several electrical arcs can form If an input is being used as an interrupt each arc will be seen as a rising and falling edge causing several false interrupts to trigger Any input being used as an interrupt source should only be attached to solid state devices or a switch with debounce circuitry Digital Output Wiring Examples I O Supply Ground 1 5 24 Supply Pin 2 1 2 ee gt Pullup Resistor 1
55. ator e Click Retract button e Input the distance as 1 e Input the speed as 0 5 inch per second Select 1 4 as the step mode e All other parameters can be left as the defaults e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program Note You will notice that when the retract command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Extend and Move To commands This is a command to allow the move to finish before execution of the next command We are now at the fully retracted position to keep track of this we will use the Set Position command e Click the Set Position button Enter a position of 0 e No Label is required You can add a comment in the comment line if you wish e Click Add At End This places this command into the program We now move based on the input status Set up the first Goto If 69 Click Goto If button Enter Retract as the destination Set Input 1 is High Set Input 2 as Low Set Inputs 3 and 4 as Not Tested Enter Test as the label You can add a comment in the comment line if you wish Click the Add At End button This places the command in program Set up the second Goto If Click the
56. bug Output section as is it executed This debugger can be run in two ways manually telling the drive to execute one command at a time Single stepping or executing multiple commands in a row until reaching one of the user programmed labels to Label Through this feature the ease of debugging complex programs is greatly increased Program Mode Below is a screenshot of the user interface in Program Mode This mode is available even without a drive attached Haydon Kerk IDEA Drive Interface Program Program Mode File Edit Realtime Input Configuration Drive Commands Programs On Drive Encoder Motion Program Flow forprogramming Speed Retum Retum To Goto Sub Abort Stop E Stop Wait wat For Move Dnata Program Edit Extend 0 4 in Wait For Move Wait 1 sec Retract 0 2 in Wait For Move Remove Wait 1 sec Extend 0 6in View edt Wait For Move Wait 1 sec Download Retract 0 2 in Wait For Move Run Control Program Run S Current Position Program Area 0 1 2 3 4 5 6 7 8 9 1 000 0 22274 Inputs OEEC Program length The I O and position section provides constant feedback from drive pertaining to the current state of the drive This area can also be used to control the state of the out
57. d otherwise Destination This is the label for the subroutine associated with the interrupt Trigger Type If Falling Edge is selected the interrupt will be triggered when the input goes from a logic high to a logic low If Rising Edge is selected the interrupt will trigger when the input goes from logic low to logic high If Both Edges is selected the interrupt will trigger any time the state of the input changes The following program sets an interrupt for the rising edge of input 1 and then loops continuously When input one changes to logic high output 1is set to high Action Label Description Comment 0 Int on Input INT GP GP GP 1 goto Goto goto 2 set Output Set Outputs H X X X 3 Return 50 Encoder The Encoder command sets the encoder configuration For more information on the encoder feature see Encoder page 21 Create Encoder Command C Encoder Enabled Label Comment Execute Command Cancel Parameters Encoder Enabled If any of the encoder features are to be used this must be selected Encoder Resolution This is the resolution of the encoder to be used in pulses per channel per revolution which is equivalent to optical lines when using an optical encoder Stall Compensation If this is selected any time the motor stall during move the drive will stop and the move and try again up to the number of times specified in Correction attempts Correction
58. devices or a switch with debounce circuitry In many cases it is desirable to test a program that uses the inputs and outputs without actually connecting the hardware In the bottom right hand corner of the user interface there are eight circles each representing one of the I O These show the current state of all the inputs and outputs with a green filled circle representing logic high and an empty circle representing logic low While a program is not running or while a program is being used in the debug mode these output circles can be clicked to toggle the state of the outputs Simulating Inputs Since the inputs are controlled externally under normal circumstances the user does not control them through the user interface If it is desired to control the inputs through the user interface the simulate Inputs feature can be accessed through the Drive Commands menu When this feature is turned on the actual states of the inputs are ignored and the user interface tells the drive what state to consider the inputs to be Note The simulate inputs feature cannot be turned on or off while a program is running 20 Debugger The IDEA user interface has a debugger to help in troubleshooting programs The debugger is available in the Realtime mode Once in the Realtime mode the program to be debugged is selected either by the Program to Run drop down or through the Programs on Drive menu Once the program is selec
59. diately after the Goto Sub 24 The second way to call subroutine is through interrupts Interrupts occur at any time and are explained in the interrupts section page 24 When a subroutine is called by an interrupt the address stored in the stack is the address of the command which would have next been executed If the interrupt is triggered during a Wait or Wait For Move command the address of the Wait or Wait For Move command is stored and if the subroutine is exited by the Return command the wait is resumed until it s completion Note If a Wait command is interrupted the time spent executing the interrupt or interrupts counts toward the Wait command s delay time Interrupts The IDEA drive has three different types of interrupts input triggered position triggered and encoder triggered All three operate in the same fashion the difference being only how they are triggered When an interrupt is triggered it branches to a subroutine with a specific priority All interrupts need two parameters the label of the subroutine to be run when triggered and the priority For more information on subroutines see Subroutines page 22 The priority of the interrupt determines the order in which any pending interrupts are serviced If an interrupt is triggered while a lower priority interrupt is being serviced the program immediately begins servicing the new interrupt If an inte
60. ding active cooling Encoder Error This error occurs when the encoder encounters a problem or when the encoder feature is used without an encoder attached If you do not have a unit with an encoder do not turn on the encoder features If you do have a unit with an encoder and this error continues to occur contact Haydon Kerk Interrupt Queue Full This error occurs when a running program encounters more than 10 interrupts of the same priority without having serviced any This could occur due to an interrupt source causing multiple extraneous interrupts or by one interrupt subroutine not returning thus 27 preventing execution of any other interrupts Check your interrupt sources and ensure that all interrupt subroutines end in a Return or Return To command Loop Overflow This error occurs when a running program is in more than 10 Jump N Times commands at once Ensure that the running program does not nest more than 10 Jump N Times commands Drive Current Limit This error occurs when the drive is given a command with a current setting higher than its capability Check that when you entered the user interface you set the correct part number for the motor and that the drive you are using is appropriate for that motor Bad Checksum update aborted This error is most likely caused by communications being interrupted during a firmware update Hit OK and attempt to update the firmware again If the
61. ds 25 waits for the move to stop then repeats 3 times Note Because the command goes to the extend command 3 times from the jump n times command the extend is performed a total of 4 times Action Label Description Comment 0 extend Extend 0 25 in 1 Wait For Move 2 Jump N Times extend Number of Jumps 3 This command is used in example 2 40 Goto The Goto command goes to a specified label Create Golo Command Parameters Destination This is the label of the command to which the program will go The following program extends 25 waits for the move to stop then repeats until the program is aborted Action Label Description Comment 0 extend Extend 0 25 in 1 Wait For Move Goto extend This command is used in examples 1 5 and 6 41 Goto If The Goto If command goes to a specified label if the current states of the inputs match the specified conditions and goes to the mext line in the program otherwise ON Create GoTo If Command Destination label Input 1 Input 2 Input 3 Input 4 not tested not tested not tested not tested Output 1 Output 2 Output 3 Output 4 not tested not tested not tested not tested Label Comment Parameters Destination This is the label of the command that should be jumped to Inputs Outputs Each I O can
62. e Commands The following describes the commands that make up the IDEA drive communications language as well as the format for any response required from the drive When quotation marks are present the text in between the quotation marks is the important string and the quotation marks themselves should not be included When cr is shown it is referring to the Ascii carriage return character not to be confused with a line feed character When parameter is shown where parameter is the name of a parameter it is representing some variable with that name and the brackets will not be part of the string The contexts listed below indicate when each command can be used Realtime commands can only be executed by direct command to the drive such as requesting the current position Program commands can only be a part of a program and are generally branching or similar commands such as Goto Realtime Program commands can be used anytime and are generally motion related commands such as Index For further explanation of the commands refer to the IDEA drive users manual Command Symbol Context Arguments Response Abort A Realtime Program none None This command causes the drive to immediately stop and ends the execution and of Description any programs Valid Values Arguments A
63. e Used in conjunction with the copy or cut functions After one or more commands are selected another location in the program is then highlighted by the user The paste button is then pressed and the line or lines are inserted above the highlighted line Plot Any move can be shown as a plot of speed vs time Highlight the move command of interest then press the plot button Position A location based upon the drive s internal position counter or encoder counter when enabled Priority The determining factor in which interrupts are serviced first Program name box This is the location on the screen where the name of the program is inputted by the user The program is stored in the drive under this name 82 Program to box This is a drop down menu that list the programs stored on the drive Double clicking on a given name populates the program into the program screen and creates that program as the active program in the drive Remove This is used to remove one or more lines from a program Highlight the lines to be removed Then click the remove button Reset This command simulates turning the drive off and on again Retract Retracts the actuator shaft The user inputs the distance and speed Items such run current and hold current are auto populated based on the part number of the actuator These values can be over ridden provided the inserted value does not exceed the devices limitations Return Used in conjunction with th
64. e goto sub command or interrupts At the end of a subroutine the return command returns to the program to the very next line after the Goto sub line command or the command that was going to be executed before the interrupt was triggered Return to Used in conjunction with the goto sub command or interrupts At the end of a subroutine the return to command returns to the command at a specified label location Run Current The RMS current per phase to be applied to the motor windings during a move Set outputs Allow the programmer to set general purpose outputs Set position Used to change the current position Using this command the position counter can be adjusted usually after a homing routine Then other commands such as move to or interrupt on position can be used in relationship with this set position Speed The desired top speed for a move Start Large green button Starts running a program Start Speed The speed that a move profile should start at determines the time between the first and second step Step Mode Sets how many microsteps are taken for each full step of the motor 83 Stop Stops movement of the actuator with specified deceleration Stop Large red button Immediately stops the motor and program when pressed Subroutine A section of code used that is entered by using an interrupts or the Goto Sub command Subroutines must end with a Return or Return To co
65. eed to the end speed If this is set to 0 then the retract will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp is used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set run current fora maximum of 300ms The following program retracts the actuator 1 and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Retract 1 in 1 Wait For Move This command is used in examples 1 2 3 4 5 and 6 33 Move To The move to command moves the actuator shaft to a specific location based upon the internal position counter or encoder gt Create Move To Command Parameters Position This is the position to which the actuator will move Speed This is the top speed at which the actuator will move Run Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator moves Hold Current This is the RMS current per phase that will be applied to the windings when the actua
66. ent per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms The following program moves the actuator for 1 second Action Label Description Comment 0 Go At Speed 1 in sec 1 Wait 1 sec This command is used in example 6 37 Stop The Stop command brings the actuator to a stop with an optional deceleration ramp This does not halt program execution SN Create Stop Command in sec BE 0 05 in sec sec Parameters End Speed This is the speed at which the move will end if a deceleration ramp is used Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the move will end at the run speed Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current Decel Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator stops Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes moving Step Mode This is the step resolution to be used for this move Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set decel current for a maximum of 300ms 38 The following program starts move at 1
67. ep 2 is a half Step Mode step and so on 1 2 4 8 16 32 64 You wish to stop the motor 1 8th step mode decelerating at a rate of 100000 1 8th steps per second per second to a end speed of 2000 1 8th steps per second with a current of 1 6 Arms decel current of 2 0 Arms and waiting 05 seconds Example between the last step and changing to a hold current of 0 5 Arms Command 2000 100000 1600 2000 500 50 8 followed by a carriage return 22 Symbol Context Arguments Response Wait For Move F Program none None This command causes the program to delay execution of the next command until Description the motor has stopped moving Arguments Argument Description Valid Values or Range none You have started a move command and do not want the next command to execute Example until the move has finished Command F followed by a carriage return Command Symbol Context Arguments Response Wait Time Program Time None This command causes the program to delay execution of the next command for a Description specified time Valid Values Arguments Argument Description or Range The amount of time in milliseconds that the command should be Time delayed 0 to 65535 You have started a move command and do not want the next command to execute Example for 1 second Command 1000 followed by a carriage return 23
68. ey must each be given a unique identifier a number between 0 and 255 This must be done with only one drive attached The user interface has a function built in to make this process simple Once each drive on the bus has its own identifier any command that is sent starting with the character followed by an identifier followed by the normal command will be ignored by any drive whose identifier does not match the provided identifier For example to send an abort command to the drive whose identifier is 123 the controller would send 123A followed a carriage return If a command should be executed by all drives at once the controller would omit the pound and identifier It is important that the controller never request a response from all the drives at once as this will cause a data collision when all the drives attempt to respond at once One major difference between using this command set to control the drive and using the IDEA drive user interface is there are no protections when using the command language The user interface ensures that based upon the part number entered no improper values are sent to the drive with this command set it is the responsibility of the user to ensure that no damage is done to the drive motor or other equipment through the incorrect use of commands The parameters for serial communication are as follows Bits per Second 57600 Data bits 8 Parity none Stop Bits 1 Flow Control Non
69. gram can be recovered through the Recover Autosave option under the File menu This will restore the most recently autosaved program Note If you lose a program and wish to recover it through this feature be sure not to open any other programs first If this is done the autosave feature may overwrite the file you wish to recover Over Current Protection The IDEA drive and user interface provide protection against overdriving the current in the actuator When the user interface is opened the part number entered for the motor provides the necessary information to calculate the maximum current of the motor The user interface uses this to prevent the user from entering values that would be damaging to the motor When the user interface is started with a drive attached the drive informs the user interface of the maximum current of the drive The user interface then prevents the user from entering values that would be damaging to the drive The drive also has internal protections so that if a program that was written for a larger drive is downloaded to a drive that cannot handle the current values in the program and that program is run the drive will abort the program and raise a drive current limit error Accel Decel Current Boost The IDEA Drive provides the ability to boost the current for the acceleration ramp and deceleration ramp independently If the acceleration current boost option is set to yes then the current per
70. grams on the drive and their page locations Also provides a graphical representation of the used space in the drive 2 Set Startup Program Used to choose what program if any should begin execution when the drive starts up 3 Delete Program Used to remove programs from the drive 4 Input Simulation This item toggles the drive between using the true input status or the simulated status through the user interface 5 Set Drive Address Used to change the address of the current drive 6 Set Change Password Used to configure the password of the drive 7 Restore Factory Defaults Removes password protection from the drive and removes all programs on the drive 8 Firmware Version Used to find the firmware version of the drive 9 Update Firmware Used to reprogram the drive with the firmware version that was most recent when the user interface was installed Communications Mode Opens the communications mode dialog box This allows for switching between the for communications modes e Programs on Drive Shows a list of the programs that are on the drive Clicking on a program loads that program to the program area The startup program if one exists appears in bold on this list 79 Help Allows access to information about the user interface and drives 1 About Displays a brief description of Haydon Kerk and its products 2 User s Manual Displays this manual 3 Communications Manual Opens the
71. guments Response Configure DeadBand StallHunts Encoder Realtime Program Destination Priority None Description This command configures the encoder Arguments Argument Description Valid Values or Range The number of 1 64 steps away from the desired location 1 to 65535 or 0 to where the drive will begin to correct disable The number of attempts at a given move the drive will Stall Hunts make 0 to 255 0 to 86012 multiples of four only Must be the The address of the subroutine that should be run after all address of a valid Destination stall hunts are exhausted if desired command The priority of the interrupt for when the stall hunts are Priority exhausted 0 to 4 10 to disable Encoder The resolution of the encoder being used in pulses per Motor resolution to Resolution channel per revolution 10000 Motor The resolution of the motor being used in full steps per Resolution revolution 20 to 400 You have 1000 line encoder 1 82 motor you want the drive to correct for position errors greater than 1 full step retry moves twice and do not want to trigger Example an interrupt after the second failure Command Z64 2 0 10 1000 200 followed by a carriage return Command Symbol Context Arguments Response config input2 config input3 config input4 config intput1 destination input2 destination input3 Configure destination input4 destination input1 Input priority input2 prio
72. hen stops the actuator Action Label Description Comment Go At Speed 1 in sec Wait 0 5 sec Stop This command is used in examples 1 3 and 4 46 The For Move command delays execution of the next command in program until a move has completed This command is automatically added after every Extend Retract and Move To but can be removed if necessary SOS Create Wait For Finish Command Parameters This command has no parameters The following program extends the actuator 1 and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Extend 1 in 1 Wait For Move This command is used in examples 1 2 3 4 5 and 6 47 Int Pos The int on pos command sets an interrupt to be triggered when the actuator reaches a specified position For further explanation of interrupts see Interrupts page 24 ON Create Interrupt On Position Command Parameters Position The position based upon the position counter of the drive at which the interrupt should be triggered Destination The label of the subroutine that should be executed when the position is reached Priority The priority of the interrupts Note If an interrupt is set for a position and the position counter is adjusted through the use of the Set Position command the interrupt will still occur at the same po
73. hould move when than Run End Speed ending the move the given step mode Speed Rate at which the speed should rise from the Start Speed to the 0 or 500 to Accel Rate Run Speed 16777215 Rate at which the speed should fall from the Run Speed to the 0 or 500 to Decel Rate Final Speed 16777215 0 to 3850 Run dependant on Current The rms current in milliamps for the move Drive 0 to 3850 Hold dependant on Current The rms current in milliamps for after the move has completed Drive 0 to 5005 Accel The rms current in milliamps for the acceleration portion of the dependant on Current move Drive 0 to 5005 Decel The rms current in milliamps for the deceleration portion of the dependant on Current move Drive The time in milliseconds between the last step of a move and Delay when the current is set to the hold current 50 to 300 Defines the step size where 1 is a full step 2 is a half step and Step Mode soon 1 2 4 8 16 32 64 Desired move backwards in 1 8th step mode at a speed of 3200 1 8th steps per second starting at 1200 1 8th steps per second accelerating at a rate of 40000 1 8th steps per second per second decelerating at a rate of 100000 1 8th steps per second per second to an end speed of 2000 1 8th steps per second with a run current of 1 6 Arms accel current of 1 9 Arms decel current of 2 0 Arms and waiting 05 seconds between the last step and changing to a hold current of 0 5 Example Arms Q 3200 1200 2
74. ide information on using the IDEA family of products from Haydon Kerk Motion Solutions For information pertaining to a specific product see the appropriate hardware manual available at idea drive com Part Numbers This manual covers the following part numbers where S is a place holder for stack length and step angle options X is a place holder for resolution options V is a place holder for coil voltage options and XXX is a place holder for custom configuration options When entering a part number into the software the motor part number needs to be entered as the software automatically recognizes what type of drive is connected Motors with integrated drives 43 S G X V XXX 57 S G X V 43 5 lt Examples Numbers 43 9 2 33 Size 17 double stack with a resolution and coil voltage of 2 33V 28F41 5 Size 117 single stack with a resolution and coil voltage of 5V 57K4B 12 Size 17 double stack with resolution and coil voltage of 12 IDEA Drive Software Basics The Haydon Kerk Motion Solutions IDEA drive and associated software are a complete package for the easy control of stepper motor based linear actuators This solution provides advanced features for both immediate execution as well as user written programs in an extremely user friendly way All basic commands are used through intuitively named buttons and each button and input field is further clarif
75. ied through tooltips Realtime Mode Below is a screenshot of the User interface in the Realtime mode This mode is only available when a drive is connected and communicating Haydon Kerk IDEA Drive Interface Program Realtime Mode Program Input Configuration Drive Commands Programs On Drive Encoder Help Motion Other Debug Debug Output Stat Debug Commands for j immidiate execution Go At Speed Set Position Sets the internal positon ofthe drive Debug output Tooltip Program area Run Control Program To Run Current Position Run Control 000 in and Position o bees 2 74 OO In the Realtime mode each command executed from the Commands for immediate execution section elicits an immediate action from the drive The program area can display any program currently on the drive These programs can be run or aborted using the Run Control section The I O and position section provides constant feedback from drive pertaining to the current state of the drive This area can also be used to control the state of the outputs as well as the inputs if in simulation mode The IDEA software provides a powerful debugging feature which allows the user to enter debug mode which causes every command in the program to be displayed in the De
76. ill first find the fully retracted position of the actuator The actuator will continuously move in the extend direction until getting 0 9 from the fully retracted position When the 0 9 position is reached the actuator will retract back to the 0 position and resume the extend If at any time during the program input 1 changes state the program will abort We first need to set up the interrupt triggered by the input Click the Int on Input Button Select Enabled for Input 1 Interrupt Enter Abort as the destination Select Both Edges as the trigger type Select 0 Highest as the priority Click the Add At End button This places the command in program We now want to retract the full stroke of the actuator Note Click the Retract button Input the distance as 1 Input the speed as 0 5 inch per second Select 1 4 as the step mode All other parameters can be left as the defaults No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program You will notice that when the retract command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Extend and Move 74 commands This is command to allow the move to finish before execution of the next command
77. int Example The drive is turned on and an interrupt is set on position 0 5 The set Position command is then used changing what was the 0 position to the 1 position The interrupt will now trigger when the drive s position counter reaches 1 5 48 The following program sets an interrupt at position 1 and then begins extending When the actuator reaches the 1 position the interrupt is triggered and the program aborts Action Label Description Comment 0 Int On Position 1 in Destination abort 1 Go At Speed 1 in sec 2 Wait For Move 3 4 abort Abort This command is used in example 6 Int on Input The Interrupt on Input command allows an interrupt to be triggered when any of the inputs are changed For further explanation of interrupts see Interrupts page 24 Create Interrupt on Input Command Input 1 Interrupt Disabled Enabled Destination Trigger Type Priority g Eda Higi Input 2 Interrupt Disabled Enabled Destination Trigger Type Priority O Input 3 Interrupt Disabled Enabled Destination Trigger Type Priority lling Ed Input 4 Interrupt Disabled Enabled Destination Trigger Type Priority 1 Label Comment 49 Parameters Each input has the same parameters Disabled Enabled Select Enabled if the input should cause an interrupt select Disable
78. iption This command requests the name of the startup program Arguments Argument Description Valid Values or Range none Example Want to know what program is set to run on power up Command followed by a carriage return Command Symbol Context Arguments Response The commands that make up the Password program unless the password was Recall Program incorrect in which case there is no Program Realtime Name response Description This command requests the program be read back Arguments Argument Description Valid Values or Range Password The password for the drive A string must be exactly 10 characters Program The name of the program to be read Name back A string must be exactly 10 characters Example Want to read back a program named program 1 from the drive with no password Command 1 followed by a carriage return Command Symbol Context Argumenis Response Remove Password q Realtime Password None Description This command removes a password Arguments Argument Description Valid Values or Range A string exactly 10 characters Password The current password long Example You want to remove the password password Command qpassword followed by a carriage return Command Symbol Context Arguments Response Remove Program D Realtime Program name None Description This command removes a program Arguments Argument Description Valid Values or Range Program Name The name of the p
79. it Overflow Full Error Temperature Overflow Underflow Command Symbol Context Arguments Response Read v value cr v cr Firmware where value is a Version Realtime None number Description This command requests the firmware version of the drive Arguments Argument Description Valid Values or Range None Example You want to check the firmware version on the drive Command followed by a carriage return 17 Command Symbol Context Arguments Response value CR CR Where value is number between 0 and 255 formed from 1 byte with ones being highs zeros being lows the most significant bit corresponding to output4 and the Read lO Realtime none least significant bit corresponding to Description This command requests the status of the inputs and outputs Arguments Argument Description Valid Values or Range none Want to know the status of the input and outputs For this example outputs 1 and 2 Example will be high and inputs 2 3 and 4 will be high all others will be low Command _ followed by a carriage return Output4 Output3 Output 2 Output 1 Input 4 Input 3 Input 2 Input 1 Value 0 0 1 1 1 1 1 0 62 Command Symbol Context Arguments Response Read Max j value cr j cr where
80. k the inputs again so we will remove the Wait For Move command e Click the line that holds the Wait For Move command e Click the Remove button e Click Yes to confirm the removal of the command e Click the Goto button e Enter Test as the destination e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We will next add the Extend move e Click the Move To button 71 Enter a position of 1 Enter Extend as the label You can add a comment in the comment line if you wish Click Add At End This places this command into the program We now want to check if the input conditions have changed so we go back to the Goto Ifs We don t want the move to finish before we check the inputs again so we will remove the Wait For Move command Click the line that holds the Wait For Move command Click the Remove button Click Yes to confirm the removal of the command Click the Goto button Enter Test as the destination No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program The completed program looks as follows 72 Haydon Kerk IDEA Drive Interface Program Program Mode 73 Example Six In this example we w
81. le Two This example will extend the actuator 5 retract the actuator 5 then repeat those two moves 4 more times Once the repetitions are complete the actuator will extend 1 Let the linear speed for each move be 1 inch per second We first want to extend 0 5 e Click the Extend button e Input the distance as 0 5 inches e Input the speed as 1 inch per second e All other parameters can be left as the defaults e Enter Start as the label You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program Note You will notice that when the extend command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Retract and Move To commands This is a command to allow the move to finish before execution of the next command We now want to retract 0 5 Click the Retract button e Input the distance as 0 5 inches e Input the speed as 1 inch per second e No Label is required You add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to repeat the first two moves four times 60 Click the Jump Times button Enter the destination as Start Enter the number of jumps as 4 Click Add At End This places this command into the program
82. mmand View Edit After highlighting a specific line in a program the View Edit button can be pressed causing the details for that line to display These details can then be modified and updated Wait Allows the programmer to put in a time specific time delay Wait for move Delays execution of the next line of the program until the motor has come to a stop 84
83. nation The label of the command that should be executed next The following program runs a subroutine starting at label extend which extends the actuator 0 25 waits for the move to complete then exits the subroutine goes to the abort command and aborts the program Action Label Description Comment 0 start Goto Sub extend 1 Goto start 2 3 extend Extend 0 25 in 5 Return abort 6 7 abort Abort This command is used in example 6 44 Goto Sub The Goto Sub command goes to a subroutine starting with the specified label For further explanation of subroutines see Subroutines page 22 5 Create GoTo Sub Command Parameters Destination This is the label of the command that is the start of the subroutine The following program runs a subroutine starting at label extend which extends the actuator 0 25 waits for the move to complete then returns then repeats Action Label Description Comment 0 start Goto Sub extend 1 Goto start 2 3 extend Extend 0 25 in 4 Wait For Move 5 Return This command is used in example 3 45 The command delays execution of the next command program for a specified time Create Wait Command Delay Time Label Parameters Delay Time The amount of time that the program should wait The following program begins moving the actuator at 1 per second waits 0 5 seconds t
84. nts IDEA Drive Communications Basics The IDEA drive line of products are commanded through the use of an Ascii based language developed by Haydon Kerk Each command consists of a character identifying the command followed by between 0 and 12 parameters separated by commas and then followed by a carriage return One difference between this language and those used by competing products is that each motion command encapsulates all parameters needed by the move there are no parameters to set before a move command is issued While this makes manual entry of commands into a terminal cumbersome this is not the intended use of the language Creation of these commands can be done simply in the software of the controller used to command the drives The IDEA drive adheres to a master slave communications model The master controller initiates all communications If information is required from the drive as in the case of requesting the drive s current position the controller first sends the command requesting the drive s position then the drive responds with the requested information enclosed by several characters to identify the response The extra characters can then be parsed and the response read For the RS 485 communication option several drives can be daisy chained together on a single bus This allows a single controller to send commands to all the drives at once In this configuration for each drive to be controlled separately th
85. ommand is used in examples 3 and 6 Comment The comment command performs no action This command is used to add extra information into a program for better documentation Each comment line affords an additional 30 characters of comments This command can also be used to add breaks between sections of code making it more readable Create Comment Command Parameters This command has no parameters The following program performs no actions Action Label Description Comment This program performs no function but does help to demonstrate the usefulness of the comment command By adding in a comment command without a comment have made a line break for readability SMM Oo 55 Programming Examples Because of the variety of actuators that this product can be used with examples for every product or a general example for all products cannot be achieved All of the following examples assume the use of a Haydon Kerk 43MGC 2 33 double stack captive linear actuator with 1 inch stroke Speeds distances and other parameters will need to be changed for your particular actuator Note For simplicity most examples assume the actuator starts in the full retract position Example One Extend the actuator 0 4 inches wait one second retract the actuator 0 2 inches wait one second extend the actuator 0 6 inches wait 1 second retract the actuator 0 8 inches wait 1 second and repeat from the first e
86. on the drive that can fit the program If there is no place on the drive where the program can fit the user is responsible for either moving or removing some programs In order to move a program to free up larger blocks of free space simply save the program to the drive again under the same name and the program will be moved to the first page where it can be fit Removing Programs Programs can be removed from the IDEA drive in one of two ways Either use the Display Table of Contents option under Drive Commands then select the program be removed list then press Remove in the bottom left corner or use the Delete Program From Drive option under Drive Commands then select the program to be removed the drop down menu and press Ok Table of Contents The IDEA Drive user interface provides a list of all programs on the drive the pages being used by said programs and a graphical representation of the contents and free space of the drive This feature is accessed through the Display Table of Contents option under Drive Commands This 15 feature helpful in freeing up space for additional programs seeing which programs could be moved to decrease fragmenting free space Startup Program In real world applications the controller will need to start execution once power is applied as opposed to being started through the user interface In order to set
87. per second the drive will change step modes while accelerating So if a top speed of 10000 steps per second is entered as well as 1 64 step mode the move will start and end 64 step mode but will switch to coarser step modes as the speed increase and switch back to finer step modes while decelerating Ramping The IDEA Drive provides easy to use acceleration and deceleration ramps A trapezoidal move profile can be created by entering a speed start speed 13 end speed acceleration rate and deceleration rate drive automatically calculates a move profile to approximate the desired parameters For a picture of what the calculated ramp will look like use the plot function on any Extend Retract Move or Go At Speed command 14 Saving Programs to the Drive After a program has been written saving the program to the drive is simple The program needs to be named using the Program Name textbox The program name may be up to 10 characters long and cannot contain the character Any spaces at the end of the program name will not be saved so Program1 is the same as Program1 No two programs have the same name so attempting to download a program with the same name as an existing program will result in a warning and continuing will cause the existing program to be overwritten When the download button is pressed the user interface automatically finds the first area
88. puts as well as the inputs if in simulation mode The Run Control area be used to execute stop any program on the drive The Program Edit area contains buttons used to edit the program as well as gather information about individual commands The download button is also in this area The Program Area contains the command that make up the program currently being viewed or edited Commands in the program are executed sequentially starting at action 1 and moving onto action 2 and so on unless a branching command is used which would send execution instead to a specified label The different commands available are covered in depth below The size of the current program is displayed in both bytes and pages in the Program Length area Each page is 1024 bytes long and the number of pages used is always rounded up Startup Installing the Application This is a one time activity The IDEA drive has a CD ROM disk that is to be installed into your PC Please perform the following instructions Note this is to be performed without the actuator being attached via the USB cable e Insert the disk into the CD ROM drive e Welcome to the IDEA Software setup wizard will appear on screen If this does not appear go to My Computer and double click on the cd rom drive Click next e Select installation folder will appear on screen You may change the location of the installation if yo
89. r Hirose DF11 6DS 2C im DESCRIPTION Y NON INVERTING DRIVER OUTPUT Z INVERTING DRIVER OUTPUT GROUND GROUND NON INVERTING RECEIVER INPUT INVERTING RECEIVER INPUT RS 485 pins are often referred to by their read write functionality Y Rx Z Rx A Tx Encoder Inputs The IDEA drive is equipped with inputs for a single ended Quadrature encoder attached to the motor it drives Quadrature encoders have 2 output signals A and B which are nominally 90 electrical degrees out of phase On each rising or falling edge the relative logic levels of the two phases can be used to determine the direction of rotation The decoder within the drive interprets A leading B as motion in the clockwise direction as viewed from the front face of the motor This means that if a rising edge is detected on phase A and phase B is at a logical high then the motor just rotated counter clockwise 16 IDEA drive watches for rising and falling transitions on phase and increments or decrements the position counter accordingly Using this method a 1000 line optical rotary encoder would have 2000 counts per revolution and a change in position would be detected every 0 182 The IDEA drive line of products can be configured to use the encoder feedback in a number of ways For further detail on the encoder functions available please see the IDEA Drive user s manual a
90. rgument Description or Range none Example You want to stop all drive activity Command A followed by a carriage return Command Symbol Context Arguments Response Assign Drive Number y Realtime Identifier None Description This command assigns the drive an identifier Arguments Argument Description Valid Values or Range Identifier The number that should be associated with the drive 0 to 255 Example You want to set the drive s identifier to 136 Command 136 followed by a carriage return Command Symbol Context Arguments Response Check cYESI cr c cr or Password Realtime Password cNO cr Description This command checks to see if a password is the correct password Arguments Argument Description Valid Values or Range Password The password in question A string exactly 10 characters long Example You want to check if the password is password Command cpassword followed by a carriage return Command Symbol Context Arguments Response Comment Description This command creates comment in program Valid Values Arguments Argument Description or Range Comment A string must be exactly 10 characters long Example You want add a comment that says Extend 1 Command CExtend 1in followed by a carriage return Command Symbol Context Ar
91. rity input3 priority Interrupts Program input4 priority None Description This command is used to configure the interrupt settings for in inputs Valid Values or Arguments Argument Description Range What kind of interrupt the input should be 1 for Falling edge Config 2 for rising edge 3 for both edges 0 for disabled 0 1 2 3 0 to 87036 The address of the subroutine that should handle the multiples of four Destination interrupt only The priority of the interrupt lower numbered priorities are Priority handled first 0104 You want to set a rising edge interrupt on input 2 whose destination is address 512 Example and priority is 1 and all other input interrupts disabled Command 10 2 0 0 0 512 0 0 4 1 4 4 followed by a carriage return Command Symbol Context Arguments Response Decel Current Hold E Stop E RealTime Program Current Delay Time None Description This command stops the motor without decelerating Valid Values or Arguments Argument Description Range Decel 0 to 5005 Current The rms current in milliamps used to stop the motor dependant on Drive Hold The rms current in milliamps for after the motor has 0 to 3850 Current stopped dependant on Drive The time in milliamps between the last step of a move and Delay when the current is set to the hold current 50 to 300 You wish to immediately stop the motor with a decel
92. rogram to be deleted A string exactly 10 characters long Example You want to remove a program named program 1 from the drive Command Dprogram 1 followed by a carriage return 19 Command Symbol Context Arguments Response Restore Factory Defaults Realtime None None Descriptio This command removes the drive password and deletes all the programs on the n drive Arguments Argument Description Valid Values or Range None Example You want to remove the password on a drive but forgot that password Command a followed by a carriage return Command Symbol Context Arguments Response Return Program none None Description This command returns from a subroutine Valid Values Arguments Argument Description or Range none Example You want to return from a subroutine to where the subroutine was called from Command _ X followed by a carriage return Command Symbol Context Arguments Response Return To y Program Destination None This command exits a subroutine branches to a location and clears all pending Description interrupts the return stack and the loop counters Arguments Argument Description Valid Values or Range 0 to 87036 multiples of four Destination The address to which the program should branch only Yo
93. rrupt is triggered while an interrupt or equal or higher priority is being serviced the new interrupt is put into a queue of pending interrupts and will be serviced when all higher priority interrupts have been serviced and any interrupts of the same priority which were triggered first have been serviced 25 There 5 interrupt queues one for each priority level each being 10 interrupts long at most If there are 10 interrupts in one queue and another interrupt of that priority is triggered the new interrupt will be ignored and an Interrupt queue full error will be asserted If an interrupt is reconfigured to trigger a new subroutine when there is an instance of that interrupt in a queue the interrupt in the queue will still execute but will execute the new subroutine not the subroutine that the interrupt was originally configured to jump to Care should be taken when programming ensure this does not occur Input Triggered Each input can be configured to trigger an interrupt through the Int on Input button The INT radio button should be selected for any input which is to be used as an interrupt source The trigger type should also be selected The types are Rising edge Occurs when the input level goes from low to high Falling edge Occurs when the input level goes from high to low Both edges Occurs anytime the input changes state Position triggered Using the Int On Position command in a program
94. t End This places this command into the program We now want to extend 0 6 inches Click the Extend button As before many items are already populated This time the distance and speed are also populated Input the distance as 0 6 inches No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now want to wait one second Click the Wait button 57 The delay time will be 1 second as previously entered label comment is necessary e Click Add At End This places this command into the program We now want to make the final move of retracting 0 8 inches e Click the Retract button e Input the distance as 0 8 inches e No Label is required e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program We now want to wait one second e Click the Wait button e The delay time will be 1 second as previously entered No label or comment is necessary e Click Add At End This places this command into the program We now want to repeat e Click the Goto button Enter the destination as Start e Click Add At End This places this command into the program The completed program looks as follows 58 Haydon Kerk IDEA Drive Interface Program Program Mode 59 Examp
95. t address 1024 Example and has the highest priority Command T0 1024 0 followed by a carriage return Command Symbol Context Arguments Response Jump N Destination Times J Program Jumps None This command causes the program to continue execution at the specified address a Description specified number of times Arguments Argument Description Valid Values or Range 0 to 86012 multiples of four only The address of the command that should be Must be the address of a valid Destination run command The number of times execution should branch Jumps to the destination address 0 to 65535 Example You want to continue execution at address 1024 and do so 3 times Command J1024 3 followed by a carriage return Command Symbol Context Argumenis Response Label B Program Label name None Description This command creates a label in the program Valid Values Arguments Argument Description or Range Label Name A string must be exactly 10 characters long Example You want to add a label called Start Command BSiart followed by a carriage return 14 Command Symbol Context Arguments Response Position Speed Start Speed End Speed Accel Decel Run Current Hold Current Accel Current Decel Move To Current Delay Time Position M RealTime Program Step Mode None Description This command moves
96. t case sensitive Select inches mm or steps Click OK 1 After clicking OK many parameters have been placed into memory for this particular actuator Select the Communication mode 10 1 This will most likely be Single The communications options are explained in the Communications Modes section of Features and Concepts Note The com number will most likely be different from that shown above e The Realtime display now appears This mode allows the program execute immediate actions such as extend retract go at speed etc If the drive is not connected or not turned on you will not be able to select a drive and when the program is entered you will be forced into the program mode If this happens when the drive is connected and powered up try disconnecting and reconnecting the usb cable Drive Startup When the drive first starts up either by turning the power on or using the Reset command on a drive that was already powered the following occurs 1 Input simulation is turned off All outputs are set low The position counter is set to zero The hold current is set to zero All interrupts are disabled The encoder is disabled If a startup program is selected that program is now begun When a program is started the following occurs 1 All outputs are set low 2 The position counter is set to zero 3 All interrupts are disabled 11 Features and Concepts
97. ted the debug feature is started by pressing the Start Debug button So long as the drive is in debug mode each program line executed by the drive is displayed in the debug window This window can be cleared at any time by using the Clear Debug button The most recently executed command is also highlighted in the program area Debug mode is exited by either pressing the red Stop button or when the program ends There are two ways of advancing through programs in debug mode single step and running to a label Each time the Single Step button is pressed the drive executes one command If the button is pressed multiple times while the drive is on a Wait or Wait For Move command the drive will not execute multiple commands after the completion of the wait When the Run To Label button is pressed the drive begins to execute the program normally until the label in the textbox to the right of the Run To Label button is reached If this label does not exist in the program execution will continue until the red Stop button is pressed or execution ends on its own Note When the drive is executing many commands in a row without any Wait or Wait For Move commands the user interface may be slowed due to the constant communication between the computer and the drive In order to aide in readability as well as documentation the debug output can be saved as a text file using the
98. the actuator shaft in a specified direction at a specified speed x Create Continuous Move Command Parameters Direction This is the direction in which the actuator will move Speed This is the top speed at which the actuator will move Run Current This is the unboosted RMS current per phase that will be applied to the windings while the actuator moves Hold Current This is the RMS current per phase that will be applied to the windings when the actuator finishes moving Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current Step Mode This is the step resolution to be used for this move Accel Rate This is the rate at which the actuator will be ramped from the start speed to the run speed If this is set to 0 then the move will start at the run speed 36 Decel Rate This is the rate which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the move will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp is used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms Decel Boost If set to yes during deceleration the curr
99. the step size where 1 is a full step 2 is a half Step Mode step and so on 1 2 4 8 16 32 64 Desired move is to position 0 in 1 8th step mode at a speed of 3200 1 8th steps per second starting at 1200 1 8th steps per second accelerating at a rate of 40000 1 8th steps per second per second decelerating at a rate of 100000 1 8th steps per second per second to an end speed of 2000 1 8th steps per second with a run current of 1 6 Arms accel current of 1 9 Arms decel current of 2 0 Arms and waiting 05 seconds between the last step and changing to a hold current of 0 5 Example Arms 0 3200 1200 2000 40000 100000 1600 500 1900 2000 50 8 followed a carriage Command return Command Symbol Context Arguments Response No op w Program none None Description This command is used to insert an extra line in a program Arguments Argument Description Valid Values or Range none Example This command would be used in a custom user interface Command w followed by a carriage return 15 Command Symbol Context Arguments Response Program Start Location P Program Program p Realtime Length or none size CR P CR Description This command starts and ends the process of writing a program Valid Values or Arguments Argument Description Range A string must
100. tion With this feature the user specifies some distance called a Dead Band When this feature is enabled whenever the motor is at a standstill the drive checks to see if the rotor is in within the dead band distance from the desired position If within this distance no action is taken if outside this distance the drive automatically moves to correct the error This feature is constantly active so if the drive has stopped and something hits the product causing it to move out of position this feature will automatically correct for the movement 22 The minimum size of the dead band equates to 1 8 of full step This is because it is impractical to attempt to accurately position the motor more precisely than this What tends to happen with very small dead band settings is the motor cannot be posited to a position exactly enough to satisfy the dead band setting causing a constant vibration in the motor as the drive tries to seek the correct position In some applications 1 8 of a step may be too precise and result in vibration in these applications the dead band will need to be increased Both encoder features can be active at once the stall compensation feature being used during moves and the position verification be used at standstill 23 Subroutines A subroutine is a sequence of commands that can be used from anywhere in the program When a subroutine is called the address of the next command that was going
101. to be executed is stored on what is called a stack When the subroutine is exited using the Return command execution of the program resumes at the address that was stored on the stack A maximum of 10 addresses can be held in the stack If there are 10 addresses on the stack and another subroutine is called without a subroutine completing a Stack Overflow error will be asserted and program execution will abort It is up to the user to ensure that stack overflows do not occur Subroutines are exited using one of two commands Return or Return to When Return is used program execution resumes at the address stored on the stack When Return To is used a destination address is specified Execution now resumes at the label specified and the stack is emptied The use of Return to exits all subroutines at once If a Return or Return command is used when the stack is empty Stack Underflow error will be asserted and execution of the program will halt It is the responsibility of the user to ensure that stack underflows do not occur There are two ways in which a subroutine can be called the simplest is the Goto Sub command A Goto Sub command is used to call a subroutine from within the program usually to complete a sequence of commands which is used repeatedly in the program The address stored on the stack when a Goto Sub command is used is the address imme
102. tor finishes moving Delay Time This is the time in between when the actuator reaches the last step in the move and when the current is changed to the hold current Step Mode This is the step resolution to be used for this move Accel Rate This is the rate at which the actuator will be ramped from the start speed to the run speed If this is set to 0 then the move will start at the run speed 34 Decel Rate This is the rate at which the actuator will be ramped from the run speed to the end speed If this is set to 0 then the move will end at the run speed Start Speed This is the speed at which the move will start if an acceleration ramp is used End Speed This is the speed at which the move will end if a deceleration ramp is used Accel Boost If set to yes during acceleration the current per phase applied to the windings will be 30 higher than the set run current for a maximum of 300ms Decel Boost If set to yes during deceleration the current per phase applied to the windings will be 30 higher than the set run current for maximum of 300ms The following program moves the actuator to a point 1 forward from where the motor was at the beginning of the program and waits for the move to complete before executing any commands which may follow Action Label Description Comment 0 Move To 1 in 1 Wait For Move This command is used in examples 4 5 and 6 35 At Speed The Go At Speed command moves
103. u want to exit a subroutine and continue execution somewhere other than where Example the subroutine was called from in this case address 32 Command V32 followed by a carriage return Command Symbol Context Arguments Response Run Program y Realtime Program name None This command begins the execution of a program first returning to step 0 and Description setting all outputs low Arguments Argument Description Valid Values or Range Program A string exactly 10 Name The name of the program to run characters long Example You want to run a program named program 1 starting from the default state Command 1 followed by a carriage return 20 Command Symbol Context Arguments Response Set Realtime Progra Outputs 0 m Output Value None Description This command sets the state of the outputs Valid Values Arguments Argument Description or Range 1 byte indicating which outputs should be set and what they should be set to The most significant nibble indicates which outputs are Output being set and the least significant nibble controls what they are Value being set to 0 to 255 You want to set output 3 high output 2 low and want to leave outputs 1 and 4 Example unchanged Bit 8 Bit 7 Bit 6 Bit 5 Tota 128 64 32 16 Bit4 8 Bit3 4 Bit2 2 Biti 1 0 1 1 0 0 1 0 0 100 Command 0100 followed by a carriage return
104. u wish Click next e Confirm installation will appear on screen Click next e Installing IDEA Software will appear on screen This may take a few moments e Installation complete will appear on screen A black function window will also appear behind the Installation complete dialogue box This is normal Do not close this window it will close automatically After a few moments the Installation complete dialogue box will show a close button Click close e Installation is now complete and the IDEA Icon resides on your desktop and in your start menu under All Programs gt Haydon Kerk Getting Started Let us assume that the GUI software and drivers have been loaded into your PC and the drive is connected and powered up Please proceed as follows e Start your PC e Double Click the IDEA Icon on your desktop This brings you to the initial screen Screen shot is below Haydon Kerk IDEA Drive Interface Program File Edt Program Drive Commands Comm Mode Programs Other Debug E Stop Set Outputs Start Debug At Speed Select Drive Enter Part Number 43MGC 2 33 _ Select Measurement Units inches Select Comm Mode Single and Position Current Position 0 1 Inputs O Program Length 0 bytes 0 pages Outputs e Enter part number of the actuator Note this entry is no
105. vailable at idea drive com Encoder Wiring The encoder connector can be wired to any 2 channel quadrature encoder that operates between 3 3Vdc and 5Vdc For encoders that work on 5VDC power to the encoder can be supplied through pin 1 of the encoder connector otherwise a separate 3 3Vdc power supply is required Whether or not power is being supplied by the drive pin 2 must be connected to the same ground as the encoder This is internally connected to the IDEA drive s ground connection Pin 3 is for encoders with an index signal This may be left unconnected and is for future revisions which may make use of the index signal Pins 4 and 5 are the and A connections respectively When the output shaft of the motor is rotating clockwise as viewed from the front of the motor phase A should lead phase B Check your encoder s documentation to check if A and B need to be swapped Connector S5B PH K S LF SN Mating Connector JST PHR 5 41 B Digital I O Pin Descriptions HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE 105 2 PIN POSITION DESCRIPTION GROUND VO SUPPLY VO SUPPLY INPUT 1 INPUT 2 INPUT 3 INPUT 4 OUTPUT 1 OUTPUT 2 OUTPUT 3 OUTPUT 4 Open Collector Output Pin Description Output Pin Ground I O Supply connected internally Input Pin Description Supply connected internally Input Pin 18 Digit
106. xtend indefinitely Let the linear speed for each move be 1 inch per second We first want to extend 0 4 inches e Click the Extend button e Input the distance as 0 4 inches e Input the speed as 1 inch per second e All other parameters can be left as the defaults e Enter Start as the label e You can add a comment in the comment line if you wish e Click the Add At End button This places the command in program Note You will notice that when the extend command populates in the program field on the screen that it is followed by a second command that states Wait For Move This is also true when using the Retract and Move To commands This is a command to allow the move to finish before execution of the next command 56 We now want to 1 second before moving again Click the Wait button Input the delay time as 1 second No label or comment is necessary Click Add At End This places this command into the program We now want to retract 0 2 inches Click the Retract button Input the distance as 0 2 inches Input the speed as 1 inch per second No Label is required You can add a comment in the comment line if you wish Click the Add At End button This places the command in program We now want to wait another second Click the Wait button The delay time will be 1 second as previously entered No label or comment is necessary Click Add A

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