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MD5130D/MD5230D User`s manual

1. a Disk drives amp Display adapters E DVD CD ROM drives S Human Interface Devices Eg IDE ATA ATAPI controllers Sr Jungo amp Keyboards A Mice and other pointing devices E Monitors Network adapters 1 Ports COM amp LPT Communications Port COM1 SD Dp h Zu Sound video and game controllers Disable Mi System devices Universal Serial Bus controllers Scan for hardware changes Properties Scan for changed or new Plug and Play devices 3 Confirm Device Uninstall window appears check Delete the driver software for this device then click OK Confirm Device Uninstall EX NOVA electronics MD Series USB to RS232C Sa Converter Virtual COM Port COM5 Waming You are about to uninstall this device from your system 4 The driver is now uninstalled Confirm NOVA electronics MD Series USB to RS232C Converter Virtual COM Port COMx is not listed and then remove the unit from PC 18 3 6 MD Operation Tool Uninstallation Uninstall MD51_52 Operation Tool from PC according to the following steps The screenshots are on Windows 7 32bit Usually uninstallation is not needed When updating MD51_52 Operation Tool to the latest version or removing it from your PC follow these steps 1 Click Start Control Panel 2 Click Uninstall a program link under the Programs and Uninstall or change a program
2. 5 MD51_52 Operation Tool is now installed Installing MD52 Operation Tool YE5 2 0 2 MDS2 Operation Tool E 5 2 0 2 12 being installed Please wait Cancel Note User account control window appears on Windows Please click Yes 16 5 Installation Complete window appears Click Close to complete the installation 8 MD52 Operation Tool vE52 0 2 fog Installation Complete ap A E MD52 Operation Tool ED 2 0 2 has been successfully installed Click Close to exit Please use Windows Update to check for any critical updates to the NET Framework Cancel Back Cloze Note Please refer to chapter 4 1 and confirm the MD51_52 Operation Tool is working properly when connecting to the unit 17 3 5 USB Driver Uninstallation Uninstall USB driver from PC according to the following steps The screenshots are on Windows 7 32bit Usually uninstallation is not needed When updating USB driver to the latest version or removing it from your PC follow these steps 1 Connect MD5130D or MD5230D to be deleted USB driver and PC with USB cable and power on them then open Device Manager 2 Right click on NOVA electronics MD Series USB to RS232C Converter Virtual COM Port COMx under Ports COM and LPT COMx denotes COM port number and then click on Uninstall 2a Device Manager File Action View Help ENE 6 GARD PR G an NOVA PC JM Computer
3. Data Specifies the destination position by absolute value This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483646 2147483646 Speed Selects speed settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 Timer Specifies the waiting time of until the next command is executed after completion of moving When 1 3 is assigned to Timer the time of post timer 1 3 that is registered in Parameter tab in Configuration window see chapter 4 3 3 1 is used When setting without the waiting time set 0 to Timer In the line that End Pulse EndP is set to On it will wait for an amount of specified time after End Pulse is On EndP Selects whether end pulse is output or not after completion of moving When On is set in EndP end pulse is output from the XDRIVE ENDP output signal see chapter 7 3 of the parallel control connector CN3 When Off is set end pulse is not output To output end pulse End Pulse must be enabled in Mode tab in Configuration window see chapter 4 3 1 7 The pulse width of end pulse can be set in Parameter tab in Configuration window see chapter 4 3 3 3 ABB 2 axis simulta
4. Low Jump destination label Waiting time 1 65535msec ABS ABA INC ICA Select drive speed1 4 see chapter 4 3 2 When inputting a selected command to the Se CNTABB ICB LNI current line it sets the same value as Speed value that the command is first found in the pee CWI CCW upper than the current line If not found Speed 1 is set Other Commands Select post timer 1 3 see chapter 4 3 3 1 If not needed select 0 ABS INC SST IST When inputting a selected command to the current line it sets the same value as Timer Timer ABB ICB value that the command is first found in the upper than the current line If not found Timer 0 is set Select On to output end pulse and select Off not to output end pulse after the completion of the command ABS INC HOM When inputting a selected command to the current line it sets the same value as EndP value that the command is first found in the upper than the current line If not found EndP inn hus eee EndP Off is set Note When selecting On End Pulse must be enabled in mode settings tab in Configuration window 54 Note Handling of blank lines in a program e The blank line in a program is deleted and shifted up and written into the unit at download If the user keeps a blank line set NOP command to that line 4 4 2 Edit Buttons The user can cut copy and paste by these buttons in user program display edit area Also the same operation can be performed fro
5. RestCurrentX StepResolutionX AutoCurrentReductionX HardwareL mitStopModeX HardwareLimitActiveLevelX SoftwareLimitEnab ex SoftwareLimitStopModex EndPul seEanb ex Power OnHomeSearchStar tx Power OnProgramStar tX Step0utDetectionX Step0utDetectingl imingX O O i O i O i Oi O Oi Hi 01i Parameter PostTimer1X PostT mer 2X PostTimer3X HomeSearchOffsetX HomeSearchLowSpeedX SoftwareLimitPlusX SoftwareLimitMinusX EndPulseWidthX PulseScaleNumerat onX PulseScaleDenominationX EncoderScaleNumerat onX EncoderScaleDenominationX Step0utDifferentialX 10 100 1000 10000 6000 8000000 8000000 100 1000 1000 1000 200 100 Home Seach Mode SensorSignalX HomeS gnalLevelX ZSignalLevelX Step1Enab ex Step1DirectionX Step2Enab eX Step2DirectionX Step3Enab eX Step3DirectionX Step4Enab eX PositionClearX SplitLength1X PulseWidth1X PulseCount1X Spl itLength2X PulseWidth2X PulseCount2X Sp i tLength3X PulseWidth3X PulseCount3X SplitLength4X PulseWidth4x PulseCount4X 1000000 1000000 1000000 2000000 10000 J02 Er S01 01 md tt 1000 02 md tem ON 100000 wa J02 20000 Maximum 1 1000 lines i indicates a space 128 1 2 MD5230D Conf igurationY RunCurrentY RestCurrentY StepResolutionY AutoCurrentReductionY HardwareLimitStopModeY HardwareLimitActiveLevel Y SoftwareLimitEnab eY SoftwareLimitStopModeY EndPulseEanbleY
6. Speed 4 pps Drive Speed Start Speed Time ms Accel Time Normal Trapezoidal Acceleration Deceleration Driving Trapezoid2 The settings to perform normal trapezoidal acceleration deceleration driving are as follows Display Option Range Select Trapezoid2 Start Speed 1 500 000 pps Set start speed Drive Speed 1 500 000 pps Set drive speed Acceleration Time 1 10 000 msec Set acceleration time 104 6 5 2 3 Non symmetry Trapezoidal Acceleration Deceleration Driving Trapezoid3 Non symmetry trapezoidal acceleration deceleration driving is trapezoidal acceleration deceleration driving that the acceleration and deceleration time is different For example this mode is useful such as when the user needs to change acceleration and deceleration of up and down movement because gravity acceleration 1s applied to the object in the operation of vertical direction Speed Speed pps pps Drive Speed Drive Speed Start Speed Start Speed o Time E De Time ms ms Accel Time Decel Time Accel Time Decel Time Non Symmetry Trapezoidal Acceleration Deceleration Driving Trapezoid3 The settings to perform non symmetry trapezoidal acceleration deceleration driving are as follows Display Option Range Trapezoid3 Select Trapezoid3 Start Speed 1 500 000 pps Drive Speed 1 500 000 pps Set drive speed Acceleration Time 1
7. a Mass o 245g 429 g Package 108mm Height x 34mm Width x 95mm 130mm Height x 46 5mm Width x 98 5mm Depth Dimensions Depth except projecting part except projecting part CN1 XW4B 03B1 H1 Omron or equivalent 1 CN1 XW4B 03B1 H1 Omron or equivalent CN2 XW4B 05B1 H1 Omron or equivalent 1 CN2 6 XW4B 05B1 H1 Omron or equivalent 2 Accessory CN3 20P MIL standard 2 54mm connector 1 CN3 20P MIL standard 2 54mm connector 1 CN4 16P MIL standard 2 54mm connector CN4 7 16P MIL standard 2 54mm connector USB cable 1 5m USB cable 1 5m AA ER Accessory System Requirements for Windows 8 1 32 64bit Windows 7 32 64bit Vista 32 64bit XP 32 64bit the Software 126 Appendix A CSV File MD5130D and MD5230D user program file is saved in the format of CSV file The user can edit a user program file by using spreadsheet software applications in addition to MD Operation Tool For more details of Save and Open a user program file refer to Program window see chapter 4 4 4 Download Upload Open Save Note e When the user directly edits a CSV file do not change the user program file configuration 1 User Program File Configuration The program file is composed of Configuration block Configuration data of Mode Speed Parameter Home Search Mode Split Pulse in Configuration window and Program block Program 1 1 MD5130D Configuration RunCurrentX
8. direction a software limit error occurs and motor rotation stop Also if over the setting value of software limit during motor rotation in the direction a software limit error occurs and motor rotation stop When a software limit error occurs the user can escape from the limit area by rotating a motor in the reverse direction The value of software limit can be set in Software Limit and Software Limit fields in Parameter tab See chapter 4 3 3 2 Software Limit Note e Software limit does not function even if enabled while a home search is running 4 3 1 7 End Pulse It selects either Enable or Disable to output driving end pulses at the end of driving End Pulse Disable Enable XDRIVE END output signal for End Pulse is 15 pin in CN3 of the parallel control connector see chapter 7 3 For more details of Driving End Pulse see chapter 7 3 1 Parallel Control Signals the XDRIVE ENDP in the table The value of end pulse width can be set in End Pulse Width field in Parameter tab see chapter 4 3 3 3 4 3 1 8 Step Out Detection and Detecting Timing It selects either Enable or Disable of the step out detection function and the timing to detect step out Mode Step Out Detection Disable Enable Step Out Detecting Timing Drive End While Drive Step Out Detection 1s used to enable or disable the step out detection function Step Out Detecting Timing selects the timing to detect step out Wh
9. 1 500000 Blank Drive Speed pps 1 500000 4000 Acceleration Time msec 1 10000 Blank Deceleration Time msec 1 10000 Blank Start Speed pps 1 500000 Blank Drive Speed pps 1 500000 80000 Mod Constant Trapezoid1 Trapezoid2 T id1 Sie Trapezoid3 S Curvel S Curve2 EE Constant Trapezoidi Trapezoid2 Trapezoid3 S Curvel S Curve2 Acceleration Time msec 1 10000 Deceleration Time msec 1 10000 Blank Constant Trapezoid1 Trapezoid2 Acceleration Time msec 1 10000 Deceleration Time msec 1 10000 Blank Speed4 is also used as the speed for high speed home search and high speed offset drive of automatic home search Start Speed pps 1 500000 operation For more details of automatic home search see chapter 6 2 The user can register 4 patterns of the speed setting Speedl 4 And each speed setting has the following items Mode Start Speed Drive Speed Acceleration Deceleration Time Required setting items are different depends on the selecting mode The following figures show the acceleration deceleration curves that the user can select from mode options and setting items that are required in each mode For more details of each setting item see chapter 6 5 Speed 4 lt Drive Speed Speed 4 GE Drive Speed Speed pps pps pps Drive Speed Start Speed Time Time Time ms HEES 4 ms Les h re 4 ms Time Time Constant Speed Constan
10. END SO OS AS IO AO IESO O FE i 138 User Program Operation Locus of Linear Ciucular Continuous Interpolation H HHHH i Ca d 139 2 Example of circular interpolation 2 1 Circular interpolation user program MD5230D_P15_circular interpolation user program sample csv X AXiS Y Axis a a a pf cen o oer emp oo 2 mayo o pp Jam AO IO IO IE O O ll pen o cEN aooo cow o 4 cow o pt wre IO ESOS ISO IIS OS IE E E FS pp ES EE O User Program Operation Locus Ciucular Interpolation 140 Speed select Speed2 Speed4 ND Configuration Condition CH Unit OA MD5230D Intelligent Motor Driver Mode Speed Parameter Home Search Mode Split Pulse Unit Name Range of Value 1 500 000 File Name MD5230D_P15_ 988800 470793 4H pcs Close 141
11. For more details of detection signals see chapter 7 4 CN4 Sensor Connector for Axis SSES STE SES SE Step 1 High speed home search Home search high speed Speed4 Select XHOME or Limit Step 2 Low speed home search Home search low speed Step 3 Low speed encoder Z phase Home search low speed XECZ search Step 4 dlls SC high speed High d offset dri 6 2 1 The Description of Automatic Home Search Operation 6 2 1 1 Step 1 High speed Home Search In stepl drive pulses are output in a specified direction at the speed set in home search high speed Speed4 in chapter 4 3 4 until the detection signal see chapter 4 3 4 1 becomes active then it will decelerate and stop To perform acceleration deceleration driving set a higher value for the home search high speed Speed4 than the start speed M Step 1 Irregular operation D A specified detection signal HOME Limit is already active before Step 1 Detection Signal starts Normal Operation Active Proceeds with Step 2 a ion Specified gt Search Direction 2 When HOME is set as a detection signal and a limit signal in the search o direction is already active before Step starts gt Proceeds with Step 2 Irregular D Over Run Limit in the When HOME is set as a detection signal and a limit signal in the search HOME Search Direction direction becomes activated during execution of step1 Active Active SC Section Section Driving decelerates an
12. msec Post timer is the waiting time until next command starts after execution of user program commands such as ABS Absolute Position Move INC Relative Position Move SST Deceleration Stop and IST Instant Stop The unit of the setting value is milliseconds Three types of post timer can be registered Note e The accuracy to the setting value of post timer is approximately 1msec 4 3 3 2 Software Limit It sets the value of Software Limit for and directions BEE Software Limit 2147483648 2147483647 100000 Software Limit 2147483648 2147483647 100000 Software Limit 1s used to specify the value of logical position that functions as the software limit in the direction When the logical position 1s over the value of software limit during motor rotation in the direction 1t stops Software Limit is used to specify the value of logical position that functions as the software limit in the direction When the logical position is over the value of software limit during motor rotation in the direction it stops To function Software Limit Software Limit must be enabled in mode settings tab and Software Limit Stop Mode can be selected from Slow or Instant in mode settings tab For more details see chapter 4 3 1 6 Software Limit and Stop Mode The setting values of software limit become the maximum display range of XY coordinates screen in jog operatio
13. pulse value 44 4 3 3 5 Encoder Scale Numeration and Denomination It sets the value of Encoder Scale Numeration and Denomination in order to perform scaling to the value counted by an encoder input signal Encoder Scale Numeration numerator Numeration numerator 1 65535 1000 Parameter Encoder Scale Denomination 1 65535 denominator This settings are in order to match to the logical position in a unit of pulse where the count value of an encoder input signal multiplied by the specified coefficient This obtains the pulse conversion value of real position For more details of Encoder Input and count method see chapter 6 1 Encoder Scale numerator Converted pulses of real position Encoder signal count value x Encoder Scale denominator The relationship between the pulse number of the encoder to be used per rotation and encoder scale numerator denominator to match the logical position and real position with respect to the setting value of step resolution can be calculated as follows Encoder Scale numerator Ml 500 x Step Resolution Encoder Scale denominator Pulse Number per Rotation x 4 When the pulse number per rotation of the encoder is 500 pulses the setting example of encoder scale numerator and denominator with respect to the setting value of step resolution is as follows o e AS Step Resolution Numerator Denominator CES w ECO CA a Im Im The factory default of encoder scale numerator and den
14. the axis button is highlighted in yellow When clicked again in an enabled state split pulse will be disabled and stop to output split pulses Axis button X Y For more details of Split Pulse see chapter 6 3 4 2 5 8 Excitation OFF Motor Free Click the axis button in Motor Free the excitation of the axis will turn OFF and the button will be highlighted in yellow When clicked again it turns back ON The excitation can not turn ON and OFF during motor rotation While the excitation turns OFF the operation of motor rotation can not be performed 28 4 2 5 9 Controller Reset It resets the unit If a step out error occurs release the error by clicking Controller Reset button When the user needs to stop motor rotation urgently you can stop it by Controller Reset button M The body is reset as follows X and Y axes motor rotation stops instantly X and Y axes user program operation stops The logical real position counters of X and Y axes are cleared to 0 The Speed Select of X and Y axes is set to 1 The Drive error of X and Y axes is cleared The excitation of X and Y axes is turned ON The split pulse of X and Y axes is disabled MH MD51 52 Operation Tool is reset as follows When Speed5 Edit window is displayed it is closed When Run mode is selected in Program window it is changed to Edit mode 29 4 2 6 Menu There are 4 menus File F Display V Configure C
15. 10 000 msec Set acceleration time Deceleration Time 1 10 000 msec Set deceleration time Note e In non symmetry linear acceleration deceleration driving when acceleration time lt deceleration time the following condition is applied to the ratio of acceleration time and deceleration time 8 x 10 td Deceleration time msec td Ta x ta Acceleration time msec DV DV Drive speed pps For example when the drive speed is 100kpps deceleration time must be smaller value than 80 times of acceleration time and cannot be larger than 80 times e In non symmetry linear acceleration deceleration driving when acceleration time gt deceleration time the greater the ratio of acceleration time to deceleration time becomes the greater the creep phenomenon becomes the maximum of about 10 pulses when deceleration time acceleration time 10 times If the creep phenomenon becomes the problem please handle it by such as increasing the start speed which suppresses the creep 6 5 3 S curve Acceleration Deceleration Driving S curve1 S curve2 2 types of S curve acceleration deceleration driving are provided S curvel is simple S curve acceleration deceleration driving that does not require a start speed setting and S curve2 is normal S curve acceleration deceleration driving S curvel and S curve2 accelerate up to a specified drive speed with a smooth curve that forms a secondary parabolic curve at a specified acceleration
16. Axis If Limit signal is selected the limit signal of the search direction at stepl and 2 becomes the sensor signal 4 3 4 2 Home Signal Level HOME It selects an active logical level for HOME signal Home EE E GEX Short circuited High Home Signal Level Mode Open Home signal is the 8 pin in CN4 connector see chapter 7 4 When an active logical level is set to Low detection operation of step 1 2 starts and when Home signal becomes short circuiting with GEX the operation takes the signal as active and then it stops When set to High and when Home signal becomes open the operation takes it as active and then it stops 4 3 4 3 Encoder Z phase Signal Level ECZ It sets an active logical level for encoder Z phase signal ECZ detected in step 3 Home Search Z Signal Level Low GEX Short circuited High Open tow Encoder Z phase signal ECZ is the 4 pin in CN4 connector see chapter 7 4 When an active logical level is set to Low detection operation of step 3 starts and when the signal becomes short circuiting with GEX the operation takes the signal as active and then it stops When set to High and when the signal becomes open the 48 operation takes it as active and then it stops 4 3 4 4 Step 1 4 Enable Disable It sets to execute or not to execute each step of home search operation Step1 Enable Disable non execution Enable execution Disable Step2 Enable Disable non execution
17. Enable execution Disable Home Search Mode Step3 Enable Disable non execution Enable execution Disable Step4 Enable Disable non execution Enable execution Disable When selecting Disable non execution the step is not executed and proceeds with next step When selecting Enable execution search operations for each step are executed in the specified direction See chapter 6 2 1 for more details on each step 4 3 4 5 Step 1 3 Search Direction It selects a search direction for each step of home search operation Step1 Direction Home Search Mode Step2 Direction Step3 Direction When selecting search operation is executed in the direction And when selecting search operation is executed in the direction The direction of high speed offset driving at step 4 can be set in Home Search Offset field in Parameter settings tab see chapter 4 3 3 8 4 3 4 6 Position Counter Clear It selects to clear or not to clear the position counter at the end of automatic home search Home Search Mode Position Clear Disable not clear Enable clear When enabled the logical and real positions are cleared to 0 at the normal end of automatic home search 49 4 3 5 Split Pulse Settings tab Split Pulse It configures Split Pulse 1 4 The setting range of each item is displayed in Range of Value ED Configuration Condition unit 03 MD5230D Intelligent Motor Driver Mode Speed Paramete
18. OFF ON Program Drive Start There are not X CN3 5 Y CN3 6 and YDRIVE END CN3 16 signals for MD5130D In mode tab if End pulse is enabled see chapter 4 3 1 7 and when the command is finished the line that enables End pulse of the running program XDRIVE END output signal outputs ON pulses for the time specified in end pulse width Note e START signal must be ON for 10msec or more e When program driving is interrupted by STOP signal it cannot resume from the line where the program was stopped e Please avoid starting MD Operation Tool during program driving First stop the program driving and then start MD Operation Tool 7 3 2 5 Excitation OFF Operation Excitation OFF operation breaks the supply current to a motor which is useful such as when adjusting the position of a motor axis by manual operation If STOP signal 4 pin is turned ON for 3sec or more while stopping a motor and program motor excitation will be released and keep its state until STOP signal 4 pin is turned OFF If STOP signal 4 pin is turned ON while running a motor or program it will work to stop a motor or program and even if STOP signal 4 pin is turned ON for 3sec or more motor excitation will not be released To release motor excitation turn STOP signal OFF once 114 7 4 CNA CN7 Sensor Connector for Axis The sensor connector for axis has inputs around the sensor output of split pulse and general purpose input output signals CNA isInput
19. Power OnHomeSearchStartyY PowerOnProgramStartyY Step0utDetectionY Step0utDetectingl imingY O OO CO Oi O O Oi 01i O e Parameter PostT mer 1Y PostT mer 2Y PostTimer3Y HomeSearchOffsetY HomeSearchLowSpeedY SoftwareLimitPlusY SoftwareLimitMinusY EndPulseWidthY PulseScaleNumerati onY PulseScaleDenominati onY EncoderScaleNumerat onY EncoderScaleDenominationY Step0utDifferentialY 10 100 1000 10000 6000 8000000 8000000 100 1000 1000 1000 200 100 Home Seach Mode SensorSignalY HomeS ignalLevelyY ZSignalLevelY Step1Enab ex Step1DirectionY Step2Enab eY Step2DirectionY Step3EnableY Step3DirectionY Step4EnableY PositionClearY 129 AccelerationTimevY 1 RENE DecelerationTime4Y 1 AA AccelerationRate4Y 490000 e _DecelerationRate4Y 1 UNENEE AccelerationIncrease4yY 1 Split Pulse SplitLength1Y PulseWidth1Y PulseCount1Y Spl itLength2Y PulseWidth2Y PulseCount2Y Sp itLength3Y PulseWidth3Y PulseCount3Y SplitLength4Y PulseWidth4Y PulseCount4Y ProgramY Maximum 1000 lines Conf i guration RunCurrentx RestCurrentX StepResolutionx AutoCurrentReduct ton HardwareL mitStopModeX HardwareL i mitActiveLevelX SoftwareLi mitEnableX O O O Oi 01i SoftwareLimitStopModeX EndPulseEanblexqx Power OnHomeSearchStar tx PowerOnProgramStartX Step0utDetectionX Step0utDetectingl imingX O O Oi O ch 130 Parameter P
20. S curve 2 Sets the drive speed for speed5 Speed5 Edit p After selecting speed5 clicking Edit button opens Speed5 Edit window Displays each parameter setting for the speed currently selected When speed5 is selected the drive speed set in Speed5 Edit window is displayed in Drive Speed and each parameter value just before selecting speed5 is displayed in Mode Start Speed Accel Time and Decel Time fields Speed Parameters 24 4 2 3 1 Speed5Edit It sets the drive speed for Speed5 Speed5 can be changed during motor rotation AN speed5Edit lo E meza Unit 03 MDS230D Intelligent Motor Driver xx Lr EX 11 000 al 21 000 El 1000 1000 X Set the drive speed for speed5 within the range of 1 500000 pps Speed5 Input the value and press Enter and the speed will be set Clicking A VW button increases and decreases the value based on Speed5 Rate Select Speed5 Rate from 1 10 100 1000 10000 pps Speed5 Rate When 10 is selected clicking A W button increases and decreases the Speed5 value by 10 pps Closes Speed5 Edit window e When Speed5 Edit window is opened Speed Select can not be changed to Speed1 4 even though a motor stops To change Speed Select close Speed5 Edit window e As for acceleration time Accel Time and deceleration time Decel Time when selecting Speed5 The acceleration deceleration of Speed5 is performed with acceleration deceleration s
21. Speed Timer EndP L2 digas Graphics Position Tracing ES gt 1 Po1 we y Al zl 20 wor y Ea E EE x El Graphics Grid gt 2 nop Es Zum woe y ISS E M 31121 ABS zl 80000 2 sin of y ABS _y 70000 4 vlo slon sl e EE Se 4 ABS _y 80000 2 sin of sl ABS _y 80000 4 vlo slon sl el Fee 5 ABS sl 80000 2 vlo slop sl ABS sl 90000 4 vlo zion sl 3 6 ABA _y 10000 3 el ABA 60000 a zl sl el Home Searc 4 000 4 000 RS 7 WTE ei y x y WTE El H H El 8 NOP sl sl eh INC sl 100000 3 yl3 schon y PS 9 INC _ 100000 4 vl3 ion sl ICA 200000 2 sl eh el 10 nop y fa zl d wm y ele E Jag 11 ICA sell 70000 2 sl sl e 1ep el so4 sl el el El 12 WTE si eh ell JSR _y so2 eh eh el ES 1 000 000 In Jan KE I Pos xlo Ez USES ES R na Pa 14 JSR _v so2 sl el ICA _y 90000 a zb sl e Stop 15 POS elo vb sl rfio0s emp sl en 305 sl sl sl 16 ICA 600000 a zl sl sl mp 7 304 A sl sl ABS Position Set 17 3104 Pip zap 305 ch bh lan wre sl ElL El El 18 mp J04 sl eh mp J02 sl eh EI File Name Split Pulse No La xxi i o Run Motor Free Poi ln Step 40 4 40 000 X Timer Y Timer 2 100 2 100 Rm e BE P20 _ stop X EndP Y EndP 1 100 1 100 To execute the created program there are the following 3 methods As for each operation method please refer to each chapter e Execution from Program window in MD51_52 Operation Tool see chapter 4 4 User Program
22. XINO signal is Low ON jump to J01 If Hi Open to the next line Call subroutine S02 Program end command END Call subroutine S03 Program end command END S01 subroutine Operation1 Absolute position move to the position 5000 S02 subroutine Operation2 Absolute position move to the position 12500 Turn XOUTO for 0 5 seconds S03 subroutine 01 Low J04 Operation3 J02 Branch lf XINO signal is Low ON jump to J04 0 If Hi Open to the next line 9000 Set the current position to 0 Relative position move start 1000 J02 J03 When checking the condition of passing position JO3 Jump to J02 JMP J03 02 500 J04 Turn XOUT1 for 0 5 seconds 85 5 5 5 Program Example by 2 Axis Simultaneous Command Write a program label to only X axis and write 2 axis simultaneous command in the same line of X and Y axes After waiting for the end of both driving the 2 axis simultaneous command shifts to next command line execution X Axis Y Axis Lab E D Ti E el al a fee al Write P label to only X axis Write in the same line Each value is set in each axis individually 5 5 6 Program Example of Linear Interpolation Write a program label to only X axis and write linear interpolation command in the same line of X and Y axes As linear interpolation command shifts to next command line immediately after the execution write WTE command in the next line and waits for the end of driving Write P label to only
23. and automatic home search cannot be started and configuration settings cannot be downloaded The setting of pulse scale see chapter 4 3 3 4 is not applied to the setting value of Step Out Differential 102 6 5 Speed Setting MD5130D and MD5230D can perform constant speed driving trapezoidal acceleration deceleration driving non symmetry trapezoidal acceleration deceleration driving and S curve acceleration deceleration driving In addition for trapezoidal and S curve acceleration deceleration driving a simple mode is available that does not require a start speed setting where the start speed is automatically calculated The user can register 4 patterns of the speed setting 6 5 1 Constant Speed Driving Constant speed driving outputs drive pulses at a specified speed from the start to the end of driving without acceleration deceleration Speed pps Drive Speed Time ms Constant Speed Driving The settings to perform constant speed driving are as follows Drive Speed 1 500 000 pps Set drive speed 6 5 2 Trapezoidal Acceleration Deceleration Driving Trapezoid1 Trapezoid2 Trapezoid3 3 types of trapezoidal acceleration deceleration driving are provided Trapezoidl is simple trapezoidal acceleration deceleration driving that does not require a start speed setting Trapezoid2 is normal trapezoidal acceleration deceleration driving and Trapezoid3 1s non symmetry trapezoidal acceleration deceleration d
24. being conveyed are subject to fall when step out occurs during up and down driving Ensure that it is thoroughly tested under load conditions to be used and can be driven securely There is a possibility that the temperature of a connected motor becomes high even within rated current Adjust the current value or operation interval so as not to exceed the temperature tolerance prescribed by manufacturer HM Connection O Make sure the power input voltage is within the rated range Otherwise 1t may cause fire or damage of the product O Connect according to the connection diagram correctly and be sure to tighten terminal screws O Do not bend pull or pinch the power supply line or motor lead and signal wires excessively Otherwise it may cause fire or damage of the product E Disassemble and Repair O Do not disassemble repair and modify the product Otherwise it may cause fire or injury Please contact us for inspection and repair A CAUTION E General Be very careful if you touch the product during power on or for some time after power off the surface temperature of the product may become high MW Placement Please set it up to incombustibles such as metal Operation El O When driving continuously the surface temperature of the product may become high Be sure not to exceed the surface temperature of 70 C O Provide a means to stop for emergency anytime during operation Otherwise breakage or injury may result O Duri
25. during motor rotation an error will occur and the program will be finished Data Specifies the current position by absolute position This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483648 2147483647 NOP No operation MD5130D MD5230D No operation is performed 80 5 3 Input Output Ports MH Input Ports Signal Input Port Number Connector Pin Number Signal Signal Description Category XINO General Purpose Input 0 General Erre XIN1 Erre X axis Signals a Geste ee oe ona E e AC Ce A ees G P YINO eneral Purpose Input 0 IP VINI General Purpose Input 1 Y axis Signals z o k O a fons veo Preece prs e Joe a eoz Encoder Z phase s EE Program Parallel Control Designation Signals NW Output Ports Signal Output Port Number Connector Pin Number Signal Signal Description Category General Purpose 01 CN4 14 XOUTO j Output 0 o X axis Signals General Purpose 02 CN4 15 XOUT1 Output 1 G IP 11 CN7 14 YOUTO OS Output 0 G IP 12 CN7 15 YOUT1 EES Output 1 For more details of the connectors see chapter 7 3 Parallel Control Connector and 7 4 Sensor Input Output Signal Connector for Axis 81 5 4 User Program Creation and Execution Rules Pro
26. more details of Automatic Home Search see chapter 6 2 Setting Item Input Signal None MODE1 0 regardless of signal designation Start signal HOME 2 ON automatic home search start 7 3 2 2 Scan Driving Operation Scan driving is the function to rotate a motor in the direction while SCAN 7 pin input signal is ON and in the direction while SCAN 8 pin input signal is ON Drive speed can be selected from Speed1 4 by SPDO 1 11 12 pins Signal Setting MODEO MODE1 Gg Select 7 T 1 11 12 oF Driving mode Speed3 Motor rotation for SCAN 7 ON Rotation OFF Stop Motor rotation for SCAN 8 ON Rotation OFF Stop a ON Speeda Or ON 112 7 3 2 3 Continuous Driving Operation Continuous driving rotate a motor in the direction while RUN 7 pin input signal is ON and in the direction while RUN FS pin input signal is ON It keeps rotating until STOP 4 pin input signal turns ON When LIMIT input signal in the current direction becomes active it stops Drive speed can be selected from Speed1 4 by SPDO 1 411 12 pins Input Signal Setting Driving mode MODEO 13 OFF MODE1 14 ON Select by SPDO 1 11 12 SPD1 12 SPDO 11 Soen RUN 7 ON Start motor rotation in direction RUN 8 ON Start motor rotation in direction 7 3 2 4 Program Driving Operation Program driving execute a user program registered in the un
27. of Main window Error Message Supplement EEPROM read error while uploading If occurs again after restart it may be a unit failure Please contact the maker Communication time out error while uploading Check the USB cable connection Motor excitation off Cause of step out may be as follows Motor load is too large Motor driving current is insufficient Motor rotation speed or acceleration is too high ep Out Differential is too small Step out error Click Controller Reset Set proper value Cannot WTP because motor stop Program stop by STOP signal User Program Command rejected for motor rotation User Program Command rejected for motor stop If occurs again after restart it may be a unit EEPROM read error while user program running failure Please contact the maker Over three nested loops of JSR or REP RED Program execution failed Check the logic of a user program Software limit error Software limit error Hardware limit error Hardware limit error Ree See chapter 6 2 1 3 Step 3 Low speed Encoder Z phase Search Motor excitation off O 0 eck O 120 E E 1 EC AN A 1 am Cannot SPD while S curve driving i s o Cannot WTP because passed through specified position OO CI BEER CN EEN CS BEER DEE M EEN BE CC E JL ENS EEN 121 9 1 2 Popup Message List Message 1s displayed in a popup window CC AA CS AN CA AN CN EI Speed
28. of driving current per phase during motor rotation 0 35 0 42 0 49 0 56 0 63 0 70 0 77 0 84 0 91 0 98 1 05 1 12 1 19 1 26 1 33 1 40 Run Current A 0 35 A indicates a unit The user can select one from 16 kinds from 0 35 to 1 40 The unit of the value is A ampere This sets driving current of a motor during motor rotation Please be sure to set 1t within the range of rating of a motor based on the load The greater a value of current is set the larger motor torque becomes however the heat generation and vibration of the unit and a motor become large And the smaller a value of current is set the more motor torque decreases The actual value of current fluctuates about 5 with respect to the setting value Note e When the user changes a motor to be connected set a proper value in MD Operation Tool before connecting a motor 34 4 3 1 2 Rest Current It selects a value of current during motor stop for when Auto Current Reduction is enabled 25 30 35 40 45 50 55 60 Rest Current 501 Specify a value of current during motor stop by percentage to the setting value of Run Current there are 16 kinds from 25 to 100 can be selected The smaller a value of current is set the more motor torque decreases 4 3 1 3 Step Resolution It selects a value of Step Resolution Display Default 1 2 4 5 8 10 16 20 Mode Step Resolution 25 40 50 80 100 125 200 250 Micros
29. out detecting timing for a step out error The user can select either Drive End that detects it at the end of driving or While Drive that always detects it every 10ms cycle during motor rotation e Enable the step out detection function 6 4 2 Step Out Detection Function Setting Items Display Option Range Default Step Out Differential 1 65535 Parameter Encoder Scale Numeration numerator 1 65535 1000 Encoder Scale Denomination denominator 1 65535 Mode Step Out Detection Disable Enable Step Out Detecting Timing Drive End While Drive 6 4 3 Setting Example of Step Out Detection Function The setting example of step out detection function under the conditions below is as follows Pulse number of an encoder per rotation 500 pulses Step resolution 20 Step out detecting timing While Drive 1 Setting of the encoder scale numerator and denominator To match the two of count values an encoder and logical position set the encoder scale numerator and denominator see chapter 4 3 3 5 Encoder Scale Numerator 500 x Step Resolution 500 x 20 10000 x 4 OT Encoder Scale Denominator Encoder Pulse Number per Rotation 500 x 4 2000 2 Calculation of step out differential Use the formula below to determine the recommended value of step out differential see chapter 4 3 3 6 500 x Step Resolution 500 x 20 Step Out Differential gt eer x 4 Encoder Pulse Number per Rotation 500 x 42 80
30. select or single click on Data field in SSP command line and the user can input the split pulse setting number 1 4 directly in Data field Split pulse settings SSP selection 7 X Axcis Split Length Pulse Width Pulse Count f Split Pulse 1 Ee Select Split pulse Split Pulse 2 setting number EE f Split Pulse 4 Cancel Note e The actual output of split pulses is delayed about 2 4msec due to the time for command processing PST Split pulse stop MD5130D MD5230D A AA AA This command stops to output split pulses Immediately after starting to execute this command it shifts to next command line execution For more details of Split Pulse see chapter 6 3 74 5 2 4 Program Control Commands IJP Input condition jump MD5130D MD5230D JP Input port number Signal level Low Hi Jump destination label JO1 J63 If input port is the specified input state it jumps to the specified label of a jump destination If input port is not the specified input state it shifts to next command line execution Data e Input Port Number Specifies the input port number corresponding to the input signal See chapter 5 3 for input port numbers e Signal Level When setting Low and if input port 1s Low level GEX Short circuited it jumps When setting High and if input port is High level Open it jumps e Jump Destination Label Set the label of a jump destination JO1 J63 The jump destination must be
31. settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 Y axis Not selected Note Be sure to set the mode to Constant other modes except Constant cannot be used e Jl Speed of interpolation commands is only valid for X axis and invalid for Y axis When the start and finish points of a circular arc are not on the X or Y axis the finish points of both axes may deviate by 1 pulse When both are on the X or Y axis this deviation does not occur 5 2 2 1 Limitation on the coding with interpolation When the commands in the table below is written in the next line to the interpolation command the command error will occur Command Type Code_____ Command Type Y axis program start eooo pees ST Weg Y axis program Instant stop Absolute Absolute position move move Home search search 2 axis simultaneous 2 axis simultaneous home absolute aid ee move CON ooo o Relative Relative position move move Drive Drive speed 2 axis simultaneous Current position relative position move Absolute position move i p ABA Split pulse start SSP start Relative position move li Continuous move start move Continuous move start 72 5 2 3 Signal Output Commands OUT Output port ON OFF MD5130D MD5230D Output Port Number Output Status Off On ENE Turn the specified output port ON tur
32. signal for X axis CNS is for Y axis 7 4 1 CN4 CN7 Sensor Connector Signals nm the table below indicates X or Y axis 4 5VEX 5V Power output DC5V under 200mA 5V power output for power sources of encoder limit sensor etc 2 MEGA Encoder A phase The input signal of Ge quadrature pulses to count the real position The encoder can be Input lI NECB EncoderBphas Ge to open collector output or line driver output Encoder Z phase nECZ Input Uses for automatic home search The encoder can be connected to open collector output or line driver output o Er 24V Power output DC24V under 150mA 24V power output for power sources of Sg and limit home sensor Home HOME GER Home signal for automatic home search ES Input over limit in the direction Over limit in the direction When this signal is activated during motor 10 nLMT rotation in the direction driving stops by decelerating or instantly After stop even though this signal is active motor rotation in the opposite direction can be performed Emergency stop Turning this signal ON stops motor rotation immediately This signal W EMG RER cannot select the logical level If the signal changes from OFF normal state to ON GEX Short circuited it performs the emergency stop General input 0 Available general input signals in a user Input General input 1 program which are used by IJP command 14 nOUTO General General output0 0 General output 8 Avail
33. stepper motor into smaller microsteps The connected 5 Phase stepper motor counts one rotation of a motor by 500 drive pulses when the setting value of step resolution is 1 Namely the step angle of motor rotation is 0 72 per drive pulse The greater the step resolution smaller the step angle of motor rotation per drive pulse The rotation angle of a motor to the specified moving distance drive pulse number can be calculated as follows Motor Rotation Angle Degree a a o x Drive Pulse Number Step Resolution Note e Step resolution function is the method of dividing the basic step of motor excitation electrically It does not assure that the step angel divided by Step resolution is uniform mechanically Acceleration Deceleration 5 phase Motor Pulse Oscillator Microstep Drive Circuit Drive Pulse Drive Command VA LUL Lees Basic Step 0 72 i Motor Rotation Angle Moving Bes sl Division Number degree Logical Position Counter Pulse Scaling Nip Nils Current Logical Position Display Position Difference Detection Nip Yes Nrs Nlp Nrs ZS Step Out Error Difference of Step Out Detection S ER Real Position Counter Current Real Position Display CN4 2 ELS Zeie EC B 44 edge evaluation Nre Counted by Quad Encoder Value CN4 3 Encoder Scal ing Nrs SCH Conversion Value of Real Position Con Pulse Scale Numerator Pulse Scaling Cod Pulse Scale Denominator Cen Encoder Scale Nume
34. the acceleration deceleration mode of axis to perform decelerating stop However if acceleration deceleration mode is constant speed driving it stops immediately After stop of axis driving by this command it will shift to next command line execution When this command is executed during stop it waits the time specified by Timer and then shifts to next command line execution Timer Specifies the waiting time of until the next command line is executed after completion of decelerating stop When 1 3 is assigned to Timer the time of post timer 1 3 that is registered in Parameter tab in Configuration window see chapter 4 3 3 1 is used When setting without the waiting time set 0 to Timer 68 IST Instant stop MD5130D MD5230D A gt e The axis driving stops immediately After stop of axis driving by this command 1t will shift to next command line execution When this command is executed during stop it waits the time specified by Timer and then shifts to next command line execution Timer Specifies the waiting time of until the next command line is executed after instant stop When 1 3 is assigned to Timer the time of post timer 1 3 that is registered in Parameter tab in Configuration window see chapter 4 3 3 1 is used When setting without the waiting time set O to Timer HOM Home search MD5130D MD5230D Execute a home search according to the procedures set by home search mode see chapter 4 3 4 After home searc
35. window appears Click Add or Remove Programs if on Windows XP 3 223 109 Ex G lud t Control Panel Programs Programs and Features File Edit View Tools Help Control Panel Home e Uninstall or change a program To uninstall a program select it from the list and then click Uninstall Change or e Turn Windows features on or Repair off Organize Change Repair ei SES MD51_52 Operation Tool vE5 2 1 0 NOVA electronics 4 Programs and Features window appears then click Yes Are you sure you want to uninstall MDS1 52 Operation Tool vE5 2 1 0 In the future do not show me this dialog box Note User account control window appears on Windows7 Please click Yes 5 MD Operation Tool is now uninstalled Confirm MD Operation Tool is not listed in Uninstall or change a program and uninstallation is successfully completed 19 4 MD51_52 Operation Tool MD51_52 Operation Tool is the software to configure and operate MD5130D and MD5230D from PC After connecting the unit and PC with USB cable and starting MD51_52 Operation Tool the user can easily perform operations described as below Jog mode Scan Continuous Preset Automatic home search Invoking configuration and user program windows Download and upload configuration settings and a user program to a unit Save and Load configuration settings and a user program to PC Mode Speed Configuratio
36. 1 OMRON or equivalent XW4B 05B1 H1 OMRON or equivalent 20P MIL Standard 2 54mm Ribbon Connector 16P MIL Standard 2 54mm Ribbon Connector Other side of the accessory cable USBA Connector When you turn the power ON or plug the connector in and out ensure that the 1 Connector Connector Type Other Side Connector Type XW4B 03B1 H1 OMRON or equivalent XW4B 05B1 H1 OMRON or equivalent 20P MIL Standard 2 54mm Ribbon Connector 16P MIL Standard 2 54mm Ribbon Connector Other side of the accessory cable USBA Connector XW4B 05B1 H1 OMRON or equivalent 16P MIL Standard 2 54mm Ribbon Connector When you turn the power ON or plug the connector in and out ensure that the 7 1 CN1 Power Connector Connect DC24V power supply The maximum current consumption of the power depend on the setting of motor driving current EA It is about Phase currentx2 0 2 A Ground it as necessary Note e Connect to the terminal in accordance with the polarity 7 2 CN2 Motor Connector This is the connector to 5 phase stepper motor The motor with 5 or 10 leads such as Tamagawa Seiki or Orientalmotor can be applied Please connect to CN2 connector according to the lead color as shown in the table below o Red Deg Bomm Deen Green Yellow Green Gray White 5 leads Motor Connection Diagram 10 leads Motor Connection Diagram e Ensure that motor leads are correctly connect
37. 1 X Y Acceleration Time changed to ms 7 Speed1 X Y Deceleration Time changed to ms a Speed2 X Y Acceleration Time changed to ms yO Speed2 X Y Deceleration Time changed to ms Speed3 X Y Acceleration Time changed to ms yO Speed3 X Y Deceleration Time changed to ms yy Speed4 X Y Acceleration Time changed to ms OO Speed4 X Y Deceleration Time changed to ms oy CC CS 1 EEE Input from P01 to P63 for program label Input from S01 to S19 for subroutine label a Input from JO1 to J63 for jump label EE ES za reenen EI CI 122 Semester HE Seene ETS AN 568 Bad composition of REP RED 572 Program check OK Connect USB cable again and restart 591 Timeout error for sending the unit If not recovered please contact the maker Connect USB cable again and restart 592 Timeout error for receiving the unit If not recovered please contact the maker Cannot download while Run mode Download configuration data because configuration parameters changed 802 Program in unit is unmatched Main Screen File F Download D All 803 Error occurred while downloading 800 01 8 The unit is in operation Wait for program stop or motor stop by parallel operation To stop it forcibly click Reset button 00 CH D Unit cannot accept download Error occurred while downloading 8 Changed configuration data will disappear Are you sure you want to upload Can
38. 1 XLMT MCX501 De XINO 1 XOUTO 1 Output Buffer E DTCO23YEB VEX d o Motor Driving Circuit Microstep Bipolar Pentagon Drive System MD51300D Circuit Block Diagram External Power Output 5V Encoder A phase Encoder B phase Encoder Z phase Home Direction Limit Direction Limit Emergency Stop General Input 2 signals General Output 2 signals Split Pulse External Power Output 24 5 phase Motor Output 1 1 2 CN3 Parallel Control CNO USB CN1 Power Input MD5230D RESET HOME START Photo Coupler STOP TLP291 Y PSLO 5 Y MODEO 1 o Single Chip SERENE Microcomputer Sg Output Buffer H8SX 1655 YDRIVE PA YERROR pen collector VEX SRAM 256KX16bi t EEPROM 256Kbit Mot on Control MCX514 X axis sensor VE mm High speed Photo Pap er _ XECA _ AECH Photo Coupler XECZ TLP291 HOME IC Photo Coupler XLMT TLP291 _ XLMT EMG DUR XOUTO 1 Output Buffer pe DTCO23YEB Y axis sensor eg same as X axis X axis Motor Driving Circuit Microstep Bipolar Pentagon Drive System Y axis Motor Driving Circuit same as X axis MD52300D Circuit Block Diagram CN4 External Power Output 51 Encoder A phase Encoder B phase Encoder Z phase Home Direction Limit Di
39. 3 Setting of step out detection function Based on the above results of the calculation set each item for the step out detection function as shown below Step Out Differential fo Parameter Encoder Scale Numeration numerator 10000 Encoder Scale Denomination denominator 2000 ge Step Out Detection Step Out Detecting Timing While Drive 101 6 4 1 How to Release Step Out Error If a step out error occurs release the MD5130D 5230D error state To release the error state click Controller Reset button in the right bottom of Main window in MD51_52 Operation Tool or input Low GEX Short circuited to RESET signal of the 1 pin in CN3 connector After the step out error is released and step out factor is cleared perform the operation to return from abnormal state such as execution of automatic home search If the step out error occurs frequently after returning from the error check the items in the table below Is the encoder scale setting correct Is the value of step out differential too small Is the speed setting appropriate Is the motor current appropriate Is the load to the axis appropriate Are the encoder and motor axis fixed firmly When the setting value of step resolution differs from the value counted by quad edge evaluation of the pulse number per rotation set the encoder scale settings correctly and the position deviation can be properly detected for step out detection For more
40. 50000 125000 250000 i indicates a space 132 2 Configuration Block Configuration Mm Mode Mode Item RunCurrentX Y Run current 0 35 A 0 42 A 0 49 A 0 56 A 0 63 A 0 70 A 0 77 A 0 84 A 0 91 A 0 98 A 1 05 A 1 12 A 1 19 A 1 26 A 1 33 A 1 40 A RestCurrentX Y Rest current 25 30 35 40 45 50 55 60 65 70 10 75 11 80 12 85 13 90 14 95 15 100 StepResolutionX Y i Step resolution 1 CO ND OBR WD O CONDOR WN O OO JO Oo P WDM O A N o OO OO Oo Oo AD O1 N ou AutoCurrentReductionX Y 1 Auto current reduction 1 Enable O Disable HardwareLimitStopModeX Y Hardware Limit Stop Mode O Instant 1 Slow 133 HarawareLmitAciweLeve xy 0 Hardware Limit Active Level High Oo SoftwareLimit nablex Y 0 Software Limit Enable s SoftwareLimitStopModeX Y Jo 0 Software Limit Stop Mode 0 Slow 1 Instant EndPulseEambleX Y In Driving End Pulse 1 Enable 0 Disable 0 Power on home search start Enable 0 DISabIe ot COS Power on program start 1 Enable 0 Disable Step out detection 1 Enable 4 0 Disable PowerOnProgramStartX StepOutDetectionX Y Y Y Y Y StepOutDetectingTimingX Y O Step out detecting timing 1 Drive End 0 While Drive 134 W Par
41. 7 4 CNS USB Connector si USB Connector CNS USB Connector Connected to PC with USB cable siSY to PC with USB Connected to PC with USB cable E Drive Error LED Display Lights up during motor rotation When driving end pulse is enabled it lights up from a start of motor rotation until driving end pulse is OFF Blinks at 1 second User program error from Host PC occurs intervals Parallel user program error occurs During motor rotation Hard Software limit error occurs Error by emergency stop signal EMG occurs Step out error occurs Automatic home search error occurs EEPROM access error occurs Blinks at 0 2 second intervals 1 2 2 MD5230D The following shows the appearance of the MD5230D its package dimensions are 130mm H X 46 5mm W X 98 5mm D Input output connectors are placed on the front panel and the rear panel is equipped with DIN rail installing hook Drive error LED X Y axis l Power LED ID Setting Switch CN5 USB connector CN2 Motor Connector X axis SANS CN4 Axis Sensor Input Output Signal Connector X axis r CN6 Motor Connector Y axis CN7 Axis Sensor Input Output Signal Connector Y axis r EIER DIN Lever CN1 Power Connector DC24V CN3 Parallel Control Connector Heat sink can optionally be mounted W Connector LED Power LED Green Lights up during power on Lights up during motor rotation When driving end pulse is enabled it Drive Er
42. A eras eae nese 40 ee lee MS A A ies wats EER 40 4329 Re del imei a o eee 41 4 3 3 Parameter Settings tab Parameter ccccccccsssecsssecsseceseecseeesseecseeecseecsaeseseecseeeeseecesescsseceseesueseseessaeseeessaeeeseeeeaeens 42 433 T POSE MIME TEST E 43 4302 E Bi ar OO AIR Rs ARS 43 43 33 End Pube Wid coi 44 4 3 3 4 Pulse Scale Numeration and Denommaton nono nnnnn nan nrannnnnnnnannnnnss 44 4 3 3 5 Encoder Scale Numeration and Denomination c cccccccsccccssccsecsssecssecseecsseesseecseeseseecsseecessesescseeeceeseseeesseeeneeesas 45 ESAS O 46 4 3 3 7 Home Search LOW Speed non nnnnn a 46 4 3 9 9 Home Search OMS CF EE 46 4 3 4 Home Search Mode Settings tab Home Search Mode 47 ES A e E o A Oe eee KLEREE 48 43 42 Home SIG Mal Leve HOME EE 48 4 34 33 EncoderZ phase Signal Level EGZ E 48 ASAA OO EN ISA e a 49 434 5 Step 1 3 Search DIM ia 49 4346 SEENEN eege 49 4 3 5 Split Pulse Settings tab Split Dulse nono nnnnnnnnnnrarnnnnnnrannnnannnns 50 A teiaedoh Seating a eaten wocndsaceeeeet tans 51 A AAPP o nen 51 433090 USA de dd a do O El 51 43 6 Unit Name Setti gs tab UNEN AMO ee 52 4 4 User Program Settings window Program ussssssnssseeuesuens sets kt ERR E REE ed Eege dd 53 4At Ser Program Display FE dit ALCS URE ER E E E E A lee eg ner ke een re FE aa 54 4 4 2 EGE Titel 55 AAS EIERE 55 444 Download Upload Open Save cccccccccssccssecsseccsseecsesesseccsseece
43. ENSIONS cccccseseeeteeseeeteeseeeteeseeens 118 e1 E FO DD renee nascent eae at nen na o dd oo 118 827 IMDB 5283 0 E ma ENE E re re arr rr rede seerne 118 8 3 Heat sink Optional accessory for MUDGZ20OD conan onnrarnnnrarnnnnnnnos 119 D MESSAGE souiro niii 120 dile HET ON MESS A0 atacara coast 120 9l A ee ee ror eee 120 9 1 2 Popup MESS age LIST cence casei te ae coe A A a HG teat ees 122 TOs SCC MCA ONS sans 125 Appendix A CSV TEE 127 1 User Program File Configuration sitios nio ni 127 Teds AMOS BODI a lt als 127 d IMD e ld e eee 129 2 Gontiguration Block Configuration ind 133 Bee Program BE le e Program EEN 137 Appendix B User program 138 da EXAmple0 Continuous MGHIOIATON EE 138 1 1 Continuous interpolation user program combined linear and circular 11 secs euuuuseuusenssensknnsk res kennkernkernee 138 2 Example o clrcular ee ION aiii 140 21 Gicularintenolation User Oro Mya is 140 Vil 1 Outline MD5130D is 1 axis and MD5230D is 2 axis 5 phase stepper motor unit with bipolar pentagon drive equipped with high functions A built in EEPROM can program driving parameter values and the user program of up to 1000 steps for each axis The software MD51_52 Operation Tool is attached which can edit and register configuration data and a user program NW Integrated Motion Controller and Driver MD5130D and MD5230D are the integrated motion controller with motion control function and micro
44. OME Low GEX Shortoireuited Active logical level for encoder a Z phase ECZ Cn e re Step1 Enable Step1 non execution execution Enable Execution si step Direction Sept search direction direction Step3 Direction Step3 search direction EN Position counter clear Position counter clear after finishing home search M if r ee Mode Acceleration deceleration mode me specify start Position Clear Start Speed Stan Speed Startspeed Start speed 4 000 SEN E ek trapezoidal driving Drive Speed 40 000 Home search high speed Acceleration Time Acceleration time 500 Il 94 Positive value drives in direction and negative value drives in direction Moving distance of home search Home Search Offset offset Home Search Low Speed at home search low Set the smaller value than 4 000 Speed speed start speed Parameter 6 2 3 2 Example of Home search using a limit signal For a simple home search the limit signal of one side is used as an MD5130D alternative to a home signal However the following two conditions must be applied LMT When high speed search operation is performed decelerating stop can sufficiently be performed within the distance from limit signal thr activation position to mechanical limit position 2 Home search position is not beyond the limit signal active section in the search direction Over Run Limit in Operation Example the ae rection h h In
45. Settings window e Execution by parallel control signals see chapter 7 3 2 4 Program Driving Operation e Execution by Power On Program Start see chapter 4 3 1 10 Power On Program Start 62 5 1 Label MD3130D and MD5230D Program window have 3 types of labels Program Label Jump Label and Subroutine Label Program label is the label that identifies multiple programs and jump label is the label that indicates the jump destination of a program or in a subroutine and subroutine label is the label that identifies the subroutine called from a program or subroutine Program Label P01 P63 Jump Label J01 J63 Subroutine Label S01 S19 5 1 1 Program Label P Label Program label is the label that identifies multiple programs User program can register multiple programs which can be each identified by a program label 63 Program labels are available from POI to P63 When executing a program from MD51_52 Operation Tool select a registered label number and click Start button Or specify a program number by parallel control signals and the user can execute a program For more details of execution by parallel control signals see chapter 7 3 2 4 Program Driving Operation Note e Program label must be written in the first line ofX axis e One program must have one or more END command in it For more details of commands see chapter 5 2 and after User Program Commands 5 1 2 Jump Label J Label Jump label is the label
46. Smart Motion Driver For 5 phase stepper motor Integrated1 2 axis Motion Controller and Driver NMD5130D MD5230D User s Manual NOVA electronics M Revision history ms TT Ver 2 0 2015 7 7 Modified as below Delete Note of Y axis in 1 1 2 Contents of 4 2 5 9 Controller Reset Note of 5 2 2 Interpolation command LNI Note of 5 2 2 Interpolation command CWI Note of 5 2 2 Interpolation command CCW Add a table of 6 5 7 Regarding Speed Change during Motor Rotation A A eee Introduction Prior to use read this operation manual carefully to fully understand for correct use and follow all the instructions given in this manual We shall be exempted from taking responsibility and held harmless for damage or losses incurred by the user if the user fails to observe the instructions Keep this manual handy for future reference NW Checking the contents When you unpack the package check for the following accessories If something is missing or broken contact the place of purchase nt MD5230D MD5130D LL XW4B 03B1 H1 Omron or equivalent 1 1 XW4B 0581 H1 Omron or equivalent 1 2 Connector for parallel control 1 20P MIL standard compliant connector 1 1 Connector for axis sensor______ 16P MIL standard compliant connector 1 2 USBcabe Sm S t Heat sinkioptiona ll comes with one software CD ROM at the first purchase The descriptions of this manual may change without notice because o
47. The drive pulse number of 10mm of axis driving is 10 0 0002 50000 pulses e Pulse width The drive pulse number of 1mm of axis driving is 1 0 0002 5000 pulses 10mm e Split pulse output Split Pulse Setting Set Split Pulse2 Split Length 50000 Split Pulse 500 Pulse Width 5000 O infinite Speed Setting Set Speed2 Speed Drive Speed 3000 User Program am oe E e eer en Before starting the drive split pulse start command is issued Driving starts Split pulse is started es 100 6 4 Step Out Detection Function 6 4 1 The Description of Step Out Detection Function Step out detection is the function that monitors the information difference between the real position from an encoder input signal pulse conversion value of real position and the logical position from the drive pulse to rotate a motor and if its difference exceeds a specified value Step Out Differential it will be a step out error and stop motor rotation To use the step out detection function the following 4 settings are required e Set the encoder scale numerator and denominator see chapter 4 3 3 5 to match the logical position count value per rotation and the pulse conversion value of real position e Set the difference between the logical position count value and the pulse conversion value of real position which detects a step out error as the step out differential see chapter 4 3 3 6 e Set the step
48. Tracing Point 1 Note During high speed driving the locus of a moving point becomes coarse The value how many squares grids to move in the graphics Graphics Grid Display Grid Value 1 window The moving amount of grids is determined based on the software limit value in Parameter window A unit needs to be connected 31 4 2 6 3 Configure Menu In Configure menu the user can open each window that can configure settings And a unit name and reset to factory setting can be performed in this menu r ND 2 Axis MD Operation Tool File F Display Configure C Help H er Mode M ae Speed v Connection ae ee a Parameter P Home Search Mode H Position SE Split Pulse S Position Pulse i Unit Namef U Factory setting F Mode Mode setting Opens Mode tab in Configuration window See chapter 4 3 1 Mode Settings tab Opens Speed Settings tab in Configuration window See chapter 4 3 2 i Opens Parameter Settings tab in Configuration window See chapter Parameter Parameter setting 4 3 3 Parameter Settings tab Home Search Opens Home Search Mode Settings tab in Configuration window See Mode setting chapter 4 3 4 Home Search Mode Settings tab Opens Split Pulse Settings tab in Configuration window See chapter Spit Pulg SERIES Selling 4 5 6 Split Pulse Settings tab Opens Unit Name Settings tab in Configuration window See chapter RRE 4 3 6 Unit Name Settings tab Re
49. Write in the same line Waiting drive ending 86 5 5 7 Program Example of Circular Interpolation Write a program label to only X axis and write each circular interpolation command in the same line of X and Y axes Write a circular center point by circular interpolation center setting command CEN and write interpolation move start command CWI or CCW in the next line As interpolation move start command shifts to next command line immediately after the execution write WTE command in the next line and waits for the end of driving X Axis Y Axis Write P label to only X axis Write the center point of circle in the same line Write the circular interpolation command in the same line Waiting drive ending 5 5 8 Program Example to execute Y axis from the program of X axis X Axis Y Axis Write the program of which main is X axis Activate the program of Y axis Waiting Y axis program ending Write the program of Y axis 87 6 Additional Information on Function 6 1 Drive Pulse and Encoder Input MD5130D and MD5230D treat the moving distance of an object by the unit of drive pulse When the drive command such as move commands is issued to acceleration deceleration pulse oscillator in the unit the pulse oscillator sends the drive pulse to microstep drive circuit In the microstep drive circuit a motor is rotated based on the specified step resolution that divides the basic step angle of 5 Phase
50. a gt In Program window select OTP command in Cmd field or double click on Data field in OTP command line OTP Data Input window appears and the user can input values or single click on Data field in OTP command line and the user can input values directly OTP Data Input Form of direct input in Data Output Port Number Signal Cmd Data ON Time las WERE OTP Output Port Number ON Time X Space MEN Note e The ON time range of output pulse by OTP command has 1msec error SSP Split pulse start MD5130D MD5230D Split pulse setting number 1 4 ee This command outputs split pulses If executed before starting motor rotation the split pulse is output from the timing of the start of motor rotation Immediately after starting to execute this command it shifts to next command line execution While the split pulse is in operation when SSP command is executed that specifies another split pulse setting number differs from the current one the operation pattern of the split pulse can be changed during operation For more details of Split Pulse see chapter 6 3 Data Specifies the split pulse setting number for the setting of split pulse output Split pulse settings must be set in Split Pulse tab in Configuration window in advance see chapter 4 3 5 lt How to input Data gt In Program window select SSP command in Cmd field or double click on Data field in SSP command line SSP Selection window appears and the user can
51. a22 A ENT 23 42 34 Speed li r a a a a eee nc eel 24 o e EE 25 424 Automate Home Sealses a A a les 25 4230 Jog Operation WINDOW gt OC tas 26 4 2 5 1 Jog Mode Select Scan Continuous Preset ccccccccssecsseccsseeesseecessecesseecsssecesseecsseecesseeesseeceseecesseeeseeeeesseeesaees 26 4 20 27 MEET PIESO ee 26 253 SAA A ats a ce rca iat nce geese ces cle Se ceca acca ea sa elda ne ohee rt eee Et ere 26 4 2 5 4 Motor Rotation Start button and XY Coordinates Green 27 4255 LOD e ces aces anne at EEE cust cee eases scan O 28 EE el EE 28 AZT A greece ENE ci ec op ites Sct sae atipe A radere 28 ASE Edel E e Gelee 28 4 2 6 Mene 30 AO FE EE 30 A e de aes a a texto 31 426 3 Congue Men ti 32 4204 Ee d EE 32 4 3 Configuration Settings window Confguraton msssssnsseuusensk stks k tk k ERE ELLE LER E LEE REE E ERE E REEL E REEL ELLE EEEE 33 ABs Mode SCUNGS Fab MOJE EE 33 Seck GEET 34 dar nes Ii o 35 4313 DIED Resol eii dee iio 35 A314 EE REENEN 35 4 3 1 5 Hardware Limit Stop Mode and Active Leve3 u u ssssssseneues nes tk kk ERE R EEK LER ERE E ELLE LER E ERE REE E LEE E ERE E LEE E LEE EER 35 43 16 Solware Limit and Stop MOE a 36 ABELS e REI 36 43 1 6 Step Out Detection and Detecting TIMING sissies Eege 36 4 39 Power ON Home Search Stail ata aio 37 43 110 Poweron Program IA 37 432 Speed Sening ab Ped a a ia 38 7G 29 A 0 0 EE 40 4o22 la sn ee eee 40 43129 DIVO SOC CG sa A A
52. able general output signals that can i OUT Output control ON OFF in a user program which are S MENA General output 1 used by OUT and OTP commands Split pulse en e Lon SEH Outputs pulses synchronizing with motor rotation Over limit in the direction Over limit signal in the direction When this signal is activated during nLMT motor rotation in the direction driving stops by decelerating or instantly After stop even though this signal is active motor rotation in the opposite direction can be performed Input Signal Circuit A2 Input Signal Circuit A3 Encoder A B phase input 24V 3 3V Fay 3 3V 10K 330 gt 470 m x To internal circuit 2 2K Vv Pp gt Input ele Input signal To internal circuit TLP118 TLP291 or equivalent GEX x y ES ON when the input signal is short circuited with GEX ON when the input signal is short circuited with GEX 115 Input Signal Circuit A4 Encoder Z phase input Output Signal Circuit B1 5V 3 3V EH 620 Y To internal circuit Input signal MN TLP2910r equivalent GEX ER N KA4F3P Renesas 22K GE From signal internal circuit GEN output voltage 30V max output current GOmA max 7 4 2 Connection Example 7 4 2 1 Connection Example for Encoder The connection example for open collector output encoder 5V power source is sh
53. ablished all the data registered in the unit configuration settings and a user program will be uploaded onto your PC and main window appears If the connection is not established blank is displayed in Unit pull down menu and MD Operation Tool is started in Unconnected state 21 4 2 Main Window When starting MD51_52 Operation Tool the following main window appears In this window the user can perform operations as below Jog mode Scan Continuous Preset e Automatic home search execution e Writing and reading configuration settings and a user program to from the unit and save and load them In MD5130D the axis used in MD Operation Tool is X axis enu Speed Select Diet bisplay v Configure C Help H Jog5tatus EE Connection i Status y 2ondition te Unit 04 MD5230D Intelligent Motor Driver Position A x ii aL set Mode Trapezoid Trapezoid e 4 000 4 000 i 10 000 10 000 q Automatic 500 500 ER Home Searc Preset Pulse Drive 1 000 000 amp 1 000 000 Y Stop ABS Position Set Jog Operation A xY Y Window Split Pulse No Le E ll _x v Motor Free _x y Error code message display pane 29 4 2 1 Connection Status It displays the connection status with the motion control unit It displays the connection status with the motion control unit Blue in the left is lighted e Unit connected Con
54. al in the search direction is already active before Step 3 starts a limit error occurs and home search operation ends If the limit signal in the search direction is activated during execution of step3 a limit error occurs and home search operation ends 6 2 1 4 Step 4 High speed Offset Drive In step4 at the speed of home search high speed Speed4 in speed settings tab see chapter 4 3 2 drive pulses set in home search offset see chapter 4 3 3 8 are output in the specified direction This is used when the user wants to move the axis from mechanical home position to operational home position Note e While automatic home search is running software limit is invalid even though set e The settings of Speed4 is also applied to the acceleration deceleration mode start speed and acceleration deceleration time of home search high speed e As the home search low speed must be lower than the start speed of Speed4 acceleration deceleration mode of Speed4 is recommended the normal trapezoidal acceleration deceleration Trapezoid2 due to settable the start speed 92 6 2 2 The Setting Items for Automatic Home Search The settings for automatic home search can be configured by each settings tab In Home Search Mode settings tab see chapter 4 3 4 Sensor Signal Home Signal Level ECZ Signal Level Step1 4 Operation and Position Clear can be set In Speed Settings tab see chapter 4 3 2 the speed of home search high speed can be set in Spee
55. am of Y axis is already finished the program execution of X axis is continued from next line This command cannot be used in the program of Y axis 79 5 2 5 Other Commands SPD Drive speed MD5130D MD5230D Changes drive speed if this command is executed during motor rotation Immediately after starting to execute this command it shifts to next command line execution without waiting for reaching the specified drive speed When drive speed is changed during constant speed driving it immediately shifts to the drive speed specified by Data When drive speed is changed during trapezoidal acceleration deceleration driving Trapezoidl Trapezoid2 Trapezoid3 it accelerates decelerates up to the drive speed specified by Data During S curve acceleration deceleration driving S curvel S curve2 drive speed cannot be changed If SPD command is executed during S curve acceleration deceleration driving an error will occur and the program will be finished Data Specifies drive speed The range is from 1 to 500000pps Note It cannot be used while a motor is rotating by ABA or ICA command POS Current position MD5130D MD5230D Rewrites the current position to an arbitrary value which is set to the logical and real positions application value of encoder signal count X encoder scale X pulse scale Immediately after starting to execute this command it shifts to next command line execution If this command is executed
56. ameter Parameter Default Details Item Pulse Scale Numeration numerator 165535 Pulse Scale Denomination denominator 1 65535 Encoder Scale Numeration numerator 1 65535 Encoder Scale Denomination denominator 165535 Mm Home Seach Mode Home Seach Mode ltem SensorSignalX Y In Sensor Signal 0 Home 1 Limit HomeSignalLevelX Y o Home Signal Level 1 High 0 Low ZSignallevelX Y 0 Z Phase Signal ECZ Level 1t High 0 Low Step1EnableX Y 0 Step1 Enable 1 execution 0 non execution ent Direction 1 4 0 Step2EnableX Y 0 Step2 Enable 1 execution 4 0 non execution Step Direction 1 20 Step3EnableX Y 0 Step3 Enable 1 execution 4 0 non execution StepaDirectionX Y O Steps Direction 1 70 Step4EnableX Y In Step4 Enable 1 execution 0 non execution Position Clear 1 Enable 0 Disable 135 M Speed Item Mode1X StartSpeed1X DriveSpeed1 X AccelerationTime1X DecelerationTime1X AccelerationRate1X DecelerationRate1 X AccelerationIncrease1 X Mode2X StartSpeed2X DriveSpeed2X AccelerationTime2X DecelerationTime2X AccelerationRate2X DecelerationRate2X Accelerationincrease2X Mode3X StartSpeed3X DriveSpeed3X AccelerationTime3X DecelerationTime3X AccelerationRate3X DecelerationRate3X AccelerationIncrease3X Mode4X StartSpeed4X DriveSpeed4X AccelerationTime4X DecelerationTime4X AccelerationRate4X Deceler
57. and Help H on menu bar E MB 2 Axis MD Operation Tool 1 aaa File F Display Configure C Help H 4 2 6 1 File Menu In File menu the user can download and upload configuration settings and a user program to the unit and save and load them to PC E MD 2 Axis MD Operation Tool File Display Configure C Open O Save S Save As A Upload Ui Download D oz MDS2 Exit E Reads configuration settings and a user program from a saved file When read Read from File out from a file Program and Configuration windows are automatically opened Configuration window is in minimized state Saves configuration settings and a user program to a file in CSV format Save Save Overwrite and save Save to File Save As Save As Rename and save When saved to a file Program window is automatically opened Reads data from a unit Program User program Configuration Configuration settings All All data When MD Operation Tool is opened after connecting to a unit a user program and configuration settings are automatically uploaded Read from Unit Write data to the EEPROM of a unit Program User program Configuration Configuration settings All All data When Download is executed User Program Edit and Configuration windows are automatically opened Configuration window is in minimized state Download Write into Unit 30 4 2 6 2 Display Menu In Display menu the user can open Prog
58. at the start of acceleration deceleration driving and at the end of driving which is used in normal trapezoidal acceleration deceleration driving non symmetry trapezoidal acceleration deceleration driving and normal S curve acceleration deceleration driving 4 3 2 3 Drive Speed It sets a value of drive speed Speed1 Speed Speed Drive Speed 1 500 000 pps Speed3 Speed Drive speed is the speed of constant speed period in constant and acceleration deceleration driving Set a value larger than start speed however set a value smaller than start speed in constant driving In all acceleration deceleration modes drive speed must be set 4 3 2 4 Acceleration Time It sets a value of acceleration time for acceleration deceleration driving Speed Speed2 Acceleration Time 1 10 000 msec Speeds Speed Acceleration time is the time from start speed to drive speed constant speed driving This must be set in all of acceleration deceleration modes that perform acceleration deceleration except constant speed driving In acceleration deceleration modes whose acceleration and deceleration time is symmetrical simple trapezoid normal trapezoid simple S curve and normal S curve the value of acceleration time is also used as the value of deceleration time The unit of the 40 setting value 1s milliseconds 4 3 2 5 Deceleration Time It sets a value of deceleration time for non symmetry trapezoidal acce
59. ationRate4X AccelerationIncrease4X Notel Do not change 0 80000 500 0 160000 1 J 0 80000 500 0 536870911 1 92000 4000 40000 500 0 490000 1 1 Mode 1 Constant speed Constant Simple trapezoid Trapezoid 1 Normal trapezoid Trapezoid 2 Non symmetry trapezoid Trapezoid 3 Simple S curve symmetry S curve 1 Normal S curve symmetry S curve 2 Start Speed 1 500000 pps Drive Speed 1 500000 pps Acceleration 1 10000 msec Deceleration 1 10000 msec Note used in MD Operation Tool Note used in MD Operation Tool Note Mode 1 Constant speed Constant Simple trapezoid Trapezoid 1 Normal trapezoid Trapezoid 2 Non symmetry trapezoid Trapezoid 3 Simple S curve symmetry S curve 1 Normal S curve symmetry S curve 2 Start Speed 1 500000I pps Drive Speed 1 500000 pps Acceleration 1 10000 msec Deceleration 1 10000 msec used in MD Operation Tool Note used in MD Operation Tool Note used in MD Operation Tool Note Mode 1 Constant speed Constant Simple trapezoid Trapezoid 1 Normal trapezoid Trapezoid 2 Non symmetry trapezoid Trapezoid 3 Simple S curve symmetry S curve 1 Normal S curve symmetry S curve 2 Start Speed 1 500000 pps Drive Speed 1 500000 pps Acceleration 1 10000 msec Deceleration 1 10000 msec Note used in MD Operation Tool Note used in MD Operation Tool Note M
60. cified position absolute position it shifts to next command line execution When a motor stops at execution of this command it shifts to next command line execution Data e Specified Position Absolute Position Set the specified position by absolute position which is the condition of position condition jump This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483648 2147483647 e Jump Destination Label Set the label of a jump destination JO1 J63 The jump destination must be in the same program as a jump source or in the same subroutine as a jump source lt How to input Data gt In Program window select PJP command in Cmd field or double click on Data field in PJP command line PJP Data Input window appears and the user can input values or single click on Data field in PJP command line and the user can input values directly When input values directly J of a jump destination label must be input in uppercase PJP Data Input Form of direct input in Data Specified Position Pulse Width Cmd Data Jump Destination Label mm PJP Specified Position E ldump Destination Label X ki Space Cancel Note e The actual operation is delayed about 2 5msec due to the time for command proces
61. cuted in advance so as to operate next command after passing the specified period e In order to abort program driving by Power On Program Start use Controller Reset button in Main window or STOP signal of the parallel control connector CN3 See chapter 7 3 e Incase the label number of a user program that is executed by PSLO 5 signals see chapter 7 3 2 4 is not specified all OFF the program label no 1 PO1 is automatically selected 37 4 3 2 Speed Settings tab Speed It configures Speed1 4 and the diagram of acceleration deceleration mode currently selected is shown in the right of the window The setting range of each item is displayed in Range of Value Speed Setting 1 ax Configuration ao ICE Condition T G Unit 03 MD5230D Intelligent Motor Driver Mode Speed IParameter Home Search Mode Split Pulse Unit Name mmm er DEED Constant Constant start Speed res kl Ss i gt Deceleration Time msec IE Time A A A LA Start Speed Crs O ML E E CT S Curvel T S Curvel T nr File Name Download Close 38 Mode _ _ _ Start Speed 9 cb Drive Speed cb Acceleration Time gt Deceleration Time gt Speed Setting 2 Speed Setting 3 Speed Setting 4 Setting items in Speed tab are as follows in the table Display Option Range Constant Trapezoid1 Trapezoid2 Start Speed pps
62. d stops and proceeds with Step 2 Irregular gt e Note Irregular e Since Step 1 performs a high speed search if the user specifies a limit signal as a detection signal the limit stop mode must be set to deceleration stop For more details of the setting of limit stop mode see chapter 4 3 1 5 Hardware Limit Stop Mode and Active Level 90 6 2 1 2 Step 2 Low speed home search In step2 Drive pulses are output at constant speed in a specified direction using the home search low speed see chapter 4 3 3 until the detection signal HOME Limit becomes active then stops immediately To Detection Signal Normal Operation REISE Specified search direction gt Section perform low speed search operation set a lower value for the home search low speed than the start speed of Speed4 Detection Signal Active NW Step 2 Irregular operation eaters Section D A detection signal HOME Limit is already active before Step 2 starts opposite direction EZ gt It drives in the direction opposite to a specified search direction at the home search low speed until the detection signal HOME Limit Irregular becomes inactive When the detection signal becomes inactive it executes Step 2 from the beginning 2 When HOME is set as a detection signal and a limit signal in the search direction is active before Step 2 starts It drives in the direction opposite to a specified search direction at the ho
63. d4 In Parameter Settings tab see chapter 4 3 3 the speed of home search low speed and moving distance of home search offset can be set And when a limit signal is used as a sensor signal limit stop mode and active level must be set in Mode Settings tab see chapter 4 3 1 Display Option Range Default Sensor Signal Home Limit 1 Home Signal Level Low GEX Short circuited High Open Z ES Level Low GEX Short circuited aa ae Open Home Search Mode Step1 4 Enable Enable Disable non execution Enable execution _ non execution Enable execution A Step1 2 Position Clear Disable Enable Enable Enable Hardware Limit Stop Mode Instant Slow me Ow Hardware Limit Active Level Low GEX Short circuited High Open Constant Trapezoid1 Trapezoid2 Trapezoid3 Start Speed 1 500000 pps 4000 Speed Drive Speed 1 500000 pps 40000 Speed4 H PP Acceleration Time 1 10000 msec Deceleration Time 1 10000 msec Home Search Low Speed 1 500000 pps 4000 Parameter Home Search Offset 2147483646 2147483646 When Limit signal is selected the limit signal in the search direction of each step at stepl 2 will be a sensor signal 2 When Limit signal is selected set to Slow 93 6 2 3 Automatic Home Search Operation and Setting Example 6 2 3 1 Example of Home search using a home signal This 1s the example to perform a home search by setting Home signal to the detectio
64. details of the encoder scale settings see chapter 4 3 3 5 If the encoder scale is not correctly set the step out error will occur When the value of step out differential is too small the step out error occurs In case of the encoder of which the pulse number per rotation is 500 it is recommended to set the value 4 times or more than the value of step resolution When the rotating speed is too fast or the speed rapidly changed the stepper motor causes step out Confirm the value of drive speed start speed and acceleration deceleration time are appropriate When the motor current Run current is too small the torque decreases and it causes step out The value of Run current see chapter 4 3 1 1 must be set appropriately within the range of rating of a motor When the load to the motor axis is too large the stepper motor causes step out Confirm the load to the motor axis is appropriate If the encoder is not fixed firmly to the motor axis such the case that the coupling of the rotary encoder to be fixed to the motor axis is loose the deviation is generated between the information of a specified position and real position from the encoder and a step out error Occurs While automatic home search is executed step out detection does not function even when enabled When step resolution is changed be sure to modify the value of the encoder scale setting appropriately When a Step out error already occurs motor rotation driving
65. dition Red in the right is lighted e Unit unconnected Even though the connection is not established the user can create user programs and read save files from a hard disc by using Open Save in Program window It displays the unit ID and name of the unit to being connected When two or more units are connected to PC the user can select from Unit pull down menu click on W If the unit is changed configuration settings and a user program of the unit to being connected will be uploaded to PC When blank in Unit pull down menu is selected communication is disconnected and the status becomes unconnected state If the status is unconnected try to connect by selecting Unit ID from Unit pull down menu After connection is established configuration settings and a user program will be uploaded from the unit automatically The Unit ID can be changed by the rotary switch of the unit The unit can be named by inputting in Unit Name tab in chapter 4 3 6 4 2 2 Position Status It displays the current position logical position and speed during motor rotation Displays the current position logical position The user can set the logical position to an arbitrary value by directly input and press Enter in Position field This value depends on the scaling function See chapter 4 3 3 4 Pulse Scale Numeration and Denomination Speed Displays the current speed in unit of pps Position Sets the logical position to an arbitrary valu
66. e Click on the axis button and button will be highlighted in yellow and Position field becomes editable state Then input the value to set the logical position and click Set button and the logical position will be set and editable state will be cleared Logical position setting button Set X Y Clears Position field to 0 However it does not clear during motor rotation 23 4 2 3 Speed select Select the speed to rotate a motor for jog mode Speed1 4 uses the speed set by Speed Configuration Speed5 can be freely changed the speed during jog mode and motor rotation The button selected from 1 to 5 is highlighted in yellow Speed Select Speed5 Select Speed1 4 Speea5 Edit Tra pazor 2 Tra pazo Speed Parameters GE 30 000 30 000 Selects the speed to rotate a motor for jog mode Speed1 4 are the speed1 4 set by Speed Speed1 4 settings tab in Configuration window chapter 4 3 2 In Speed Parameters fields the setting value of selected speed is displayed Selects the speed5 Drive speed for speed5 can be set by Speed5 Edit window in chapter 4 3 2 1 Acceleration deceleration mode and start speed use the setting value that is set in the speed1 4 just before selecting the speed5 The speed button just before selected is highlighted Speed5 can be changed the speed during driving however the speed can not be changed during acceleration deceleration when acceleration deceleration mode is S curve1 and
67. e commands Signal Output Commands Program Control Commands Relative position move start Continuous move start Deceleration stop Instant stop Home search 2 axis simultaneous home search 2 axis linear interpolation move Circular interpolation center setting CW circular interpolation move CCW circular interpolation move Output port ON OFF Output port ON Pulse Split pulse start Split pulse stop Input condition jump Position condition jump Unconditional Jump Subroutine jump Subroutine return Repetition start Repetition end Program end Timer 125 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 MD51 MD52 Waiting driving end MD51 MD52 Waiting position passage MD51 MD52 Pause for debug MD51 MD52 Y axis program start MD52 Waiting Y axis program end MD52 Other Drive speed MD51 MD52 Commands Current position MD51 MD52 No operation MD51 MD52 Power On Program Start Function Linear interpolation e Circular interpolation Continuous interpolation Interpolation Function Step Out Monitors the position difference between the logical and real positions and if detects the abnormal Detection difference motor rotation stops Function Step Out Differential can be set Encoder Scaling Function to set the scale in order to match the count value of log
68. e execution Data Specifies the destination position by relative value When setting positive value it moves in the direction CW rotation and when setting negative value it moves in the direction CCW rotation This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483646 2147483646 m Direction of motor axis rotation direction rotation A motor axis rotates in CW rotation clockwise direction with respect to the seating plane of a motor direction rotation A motor axis rotates in CCW rotation counterclockwise direction with respect to the seating plane Speed Selects speed settings such as acceleration deceleration mode and drive speed from Speed 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 66 Timer Specifies the waiting time of until the next command line is executed after completion of moving When 1 3 is assigned to Timer the time of post timer 1 3 that is registered in Parameter tab in Configuration window see chapter 4 3 3 1 1s used When setting without the waiting time set O to Timer In the line that End Pulse EndP is set to On it will wait for an amount of specified time after End Pulse is On EndP Select
69. e jump destination after condition branch In order to finish the program at the jump destination after condition branch operation and END command can be written in each jump destination after condition branch in this case there are 2 END commands in one program label It is the same as above when the user wants the program to return RET command from the jump destination after condition START P01 Operation1 branch J01 Operation2 Operation3 Pot ABS 1 0 Operation1 Absolute position move to the position 5000 Branch lf XINO signal is Low ON jump to J01 Operation3 If Hi Open to the next line Operation2 Operation2 Absolute position move to the position 12500 Turn XOUTO ON for 0 5 seconds Program end command END at the branch to operation2 Operation3 Absolute position move to the position 50000 Turn XOUT1 ON for 0 5 seconds Program end command END at the branch to operation3 84 5 5 4 When calling a subroutine Write S label in the first line of a subroutine To terminate a subroutine write subroutine return command RET that indicates the return from a subroutine Subroutines can be nested up to 3 levels deep And when making a jump to the head of a subroutine write S label number and NOP command in the first line and then write a jump label number and actual operation in the next line S03 Subroutine Operation3 S02 Subroutine Operation2 Call subroutine S01 Branch lf
70. eccsueecseecseesessecsseseseeceseessseceseesseeseaeesseeseeessaeeeseeeeaeess 55 MA Sa Wael TOMI OWING DEE 56 iv 4 4 6 cil ON 56 4 4 7 eG Edit Mode Wichita 56 AAB Operation Rae nus ii detec dee abeaen tne daca ts deter de see eee 57 45 IAU Output window Input OP TE daa ada 58 4 6 Real Position Display window Encoder Position nsnannnnnnnnennnannnennnannnnnnnnnnrennnnnnsrensrnnnnrnnnnnnnnrnnsennnnnnnnne 60 4 7 Configuration and Edit Save User Program When Not in Connection cccococcncccncocccnnacccocononcannnonannnonannnonas 61 UTA Dee y AAPP PP ooo OC gas E lei 63 Ss lla Program Laben Ee EE 63 51 2 UN A dia 63 E Subroutine Label s Label A a ER ER eee 63 5 2 User Program Commands cccccccccssseccsseeesssecesseeceseeeecsaeecssseecssaeecssasecssaeeeseneesesneeeseaeeeseneesssaeasssneasssaeesesneeas 64 DAt o rese 65 5 2 2 Juge idee ein inn Te EE 70 5 2 2 1 Limitation on the coding with interpolation css ios 72 52 32 Sna OUMUTCOMIMAMGS corr li cas aa 73 5 2 4 Gre elle iis K el ul Ee EEN 75 52 051 E elen F g EE 80 99 sa A ee 81 5 4 User Program Creation and Execution Hues 82 59 Program Example USING Ee EE 83 55 1 When making a Jump to the head of program EE 83 5 5 2 When writing the process of after condition branch to outside of normal operation after END 83 5 5 3 When finishing the program at the jump destination after conditi
71. ection are the 9 10 pins in CN4 connector see chapter 7 4 CN4 Sensor Connector for Axis Hardware Limit Stop Mode selects either instant stop or deceleration stop for when this limit input signal becomes active Hardware Limit Active Level specifies the logical level for active To make active for when an input signal and GEX are short circuited set Low to Active level and to make active for when it is open set High to Active level When a hardware limit error occurs the user can escape from the limit area by rotating a motor in the reverse direction The 35 hardware limit signal can also be used as the detection signal of automatic home search See chapter 6 2 for more details of automatic home search 4 3 1 6 Software Limit and Stop Mode It selects either Disable or Enable and a stop mode for Software Limit Software Limit Software Limit Disable Enable Disable Mode Slow Deceleration stop Instant Instant Software Limit Stop Mode S60 p Slow Software Limit is used to enable or disable the software limit function Software Limit Stop Mode selects either deceleration stop or instant stop for when motor rotation stop by the software limit function Software Limit is the over run limit function which can internally set as position data which differs from hardware limit signal input such as an external sensor If the logical position is over the setting value of software limit during motor rotation in the
72. ecution execution Step1 Direction Step search direction 00 direction direction 2 Home Search Step2 Enable step oe EE Enable Execution Moda execution Step3 Enable PMA AMOO Disable Non Execution execution 4 E E f Step4 Enable Step4 non execution Eer xecution Escape from execution the limit 7 ER Position counter clear after Position Clear Position counter clear Enable See finishing home search SC by h limi Selects a deceleratin signal stop Hardware Limit Active GEX Short circuited Level Mode Acceleration deceleration iapozeldal Mode can specify start Speed Start Speed Start speed ao Start SES for trapezoidal Speed4 driving Drive Speed Drive speed TN 000 Home search Tome speed Acceleration Time celeron time Speed at home search low a BEER the smaller value than Home Search Low Speed speed start speed Parameter Logical level for active Positive value drives in direction and negative value drives in direction Moving distance of home Home Search Offset search offset 6 2 3 3 Example of Home search using an encoder Z phase signal MD5130D This is the example to perform a home search with high accuracy using an encoder Z phase signal Adjust the mechanical system for step 3 to always Eil MEE start from inactive state with a stable encoder Z phase signal ECZ ECZ SC an HOME MONE Over Run Limit in Operation Example HOME the Search D
73. ed Otherwise it may cause damage of the motor and product e Wiring from the motor to CN2 twist 5 leads and separate it from other wiring e Apparatus or components that easily affected by EMI such as a magnetic sensor must be kept away from motor wiring e Shield the motor wiring as necessary 110 7 3 CN3 Parallel Control Connector Connect the parallel control signal to a PLC Programmable Logic Controller or mechanical contacts then the user can control motor rotation by external signals or operate a user program registered in the unit 7 3 1 Parallel Control Signals Turning an input signal ON means the signal is short circuited with GEX by a mechanical contact or open collector output And turning an output signal ON means the output transistor of an open collector turns ON X1 As MD5130D is only for X axis it is not necessary axis assignment and there are not signals for Y axis cc EE E 771 Reset 1 RESET Input All the internal operations are reset lt can also be used as an A1 emergency stop signal Turns ON for 10msec or more Automatic home search start strobe a Program drive start strobe 3 START Input In program drive mode select a program label number and turn this signal ON and driving starts Turns ON for 10msec or more Motor stop Program stop Excitation OFF Turning this signal on during motor rotation or program operation stops a motor and program driving Turns ON for 10msec or more If thi
74. en Drive End is selected and if it detects a position deviation that is over the setting value of step out differential during motor stop it becomes a step out error When While Drive is selected and if it detects a position deviation that is over the setting value of step out differential during motor rotation it becomes a step out error and stops motor rotation immediately The value of step out differential can be set in Step Out Differential field in Parameter tab see chapter 4 3 3 6 For more details of Step Out Detection Function see chapter 6 4 36 4 3 1 9 Power On Home Search Start It selects either Enable or Disable for automatic home search at power on Display a tin Default EEE er On Home Search Power On Home Search Start is the function to automatically perform a home search when the power is on or the unit is reset by the external RESET signal see chapter 7 3 of the parallel control connector CN3 For more details of Automatic Home Search see chapter 6 2 Power On Home Search Start cannot be canceled during driving Make sure to first stop driving by clicking Controller Reset button in Main window and next set to disable in Power On Home Search Start field in Mode tab Note e Controller Reset button in Main window does not start power on home search automatically e When using Power On Home Search Start 1t recommends to embed home search command into a program rath
75. end MD5130D MD5230D Repeats a specified number of times from Repetition Start command REP to this command END Program end MD5130D MD5230D Terminates the program Write at least one END command in one program Or the user can write two or more END commands in one program Note If a motor is rotating the motor is stopped by decelerating and then the program is terminated And Speed selection goes back to just before the start of the program TIM Timer MD5130D MD5230D Waits for a specific amount of time After the specific amount of time passes it shifts to next command line execution Data Specifies the waiting time in a unit of msec The range is from 1 to 65535 msec Note e There is 1msec error WTE Waiting driving end MD5130D MD5230D CO EE Waits for the stop of motor rotation After motor rotation stop 1t shifts to next command line execution When this command is executed during motor stop it shifts to next command line execution WTP Waiting position passage MD5130D MD5230D WTP Absolute position 2147483648 42147483647 AS Waits for passing through the specified position absolute position during motor rotation After passing through the specified position 1t shifts to next command line execution If this command is executed while motor rotation stop or if motor rotation stop while waiting for passing through the specified position by this command or if the specified positi
76. ept Drecton Spt searenaresion gt ateos Home Search Step2 Direction Step search direction pp direction EE Position counter clear after Position Clear Position counter clear Enable finishing home search M if Mode Acceleration deceleration mode il SLAN speed f Speed Start Speed Start speed gt E Start speed for trapezoida Speed4 driving Drive Speed Drive speed 20 000 Home search Home search high speed speed Acceleration Time Acceleration time 500 ff Home Search Low Speed at home search low 500 Set the smaller value than Speed speed start speed Parameter l i Positive value drives in Moving distance of home search Home Search Offset direction and negative offset e value drives in direction 97 6 3 Split Pulse 6 3 1 The Description of Split Pulse Split pulse is a function that outputs pulses which is synchronized with drive pulses see chapter 6 1 during operation of a motor This is useful for when the user wants to perform the other operations at regular pulse intervals synchronizing with rotation of a motor and axis driving In MD5130D and MD5230D the user can register 4 patterns of the split pulse setting the pulse width of a split pulse split length cycle and split pulse number see chapter 4 3 5 Split pulses are output from SPLTP 16 pin in CN4 connector see chapter 7 4 of a sensor connector As the split pulse is output in synchronization with the drive
77. er SetupMMD51_52_ vw ES 2 x ms 2 MDS1_52 Operation Tool Setup Wizard appears click Next 13 MD52 Operation Tool vE5 2 0 2 Welcome to the MD52 Operation Tool E5 2 0 2 Setup Wizard The installer will guide you through the steps required to install MD52 Operation Tool yE5 2 0 2 on pour computer WARNING This computer program i protected by copyright law and international treaties Unauthorized duplication or distribution of thie program or any portion of it may result in severe civil or criminal penalties and will be prosecuted to the maximum estent possible under the law Cancel lt Back 3 On Select Installation Folder window click Next 2 MD52 Operation Tool vE5 2 0 2 Select Installation Folder The installer wll install MD52 Operation Tool vE5 2 0 2 to the following folder To install in this folder click Next To install to a different folder enter it below or click Browse Folder C AProgram Files HOVA electronics MD52 Operation Tool E5 2 0 2 Browse Install M052 Operation Tool vE5 2 0 2 for yourself or for anyone who uses this computer 5 Everyone a Just me 15 4 Confirm Installation window appears Click Next and the installation will start Contirm Installation The installer it ready to install MD 52 Operation Tool vE5 2 0 2 on your computer Click Next to start the installation
78. er The setting value must be a pulse width lt a split length 4 3 5 2 Pulse Width It sets the pulse width of a split pulse Split Pulse 1 Split Pulse 2 e Split Pulse Pulse Width 1 65534 Split Pulse 3 500 Split Pulse 4 5000 Pulse Width is the ON width of one pulse of split pulse output signal and it can be specified by the drive pulse number The setting value must be a pulse width lt a split length 4 3 5 3 Pulse Count It sets the output pulse number of split pulse Split Pulse 1 1 65535 Split Pulse 2 Split Pulse Pulse Count or O infinite Split Pulse 3 Split Pulse 4 Pulse Count is the number of output split pulse When 0 is set it continues to output split pulses until stopped by jog operation window split pulse stop command PST of a user program or motor rotation stops Note The setting of pulse scale see chapter 4 3 3 4 Pulse Scale Numeration and Denomination is not applied to each setting value of split pulse Even when setting Pulse Scale Numeration and Denomination each setting value of split pulse must be set 51 in a unit of drive pulse 4 3 6 Unit Name Settings tab Unit Name It sets the unit name of MD5130D and MD5230D Please use half width alphanumeric characters and symbols 32 characters or less When the unit is connected the user can write the unit name into the unit by clicking Unit Name Download button Download button in other tabs does not work to write into t
79. er program Label selection move N i Label For MD5130D Y axis side is invalid X and Y axis Selects the execution axis for a user program priority axis for a trace i Select execution axis Selection Invalid for MD5130D When Start button is clicked it starts execution of code from the line Start Continue a selected by the label When Pause button is clicked during execution user program Start button changes to Continue button When Continue button is clicked it re executes the code from the paused line Start Continue The user can execute single step at a specific line in a user program While stopping or pausing a user program if Step button is clicked it only executes the selected line and suspends on the next line Pauses a running program When Pause button is clicked after the Pause Pause completion of the code currently executed it moves to the next line and pauses Stop user program Ends a user program And while rotating a motor it stops motor rotation Note About status display If MD Operation Tool is closed during the execution of a user program the program keeps on executing To release the Single Step Execution program execution Open MD Operation Tool again and click Contoller Reset button About selection of execution axis When the user executes the program including 2 axis simultaneous or interpolation commands select X axis only About single step execution When the user executes si
80. er than to use power on home search start e In order to abort the operation by Power On Home Search Start use Controller Reset button in Main window or STOP signal of the parallel control connector CN3 See chapter 7 3 4 3 1 10 Power On Program Start It selects either Enable or Disable for automatic program start at power on Power On Program Start Disable Enable Power On Program Start is the function to automatically perform program driving when the power is on or the unit is reset by the external RESET signal see chapter 7 3 of the parallel control connector CN3 To perform Power On Program Start select Enable for power on program start and set MODET 0 signals of the parallel control connector CN3 to program driving mode See chapter 7 3 and specify the program label number see chapter 7 3 2 4 of a user program to be executed by PSLO 5 signals See chapter 7 3 If Power On Home Search Start is also enabled the program driving will be performed after completion of home search execution Power On Program Start cannot be canceled during driving Make sure to first stop the program by clicking Controller Reset button in Main window and next set to disable in Power On Program Start field in Mode tab Note e Controller Reset button in Main window does not start power on program start automatically e When using Power On Program Start write timer command to the first line of a program to be exe
81. explosive flammable and corrosive fluid or gas Ventilated location where is not filled with heat Location where the temperature is within 0 40 C no freezing and humidity is within 0 85 no condensation Location where water water drop oil oil drop and any other liquid is not splashed Location with less dust dirt and any other powder Location not exposed to vibration and shock 2 2 Installation Interval When you set up this product keep the product 20mm or more away from other equipment or structures Make sure to install it vertically in a vertical position or heat dissipation effect will be reduced The product is natural convection cooling so install it to prevent heat accumulation MD5130D MD5230D 20mm and over 20mm and over lt 20mm and over When an optional heat sink is mounted in MD5230D be sure to space 20mm away from the end of the heat sink 2 3 Installation MD5130D and MD5230D can be installed by using DIN rail or screws 2 3 1 Installation by DIN rail Mount the hook on the back of the body to DIN rail and pull down the DIN lever of the body by a slotted screwdriver And then pull up the DIN lever the body will be locked To release the body pull down the DIN lever by a slotted screwdriver the body will be released and the user can remove the body from DIN rail UUUBHOUW EW AE J DUOBBHOOUBEE di MD5230D installation is the same as MD5130D shown ab
82. ext command line execution Data Specifies the destination position by relative value When setting positive value it moves in the direction CW rotation and when setting negative value it moves in the direction CCW rotation This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483646 2147483646 Speed Selects speed settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 CNT Continuous move start MD5130D MD5230D CNT Moving Direction nn le The axis moves continuously in the direction specified by Data Immediately after starting to move by this command it shifts to next command line execution Data Specifies the direction to move continuously When setting it moves continuously in the direction CW rotation and when setting it moves continuously in the direction CCW rotation Speed Selects speed settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 SST Deceleration stop MD5130D MD5230D The axis driving decelerates and stops according to
83. f the progress of the technologies etc Please download the up date data from our website http www novaelec co jp eng and or ask us to supply you directly Windows Windows XP Windows Vista Windows 7 and Windows 8 1 are registered trademarks of Microsoft Corporation E CE marking O This product complies with the following EU Directives EMS EN61000 6 2 EMI EN61000 6 4 Note e The product complies with the EMC Directive however the customers machines and whole apparatus shall be tested for EMC conformity by themselves M RoHS Directive O This product complies with RoHS Directive 2011 65 EU Safety Notice A WARNING NW General O This product is not designed or intended to be fail safe or for use in any application requiring fail safe performance such as in life support or safety devices or systems that could lead to death personal injury or severe property or environmental damage individually and collectively critical applications Customer must be fully responsible for the use of this product in critical applications Do not use the product in potentially explosive flammable corrosive wet dusty or direct sunlight environments Person with expertise shall perform installation connection and inspection Do not install connect inspect or move the product during power supply be sure to turn off the power Stepper motor may step out at stop or during driving depends on conditions of use In particular objects
84. for driver software on your computer window appears then click Browse button and select one of the following driver folders e 32bit OS USBDriver 32bit e 64bit OS YUSBDriverY64bit Confirm the path to the folder you chosen and then click Next Browse for driver software on your computer Search for driver software in this location F MD51_52 USBDriver 32bit 42 Include subfolders gt Let me pick from a list of device drivers on my computer This list will show installed driver software compatible with the device and all driver software in the same category as the device 6 Installing driver software window is displayed If Windows Security window appears click Install this driver rsoftware anyway Windows can t verify the publisher of this driver software Don t install this driver software You should check your manufacturer s website for updated driver software for your device Install this driver software anyway Only install driver software obtained from your manufacturer s website or disc Unsigned software from other sources may harm your computer or steal information See details 12 C l Update Driver Software Unknown Device Installing driver software A 7 After installation is complete you will see Windows has successfully updated your driver software window appears Then Close the window Windows has successfu
85. gram label must be written in the first line of X axis One program must have one or more END command in it In a program using 2 axes simultaneously and interpolation command X axis must be the main of the program If Y axis is the main it cannot work In a program using 2 axes simultaneously and interpolation command a program label P label must be registered to only X axis In a program using 2 axes simultaneously and interpolation command it is not necessary to write END command in Y axis In a program using 2 axes simultaneously and interpolation command a single command for Y axis is ignored When the user executes a single command for Y axis in a program using 2 axes simultaneously and interpolation command write a program label to Y axis and start Y axis by RNY command from X axis See Program Example 0 e When the user executes a program using 2 axes simultaneously and interpolation command be sure to execute only X axis 82 5 5 Program Example using Label The program example using labels is shown below For more details of each user program command see chapter 5 2 and after 5 5 1 When making a jump to the head of a program In the first line of a program a program label number must be written so a jump label number cannot be written there In order to jump to the head of a program write a program label number and NOP command in the first line and then write actual operation and a jump label number
86. h is finished it will shift to next command line execution For more details of Automatic Home Search see chapter 6 2 EndP Selects whether end pulse is output or not after home search is finished When On is set in EndP end pulse is output from the XDRIVE ENDP output signal see chapter 7 3 of the parallel control connector CN3 When Off is set end pulse is not output To output end pulse End Pulse must be enabled in Mode tab in Configuration window see chapter 4 3 1 7 The pulse width of end pulse can be set in Parameter tab in Configuration window see chapter 4 3 3 3 HMB 2 axis Simultaneous home search MD5230D Write this command in the same line of X and Y axis Execute a home search for the both axes according to the procedures set by home search mode see chapter 4 3 4 After home search is finished it will shift to next command line execution For more details of Automatic Home Search see chapter 6 2 EndP Selects whether end pulse is output or not after home search is finished When On is set in EndP end pulse is output from the XDRIVE ENDP output signal see chapter 7 3 of the parallel control connector CN3 When Off is set end pulse is not output To output end pulse End Pulse must be enabled in Mode tab in Configuration window see chapter 4 3 1 7 The pulse width of end pulse can be set in Parameter tab in Configuration window see chapter 4 3 3 3 69 5 2 2 Interpolation commands Linear interpolat
87. hapter 4 3 3 4 Pulse Scale Numeration and Denomination is not applied to the setting value of Step Out Differential The setting value is a unit of drive pulse 4 3 3 7 Home Search Low Speed It sets search speed for step 2 step 3 of automatic home search Home Search Low Speed 1 500000 pps 4000 To immediately stop search operation set the lower value for home search low speed than start speed of home search high speed Speed4 The action mode of automatic home search can be set in Home Search Mode tab see chapter 4 3 4 For more details of Automatic Home Search see chapter 6 2 4 3 3 8 Home Search Offset It sets offset drive for step 4 of automatic home search Home Search Offset 2147483646 2147483646 Home Search Offset drives in the direction when setting a positive value and drives in the direction when setting a negative value The setting of pulse scale see chapter 4 3 3 4 Pulse Scale Numeration and Denomination is applied to the setting value of Home Search Offset The above setting range 1s the range of when pulse scale numerator pulse scale denominator The action mode setting of automatic home search can be set in Home Search Mode tab see chapter 4 3 4 For more details of Automatic Home Search see chapter 6 2 46 4 3 4 Home Search Mode Settings tab Home Search Mode It configures modes for automatic home search Each mode can be selected from a list by click Y Ki Configuratio
88. he unit R Configuration Ja fea Condition S Unit 03 MD5230D Intelligent Motor Driver Mode Speed Parameter Home Search Mode Split Pulse Unit Name Unit Name MD5230D Intelligent Motor Driver Unit Mame Download File Name 52 4 4 User Program Settings window Program Program window is used to display edit register and execute a user program There are two modes Edit mode that edits and registers a user program and Run mode that executes a user program User Program Display Edit Aree Speed Timer EndP Label Cmd Speed Timer EndP f po m creron rr g 2 e ES ES CCE EE E E al Sie ass Zem tz A llor La doe le e llon nu ass Za 2 vfo zlot ass 80000 5 ass Jee 2 zlo zo ass v joo00 s Ama Jam 3 vi gt z a a I 7 ell e ER P Le la fl tsi H 18h Ja 7 AN ala s Iw A o d d A me d 3 zla lon z ome zl le zla lon zl fica am E a mz A gt gt ee d u 1cA vf 70 zz A A e d 2 Ter A A gt e d o e zem d zl zs o Ae AJ me daan e pos zlo z vi Am er Jam E sl d d n 17 304 Jos Jam gt A Je wei LA A d File Name Displays the file name of Open Run and Edit Mode ENEE 3 N ening Fe xm i ES a aif ra 13 go Or lt Er dE ele le bole ble ble e ol tee he lela lee tele D La EN Open Save Label for Operation Edit Buttons the file Moving Axis selection Close Proa
89. her modes except Constant cannot be used Speed of interpolation commands is only valid for X axis and invalid for Y axis When the start and finish points of a circular arc are not on the X or Y axis the finish points of both axes may deviate by 1 pulse When both are on the X or Y axis this deviation does not occur CCW CCW circular interpolation move MD5230D Finish position i e X axis 1 4 X axis 268435455 268435455 i Y axis Not selected Y axis 268435455 268435455 Write this command in the same line of X and Y axis It drives X and Y axes by circular interpolation from the current position to the relative position specified by Data in the counter clockwise direction CCW centering the position specified by Circular interpolation center setting It starts circular interpolation driving from the current position to the finish position in the CCW direction and then immediately shifts to next command line execution Data Specifies the relative position finish position to the current position X and Y axis When the finish position is set to 0 0 a full circle will come out This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 268435455 268435455 Speed X axis Selects speed
90. ical and real positions for motor Function rotation Pulse Scaling Function to set the scale in order to input and display the specified position and logical position Function according to the actual moving distance mm Number of input signals 2 each axis each 1 for and direction Hardware Limit Stop signal active level can be set Stop mode Instant Slow is selectable Software Limit Stop mode Instant Slow is selectable Encoder A B phase input High speed photo coupler input 5V Quadrature pulse input the maximum 400 kHz Encoder Z phase input Photo coupler input 5V Input width 500usec or more Home signal Limit signals each 1 for and direction Emergency stop signal Input Signal General input 2 signals Photo coupler input 24V Two wire sensor supported Turned ON when input signal is short circuited with GEX External reset signal input Automatic home search start input Program driving start input Program designation 0 5 input Driving mode designation 0 1 input Photo coupler input 24V Turned ON when input signal IS Snore circuited with GEX RSC collecior output DC30V or less ana 60mA or less Parallel control I F Control Interface USB USB standard V2 0 compliant The maximum of 16 units can be connected to one PC with USB cable m Others TOUI TONET DC 24V 3A MAX DC 24V 6A MAX Supply Ambient 0 40 Temperature EH 0 85 RH No Condensation
91. in the same program as a jump source or in the same subroutine as a jump source lt How to input Data gt In Program window select IJP command in Cmd field or double click on Data field in IJP command line IJP Data Input window appears and the user can input values or single click on Data field in IJP command line and the user can input values directly When input values directly J of a jump destination label must be input in uppercase DP Data Input Form of direct input in Data Input Port Number Signal sl Cmd Data UP Signal Level ei J nput Port Numberlu Signal Leve lja ump Destination Label Jump Destination Label Jump Ok Cancel ER pege E Example for waiting for input signal by IJP command waiting for INO signal Low Process before waiting for input signal Jump to J02 if X INO signal is Low ON Jump to J01 if X INO signal is not Low ON Repeat until X INO signal becomes Low ON Process after input signal condition is established Note e The actual operation is delayed about 2 5msec due to the time for command processing 75 PJP Position condition jump MD5130D MD5230D PJP Absolute position 2147483648 2147483647 Jump destination Label J01 J63 If the current position exceeds the specified position absolute position with respect to the rotating direction of a motor it jumps to the specified label of a jump destination If the current position does not exceed the spe
92. in the second line It is the same as above when making a jump to the head of a subroutine in the subroutine START PO1 J01 Operation1 END Write P label number and NOP command in the first line Operation1 Write J label number Relative position move to the position 10000 Wait for the timer for 2 seconds Branch If XINO signal is Low ON jump to J01 End the program 5 5 2 When writing the process of after condition branch to outside of normal operation after END The process after condition branch can be written in the line after END command The line after the END command line which 1s written a jump label number belongs in the program label number before END command And until another program label number or subroutine label number is written the same program label number is used It is the same as above when the user write the process after condition branch to outside of normal operation after RET in the subroutine Operation2 Operation3 83 P01 INC 1 0 02 Low J02 Operation1 Relative position move to the position 1000 Branch lf XIN1 signal is Low ON jump to J02 Operation3 If Hi Open to the next line Operation2 20000 Operation2 Relative position move to the position 20000 Program end command END Operation3 Wait for the timer for 0 2 seconds Relative position move to the position 20000 Unconditional Jump to J01 5 5 3 When finishing the program at th
93. ion circular interpolation and circular interpolation center setting commands are available as interpolation commands The interpolation command must be written in the same line of interpolation axes X and Y The user can perform continuous interpolation driving by continuously writng interpolation commands Be sure to take 3msec or more for driving time of one interpolation If the command other than interpolation commands is used during continuous interpolation commands continuity of interpolation is not guaranteed See chapter 5 5 6 for the program example using interpolation commands and Appendix B for the program example of continuous interpolation LNI 2 axis linear interpolation move MD5230D Finish position X axis 1 4 X axis 134217728 4134217728 Y axis Not Y axis 134217728 4134217728 selected Write this command in the same line of X and Y axis It drives X and Y axes by linear interpolation from the current position to the relative position specified by Data It starts 2 axis linear interpolation driving from the current position to the finish position and then immediately shifts to next command line execution If using this command singly discontinuous interpolation acceleration deceleration driving in Trapezoid mode is available Data Specifies the destination position by relative value When setting positive value it moves in the direction CW rotation and when setting negative value it moves in the di
94. ion with respect to the seating plane of a motor direction rotation A motor axis rotates in CCW rotation counterclockwise direction with respect to the seating Speed Selects speed settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 Timer Specifies the waiting time of until the next command line is executed after completion of moving When 1 3 is assigned to Timer the time of post timer 1 3 that is registered in Parameter tab in Configuration window see chapter 4 3 3 1 is used When setting without the waiting time set O to Timer In the line that End Pulse EndP is set to On it will wait for an amount of specified time after End Pulse is On EndP Selects whether end pulse is output or not after completion of moving When On is set in EndP end pulse is output from the XDRIVE ENDP output signal see chapter 7 3 of the parallel control connector CN3 When Off is set end pulse is not output To output end pulse End Pulse must be enabled in Mode tab in Configuration window see chapter 4 3 1 7 The pulse width of end pulse can be set in Parameter tab in Configuration window see chapter 4 3 3 3 67 ICA Relative position move start MD5130D MD5230D The axis moves from the current position to the relative position specified by Data Immediately after starting to move by this command it shifts to n
95. irection Encoder Z phase Active Section Active Section e Input signal and Signal level Search Search See i S i direction speed Step Search HOME signal Low GEX 20 000pps p Direct take Short circuited direction HOME signal Low GEX De Short circuited direction PP Step2 Search TE Step2 p Direction ECZ I L EX a Step3 cane Er i 500pps Step3 Short circuited direction ep el KE Step4 500 pulses Offset driving in direction direction 20 000pps Step4 wg As for operations at step 1 and step 2 it is the same as those in chapter 6 2 3 1 Example of Home search using a home signal In step3 search of an encoder Z phase signal ECZ 1s performed at home 96 search low speed in the direction and when detected the operation stops immediately In Step4 it performs offset driving in the direction and then a home search is finished Note e When a limit signal is used as a detection signal of step 1 and 2 set the search direction of step 3 encoder Z phase search must be set in the opposite direction of step 1 and 2 Value Co EEE OA E EEN ome Signal Laval io fool eel foe OME tom T rsageng Active logical level for encoder Z Level N nl a roe ry Z phase ECZ a CC Step1 Enable Step1 non execution execution Enable Step1 non execution execution Enable Execution s
96. it Select the program label number by PSLO 5 7 12 pins input signals and then turn START 3 pin signal ON and program driving start To stop 1t turn STOP signal ON When Stop signal is ON during motor rotation it stops motor rotation and then stops program driving For more details of User Program see chapter 3 Input Signal Setting Driving mode Nee 9 MODE1 14 ON Select program number by PSLO 5 10 8 7 O OFF OEF O OFF ON O O Ni wech RO Z Ee 61 62 63 11 O O O O O O O Z ON N N ON OFF ESA P ON ON O START 3 ON Program driving start Stop signal STOP 4 ON Program driving stop O O O O O O O 12 O O O O O O O O O O O O O O ini SS N N N O TI TI TI Z 9 OFF OFF OFF OFF ME E OFF OFF OH ON HEE SER ao OH ON ON FF FF FF FF FF ON ON ON ON ON O N _ ON ON FF FF FF FF N N FF FF N N N 113 The following figure shows the example of input output signal state in program driving When End pulse is disabled see chapter 4 3 1 7 in mode tab and after program driving start XDRIVE ENDP 15 pin output signal turns ON And after the end of program driving 1t turns OFF 10msec and over START CN3 3 Input OFF ON MODEO CN3 13 Input ON MD5230D MODE1 CN3 14 Input ON PSLO 5 CN3 7 12 Input setting value XDRIVE ENDP CN3 15 Output
97. ith USB cable and set configuration data by MD Operation Tool and then create a user program The setting data and created program are written into built in EEPROM of the unit 3 Placement and Wiring Place the unit and connect wires to proper peripheral equipment For the placement of this product please refer to chapter 2 and for the details of each connector and input output signals please refer to chapter 7 4 Start Motor Control To start motor control in MD5130D and MD5230D there are 3 ways as follows O Control by using MD51_520Operation Tool Connect the unit and PC with USB cable and the user can perform manual operations such as jog feed home search and program execution O Control by parallel control signals Connect a PLC or switches to parallel control connector and the user can operate 1t Please refer to chapter 7 for more details O Control by communication command MD5130D and MD5230D have communication commands The user can create your own software with these commands and control a motor For more details please refer to the attached MD5130D MD5230D Communication Command User s Manual 2 Placement This chapter describes how to place the unit and the location to be placed 2 1 Installation Place MD5130D and MD5230D are designed and manufactured for the equipment that is used indoors Be sure to set up in a proper location as described below Indoor location out of direct sunlight Location with no
98. ivable Motor 5 phase stepper motor with 5 leads or 10 leads Driving Current 0 35A 1 40A phase selectable from 16 kinds Bipolar pentagon drive system EECH Microstep drive Divisions Auto Current i Bedui an It sets rest current to run current by percentage selectable from 16 kinds 25 to 100 m Control Function Speed setting number 4 Mode Start speed Drive speed Acceleration Time Deceleration Time Mode Constant linear acceleration deceleration Trapezoid with without Start speed non symmetry linear acceleration deceleration S curve acceleration deceleration with without Start speed Drive speed Start speed Setting range 1pps 500kpps Acceleration Time Deceleration Time Setting range 1 65535msec Automatic home search Scan driving Continuous driving Preset driving Program driving Automatically executes High speed home search Step 1 Low speed home search Step 2 Low speed encoder Z phase search Step 3 High speed offset drive Step 4 Speed Setting Automatic Home h e Beat Each step of search direction and enable disable can be specified Memory media EEPROM Steps 1000 Commands 36 commands Drive Absolute position move MD51 MD52 Commands 2 axis simultaneous absolute position move MD52 Absolute position move start MD51 MD52 Relative position move MD51 MD52 2 axis simultaneous relative position move MD52 Program Function Interpolation Driv
99. leration deceleration driving Speed1 Speed2 Speed4 Deceleration Time Deceleration time is the time from drive speed constant speed driving to start speed This must be set in non symmetry trapezoidal acceleration deceleration driving The unit of the setting value is milliseconds 41 4 3 3 Parameter Settings tab Parameter It configures parameters for driving The setting range of each item is displayed in Range of Value A Configuration Condition Y Unit 04 MD5230D Intelligent Motor Driver Mode Speed Parameter Home Search Mode Split Pulse Unit Name WE ee 100 100 Caution Pulse Scale Numeration and Pulse Scale Denomination affect all position data Set them at the beginning of your system once File Name Download Close Post Timer1 3 Software Limit 20 000 001 emer er Encoder Scale Numeration_ REE 1 00 1 000 and Denomination HomeSearch Low seed gt gt A Sal 3 000 RRE End Pulse Width Pulse Scale Numeration and Denomination Home Search Offset 49 Setting items in Parameter tab are as follows in the table When pulse scale denominator pulse scale numerator If pulse scale denomination or numeration is changed the setting range is changed 4 3 3 1 Post Timer 1 3 It sets post timer Post Timer 1 65535 msec Parameter Post Timer2 1 65535 msec Post Timer3 1 65535
100. lly updated your driver software Windows has finished installing the driver software for this device 48 8 Check the driver software is successfully installed by the following steps Open Device Manager and check NOVA electronics MD Series USB to RS232C Converter Virtual COM Port COMx is displayed under Ports COM and LPT COMx denotes COM port number Right click on its icon or text and choose Properties If the driver is correctly installed you can see This device is working properly in the Device status field in General tab of Properties window le Action 0 zem Help eo FIDE SIE RS a El NOVA PC b JE Computer b ca Disk drives b Display adapters gt 8 DVD CD ROM drives be Human Interface Devices Eg IDE ATA ATAPI controllers SF Junge lt 5 Keyboards D Mice and other pointing devices gt ME Monitors SF Network adapters A Portable Devices A Ports COM amp E gt E Sound video and game controllers b JE System devices l F Uniwersal Serial Bus controllers 14 3 4 MD51_52 Operation Tool Installation MD Operation31_52 Tool is the software to configure and operate MD5130D and MD5230D from PC Follow the steps below to install MD51_52 Operation Tool The screenshots are on Windows 7 32bit 1 Execute SetupMD51_52_vJ5_2_x_xx msi in MDOPTOOLY32bit folder for 64bit OS in MDOPTOOL 64bit folder n and m are the release numb
101. lope based on the setting value in Speed Select just before selecting Speed5 Please note the acceleration deceleration time is different from the setting values displayed in Speed Parameters 4 2 4 Automatic Home Search It performs an automatic home search The mode and speed for an automatic home search must be set in each tab of Configuration window refer to 4 3 Configuration Settings window Configuration Selects the axis to perform an automatic home search the selected axis button is highlighted in Axis X xis X yellow In MD5130D select X button Run Clicking the button starts an automatic home search ae Clicking the button stops an automatic home search For more details of Automatic Home Search see chapter 6 2 25 4 2 5 Jog Operation Window Jog Jog Mode Select Drive Pulse for Preset Drive Status D Lf Preset Pulse Drive 1 000 0008 0 Set Ol NOAA LA Split Pulse No Motor Rotation Start button and XY Coordinates Screen Controller Reset 4 2 5 1 Jog Mode Select Scan Continuous Preset There are three modes can be set in main window The selected mode button is highlighted in yellow Rotates a motor only while pressing the motor rotation start button and stops it after releasing can the button i Starts a motor rotation when the motor rotation start button is clicked and keeps it until Stop Continuous eer button is clicked Preset Rotates a motor by Preset val
102. m right click menu on user program display edit area These are available in Edit mode in Program window Copies the selection to the clipboard and removes the selection from the display Cut Cut Selection area The selection should be a single cell or row or continuous blocks of cells or rows Copies the selection to the clipboard The selection should be a single cell or Copy Copy Selection row or continuous blocks of cells or rows Pastes the contents of the clipboard to the selected cell below in the display Paste Paste Sr Line Del Delete Delete Row Deletes a selected row the row of an active cell or continuous blocks of rows Line Ins DT Ran Inserts blank lines of the number of selected lines before the active row or cell Insert Multiple lines can be inserted The lines over 1000 will be deleted 4 4 3 Syntax Check It checks syntax error in a user program Check Syntax Check Performs syntax check in a user program If syntax errors detected the error message appears and moves the focus to that line 4 4 4 Download Upload Open Save It downloads to the unit uploads from the unit and opens saves in a file A user program in the edit area is written into the unit which must be written Download Write into the unit before execution of the program For MD5130D blank lines in the program are deleted and shifted up at download 1 Upload Read from the unit A user program is read from the unit A u
103. me search high speed Speed4 until the home signal HOME becomes active When HOME signal becomes active it drives in the direction opposite to a specified search direction at the home search low speed until HOME signal becomes inactive When HOME signal becomes inactive it executes Step 2 from the beginning When HOME is set as a detection signal and a limit signal in the search direction becomes active during execution of step2 Driving stops immediately and the operation described in Irregular operation 2 is performed Search in the specified direction gt Over Run Limit in the HOME Search Direction c Active Active Section Section Detect Home at high speed in the opposite direction lt x Exit in the opposite Irregular Search in the specified direction gt Over Run Limit in the HOME t Irregular Search Direction Active Active Section Section Limit signal is detected Detect Home at high speed in the opposite direction 1 Exit in the opposite direction Y Search in the specified direction Detection Signal Active Section 4 When a search direction is the same as Step 1 and Step 2 and the detection signal is inactive before Step 2 starts gt It drives in the direction opposite to a specified search direction at the home search high speed Speed4 until the detection signal becomes active When
104. motor stops it turns ON for the time specified in end pulse width Also after automatic home search is oo mb mb esch I FN MODE1 Wu finished it turns ON for the time specified in end pulse width While running a user program itturns ON after the command that enables End pulse is finished 111 le axis Error Turns ON when the following error occurs User program operation error ener ute Hard Software limit error EMG signal error Step out error automatic home search error This signal can be turned OFF by Reset signal MEAN E A E 19 GEX Ground S do 20 vex 24V Power output DC24V under 150mA _ _ _ Input Signal Circuit A1 CN3 control input signal Output Signal Circuit B1 CN3 control output signal 24V 3 AN KA4F3P Renesas Ko ER ae 8 From signal z To internal circuit internal circuit i Y Input signal KEEN TLP291 or equivalent o GEX sde N ON when the input signal is short circuited with GEX GEX S output voltage 30V max output current GOMA max 7 3 2 Operation by Parallel Control Signals 7 3 2 1 Starting Automatic Home Search In operation by parallel control signals turning HOME 2 pin input signal ON for 10msec or more start automatic home search Before starting automatic home search the settings for automatic home search must be configured in MD Operation Tool For
105. n Parameter Home search mode Split pulse Unit name sari User program edit download and upload to the unit and execution g Save and Load a user program in a file to PC Input Output Status display of input signals setting of output signals 4 1 How to start MD51 52 Operation Tool Start MD51_52 Operation Tool on your PC according to the following steps 1 Connect the unit and PC with USB cable 2 Turn on both power If this is the first time to use MD5130D or MD5230D install USB driver and MD51_52 Operation Tool according to the steps in chapter 3 3 Start MD51_52 Operation Tool from Start menu On the Start menu point to All Programs then click NOVA electronics MD51_52 Operation Tool MD51_52 Operation Tool de NOVA electronics A MD Operation Tool Devices and Printers 1 MD51 52 Operation Tool MD51_52 Operation Tool vE5 2 1 Meee cla 4 Back Help and Support 20 4 Select Connection Unit window appears Select the Unit ID to connect and then click OK Unit ID is the identification number of each unit when two or more units are connected to PC The ID number set by setting switch on the front panel of the unit to being connected to PC is displayed The default ID is 00 HD select Connection Unit F o Uewe s t S a DA INTA electronics mm Unit ERT Intelligent Motor Driver OK Cancel If the connection is correctly est
106. n window When not in connection Download button changes to Save button In Program window in order to save a user program in a file after editing click Save button in Program window In both windows configuration data and a user program are saved in a file with CSV format by clicking Save button at one time MD Configuration Condition Y Unit Mode Speed Parameter Home Search Mode Split Pulse Unit Name AS PE A Configuration Window When Not in Connection 61 5 User Program MD5130D and MD5230D can create a user program of up to 1000 steps By setting the label number the user can register a maximum of 63 programs in 1000 steps To create a user program connect the unit and PC with USB cable and start MD51_52 Operation Tool and the user can program in Program window which opens by clicking Display Program in Main window of MD51_52 Operation Tool The user can create edit register to the unit save in a file and execute a user program in Program window For more details of how to use Program window see chapter 4 4 This chapter describes the label for a user program and each command Click Row number Program window is displayed ER 2 Axis MD Operation Tool fo O sa File F Display V Cai figure C Help H a WC ER JogStatu Program x o o ES A bagen Encoder Position E o p Position Unit gt lence Label Cmd Data Speed Timer EndP Label Cmd Data
107. n Local E mE Condition Ca C3 Unit 04 MD5230D Intelligent Motor Driver Mode Speed Parameter Home Search Mode Split Pulse Unit Name Home Search Low Speed and Home Search Offset are on the parameter tab File Name Download Close ee Home Signal Level HOME M Low Low sl Encoder Z phase Signal Level ECZ signal Level o rio Step 1 Enable Disable HEERE v Enabe gt Step 1 Search Direction EXETER Step 2 Enable Disable FE Eine zescch enable sl Step 2 Search Direction EXETE sli Step 3 Enable Disable REE Disable y Disable d Step 3 Search Direction EXE sl Step 4 Enable Disable EBC Disable Disable gt Position Counter Clear gt ETE Enable enable sl 47 Setting items in Home Search Mode tab are as follows fsepiDiesion er CAT EVER EA In Home Search Mode tab the user can set the action mode of automatic home search For more details of Automatic Home Search see chapter 6 2 4 3 4 1 Sensor Signal It selects a sensor signal for searching at stepl and 2 Home A Sensor Signal Home Limit Home Mode Sensor Signal can be selected from either Home or Hardware Limit signal see chapter 7 4 Home signal is the 8 pin in CN4 connector Limit signals of the and directions are the 9 10 pins in CN4 connector see chapter 7 4 CN4 Sensor Connector for
108. n open collector transistor ON and OFF turn open collector transistor OFF Immediately after starting to execute this command 1t shifts to next command line execution Data e Output Port Number Specifies the output port number corresponding to the output signal See chapter 5 3 for output port numbers e Output Status When setting On open collector transistor turns ON and when setting Off open collector transistor turns OFF lt How to input Data gt In Program window select OUT command in Cmd field or double click on Data field in OUT command line OUT Data Input window appears and the user can input values or single click on Data field in OUT command line and the user can input values directly OUT Data Input Form of direct input in Data Output Port Number Signal Cmd Data Output Status Level gt OUT Output Port Number OO X Space OTP Output port ON Pulse MD5130D MD5230D Output Port Number ON Time 0 65535msec 1 Turn the specified output port ON turn open collector transistor ON for specified time Immediately after starting to execute this command it shifts to next command line execution without waiting for an amount of specified ON time Data e Output Port Number Specifies the output port number corresponding to the output signal See chapter 5 3 for output port numbers e ON Time msec Specifies the time to turn ON in a unit of msec The range is from 0 to 65535 msec lt How to input Dat
109. n signal for high speed and low speed home search Operation Example Input signal and Signal level SE SE E p 9 9 direction speed HOME signal Low GEX GEET 40 000pps FE CM HOME signal Low GEX ede SS Short circuited EE eg LMT HOME HOME Step3 Non execution 3500 pulses Offset driving in As shown in the table above set the same signal level and search Over Run Limit in direction to step 1 and step 2 HOME the Search Direction In Step1 it drives up to the home at high speed 40 000pps in the E eines RA direction When the home signal becomes active 1t performs Seege ection Section decelerating stop Step Direction e In Step2 if the stop position is within the home signal active section L it escapes from the home signal active section in the opposite Step E Search JC direction and then detects a home signal and stops Direction p In Step4 it performs offset driving in the direction and then a 8 home search is finished Note e Make sure to set an over run limit ahead of detection direction and connect the signal to the limit input LMT e Set the same search direction to step 1 and step 2 because the same signal is used Follow the settings below to perform the operation above IN EE SE Value Sensor Sensor Signal Sensor signal for searching Sensor an for searching C SENERE Home Signal Level Active logical level for H
110. n window see chapter 4 2 5 Note e The setting of pulse scale is applied to the value of software limit The above setting range is the range of when pulse scale numerator pulse scale denominator For more details of Pulse Scale Numeration and Denomination see 43 chapter 4 3 3 4 4 3 3 3 End Pulse Width It sets End Pulse Width End Pulse Width 1 65535 msec This sets end pulse width for end pulse output from XDRIVE ENDP signal see chapter 7 3 of the parallel control connector CN3 at the stop of motor rotation The unit of the setting value is milliseconds To function End Pulse End Pulse must be enabled in mode settings tab For more details see chapter 4 3 1 7 End Pulse Note e The accuracy to the setting value of end pulse width is approximately 1msec 4 3 3 4 Pulse Scale Numeration and Denomination It sets the value of Pulse Scale Numeration and Denomination to perform scaling for position data Pulse Scale Numeration numerator 1 65535 Parameter Pulse Scale Denomination denominator 1 65535 Scaling function of pulse scale is the function to convert to the pulse value by multiplying all of the input position data by the specified coefficient This function allows the user to handle position data in a unit of mm or inch Pulse Scale Numeration field is to set the value of pulse scale numerator and Pulse Scale Denomination field is to set the value of pulse scale denominat
111. nator so it is drive pulse value The setting range in drive pulse value is 268435455 268435455 70 CWI CW circular interpolation move MD5230D Finish position X axis 1 4 X axis 268435455 268435455 Y axis Not Y axis 268435455 268435455 selected Write this command in the same line of X and Y axis It drives X and Y axes by circular interpolation from the current position to the relative position specified by Data in the clockwise direction CW centering the position specified by Circular interpolation center setting It starts circular interpolation driving from the current position to the finish position in the CW direction and then immediately shifts to next command line execution Data Specifies the relative position finish position to the current position X and Y axis When the finish position is set to 0 0 a full circle will come out This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 268435455 268435455 Speed X axis Selects speed settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 Y axis Not selected Note Be sure to set the mode to Constant ot
112. neous absolute position move MD5230D Absolute Position 2147483646 2147483646 03 Off On Write this command in the same line of X and Y axis X and Y axis simultaneously start to move from the current position to the absolute position specified by Data After completion of moving by this command 1t will shift to next command line execution Data Specifies the destination position by absolute value This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483646 2147483646 Speed Selects speed settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 65 Timer Specifies the waiting time of until the next command is executed after completion of moving When 1 3 is assigned to Timer the time of post timer 1 3 that is registered in Parameter tab in Configuration window see chapter 4 3 3 1 1s used When setting without the waiting time set O to Timer In the line that End Pulse EndP is set to On it will wait for an amount of specified time after End Pulse is On EndP Selects whether end pulse is output or not after completion of moving When On is set in EndP end pulse is output fr
113. ng operation do not touch the rotating body or moving body connected to a motor with your hand body or anything else O When you move a rotation axis of a motor by your hand such as manual positioning turn off the power or switch off the excitation and turn off the current to a motor Provide an emergency stop measure or circuit outside the product to securely function in case abnormality of an external power supply disconnection of a signal line or the driver failure occurs O If abnormality occurs stop the use immediately and turn off the power mM Disposal O When discarding the product handle it as industrial waste SA 1 Ths Basic Circ it Block Diada A SNE AAA DAA A A e A 2 1 1 1 MISS a la 2 1 1 2 US EEN 3 k2 Par Name and FUNCION tica dad tdi 4 1 2 1 VO TOD crea TEE ne eee On a re ee ee eee 4 1 2 2 MD5230D laeemenes trae sneety eure rece tt Sr tenia oe REE nae e ee ee eee eee 5 O TS 6 WAR HOW TO Sar MOLOF ee re 7 Pon En 8 21s el RE Le 8 22 Installation tera A A E iia 8 20 MSM a a 9 2 3 1 Lary rel Nia aia ah A eee eRe 9 2 3 2 Jee UE Wiere 9 SBS CUDO E 10 O 0121 2101 016 PP O eee Er ENE 10 3 2 SoftWare ONU Riad eee een ees cea seed ese ee 10 30 Ob Divers tala taaan dada 10 3 4 MD51 52 Operation Tool Installation colina lid 15 A 18 36 MD Operation e e BET UE curras ad 19 4 MD51 52 Operation Tool 20 4 1 Howto start MD51 52 Operation Tool 20 Ge MIn EIERE 22 2 As A AN 23
114. nge of the XY coordinates screen logical position depends on the setting value of software limit and in Parameter in chapter 4 3 3 Configuration The software limit range equals to the display range of the XY coordinates screen regardless of software limit enable disable The display range of the XY coordinates screen is always over 230 Indicate the direction of motor rotation and axis e direction rotation A motor axis rotates in clockwise direction with respect to the seating plane of a motor e direction rotation A motor axis rotates in counterclockwise direction with respect to the seating plane of a motor Jog operations by 10 key 10 key on keyboard can perform jog operations as well which can perform motor rotation start stop and speed change 6 key i gt i i i CS This key performs the same operation as button in Jog operation window 4 key i sey This key performs the same operation as button in Jog operation window This key performs the same operation as it button in Jog operation window This key performs the same operation as Ok button in Jog operation window 9 key i i This key performs the same operation as button in Jog operation window 3 key o This key performs the same operation as button in Jog operation window 1 key va i This key performs the same operation as button in Jog operation window 7 key i d i E This key performs the same operati
115. ngle step at an arbitrary line without pressing Start button or when the user moves to an arbitrary line by executing single step after pause re execution by Continue button may not work properly 57 4 5 Input Output window Input Output Input Output window displays the current state of input output signals in CN3 4 connectors Output signals can be controlled the output state for testing For more details of CN3 4 connectors see chapter 7 3 and 7 4 Condition O GC Unit 03 MD5230D Intelligent Motor Driver 58 Displays the state of sensor input output signals for the axis in CN4 The display of input state differs depending on each input signal Input Input Signal eZP This is the internal signal indicating the excitation sequence of a motor is the initial state excitation home eHOME ECZ LMT LMT It lights when the state of an input signal is active i For example in HOME signal when Home Signal Level is set to Low it lights when the input signal is X AXIS short circuited with GEX eEMG It lights when an input signal is turned ON during motor rotation eINO IN1 ECA ECB It lights when the input signal is short circuited with GEX Output Output Signal 1 It lights when the output signal is ON output transistor is ON The user can switch the output state ON and OFF by clicking on a signal button Displays the state of sensor input output signals for the axis in CN7 The display of inpu
116. nos 105 6 5 3 S curve Acceleration Deceleration Driving S curve1 S curve2 Musssssseneseneenkk stk kk ERE ELLER LEE E LEE ERE E ELL ELLE 105 6 5 3 1 Simple S curve Acceleration Deceleration Driving S CUIVe1 ooooccnococincconoccconononcnonnnononnnnonononnonononcnnarnncnnrnnnannncnnss 106 6 5 4 Setting Items for Speed Control 0 0 ececcseccsccsssecsseeessecsseecseeesseecseeesseecseeeeseeceaesessecsaeecseeceseeseeseaeecseesesesssaeeeeessaeeesees 107 655 o 107 EDO DOES On Speed E ln e GE 107 6 5 7 Regarding Speed Change during Motor Hotton 108 6 6 Triangle ENEE EEGEN EE 108 7 Input Output Signals e 109 Tails GNM POWEPC OMMCCION elites coacalco tapas 110 T2 GNZ MOF COME dee 110 1 32 GNS Parallel Control GCOMMEGCION acia 111 131 Parallel Control MAS is ia lene 111 7 3 2 Operation by Parallel Control Goals 112 23 221 Sarna AULOMAUC Homes EE 112 13 22 Scan DIVINO OPEN it aa 112 7 3 2 3 Continuous Driving Operation ccccesccsssessecssecssecseecseeeseesseeeseecseecsescsaecaesuauessessaesseeecaeesaeesaeecaeseaeseaeseaeesaessaeseaeesaes 113 1320 Program DIVINO OPI de do o Senile 113 13 2 EXCMO EE HE 114 TAs ENECNTSENSOr AM A e ad E EE 115 TAA GN GN7 Sensor Connector Signals ado 115 142 eener ele Example iO O ti 116 yi 24241 Comecion Example for Encoder a SS 116 7 4 2 2 Connection Example for Over Limit and Home sgnal rar ELLER LEE E LEE 117 Lo CNSWSB CONOCIO EE 117 8 Package DIM
117. not download while motor rotating Program empty 8 Configuration download completed Program download completed Factory setting completed 8 Program and configuration will become factory setting Are you sure you want Program will be deleted Are you sure you want Program and configuration will become factory setting Are you sure you want 8 Input unit name Invalid String Value Use half size character only Changed program will disappear Are you sure you want to change Unit 123 805 06 807 808 09 810 811 12 813 814 15 816 817 818 Changed configuration will disappear Are you sure you want to change Unit 819 Changed configuration will be disappear if close Do you save changed configuration Unit name download completed 822 Pulse Scale Numerator and Pulse Scale Denominator affect all position data Do you really want to change those parameters Programs were changed If you download changed programs would disappear Do you save programs you changed Cannot simultaneously execute X and Y axis i 829 Cannot exit MD operation tool while Speed Select 5 Exit MD operation tool while Speed Select 1 gt 4 830 Cannot exit MD operation tool while motor excitation off Exit MD operation tool while motor excitation on 124 10 Specifications Specification Specification MD5130D 30D ANN axes Control Axis 1 axis Inedependently programmable for each axis m Drive function Dr
118. o ey ne eee oe eee ee cee eee 98 69 AOP OPI EE 98 6 3 1 3 Slop Timing of Split E 98 63 2 Split PulSe SethiriG MOS da 99 6 3 3 Setting Example of Split PUISE ansann aaa a 99 6 3 3 1 Example of output split pulses by predetermined rotation angle rent E REE E EL EEEEEEELEEEELEEEES 99 6 3 3 2 Example of output split pulses by predetermined axis driving senere ELLE LEE 100 64 Step Out Detection FUNCHON sessi 101 6 4 1 The Description of Step Out Detection FUNCTION cccccsccssecssecseeseesseesseesseesseesseeseeseaeeeaessaessaeseaescaeseaessaeseaeseneesaes 101 6 4 2 Step Out Detection Function Setting Items ccecsssececsseesseesseesseesseeseesseeseeesseeseeeseessaessaessaeseaesseesseesenssanessneeaness 101 6 4 3 Setting Example of Step Out Detection Function cnn ocn ncorn ron ncnnnnnnnnornnnnnnnnnannnannnns 101 G T Howto Release Step Out inn alada IA A 102 NS e E le DEE 103 65l Constant ecd Diving ctas ia 103 6 5 2 Trapezoidal Acceleration Deceleration Driving Trapezoid1 Trapezoid2 Trapezoid3 coooococincccconoccccnnocnonononnnnnos 103 6 5 2 1 Simple Trapezoidal Acceleration Deceleration Driving Trapezoid1 ococccccnncccnnccncnoccononcnconnnononnnranononannnnanoncnnos 104 6 5 2 2 Normal Trapezoidal Acceleration Deceleration Driving Trapezod 2k kst E REELLE ELLE ELLER 104 6 5 2 3 Non symmetry Trapezoidal Acceleration Deceleration Driving Trapezold3 ooconocccnocccccnoccccnnorononoonononornnnnnann
119. oaded 4 3 1 Mode Settings tab Mode It configures modes for driving Each mode can be selected from a list by click Y AD Configuration Condition GC CH Unit 03 MD5230D Intelligent Motor Driver Speed Parameter Home Search Mode Split Pulse Unit Name ME TE WS A 33 Setting items in Mode tab are as follows Run Curren BESSER w loas gt Rest Current ___________ gt E 0 en z Step Resolution M EI EI Auto Current Reductior E Enable Enable Hardware Limit Stop Mode and _ Hardware Limit Stop Mode Slow E Slow El Hardware Limit Active Level Hardware Limit Active Level Low Low Software Limit and ENT Disable Disable Software Limit Stop Mode i l i Software Limit Stop Mode s 7 low z Driving End Pulse EEE Disable Disable Step Out Detection and SEE Enable y Disable y STEE EXPRESSO Au Drive While Drive z Power On Home Search Start Eee Disable Disable Power On Program Start gt DEE oi isce ml 0 35 0 42 0 49 0 56 0 63 0 70 A CETERA 0 91 0 98 1 05 1 12 1 19 1 26 Ge 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100 1 2 4 5 8 10 16 20 25 40 50 80 100 125 200 250 Rest Current 50 Step Resolution 20 Auto Current Reduction Disable Enable Hardware Limit Stop Mode Instant 4 Slow indicates a unit 4 3 1 1 Run Current It selects a value
120. ode 1 Constant speed Constant Simple trapezoid Trapezoid 1 Normal trapezoid Trapezoid 2 Non symmetry trapezoid Trapezoid 3 Simple S curve symmetry S curve 1 Start Speed 1 500000I pps Drive Speed 1 500000 pps Acceleration 1 10000 msec Deceleration 1 10000 msec used in MD Operation Tool Note used in MD Operation Tool Note used in MD Operation Tool Note 136 Speed 1 Speed 3 M Split Pulse Split Pulse Default Item SplitLength1X PulseWidth1X PulseCount1X SplitLength2X PulseWidth2X PulseCount2X SplitLength3X PulseWidth3X PulseCount3X SplitLength4X PulseWidth4X PulseCount4X Details Split length 2 65535 Pulse width 1 65534 Split pulse number 1 655357 O infinite Split length 2 65535 Pulse width 1 65534 Split pulse number 1 655357 0 infinite Split length 2 65535 Pulse width 1 65534 Split pulse number 1 655357 0O infinite Split length 2 65535 Pulse width 1 65534 Split pulse number 1 655357 0O infinite Split Pulse 1 Split Pulse 2 Split Pulse 3 Split Pulse 4 3 Program Block Program Program DATA SPEED TIMER ENDP Label Command ORE EL TIMER options aI Pulse Output options ES Pxx Sxx Jxx Code 1 4 0 3 On Off P01 P63 See 5 2 User See 4 4 1 User Program 1 Speed1 0 Outputs J01 J63 Program Display Edit Area 2 Speed2 1 Post Timer 1 driving end S01 S19 Commands 3 Speed3 2 Post Timer 2 p
121. om the XDRIVE ENDP output signal see chapter 7 3 of the parallel control connector CN3 When Off is set end pulse is not output To output end pulse End Pulse must be enabled in Mode tab in Configuration window see chapter 4 3 1 7 The pulse width of end pulse can be set in Parameter tab in Configuration window see chapter 4 3 3 3 ABA Absolute position move start MD5130D MD5230D Absolute Position 2147483646 2147483646 ping le The axis moves from the current position to the absolute position specified by Data Immediately after starting to move by this command it shifts to next command line execution Data Specifies the destination position by absolute value This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483646 2147483646 Speed Selects speed settings such as acceleration deceleration mode and drive speed from Speed 1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 INC Relative position move MD5130D MD5230D INC Relative Position 2147483646 2147483646 0 3 Off On The axis moves from the current position to the relative position specified by Data After completion of moving by this command 1t will shift to next command lin
122. ominator is 1000 200 so when the pulse number per rotation of the encoder is 500 pulses real position counter counts 10000 per rotation If step resolution is changed modify the value of encoder scale setting appropriately Note e When using Step Out Detection of chapter 6 4 be sure to match the logical position and real position by using this function in advance 45 4 3 3 6 Step Out Differential It sets the limit value of the difference between the logical position and the pulse conversion value of real position for detecting step out When the difference between the logical position and pulse conversion value of real position exceed this value during motor rotation it occurs a step out error Step Out Differential must properly be set based on the pulse number per rotation of the encoder to be used or step resolution If step out differential is too small it may occur a step out error even though a motor normally rotates Use the formula below to determine the recommended value Step Out Differential _500 x Step Resolution x 4 Pulse Number per Rotation To function Step Out Detection set to enable Step Out Detection in mode tab see chapter 4 3 1 8 If the user needs to perform Step Out Detection during motor rotation set to While Drive in Step Out Detecting Timing in mode tab see chapter 4 3 1 8 For more details of Step Out Detection Function see chapter 6 4 Note The setting of pulse scale see c
123. on as button in Jog operation window It stops motor rotation It switches the speed select button Space key While motor stops it switches the speed select button 1 gt 2 gt 3 gt 24 gt 5 gt 1 gt in order each time space key is pressed 97 4 2 5 5 Stop Clicking the axis button stops motor rotation However while motor rotation is controlled by parallel control signals the button in Stop pane does not work to stop motor rotation 4 2 5 6 ABS Position Set The current position displayed in Position Status is set to the selected row of Program window 4 4 1 User Program Display Edit area in the form of ABS command Click the axis button the user wants to register the current position and it will be registered This button will be enabled after Program window is opened 4 2 6 Display menu Speed is set the speed selected in Speed Select 4 2 3 in Main window Timer is set to 0 and EndP is set to OFF When the current position is set the row selected in Program window moves to the next row 4 2 5 7 Split Pulse Select operation of split pulse from Split Pulse 1 4 As for the setting of split pulse go to Configure menu Split Pulse No The button to enable split pulse When this button is pressed before motor rotation starts split pulse will output at the start of motor rotation When this button is pressed during motor rotation split pulse starts to output from that time While split pulse is enabled
124. on branch ssnsseuuesers nr rnr ket kr E Er 84 5 5 4 When calling a subroutine ENEE 85 55 5 Program Example by 2 Axis Simultaneous Commande 86 5 5 6 Program Example of Linear Interpolation en 86 9 9 7 Program Example of Circular Interpolation BEE 87 5 5 8 Program Example to execute Y axis from the program Of X AXIS csccccssseecsssseeessneececesaeeceaeeesseeseesesaeeesseeessseeeesees 87 6 Additional Information on FunctiON 88 CA Dive PUSE and EENEG eege 88 62 Automaic AMES 90 6 2 1 The Description of Automatic Home Search Operation sssssssenneuuus sets kt k ERE E KEE LEE E REE E LEE E REE E ERE E ERE REE ELLEN 90 6271 Sept ANECA HOME SCAICI de daa 90 62712 e BA LOW speed home BEE 91 6 2 1 3 Step 3 Low speed Encoder Z phase Gearch sr ENE TE ER eee 92 6 2 1 4 Step 4 High speed Offset Drive 92 6 2 2 The Setting Items for Automatic Home Gearch ran E REE E FEEL ELLE REELLE REELLE LEE 93 6 2 3 Automatic Home Search Operation and Setting Example cccccccsccsseccssecseceseecsseesseeseseesseessseesseeseseesseeeeseeseaeess 94 6 2 3 1 Example of Home search using a home sigma 94 6 2 3 2 Example of Home search using a limit agang 95 6 2 3 3 Example of Home search using an encoder Z phase signal ccssscccssssecessneeessseeeesseeessseeessseeessseeeessneeeesseeeess 96 o o eo eo O EE O a y eer eee eee ee eee 98 63 1 The Desciiption Ol Soll RI 98 A
125. on is already passed through at execution of this command an error will 78 occur and the program will be finished Data Specifies the position to wait for by absolute position This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483648 2147483647 Note e The actual operation is delayed about 2 5msec due to the time for command processing PAS Pause for debug MD5130D MD5230D a er mm me Pauses a running program To re executes it click Continue button in Program window in MD Operation Tool This command is useful for debugging a user program Note e Do not execute the program with PAS command by program driving operation using parallel control signals see chapter 7 3 2 4 RNY Y axis program start MD5230D Write this command in X axis The program starts from the specified program label of Y axis Immediately after starting to execute the program of Y axis the program execution of X axis is continued This command cannot be used in the program of Y axis WTY Waiting Y axis program end MD5230D oe ins er eh Write this command in X axis The program execution of X axis is stopped temporarily until the program of Y axis is finished END If the progr
126. or MD5130D and MD5230D convert to the pulse value by multiplying the input display position data by the following coefficient for more details of Drive Pulse see chapter 6 1 Pulse Scale Numerator Drive Pulse Value Input Value x Pulse Scale Denominator Pulse Scale Denominator Displayed Value Drive Pulse Value x Pulse Scale Numerator For example if 1 pulse of drive pulses is equivalent to 0 01mm of moving distance to display position data in a unit of mm set 100 1 to scale numerator scale denominator If input value 1 mm is written it converts to 100 pulses and 100 pulses are displayed as 1 00 If calculation result is after the decimal point it is rounded off up to the valid decimal place for 1 pulse and then will be displayed Position data which scaling is performed is as follows Position Data Performed Scaling Position display Preset moving distance Encoder Position Window Encoder E scale P scale display Configuration Parameter Tab Software Limit Home Search Offset Program Window ABS INC ABA ICA PJP POS WTP commands position data e The values of pulse scale numerator and denominator affect all the position data Configure them at the beginning of system development based on circumstances such as step resolution or ball screw pitch Once configure values do not change them on the way e The factory default of pulse scale numerator denominator is 1000 1000 which indicates input display equal to drive
127. or opened it must be downloaded to the unit Switches to Edit mode that can edit or register a program In this mode the user can edit a user program download to the unit and save in the file However it cannot switch to Edit mode while executing a program During Excitation OFF Motor Free a registered user program shifts to Run mode In Run mode the user can check user program operation etc without Switch to Test motor rotation Switch to Edit Test Run 1 Run Disable the Step Out Detection to prevent from functioning A motor does not rotate but OUT command or other operations are performed Test Run mode is the mode only for MD5230D Note Notes on Run and Edit mode e In Run mode a user program cannot be edited and configuration settings cannot be downloaded And jog operation cannot be performed in Main window When the user needs to perform jog operation stop the program and switch to Edit mode and then perform the jog operation 56 4 4 8 Operation Pane The user can start pause or stop a user program and execute single step There are available in Run mode Status of X axis X axis Selection Start Continue button Status of X axis Y axis Selection Displays the status of a user program Status of X and Red e During execution or pause Y axis Gray Not in execution during stopping For MD5130D Y axis side is invalid X and Y axis Moves to the specified label in a us
128. ostT mer1X PostT mer 2X PostTimer3X HomeSearchOffsetX HomeSearchLowSpeedX SoftwareLimitPlusX SoftwareLimitMinusX EndPulseWidthX PulseScaleNumerat onX PulseScaleDenominat onX EncoderScaleNumerationX EncoderScaleDenominationX Step0utDifferentialX Home Seach Mode SensorSignalX HomeS gnalLevelX ZSignalLevelX Step1Enab ex Step1DirectionX Step2Enab eX Step2DirectionX Step3Enab eX Step3DirectionX Step4Enab eX PositionClearX Mode1X StartSpeed1X Dr i veSpeed1X AccelerationTimelX Decelerationl ime1X AccelerationRate1X DecelerationRate1X AccelerationIncrease1X Mode2X StartSpeed2X Dr veSpeed2X AccelerationT ime2X DecelerationTime2X AccelerationRate2X DecelerationRate2X AccelerationIncrease2X Mode3X StartSpeed3X Dr veSpeed3X AccelerationT ime3X DecelerationTime3X AccelerationRate3X DecelerationRate3X AccelerationIncrease3X Mode4X StartSpeed4X Dr veSpeed4X AccelerationT ime4X Decelerationl ime4X AccelerationRate4X DecelerationRate4X AccelerationIncrease4X Sp itLength1X PulseWidth1X Pul seCount1X Sp i tLength2X PulseWidth2X PulseCount2X Spl itLength3X PulseWidth3X PulseCount3X Spl itLength4X PulseWidth4x PulseCount4X 10 100 1000 10000 6000 8000000 8000000 100 1000 1000 1000 200 100 400 80000 500 1 160000 1 1 6 8000 100000 2000 1 536870911 1 92000 3 1000 50000 100 1 490000 131 P01 125000 125000 2
129. ove DIN lever 2 3 2 Installation by screws Fix the two points as shown below using M4 screws pushing down DIN lever 1 MD5130D 2 MD5230D Screwing points Screwing points SENSOR CHA x SENSOR 145 5 CH Y SENSOR CNS ETR 3 Setup to PC This chapter describes how to setup to PC To operate the unit from PC install USB driver and the attached software MD51_52 Operation Tool 3 1 Operating Systems MD5130D and MD5230D support the following OS Windows 8 1 32bit 64bit Windows 7 32bit 64bit Windows Vista 32b1t 64bit e Windows XP 32bit 64bit Note e To use MD51_52 Operation Tool Microsoft NET Framework 3 5 or greater needs to be installed 3 2 Software Configuration The software is available from the attached CD ROM or for download USBDriver folder USB driver 32bit folder 32bit OS USB driver _ 64bit folder 64bit OS USB driver MDOPTOOL folder MD5351_52 Operation Tool 32bit folder 32b1t OS installer 64bit folder 64bit OS installer The latest version is available on our web site http www novaelec co jp eng index html 3 3 USB Driver Installation To install USB driver for connecting the unit and PC follow the steps below The screenshots are on Windows 7 32bit 1 Turn on PC and the unit DO NOT CONNECT them at this step 2 Make sure the PC is started and the unit is powered on Then connect them wi
130. over a specified value it will be a step out error The relation between encoder input signals ECA ECB see chapter 7 4 1 and the real position counter is as follows Up Count Down Count OFF Hi Open ECA 2 ON Low GEX Short circuited OFF Hi Open ECB 3 ON Low GEX Short circui ted Real Position Counter at 41 41 GD 41 41 41 GD ED ED E E E ED ED ED Increase Decrease Encoder Input Signal and Real Position Count As encoder quadrature pulse is counted by quad edge evaluation when the pulse number is 500 per rotation of an encoder the real position counter counts 2000 per rotation 89 6 2 Automatic Home Search Automatic home search is the function that automatically returns to a home position MD5130D MD5230D automatic home search performs in order from stepl to step4 shown in the table below once started For each step 1t can be configurable for execution non execution a search direction input signal for searching and the logical level of signals to be detected see chapter 4 3 4 In stepl and 4 search operation is performed using Speed4 set in speed settings tab see chapter 4 3 2 as the speed of high speed home search In step2 and 3 search operation is performed using the speed of low speed home search set in parameter settings tab see chapter 4 3 3 The position counter is reset to O can be enabled disabled at the end of automatic home search and home search operation is finished
131. own as follows Encoder MD5130D 5230D 5VEX O XECA O XECB O XECZ dh GEX O The connection example for line driver output encoder 5V power source is shown as follows AM26C31 orlequivalent MD5130D 5230D ups O toV d Encoder EC A XECA EC B XECB O EC z XECZ 07 mre GND 116 7 4 2 2 Connection Example for Over Limit and Home signal The connection example for over limit signals and home signal is shown as follows MD5130D 5230D VEX 24V XLMT Limit in direction QO XLMT Limit in direction d Ge Home EE SX670 Omron ON at light interception XHOME GEX Note e Use the mechanical contact for small current e Two wire sensor can be connected however ensure that the two wire sensor is for DC24V power supply and leak current 1mA or less 7 5 CN5 USB Connector Connect to PC with the attached USB cable Te 8 Package Dimensions 8 1 MD5130D 35mm DIN rail groove y UUInnUD0SURI q 00USa0000888 a Fos 8 2 MD5230D Unit mm 35mm DIN rail groove 130 145 5 118 8 3 Heat sink Optional accessory for MD5230D IM _ eo 62 i 119 9 Message 9 1 Error Message 9 1 1 Error Code List The following 1s the list of error code displayed in Error code message display pane in the bottom
132. position Real position set button Display Format Real position Real position set button Set X Real position clear button OK Unit 03 MDS230D Intelligent Motor Driver Encoder Encoder f Enc Scale Position Real position clear button Selects display format for encoder count values displayed in real position field Position from 3 types Encoder Displays the value counted by quad edge evaluation of quadrature pulses of encoder signal ECA ECB Encoder Enc Scale Displays the pulse conversion value of real position that the value of 1 multiplied divided by the encoder scale Encoder Enc Scale Pul Scale 3 Displays the value that the value 2 multiplied divided by the pulse scale Displays the real position in a format selected in Display Format For MD5130D Y axis side is invalid Sets the real position to an arbitrary value lt How to set gt Click Axis button Input a value in Position field 3 Click Set button For MD5130D Y axis side is invalid Clears the real position to 0 Close the Encoder position window 60 4 7 Configuration and Edit Save User Program When Not in Connection When the unit is not connected to PC the user can create edit and save configuration data and a user program from MD51_52 Operation Tool In Configuration window in order to save in a file after editing click Save button in the right bottom of Configuratio
133. pulse the user can output the pulse at regular intervals with respect to the position even during acceleration deceleration driving Drive Pulse Split Pulse ER ON AA E Pulse wt width 5 Split length 12 Split pulse number 3 6 3 1 1 Start of Split Pulse Split pulse is started by Jog operation window see chapter 4 2 5 in MD Operation Tool or Split pulse start command SSP see chapter 5 2 2 If the start of split pulse is commanded before starting the drive it starts to output the split pulse together with the start of driving 6 3 1 2 Stop of Split Pulse After the split pulse completes to output the number of pulse count specified by Split pulse settings tab it is stopped Also it can be stopped by Jog operation window see chapter 4 2 5 in MD Operation Tool or Split pulse stop command PST see chapter Ek As the split pulse is output together with the drive pulse when driving stops the split pulse is also stopped If driving is stopped during execution of a user program it cannot resume to output from where the split pulse was stopped 6 3 1 3 Stop Timing of Split Pulse When Split pulse stop command is issued When the split pulse is ON at the issue of stop command the split pulse is stopped after completing to output the ON width of pulse width specified in Split pulse settings tab When driving is stopped The split pulse becomes OFF on the way at the timing that driving is stopped Dri
134. put signal and Signal level eeu SE E Active direction speed ection 7 a GEX Step Search imit signal Low Direction 1 eer i 10 000 Sep Short circuited direction L Limit signal Low GEX H a otepa Short circuited dracon I PPS Step2 Search mp Direction Step3 Non execution tn O M Step4 a 500 pulses offset driving in direction 10 000pps As shown in the table above set the same signal level and search direction to step 1 and step 2 X Mechanical Over Run Limit Taaa AAA In Stepl it drives up to the limit at high speed 10 000pps in the direction and when the limit signal becomes active it performs decelerating stop In Step2 1f the stop position is within the home signal active section 1t escapes from the limit active section in the opposite direction and then detects a limit signal and stops In Step4 it performs offset driving in the direction and then a home search is finished Note e Set the same search direction to step and step 2 e Step 4 must be enabled Perform offset driving in the opposite direction of step 1 2 and escape the limit and then finish a home search e When executing Step 3 set the search direction to the opposite direction of step 1 2 e Set the limit stop mode to decelerating stop 95 A Value ne E Active logical level for encoder Z IL N A Z phase ECZ tow o o Ges i Step1 non execution Step1 Enable Enable Ex
135. r Home Search Mode Split Pulse Unit Name Setting Example Drive Pulse MO o SU a OA Split Pulse Pulse Width 5 Split Length 12 Pulse Gount 3 Download Close Split Length gt Split Pulse Settings 1 Pulse Width gt Pulse Count ce Split Pulse Settings 2 Split Pulse Settings 3 Split Pulse Settings 4 50 lt lt Setting items in Split Pulse tab are as follows in the table Split length 2 65535 Split Pulse 1 Split Pulse 1 Pulse width 1 65534 5 Split pulse number 1 65535 or 0 infinite 0 Split length 2 65535 Split Pulse 2 Split Pulse 2 Pulse width 1 65534 10 Split pulse number 1 65535 or 0 infinite 0 Split length 2 65535 Split Pulse 3 Split Pulse 3 Pulse width 1 65534 500 Split pulse number 1 65535 or 0 infinite 10 Split length 2 65535 Split Pulse 4 Split Pulse 4 Pulse width 1 65534 5000 Split pulse number 1 65535 or 0 infinite 10 The user can register 4 split pulse settings 1 4 Each split pulse setting has items that split length cycle pulse width and split pulse number For more details of Split Pulse function see chapter 6 3 4 3 5 1 Split Length Split Pulse 1 Split Pulse 2 Split Pulse Split Length 265535 Split Pulse 3 Split Pulse 4 Split Length is the intervals from when split pulse is on to when next split pulse is on and it can be specified by the drive pulse numb
136. r than specified to each signal may cause the destruction of the internal circuit 1 MD5130D PWR D ER Power Connector Motor Output Connector 20P MIL Standard 2 54mm Ribbon Connector Sensor Input Output 16P MIL Standard Signal Connector for 2 54mm Axis Ribbon Connector Parallel Control Connector SENSOR USB Connector USB Mini B Connector Note power is OFF and Power indicator goes out MD5130D NOVA electronics 2 MD5230D Smart Motion Driver X DER LD PWR Gf YDERG ff e XW4A 03B1 H1 OMRON or equivalent XW4A 05B1 H1 OMRON or equivalent 20P MIL Standard 2 54mm Ribbon Connector 16P MIL Standard 2 54mm Ribbon Connector Power Connector USB X axis Motor Output SC Connector ID SE at CN Parallel Control Connector in Bb CA NM CNA x SENSOR X axis Sensor Input Output Signal Connector for Axis CH Dos O O A A USB Connector USB Mini B Connector XW4A 05B1 H1 OMRON or equivalent 16P MIL Standard 2 54mm Ribbon Connector Y axis Motor Output DE O UN Es LL Wal D E Connector in da dd AN wc Y axis Sensor Input Output Signal Connector for Axis CN1 Dc IN 24 CN3 CTRL Note power is OFF and Power indicator goes out MD5230D NOVA El ectronics 109 Connector Connector Type Other Side Connector Type XW4A 03B1 H1 OMRON or equivalent XW4A 05B1 H1 OMRON or equivalent XW4B 03B1 H
137. ram Input Output and Encoder Position windows and change the unit of position MD 2 Axis MD Operation Tool File E Display V Configure C Help H Input Output I Encoder Position El Position Unit Graphics Position Tracing Graphics Grid Ora O p nd Opens Program window the user can edit register and execute a en Program window DER 9 p 9 user program in this window See chapter 4 4 Program Input Output Open Input Output Opens Input Output window the user can display input signal status P P window and operate output signals See chapter 4 5 Input Output Encoder Position a FSSHER Opens Encoder Position window See chapter 4 6 Encoder Position Changes the unit of position and moving distance from the following 4 options Pulse mm um inch Items changed Position Unit Main window Position Main window Preset Parameter window Software Limit Position Unit Change Position Unit 1 Parameter window Software Limit Parameter window Home Search Offset Changing Position Unit does not perform the scaling function but just change the display of unit The scaling function for parameters can be configured by the setting of pulse scale in Parameter window For more details of the setting of pulse scale see chapter 4 3 3 4 Pulse Scale Numeration and Denomination The moving position by motor rotation is displayed with dots in the Graphics Position Display Locus of Moving locus of a moving point
138. ram Parameters Pane Check Syntax Check window j Download Writing Upload Reading 53 4 4 1 User Program Display Edit Area This 1s used to create and edit a user program As shown in the table below the user needs to configure each item For more details of User Program and Input Output Ports see chapter 5 Set program label P01 P63 jump label J01 J63 or subroutine label S01 S19 Select command by click Y ABS Absolute position move ABA Absolute position move start INC Relative position move ICA Relative position move start CNT Continuous move start SST Deceleration stop IST Instant stop HOM Home search OUT Output port ON OFF OTP Output port ON Pulse SSP Split pulse start PST Split pulse stop JMP Unconditional jump IJP Input condition jump PJP Position condition jump JSR Subroutine jump RET Subroutine return REP Repetition start Cmd RED Repetition end TIM Timer WTP Waiting position passage WTE Waiting driving end END Program end PAS Pause for debug SPD Drive speed POS Current position NOP No operation Commands only for MD5230D ABB 2 axis simultaneous absolute position move ICB 2 axis simultaneous relative position move HMB 2 axis simultaneous home search LNI 2 axis linear interpolation move CEN Circular interpolation center setting CWI CW circular interpolation move CCW CCW circular interpolation move Data Input port number Signal level Hi
139. ram description 63 5 2 User Program Commands 36 user program commands are prepared as follows Absolute position move MD51 MD52 2 axis simultaneous absolute MD52 eeng move ABA Absolute position move start MD51 MD52 o Relative position move MD51 MD52 2 axis simultaneous relative i ICB A MD52 Drive Commands position move Circular interpolation center Interpolation Drive CEN P MD52 seiting commands i Gen COW circular interpolation move MD52 OUT OutputportON OFF MD51 MD52 Signal Output OTP Output port ON Pulse MD51 MD52 Commands eer Splitpulsestart MD51MD52 ur Input condition jump MDS1 MD52 PJP Position condition jump MD51 MD52 JMP Unconditional Jump MD51 MD52 JSR Subroutine jump MD51 MD52 RET Subroutine return MD51 MD52 we Ty WIP RNY WY Program Control Commands Pas Pause for debug uewe spo forvespees TA ee no operation TT MD51 MD52 Note Each command takes execution time about 2 5msec 64 5 2 1 Drive Commands There are two kinds of drive commands the commands that start or stop a motor and execute an automatic home search AB Absolute position move MD5130D MD5230D ABS Absolute Position 2147483646 2147483646 0 3 Off On The axis moves from the current position to the absolute position specified by Data After completion of moving by this command it will shift to next command line execution
140. rator Nro i Ced Encoder Scale Denominator Encoder Pulse Scaling Value S Difference of Step Out Detection eee Drive Pulse and Encoder Input 88 Drive pulses are input to the logical position counter in the unit and the current position of a moving object is always controlled The current position is multiplied and divided by a specified coefficient using pulse scaling function and then displayed The encoder input signal is taken into the real position counter that is counted by quad edge evaluation counted at all 7 of A B phase signals The value of the real position counter can be displayed choosing from the following 3 operation values Display Options Contents Encoder value Displays the value of real position counter To obtain consistency between the logical position counter and Pulse conversion value of real the pulse it displays the value that the real position count position value multiplied and divided by a specified encoder scaling coefficient When using the pulse scaling to the logical position to obtain consistency between the logical position and the moving unit Encoder Pulse scaling value it displays the value that pulse conversion value of real position multiplied and divided by a specified pulse scaling coefficient The step out detection function obtains the difference between the value of logical position counter and pulse conversion value of real position and if its absolute amount is
141. rection CCW rotation This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 134217728 4134217728 Speed X axis Selects speed settings such as acceleration deceleration mode and drive speed from Speed1 4 Speed settings can be set in Speed tab in Configuration window see chapter 4 3 2 Y axis Not selected Note e S curve S Curvel S Curve2 mode cannot be selected in Speed setting In continuous interpolation driving be sure to set the mode to Constant other modes except Constant cannot be used e Speed of interpolation commands is only valid for X axis and invalid for Y axis CEN Circular interpolation center setting MD5230D Circular center point X axis 268435455 268435455 Y axis 268435455 268435455 Write this command in the same line of X and Y axis Specifies the circular center point by the relative position to the current position and then immediately shifts to next command line execution Data Specifies the relative position to the current position X and Y axis This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denomi
142. rection Limit Emergency Stop General Input 2 signals General Output 2 signals Split Pulse External Power Output 24 CN7 Y axis I O signal CN2 X axis 5 phase Motor Output CN6 Y axis 5 phase Motor Output 1 2 Part Name and Function 1 2 1 MD5130D The following shows the appearance of the MD5130D its package dimensions are 108mm H X 34mm W X95 5mm D Input output connectors are placed on the front panel and the rear panel is equipped with DIN rail installing hook Power LED ID Setting Switch Drive Error LED CN5 USB Connector CN3 Parallel Control Connector CN4 Axis Sensor Input Output Signal Connector 108mm DIN Lever CN2 Motor Connector CN1 Power Connector DC24V M Connector LED Power LED Green Lights up during power on Lights up during motor rotation When driving end pulse is enabled it lights Drive Error LED Red up from a start of motor rotation until driving end pulse is OFF Please refer to Drive Error LED Display below Set the unit ID number 0 F when two or more products are connected to one ID Setting Switch PC Factory default 0 ENT Power Connector Connected to 24V power source Please refer to 7 1 Connect a motor CN2 5 Phase Stepper Motor Connector Please refer to 7 2 signal CN3 Parallel Control Connector EEN Please refer to 7 3 nsor signal an en r signal CN4 Sensor Connector Connect a limit sensor signal an encoder signa Please refer to
143. riving Trapezoidl and Trapezoid2 accelerate up to a specified drive speed at a specified acceleration time and decelerate at the same time Trapezoid3 can use different time from the acceleration time as the deceleration time at deceleration In trapezoidal acceleration deceleration driving when the specified moving distance does not reach the drive speed the triangle form prevention function see chapter 6 6 works to prevent the speed from rapidly changing from acceleration to deceleration 103 6 5 2 1 Simple Trapezoidal Acceleration Deceleration Driving Trapezoid1 Simple trapezoidal acceleration deceleration driving 1s trapezoidal acceleration deceleration driving where the acceleration and deceleration time is equal The setting of start speed is not required but automatically calculated This accelerates from the start of driving to the drive speed at a specified acceleration time and decelerates at the same time then stops Speed 4 pps Drive Speed gt Time ON Accel Time Simple Trapezoidal Acceleration Deceleration Driving Trapezoid The settings to perform simple trapezoidal acceleration deceleration driving are as follows 6 5 2 2 Normal Trapezoidal Acceleration Deceleration Driving Trapezoid2 Normal trapezoidal acceleration deceleration driving 1s trapezoidal acceleration deceleration driving needs to set a start speed where the acceleration and deceleration time is equal
144. rogram Operation Operation ABA ICA Other drive Continuous Preset CNT drive commands commands Trapezoid1 6 6 Triangle Form Prevention Function When the speed shifts to deceleration during acceleration of motor rotation vibration and step out likely to occur due to the load on the motor Triangle form prevention function works to prevent them In positioning driving of trapezoidal acceleration deceleration when the specified moving distance is too small the speed does not reach the drive speed and it makes the constant speed area between acceleration and deceleration in order to prevent the triangle form that caused by starting deceleration instantly in the middle of acceleration Speed Specified drive speed Specified moving distance Start Speed p Time In positioning driving of S curve acceleration deceleration when the specified moving distance is too small the speed does not reach the drive speed and reduces the maximum speed within the specified moving distance Thus 1t prevents the triangle form and keeps a smooth S curve from the start to the end of driving Speed Specified drive speed Specified moving distance Start Speed gt Time 108 7 Input Output Signals MD5130D and MD5230D each connector position and pin number are shown below Please be careful not to connect a wrong pin number Reverse connection of power connector CN1 or supplying any voltage current othe
145. ror LED Red X and Y axis lights up from a start of motor rotation until driving end pulse is OFF Please refer to Drive Error LED Display below ID Settina Switch Set the unit ID number 0 F when two or more products are connected H to one PC Factory default 0 CN1 Power Connector Connected to 24V power source Please refer to 7 1 CN1 Power Connector X axis Connected to 24V power source Please refer to 7 1 CN3 Parallel Control Connector Connect a parallel control signal Please refer to 7 3 TT Sensor Connector X axis Connect a limit sensor naa n an encoder signal Please refer to 7 4 CN5 USB Connector sid USB Connector Connected to PC with USB cable e to PC with USB cable ee Stepper Motor Connector Connect a motor Please refer to 7 2 CN7 Sensor Connector Y axis Sensor Connector Y axis Connect a limit sensor Connect a limit sensor signal an encoder signal Please refer to 7 4 an encoder signal Please refer to 7 4 NW Drive Error LED Display Lights up during motor rotation ON When driving end pulse is enabled it lights up from a start of motor rotation until driving end pulse is OFF Blinks at 1 second User program error from Host PC occurs intervals Parallel user program error occurs During motor rotation Hard Software limit error occurs Blinks at Error by emergency stop signal EMG occurs 0 2 second Step out error occurs Automatic home search error occ
146. s signal is turned ON for 3sec or more while stopping a motor and program motor excitation will be released and keep its state until turned OFF Axis assignment 1 Select the axis when using HOME START and STOP signals output or specifying a program label number Turning ON this signal selects the axis EN RUN Program 0 Program driving mode SCAN Run Scan Select label number of the program to be PSL1 RUN Program 1 executed by PSLO PSL5 signal SCAN Run Scan Continuous driving mode When RUN signal is turned ON a motor PSL2 Input rotates in direction and when RUN signal is turned ON it rotates in direction PSL3 Scan driving mode While SCAN signal is turning ON the PSL4 SPDO motor rotates in direction and While Drive speed 0 SCAN signal is turning ON it rotates in Program 5 direction PSL5 SPD1 l In Continuous and Scan driving drive speed STOP HOFF Input Input 10 11 Drive speed 1 can be set mai CH SPDO 1 signals Selects the Selects the driving mode mode Ke 5 o H E oN sanama ON ON ON ON Program driving XDRIVE ENDP X axis driving Driving end pulse When End pulse is disabled see chapter 4 3 1 7 it turns ON during motor rotation and turns OFF during motor stop And turns ON while running automatic home search or a program and turns OFF after the XDRIVE Output operation is finished ENDP When End pulse is enabled and after a
147. s whether end pulse is output or not after completion of moving When On is set in EndP end pulse is output from the XDRIVE ENDP output signal see chapter 7 3 of the parallel control connector CN3 When Off is set end pulse is not output To output end pulse End Pulse must be enabled in Mode tab in Configuration window see chapter 4 3 1 7 The pulse width of end pulse can be set in Parameter tab in Configuration window see chapter 4 3 3 3 ICB 2 axis simultaneous relative position move MD5230D Relative Position 2147483646 2147483646 0 3 Off On Write this command in the same line of X and Y axis X and Y axis simultaneously start to move from the current position to the relative position specified by Data After completion of moving by this command it will shift to next command line execution Data Specifies the destination position by relative value When setting positive value it moves in the direction CW rotation and when setting negative value it moves in the direction CCW rotation This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 4 3 3 4 Pulse Scale Numeration and Denomination are set Factory default is pulse scale numerator denominator so it is drive pulse value The setting range in drive pulse value is 2147483646 2147483646 m Direction of motor axis rotation direction rotation A motor axis rotates in CW rotation clockwise direct
148. ser program and configuration settings are load from the file Open Open the file When the file is open configuration settings window automatically opens 1 Saves a user program and configuration settings in the file The file is saved in CSV format See Appendix for more details 1 Save in the file 1 It cannot operate them during jog operation motor rotation by parallel control signals see chapter 7 3 2 and program execution 55 4 4 5 Label for Moving It moves to the specified labeled line in a user program Moves to a specified labeled line X and Y axis abia Move to the label When clicking on Y the list of labels currently used is displayed abe For MD5130D Y axis side is invalid 44 6 Parameters Pane It displays the settings of speed post timer and end pulse width that are currently set Speed Displays the setting values of drive soeed1 4 see chapter 4 3 2 Displays the setting values of post timer 1 3 see chapter 4 3 3 1 EndP Displays the setting value of end pulse width see chapter 4 3 3 3 4 4 7 Run and Edit Mode Switching It switches Run mode and Edit mode in Program window Edit mode is used to edit a user program and Run mode is used to execute a user program The mode currently selected is highlighted in yellow Factory default is Edit mode Switches to Run mode that can execute a registered program Switch to Run To switch to Run mode after a user program is edited
149. sets to factory setting Reset to Factory Program Clear all user programs setting Configuration Reset all settings of Configuration to factory setting All Reset all data to factory setting Home Search Mode Factory setting 4 2 6 4 Help Menu In Help menu the user can check the version of a unit firmware and MD51_52 Operation Tool in Version window the upper part is the version of MD51_52 Operation Tool and lower part is the version of a unit firmware 32 4 3 Configuration Settings window Configuration To operate MD5130D and MD5230D it is necessary to configure settings based on the user system Connect the unit and PC with USB cable and start MD51_52 Operation Tool the user can configure settings in Configuration window From Configure menu on menu bar of MD51_52 Operation Tool main window the user can open 5 windows which are Mode Speed Parameter Home Search Mode and Split Pulse windows Each window can be switched by the tab in the upper part of Configuration window When a unit is not connected Download button works as Save button This Save button saves configuration settings and a user program For more details please refert to chapter4 7 for Configuration and Edit Save User Program When Not in Connection Note e When configuration settings are changed writing download in the unit is needed Click Download button in the bottom of Configuration window and configuration settings in all tabs will be downl
150. sing JMP Unconditional jump MD5130D MD5230D Jump destination label number J01 J63 o Jumps to the specified label of a jump destination Data Specifies the label number JO1 J63 to a jump destination Input J in uppercase The jump destination must be in the same program as a jump source or in the same subroutine as a jump source 76 JSR Subroutine jump MD5130D MD5230D Toe ome nes tne en en Subroutine Label number S01 S19 oS Jumps to the specified subroutine label Subroutines can be nested up to 3 levels deep Data Specifies the subroutine label number S01 S19 to a jump destination Input S in uppercase RET Subroutine return MD5130D MD5230D PE A Terminates a subroutine and returns to the subroutine caller which must be described at the end of a subroutine After executing this command it shifts to execute the next command line in subroutine jump command line JSR of a jump source REP Repetition start MD5130D MD5230D on Ts REP Repetition Number 1 255 COMA US E Repeats a specified number of times from next line of this command to Repetition End command RED Repetition End command RED must be placed in the larger line number under this Repetition Start command REP Repetition loop can be nested up to 3 levels deep Data Specifies the repetition number The range is from 1 to 255 S gt Repeat 10 times Repeat 5 times 77 RED Repetition
151. step driver for 5 phase stepper motor The user can easily set configuration and operations using the attached software NW Various Operations Positioning continuous driving automatic home search and user program operations can be performed by using the attached software from PC or parallel control signals NW User Program Function The user can register various driving parameters and the user program of up to 1000 steps by 27 kinds of commands for MD5130D and 36 kinds for MD5230D Thereby the complex operation can easily be performed by registering them in advance MW Various Acceleration Deceleration Drive Mode There 1s various acceleration deceleration driving constant speed trapezoidal acceleration deceleration symmetry non symmetry and S curve acceleration deceleration driving In addition a simple mode is available that does not require a start speed setting NW Step Out Detection Function If the differential between real position and logical position by an encoder signal is more than a specified value it detects a step out error NW Microstep Microstep resolution 1s available 16 different resolutions divided from 1 to 250 NW Low Vibration Drive Microstep driver with low vibration function achieves a smooth drive in low speed driving Even when the setting value of Step Resolution is 16 or less except 5 10 this can reduce vibration in low speed driving and enables a smooth drive with less vibration NW In
152. t Simple Trapezoid Trapezoid 1 Normal Trapezoid Trapezoid 2 Speed 4 4 lt Drive Speed pps dm Drive Speed Speed nm Drive Speed Speed pps pps Start Speed dl lt a Start Speed NS J DN ius ee ime Time nm Tine Ti j Deceleration W oo Time ms Acceleratio ms Acceleration ms Time Time Non symmetry Trapezoid Trapezoid 3 Simple S curve S Curve 1 Normal S curve S Curve 2 39 4 3 2 1 Mode It selects acceleration deceleration mode for speed setting Constant constant speed Trapezoid1 simple trapezoid Speed1 Constant Trapezoid2 normal trapezoid Speed2 Trapezoid1 Speed Mode Trapezoid3 non symmetry trapezoid Speed3 S Curve1 S Curve1 simple S curve Speed4 Trapezoid2 S Curve2 normal S curve The user can select mode from the following constant speed driving simple trapezoidal acceleration deceleration driving normal trapezoidal acceleration deceleration driving non symmetry trapezoidal acceleration deceleration driving simple S curve acceleration deceleration driving and normal S curve acceleration deceleration driving Depend on the selecting mode required setting items are different described as below NOTE In interpolation driving the mode is limited to Constant 4 3 2 2 Start Speed Speed Speed2 Speed Start Speed 1 500 000 pps Speed3 Speed4 4000 This is the speed
153. t state differs depending on each input signal Input Input Signal eZP This is the internal signal indicating the excitation sequence of a motor is the initial state excitation home eHOME ECZ LMT LMT It lights when the state of an input signal is active i For example in HOME signal when Home Signal Level is set to Low it lights when the input signal is Y Axis short circuited with GEX eEMG It lights when an input signal is turned ON during motor rotation elNO IN1 ECA ECB It lights when the input signal is short circuited with GEX Output Output Signal 1 It lights when the output signal is ON output transistor is ON The user can switch the output state ON and OFF by clicking on a signal button Displays the state of the parallel control signals in CN3 Input Input Signal X and Y axis signals are invalid for MD5130D Control Output Output Signal It lights when the output signal is ON output transistor is ON The user can switch the output state ON and OFF by clicking on a signal button Displays the LED lighting state of the unit LED The user can test to turn on off the LED of POWER XDRIVE ERROR on the front panel by clicking the l button x It does not display SPLT output signal in CN4 7 59 4 6 Real Position Display window Encoder Position Encoder position window displays the information of real position from the encoder A Encoder Position Display Format Real
154. te value the system can handle e In S curve acceleration deceleration driving when the acceleration time is lower than 43msec and if the drive speed is too high the acceleration time may be adjusted forcibly e In simple trapezoidal acceleration deceleration driving Trapezoidl and simple S curve acceleration deceleration driving S curvel that automatically set a start speed the acceleration time may differ from the setting value of acceleration time To surely set the acceleration time use the mode that can set the start speed 2107 6 5 7 Regarding Speed Change during Motor Rotation e In Continuous driving the speed can be changed by selecting Speed1 4 in this case keep the mode the same as before If the mode is S Curvel or S Curve2 the speed can be changed at constant speed area only e At the constant mode in Preset driving the speed can be changed by selecting Speed1 4 during motor rotation e In Continuous driving and at the constant mode in Preset driving when selecting Speed5 the speed can be changed by changing the value during motor rotation If the mode is S Curvel or S Curve2 the speed can be changed at constant speed area only e The speed change by a user program during motor rotation can be done by SPD command However if the mode is S Curvel or S Curve2 it cannot be changed O can change X cannot change A cannot change at constant speed area Speed Change during Jo ae Speed Change during User P
155. tep resolution can be selected from 16 resolution settings from 1 to 250 This is the function to divide the basic step angle of a motor into smaller microsteps The basic step of 5 phase stepper motor is 500 steps per rotation and the rotation angle is 0 72 per step so if 20 is set to Step Resolution steps per rotation is 10000 Note e Step resolution function is the method of dividing the basic step of motor excitation electrically It does not assure that the step angel divided by Step resolution is uniform mechanically 4 3 1 4 Auto Current Reduction It selects either Enable or Disable for Auto Current Reduction Auto Current Reduction Disable Enable Auto Current Reduction function suppresses the heat generation of a motor during motor stop by decreasing driving current automatically while a motor is not rotating Driving current will be the setting value of Rest Current automatically in 150ms after motor stop Note e As the torque decreases during motor stop be sure not to fall the object to be conveyed especially in up and down driving or it may cause damage to the equipment or injury 4 3 1 5 Hardware Limit Stop Mode and Active Leve3 It selects a stop mode and logical level for active by a hardware limit signal Instant Instant stop Slow Deceleration Hardware Limit Stop Mode l P l Instant Mode stop Hardware Limit Active Level Low GEX Short circuited High Open Limit input signals XLMT for dir
156. terpolation Function Interpolation driving is operation that 2 axes move interpolating the position every drive pulse MD5230D can execute linear and circular interpolation Linear interpolation is performed by setting the finish potision to the current coordinates and then writing the linear interpolation command according to the axis number Circular interpolation is performed by setting the center coordinates to the current coordinates start point and the finish coodinates and then writing CW or CCW circular interpolation command NW Continuous Interpolation Continuous interpolation can also be executed that performs a series of interpolation processes such as linear interpolation circular interpolation linear interpolation without stopping It can be performed by continuously writing the interpolation commands in user program 1 1 Basic Circuit Block Diagram The follows show the MD5130D and MD5230D basic circuit block diagrams 1 1 1 MD5130D CN3 Parallel Control RESET HOME START STOP PSLO 5 MODEO 1 XDRIVE XERROR VEX CN5 USB CN1 Power Input Photo Coupler TLP291 Single Chip Microcomputer H8SX 1655 DTCO23YEB Open col lector DC24V hy Circuit BR24T256 W 5A VEX p CM4 5VEX High speed Photo Coupler XECA TLP118 XECB XECZ Motion XHOME Control IC Photo Coupler XLMT TLP29
157. th the attached USB cable The message shown below is displayed then click Click here for details D Installing device driver software A X Click here for status 10 3 Unknown device is listed under Other devices in Device Manager right click on Unknown device and choose Update Driver Software Ey Device Manage so Ex x Pie Action View Help e elei S 7 E P N 6 a NOVA PC gt Ml Computer b ca Disk drives gt K3 Display adapters gt 3 DVD CD ROM drives b Human Interface Devices gt Eg IDE ATA ATAPI controllers E Jungo LE Keyboards D D Mice and other pointing devices gt Mu Monitors F r Update Driver Software Disable Uninstall gt 1 Ports COM amp gt E Processors gt e Sound video a b JE System devices ko Uniwersal Serial Scan for hardware changes Properties Launches the Update Driver Software Wizard for the selec 4 Update Driver Software window appears then click Browse my computer for driver software How do you want to search for driver software Search automatically for updated driver software Windows will search your computer and the Internet for the latest driver software for your device unless you ve disabled this feature in your device installation settings gt Browse my computer for driver software Locate and install driver software manually 11 5 Browse
158. that indicates the jump destination of program commands JMP IJP PJP in a user program 63 Jump labels are available from JO1 to J63 The jump destination specified by a jump label must be within the range of a jump source program or subroutine For more details of commands see chapter 5 2 and after User Program Commands 5 1 3 Subroutine Label S Label User program can describe subroutines Multiple subroutines can be registered and identified by a subroutine label 19 Subroutine labels are available from S01 to S19 The user can call a subroutine from a program or other subroutines by subroutine jump command JSR Calling from a subroutine to another subroutine can be performed up to 3 levels deep When describing a subroutine S label must be written in the head line of a subroutine In addition in order to terminate S label subroutine be sure to write subroutine return command RET that indicates the return from a subroutine Note e A subroutine cannot be described in the line number 1 e Be sure to describe a subroutine outside a P label program e In order to jump to the head line of a subroutine write NOP command in the head line then write a jump label J label in the next line e The user cannot execute a program by specifying a subroutine label e A subroutine cannot call itself from a subroutine For example subroutine jump command JSR in SO1 label cannot call SO1 itself Please refer to chapter 5 4 for examples of prog
159. the detection signal becomes active 1t drives in the direction opposite to a specified search direction at the home search low speed until the detection signal becomes inactive When the detection signal becomes inactive it executes Step 2 from the beginning This operation is appropriate to the home search for a rotating axis 91 Step1 m gt Detect specified signal at high speed in the opposite direction Step2 SCH Irregular Exit in the opposite lt direction Search in the specified direction gt 6 2 1 3 Step 3 Low speed Encoder Z phase Search In step3 Drive pulses are output at constant speed in a specified direction using the home pes Over Run Limit in the search low speed see chapter 4 3 3 until the search Direction e encoder Z phase signal ECZ becomes active ctive ctive e i diately T f d Normal Operation Section Error Section en stops mine iately To perform low spee Specified search gt ee search operation set a lower value for the home direction search low speed than the start speed of Speed4 gt 2 Error Error 2 NW Step 3 Irregular operation D If encoder Z phase signal ECZ is already active at the start of Step 3 an error Home search error occurs and home search operation ends Therefore adjust the mechanical system for step 3 to always start from inactive state with a stable encoder Z phase signal ECZ If the limit sign
160. time and decelerates with the same curve at the same time then stops In positioning driving of S curve acceleration deceleration when the specified moving distance does not reach the drive speed or when decelerating stop is performed during S curve acceleration the triangle form prevention function see chapter 6 6 works to prevent the speed from rapidly changing from acceleration to deceleration 105 6 5 3 1 Simple S curve Acceleration Deceleration Driving S curve1 Simple S curve acceleration deceleration driving 1s S curve acceleration deceleration driving that does not require a start speed setting which 1s automatically calculated Speed A pps Drive Speed gt Time ms Accel Time Simple S Curve Acceleration Deceleration Driving S Curvel The settings to perform simple S curve acceleration deceleration driving are as follows Display Option Range Select S ourve1 Drive Speed 1 500 000 pps Set drive speed Acceleration Time 1 10 000 msec Set acceleration time Normal S curve Acceleration Deceleration Driving S curve2 Normal S curve acceleration deceleration driving is S curve acceleration deceleration driving needs to set a start speed Speed pps Drive Speed Start Speed ke Time ES Accel Time Normal S Curve Acceleration Deceleration Driving S Curve2 The settings to perform normal S curve accelera
161. tion deceleration driving are as follows Drive Speed 1 500 000 pps Set drive speed Acceleration Time 1 10 000 msec Set acceleration time 106 6 5 4 Setting Items for Speed Control The speed setting can be registered up to 4 patterns which can be set in Speed settings tab see chapter 4 3 2 in Configuration window The user selects acceleration deceleration mode to each Speed1 4 and sets necessary parameters EE simple normal non symmetry simple normal Speed Settings ead trapezoid trapezoid trapezoid S curve S curve S Trapezoid1 Trapezoid2 Trapezoid3 S Curve1 S Curve2 Mode acceleration deceleration Constant Trapezoid1 Trapezoid2 Trapezoid3 S Curve1 S Curve2 mode Start Speed Drive Speed Acceleration Time Deceleration Time O Required Not required 6 5 5 Motor Rotation Speed The unit of speed is PPS drive pulse per second based on drive pulses sent from the MD5130D and MD5230D To express as motor rotation speed Vr rpm rotation number per minute use the following formula el 0 12 2 Vd Vd Drive speed PPS Dms Dms Step resolution Step resolution is set to 20 by factory default so when the drive speed is set to 10kpps the motor rotates by 60rpm 6 5 6 Notes on Speed Settings e When the speed or acceleration of motor rotation 1s too high with respect to motor performance or load 1t may cause step out So the speed and acceleration time must be set to the appropria
162. ue when the motor rotation start button is clicked 4 2 5 2 Drive Pulse for Preset Preset Set the drive pulses for Preset within the range of 1 2147483646 when in pulse scale numerator denominator 1000 1000 This value depends on the scaling function For more details of the scaling function See chapter 4 3 3 4 Pulse Scale Numeration and Denomination 4 2 5 3 Drive Status Drive It lights in red during motor rotation 26 4 2 5 4 Motor Rotation Start button and XY Coordinates Screen Motor Rotation Start button aa E El Axis and Direction X Y gt XY Coordinates Screen Rotation button ER XY coordinates screen Motor rotation start button starts operations in selected jog mode Scan Continuous Preset Clicking the button starts to rotate a motor in the displayed axis and direction It displays the axis and direction of the motor rotation start button Clicking XY coordinates screen rotation button changes the axis and direction It changes the axis and direction of the XY coordinates screen Clicking El button rotates the coordinate axis 90 degrees to the right Clicking button rotates the coordinate axis 90 degrees to the left The current position is displayed as a yellow circle on the XY coordinates screen After starting to rotate a motor the yellow circle moves And when Graphics Position Tracing is set see chapter 4 2 6 2 the locus of a moving point is displayed The display ra
163. ulses at the See 5 1 Label See 5 2 1 Drive 4 Speed4 3 Post Timer 3 end of driving Commands See 4 3 2 See 4 3 3 1 Post 1 On Speed Timer 1 3 0 Off Settings tab Speed ERIS Appendix B User program 1 Example of continuous interpolation When performing linear or circular continuous interpolation be sure to set all Speed settings for the interpolation command to be used to Constant mode Do not select other modes except Constant 1 1 Continuous interpolation user program combined linear and circular MD5230D_P25_ continuous interpolation user program sample csv X AXiS Y Axis ak kkel TT sen sor fin 300 ID ILL Juin iS e EE SE Seg3 gt MA O ECO cen fo TT few iso tt cwsw0 Sega __ LNT 2000 Ji J J jim jo segs gt CENpo LL CEN 50 jew soo LI cwis0wm sego gt CEN so Jfennjo III cecwpsowo I Tool segr gt ENT tooo II miro i sees JCENI LL CEN 1000 cow tooo LI cw 00 sego gt INE o pto LL eru o e Segl0 gt _ CEN 1000 evi ewi ao0 fji cw tooo segi _ tnt 3000 1i f fJ TI in TI seg12 gt CEN DO Te so Lui fji Tool II Segl7 gt L im i II mem Ir Segis gt Io own f LC fji TI own seg9 gt INE o i IL ue Ir Sego gt _ CEN Um LL eno III w tooo LI own SegI gt LX 200 Ir J LI mm S moa E E e
164. urs EEPROM access error occurs intervals 1 3 Connection Example The figure shown below illustrates the basic connection example using MD5230D Encoder 5 phase stepper motor 4 4 E Y Nor ees Y axis SS Home limit Hmi E x kees Fees A axis int System Configuration Example CNI Connect to 24V power source CN2 Connect a 5 Phase stepper motor X axis CN3 Connect a parallel control signal such as a PLC or switches CN4 Connect an encoder a limit sensor or a home signal X xis CNS Connect to PC with USB cable and the user can register configuration data and a user program operate jog feed and perform a user program using the attached software MD51_52 Operation Tool CN6 Connect a 5 Phase stepper motor Y axis CN7 Connect an encoder a limit sensor or a home signal X axis Encoder Connect as necessary MD5130D has no connector for Y axis CN6 and 7 1 4 How to start motor control To start MD5130D and MD5230D motor control follow the steps below 1 MD51_52 Operation Tool and USB Driver Installation MD51_52 Operation Tool is the software to register configuration data and a user program to the unit The user can install it from the attached CD ROM or download and install from HP Please refer to chapter 3 for how to install the software and driver and chapter 4 for how to operate MD51_52 Operation Tool 2 Configuration and User Program Registration Connect the unit and PC w
165. ut the split pulse together with the start of driving and the split pulse is stopped by the stop of driving Split length and pulse width are calculated as follows When step resolution is 20 the rotation angle per pulse of drive pulse is 0 72 20 0 036 e Split length When the rotation angle is 45 degrees the drive pulse number is 45 0 036 1250 pulses e Pulse width When the rotation angle is 9 degrees the drive pulse number is 9 0 036 250 pulses Split Pulse Setting Set Split Pulsel Split pulse ON Setting tem R Split Length 4 Split Pulse Pulse Width O infinite Speed Setting Set Speedl yo Speed Drive Speed Setting Example of Split Pulse 99 User Program PCI E Before starting the drive split pulse start command is issued Driving starts Split pulse is started Split length and pulse width are calculated as follows 6 3 3 2 Example of output split pulses by predetermined axis driving When the lead of a ball screw is 2mm with the setting of step resolution 20 split pulses are output for the time of 1mm axis driving every 10mm Using the user program function it starts to output the split pulse together with the start of driving And it stops driving and outputting the split pulse at the 100mm of axis driving When step resolution is 20 and the lead of a ball screw is 2mm the moving distance of pulse of drive pulse is 2 500 20 0 0002mm e Split length
166. ve Stop Drive Pulse Split Pulse ER ON L lt q The last split pulse is shorter than the specified pulse width 98 6 3 2 Split Pulse Setting Items Split pulse settings can be configured in Split pulse settings tab in Configuration window see chapter 4 3 5 In Split pulse settings tab 1t can register 4 patterns of the split pulse setting each can set the pulse width of a split pulse split length cycle and split pulse number Note e The setting of pulse scale see chapter 4 3 3 4 is not applied to each setting value of split pulse e Even when setting Pulse Scale Numeration and Denomination each setting value of split pulse must be set in a unit of drive pulse e The actual output of split pulses is delayed about 2 4msec due to the time for command processing during execution of a program 10 Split Pulse 1 Split Pulse 2 20 Split Pulse 3 1000 Split Pulse 4 10000 Split Length 265535 Split Pulse 1 Split Pulse 2 Split Pulse Pulse Width 165584 Split Pulse 3 Split Pulse 4 Split Pulse 1 1 65535 Split Pulse 2 or O infinite Split Pulse 3 Split Pulse 4 Pulse Count 6 3 3 Setting Example of Split Pulse The following are the example using the split pulse 6 3 3 1 Example of output split pulses by predetermined rotation angle When step resolution is 20 it outputs split pulses of 9 degrees every 45 degrees rotation angle of an axis It uses user program function and starts to outp

MD5130D/MD5230D User`s manual

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