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Motion Control System Software User Manual

1. Page 126 Page 135 LED display define number nnn Page 125 number of digits Page 124 send continuous position data Page 30 Page 120 BE Ae ee CIAR ny Sha hate bah pae hon kot da et Page 141 A EO P SR ROBO ae Ao PDT Page 142 LE evoke eee bee b p bp Up E AERE Sonn ee Page 71 El Mac alt t z ke da es a retten ren et ERA PUNTOS Page 106 Limit position NG oos tha Tet sce ues esser dd uen Page 71 OW eee a AES Page 72 Limit switch input definition llle sees Page 99 In DUIS san ladra tees tds in oot Bale aah tenn tet Page 148 Link external analogue input to demand position Page 97 Page 98 lower bound for link correction Page 30 upper bound for link correction Page 31 Page 32 Link factor diVISION a edle o ho Pa Page 29 multiplication lessen Page 30 Linkmodoe 0 0024 eget ve be br eels ones Page 29 Link motions control word 2 Page 30 List all parameters cece o Page 22 input output line definitions Page 106 logic definition lt Page 60 offset correction table Page 66 proflad 3 Send k seq este sh train dem te Page 64 sequence ce ee Page 52 I Pe ot tea da hoe Se qun noel WA boas RR soap aaa Rd Page 60 Iles A ta tru der E indt re Eo Ma toe Page 72 EM dedo dne oh ora Dus HR ista PAT za whe Dye Page 29 LO Mop a bales weber ed Ae
2. Page 127 receive from serial port Page 125 Page 135 reset lO ZOlO c chu ao ed tue d Page 22 SaVO 3 pada See Pe i4 rec epus Page 21 Page 130 send continuously to LCD VFD display Page 117 Page 135 send to LCD VFD display Page 126 Page 127 send to printer ce eee ee eee eee Page 128 send to serial port Page 124 Page 125 Page 135 set block to a value Page 134 set from input lines Page 83 Page 135 S NO pets onsets AA ade etal ede Page 132 square root 22 eee eee eee Page 131 SUDUACI A 6 heed te deed cts lada d Page 132 System Loco Page 137 tangent cc Page 132 test for bit clear Page 111 Page 132 test for bit set Page 112 Page 132 Copyright 2003 Pan Controls Limited Index test for equality Page 112 Page 133 test for inequality Page 112 Page 133 test if equalto Page 111 Page 113 Page 134 test if equal to external counter Page 111 test if equal to time counter Page 113 Page 134 test if external counter greater Page 110 test if greater than Page 111 Page 112 Page 133 test if greater than external counter Page 111 test if greater than time counter Page 112 Page 133 test if time counter greater Page 113 Page 133 trigonometrical functions Page 132 Dici Ro NA arr na ee o ee cree C
3. Page 22 Page 107 interpolation move 4 Page 42 link motions c eee eee eee Page 30 multi axis Move 0 0 cee eee Page 40 network control eee o Page 139 position record 0 0 0 2 eee Page 35 reference options 44 Page 90 serial bus control Page 139 serial output options Page 119 WP plose we aa teeta R pa o ey ERES Page 100 WR ae ae ee xe a esu e UIS INE Page 69 Wrap external counter input 0 Page 97 time counter 0 Page 24 Page 134 Wraparound position llle Page 45 global ere sedet rore hh or bod Mera Page 46 positive numbers only lt Page 91 Write smartcard lees Page 28 WS Seius anam he a8 ccd v deron e e Turpe dk Page 58 Page 70 Wil e Link edes cob ede aves ona POR eo ona Mats ana nit eve s Sat sie Page 68 WX eE dd sent A had rd DONDE sg Page 97 eB aM da zeje o eo O on l A Page 24 KG dod so ad Me dada o rade teeters at look A Page 41 AD vd beer ado Slik a m bam o A s cues Page 118 Page 136 AE dog ole dale pon eis beeen n bu do eth Bane ote Page 111 XI see cte P tere tebe Page 19 Page 24 Page 118 Page 136 cep Page 111 cnp MER E pA DE o k Page 41 XM lix ER DR edu mne OUR ERR ER E Page 118 Page 136 AG dates ferte se doses e da s ako AA ende ante te Page 67 Xon xoff handshake lees Page 148 XB lenia blan RR O EO O P O O
4. Page 161 A oa es net dde R Eds Page 111 Page 132 ID obey eds Gd e Cela agate de bees yes nk ne Page 43 IDE ee arde ara eee EA Page 27 Page 43 Page 44 IDN cte doo etd o te eee ih Page 27 Page 43 Page 44 125 eid o ea e aiat Page 27 Page 43 Page 44 Pr Page 112 Page 133 A dcc eM evo IA Page 112 Page 133 input line Page 60 Page 84 Page 85 Page 110 network acknowledge received Page 111 Page 140 output line Page 85 Page 110 variable bits clear Page 111 Page 132 variable bits Set Page 112 Page 132 variable greater than another Page 112 Page 133 variables equal Page 112 Page 133 variables not equal Page 112 Page 133 cr Page 112 Page 133 ce oc mre o eae Page 60 Page 84 Page 85 Page 110 I age boy Rb ag hk hh od OM RE KOB o Ben E Page 44 Page 44 rer Er Page 43 Inch distance lesse Page 44 MOVE 155 a ye dee S y Page 44 pause time 2 Page 44 Inching input definition lt 4 44 Page 102 Index variable lt lt 4444 Page 108 Indicator LEDES eco dated sv ee lesnat n ed erus Page 146 Inequality test for variables Page 112 Page 133 Initialisation sequence lt Page 148 Initialise ADC offset zoe ee cede nes Page 25 analogue inputs Page 27 Page 43 Page 44 demand offset eee oo Page 43 POSITION PER
5. 4 Page 72 reset autostart seguence Page 22 Page 56 serial bus communication address Page 139 serial bus control word Page 139 serial output options word Page 119 settling time llle Page 47 slow creep speed or Page 47 snapshot deferred adjustment position Page 94 snapshot goal value Page 94 snapshot reference correction limit Page 94 snapshot reference correction velocity Page 95 snapshot reference offset Page 95 Speed i zz lel ba lia RI Rie RIS Page 46 stepper direction delay Page 77 tension multiplier lesus Page 48 terminal baud rate Page 18 Page 122 ME ey ois Wy pees ha eR BEER Page 49 time for continuous sequence event Page 54 time for ED sequence event Page 54 MEOUL a el ta a loan Page 71 timeout for operator interface communications O on fe Pere Ue re d a Sa Page 125 timeout period for network acknowledge flag Page 140 timeout period for RB command Page 125 timeout period for WN command Page 140 update rate for continuous display Page 117 Page 121 Page 136 upper bound for link correction Page 31 upper stepper resonance velocity bound Page 77 VelOGIly Ou av Aron RC aae uf e epum ee Page 46 velocity averaging time constant Page 114 velocity fe
6. Page 55 execute after snapshot event Page 55 execute continuously after time interval Page 53 execute on error condition Page 54 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 execute on keypad entry Page 53 execute once after time interval Page 54 exit from current level Page 56 goto line number Page 56 Page 109 history iia sad Page 53 Page 116 list cd eet A Page 52 reset all nannan aaua Page 22 A O Page 52 Ss a UT mI LAM d Page 21 Serial bus control Word Page 139 display status 4 44 Page 139 send network command Page 140 set address 4444 Page 139 Serial communications lt 4 4444 Page 148 Serial output options word lt Page 119 Serial port baud rate ooo Page 18 Page 122 checksum mode ea ee Page 26 connections n ela eh eite Page 161 default settings oooo ooo Page 161 priority raoa ii Ll eL a eee Page 26 receive variable from Page 125 Page 135 send variableto Page 30 Page 120 Page 124 Page 125 Page 135 SO ir ue IEEE MURURE RR ELS Page 71 acceleration lt Page 46 analogue input link word Page 99 analogue input proportional gain Page 97 analogue o p to global value
7. 2 Page 23 binary upload 2 Page 23 pload gece weds n hee ede edes Page 22 UU MT IPLE Page 77 M Ai tsk cet EN eee Page 131 Vacuum fluorescent display brightness control lt Page 26 continuous output Page 117 Page 135 interactive with keypad Page 135 send character string Page 126 Variable absolute value 44 Page 132 add ont E lg dere ake Page 131 alpha numeric l l Page 127 bit set or clear eee eee Page 130 block move 00 0 BIA Page 134 channel criada let ad ating ebu aces Page 20 channel bounds counter Page 138 channel error mode Page 138 channel mode eee Page 137 channel position 4 Page 138 channel position error Page 138 channel status Page 137 channel velocity Page 138 A ATAA a aa aea Page 132 display range of numeric Page 130 Page 158 diVide i c EEE EEE EE EE Page 131 entry from keypad Page 135 for nextloop oe cee ee eee Page 108 indexing est bt ee ue aes eset Sots Page 108 INPUT zz acc eet l4 ahah ts Page 129 MOMO T coin sos eo a easter ar a e eR AR an Page 134 MUltIP Werte ee ed Je dom d Ier eet Page 131 multiply and divide Page 131 Page 158 OUIDUL 1 26e env pli br ap ba EP Es Page 129 read from LCD VFD unit
8. Page 56 Expanded input line definition Page 102 output line definition Page 105 External analogue input link to demand position Page 97 Page 98 O recat RE dopo aen te eror Page 97 unlink from demand position Page 98 External counter input define iii sese dame e dn Rene d Page 96 read eost ocu ebd ooo Page 96 test if greater than variable Page 110 test if variable equal Page 111 test if variable greater Page 111 Wrap value sees Sieg seen cing vce jo need Page 97 ZOO zl ne gem ua oy ek ee Rp p podia dn Page 97 External operator interface lt lt lt lt 444444 Page 26 EZ SE A Dd O ned Sl eae ee eins Page 67 EG uo eite d no o Casp te deese tS DL ala Page 59 PD atc a nt eat Page 29 Feed forward gain llle Page 78 Fill logic counter value 4 Page 59 logic timer value 4 Page 60 Find current parameter value lt Page 16 Find home position lt lt lt lt lt Page 43 Page 192 User Manual Revision 16 1 Flash output line lt eee eee Page 82 Flash rate output lines i eek ren e nnnm Page 82 EM 2 i B deed ans os mette Du de et Eo E rites Page 30 FN se ead whet Ade MERGE e ERE pk pe vi woes Page 108 BOX ooo O shake dar Seah ceres Man ae Page 82 Following error lt a a EE tenes Page 71 For next loop
9. EW set Error options Word display Last Error EH set High position Limit Ult set Low position Limit RT set Reference Timeout SE Set maximum position Error TO set TimeOut Page 154 User Manual Revision 16 1 scaled scaled restricted restricted restricted restricted scaled restricted scaled restricted restricted scaled restricted Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Gain commands UV WD Set analogue output to global value set control word set Integration Time constant set differential gain constant set velocity feed forward gain constant set integral gain constant set proportional gain constant set velocity feedback gain constant set Monitor output gain constant Set lower stepper resonance velocity bound set Offset on Monitor output Set monitor Function Set upper stepper resonance velocity bound Set stepper direction delay Reference commands BS in DF PEE PUton PT RA RV RL RF nn RW pb nn SR SJE VP nn Set no of bounds for deferred snapshot correction Display reFerence error Set snapshot reference offset Set snapshot deferred adjustment position Set maximum snapshot reference correction Set position snapshot averaging constant Set reference averaging constant set Reference correction Velocity restricted Set Reference repeat Length Set Reference oFfset set Reference options Word
10. Registration error for display use Colour 1 error multiplier for FM Colour 1 error divisor for FM Web bounds used to monitor actual repeat Display actual repeat integer Display actual repeat decimal Number of samples for reg correction NL ME lt CO O TO UOZETAC HTO nImMOoOoOU gt gt Constant 1 Constant Constant Constant Constant Constant Constant Constant 60 Constant 216000 Counts per 1000 Constant 100 Number of samples before correction Constant 100000 Web modified bounds Slave modified bounds Correction limit value S122 123 Counts per foot for speed conversion S200 calculated reg error to load into Q Reset initialisation average total Set RE sequence trigger to initialisation sequence Testing variable O1 DON O Initialisation offset value for registration Reset initialisation value for x run mode flag Division remainder N MX E lt Ort 9 Oo0ODE F XU F D0 410 O0 050 INPUTS to Panax from machine devices 1 Web registration detector Ak a i a A e t Page 170 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Appendix sample programme Colour 1 registration detector Colour 2 registration detector Fine advance retard inc HS Phase advance HS Phase retard HS Select colour 2 for advance retard HS 10 E Stop has been reset 2 3 4 5 Coarse advance retard inc HS 6
11. UR Set update rate ticks for continuous variable display Range 0 to 255 Default 128 This the update rate in system ticks for the VO command This is the rate at which the VO display is updated e g If a value if 2 is set the display will be updated every 2 ticks Copyright O 2003 Pan Controls Limited Page 117 Command Reference Display Commands User Manual Revision 16 1 XDA D XFA D XMA D Page 118 Set display division factor Range 0 to 32 Default 0 This command sets the division factor for the VO display The actual data is added to the XF parameter and then divided by 2 in conjunction with being multiplied by the XM parameter The largest division factor is 2 65536 Example XDB 5 This sets the VOB display division factor to 2 32 Set display offset value Range 2 147 483 647 to 2 147 483 647 Default 0 This command sets the offset value for the VO display The actual data is added to the XF parameter and then divided by 2 two to the power of the XD parameter in conjunction with being multiplied by the XM parameter Example XFC 3500 This sets the VOC display offset value to 3500 Set display multiplication factor Range 1 to 2 147 483 647 Default 1 This command sets the multiplication factor for the VO display The actual data is added to the XF parameter and then multiplied by n in conjunction with being divided by two to the power of the XD parameter Copy
12. 1 3 2 Version 157 0 ouan aea Rede Ren ene serre vided hag M kde Page 4 1 3 3 Nerin AON 4 6 eto Bae Bene Meee DM SN ME a oes ae kee Page 4 1 3 4 Version 1572 granara ba ttt cuncto decret cert B edd era Page 4 1 3 5 MOISION TS Peart P PR SR MA LA dA es e A ae e cen Page 4 1 3 6 Version 157 4 s cuiu AI da ind ii c P RR Roi RIED I Page 4 1 3 7 VEKSIOU TOLDOS A RS Page 4 1 3 8 Version 157 B 93 ee ie ao eet eu d vtt at aet seite dod vlr sedit Page 4 1 3 9 MOISIOD T1575 ette er ce Eu eL M LIE oo B o eae noo book Dn Page 4 1 3 10 Version 157 8 dec tean ases ad RARE b aq beoe Gs S ste dois Page 4 1 3 11 Verson TRI o ls oi Ba owed ipio ette sit guo MUR EA UR E d Page 4 2 INTRODUCTION 0007 dto da debas ob ca re o lo sr o e E Mr cd ea al Page 5 3 SYSTEM OVERVIEW 33 5 Re T CUPS RA RRE Page 6 Sid Gircuit boards ERECTUS Page 6 3 1 1 Host control board PC3 100 Revision F lt lt Page 6 3 1 2 Slave control board PC3 110 Revisions A B Page 6 3 1 3 Slave control board PC3 110 Revision C lt Page 7 3 1 4 Operator interface board or single axis control board PC3 120 Page 7 3 1 5 Serial driver display board PC3 130 0 0 2 ee Page 7 3 1 6 Auxiliary control board PC3 135 2 2 2 ee Page 7 3 1 7 Analogue input board PC3 137 nasasa nananana Page 8 3 1 8 L E D display board PC3 140 233343 ee eite eret tee dettes Page 8 3 1 9 L E D display board PCS VA s ota kdo eck eek gale
13. 140 0ne shot correction sequence 145 0ne shot correction sequence complete colour 1 146 0ne shot correction sequence complete colour 2 200 Tick driven sequence 201 Machine settings update 202 Set new ratio 203 Change direction mode 204 E stop relink 250 Motor off sequence 252 E stop Auto restart sequence 253 Default system parameters called from 255 254 Default variable values called from 255 255 Autostart system setup EV BEMIS54 PAN DW100010 FER KKK KKK e e e e K KK ERK RR KK ERE ERR K e K K EEE RRR K K K Kec REE RR K K K K KK KKK K e K K Kec Kc KKK e e e he c K e e e x MAIN MENU je FEK KKK ko e e e e K KK KKK K e e K ke K KKK K K e K he hec kc KKK K K K K AK K KKK K K K K hec KK KKK K e K K kc Kc KKK ke ke e he c K e e e x ES20 Escape key sequence CEO ABK XS30 Page 172 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Appendix sample programme ES30 Start screen Ivy5 Load y with run value ABK Abort keypad activity EK WT128 Enable keys wait to clear pending tick MD Clear display amp address each line MD1 SYNPRO M I MD2 Use function keys MD3 to select required MD4 option SKA40 F1 key executes seq 40 Edit SKB36 HF2 ditto 36 Run SKC60 F3 ditto 60 Diag SKD38 F4 ditto 38 Plain run SKE32 F5 ditto 32 Jog mode SKK20 ESC ditto 20 EK MKE Enable F keys mask jog mode SKO FER RRR KKK e e e
14. Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Logic commands 7 2 7 Logic commands This section describes the logic commands They provide facilities for defining logic functions which will run asynchronously with the rest of the controllers functions in a similar way to a programmable logic controller PLC Logic functions are set up by entering logic definition equations EJ command These are executed sequentially line by line There are inputs outputs which can be logical inputs or outputs and imaginary nodes which can also be logical inputs or outputs There are 3 logic operators AND OR and exclusive OR In addition there are 32 timers and 32 counters A timer or counter can be loaded with a value between 1 and 65535 when an input node or output is in a given state A timer then decrements every 0 1 sec and it can be defined what the logical consequence is when it reaches zero A counter operates in the same way except that when an associated input changes from low to high the counter is decremented EJ Enter logic definition Range 1 to 255 This command is used to enter logic definition sequences into the system The system responds with a L prompt for each line entry Each line is a single logic sequence which is parsed from left to right The last entry of each line must be an output or output node Inputs can be a physical input I physical output O
15. Define position snapshot input restricted Range 1 to 4 This command defines the specified input line as a position snapshot input for the system s current motor channel The sign defines which logic transition is used to detect the snapshot position The system monitors the snapshot input and stores the absolute position value at that time The snapshot position data may be read at any time by using the DS command The snapshot function uses the same mechanism as the reference input function to get an accurate measurement of position on an input signal A position snapshot input line may be returned to normal operation by entering this command without the sign A single input line can be defined as a position snapshot for different motor channels This command is restricted and is only available in privileged mode Example CH2 PS 4 This defines that the snapshot position for motor channel 2 is detected on a low to high transition on input line 4 Define window for position snapshot input restricted Range 1 to 4 000 000 4 0E6 Default 0 This command defines a window for the system to scan for a position snapshot input WPL defines the lower limit and WPU defines the upper limit The system checks every 100us to see if the system in within the position window If this condition is matched then the interrupt mechanism is enabled for the defined window Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command
16. TE 5 18 CH1 ST XT Stop colour 2 on button release CH2 ST CH1 ST GA EI Stop trap if colour changed during jog Page 176 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Appendix sample programme ES77 Jog negative off Retard button IE 5 17 CH2 SV1750 VC Set jog speed 8 direction col 1 IE 5 17 WT64 1I8 RP Test retard button still pressed IE 5 17 CH2 ST XT Stop colour 1 on button release IE 5 18 CH1 SV1750 VC Set jog speed amp direction col 2 TE 55 18 WT164 T118 RP fTest retard button still pressed IE 5 18 CH1 ST XT Stop colour 2 on button release CH2 ST CH1 ST GA EI Stop trap if colour changed during jog FER KKK KKK ke e e e he KKK ke ke K e e K ERE ERR e e e K KK KKK K RAKE REE RR K K he EEE RE K e K K Kc Kc KKK K ke e he c Ke e kkk START OF INITIALISATION OF REGISTER POSITION E FER KKK KKK e KK e he K KKK K K K e K heck Sk Sk K ke e e e he K KKK RR RARE K KKK RRE KK KKK K K K he Kec K KKK ke ke e he c Ke ke e e x ES120 Initialisation of registration seq called via RE IE 43 b CH3 RE120 EI XT If press is stopped reset reg and eXiT MI3 VA 12 0 12 Mask reg input 8 inc counter 12 CH2 DSOB VSKBM VAMII Get current reference error into variable B 1G 12 Z XS122 If average total complete do correction col 2 CH3 DFOR VAPRP Collect DF samples VAkck TGk 510 XS124 Increment k to average error CH3 RE120 EI Rearm reg seq trigger ES122 Fine reg correction col 1 VDI 12 Mz Divide total error by
17. This command executes the remainder of the current command line if variable is equal to variable Example IE NA MR 5000 CO3 If variable N is 16 and variable A is 16 then the system executes a move of 5000 counts and then clears output line 3 If is not equal to then do the rest of the command line This command executes the remainder of the current command line if variable is not equal to variable Example IF tO MA 0 If variable t is 516 and variable O is 516 then the system moves to an absolute position of 0 counts If is greater than then do the rest of the command line This command executes the remainder of the current command line if variable is greater than variable z Example IG VW IVVO If variable W is 12 and variable V is 13 then 0 is allocated to variable V If variable is greater than the time counter then do the rest of the command line This command executes the remainder of the current command line if the time counter is greater than variable Example GT X SO12 If variable X is 544 and the time counter is 300 the output line 12 is set Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Conditional Commands TG If the time counter is greater than then do the rest of the command line This command executes the remainder of the current command line if the variable is greater than the time counter
18. d where KP proportional gain constant KI integral gain constant KD differential gain constant KV velocity feedback gain constant KF velocity feed forward gain constant e position error demand position measured position d demand position p measured position The dynamic behaviour of the system depends on these gain constants and on the mechanical characteristics of the system being controlled Tuning the control system to get the best performance on a particular mechanical setup requires setting up these gain constants Some of the gain terms in the control algorithm may be disabled by setting appropriate bits in the control word For more details see the CW command description below The actual scaling between position error and output voltage for proportional gain only is as follows dn KP 10 ee 256 2048 where KP is the proportional gain term and Error is the position error measured in encoder counts The other control terms are similar If bit 15 of the control word CW is set the scaling changes as follows V Errx KP 10 ene 65536 2048 The performance of the system may be monitored by means of the auxiliary analogue output channel Commands are provided to output various signals on this channel for viewing on an oscilloscope or chart recorder These are described at the end of this section The scaling of the monitor output is similar to that of the main demand output but uses the K
19. followed again by lt esc gt In order to download a source programme from the personal computer to the Pan controller it is first necessary to ensure that the controller is in the privileged mode see command PM Itis suggested that the user resets Copyright 2003 Pan Controls Limited Page 13 User Manual Revision 16 1 the controller to its default state by using the RS command particularly when doing a final installation This will enable a definite checksum to be established on a particular machine This means that any subseguent changes accidental or intentional can be identified If the file loading mode is set to C checksum The programme is downloaded by pressing ALT U The user is then prompted to enter a file name e g ICI6 1 and the programme will then be transferred If the programme uses stored profiles these will need to be downloaded in the same way e g ICI6 PRF ASCII programme Volatile memory RAM y y Non volatile memory Flash Personal Computer Diagnostic terminal PAN controller PANTERM programme maintenance environment Page 14 Copyright O 2003 Pan Controls Limited User Manual Revision 16 1 Command Description General 7 COMMAND DESCRIPTION 71 General This section gives full details of all the system commands and syntax Numeric parameters are denoted by mn Parameters entered as a binary string 0 s and 1 s are denoted by Note that individual bits of a b
20. 000100 000105 000110 000115 000120 000125 000130 000135 000140 000145 000150 000155 000160 000165 0000004683 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000025 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000005630 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 User Manual Revision 16 1 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 0000000000 If is omitted then the system will display variables starting with until lt ESC gt is pressed If both and are omitted then the system will display variables starting with variable 960 until lt ESC gt is pressed This command allows individual bits within a variable to be set or cleared This command can be useful for directing the flow of instructions in conjunction with the condition bit test commands
21. CH2 MO CH1 MO IV 250 1 Set an E stop marker IVkO Reset average counter XS252 E stop Auto restart sequence FER KKK KKK e e e e he KK Sk Sk ke e e e he ke KK AK K K e K he hec KKK K K e e he hec K KKK K e e K he Kec kc KKK ke e e he Kc Kc kc ke ke ke e e he c Kc e e e x START OF POWER UP AUTOSTART ACTIVITY FEK KKK ko ee e e K KK ERK K K e K EKER RRR e K he ERE RRR K K K Kec REE RRR K K K KK KKK ce e e he kc Kc kc ke ke ke e e e c Ke e e e x AS255 ES252 E stop Auto restart sequence MI1 MD Clear display XS50 Start screen XS56 Reset E Stop prompt II10 RP Wait for reset XS51 Drive ready prompt MI Mask inputs WIS2 Drive 1 ready TDA1 X2 4 147 X852 WI31 Drive 2 ready TDA2 X2 4 146 XS53 WI30 Stepper drives colour 1 ready SA1R X1 15 145 XS54 W129 Stepper drives colour 2 ready SA2R X1 15 144 Page 178 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 WT512 CH3 RE120 XS30 EI ES253 CH2 GE145 FD15 LW111110 RA0 SA60000 SZ80000 KP100 KF970 SE8000 SW100 CW1011011 PC WT64 ID DB25 GW110 SBVF CH1 GE146 FD15 LW111110 RA0 SA60000 5780000 KP100 KF970 SE8000 SW100 CW1011011 PC WT64 ID SBVF CH3 SBVW AP gt 3 1 VT5 ES254 IE 1 b 1V 1 2100 VA 1 bA VD 1 jAo IV 10 10 IV 500 500 IV 99 99 VM 9 854 Q IV 11 0 IV 12 0 IV 13 0 IV 14 0 IV 15 1500 IV 16 1500 IV 17 1 IV 18 2 IVG30966 IVIO IVK2000 IVPO IVU10 IVV15 IVXO IVYO IVZ3 IVa 1 IVb
22. MR 5000 F end of sequence now define input line 1 DI1 XS1 When this is sent to the control system the sequence will be stored and input line 1 will be set up so that when itis activated perhaps by an operator pushing a button then the sequence will be executed Note that the file contains a blank line at the end of the sequence This tells the control system that the end of the sequence has been reached This blank line must also be included when entering profiles and maps Note that this command file could be written on fewer lines by putting several commands on one line with a delimiter between them F enter sequence to move forward and back ES1 CH1 PC SA500 SV1000 MR5000 SV20 MR 50000 F end of sequence now define input line 1 DI1 XS1 Putting several commands on one line has no effect on the way the control system will respond The only exception to this rule is the repeat RP command This is used as the last command on a line and causes all the previous commands on that one line to be repeated in order the specified number of times Copyright O 2003 Pan Controls Limited Page 163 PANTERM communications programme User Manual Revision 16 1 Spreadsheet programs can also be used instead of editors to prepare control system command files Any spreadsheet which allows the user to output columns to a disk file in an ASCII format can be used The following example shows how a spreadsheet might be set up to create a move p
23. This command is restricted and is only available in privileged mode Example Sl1 This defines that if the motor in the current channel is moving it will decelerate to stop on a high to low transition on input line 1 Copyright O 2003 Pan Controls Limited Page 103 Command Reference Configuration Commands User Manual Revision 16 1 DB nn DE Page 104 Set input debounce time restricted Range 0 to 255 Default 5 This command sets up a debounce time for all the digital inputs It is specified in 1 256 second about 4ms ticks Before an input signal is recognised as valid it must be stable for the number of samples given by the DB command This facility may be used to reduce the effect of noise in a system by reducing the number of false triggers due to noise NOTE The debounce value does not apply to reference inputs These inputs are programmed so as to be detected immediately on a change of state to get the most accurate position information possible Example DB 2 This sets the debounce time to about 8 ms 2 samples Define error output line restricted Range 1 to 16xn where n No of control boards This command defines the specified output line as an error output The line is set to the specified state when the system detects any motor off error condition and is cleared to the opposite state when the axis is returned to the position control state with the PC command Error conditions which are sign
24. a logical node N a zero counter C or a zero timer T and they must be entered in upper case Logic operators are placed after the inputs which are to be operated on Up to 8 inputs can be entered on one line However only one logic operation and one output can be on one line This limitation is imposed for efficiency and can be overcome by the use of nodes and multiple line logic sequences To end the sequence make a blank entry by just entering a CR and the system then returns to normal operation The logic definitions are accessed automatically and sequentially i e logic definition 1 followed by 2 etc Logic definition numbers 1 to 10 are executed every 1 256th second i e high performance and number 11 to 255 are executed in background mode It is importantthat there should not be conflicting logic between high performance 1 10 and normal 11 255 logic sequences Example System User Comments 1 EJ 3 CR Enter logic definition 1 L3 11 12 14 N2 p 1 is ANDed with i p2 and i p4 to node 2 L3 N2 16 1 02 Node 2 is exclusive ORed with i p 6 to 0 p 2 L3 CR End logic equation 1 gt Normal prompt FCn tOn lst Fill logic counter value This command is used to enable counter number 1 32 to be set to a value 1 65535 This happens when Input number n3 changes to a or state The counter will then be decremented whenever input s goes to a defined state and on completion output 4 will go to the define
25. and the division factor to 2 32 The resultant factor is therefore 23 32 0 71875 Link motions control word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0 This command allows the user to set various motion linking control options Note that the leading zeros may be omitted The link motions control word bit functions are described below Bit set Bit cleared Position link Velocity link Link to master demand position Link to master measured position Only allow 0 to 16 for FD power of 2 mode Allow any FD divisor Positive amp negative tables generated for PGC Only one table generated for PGC 16 bit gain tables generated 32 bit gain tables generated Change reference error by cumulative gains True reference error Limit velocity and acceleration No limit to velocity and acceleration Allow negative multiplier for FM Positive multiplier only for FM Link motion to 2 analogue sine cosine inputs Normal Use lookup table for sine cosine decoding Normal Use global position for offset table decoding Normal Generate position gain table on master Use modified master position master axis Normal Use modified master position slave axis Normal Reserved for future expansion Reserved for future expansion Note If bit 13 is set bit 12 must be set on LW for the master axis and bit O must be clear on the slave CL pn Page 30 Lower bound for link Correction restricted Range 1 to 4 000 000 4 0E
26. relays Soros eh ERE ARN CR a E Page 147 Move A DL cu k e A Page 39 block of variables Page 134 constant velocity oooooooooo o Page 40 inch distance ees Page 44 multi axis Page 29 Page 39 Page 40 relative lt odere etal hie a mes Page 39 Page 194 User Manual Revision 16 1 shortest distance for absolute move Page 91 MPi eses o ghen nae bani u AA be po V ines pee ats heed Page 24 MEU 5 ata este d ead Noe ver E aha Sed Sos lana E E PUR Rus Page 39 MS Eat LA tU T P Gon icr Eier Page 125 A dente M LUN DECR C uio Ce ate a aa antes c s Page 48 Multi axis stop position lt Page 42 Multi axis move 2 eee Page 29 Page 39 Page 40 delays sse aei RLEe oni rore nr Page 40 WOId os cate ek be LR RERE URL REPRE Page 40 Multi axis stop input line definition Page 101 Multiplexed input line definition Page 102 output line definition Page 105 Multiplication factor for VO display Page 118 Page 136 linkfactor i ss s re e hr Page 30 variables oooocomcormmmo mmm Page 131 Multlipication position feedback factor Page 24 A AN Page 134 A A TAS Page 40 MIX kase opis a TOU NAT Page 39 IN AY a adore pda SEE matA nem Eo or iae Page 139 NG aihere na hk RE ERR EE NUR REP ees eee Seen ee Page 140 NE x sts d e et lap near em ASI
27. 1 on the display A 0 represents a logic low and a 1 represents a logic high If no node number is given in the command the system displays the current state of all nodes If node true do command line Range 1 to 32 This command allows the programmer to specify that a command or command line is conditional on the current state of an imaginary node Nodes can only be set and cleared using logic equations If the node specified in the IY command is in the specified state the condition is true then the remainder of the command line is executed If the node is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Digital Inputs A Outputs Nant If Input true do command line Range 1 to 16xn where n No of control boards nn This command allows the programmer to specify that a command or command line is conditional on the current state of an input line If the input line specified in the II command is in the specified state the condition is true then the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and executi
28. 100 P1 4 180 P1 5 270 P1 6 350 P1 7 410 P1 8 440 P1 9 450 1 gt The output for the same example would look like this in relative position format System User Comments 1 gt LP 1 lt CR gt User input to list profile Relative mode Position format P1 1 10 P1 2 30 P1 3 60 P1 4 80 P1 5 90 P1 6 80 P1 7 60 P1 8 30 P1 9 10 Total distance 450 Page 64 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Profiles 1 gt Example LP This lists all currently defined profiles on the display or terminal System User Comments 1 gt LP lt CR gt List all profiles P1 Profile 1 is defined P3 Profile 3 is defined 1 gt XP an Esr inn EF Execute profile n XP ings Range 1 to 255 This command tells the system to execute profile number The P profile prompt character is given while a profile is executed The speed at which the system steps through the table the profile velocity is set by the PV command Note that a profile is always executed relative to the current demand position If the profile number is followed by a minus sign the profile is executed in the reverse direction A profile move may be aborted by using the AB ST or MO commands If the ST stop command is used the motor decelerates to a stop from the current instantaneous speed at the deceleration rate set by the SA command This command has special delimiters which allow a
29. 147 8 5 Demand OUT DUIS cata oe bee erlitten ue ce e titoli de hn tese i t edt Page 147 3 0 Relay Gontacts eec nM AE O O A ed o o Mo d cedes Page 147 8 7 Digital Input Output Lines eie konce u kot koed RU REeRREERET RIS Page 147 8 8 Operation of Limit SWwII6neSuc s se ak RESO EFE QE DE E EN EE E Eq EN RE Page 148 8 9 Referenced ple s oer oi rc eet c ec a ea fete Rt uet Dee Page 148 8 10 Serial Communications lt eee Page 148 8 10 1 Diagnostic termin l z l4ieeseRk rbd rd ed E AREE Shae Page 148 8 10 2 OUISIATIONS AS EROS a On A Page 149 ELECTRICAL CHARACTERISTICS oooccccccco ee ee Page 150 SUMMARY Ii adeo Seg QU aM RE SIE da saga E epic E sot ee on a Page 151 10 1 OMK ANO ses oorr ree ers bte sumet Erde c t de tvo Ben oo Page 151 10 2 Status Messages ener ote oth ek Lr rae D D no res Page 160 10 3 Error Messages ink cledei x nenm tana ean bode de Red dk k deka Page 160 PANTERM communications programme for personal computer oo Page 161 11 1 liess e Fr EE PEE Page 161 11 2 Setting up the serial link 0 002 eee eee Page 161 Copyright 2003 Pan Controls Limited Revision 16 1 11 3 11 4 11 5 11 6 11 7 11 8 11 9 12 APPENDIX 12 1 12 2 12 3 12 4 12 5 12 6 User Manual Using PANTERM as a simple terminal lt Page 162 Preparing system command files ccc cece eens Page 162 Loading command files llli Page 165 Loading system programme files l
30. A table of parameters to define which keys are to be masked can be found in section 12 3 page 183 If no parameter is entered then all the above keys are masked NOTE The keys which are controlled by this command have been changed in software version 154 9 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Digital Inputs A Outputs EK RK nn nn Enable keypad input Range A to Z or no parameter This command is used to enable the action of certain keys on the keypad It allows the keypad to start events in conjunction with the SKn command page 53 at any time A table of parameters to define which keys are to be enabled can be found in section 12 3 page 183 If no parameter is entered then all the above keys are enabled NOTE The keys which are controlled by this command have been changed in software version 154 9 Read keypad input Range A to Z This command is used to read the state of a keypad input A Z as defined above in the EK command It returns 1 when the specified key is depressed and 0 when it is released This output can be re directed to a variable with the O suffix It can be used in conjunction with an SK seguence to distinguish between the press and release function A table of parameters to define which keys are to be read can be found in section 12 3 page 183 Copyright 2003 Pan Controls Limited Page 87 Command Reference Digital Inputs amp Output
31. Example TG Z MAO If variable Z is 544 and the time counter is 700 the system moves to absolute position O TE If variable is equal to the time counter then do the rest of the command line This command executes the remainder of the current command line if the variable is equal to the time counter Example TE a DP If variable a is 352 and the time counter is 352 the current position is displayed Copyright O 2003 Pan Controls Limited Page 113 Command Reference Display Commands User Manual Revision 16 1 7 2 17 DP G DD DV VT DC Page 114 Display commands Display actual position Displays current position in encoder counts The optional G suffix displays the current clobal position Display demand position Displays current demand position in encoder counts Display velocity Displays the current measured velocity of the system in encoder counts per second Note thatthe velocity is normally calculated as the difference between two successive position samples and is therefore a multiple of 256 counts per second If speed averaging is enabled by the VT command then the displayed velocity is the average measured velocity and has a correspondingly higher resolution Set velocity averaging time constant Range 0 to 6 Default 0 The VT command sets up an averaging mechanism such that the number of speed samples doubles for each increment of the value of VT When VT is zero no averagin
32. K K K KK KKK K K K K AK KKK E LE K KKK START OF TICK DRIVEN ACTIVITY y FER KKK KKK ke e e e K RE RRE K e K heck KA K ERRE he KK KK K e e he Kc K KKK ERRE KK KKK K K K K Kec Kc KKK e ke e he c K e e e x Copyright 2003 Pan Controls Limited Page 177 Appendix sample programme User Manual Revision 16 1 ES200 Tick driven sequence VM 43 hn VDnpnz System var 43 to cts min then per foot IG 99 n MD3 15 Refresh only if n lt 99 IEyd MD3 Press speed n Update display if in run page 1G 10 Y MD4 15 Refresh only if Y lt 10 IEyd MD4 Actual Repeat X Y IEnb XS201 When press speed is O update settings ES201 Machine settings update IF 1 14 XS202 If repeat length has changed set new ratio IE 250 c XS204 Relink after E stop CEO Disable tick ES202 Set new ratio EI1 EI2 E13 VA 1 b 14 IVKO Copy repeat length into 14 reset offset correction CH2 ST FD15 FMVG LM3 Set up starting link CH1 ST FD15 FMVG LM3 Setup starting link VAGbD VAGbE Copy starting ratio to working reg CEO RE120 Turn off tick arm reg ES204 HE stop relink 1V 250 0 CH2 ST PC LM3 Relink colour 1 CH1 ST PC LM3 Relink colour 2 FER KKK KKK ke e e e he KK ERK K K e K ke KERR RE K K he EEE RRR K K K hec REE RR K K K K KKK KK K e K K Kc KKK ke ke ke e he c Ke e e e x ERROR REACTION ACTIVITY x FER KKK KKK KKK K KKK KKK K K K K K KKK K K K K K K K KKK K K K K K AK KKK K K K K K KK C LL LLLI C K LE eu ES250 Motor off sequence CEO MI3
33. Loop commands FN nin2n3 n User Manual Revision 16 1 For variable 1 to step do command line Go to line in sequence Conditional commands GX IA IC vi IFyive Mant IO lEvive If the external counter is greater than then do the rest of the command line If network acknowledge received do command line If bit of variable is clear then do the rest of the command line If is not equal to then do the rest of the command line If Input line true do command line If Output true do command line If variable v12v2 do command line If variable v1 gt v2 do command line If bit of variable is set then do the rest of the command line If variable is equal to the time counter then do the rest of the command line If the time counter is greater than then do the rest of the command line If variable is equal to the external counter then do the rest of the command line If variable is greater than the external counter then do the rest of the command line Variable commands AV vivo vinin2n3 vi ni vi IE viv2 IGuive ni v1 IV Tin V viveva Vy e OV n SM v1v2v3 VBC S niv VM Sviveva v1v2v3v4v5 vi vi TVS C T TW mn UR VD vivevava Vat v1 VO v1v2v3 Page 158 Absolute value of variable ABS gt v2 For variable 1 to 2 step do command line If variable is greater than the time counter then do the rest of
34. Memory EEPROM 11 Operator Interface 12 Keypad Interface 13 Display unit 14 Not used 15 Not used 16 Not used OOMNoOG AOTD gt Copyright 2003 Pan Controls Limited Page 23 Command Reference Miscellaneous Commands User Manual Revision 16 1 BK PD MP EV ccc XB OT TW nn Page 24 Backup main programme low level code This command allows the user to keep a copy of the currently installed main programme It sends a complete copy of the code down the serial port in the form of Motorola SO 2 and 8 records This can be stored on the hard disk of a personal computer using the PANTERM programme One might want to make a copy of the existing main programme before up grading to a new version Set factor for position feedback division Range 0 to 8 Default 0 This command sets the division factor for position feedback This can be used when the resolution of the encoder is higher than is required The actual position data is divided by 2 The largest division factor is 256 Example PD 2 This sets the position feedback division factor to 2 4 Set factor for position feedback multiplier Range 1 to 255 Default 1 This command sets the multiplication factor for position feedback The actual position data is multiplied by n in conjunction with being divided by two to the power of the PD parameter The largest multiplication factor is 255 Example MP 5 This sets the position feedback mu
35. Page 80 automatic tangent control Page 28 autostart sequence ie ren Page 56 auxiliary output word lt lt Page 121 backlash compensation distance Page 49 baud rate Page 18 Page 122 block of variables to a value Page 134 boot options control word Page 27 bound counter overflow bound Page 46 character delay for aux serial port Page 124 character delay for terminal port Page 117 control WOrd 2 eee ee eee eee Page 76 correction value eee eeee Page 31 creep distance lt Page 47 creep Speed oce heoue dee Danae x TAS Page 47 deadband Frida O Psa die 4 Page 47 deadband settling time Page 47 debounce time Page 50 Page 104 deceleration eee eee eee ee Page 46 decimal point position for display Page 123 deferred adjustment position Page 92 differential gain Page 78 display options word Page 120 division factor for position feedback Page 24 division factor for VO display Page 118 Page 136 echo mode off for aux serial port Page 125 echo mode on for aux serial port Page 125 error options word lt lt Page 73 error options word global Page 74 external counter input Page 97 Page 134 gl
36. Power Supplies Open frame linear regulated unit encoders 115V or 240V 50Hz mains at 1A max Open frame linear regulated unit control system 5V 0 1V at 2 00A 15V 0 5V at 500mA 15V 0 5V at 100mA Serial link diagnostic terminal Signal levels RS 232 Baud rate 9600 default 115 200 Data format 8 data bits 1 stop bit even parity Serial link outstations Signal levels RS 422 485 Baud rate 9600 Data format 8 data bits 1 stop bit no parity Encoder inputs Input impedance 6kO Input signal levels 5V set by value of resistor network Input cycle rate 250 kHz max Track A input leads track B input for positive movement Command signal outputs Isolated output range 10V Resolution 12 bits Digital Inputs isolated Input signal levels 24V set by resistor network Input current 10 ma typical at selected input voltage Digital Outputs isolated NPN Darlington outputs Load current 100ma maximum Relay contacts Rated load 1A 60V d c 0 3A 110V a c resistive 0 5A 60V d c 0 2A 110V a c inductive Carry current 2A Switch voltage max 60V d c 125V a c Switch current max 2A d c 1A a c resistive 1A d c 0 5A a c inductive Switch power max 60W 60VA resistive 30W 30VA inductive Inductive load power factor 0 4 max Contact resistance 50 mQ max Page 150 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 10 SUMMARY 10 1 Commands Summary Note that some commands
37. Profile commands These commands are used for the profile move facilities Software Cam Profiles can be executed simultaneously on channels 1 and 2 Wait commands These commands may be used in command seguences to wait until a condition is true before executing the next command in the seguence Error trapping These commands set up the system error conditions Gain commands These include commands to set up the constants used in the closed loop control algorithm Digital input and output commands These are commands to directly control the input and output lines Reference commands These include commands to set up continuous position correction on the reference input signal Configuration commands These commands allow the user to configure the digital input and output lines for various automatic functions Display commands These include commands to display parameter values and status information via the serial port Variable commands These commands allow the user to set up and read values by means of variables Conditional commands These commands allow the system to test certain conditions and to execute commands depending on whether or not those conditions are met Remote communication network commands These commands allow the system to communicate bi directionally with other devices and controllers on a serial network Data logging commands These commands allow the system to perform high speed data logging of a
38. QV dedii ids Seah Se whe fae Lr a een des A ie ATEM Page 42 BA Sic ERE AT e o Page 115 Rampedstop oocccccccc eee Page 38 or T PITT Page 125 Page 135 RE cats aria dai gre ee ree torn aree te to ars Page 49 RD saei ds alo Page 21 RE etl tad aad ened ethan ed eed LK a ea e RA UR Y Page 55 Read external analogue input Page 97 external counter input lt Page 96 INPU JNO s opii zo zoe Page 83 keypad input 0 0 0 2 eee Page 87 node o esas Ie Gees need Page 60 Page 84 OUIDUTIING s e oe eo Rose tp ete Page 84 Read current parameter value lt Page 16 Receive variable from serial port Page 125 Page 135 Record position time rate o oo oooo o Page 37 Reference adjustment position lusus Page 92 averaging constant Page 115 correction limit lt Page 92 correction overrun Page 93 Page 95 correction velocity oooooooooo o Page 93 error modified by one shot gain Page 30 INPUTS PPS Page 148 E sys ax te edidere tea tex eee eR tears Page 92 options word occ Page 90 repeat length o oooooomomoo eee Page 93 snapshot correction velocity Page 95 RUT OUT zo Fe REDE ETE Page 72 trap using sequence 00 Page 55 Reference input WAPOL el oon ves eel eee ete UR ME gn a Page 69 Reference input sense lt Page 96 Ref
39. R record facility on PANTERM Likewise BRD outputs the numeric variables The files generated from this programme are in the form of Motorola S records NOTE the file collected with this command is only useable with the version of low level code under which it was recorded BU Binary upload of a file This command allows the user to upload binary data for a user programme and data from a personal computer to the controller The lt Alt gt U facility must be used to transfer a file NOTE the file transferred with this command is only useable with the version of low level code under which it was recorded BH Breakdown of current Hardware This command displays the hardware which the software has recognised when the system has been switched on This information is saved together with the stored parameters If the hardware found does not match the stored parameters then the system will be reset and a warning will be sent to the screen This command can be used to output a 16 bit binary code to a variable using the O suffix w Quad Universal Asynchronous Receiver Transmitter QUART Versatile Interface Adaptor VIA Programmable Timer Module PTM no 1 Programmable Timer Module PTM no 2 Digital to Analogue Converter DAC no 1 Digital to Analogue Converter DAC no 2 Controller Area Network CAN bus Real Time Clock RTC Non Volatile Random Access Random Access Memory NOVRAM 10 Electrically Erasable Programmable Read Only
40. RE Page 65 XSi s olda egies ob dn redes Rut pe o onu o teens LB dn Page 52 A nd de AR MAR E NARRA NUS Page 56 XU oral Pd ae e t I UR O eae rg O moe Page 121 XW eru i dah it ane apie a tel ED ules SNE abe APR Page 121 ZO att dd koto n zkou apo whee ab has Page 49 Zero external counter input Page 97 Page 134 gain distance for position gain table Page 32 global position counters Page 49 position counters lt Page 49 Set block of variables to Page 134 time counter lt Page 134 Zero marker input lt 2 0 eee Page 96 VAC Ab c Page 32 ZM P Page 134 7 ic cen i et ee een urere ee iere Sore detect Page 134 ZW ooo on ros cg en elds D k boy pup SIRE E BT Page 35 X onines ane grade Koda tos eat Ae LE eA EI E Page 97 Page 134 Page 200 User Manual Revision 16 1 Copyright 2003 Pan Controls Limited
41. Reference Configuration Commands DI DO Define input line function restricted Range 1 to 16xn where n No of control boards This command defines a specified input line to have the given function The sign specifies the active state of the input such that the system executes the function when the input changes to the specified state Alternatively the sign may be replaced by a character This indicates the action when a previously defined input line reverts to its normal state The command function may be a single command or may be a seguence of commands The text of the command function is separated from the DI command by any delimiter character The length of each definitions is limited to 80 characters If there is not enough memory for the new line definition the system will return an N no room error message Note that a line that has been defined as a function input cannot be set or cleared A function input line may be returned to normal operation by entering this command without the sign and the function text This command is restricted and is only available in privileged mode If a line is defined as an input and is already in the true state when it is defined as a function input the system does not act on the input until it has gone false and become true again If an input is currently masked by the MI command when it is defined it does not become active until it is enabled by the El command Example DI1 A
42. Ren EE hens Page 66 Logging OQUIDUT sc desee a ee AG O Page 142 Logic commands eee eee eee Page 59 definition z 1 eet Rte Kodl nn oat Page 59 Logic definition Page 193 Srs retro HS Page 60 LOOP A Page 52 DS ten rre os Page 108 goto line number Page 56 Page 109 Lower position limit lt 44 4 44 Page 72 Lower tension limit lt 44 4 40 Page 48 Ipae duse esse aco dte O O Nahe tant Ma Page 64 SA ad St ea tod uc oa Mr E d Mr IAM dre s Page 52 E iesus deis niei e A A ab O E iu inte I rt Tatas Page 77 EW ey be eek m bk R RU UR l a et ERE REIS Page 30 MA ze se Ras des Bany te alee tarde nte hoa Bl MP poh stok andy Ea URS Page 39 Main programme code archive Jess ke ny a Page 18 Page 24 backup 2 cee eee eee ee Page 18 Page 24 SAS Oe soley ass Weasley alla Sedan chapter thatch Page 19 MUU Sen pP PEE Page 19 Upgrade s vus eee sented vn esse nov pie Page 19 upload lt cee er hme etal ete Page 19 Map motion of one axis on another Page 29 position output to serial port no Page 125 Mask function input lt 2 Page 86 keypad input cee eee eee eee Page 86 Maximum length of input line definition Page 88 Page 101 Maximum number of stored samples data logging ss 2 nin ten Page 141 MG cue RS IURI utate CARLA SEE RE ES E Page 28 MD uu nod ae Sate ae ee heed eR e Bae tre E Page 126 ME E MMC TREE EE
43. Z M L Initialise ADC offsets to value Range 512 to 512 Default 0 This variation of the ID command is used for setting up the Analogue inputs for use with the Sine Cos option of the link word The Z M 8 L suffix refers to zero point maximum and lower Min points The suffix either 1 or 2 defines which analogue channel is being set up Copyright 2003 Pan Controls Limited Page 27 Command Reference Miscellaneous Commands User Manual Revision 16 1 MC C R W Memory card operations This command allows the user to use the smart card interface system The card can be used for storing between 1 and 8191 numeric variables MCC performs an integrity check on the card and returns a 1 or 0 in variable a This can be used to check the validity of a smart card before trying to read it Note that the integrity check is automatically performed before performing a read MCI performs a check to see if the card is inserted and returns a 1 or 0 in variable a as an indication This can be used to check whether the user has inserted a smart card and provide intelligent prompts on an operator interface MCR 1 12 performs an integrity check on the card and if successful then reads the card into range 1 8191 numeric variables starting with variable number Variable a indicates the integrity of the card 0 or 1 as in MCC The range of is from 0 to 24576 MCW performs a write operation on the card n1 range 1 8
44. a lower performance that an analogue system due to the limitations of digital sampling The second is called velocity feed forward and is proportional to the rate of change derivative of the internally generated demand position signal This feature is particularly useful for helping a mechanical system to anticipate changes in velocity The system is intended for use with digital incremental position encoders which provide two signals in quadrature The encoder interface multiplies the resolution of the encoder by four such that each complete cycle of the encoder signals represents four counts The encoder signals are decoded and counted by hardware on the PC3 1x0 board The software converts these to numbers which represent the measured position This signal is then used to compare with the demanded position information as described above The system is set up by high level commands from a serial link Most commands are two letters sometimes followed by a numerical parameter These commands can be built up into programmes which can then be stored on non volatile memory FLASH on the system The motors may be controlled using simple proportional control where the demand signal depends on only the position error The proportional gain constant is set by the user It is also possible for the user to set gain constants for integral feedback differential feedback velocity feedback and velocity feed forward terms providing very flexible control ov
45. and the remainder of the line is ignored If Output true do command line Range 1 to 16xn where n No of control boards This command allows the programmer to specify that a command or command line is conditional on the current state of an output line If the output line specified in the IO command is in the specified state the condition is true then the remainder of the command line is executed If the output line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on output line states Example DP IO3 MR5000 CM6 This displays the current position and if output line no 3 is positive the system moves 5000 counts and complements output line 6 If output line 3 is negative the current position is displayed and the remainder of the line is ignored If the external counter is greater than then do the rest of the command line This command executes the remainder of the current command line if the external counter is greater than variable Example GX R CO5 If variable R is 34 and the external counter is 5 the output line 5 is cleared Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Conditional Commands XG XE vi IC If variable is gre
46. are restricted These commands can be used only in privileged mode Miscellaneous commands APH BH BK BV BW bobb CA CH CS EV ccc GW bbo nn LA MC C I R W MP OA Z M L OT PD RD RS Mode commands CI CL CP CU CX EM FD FM GF LM LW pp MW op NM Add channel dependent parameter Breakdown of current Hardware Backup main programme low level code Select slave board version numbers Set boot options control word Camera commands select CHannel CheckSum test Enter a user software revision no string Set global control word Set Hard Reset sequence or initiate Hard Reset List all parameters Memory card operations Set factor for position feedback multiplier Initialise ADC offsets to value Output the time counter Set factor for position feedback division Read data from nonvolatile memory ReSet complete setup to defaults restricted Save Parameters Set tangent control axes Initialise ADC offset Wrap for time counter input Upload new main programme user level code display Version Number and revision date Execute boot programme Enter transparent Communication with operator Interface Lower bound for link Correction Compile position gain tables Upper bound for link Correction Remote reset of operator interface Echo mode Set link factor for division Set link factor for multiplication Global Motor Off Link current axis to axis no Link motions contro
47. assumes that COM1 will be used but this can be changed RS 232 levels should be used and it is assumed that the PC has a 9 way or 25 way D connector plug If the PC has a different connector type then the PC and control system should be linked with a four wire lead having the following connections The connections between a PC and the Control Board are as follows Connections for cable for IBM compatible Personal Computer 9 pin plug Controller 25 pin socket PC 9 pin socket PC 2 gt 3 2 RX 3 lt 2 3 TX 5 lt gt 7 5 GND Hardware 7 lt 4 7 RTS Handshake 8 gt 5 8 CTS Connect these 4 gt 8 1 DCD lines together gt 6 6 DSR when using hardware gt 22 9 RI handshaking lt 20 4 DTR RS 232 serial connections PAN control system s terminal ports are configured to run at 9600 baud and to use hardware handshaking by default This can be changed by means of the BD baud rate command PANterm defaults to the same settings but can be changed by means of the configuration menu Copyright 2003 Pan Controls Limited Page 161 PANTERM communications programme User Manual Revision 16 1 11 3 Using PANTERM as a simple terminal PANterm is started from the MS DOS command prompt A gt or C gt by typing PANTERM There are no command line options The PC will then display its copyright message for a few seconds before going into terminal mode When you receive your copy of PANterm it should already be configured to wor
48. at character number s The first parameter allows a number 1 to 8 of variable sites to be set up for editing When the MEE command is executed the flashing cursor starts and the up and down arrow keys can be used to index through any ME variables displayed on the screen The parameter specifies the maximum number of characters allowable for a field entry When the enter key is pressed any of the 8 variable sites which have been set up will be read from the screen to their respective variables and the cursor will go off The optional and parameter allow a variable to display and receive numbers to the right of a decimal point indicates the variable to used for the number to the right of the decimal point and indicates the number of digits to the right of the decimal point The SK command or WK13 wait fo enter key can be used to trigger another event after the screen has been read The optional R suffix allows all the variable sites to be read without the enter key being pressed It also resets the variable site pointers This reset operation can be performed by using ME followed by CR only Allows alpha numeric characters to be input to variable Range 1 to 20 This displays a range of alpha numeric characters on lines 1 to 3 of the display Line 4 is used for inputting a string of characters to one ore more numeric variables type Each type variable can accommodate 4 characters points to the starting n
49. backlash between the motor and the final output It is defined in encoder counts Example BC 20 This sets the backlash compensation distance to 20 counts Each time the motor changes direction on successive move commands the first move in the new direction is extended by 20 counts to take up the backlash ZC G Zero position counters or set position If a position value is given the system sets the current demand position to the given absolute value If no value is given it sets the current demand position to be zero absolute position The ZC command may be used at any time The optional G suffix allows the global position to be reset to zero Example MA 5000 ZC This moves the motor to position 5000 and sets the position counters to zero at that position Example ZC8000 This defines the current demand position as position 1000 RC Reset position overflow counter This command resets the position overflow counter to zero The overflow is incremented when the position exceeds the upper bound and is decremented when the position passes the lower bound TO mires Time set This command allows the user to set the system time lt expects the time to be in the format dd mm yy hh mm ss Copyright 2003 Pan Controls Limited Page 49 Command Reference Set Parameters User Manual Revision 16 1 DB K nn Page 50 Set input debounce time restricted Range 0 to 255 Default 5 This command sets up a debounce time for all the
50. be used for greater noise immunity Copyright 2003 Pan Controls Limited Page 145 Safety User Manual Revision 16 1 8 2 Safety The Pan control system provides many safety facilities and it is recommended that these are used in addition to external safety systems such as hard wired limit switches Pan Controls can accept no responsibility for problems due to incorrect use of the safety features provided The safety features of the system are provided for very good reasons It is important to understand the operation of all these facilities as it is possible to do vast amounts of damage to both machinery and people with high performance motors and drives It is not sufficient to decide that these facilities are not relevant to a particular application they are provided to monitor the correct operation of the whole system and if the system gives an error then it is telling you something important The relevant commands are listed here SE Set maximum position error TO Set timeout LH LL Set position limits DL Define limit switch inputs Please read thoroughly the descriptions of these commands at least if no others 8 3 Indicator L E D s The control boards have three indicator L E D s to indicate various system functions i The top indicator is used to show whether the system is functioning correctly For correct operation this flashes on and off equally once per second If there is a hardware fault or if the saved parameter
51. boards or 99 Default 0 Links the motion of the current axis to axis no The defined axis and the current axis will be linked by a ratio defined by the FD and FM parameters If 0 is specified then there will be no link to the current axis If a velocity link is defined using the LW parameter the current axis will increase in velocity by the defined acceleration rate until it reaches the desired velocity i e the velocity of the channel being followed multiplied amp divided by its FD and FM parameters If the channel which is being followed is in the Motor Off state then its derived velocity this can be averaged using the VT parameter will be used If it is under control then the demand velocity will be used The ST command will cause the motor to decelerate from its current velocity to a standstill using a deceleration rate defined by the SA parameter If a position link is defined bit O of the link word LW the current axis number must be higher than that which it is being linked to This is because of the order of the servo loop closure calculations Please note that under position linking the bounds of the slave and master axes must correspond to the FM and FD parameters Also since absolute positions are linked the axes must be aligned before issuing the LM command The parameter 99 is a special case which links the current axis to 2 analogue inputs which de code a sine amp cosine signal Bit 8 of the link word LW needs to be
52. command allows the position correction on a reference input signal to be deferred until the motor passes a defined position In some circumstances it may not be desirable to allow a sudden position correction to occur at the reference position for example because of some mechanical interaction with other parts of a machine In such a case the SJ command defines a position which the motor must pass before the correction due to the reference signal takes place This function is enabled by bit 2 of RW If this bitis set to zero the reference correction takes place immediately NOTE If the SJ position is set to a value which is greater than the bound set by SB the reference correction will never take place Set maximum reference correction restricted Range 0 to 65535 Default 65535 This command when enabled by bit 1 of RW limits the maximum allowed reference correction to the specified number of encoder counts It may be used to eliminate false reference signals at positions far away from the expected reference position orto allow the position reference facilities to be used even when the machine cycle length is not the same as the distance between reference marker signals When a reference signal is seen the reference error is calculated as the difference between the zero position defined by the reference input and the zero position or nearest bound position as measured by the normal system encoder counters If enabled by bit 0 of RW
53. correction Constant Constant Constant Constant Constant Constant Constant Constant seconds to min Constant slave counts per 1000 Copyright 2003 Pan Controls Limited Page 179 Appendix sample programme User Manual Revision 16 1 IVj100 Constant IVkO Number of samples before correction counter reset IV1100000 Constant for slave repeat correction IVp2473 Constant for counts per foot on the web Ivro Reset initialisation average total IVs120 Set RE sequence trigger to initialisation sequence IVxO Reset initialisation value for x IVwO Reset increment total value VMS51 iF Repeat 228343 cts 1000 VDFIFz Divide by 1000 to get cts repeat VD951 j Ao Scale repeat to integer amp decimal IVt228571 VM 1 tW Web repeat 228571 cts 1000 VDW1Wz Web divide by 1000 to get cts repeat ES255 Autostart sequence MI1 XS59 Startup Synpro banner MD Clear display XS50 Start screen XS56 Reset E Stop prompt C08 Set control OK II10 WT64 RP Wait for reset WT350 Delay to clear stepper startup XS51 Drive ready prompt MI Mask inputs WIS2 Drive 1 ready TDA1 X2 4 147 X852 WI31 Drive 2 ready TDA2 X2 4 146 XS53 WI30 Stepper drives colour 1 ready SA1R X1 15 145 XS54 WI29 Stepper drives colour 2 ready SA2R X1 15 144 XS55 Waiting startup complete message XS254 Default variable values WT512 Delay the enable signal II9 IV 5 1 Set start up shift colour 1 selection II9 1IV 5
54. designated by a character followed by a number from 0 to 32767 followed by a full colon if the variable name is not the end of the variable command The numeric variables can be selectively saved using the V suffix on the SP command page 21 In addition variables can be accessed indirectly by using lower case variables Better use can be made of memory space byte using numeric variables in 16 bit amp 8 bit or 8 bit unsigned form These access the same memory area as the standard 32 bit variables and care must be used to ensure that the correct areas are being accessed For example variable 2 can be accessed by variable 84 and 85 or variables 8 9 10 and 11 There are two extensions to inputting and outputting data 1 V for inputting a parameter from a variable 2 O for outputting a parameter to a variable Example MRVC This moves relative an amount defined in variable C Example TOO 23 Put the current value of Timeout into volatile variable no 9623 IV Xon Input a variable Range 2 147 483 647 to 2 147 483 647 Allows a variable to be set up Example IVC 12000 This sets up variable C to a value of 12 000 Example IVa 24 IV a 345 This sets up variable a to a value of 24 and then variable 24 to a value of 345 OV 4 X Output a variable Prints a value for variable Example OV 36 This displays the value of variable 9636 on the display terminal The optional string can b
55. direction reversed DAC output stepper direction normal 5 Encoder input reversed Encoder input normal 6 Power up in Power up in position motor off state control mode 7 Integral term active Integral term active when static only continuously 8 Sine profile moves Trapezoidal profile moves 9 Stepper encoder monitor No stepper encoder monitor 10 Stepper motor control Servo motor control 11 Disable position feedback Enable position feedback 12 Enable bounds checking Disable bounds checking 13 Enable measured pos for SN Enable demand pos for SN 14 Bound count for offset table Normal offset table 15 Divide gain factors by 256 Normal gain factors Page 76 The default control word value of 00000000 01001011 allows integral velocity feedback and velocity feed forward control and the channel powers up in the motor off state Example CW 0000 0000 0000 0001 This enables proportional and integral control only Proportional control is always enabled The stepper motor options for channels one and two each use two of the isolated output lines See the hardware specification for full details Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Gain Commands WD LV nn nn UV KP KI nn nn Set stepper direction delay restricted Range 0 to 255 Default 10 This command sets the delay in units of 1 256 second between changing the stepper direction line and starting motion pulse o
56. disabled Bit 10 of the LW link word can be set to use the absolute position as viewed from DPG to index into the table EZ Enter zero offset for EO offset table Range 1 to 4 000 000 4 0E6 Default 4 000 000 This command sets the value which is added to the current demand plus the bounds x bounds counter when bit 14 of the local control word is set See the EO command above for more details Copyright O 2003 Pan Controls Limited Page 67 Command Reference Wait Commands User Manual Revision 16 1 7 2 9 Wait commands The wait commands are most useful in command seguences They allow the user to specify some condition that must be satisfied before the system will execute the following commands The system returns a W status message to indicate that it is waiting If the position specified in a wait for position command is outside the range of the previous move command then the system gives an O error message to indicate that the position was out of range WT nn WI I nn WA nn Page 68 Wait for time Range 0 to 2 147 483 647 This command tells the system to wait for the given time in units of 1 256 seconds before proceeding to the next command Example MA 2000 WT 512 MA 0 This command sequence tells the system to move to position 2000 wait there for 2 seconds and then move to position O Wait for input line pn Range 1 to 16xn where nzNo of control boards This command tells t
57. display unit Set decimal point position for L E D display unit Sets the decimal point to be digits from the right of the display Copyright O 2003 Pan Controls Limited Page 123 Command Reference Display Commands OD CB SM SN CN Page 124 User Manual Revision 16 1 Set number of digits for L E D display unit Range 1 to 8 Default 4 This the number of digits to be displayed on the display unit If the OP parameter is greater than 0 then the decimal point takes up one digit space and the OD parameter must be one less than the actual number of digits Character delay auxiliary serial port Range 0 to 255 Default 0 This command sets the delay between characters sent to the auxiliary serial port in units of 1 256 seconds It allows the system to be used with devices that do not support XON XOFF protocols Send a variable to serial port number This sends a number together with a variable code and a checksum to a serial port It is to be received by another unit which is executing the RB command Send continuous display of position data to serial port number This sends continuous display of position data to a serial port number The data can be either demand position or measured position as defined by bit 13 of the control word page 76 The channels whose position data is sent are defined using the MS map output channel dependent command Each bit of data is sent in the
58. error messages Fixed bug in SPV used to overwrite sequences in RAM Allowed XL to operate with very small moves in one axis 1 3 6 Version 157 4 Added PT SG WP commands Added SPP command Fixed bug in Dlx for resetting DI line from within sequence 1 3 7 Version 157 5 Allowed 128K of programme space Fixed bug when ST used with v large SA and v small SV Fixed bug with multi axis motor position error interpreter crashed previously 1 3 8 Version 157 6 Allowed averaging for analogue inputs 1 3 9 Version 157 7 Added NV ZW PB RM RR OS TA commands 1 3 10 Version 157 8 Added RQ commands Fixed bug in FN for next loop with variables Allowed 8 and 16 bit word parameters to output to variable EM re named EX Added EM Execute event sequence after motion Added ZM Zero block of memory Added XF continuous variable offset command Improved IRQ masking for FO flashing output ref Jode bug Added VBD option to display bit pattern of variable Added VZ multiply and divide function allowing 64 bit intermediate result Allowed background channel control e g gt 2 for large number of commands 1 3 11 Version 157 9 Added GP amp GC cartesian amp polar transforms Extended OW to allow parity etc for all serial ports Extended BD to allow control of baud rates for all serial ports Removed EX echo mode replaced by extended OW Removed BE echo mode for secondary port replaced by extended OW Allowed optioning rounding for VR
59. fail error message is displayed If the CRC test fails it indicates that the stored data has changed since it was saved If this occurs please contact your supplier Reload stored data restricted This command reloads all the parameters input and output line definitions sequences and profiles from the stored setup in the non volatile memory If the stored data checksum is not correct then this command returns the F failed error message and the stored data values are not loaded Copyright 2003 Pan Controls Limited Page 21 Command Reference Miscellaneous Commands User Manual Revision 16 1 RS F V S Reset to default setup restricted HR nn LA LC UP Page 22 This command resets all the parameters variables except numeric type input and output line definitions sequences and profiles to their default settings If the optional F Full reset parameter is omitted then the HW hardware setup word page 107 DW display word page 119 120 121 157 and GW global control word page 26 values are retained at the settings which they were at before RS was entered If the optional V parameter is used then the numeric variables 96 type are all reset to zero If the optional S parameter is used then the sequences are all deleted On power up the system recalculates the checksum on the saved data in the non volatile memory If the calculated checksum does not match the stored checksum then the RS function is exe
60. for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Copyright 2003 Pan Controls Limited Command Reference Display Commands Bit cleared No channel 1 position output No channel 2 position output No channel 3 position output No channel 4 position output No channel 5 position output No channel 6 position output No channel 7 position output No channel 8 position output No input display No output display Set update rate ticks for continuous auxiliary output display Range 0 to 255 Default 128 This command allows the user to set hidden outputs to the terminal display These can be used to give a continuously updated display using the PANTERM communications programme version 2 1 and later The update rate of this display is controlled using the XU command The various parameters which can be displayed are as follows This the update rate in system ticks for the XW command This is the rate at which auxiliary data for the display terminal is updated e g If a value if 2 is set the display will be updated every 2 ticks Page 121 Command Reference Display Commands User Manual Revision 16 1 BDA B C D Set baud rate HE Page 122 Range 0 to 11 Default 0 Sets a baud rate for the terminal port A or auxiliary ports 1 B 2 C or 3 D It is important to remember that having changed the baud rate on the controller the
61. i p ch2 No link to analogue channel 2 13 Link ch 6 to analogue i p ch2 No link to analogue channel 2 14 Link ch 7 to analogue i p ch2 No link to analogue channel 2 15 Link ch 8 to analogue i p ch2 No link to analogue channel 2 DL Define limit switch input restricted Range 1 to 16xn where nzNo of control boards This command defines the specified input line as a limit switch input for the current motor channel The sign defines which logic state represents the out of limit condition When the line goes to the specified state the system stops the motor immediately prints an L error message to indicate that a limit switch input was detected and goes to the motor off state Note that a line that has been defined as a limit switch input cannot be set or cleared A line which has been defined as a limit switch input may be returned to normal operation by entering this command without the sign Note that only lines 7 to 14 may be defined as limit switch inputs and not lines 1 to 6 This command is restricted and is only available in privileged mode Example DL 8 This defines input line 8 as an active low limit switch input The system detects a limit switch when line 8 goes to a logic low Example DL 4 This returns line 4 previously defined as a limit switch input to normal operation Copyright O 2003 Pan Controls Limited Page 99 Command Reference Configuration Commands User Manual Revision 16 1 PS WPL U Page 100
62. include a slow speed creep to the final required position The creep distance is the distance from the final position over which the system moves at the slow creep speed set by the SS command This may be used to minimise overshoot at high speeds and accelerations Example SC 200 This command sets the creep distance to 200 units A position move command will now start to decelerate earlier than normal such that the system reaches the slow creep speed at least 200 units before the final required position Set slow creep speed Range 1 to system velocity SV Default 32 This command allows the user to set the speed of the slow creep to the final position if required It is specified in the same units as the system velocity Example SS 100 This sets the slow creep speed to 100 units per second Set deadband Range 0 to 65535 Default 0 The system normally controls the position of the motor continuously whether moving or stopped This command allows the user to set up a deadband about the nominal position within which the system will not control the position of the motor This may be used for example to prevent hunting in systems with mechanical backlash The deadband only becomes active after the system has reached the required position and the settling time set by the SL command has expired Example SD 100 This sets the deadband to 100 units The system will now only control the position of the motor if it moves mor
63. initialisation Page 27 Page 43 Page 44 link motion to lt Page 29 link motion to analogue inputs Page 30 Cosine function Bt e BV OLO aa mur o Lear na Page 132 Counter input 0 0 ee eee eee ee Page 96 Page 97 e ONCE an Toe neba A DR Page 32 Creep distance oc ives ead id Page 47 Speed lt ics rs iE pA phu Page 47 CS cer E roar at oe mo AT ek det aen Page 21 S UE Page 31 Cursor control operator interface display Page 26 A M M cis boze a node EURO otacky NI E RE Page 76 o DTP n Page 34 Yo aes a lite nie sa ven eder dits Indice Pridie ta eapite urere Page 61 Page 82 D cc n Page 127 DAC outp t SONS ic hen eem Page 76 Data logging abortu nl eleme ER REX Page 141 channel definition Page 142 frequency st Shoe zn dulce ieri Page 141 EA DS e hid Page 141 maximum number of stored samples Page 141 number of channels Page 141 Output liga oe Lr rfe vede Page 142 Stopa duo ona cn Page 141 unload data lille Page 141 DB oo rd e ecard MU odo Page 50 Page 104 DO cp t Page 114 DP rns tees Slat atten tactic tahitian E dtt cce ee A E Page 114 DE pie es die dit ta dale denne Ea e ae ip ee Page 104 response to errors 1 ee Page 74 Deadband sss a eS ERE AE Page 47 settling time cee eee eee Page 47 Debounce time 0 0 cece eee eee Page 50 Page 104 Debug display 0 0 cec
64. input lines are disabled those input bits are masked out when deriving the DX number for the signal or sequence Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Configuration Commands Example DX 4 This sets up an active low expanded input group on lines 4 upwards as above When a strobe signal is detected on line 8 the unit looks for a sequence number derived from the other input lines in the group and if it is defined then it is executed Thus if the input lines 7 4 are in the binary pattern 0111 when the strobe input is seen then sequence 7 is executed 0111 7 State Bit Value Decimal Value High gt low High Low Low Low E 5 D m lt a Set input to stop current motor channel restricted Range 1 to 4 This command defines the specified input line as a way of stopping the current channel The sign defines which logic transition is used to initiate the stop The system monitors the defined input and starts to decelerate immediately the specified change of state takes place This command is useful when a repeatable distance between seeing a input and coming to rest is required It is therefore preferable to using a DI string for this purpose The SI function uses the same mechanism as the reference input function to get an accurate measurement of position on an input signal An Sl input line may be returned to normal operation by entering this command without the sign
65. is controlled by one of the flag bits in the DW command Example LS 1 This will list seguence 1 on the display or terminal The output for the seguence given above would look like this 1 gt LS 1 CR User input to list seguence 1 ID IN 1 MA100 WT256 MA0 WT256 RP3 1 MA2000 1 gt Execute sequence Range 1 to 2047 This command tells the system to execute sequence number The normal status messages for each part of the sequence are printed on the display as they are executed The sequence will abort automatically if any error condition occurs A sequence may be aborted by using the AB command The ST stop command may also be used to stop the currently executing move command Example XS 3 The system executes stored sequence no 3 Repeat Range 1 to 255 or no value This commandtells the system to repeat the sequence of commands on the current command line up to the RP command times If no repeat count is given the system will repeat indefinitely Example MA 2000 MA 0 RP5 This moves the motor to position 2000 and then back to position 0 repeated 5 times Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Seguences ER F HS mn SK a z nn GE End repeat This command allows the user to exit from a repeat loop cleanly at the end of the current loop This is in contrast to the stop and abort commands which stop the system immediately in the middle of
66. not flashing then there is a hardware fault If the second L E D is illuminated then the boot programme is running otherwise the main code is operating The boot programme can be entered from the main programme by issuing the XB execute boot command BD Set baud rate Range 0 to 11 Default 0 n Sets a baud rate for the terminal port It is important to remember that having changed the baud rate on the controller the terminal device will not communicate with the controller until its own baud rate has been correspondingly changed The list below shows the available baud rates It also indicates whether a particular baud rate is available on the standard serial port of a personal computer This is useful when using a terminal emulation program such as PANTERM 9600 baud available on personal computer 14400 baud available on personal computer 19200 baud available on personal computer 28800 baud available on personal computer value 0 1 2 3 4 38400 baud available on personal computer 5 57600 baud available on personal computer 6 7 8 9 0 1 76800 baud 115200 baud available on personal computer 230400 baud 7200 baud available on personal computer 4800 baud available on personal computer 2400 baud available on personal computer BK Backup main programme low level code This command allows the user to keep a copy of the currently installed main programme It sends a
67. number of variables for later analysis The command reference section 7 2 gives the allowable range and any default value of all the system parameters and in most cases gives an example of the use of the command Any lengths or length related units are defined in terms of position encoder counts multiplied by an optional user defined scale factor Note that the range and default values are given in encoder counts and if a scale factor is used then the allowed range and default values change accordingly Page 16 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Description General The current value of any parameter may be found by entering the command to set the parameter without entering a new value The system then shows the current value on the display followed by a prompt character The user may then enter a new value or just type return to keep the current value The current definitions of all the input and output lines are listed with the LI command Many commands that affect the behaviour of the system are restricted or privileged and can be used only in privileged mode after entering a password This allows the system to be configured as required by the Control Engineer or Systems Engineer while preventing access to the more fundamental setup parameters by the machine operator The system can be programmed to start up automatically or to operate from external digital signals The complete syste
68. of lines in current seguence This command allows looping to a specified line number within a seguence Note that it can only be executed from within a seguence Example A seguence might consist of the following CO3 MR5000 SO04 WT500 115 XT GL1 This will continue looping to line 1 until input line 5 is negative when the XT command will escape from the sequence Copyright O 2003 Pan Controls Limited Page 109 Command Reference Conditional Commands User Manual Revision 16 1 7 2 16 I nn IO GX Page 110 Conditional commands If Input true do command line Range 1 to 16xn where n No of control boards This command allows the programmer to specify that a command or command line is conditional on the current state of an input line If the input line specified in the II command is in the specified state the condition is true then the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Example DP II6 MR20000 SO2 This displays the current position and if input line no 6 is negative the system moves 20000 counts and sets output line 2 If input line 6 is positive the current position is displayed
69. on until the variable number reaches 32767 or PB is executed without a parameter When the playback is finished an F is displayed on the screen When the RR record rate is greater than 1 the positions are linearly interpolated between points Note that the interpreter mode can be defined using GW bit 11 page 26 If GW bit 11 is clear then the interpreter returns to its top level allowing playback to be stopped using PB If bit 11 is set then the interpreter waits until the playback has finished until returning to the top level Continue playback position mode This command is used continue the playback position mode using the pointers as they were last used when PB was executed without a parameter Copyright O 2003 Pan Controls Limited Page 35 Command Reference Mode Commands User Manual Revision 16 1 PBD d PBM m PBO o PBP RM n2 Page 36 Set current playback mode divide factor Range 0 to 16 Default 0 This command is used to set up a divide factor to be applied to the first lowest number channel D or the second channel d of the playback data The following formula is applied to the playback data Pos Dat x PBM 2 PBO where Dat is the raw data PBM is the multiplier PBD is the divisor and PBO is the offset Set current playback mode multiply factor Range 1 to 65535 Default 1 This command is used to set up a multiply factor to be applied to the first lowest number channel
70. or AB abort commands Global Motor Off All channels which are stopped and under position control will be changed to their motor off state Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Mode Commands PW Set password restricted This command allows the user to set the privileged mode password The system replies Enter password and the user should then type in the new password The new password is limited to a maximum of ten characters It is saved in non volatile memory with the other setup parameters when the SP command is executed The PW command is itself restricted and is only available in privileged mode Example System User Comments 1 PW lt CR gt Privileged mode command Enter password password The password is not echoed O K Password accepted 1 gt PM Enter privileged mode For most applications it is only necessary to make full use of the command set when the system is first programmed and not during normal operation Many of the commands control the basic setup of the system such as the gain commands used to tune the system Unauthorised access to these commands could result in a severe loss of performance or even damage to the machine For this reason the command set is divided into normal and restricted or privileged commands The normal commands are always available These include the basic move commands and many of the simple set parameter commands such as those used
71. or controller must have a unigue address set up with the Network Address command otherwise there will be unpredictable results There is a token passing system which is initiated by setting bit zero of the serial network control word NW NA n NS NW o bit OONoOG AOD O Set a serial network communication address Range 1 to 128 Default 1 Sets up a serial network address to be the value Example NA 12 This sets up the network address for the current controller to be 12 Display status of the serial communication network This command display the current state of the serial network Serial network control word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0 This command allows the user to set various serial network configuration options Note that the leading zeros may be omitted The serial network control word bit functions are described below Bit set Bit cleared Join serial network Exit from serial network Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expan
72. or to redefine an input line that is already defined as a reference limit switch or function input Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Interfacing 8 INTERFACING 8 1 Notes on installation The system relies on the position information from the incremental encoders and any noise on the encoder signals can give rise to errors in the absolute position Care must be taken in installation of the control module and the encoders to minimise any noise on the encoder signal lines The encoder interfaces on the PC3 1x0 board have differential input stages for use with encoders with complementary outputs providing high rejection of common mode noise In addition spurious signals on one encoder track produce both an up and a down count and thus cancel out However in particularly electrically noisy environments it is still possible to get position counting errors The system will be set up so that its position is continuously adjusted for any errors by using a repetitive reference signal to correct them Without such facilities such errors would otherwise be accumulated over long periods of continuous operation unless the system was stopped at regular intervals to re initialise the absolute position The digital input and output lines are designed to be used with 24 volt logic levels These lines are optically isolated from the microprocessor based circuits This provides protection and allows higher voltage signals to
73. set to allow the 99 parameter to be entered Set link factor for division Range 0 to 32 or 1 to 2 147 483 647 Default 0 This command sets the division factor for linking one axis to another If bit 2 of the link word LW is one then the actual position data is divided by 2 in conjunction with being multiplied by the FM parameter The largest division factor is 2 65536 Example FD 4 This sets the link division factor to 2 16 If bit 2 of the link word LW is zero then the actual position data is divided by n in conjunction with being multiplied by the FM parameter The largest division factor is 65535 Copyright O 2003 Pan Controls Limited Page 29 Command Reference Mode Commands User Manual Revision 16 1 FM n LW bob bit OONOG AOTD O Set link factor for multiplication Range 1 to 2 147 483 647 or 2 147 483 647 to 2 147 483 647 Default 256 This command sets the multiplication factor for linking one axis to another The actual position data is multiplied by n in conjunction with being divided by two to the power of the FD parameter The largest multiplication factor is 65535 If bit 7 of LW is set then negative multipliers are allowed Note that several channels can be set up simultaneously using the AP command in conjunction with the FM lt command page 20 Example FM 9 This sets the link multiplication factor to 9 Example FM 23 LWO FD5 This sets the link multiplication factor to 23
74. term 0 No output function 1 Demand velocity KF 2 Measured velocity KV 3 Position error KP 4 Integral of error KI 5 Velocity error KD 6 Absolute demand position 7 Absolute measured position 8 Global output value AO The monitor signal may be viewed with a storage oscilloscope or recorded on a chart or UV recorder This allows the servo control loop to be easily monitored as an aid to tuning a system Code number 8 allows the user to set up an independently calculated value This can then be sent out using the AO command Copyright 2003 Pan Controls Limited Page 79 Command Reference Gain Commands User Manual Revision 16 1 AO KM nn OM Page 80 Set analogue output to global value Range 0 to 32767 Default 0 This command selects a particular global value to output on the auxiliary output channel The first parameter defines the notional channel number and the second defines the value of the output Note that the D to A convertor has a resolution of 12 bits and that actual values will be rounded to the nearest digit The actual output voltage will depend on the KM and OM values Whilst this command is channel dependent by using the character the channel can be pre defined using the CHB command This then allows the global use of this command regardless of the current active motor channel Set monitor output gain restricted Range 0 to 65535 Default 0 This command sets the gain for the monitor
75. that the leading zeros may be omitted The move word defines which axes will be executed during a MX or VX multi axis move operation The multi axis move word bit functions are described below Bit set Bit cleared O Enable MX VX move for ch 1 Disable MX VX move for ch 1 1 Enable MX VX move for ch 2 Disable MX VX move for ch 2 2 Enable MX VX move for ch 3 Disable MX VX move for ch 3 3 Enable MX VX move for ch 4 Disable MX VX move for ch 4 4 Enable MX VX move for ch 5 Disable MX VX move for ch 5 5 Enable MX VX move for ch 6 Disable MX VX move for ch 6 6 Enable MX VX move for ch 7 Disable MX VX move for ch 7 7 Enable MX VX move for ch 8 Disable MX VX move for ch 8 8 Enable Abs MX or ve VX move for ch 1 Enable Rel MX or ve VX move for ch 1 9 Enable Abs MX or ve VX move for ch 2 Enable Rel MX or ve VX move for ch 2 10 Enable Abs MX or ve VX move for ch 3 Enable Rel MX or ve VX move for ch 3 11 Enable Abs MX or ve VX move forch 4 Enable Rel MX or ve VX move for ch 4 12 Enable Abs MX or ve VX move forch5 Enable Rel MX or ve VX move for ch 5 13 Enable Abs MX or ve VX move forch6 Enable Rel MX or ve VX move for ch 6 14 Enable Abs MX or ve VX moveforch 7 Enable Rel MX or ve VX move for ch 7 15 Enable Abs MX or ve VX move forch 8 Enable Rel MX or ve VX move for ch 8 Wait for system ticks before moving current channel Range 0 65535 system ticks Default 0 This allows a time delay between an MX command and current chann
76. the command line If bit of variable is clear then do the rest of the command line If variable v12v2 do command line If is not equal to then do the rest of the command line If variable v1 gt v2 do command line If bit of variable is set then do the rest of the command line Input a Variable Move a block of numeric variables Display range of numeric variables Output the time counter Output a Variable Receive a variable from serial port number Send a variable to serial port number Add variables v1 v2 v3 Set or Clear a bit in a variable Multiply variables v1 x v2 v3 Subtract variables v1 v2 v3 Multiply and Divide a variable xy ya gt ya If variable is equal to the time counter then do the rest of the command line If the time counter is greater than then do the rest of the command line Trigonometric functions Sine Cosine Tangent gt y Wrap for time counter input Set update rate ticks for continuous variable display Divide a variable yo gt ya Set system to input variable from input lines Set a variable from the keypad Sends a variable continuously to display Square root of variable 14 gt y Copyright 2003 Pan Controls Limited User Manual Revision 16 1 ZM ya nn Summary If variable is equal to the external counter then do the rest of the command line Set display offset value If variable is greater than
77. the setup for the number of channels defined with the NL command is displayed Define logging output line restricted Range 1 to 16xn where nzNo of control boards This command defines the specified output line as a data logging indicator The line is set to the specified state when the system starts data logging from the IR command and is cleared to the opposite state when logging has completed This command is restricted and is only available in privileged mode Example DG 3 This sets up an active low data logging output signal on output line 4 When an logging starts output line 4 is set to a logic low It reverts to a logic high when logging has finished Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Status 8 Error Messages 73 7 3 1 Status and Error Messages Status messages This section gives the system status responses in various circumstances gt Normal prompt character in position control mode The system is ready for the next command Prompt character in motor off state Prompt character for new parameter value Initialising to reference position Moving to new position Profile move The system is executing a stored profile Stopping under normal deceleration Velocity control mode The system is executing a constant velocity move Waiting The system is waiting for some condition before continuing Tension control mode Copyright 2003 Pan Controls Limited
78. the value of the feed forward gain Alternatively velocity lag may be reduced to zero by use of the integral gain but this has other effects as well Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Gain Commands IT n SF Set integration time constant restricted Range 0 to 2 Default 0 The position error is integrated with respect to time by adding the position error at each sample to a running total This integral of error is then multiplied by the integral gain when required in the control algorithm This command allows the time constant for the error integration to be set to three different values as given in the table below Note that the different time constants also give different scale factors on the integral gain this means that the integral gain setting is only correct for one time constant setting Code Time constant Scale factor 0 1 256 256 1 1 1 2 256 1 256 The table indicates that with a short time constant only small values of integral gain are usable without producing instability because of the increased scale factor Conversely with a larger time constant larger gain values may be used Set monitor output function restricted Range 0 to 8 Default 0 This command selects a particular control value to output on the auxiliary output channel The possible monitor output functions and their associated gain terms are as follows Code Function Associated gain
79. time rate n Range 0 to 8 Default 5 This command sets the rate at which the system records using RM and plays back using PB sets of position data as defined by ZW The step rate is 2 steps per second where n is the value of HR The fastest step rate is 256 steps per second or one step every 4ms The system interpolates linearly between table points at the slower speeds in order to maintain smooth motion The record position rate may be changed at any time even when a recording or playback session Note that the RQ record distance rate must be set to zero in order for the RR time rate to be set Example ZW11 RR 3 This sets the record rate to 2 32 sets motor channels 1 amp 2 per second RO Set record position distance rate n Range 0 to 65535 Default 0 This command sets the distance rate at which the system records using RM and plays back using PB sets of position data as defined by ZW The step rate is in interpolated position increments The record position rate may be changed at any time even when a recording or playback session Note that if RO is set to a value other than zero then record mode will be performed using the RA position data rate rather than the RR record time rate Example ZW11 RQ100 This sets the record rate to be 1 set motor channels 1 8 2 every 100 encoder counts Copyright 2003 Pan Controls Limited Page 37 Command Reference Move Commands User Manual Revision 16 1
80. to set the velocity or acceleration for the system Restricted commands are only available in what is termed privileged mode Entry to privileged mode is only permitted with a password which itself is programmable If restricted parameters must be changed during normal operation the relevant commands may be executed from a stored seguence This bypasses the privileged mode check at runtime but still prevents unauthorised access to the system programming since the ES enter seguence command is also restricted The PM command is used to enter privileged mode and gain access to the complete command set The system responds with Enter password to prompt the user to enter the password The password is not echoed as it is entered If the password is correct the system responds with an OK message and goes into privileged mode If the password is incorrect the system sends an E error message and stays in normal mode Example System User Comments 1 gt PW lt CR gt Set password command Enter password password The new password is echoed 1 gt Copyright 2003 Pan Controls Limited Page 33 Command Reference Mode Commands User Manual Revision 16 1 NM TC El CX Page 34 Enter normal mode This command is used to return to normal mode from privileged mode if the user no longer needs access to the restricted commands Note that the system powers up into normal mode Enter tension control mode This command
81. to set up FM on channel 1 to be 440 and on channel 2 to 345 Select slave board version numbers Range 0 to 255 Default 1 This command allows the user to set up the software for different slave board revisions when it is not possible for the software to automatically identify revision numbers A parameter of 0 indicates Slave board revision A and 1 indicates revision B Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Miscellaneous Commands VN SP V S P CS RD Display version number This command prints information about the version of software fitted to the system It gives the version number of the firmware its revision date and some configuration information Save parameters restricted This command saves all the programmable parameters in non volatile memory There may be a short delay while the save operation takes place The saved parameters become the new defaults used by the system on power up The SP command also saves any profiles sequences and variables A Z At the end of the save operation the system calculates a cyclic redundancy check byte CRC on the saved data which is then saved in non volatile memory as well This allows the saved data to be verified at any time by comparing the stored CRC byte with a calculated one If the saved data has changed at all the stored CRC will not be the same as the calculated CRC If the save operation fails for any reason th
82. to the defined limit If RW bit 6 is set to 0 then reference errors outside this maximum limit are discarded and ignored completely and no error is reported Set snapshot goal value restricted Range 0 to current bounds setting Default 0 This command converts the DS snapshot value from an actual position to an error with reference to a goal value This will automatically correct for bounds transitions and makes the snapshot averaging more useful For example if a bounds is set 2000 a desired position is 34 and the snapshot shows 1995 the DS will show 1995 if SG is 0 If SG is 34 then DS will show 39 Note that bit 8 of the reference word must be set for this to work correctly positive positions only Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Reference Commands PF nn BS an VP nn Set snapshot reference offset restricted Range 4 000 000 4 0E6 Default 0 This command sets the offset for the snapshot reference position of the current motor channel It defines the absolute position for the snapshot reference input signal Example CH1 PF500 This sets the reference offset on channel 1 to 500 counts This means that the position where the reference input signal is seen is defined as absolute position 500 and not zero Set no of bounds for deferred snapshot correction Range 0 5 Default 0 This command sets a number of bounds delay before implement
83. 0 LL 0 This sets the high position limit to 10000 units and the low position limit to zero If the motor position goes outside the range 0 to 10000 units the system gives the appropriate error message and goes to the motor off state Set reference timeout restricted Range 0 to 255 Default 0 This command sets up a timeout on the reference input It is used when the system is set up for continuous monitoring of the reference input to give a warning error message if the reference input is not detected A counter is incremented each time the system passes a bound position and cleared each time a valid reference input is detected If the counter reaches the RT value the system gives the RT error message The reference timeout function may be disabled by setting it to zero if it is not required Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Error Trapping EW bit LE Set local error options word restricted Range 0000 0000 to 1111 1111 binary Default 0 This command allows the user to write a value into the error options word for this channel Note that the leading zeros may be omitted The error word allows various user and motor error options to be turned on or off The error word bit functions are described below O When set to 1 the reference timeout error is treated as a motor error and the system goes to the motor off state when a reference timeout occurs When set
84. 00 00111101 00111110 00111111 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Appendix ASCII table ASCII EGUIVALENT FORMS ASCII EGUIVALENT FORMS IO n MOO 0 gt A J K L M N O P Q R S T U V W X Y Z A Copyright 2003 Pan Controls Limited 01000000 01000001 01000010 01000011 01000100 01000101 01000110 01000111 01001000 01001001 01001010 01001011 01001100 01001101 01001110 01001111 01010000 01010001 01010010 01010011 01010100 01010101 01010110 01010111 01011000 01011001 01011010 01011011 01011100 01011101 01011110 01011111 01100000 01100001 01100010 01100011 01100100 01100101 01100110 01100111 01101000 01101001 01101010 01101011 01101100 01101101 01101110 01101111 01110000 01110001 01110010 01110011 01110100 01110101 01110110 01110111 01111000 01111001 01111010 01111011 01111100 01111101 01111110 01111111 Page 187 Appendix Operator interface template User Manual Revision 16 1 12 6 Operator interface template The following template can be copied and used as a template for creating new screens DISPLAY TEMPLATE Page 188 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 13 INDEX A E A E M tn bay kol Reli er Page 20 a BEE Ako TOIT Page 20 m ied aed Prod na Red ek cee ah eae bid ad bet dea A nes Page 20 ABS Eit sob cavi emos Oodle acct atte d Cur Galle tote Bob ov on Page 97 AB itt eddie i
85. 0v output 8 channels A to D input 8 bits resolution These channels are not isolated and must be in the range 0 5v 2 channels Quadrature amp ref input RS 422 inputs differential signals 4 channels of general purpose parallel inputs 2 of which may be used for reference inputs 5v un isolated inputs v 4 channels of general purpose parallel outputs 5v un isolated outputs vi 2 asynchronous serial ports One of these is also taken to an isolated RS 485 422 circuit for use on a proprietary bus or general purpose RS 422 vii Hardware watchdog viii Scanning keypad interface ix LCD VFD character display interface x EEPROM facility for parameter storage xi Site for daughter board 3 1 5 Serial driver display board PC3 130 This is a daughter board to the host slave control board or the operator interface board It provides up to 4 isolated RS 422 duplex channels and up to 4 seven segment L E D driver units each with up to 8 digits 3 1 6 Auxiliary control board PC3 135 This is a daughter board to the host slave control board Its functions include i ii 4 channels D to A output 12 bits resolution All channels are isolated against high voltage Bipolar 10 10v or unipolar 0 10v selectable 2 channels Quadrature amp ref input Isolated RS 422 inputs differential signals Copyright 2003 Pan Controls Limited Page 7 User Manual 3 1 10 3 1 11 3 1 12 3 1 13 Page 8 ii
86. 1 JODE SYSTEMS MD2 Machine starting MD3 waiting for MD4 Col 2 stepper ready ES55 Startup complete MD MD1 JODE SYSTEMS MD2 Machine starting MD3 waiting for MD4 Startup Completion ES56 Reset E Stop prompt MD1 JODE SYSTEMS y MD2 Machine starting MD3 waiting for MD4 E Stop to be reset ES59 Power up header MD Clear display amp address each line MD1 Control by pi MD2 JODE SYSTEMS 4 MD3 for i MD4 SYN WT200 MD4 SYNPRO i WT200 MD4 SYNPRO M WT200 MD4 SYNPRO M I gt WT500 Copyright O 2003 Pan Controls Limited Page 175 Appendix sample programme User Manual Revision 16 1 FER KKK KKK ee e e K KK KKK K K e K ke KKK K K K K K K AK K KKK K e K K Kec K KKK K K e K K KKK ke ke K e K K AK KKK ke ke e he c ec e e e x DIAGNOSTIC SCREEN FER KKK KKK e e e e K KK KKK K e e K ke K KA K K K e K he AK KK KK K K K K Kec K KKK K K K K K KK KKK ce e e he kc Kc kc ke ke ke ke e he c I e e e x ES60 Diagnostic service screen F3 MK EKK Mask F2 8 F3 Ivy4 Load y with run value MD Clear display MD2 PANMC V154 6 MD3 Rev 15th Sep 1999 MD4 BEMIS54 PAN Y FER KKK KKK KKK a K K K AK KA K K K K K K AK KK KK K K K K AK K KKK K K K K K KK KKK K K K K AK KKK K E K K KKK START OF PUSH BUTTON ADVANCE amp RETARD CONTROL m FE KKK KKK KKK K a K K K AK KKK K K K K K K K KKK K K K K AK K KKK K LLL LL C LL K K K KK KKK E LE cu ES70 Advance setup sequence
87. 191 numeric variables starting from are written to the smart card The range of is from 0 to 24576 TAG R S A B Set tangent control axes restricted Page 28 Range 0to8 Default 0 This command allows the user to set up an axis to operate as a tangent with respect to two other axes It is designed to be able to control the direction of a cutting blade on an x y table so that the blade is always pointing in the direction of its motion which is controlled by the x and the y axes In order for the system to operate there are several conditions which need to be met e The TAA and TAB channel parameters need to be set up preferably lower numbers than the tangent controlled axis so that the calculations can be performed within the same servo loop closure operation e The TAA channel number must be lower than the TAB channel number e The tangent controlled axis need to be set so that it operates with only positive numbers bit 8 of RW see page 91 e The bounds value needs to be set so that the SB value corresponds to 360 The TAG option starts the motion of the tangent axis imposing the SA and SV parameters TAS stops the tangent motion The TAR option forces a 360 rotation of the tangent axis Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Mode Commands 7 2 3 LM FD n Mode commands Link current axis to axis no Range 1 to 2xn where n No of control
88. 2 Page 101 Page 103 Stored parameters RAS OPPS sees oS ce cy Map Plk e Neat woes c Page 19 Stored profile otto Rod Page 63 Stored SEQUENCE 6 eee eee Page 51 String O LE DUE M AD rt eat Page 128 SU et edens o gd poked Stunt e p A adem Page 2 Subtract a variable lt lt lt lt Page 132 SV ou sis le dra ada bd Web babo Up die EE ELEM Page 46 OWS rhe tee TTC Page 45 SY eu Seah Deb keh PX Page 61 Page 81 User Manual Revision 16 1 System constants jis seed gv eset zoo ne dg NEC dno Page 116 System variables lt Page 137 motor channel bounds count Page 138 motor channel error mode Page 138 motor channel mode Page 137 motor channel position Page 138 motor channel position error Page 138 motor channel status Page 137 motor channel velocity Page 138 OZ dd pod doo KA up NONE dde o o eh ieee tee bbe ele Page 46 TA E Page 28 Table correction oau cee d ree eren Page 66 Tangent set automatic control o Page 28 Tangent function ri pia seed naka desde ng eed Page 132 WB T Page 125 Jor rir Page 34 a De Caio test ee Bora Stand ahaa Cori Page 123 TE bet led o ee eR e e Page 113 Page 134 Template operator interface display Page 188 Tension control mode elles Page 34 Tension limit higlis m Pu aed at zt E ERES ERE Page
89. 2 Set start up shift colour 2 selection X 253 Default system settings XS140 Set default shift XS30 Start screen EI Enable inputs CH3 RE120 RW1 Set reference trigger sequence to initialise DEFINED INPUTS CH3 DR3 Reference input on master axis CH2 PS2 Slave axis position snapshot linked to input 1 DI7 XS70 Advance Pb DI8 XS72 Retard Pb DI9 IV 5 2 Set colour 2 for shift DI9 IV 5 1 Set colour 1 for shift DI10 XS250 E stop monitor to MO motors CH1 PS1 Slave axis position snapshot linked to input 1 POSITION TRIGGERED OUTPUT CH1 POn m p System diagnostic sequences if required ES101 Channel 1 system test Page 180 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 0V 1 KOV 9 0V 17 0V 25 0V 33 0V 41 0V 49 ES102 HOV 2 0V 10 0V 18 0V 26 0V 34 0V 42 0V 50 Copyright 2003 Pan Controls Limited Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel NN MwMNMNM ND PP Appendix sample programme status mode error bound count position velocity position error system test status mode error bound count position velocity position error Page 181 Appendix keypad codes 12 2 Page 182 Operator interface keypad codes Backspace X Enter ESC OONOGO ROD o Left arrow Right arrow Up arrow Down arrow Secret key Centr
90. 32 DD ES a At A hh m Rub n Siete dats O E A TE Se Page 24 PE nee hr RE tele dele dees nee Goan ewe Page 54 Personal computer communications programme Page 161 Ps o dan deu ebat uus E ees Page 95 PG c ed we wa Se eet eh ees et nent Page 31 Pe Betti oo ap tats u bd a ta Re Aaa eT SN i AE th Page 94 PU a aes oa o Bee iat PD Page 54 PLC commands coco Page 59 PM eats nt wate dee ARMA tee We tee wes BERE Pote fed RA eae ates Page 33 PO a Po ile uident aep i ege t Rcg Page 2 Page 105 Polar transform from Cartesian Page 41 Position link to external analogue input Page 97 Page 98 negative numbers only Page 91 positive numbers only lt Page 91 unlink from external analogue input Page 98 Position control mode 2 Page 32 Position display mode Page 116 Page 117 Position encoders cece eee eee Page 147 Position error variables lt Page 138 Position feedback disable rz bok obe ny Page 76 Position feedback factor AVISION 5 un oz ed nar ter Hal nete pe Blaze Meee pud Page 24 multiplication 00008 Page 24 Position gain AO csi eas pee ee Ie ree ee ee nemen Page 31 trap using sequence 00 Page 55 Position limit No 2 s mesa eed 664 ale d rfe Page 71 OW iiie bee nia bee ate RR Nep Page 72 Position snapshot averaging constant P
91. 4 goal value 2 Page 94 number of bounds for deferred correction Page 95 reference offset Page 95 trap using sequence 00 Page 55 Snapshot position 0 f Aaa ane in e Pls ku e ne d Page 115 Soc Page 81 Software handshaking Page 26 Page 148 Page 167 SP at seek d ade ahha eens Page 21 Page 129 Page 130 Specification sex cade Mo e eas toe Any on US Page 150 Speed Cleop 2s ss ege ee ee e we n RR R Page 47 normal eek ER EESTI Page 46 Square root of a variable lt lt eee ee Page 131 OH ao bue utat sedes ooo rss Page 92 SSu ct iua me ek eee e a a ok VO eng Page 47 tesa Me Bee Sene aude se Sane rs MN A en UR SURE Ta Deas Page 38 StarUStop Dis c o senes e RU a Meade EPIS Page 148 Status messages lt lt lt lt lt lt lt lt 4 44 Page 160 T RA KK NZ cee eee p vcrc Page 143 Status variables lt Page 137 Stepper direction delay eee eeee Page 77 direction sense lt Page 76 motor control lt Page 76 Motor QUIPULS 245 chee oe A ed eh ess Page 76 resonance control 0 000 Page 77 Stepper control mix with closed loop servo Page 107 Stop current keypad operation Page 38 emergency eee Page 38 Mullins Page 42 ramped sc uec die een es sete a RE Page 38 using defined input Page 4
92. 42 Oksa shoe st da o k oo e eT ae o Be Sata onl esae Wa la Page 30 Clear display L E D lt o Page 123 Ndg eee pad talk ee a ers Page 61 Page 82 output line 6 6 eee Page 81 Clock display 1 or 2 MHz Page 27 Page 35 Closed loop servo control mix with stepper control Page 107 OM uu oo ead ava eet Ee er ELA bid IE Page 81 CN REO OR O HRC o tT Re A Nite O EE Page 124 S MT RE Page 81 Co ordinate go from cartesian to polar Page 41 go from polar to cartesian Page 41 Codes GIO eos as Ree et ieu eee pd Page 184 keypad 00 e eee Page 182 Page 183 Command summary 0 0 0 2 eee cee ee Page 151 Commands history o vat posl dd di Page 116 Communication ICON Page 34 Compile position gain tables o o oo Page 32 Complement output line 2 oo Page 81 Condition test external counter greater than variable Page 110 Conditional test enter wait state Page 30 Page 120 Immediate execution o o o o Page 120 input line Page 60 Page 84 Page 85 Page 110 network acknowledge received Page 111 Page 140 output line aaa Page 85 Page 110 time counter greater than variable Page 113 Page 133 variable bits clear Page 111 Page 132 variable bits set Page 112 Page 132 variable equal to external counter P
93. 48 Wise eedem isis Page 48 Tension multiplier lee Page 48 Tension threshold MAXIMUM ed ofa cote eme eb ae eut Page 49 MINIMUM Ec Page 48 Terminal emulator lt essere Page 13 Terminal port handshaking 2 Page 26 parity atados aio at IN RUE Page 26 TCI ace K SAU eee eH A poho Page 113 Page 133 THis tpt EAN Page 48 Threshold Tension xc Cols eoo GaAs Fe AAs Page 48 Page 49 A O A Todo L er Med Page 25 Tilde softreset lt omo PP Page 15 Time counter OUTPUT 2s sia eS lusk obale Page 24 Page 134 test if greater than variable Page 113 Page 133 test if variable equal Page 113 Page 134 test if variable greater Page 112 Page 133 wrap value oooomoooo m o Page 24 Page 134 ZOO r a b e UR RACE Re ten Page 134 Time SeE 2 1 xus gar tme a theres eer pt WR ake Page 49 Timed event i Ie Ede etm or m OR act Page 53 BOND ue Vs RS acide aes ond HR doti ets Page 54 Timed sequence lt 4 lt lt lt lt lt lt lt Page 53 essen R ro EM up A OE Page 54 Elo Fs es nd hee aa aaah ee akon eat sheet Ve Page 71 operator interface communications Page 125 reference coco Page 72 set period for network acknowledge flag Page 140 set period for RB command Page 117 Page 125 Page 136 set period for WN command Page 140 leto Mut id Me to Joa cadet ca Eom Page 48 AM os eso ts Vo oo n M TALI NEA ao iE M Page 48 ND
94. 6 Default 0 This command sets the lower position bound for link correction See the PG command below for details on how link correction operates Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Mode Commands CU pn PG D Upper bound for link Correction restricted Range 1 to 4 000 000 4 0E6 Default 0 This command sets the upper position bound for link correction See the PG command below for details on how link correction operates Position Gain correction Value restricted Range 1 to 4 000 000 4 0E6 Default 0 This command sets the value for positional correction required in conjunction with the CL and CU commands When the CP command is executed or on power up a table of offsets will be generated This can be displayed using the D option and shows the incremental position for every calculated position of the slave between the CL and CU bounds Note that three tables can be generated These are differentiated by an A B or C suffix A and B refer to continually operating gain tables and C refers to a one off offset correction It is effectively enabled by the PGC command unless the parameter is zero If the system is currently in one off table bounds it will not perform the correction until the next time that the system appears in these bounds Note that the bounds for a one off table can be superimposed on one of the A or B type tables However A type bounds cann
95. 6 debug 3 cv deck ex eR eine bate XR Page 120 demand position o ooo ooo o Page 114 echo mode off eee eee Page 115 echo mode on cece eee eee Page 115 error messages 44 Page 74 free memory lt Page 55 global position counters Page 114 Hardware setup lt 00000000000 Page 23 help 4 e et Wa ce Ra een Page 19 Page 122 history 2 2 1lleili fk m nex Page 116 history of circuit board Page 116 history of commands executed Page 116 history of sequences executed Page 53 Page 116 LE Disses peeled eb beet eaten dod n Page 123 E Page 73 Page 123 measured position 4 Page 114 measured tension 4 Page 123 measured velocity 4 Page 114 network status lt 4444 Page 139 No of lines oo Socios conri none Page 26 POSITION s zc Rene eite o Zas tg Page 114 range of numeric variables Page 130 Page 158 reference position error Page 115 required tension 0 000 Page 123 serial communication bus status Page 139 setpoint cs sak nme m Ae Page 123 snapshot position data Page 115 SIMA rar eee D LR M es Page 128 system constants Page 116 Pension oh aoe ruo ee bee Baku ee bobr see Page 123 tension set point 000 Page 123 Iur Page 115 time co
96. 7 8 9 29 Stepper drives colour 2 ready SA2R X1 15 144 30 Stepper drives colour 1 ready SA1R X1 15 145 31 Drive 2 ready TDA2 X2 4 146 Drive 1 ready TDA1 X2 4 147 OUTPUTS from Panax to machine interface Control OK monitor relay R1 123 Ak Hk cH YE Gk Gk E WE E Gk Wk E Wk dk k k dk k fk Gk Wk WE Wk EYE WE dk Wk WE WE dk WEE Kk WEGE Gk Wk dk Ck E ik dE dk Wk WE dE dk WEE Kk WEE Wk Yk dk dk dk Co OONOGARODV O Copyright 2003 Pan Controls Limited Page 171 Appendix sample programme User Manual Revision 16 1 28 29 30 8631 32 SEQUENCE LIST 1 20 Escape key sequence 30 Start screen menu 36 Display screen with registration 38 Display screen with registration disabled 40 Edit sequence 41 Reset all working values sequence 50 Starting up screen Ms 51 Colour 1 drive ready Ms 52 Colour 2 drive ready Ms 53 Colour 1 steppers ready Ms 54 Colour 2 steppers ready Ms 55 Startup complete Ms 56 Reset E Stop prompt 59 Power up header 60 Diagnostic service screen 70 Phase advance print setup 71 Phase advance print 72 Phase retard print setup 73 Phase retard print 76 Jog positive off Advance button 77 Jog negative off Retard button 120 Initialisation of registration seq called via RE 122 Fine reg correction col 1 123 Fine reg correction col 2 124 Adjust the repeat length
97. 7 2 4 AB K O GA ST GS Page 38 Move commands Abort emergency stop The motor stops immediately ignoring the system acceleration This may be used instead of the ST command where an abrupt stop is reguired The AB command may also be used to break out of seguences The optional K parameter enables a selective abort from any pending keypad operations e g VK whilst maintaining all other current system operations The optional O parameter performs a complete reset of the operator interface Likewise AB without the K parameters maintains any current keypad operations whilst stopping all motion operations Global abort emergency stop All motors stop immediately ignoring the system acceleration This may be used instead of the ST command where an abrupt stop is reguired The GA command may also be used to break out of sequences Stop The motor stops under controlled deceleration set by the SZ command The stop command may be used during a normal move or constant velocity move to decelerate the motor to a stop The ST command may also be used to break out of sequences The optional parameter allows the stop to finish at a defined absolute position Stop command received y Figure 4 Move with normal stop Global Stop All channels currently running whose bits are set in MW motor stop under controlled deceleration set by the channels respective SZ command The stop command may be used during a normal mov
98. 8192 LF Hz If LF is set to zero then no logging will take place The values currently allowable are 1 2 4 8 16 32 and multiples of 32 up to 65504 MN Set Maximum Number of stored samples Range 1 to 80000 Default 1 This command sets the maximum number of samples to be recorded during a logging session This can be over ridden by using the AR command Note that the maximum no of recordings per channel is the MN parameter the NL parameter UL Unload Logged data This command sends recorded data in a formatted ASCII format down the terminal port Copyright O 2003 Pan Controls Limited Page 141 Command Reference Logging Commands User Manual Revision 16 1 LO op value DG Page 142 Define logging channel restricted Range 4 1 to 4 logging channel Range 1 2 or 4 type of data Range 1 to 4 data channel This command defines a logging channel The first parameter can be any number between 1 and 4 and defines the order in which the data will be unloaded using the UL command The second parameter can be any number between 1 and 3 and defines the type of data to be logged 1 Analogue channel 2 Position channel 4 Position channel with velocity calculation as defined by the VT parameter for the particular channel The third parameter can be any number between 1 and 4 and defines the actual position or analogue channel to be logged to the current logging channel If no parameter is entered
99. 9 motor off mode esee essen Page 32 normal mode esee ees Page 34 offset correction table Page 66 playback position mode Page 35 position control mode Page 32 privileged mode o Page 33 profile sai a o d ba e balsas oo Page 63 Record position mode Page 36 sequence ooococccc esee Page 51 tension control mode Page 34 VarlaDlO cies ete oe ans ce eee rs Page 129 velocity control mode Page 40 EQ a sir n kly nequ en Nro ek eod be UAR Rd Page 1 Page 66 ic a Ai oR Ae ata NA Page 63 Equality test for variables Page 112 Page 133 ERU uos e mL mA t Rte nid NS Page 53 Erase main programme code Page 19 non volatile memory unnn Page 19 Page 191 Index stored parameters 44 Page 19 Error limit for cosine calculation Page 22 messages lt Page 74 Page 144 Page 160 Options word iess eae 8 bd rex Page 73 options word global Page 74 OLITDLIE EX Braschi castle are zhasne Marte har Page 104 System variables Page 138 trap using sequence 00 Page 54 Errors numeric codes ssllslslssss Page 184 ES ob ine NULLA ate odolat Page 51 Escape from multiple page listing Page 15 EV eccL Page 24 Event after curr
100. B This defines line 1 as a single command such that when line 1 goes to a logic high the system executes the AB command Example DI2 ID IN WT256 MR 5000 ZC DI2 ST This defines line 2 as a command seguence such that when it goes to a logic low the system executes the given seguence It initialises the DAC offset initialises the position to the reference position waits for 1 second moves 5000 units and zeros the position counters at this position When the input line reverts to a logic high the ST command is executed If the system is still in motion it will then stop Example DI3 This returns line 3 previously defined as a function input to normal operation Define multi axis stop input restricted Range 1 to 4 This command defines the specified input line as a trigger for a multi axis stop for the system It is used in conjunction with the QS commands The system monitors the specified input and stores the absolute position value for every channel whose QS parameter is greater than zero at that time The system then stops each channel at a relative offset position defined by the local QS parameter This allows the system to stop at a precise position with reference to an external position and can be useful with machines which are passing a material with a reference mark printed on and a stop position is required at a fixed offset from the reference mark The multi axis stop function uses the same mechanism as the referen
101. E AINE UAI nay Ud RUE th Page 55 Negative position numbers o Page 91 Network control word lt lt lt Page 139 display status lt 44 Page 139 send command Page 140 serial bus lt Page 139 token passing 0000 Page 139 Network acknowledge Walt TOR esua dce ae I e Page 69 Page 140 NL oe EN Page 141 NM Sms Saati ds dm aA tate ede tts Na alt Moos ad Page 34 No of lines Display nidad o o a ic 0 A n Page 26 Node CA A A Page 61 Page 82 lead ito dare tadas Page 60 Page 84 A Page 61 Page 81 NOSE 2 ese eke a el ese ed at oot Peete Page 145 Nofimal stop as sees ao dur xr seal as Rota obr K M SR RS Page 38 NES as nr Ru I DIM UNI en edn Page 125 NS cost rice ha ee etie hr ire Ato Le Srt e Page 139 Number of channels data logging cece eee eee Page 141 Numeric display METIDA ds od dee Dial C ut nue Page 123 NV NCC NCMO MAL MU TAM MEAN EA Page 130 NW cette aco La o o dus dev eMe pus Page 139 OB et oes webs E EE DNE EO A EAEE Page 123 OG lt hannis ba Onea A ta Page 82 OBL a araoe We See du ou Maen ar at cared dn aed arae aa O EAN NA Page 124 OB uta tad a a cn cree ee Page 123 Offset for EO table ooo ooocooconcoomo Page 67 reference ccoo Page 92 Page 95 snapshot reference ooo ococooooo o Page 95 trap using sequence 00 Page 55 value for VO display Page 118 Page 136 Off
102. G ROD O Set global control word restricted User Manual Revision 16 1 Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0000 0000 PC3 100 Revision F 0000 0000 0011 1000 PC3 100 Revision E This command allows the user to write a value into the global system control word Note that the leading zeros may be omitted The global control word allows various components of the system to be enabled and disabled as reguired The global control word bit functions are described below Bit set Bit cleared Vacuum Fluorescent display brightness BRO see table below Vacuum Fluorescent display brightness BR1 see table below Flashing cursor on display No parity for comms Software handshaking Enable logic Enable extended seguence memory Reserved for future expansion Omit I O definitions for LA command Omit sequences for LA command Omit variables from LA command Skip waiting for command to be completed Reserved for future expansion 2 line display Logged pos data signed 16 bit Al command bi polar Bit 1 BR1 Bit 0 BRO Brightness 100 75 50 25 2 OO 0 1 0 1 Bit 6 Bit 7 0 0 1 0 0 1 No cursor on display Even parity for comms Hardware handshaking Disable logic Disable extended sequence memory Include l O definitions for LA command Include sequences for LA command Include variables for LA command Wait for command to be completed 4 line display Logged po
103. HV select motor channel variable has now been changed to CHB This is to allow CHV to be used for setting the channel number from a variable 1 2 10 Version 157 3 October 2001 EB and LB commands for the inter channel bounds system has been removed 1 2 11 Version 157 8 October 2002 The EM command has been changed from echo mode to execute event sequence after motion complete The EM Echo Mode command has been re named EX The FN command has been modified to only allow positive step values between 1 and 127 This will be internally converted to a negative number if the start value is greater than the finish value Page 2 Copyright 2003 Pan Controls Limited Revision 16 1 User Manual 1 2 12 Version 157 9 February 2003 The EX and BE commands have been replaced with the extended OW command Copyright 2003 Pan Controls Limited Page 3 User Manual Revision 16 1 1 3 Key additions to software The purpose of this section is to highlight additions to the language in software revisions 1 3 1 Version 156 5 Added DIL RIL MID EID input latching commands 1 3 2 Version 157 0 Allowed up to 2047 sequences 1 3 3 Version 157 1 Added CA camera commands 1 3 4 Version 157 2 Fixed XT command 1 3 5 Version 157 3 Added EJ LJ RY IY CY SY commands Addedd FC FT UC commands Changed PO to work in sequences n b delimeter changed to from Fixed bug to allow neg numbers with ME Fixed bug in TG Added camera timeout to
104. IC and IS Example 1 gt VBS13 F 1 gt VBDF Bit no 32 Display Clear or Set a bit in a variable Set bit 13 of variable F Display bit pattern for variable F 16 1 0000000000000000 0001000000000000 1 gt Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Variable Commands V D v2v3v4 VMviveva VZ v2v3v4v5 VA v2v3 VRuwo us Divide a variable yo gt ya This commands divides by and assigns the quotient to The remainder is assigned to Example VD AX96154 Z If variable A is 15 and variable X is 3 then variable 96154 will be assigned the value 3 and Z will be assigned the value 0 Multiply a variable x ys gt 4 This commands multiplies by and assigns the result to 5 Example VM GIB If variable G is 5 and variable I is 3 then variable B will be assigned the value 15 Multiply and Divide a variable y xy ya gt ya This commands multiplies by and divides the result by and assigns the quotient to The remainder is assigned to y The intermediate result is a 64 bit number 9 223 372 036 854 755 808 to 9 223 372 036 854 755 808 but the divisor must be set so that the final result does not overflow a 32 bit number 2 147 483 647 to 2 147 483 647 This function can be useful for performing high resolution number conversion and helps to overcome the limitations of integer arithmetic Example
105. M or the second channel m of the playback data Set current playback mode offset value Range 0 to 4 000 000 Default 0 This command is used to set up a offset value to be applied to the first lowest number channel O or the second channel 0 of the playback data Display current playback mode pointer This command is used to display the playback position mode pointer value This can be useful when entering and leaving playback position mode Enter record position mode This command is used to enter the mode for recording position continuously to numeric variables starting with variable and optionally finishing with 2 If is not entered then recording carries on until the variable number reaches 32767 or RM is executed without a parameter When the recording is finished an F is displayed on the screen Example System User Comments 1 RR10 Set record rate to 40 ms Enter password RM 1 50 Start recording from variable 1 to 50 1 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Mode Commands RMC Continue record position mode This command is used continue the record position mode using the pointers as they were last used when RM was executed without a parameter RMP Display current record mode pointer This command is used to display the current record mode pointer value This can be useful when entering and leaving record position mode RR Set record position
106. M and NOVRAM xi Programmable logic to be used for i o line logic and address amp chip select decoding xii Synchronous amp asynchronous extended G 64 bus interface with option for 1 or 2 MHz operation Allows synchronous serial 8 bit data bus chip select connections to slave control board xiii CAN bus xiv Scanning keypad interface xv LCD VFD character display interface xvi Two channels SSI serial absolute position feedback interface xvii Two channels remote resolver absolute position feedback interface xviii Smart card facility for parameter storage xix Sites for 2 single Euromodule sized daughter boards xx Site for one front edge daughter board 3 1 2 Slave control board PC3 110 Revisions A B This provides feedback position control for up to 2 axes It is a slave to the central control board and uses the central control board s microprocessor Its functions include i 4 channels D to A output 12 bits resolution All channels are be isolated against high voltage Bipolar 10 10v or unipolar 0 10v selectable ii 2 channels Quadrature 8 ref input Isolated inputs with differential signals from 0 to 24 volts Page 6 Copyright 2003 Pan Controls Limited Revision 16 1 iii iv vi User Manual 8 channels of general purpose parallel inputs 8 of which may be used for reference inputs Isolated inputs Default to 24v DC with selectable alternative voltages 8 channels of gener
107. M monitor output gain Copyright O 2003 Pan Controls Limited Page 75 Command Reference Gain Commands User Manual Revision 16 1 CW Set control word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0100 1011 This command allows the user to write a value into the system control word for the current motor channel Note that the leading zeros may be omitted The control word allows various components of the demand signal to be disabled if required and allows the sense of the encoder input and of the command signal to be reversed The control word bit functions are described below NOTE The encoder and command signal sense should only be changed while the module is in the motor off state as the system may be made completely unstable by reversing either of these This facility is intended to be used only when initially connecting the module to the motor system to avoid having to rewire the system if the encoder connections are reversed It also allows the logical positive and negative directions to be reversed under software control by toggling both the encoder and output reversal bits in the control word Bit set Bit cleared bit O Enable integral control Disable integral control 1 Enable velocity Disable velocity feed forward control feed forward control 2 Enable differential Disable differential control control 3 Enable velocity Disable velocity feedback control feedback control 4 DAC output stepper
108. MET SPEED Page 43 strain gauge amplifier offset Page 25 Input line definitions llle Page 106 emable v os xen o dr E Ex Met Page 89 enable ih as eee error Rh dee Page 86 function definition Page 88 Page 101 latch definition lt Page 88 InasK 2o xe bind age dre Em eng Page 86 Page 89 lead nta ti n bla a ad ones Page 83 readilateh ai RR Rn Page 88 set variable froM Page 83 Page 135 WALTON P pP PE ea Page 68 Input output configuration lt lt 444444 Page 96 Installation notes lt Page 145 Integral gal sheet Se Bd easy al eee batch IMS Page 77 Integration time constant lt lt lt Page 79 Interfacing isses eere be ai k ad yh ee xn ne Page 145 Interpolated move WONG jc Swe Bent eee BD Page 42 Interpolation CIRCULAR eeu Page 41 definitiones s sas to vice Php RES Page 42 linear ossa oe trm hm Rs Page 41 LO cari AE IP Page 85 Page 110 Pi eau ed aah cae masked e nh E EROR ea oo Page 2 Page 44 a eM tte MD M ACE oat va Page 141 Sota tte seed cad ave ave EE E Page 112 Page 132 Isolation a em er oer de ae okr za ka ah Page 145 ITA Sey ate ee Oa iecur IAN to V o don rs Page 79 WM seen RC a a E A tS ee TOA P Page 129 Wow ieee to ete Ebr Rd tele dell de ers Page 2 Page 42 Jam detection 2 rene Page 71 ID ise sb AS As Leu oit o cuisse ecoute and Page 78 Copyright O 2003 Pan Controls L
109. MI7 MI8 EK MKA MKB MKC MKD MKE CEO REO Mask F keys IEay XS76 GA EI EK XT If in jog mode do Seg76 II5 II6 IVQ230 Set coarse adv ret increment II5 I16 IVQ100 Set medium adv ret increment II5 II6 IVQ3 Set fine adv ret increment XS140 Set advance retard tables if req XS71 ES71 Phase advance print CH3 CEO REO Mask advance amp retard push buttons IE 5 17 CH2 PGP Positive shift on colour 1 IE 5 18 CH1 PGP Positive shift on colour 2 IEyd IGQj MD1 ADVANCING coarse IEyd IEQj MD1 ADVANCING medium IEyd IGjQ MD1 ADVANCING fine ES72 Retard setup sequence MI7 MI8 EK MKA MKB MKC MKD MKE CEO REO Mask F keys IEay XS77 GA EI EK XT If in jog mode do Seq77 II5 II6 1VQ230 Set coarse adv ret increment II5 T16 1VQ100 Set medium adv ret increment II5 1I16 IVQ3 Set coarse adv ret increment XS140 Set advance retard tables if req XS73 ES73 Phase retard print CH3 CEO REO Mask advance 8 retard push buttons IE 5 17 CH2 PGN Negative shift on colour 1 IE 5 18 CH1 PGN Negative shift on colour 2 IEyd IGQj MD1 RETARDING coarse IEyd IEQj MD1 RETARDING medium IEyd IGjQ MD1 RETARDING fine ES76 Jog positive off Advance button IE 5 17 CH2 SV1750 VC Set jog speed 8 direction col 1 IE 5 17 WT64 1I7 RP Test advance button still pressed IE 5 17 CH2 ST XT Stop colour 1 on button release IE 5 18 CH1 SV1750 VC Set jog speed 8 direction col 2 IE 5 18 WT64 1I7 RP Test advance button still pressed
110. More complex operation may be performed by calling sequences from the line It allows numeric variables to be indexed from the loop variable if a lower case variable is used The step parameter 43 is optional and when entered its sign must be positive This command can be nested but note that if the same variable is used for different interacting FN loops there is scope to get into indefinite loops The constants and 4 can be replaced by variables A for next loop can be terminated by the ERF command see page 53 Example 1 gt FNa2 4 OVa User input to start loop 0000000002 0000000003 0000000004 1 gt 1 gt IVb8 IVc2 IVd2 FNab c d OVa User input to start loop using variables 0000000008 0000000006 0000000004 0000000002 1 gt 1 gt 1V 20 10 IV 22 4 iv 24 2 1 gt FNc 20 22 24 0vC User input to start loop using numeric variables 0000000010 0000000008 0000000006 0000000004 1 gt 1 gt 1V 20 10 IV 22 4 iv 24 2 User input to start loop using numeric variables 1 gt FNC 20 22 24 vmc 22 d ovc iv c vd ov c Note the use of the loop variable for indexing 0000000010 0000000040 Value of variable 10 0000000008 0000000032 Value of variable 8 0000000006 0000000024 Value of variable 6 0000000004 0000000016 Value of variable 4 1 gt Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Loop Commands GL Go to line in seguence Range 1 to no
111. Motion Control System Software User Manual Revision 16 1 20 February 2003 UO Pan cowrRoLs LIMITED DRUMMORE DOUNE PERTHSHIRE FK16 6AX SCOTLAND Telephone 44 0 1786 850261 Fax 44 0 1786 850387 email sales pancontrols com internet http www pancontrols com Revision 16 1 User Manual Table of Contents 1 DOCUMENT MANAGEMENT 315458 065844 28 Ubn BR RM E AE n db bn EN EST Page 1 ich RO BASB 7 ox soda M ave bak Gan odtok a lado dd dy M ide ee A bodl aaa Page 1 1 2 Critical changes to software ss mac ano weed Mane ees MEG a ta AS Page 1 1 2 1 Version 152 2 November 1997 Suse tee e ia Page 1 1 2 2 Version 154 0 May 1999 0 0 ce es Page 1 1 2 3 Version 154 4 August 1999 0 cc eee ee Page 1 1 2 4 Version 154 5 August 1999 0 2 20 cee es Page 2 1 2 5 Version 154 9 October 1999 veo ee eee Yet eee dew ets Page 2 1 2 6 Version 155 5 March 2000 sss ge RR E Rex EE RS EE Page 2 1 2 7 Version 155 9 September 2000 Page 2 1 2 8 Version 157 0 June 2001 ces ood ajka RES dn c REG SS Page 2 1 2 9 Version 157 2 October 2001 b oed Mv eua LS A eth Os cet ds Page 2 1 2 10 Version 157 3 October 2001 0 0c eee es Page 2 1 2 11 Version 157 8 October 2002 0 cee ee Page 2 1 2 12 Version 157 9 February 2003 ooooococcococcnro Page 3 1 3 Key additions to software e e ee Pac e eb es e wires Page 4 1 3 1 Vee okol ds te EU Page 4
112. O IVc1 IVd2 IVe3 IVf4 IVg5 IVh60 IVi216000 Appendix sample programme Delay the enable signal Set reference trigger sequence to initialise Start screen Enable inputs Default system parameters for testing Set reference complete trigger sequence colour 1 tables 16 bit num DF DS average use demand Acc Dec Gain terms Error Setup control word Enable drive and initialise demand RF X4 2 Debounce inputs Set slave bounds to current repeat Set reference complete trigger sequence colour 2 tables 16 bit num DF DS average use demand Acc Dec Gain terms Error Setup control word Enable drive and initialise demand RF X4 2 Set slave bounds to current repeat Set web bounds to current repeat Set a default value for CH3 FM Average the web velocity to smooth out Default variable values FIT the saved repeat is O then default to 21 Copy 1 to A add O to 1 Scale repeat to integer amp decimal Lower one shot value also counter k target Upper one shot value Upper limit to refresh display Shift value Starting actual repeat value Reset reg average counter 1 Reset reg average counter 2 Reset first time stored length comparison Lower coarse band Upper coarse band Constant Constant Ratio starting value Starting error average values FOffset ch 2 Starting DF accumulator Fine error gain values Starting actual display Number of samples for reg
113. PB n2 PBC OONOG AOTD O Set position record control word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0000 0000 This command allows the user to write a value into the position record control word Note that the leading zeros may be omitted The position record control word allows various components of the system to be enabled and disabled as required The position record control word bit functions are described below Bit set Bit cleared Record channel 1 position Do not record channel 1 position Record channel 2 position Do not record channel 2 position Record channel 3 position Do not record channel 3 position Record channel 4 position Do not record channel 4 position Record channel 5 position Do not record channel 5 position Record channel 6 position Do not record channel 6 position Record channel 7 position Do not record channel 7 position Record channel 8 position Do not record channel 8 position Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Enter playback position mode This command is used to enter the mode for describing position continuously from numeric variables starting with variable and optionally finishing with 2 If 2 is not entered then playback carries
114. Page 127 Memory card Operatiors pera eee beet Page 28 Memory space seseee nn Page 55 Messages BOL iik rem ee dee An e race kt cap n Page 144 SALUS e oe omoes quus C ML tieu Page 143 ME any rock sae Aeon u ated do I SER EL E tls Page 55 Wi b a at re rd en Jo n Z bs Page 86 MD koa od a BAe Pte ats Pacers Za n ad on de ty op ose Page 89 Mix stepper and closed loop servo control Page 107 MAK eer cyst A baie moar EET Page 2 Page 86 MM SSS P he Stab te Ate ad O E ee Page 39 Page 40 MIN ree a Rete En eee be s Page 141 MO Ue k dod ty o rne Pe ed e RIEN E E Page 32 Mode echo display essen Page 115 AAA d aaa la va ssh amo eire Page 29 motor Offic vo toro he Er dt ii Page 32 multi axis velocity control Page 40 normal 2 vee ta see ort wb ete er aoe are Page 34 playback position lt Page 35 position control llle esses Page 32 Privileged 0000 Page 33 Record position lt 4444 Page 36 tension control eee o Page 34 transparent communication Page 34 velocity control lt Page 40 Mode variables iniiis ofa elated cased ad ae beds bee 600 Page 137 Modem Setup i i Sele we beled ae EE Page 128 Monitor output function Sas pear wee a Medd RES Page 79 GUN at Antes Tende irse oce een y Page 80 OffSel ii c e ep a pare Page 80 Motor off mode 234 ces Idm a ee ees Page 32
115. Page 143 Status A Error Messages User Manual Revision 16 1 73 2 Error messages This section gives the various error messages produced by the system B Page 144 Binary number reguired The system received a non binary character when it expected a binary number as input Decimal number reguired The system received a non decimal character when it expected a decimal number as input Error in command The system received a command which was not recognised not allowed at this time or had an invalid parameter Failed parameter save or checksum test The parameters and data saved in non volatile memory have not verified correctly Please contact your sales office The previous move command was aborted when the instantaneous position error was greater than the maximum allowed position error set by the SE command Hexadecimal number reguired The system received a non hexadecimal character when it expected a hexadecimal number as input Limit switch detected or position limit exceeded No room The space available for input function strings seguences or profiles is full Out of range The value entered was outside the allowed range for the command Restricted command This command is available only in privileged mode Timeout The last move command was aborted when the system detected a timeout error Line already in use It is not possible to set or clear an output line that has been defined as an error output
116. Revision 16 1 16 channels of general purpose parallel inputs 4 of which may be used for reference inputs Isolated inputs Default to 24v DC with selectable alternative voltages 8 of these inputs can be re defined as outputs 16 channels of general purpose parallel outputs Isolated output Output voltage supplied externally 8 of these outputs can be re defined as inputs Hardware watchdog Programmable logic to be used for i o line logic and address amp chip select decoding Two channels SSI serial absolute position feedback interface Two channels remote resolver absolute position feedback interface Analogue input board PC3 137 This is a daughter board to the PC3 153 backplane board Its functions include 8 channels A to D input 10 bits resolution All channels are isolated against high voltage Bipolar 10 10v or unipolar 0 10v selectable L E D display board PC3 140 This consists of 5 seven segment L E D displays 14 2mm It is connected to the serial driver display board by means of a ribbon cable L E D display board PC3 141 This consists of 8 seven segment L E D displays 14 2mm It is connected to the serial driver display board by means of a ribbon cable Counter timer board TIO 33 This is used for controlling open loop stepper drives It is connected by means of a DIN 41612 connector at the rear of the board G 64 bus 2 slot PC3 152 This is used for a connecting host control PC3 100 to a s
117. Set snapshot goal value Set maximum Reference correction Set deferred adJustment position restricted scaled Set snapshot reference correction velocity Input output commands IY nt MID Mina Complement output line nn Clear Output line s Clear node n Define input line to be latched restricted Enable Input s Enable input line latch Enable keypad input Flash output line n Set flash rate for output lines If Input true do command line If Output true do command line If node true do command line Mask input line latch Mask Input s Copyright 2003 Pan Controls Limited Summary restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted Page 155 Summary MK OC Rl RIL nn RO al Mask keypad input Output Code value Read Input line s Read input line latch Read Output line state s Read node state s Set Output line s Set node Wait for keypad entry Configuration commands AA a nn nn Alan AL AW BO DBan DE DH Ete DI nn DL n DQ DR Page 156 Analogue input averaging term Set analogue input gain constant restricted Read analogue input Set analogue input to link t
118. This condition is called reference correction overrun and is indicated by the RO error message This error may be set to give either a user error or a motor error by setting bit 2 of EW the error word If this error occurs it indicates either that the machine is not performing correctly and is giving excessive reference errors or that the value of VP is too small and should be increased Copyright 2003 Pan Controls Limited Page 95 Command Reference Configuration Commands User Manual Revision 16 1 7 2 14 DR n DZ D n EC RX Page 96 Configuration commands Define reference input restricted Range 1 to 4 This command defines the sense of the position reference input for the current motor channel The system looks for the specified change in the reference input when the IN initialise position command is executed and when the automatic reference facilities are enabled by the RW command See the Reference Commands section 7 2 13 page 90 for more details on the reference facilities and commands This command is restricted and is only available in privileged mode Example DR 2 This specifies that the reference position is detected by a transition on input line no 1 for the current channel Define zero marker input on off restricted Range 0 to 2 This command defines whether the encoder zero marker input is on or off The sense of the sense of this input is fixed and cannot be programmed I
119. This unlinks the external analogue input from motions which have been set up using the AL and AW commands Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Configuration Commands AW Set analogue input link word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0 This command allows the user to write a value into the global analogue input link word Note that the leading zeros may be omitted The analogue input word defines which axes will be linked to analogue input channel 1 after an AL analogue link command axis move operation The analogue input link word bit functions are described below Bit set Bit cleared bit O Link ch 1 to analogue i p ch1 No link to analogue channel 1 1 Link ch 2 to analogue i p ch1 No link to analogue channel 1 2 Link ch 3 to analogue i p ch1 No link to analogue channel 1 3 Link ch 4 to analogue i p ch1 No link to analogue channel 1 4 Link ch 5 to analogue i p ch1 No link to analogue channel 1 5 Link ch 6 to analogue i p ch1 No link to analogue channel 1 6 Link ch 7 to analogue i p ch1 No link to analogue channel 1 7 Link ch 8 to analogue i p ch1 No link to analogue channel 1 8 Link ch 1 to analogue i p ch2 No link to analogue channel 2 9 Link ch 2 to analogue i p ch2 No link to analogue channel 2 10 Link ch 3 to analogue i p ch2 No link to analogue channel 2 11 Link ch 4 to analogue i p ch2 No link to analogue channel 2 12 Link ch 5 to analogue
120. VZ bAX96154 Z If variable b is 2 A is 15 and variable X is 3 then variable 96154 will be assigned the value 6 and Z will be assigned the value 0 Add a variable 2 gt ya This commands adds to and assigns the result to 3 Example VA XTO If variable X is 16 and variable T is 5 then variable O will be assigned the value 21 Square root of variable 1 gt y This command takes the square root of variable and assigns the result to The remainder is assigned to y If is omitted then is assigned the rounded square root Example VR EDF If variable E is 18 then variable D will be assigned the value 4 and variable F will be assigned the value 2 Example VR ab If variable a is 21 then variable b will be assigned the value 5 Copyright 2003 Pan Controls Limited Page 131 Command Reference Variable Commands User Manual Revision 16 1 VS iveva AV ivo Subtract a variable 2 gt y This command subtracts from and assigns the result to 3 Example V8 HBZ If variable H is 27 and variable B is 8 then variable Z will be assigned the value 19 Absolute value of variable ABS gt This command takes the absolute value of variable and assigns the result to Example AV B 220 If variable B is 357 then variable 96220 will be assigned the value 357 Example AV ZJ If variable Z is 24 then variable J will be assign
121. able has been entered in this way the numeric variables can be used for other purposes The correction table is accessed by means of the table number assigned by the user when it is entered Normally the bounds would define the correction range and typically a machine would have cyclic imperfections the cycle being defined by the bounds When this is not the case a table can be created to go over a bounds by setting bit 14 of the control word for the current channel In this case the position within a table is calculated by adding the current demand to the bounds x bounds counter plus the EZ zero offset value for the current channel Note that the bounds counter needs to be zeroed at a known position for this mode to work correctly List Offset correction table Range 1 to 255 This command is used to enter offset correction tables into the system The system responds with a O prompt for the table entries Each pair of entries in the table is the nominal position and the signed offset from that position Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Profiles XO F Execute offset correction table Range 1 to 255 This command tells the system to execute an offset correction table number It should be noted that this is a local command and several motor channels can individually execute the same global correction table The optional F suffix allows the correction table to be
122. age 111 variable equal to time counter Page 113 Page 134 variable greater than Page 110 113 Page 133 variables equal Page 112 Page 133 variables not equal Page 112 Page 133 Configuration of inputs and outputs 444 Page 96 Connections serial port 2 Page 161 Constant velocity move lt Page 40 Continuous input amp output display Page 121 Continuous display 2 0 Page 121 LCD VFD display Page 117 Page 135 Continuous display mode esses Page 116 Page 117 Control L E D display brightness Page 123 Control algorithM 4e iita kee oak n mnn Page 75 Control word boot options 0 eee eee ee Page 27 global rss eRe k P o ee Page 22 local pace 236 OE Page 76 Correct offset o ooooooooooooo Page 27 Page 43 Page 44 Correction adjustment limit lt lt Page 92 compile table ooooooooo Page 32 set lower bound for link Page 30 set upper bound for link Page 31 set value for linking o o o o Page 31 snapshot adjustment limit Page 94 stored offset table Page 66 velocity 2 Page 93 Page 95 Cosine error limit for calculation Page 22 Page 190 User Manual Revision 16 1 input
123. age 115 Position snapshot inputs eft GU nodu UR da ibe Sed SCR nek SERO oh Page 100 Position trigger outputs ekk Page 105 Position variables lt Page 138 Positive position numbers o Page 91 RN RS Page 128 DE reddidi EE E E n Page 94 Print help display sess Page 19 Page 122 Printer send character string Page 128 Priority serial port 2 eee eee ee Page 26 Privileged mode 2 Page 17 Page 33 Profile absol te 3 4 eee ds Page 62 Page 120 begin oeo Sisi Leesan m RR dee Page 63 commands Dra ata Dom leone le hoes eee Page 62 ACUSE Page 65 execute simultaneous ooooooooo Page 65 JIST zes ee ca ee A et K eL SAR a Page 64 MOVE du scat edt up hon OS dat ud eal eo Page 65 relativo o ese abeo Page 62 Page 120 TUN rsen Ra aa etre Mei epe de eR ed Page 65 run simultaneous eee Page 65 NA ase erre pre ene dre os Page 66 Programme example 2246 e5 5 BAD hee Page 169 Prompt GO za ve dy al d Rs achete A koze LS e PERRA Page 144 Stallone uus Page 143 Page 195 Index Proportional gain 2 2 44 ee Page 77 analogue input rnn Page 97 PS taz alt se Son aee eee ale dau A RUN HU ee Pon oes atten RR RIT t RR SIE Page 100 PR As A xai t d EL AOR VAK Page 115 PU O Lanier VO acne A Laus O AK ob a Page 66 PW ka soit os ahead wate s Page 33 Qs dust ar e do ule ac Aloe el Day A Page 42
124. al purpose parallel outputs Isolated output Output voltage supplied externally 4 asynchronous serial ports TTL signals to daughter board Synchronous serial 8 bit data bus chip select connections to host control board 3 1 3 Slave control board PC3 110 Revision C This provides feedback position control for up to 3 closed loop servo axes and up to 4 stepper axes It is a slave to the central control board and uses the central control board s microprocessor Its functions include vi 4 channels D to A output 12 bits resolution All channels are be isolated against high voltage Bipolar 10 10v or unipolar 0 10v selectable Hardware watchdog 3 channels Quadrature 8 ref input Isolated inputs with differential signals from 0 to 24 volts Up to 32 channels of general purpose parallel inputs 4 of which may be used for reference inputs Isolated inputs Default to 24v DC with selectable alternative voltages Up to 16 channels of general purpose parallel outputs Isolated output Output voltage supplied externally Synchronous serial 8 bit data bus chip select connections to host control board 3 1 4 Operator interface board or single axis control board PC3 120 This is a microprocessor driven circuit board based on a Motorola 68HC11 microprocessor It communicates with the host control board by an asynchronous serial port Its functions include i Up to 2 channels D to A output 12 bits resolution Bipolar 10 1
125. alled in this way are as follows Exceeding maximum position error Exceeding maximum timeout Detection of a limit switch input Motor position outside position limits QC OG SS a TSN Any optional errors enabled by setting bits in the error word EW also cause the error output signal to switch More details of the error conditions and commands to set them up are given in section 7 2 10 page 71 This command is restricted and is only available in privileged mode If bit 1 of the global error word EG is set the line is set to the specified state when the system detects any error condition and is cleared on receiving the next valid command Example DE 4 This sets up an active high error output signal on output line 4 When an error condition is detected output line 4 is set to a logic high Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Configuration Commands PO OX Define position trigger output restricted Range 1 to 16xn where n No of control boards This command defines the specified output line as a position trigger output The PO command must be followed by two position values These define the range of positions within which the output line goes to the state specified by the sign in the command A line which has been defined as a position trigger output may be returned to normal operation by entering this command without the sign This command is restricted and may
126. an imaginary node Nodes can only be set and cleared using logic equations The current state is printed as a 0 or 1 on the display A 0 represents a logic low and a 1 represents a logic high If no node number is given in the command the system displays the current state of all nodes If node true do command line Range 1 to 32 This command allows the programmer to specify that a command or command line is conditional on the current state of an imaginary node Nodes can only be set and cleared using logic equations If the node specified in the IY command is in the specified state the condition is true then the remainder of the command line is executed If the node is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Logic commands SY n Set node Range 1 to 32 This command sets up the specified node to a logic high If no node number is set then all available nodes are set to a logic high Example SY 15 This sets up node 15 to a logic high CY mn Clear node Range 1 to 32 This command clears the specified node to a logic low If no node number is set then all available node
127. and generates a parity bit for outgoing data Editor name This item is used to set the editor that you wish to use to edit the control system command files By default it is set to ed 11 8 Automatic baud rate configuration PANterm has the facility to set its baud rate automatically to that of the controller to which it is connected Having established the baud rate of the controller PANterm sets the baud rate of the PC to match and updates the PANterm configuration file accordingly This feature is invoked by typing Alt B Copyright 2003 Pan Controls Limited Page 167 PANTERM communications programme User Manual Revision 16 1 11 9 Alt B Alt C Alt D Alt E Alt F Alt H Alt L Alt R Alt S Alt T Alt U Alt X Page 168 PANTERM command summary Baud rate set Sets PANTERM to the baud rate of the controller automatically Configure Allows configuration PANTERM Dos Starts an MS DOS shell Editor Temporarily leaves terminal mode and loads your editor for editing control system command files Faster Increases the speed at which command files are sent to the control system Help Display a list of possible commands and other help information on screen Load Starts loading of a control system command file When your file has been loaded the program will revert to the terminal mode Record Allows recording of control system commands to a file You will continue to record all commands until
128. and inside the limit defined by the SR command the position is corrected by this reference error If the reference error is greater than the maximum limit the action taken depends on bit 6 of RW If it is clear then the position is not corrected the out of limits error reference value is discarded and the reference is ignored completely lf it is set the position is corrected by an amount equal to the maximum correction limit If required the system may be programmed to generate a motor error when the reference error is outside this limit This facility is enabled by setting bit 1 of EW the error options word When this is set a reference error greater than the reference set by SR gives a RL reference limit error message and the channel goes to motor off Note that the reference error and the out of limits error are only reported if RW bit 6 is set to 1 to enable correction by up to the defined limit If RW bit 6 is set to 0 then reference errors outside this maximum limit are discarded and ignored completely and no error is reported Set reference offset restricted Range 4 000 000 4 0E6 Default 0 This command sets the offset for the reference position of the current motor channel It defines the absolute position for the reference input signal Example CH1 RF500 This sets the reference offset on channel 1 to 500 counts This means that the position where the reference input signal is seen is defined as absolute posit
129. and to allow file transfer The personal computer must have a serial port COM1 COM2 COM3 or COM4 It is suggested that a batch file be set up to enable the user to enter the programme by entering a single name e g control This will start the PANTERM programme and prompt the user to press a key to start terminal emulation If the Pan controller is connected to the personal computer and switched on then any keys which are pressed on the personal computer will be echoed back to the screen If characters are not echoed then there is something wrong with communications The leads should be checked Also the PANTERM configuration can be modified by pressing lt ALT gt C A sample screen might appear as follows Configuration Communications Port 1 4 1 Baud Rate 9600 Serial mode RS232 422 or 485 232 File loading delay milliseconds 0 Communication mode Transparent or Checksum C Software or Hardware handshaking H Colour or Mono display C Parity None or Even E Editor name ed In order to modify a source programme it is necessary to access the editor by pressing ALT E The user is then prompted to enter a file name e g ICI6 1 The editor then enables the user to move around the programme using the cursor keys and the lt Page Down gt 8 lt Page Up gt keys Modifications can be made until the user is satisfied The user can then leave the editor by pressing lt esc gt followed by E to Exit and save
130. aneously displayed using the A B C or D suffixes Example UR50 VOA33 This will continuously send the measured position from channel 1 to the display at an update rate of once every 50 ticks Copyright O 2003 Pan Controls Limited Page 135 Command Reference Variable Commands User Manual Revision 16 1 UR XDA D XFA D XMA D Page 136 Set update rate ticks for continuous variable display Range 0 to 255 Default 128 This the update rate in system ticks for the VO command This is the rate at which the VO display is updated e g If a value if 2 is set the display will be updated every 2 ticks Set display division factor Range 0 to 32 Default 0 This command sets the division factor for the VO display The actual data is divided by 2 in conjunction with being multiplied by the XM parameter The largest division factor is 2 65536 Example XDB 5 This sets the VOB display division factor to 2 32 Set display offset value Range 2 147 483 647 to 2 147 483 647 Default 0 This command sets the offset value for the VO display The actual data is added to the XF parameter and then divided by 2 two to the power of the XD parameter in conjunction with being multiplied by the XM parameter Example XFC 3500 This sets the VOC display offset value to 3500 Set display multiplication factor Range 1 to 2 147 483 647 Default 1 This command sets the multiplication factor for the VO
131. ard Auxiliary port 2 is a 9 pin female RS 232 or RS422 socket on the left hand side of the motherboard at the bottom Auxiliary port 3 is a 9 pin female RS 232 or RS422 socket on the left hand side of the motherboard one up from the bottom Copyright 2003 Pan Controls Limited Page 119 Command Reference Display Commands User Manual Revision 16 1 DW Display options word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0010 0010 This command allows the user to set various display configuration options Note that the leading zeros may be omitted The display option word bit functions are described below Bit set Bit cleared bit O 40 column display 80 column display 1 PANTERM terminal Standard terminal 2 List pause on List pause off 3 Padslines to 16 chars Prints lt CR gt lt LF gt after each line 4 Relative profiles Absolute profiles 5 Verbose error messages One or two char error messages 6 Hexadecimal input amp output Decimal input amp output 7 Debug display Normal display 8 Reserved for future expansion 9 Conditional tests in wait state Conditional tests immediate execution 10 Output to serial ports for SN No output to serial ports for SN 11 Output to LED displays for SN No output to LED displays for SN 12 Reserved for future expansion 13 Always output required data Normal operation 14 Reserved for future expansion 15 No characters sent to terminal Characters
132. ater than the external counter then do the rest of the command line This command executes the remainder of the current command line if the variable is greater than the external counter Example XG B MA500 If variable B is 23 and the external counter is 400 the system moves to absolute position 500 If variable is equal to the external counter then do the rest of the command line This command executes the remainder of the current command line if the variable is equal to the external counter Example XE A DT If variable A is 400 and the external counter is 400 the current time is displayed If network acknowledge received do command line This command allows the programmer to specify that a command or command line is conditional whether an acknowledge has been received from the serial bus as a result of a recent command on the bus If the acknowledge signal has been received then the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Example DP IA MR20000 CO5 This displays the current position and if an acknowledge signal has been received as a result of a command sent on the serial bus the system m
133. ay wish to abort the load and return to the terminal mode Press Alt T terminal if you wish to do this Pressing Control C which stops many programs will not affect PANterm this gets sent straight to the control system You might have aborted because you spotted an error in your command file If so you will want to edit your file PANterm allows you to type Alt E which will start up your editor without leaving PANterm provided that PANterm has been told which editor to use in the configuration section You may use your editor as normal On exiting your editor you will return immediately to PANterm in its terminal mode By leaving PANterm in your PC s memory in this way restarting PANterm is considerably speeded up Copyright 2003 Pan Controls Limited Page 165 PANTERM communications programme User Manual Revision 16 1 11 6 Loading system programme files The controller system programme can be changed by using the UP command from the boot programme A system programme in Motorola S record format must have bee prepared in advance and this can be uploaded using the Alt U option Otherwise this option is similar in operation to the Alt L load file option 11 7 Configuring PANTERM PANterm will generally be configured when you receive it This facility allows you to set up differences reguired for your system once and then to use that version in future without further difficulty To reconfigure PANterm type Alt C when you are in termina
134. can da dod o ea chee ata ee Page 141 Arc cosine function Sit hae Aceh MTM Te o Sear Ma hele Atel sts Page 132 Arc sine function Oe RS aen Eust di red mudo Puce Cedo Page 132 Arc tangent function ime uu n n tn nios Du reed oUm eres ge Page 132 Archive main programme code Page 18 Page 24 AS ulis nux k Rok lk kika oni ad MUR EEMS Page 56 AU 1 rex esr hale ds tree rem UEM AMA Page 98 Autostart sequence lt 4 lt lt 44444444e Page 56 after reset 4 4 Page 22 Page 56 Auxiliary output word eee Page 121 PM C II AAT ee Ie dA Oa th OP gal Do Page 132 Ll qe In Page 99 Backlash compensation lt Page 49 Backup main programme code Page 18 Page 24 Ba diiate xu scing cepe aeneo Eus Page 18 Page 122 Page 148 OSOL c a Lets Ants Re eth Page 122 BBe crn poda daa UE Page 46 BO tbl od zem Les does unb Anat eA e eau A Page 49 BBA dace ahaa a ted lat Uh o pe ah cued Page 18 Page 122 BEI eme arl aT mI nant Murder Page 125 Begin profile J 2 2 zuaedrctr Een en Page 63 SOQUENCO ensi Ste te oe ee goa Page 51 BET kt sady tonc dE ue mee Caes ette Page 23 Binary record user programme and data Page 23 Binary upload Copyright 2003 Pan Controls Limited Index user programme and data Page 23 Binary word analogue input link o Page 99 error Options lt c eee eee Page 73 error option
135. cant Aussie sett oa tl Sato Rei A e MA ee Page 23 BVA MS cen Hes A LAU MP LM high MC Mer foe test Pus Page 20 BW esses etes ved nc eo ken hire ed arts d rid m Page 27 GA ects eg seg e dete de ET E ES TEES Page 25 Camera commands eese Page 25 Gard SMA d e oe Bt Pon iude Page 28 Cartesial transform from Polar Page 41 qup TUE MY Page 124 UD ere aded tbe uf ael La oD bU ALLE by Page 117 CE cederent n dde aia en Page 53 Centre for circular MOVE lt Page 41 bb ld Si sh ce uo ese cpa a Es oti oa Snagit Page 20 Change motor channel variable Page 20 Change motor channel lt cee eee eee eee Page 20 Channel add parameter for oo Page 20 multiple setting of parameters Page 20 Character delay auxiliary serial port o o o Page 124 terminal port 2 Page 117 Character set eee Page 15 Character string send to LCD VFD display Page 126 send to printer lt Page 128 Characteristics electrical ita Soe erue casas Page 150 GHB B a er ia ete Rasa lo recs FT deser S Page 2 Check stored data checksum test 0000 Page 21 Checksum terminal transfer mode Page 26 Page 189 Index CHV zoo oko eh pob Pp oo ele ere B tn Page 2 Gl soby de tered Shes ee edie py epimd sedg v k sd ke ene Page 34 Circular interpolation definition 3432 iren EH ie ana a Page
136. ce input function to get an accurate measurement of position on an input signal A DQ input line may be returned to normal operation by entering this command without the sign This command is restricted and is only available in privileged mode Example DQ 3 This defines that the multi axis stop is performed on a high to low transition on input line 3 Copyright 2003 Pan Controls Limited Page 101 Command Reference Configuration Commands User Manual Revision 16 1 DH E o DX nt nn Page 102 Define inching input restricted Range 1 to 16xn where nzNo of control boards This command defines a specified input line to provide an inching move as defined by the IL inch distance parameter The first sign specifies the active state of the input such that the system executes the function when the input changes to the specified state The second sign defines the direction of motion with reference to the inch distance S1 specifies a starting sequence to precede the inch move S2 specifies a sequence which is executed when the inch move has completed If either or both the starting and finishing sequence are not required a null sequence 0 should be entered If the input line is held in an active state for longer than the IP pause time then the axis will move continuously until the button is released Example DH 8 5 7 This defines Input line 8 as an active low inch switch input The system will execute sequence 5 follo
137. cee eee k Page 108 termination lt Page 53 Formats Nutneric oae vetere esie eee Page 15 Parameter ied mex eren MIRI Page 15 FR vate e ERE ERR E RE ERE RYE Page 82 Frequency of sampling data logging cece eee eee Page 141 FB sy Aib aie ot Bono lead tos lew nes s adeste e Page 60 Function input enable osx eter eee dd tested ius Aenea Page 86 MASK eoe ek rau cake donee ing err 288 Page 86 ch WR RA Page 38 Gain analogue input Page 97 differential 3 40 eke ee ya S ees Page 78 Integral 55x inier eh Tee sl Page 77 monitor output enn Page 80 proportional 2 Page 77 trap using sequence 00 Page 55 velocity feed forward esses Page 78 velocity feedback 4 Page 78 Gain commands sss eee Page 75 Gain factors divide by 256 Page 26 Page 76 GB exes oa biete iue bep ee date tbe SE ches Page 46 GG ia A OA Page 41 e Ma ee Cm Page 55 Get current parameter value lt Page 16 c Lc Page 32 C ui p RE E ls Page 56 Page 109 Global control word Page 22 Page 26 Motor off toscas hee ede n eR LEAL Page 32 jo RR MOT Page 38 Global abort 5 viU REM eoe m Page 38 Global position counters display e eee ava cee mE os Page 114 ZA ie ai tl io tio de Page 49 Goto sequence line number Page 56 Page 109 cA Page 41 GIF tau Basta alee toda r
138. cified position relative to the last position used in a command Example VC WR5000 SV1000 WR2000 ST The system starts moving at constant velocity It moves at the previously specified system velocity until it reaches 5000 units from the start position At this point the velocity is changed to 1000 units per second This velocity is held for the next 2000 units and then the motor decelerates to a stop Wait for reference input This command sets the system into the wait state until a reference input is seen It may be useful in sequences to allow the reference action to be changed after detecting the first reference since the system was started Example RW 10100001 WF RW1 SOS This command string sets up the initial RW such that the reference input behaves as a fast ZC input It then waits for the first reference input to be detected and changes RW to the normal auto correction setting Finally an output line is set to indicate that the unit has initialised and is ready Wait for bound position This command tells the system to wait until the motor passes the next bound position positive or negative before continuing with the command string Wait for bound overflow count Range 2 000 000 000 This command tells the system to wait until it the bound overflow counter increments or decrements by the specified count before continuing with the command string It may be used for example to wait for a given number o
139. complete copy of the code down the serial port in the form of Motorola SO 2 and 8 records This can be stored on the hard disk of a personal computer using the PANTERM programme One might want to make a copy of the existing main programme before up grading to a new version Page 18 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Boot Programme EN HE UP XF VN Erase non volatile memory This command erases all the non volatile memory areas with the exception of the boot code itself It should be used with extreme caution since the existing main programme and its associated stored parameters will both be erased WARNING this command destroys the existing low level code It is important that the user is aware of the implications of using this command Print help display This command prints a complete list of all commands on the system in alphabetical order a screenful at a time It pauses between each page until a character is received Help on a single command is displayed if the command mnemonic followed by is entered Example System User Comments B gt UP lt CR gt Request help on UP UP Upload new code Single line help version Upload new main programme low level code This command allows the user to upgrade the currently installed main programme in the form of Motorola SO 2 and 8 records A file must have been created in advance and placed in the relevant dir
140. ct on the system Set velocity feedback gain constant restricted Range 0 to 65535 Default 0 This command sets the velocity feedback gain constant The system uses the measured position to calculate the motor velocity and this velocity scaled by KV is used in the controller transfer function Note that differential control uses the rate of change of error while velocity feedback uses the rate of change of position Adding velocity feedback is similar to the effect of a tachogenerator connected externally to the motor drive in that it adds damping to the system This allows higher values of proportional gain to be used without giving excessive overshoot or oscillation thus improving the speed of response of the system Set velocity feed forward gain constant restricted Range 0 to 65535 Default 0 This command allows the user to set the gain for the velocity feed forward term in the controller transfer function It uses the demand velocity as opposed to the measured velocity and is particularly useful when following a set position or velocity profile If a system is using proportional gain only then there will be a steady position error when running at constant velocity known as velocity lag The feed forward gain has the effect of reducing the velocity lag by adding a component dependent on the demand velocity into the demand signal output The velocity lag error may be easily reduced to zero or even made negative by increasing
141. cuted automatically to reset the system to its default state Set Hard Reset sequence or initiate Hard Reset Range 0 to 255 Default 0 This command locks the software watchdog in order to force a system reset after about 8 seconds If a parameter is entered an auto start sequence for startup after software watchdog reset can be entered This could be the same as the AS auto start sequence but could be some alternative sequence to ensure a safe re start List all parameters This command lists all the parameters with the exception of the HW hardware setup word and DW display word input and output line definitions sequences and profiles to the serial port in a suitable format for entering parameters etc at a later date If the system is connected to an MS DOS based personal computer running the PANTERM programme the parameters can be recorded on disk for backup purposes and loaded into another control system to duplicate parameter setting from one machine Note that bits 8 and 9 of the GW page 26 global control word can be used to select whether the LA command outputs I O commands and sequences profiles Limit for cosine interpolation error Range 0 to 255 Default 0 This command sets a limit in ADC units for the error in cosine calculation The sequence of the calculation is that analogue channel 1 is sampled first Two angular positions are calculated and two target voltages are calculated and compared with the measured v
142. d Page 173 Appendix sample programme User Manual Revision 16 1 Ivy3 Load y with run value MK EKK MI1 MI2 MI3 CH2 ST FD15 FMVG LM3 CH1 ST FD15 FMVG LM3 Mask F keys amp register inputs Set up starting link Setup starting link MD Clear display MD1 PLAIN MODE MD2 Please note that MD3 Registration is MD4 DISABLED FE KKK KKK e e e e he K KKK ke K e e e ke K KKK K K e e he AK KK KK K e e he Kec K ke sk ke K K K K he Kec kc kc ke ke ke e e he kc Kc kc ke ke ke e e he c Ke e e e x EDIT MENU i FE KKK KKK e e e e he KK KKK e e e e ke ke Sk sk K K ee e he hec kc ke sk ke K e e he Kec Kc KKK e e e e he hec kc KKK e e e he Kec Kc kc ke ke ke e e he c A e kkk ES40 IF 43 b XS20 XT EK MKA MKB MKC MKD MKE MKK Ivy1 MD MD1 EDIT MODE i MD2 Enter Repeat length MD3 1700 4700 inch 100 GL14 MD1 EDIT MODE I MD2 Length out of range MD3 1700 4700 inch 100 GL14 MD3 xx00 xx25 xx50 xx75 VK4 951 WK IVt1700 1Gt 1 GL9 IVt4700 1G 1 t GL9 IVt25 VD 1 ttz IFzb GL13 VM 1 LF VDF1Fz VDFj 9 z VD951 jAo IVt228571 VM 1 tW VDW1Wz CH1 SBVF CH2 SBVF CH3 SBVW MD2 MD3 MD4 MD3 Saving settings SPV XS30 Edit sequence F1 1If press is running go back to menu 2 Mask F keys 3 Load y with run value 8 Go to line 13 9 10 Wrong length input message 11 12 Go to line 13 13 Wrong resolution entered 1 4 14 15 16 If length out of rang
143. d Scien te deus te E oi oM ask aw p Le Page 88 RK get cad aot ee oe IT Page 87 Fils ane apt E aa Me E sac Mo ona Ala E Page 93 RM seo todo cache oa IRR ted O Tce Po Page 36 SEDED A O odd Page 1 RMG chee eel E es Page 37 PRP hc us use m t EUM UAR and Page 37 RODA S Late Cet c Aot TaN o E Md once Page 84 A A dera Caec ve E REV Page 52 RR eea da tae Ane eile Se ke and kee nee Page 37 na TCR NEIN Page 22 RS 232 Connections 2 eee ye ee es Page 161 RS 232 serial port 0 eee Page 148 RS 422 serial port 6 eee ee Page 148 PRT ES P du deudas iom cda De Page 72 HV ge ea rele ch cel Es Avalon teh e decur MI stove DE M ua Page 93 RW sky o V a RETE ES Page 2 Page 90 nr dp rua Krone Page 96 R GEAR RPS E dtt om RP ih gad phate ees Page 60 Page 84 S records file format 0 cece eee eee eee Page 19 S MENSEM Page 46 Safety features i a kare ede ee e e x Rh n dn Page 146 Save variables Page 21 Page 129 Page 130 Save parameters and setup lt lt lt 4444444 Page 21 SButo die Ia e P VM V d A MO E a ERN Page 45 SO oed od dot sat gee cis ae udin te ice erg S da del cers Uaioe lea abs Page 47 SD CPI Page 47 SE dade Biter oed andas Hear heb oe teed aah rm Mac eb D ae Page 71 Select channel variable Page 20 display mode Page 116 Page 117 link Mode c cece eee eee Page 29 motor channel 00000 Page 20 motor off mode ese
144. d checksum differs from saved 19 Cannot calculate checksum Move errors 20 Move target outside limits 21 Failed to reach final position window 22 Moving away from specified wait position WR Sequence profile errors 23 Undefined sequence 24 Undefined profile 25 Profile step data too large 26 Cannot enter a sequence while running any sequence 27 Cannot enter profile while it is in use 28 Cannot execute command unless in sequence 29 Cannot goto sequence line no I O line errors 30 Line in use busy 31 Line not yet defined 32 Input line too noisy Il 33 2nd posn must be 1st PO 34 No output group defined OC 35 Not an output DSC 2 RO 36 Cannot use this input while initialising DSC 2 Numeric errors 37 Binary no expected 38 Decimal no expected 39 Hex no expected User Manual Revision 16 1 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 40 Numeric overflow Other errors Password incorrect No commands before No commands after Only 1 repeat per line Cannot execute string while busy Command decode error Variable name out of range Time out for auxiliary serial port Undefined bounds table Already data logging Logging freguency of zero Timeout waiting for new code Illegal circle parameters System variable write only System variable read only Reading default params LK 29 Calculated checksum for variables differs from saved Already doing VK Pos gai
145. d state If the command is used in the form FC lt CR gt then the current value of counter is output A counter set up and its association with inputs and outputs can be reset by using the form FC R lt CR gt The current setup for a counter can be displayed using FC D lt CR gt Copyright O 2003 Pan Controls Limited Page 59 Command Reference Logic commands User Manual Revision 16 1 FTO Fill logic timer value LJ RY nn Page 60 This command is used to enable timer number 1 32 to be set to a value 1 65535 This happens when Input number n3 changes to a or state The timer will then be decremented every 101 5ms and on completion output 4 will go to the defined state If the command is used in the form FT CR then the current value of timer is output A timer set up and its association with inputs and outputs can be reset by using the form FT R lt CR gt The current setup for a counter can be displayed using FC D lt CR gt List logic definition Range 1 to 255 This command allows the user to examine a logic definition that has previously been entered into the system Example LJ 3 This will list logic definition 3 on the display or terminal The output for the definition given above would look like this 1 gt LJ 3 CR User input to list logic definition L3 1 H I2 14 N2 L3 2 N2 16 O2 1 Read node state s Range 1 to 32 This command reads the current state of
146. dback based servo drives can be mixed at will 3 1 Circuit boards There are several different circuit boards which have been developed together with their associated software These consist of 3 1 1 Host control board PC3 100 Revision F This provides feedback position control for up to 2 axes It is based on the Motorola MC68HC16Z1 microprocessor Its functions include i Up to 4 channels D to A output 12 bits resolution All channels are isolated against high voltage Bipolar 10 10v output ii 8 channels A to D input 10 bits resolution These channels are not isolated and must be in the range 0 5v iii 2 channels Quadrature 8 ref input Isolated RS 422 inputs differential signals iv 16 channels of general purpose parallel inputs 4 of which may be used for reference inputs Isolated inputs Default to 24v DC with selectable alternative voltages 8 of these inputs can be re defined as outputs v 16 channels of general purpose parallel outputs Isolated output Output voltage supplied externally 8 of these outputs can be re defined as inputs vi 4 asynchronous serial ports TTL signals to daughter board One of these is also taken to an isolated RS 485 422 circuit for use on a proprietary bus or general purpose RS 422 vii Real time clock viii Hardware watchdog ix 1 dedicated Asynchronous RS 232 serial port set up terminal X Memory sockets to allow a mix of SRAM and Flash memory Also serial EEPRO
147. digital inputs It is specified in 1 256 second about 4ms ticks Before an input signal is recognised as valid it must be stable for the number of samples given by the DB command This facility may be used to reduce the effect of noise in a system by reducing the number of false triggers due to noise The suffix K allows the keypad debounce time to be adjusted NOTE The debounce value does not apply to reference inputs These inputs are programmed so as to be detected immediately on a change of state to get the most accurate position information possible Example DB 2 This sets the debounce time to about 8 ms 2 samples Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Seguences 7 2 6 Seguence commands This section describes the seguence facilities They provide comprehensive facilities for defining reviewing and executing complex command seguences Seguence definitions may be entered up to the memory capacity of the system If the system runs out of memory it returns an N no room error message ES Enter sequence Range 1 to 2047 This command is used to enter sequences into the system The system responds with a S prompt for the sequence entries Each entry in the sequence is any valid command line Command sequences on one command line are accepted as one sequence entry Sequence entries may also include commands to execute other sequences and profiles To end the sequence ma
148. display The actual data is multiplied by n in conjunction with being divided by two to the power of the XD parameter Example XMC 9 This sets the VOC display multiplication factor to 9 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Variable Commands 7 2 18 2 System Variables Certain variables are used by the system and can be interrogated at any time They cannot be written to and will incur an error if an attempt is made to write to any of them 7 2 18 2 1 Channel status variables The channel status is allocated to variables 1 through to 8 for motor channels 1 to 8 respectively The variable value indicates the following information about the current motor channel Not moving Accelerating Moving at constant velocity Decelerating to new velocity Decelerating to creep velocity Creeping at constant velocity Waiting to stop DO i p line or ST with parameter Stopping final deceleration Stopped after move OONOGO ROD O 7 2 18 2 2 Channel mode variables The channel mode is allocated to variables 9 through to 16 for motor channels 1 to 8 respectively The variable value contains the following bit values which indicate the following information about the current motor channel wW Constant velocity mode VC Moving MR or MA Executing a profile Executing position mapping Stopping Initialising Inching Motor off MO OONOG AOTD gt Copyright 2003 Pan Con
149. do command line Range 1 to 32 This command allows the programmer to specify that a command or command line is conditional on the current state of an imaginary node If the input line specified in the II command is in the specified state the condition is true then the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Copyright O 2003 Pan Controls Limited Page 85 Command Reference Digital Inputs amp Outputs User Manual Revision 16 1 MI nn El nn MK nn Page 86 Example DP I16 MR20000 502 This displays the current position and if input line no 6 is negative the system moves 20000 counts and sets output line 2 If input line 6 is positive the current position is displayed and the remainder of the line is ignored Mask function input Range 1 to 16xn where n No of control boards or no parameter This command is used to disable the action of defined function inputs or any expanded input group lines It allows several input lines to selectively lock out defined actions depending on the current function activated For example a machine start seguence assigned to a function input may disable itself
150. e Page 40 end 3 beds pra ease EROS ODE o x Page 70 for absolute position Page 68 for bound overflow count Page 69 for bound position lt lt Page 69 for input line lt Page 68 for keypad entry lisse Page 69 for network acknowledge response Page 69 Page 140 for reference input lt Page 69 for relative position ooo o o Page 69 for time ec edente ate pace Y ok shade Page 68 Watchdog timer 0 eee Page 146 WB oo Ao veda Rope t pima iad det ae endo ake Page 69 WG mon yt ee de Nat MORE temo port o te o try eo SA UAR A Page 69 W D rr PR pd tale ite Ra Page 77 WE ket use De Eee S NLIS Page 70 WE fhe ose LUI e E USE eq eue ERREUR Page 69 prn Hp PEDE Page 68 WIDQW z uec ss ME e p UNE Eus Page 45 WIS o esses eee usi lee dli asn tlc book teer den ok nan A Page 69 WM nos ogee ed ee ir vente dae n de n AS RO e TR Page 40 WINS Sada dics eire Balada a herr toate a RE OUR ea Page 69 Page 140 Word analogue input link Page 99 auxiliary output 4 Page 121 boot options lt Page 27 Control 24 casi od d sah ee z ad at Nd Page 76 display options Page 22 Page 120 error options lt Page 73 error options global Page 74 global control Page 22 Page 26 Page 199 Index hardware setup
151. e 142 multi axis stop input Page 42 Page 101 output line group lt lt Page 105 position snapshot input Page 100 position trigger OUtput Page 105 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 reference input sense Page 96 window for position snapshot input Page 100 zero marker input lt Page 96 Definition of circular interpolation Page 42 Delay before multi axis move Page 40 stepper direction oooooooooo Page 77 Delimiter 2 33 ache aces cd nesla ho noh my da bete e en Kan Page 15 Demand outputs eee eee Page 147 Demand position link to external analogue input Page 97 Page 98 unlink from external analogue input Page 98 DE et la Leeds A eee she ey exped sl TA Page 115 DG Aros tet A tee tata PEERS Page 142 DEP tn Page 102 DI o tee z vn eee bk vazb tallow delice sng Printer alce Page 88 Page 101 Differential gain lt Page 78 Digital inputs and outputs lt Page 147 p E Page 88 Display actual position 4 444 Page 114 actual tension 244 Page 123 bound overflow count 00 Page 114 breakdown of current hardware Page 23 brightness control 0000 Page 26 clock 1 or2MHz Page 27 Page 35 cursor control lt Page 2
152. e K KK KKK K K e e ke REE RR K K K he RE RR RR e K K A K EER RE K K K KK KKK K ke K K kc Kc KKK K ke e e c Kc e e e x RUN SCREEN d FE KKK KKK ke e e e he KK KKK K e e e ke ke KKK K K e e he hec kc ke KK e e e he Ke K KKK e K K K he Kc kc KKK ke e e he Kc Kc kc ke ke e ke e he c A e kkk ES32 Display screen with jog facility F5 IF 43 b XT If press is running go back to last menu IVy 1 CEO Load y with jog value turn off update tick MK EKK MI3 SKK34 Mask F keys 8 register input CH2 DPOu ST Record colour 1 position CH1 DPOv ST Record colour 2 position MD CO7 Clear display 8 set output 7 MD1 JOG MODE a MD2 Use Colour MD3 to jog type rolls MD4 Esc to Quit jog ES34 Quit jog mode sequence IVyO Clear jog mode flag MD Clear display MD1 JOG MODE MD2 Resetting type rolls MD3 Please wait MD4 T CH2 ST MAVu LMS Reset colour 1 type roll CH1 ST MAVv LMS Reset colour 2 type roll EI SO7 SKK20 XS820 Clear output 7 8 go to menu header screen ES36 Display screen with registration F2 IF 43 b XS20 XT If press is running go back to menu MK EKK EKE EI Mask F Keys enable ESC amp F5 jog IVy2 Load y with run value MD Clear display CE200 PL256 Tick sequence per second MD1 PRINT MODE MD2 Print Repeat A o MD3 Press speed n MD4 Actual Repeat X Y ES38 Display screen with registration disabled F4 IF 43 b XS20 XT If press is running go back to menu Copyright O 2003 Pan Controls Limite
153. e MX command to execute an MX command A mixture of relative and absolute moves may be specified by the appropriate bits in the MW word The move distance is entered in user units For circular interpolation the MM value depends on what bit of IW has been set If bit O is set then MM is the destination position If bit 1 is set then MM is the number of degrees for the move it should be set the same for both channels Execute multi axis move The system performs a multi axis move The command operates globally moving all axes defined by the MW word The distances moved are defined by the previously set up MM parameters The start of the moves is synchronized but the finish is determined by the parameters on each channel A mixture of relative and absolute moves may be specified by the appropriate bits in the MW word The move distance is entered in user units Example CH2 MM 3000 CH3 MM500 MW100 0000 0110 MX The motor on channel 2 moves 3000 units from its current position in the negative direction and simultaneously the motor on channel 3 moves to an absolute position 500 Copyright 2003 Pan Controls Limited Page 39 Command Reference Move Commands MW op bit WM nn VO VX Page 40 User Manual Revision 16 1 Set multi axis move word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0 This command allows the user to write a value into the global multi axis move word Note
154. e channel Note that if motors are being mapped to others only the master channel is considered to be moving i e if WS parameters have been set up for motors which are mapping to others the sequence s will be executed immediately This command enables an input line to execute commands which are only legal when a channel has stopped without having to perform involved tests Note that once a WS sequence has been executed the parameter is reset to zero and has to re enabled Example DI3 CH2 ST WS 34 CH1 ES34 MI8 CH2 LM1 The system sets up input line so that when it goes to the negative state it executes stored sequence no 34 after channel has stopped Sequence 34 links the motion of channel 2 to channel 1 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Error Trapping 7 2 10 Error trapping SE Set maximum position error restricted Range 0 to 65535 Default 800 This command sets a maximum position error which is continuously monitored by the system If the position error at any time exceeds this value the system gives a G error message decelerates to a stop and enters the motor off state The system must be returned to the position control mode before any further motion commands are accepted by the system See section 7 2 3 page 29 for details of the MO motor off and PC position control commands The value is defined in user units Example SE 500 This sets the maximum positio
155. e counter is 300 the output line 12 is set If the time counter is greater than then do the rest of the command line This command executes the remainder of the current command line if the variable is greater than the time counter Example TG Z MAO If variable Z is 544 and the time counter is 700 the system moves to absolute position 0 Copyright O 2003 Pan Controls Limited Page 133 Command Reference Variable Commands User Manual Revision 16 1 TE vi MV viveva ZM ya OT TW nn ZT nn Page 134 If variable is equal to the time counter then do the rest of the command line This command executes the remainder of the current command line if the variable is equal to the time counter Example TE a DP If variable a is 352 and the time counter is 352 the current position is displayed Move a block of numeric variables This commands moves a block of type variables from address to 5 Example iva20 ivb150 ivc250 MVabc Move a block of 20 variables from 96150 to 96250 Set a block of numeric variables to zero This commands sets a block of type variables from address to a value of 4 If is omitted then a value of zero is assumed Example ivx20000 ivy9000 ivz35 ZMyxz Set a block of 9000 variables from 9620000 to 9628999 to a value of 35 Output the time counter Prints the current value for the time counter variable Wrap for time counter input Range 1
156. e dot key F1 F2 F3 F4 Left display Centre display Right display F9 F10 F11 F12 F13 F14 F15 F16 08 13 108 46 45 48 49 50 51 115 116 117 118 119 120 121 122 User Manual Revision 16 1 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Appendix keypad codes 12 3 Operator interface mask and seguence parameters Parameter Operator interface Mk2 Operator interface Mk1 16 key Keypad F1 F1 F2 F2 F3 F3 F4 F4 F5 ES NnMUOU gt F8 Left display Centre display Right display ESC ESC Left arrow Right arrow Up arrow Down arrow Secret key Dot key F9 F10 F11 F12 F13 F14 F15 F16 top left second top left third top left fourth top left top right second top right third top right fourth top right N lt X E lt CJOTDTOVOZEZTAC IOnNMOOU gt AAA A L Copyright O 2003 Pan Controls Limited Page 183 Appendix error codes 12 4 Error codes Page 184 0 None General errors 1 7 Unknown command Invalid command entry Command not allowed at this time Cannot change parameter at this time Parameter out of range Restricted command Restricted parameter NOOR OD Reference errors 11 No reference input defined Memory errors 12 No more room in memory for sequences profiles 13 No more room for DI strings 14 Stack overflow Nvm and checksum errors 15 Nvm write timed out 16 Nvm verify failed 17 Data overflowed save space 18 Calculate
157. e ec Page 130 NG dut o dag Goad EE IE SS Me io Page 40 VD sdb id eet Page 131 VEICI aa PEU Sta o oa en ey EE Page 46 Velocity averaging time constant 44 Page 114 Velocity feed forward gain lt lt lt lt Page 78 Velocity feedback gain lt lt lt lt Page 78 Velocity profiles sin soldal os seni Een Page 76 trapezoidal eem e e nee e I Page 76 Velocity variables lt lt lt lt lt lt Page 138 Version high level software Page 24 Version number lt 2 e eee eee ee Page 19 Page 21 MI rk udia we BR ERE E m bad ln snes Page 83 Page 135 Vision system tue ae skot any Ma atl S Ses oo no ola bn Page 25 VK o oo a opona ble a nee Page 53 Page 135 VM tee a Boe dk Absa weed OSEE EPA RELAY Page 131 VIN pat Ano Ah ay it nto jas M2 Ac n sec Men Page 19 Page 21 Page 158 opc Page 117 Page 135 VO factor division osses isena d primisia Page 118 Page 136 multiplication Page 118 Page 136 offset oi Anen redu Page 118 Page 136 MRE ovsa ash o nee p posee dett mov ali Page 95 VR osito due died eR EE a EER GER OR UE n eh Page 131 MO cbe ata Mn et Me is eti tai Mal Page 132 MIT a sah Ooi fit ade De eta dede dre e adu s A Page 114 Mata ee adem br ur weil oa Lm dole tates intus ii Page 40 MZ Eig RES ee LERRA DEOR np n UE REEF AER Page 131 Page 158 WA cst ll gestes ld soared ten c Ue tede uie Page 68 Wait before multi axis mov
158. e eee Page 120 Debugging continuous display mode Page 116 history of commands Page 116 history of Sequences Page 53 Page 116 Decelerated Stop iati CEA E eee teen teen eee Page 38 Deceleration s exe see Ue a ces Page 46 Decimal point data entry eese Page 135 Decimal numbers 000 cece eee eee eee Page 117 Decimal point for L E D display o ooo ooo ooo oo Page 123 Default recover by hardware less Page 21 serial settings oooomoomo Page 161 Default setup sss redie n iann S urei E Se r e a Page 22 manual control ease Page 122 Deferred adjustment position 4 4 444 Page 92 Deferred snapshot adjustment position Page 94 Define arc centre for circular move Page 41 bound overflow output Page 106 error output sense 4 Page 104 expanded input line Page 102 external counter input lt Page 96 inching input Page 102 input line for multi axis stop Page 101 input line function Page 88 Page 101 input line latch function Page 88 input to stop current motor channel Page 103 limit switch input lt Page 99 logging channel o Page 142 logging output line Page 142 logging output sense Pag
159. e ees Page 32 normal mode esee eee eee Page 34 password wi pidea it stale Said pe nrhenfrr e Page 33 playback position mode Page 35 position control mode Page 32 privileged mode o Page 33 Record position lt lt 4444 Page 36 slave board version number Page 20 tension control mode Page 34 transparent communication mode Page 34 velocity control mode Page 40 Send character string to LCD VFD display Page 126 character string to printer Page 128 command on serial bus Page 140 continuous position data to LED Page 30 Page 120 continuous position data to serial port Page 30 Page 120 Page 124 Page 125 network command ooo Page 140 variable to a serial port Page 124 Page 135 variable to LCD VFD display Page 126 Page 127 variable to printer lt 4 4 Page 128 Seguence autostart rica o kde y pda er RETE ER Page 56 autostart after reset Page 22 Page 56 begin lt ees eee teen eee eed ele ees Page 51 commands 0 cece eee eee eee Page 51 executg cte ro opio reU CAL Page 52 execute after current channel has stopped Page 58 Page 70 execute after motion complete Page 54 execute after position gain event Page 55 execute after reference event
160. e g whenever the system is switched on it will have the effect of removing any drift in the analogue strain gauge amplifier which may have arisen with time Camera commands The CA command acts as a prefix to send various commands down the auxiliary RS 232 serial port to a Keyence CV 501 series vision system Camera initialise This initialises the serial port associated with the camera Camera stop This shuts down the serial port associated with the camera Stop camera run mode and enter camera programme mode Enter camera run mode The camera programme number is changed to the number specified by the variable The camera window number is changed to the number specified by the variable The camera s current programme number is read and put in variable The camera s current window number is read and put in variable A trigger signal is sent to the camera The Y and X co ordinate data is placed in variables and v respectively A re output signal is sent to the camera The last Y and X co ordinate data is placed in variables y and respectively The maximum wait time timeout for the camera is read from variable value in system ticks Debug mode on Characters received from camera are echoed to terminal port Debug mode off Copyright O 2003 Pan Controls Limited Page 25 Command Reference Miscellaneous Commands GWoowp bit Note that bit 11 currently operates for the PB command only Page 26 OONOGO
161. e go to line 8 17 If length out of range go to line 8 18 If resolution is not 25 go to line 12 Repeat 228343 cts 1000 Divide by 1000 to get cts repeat Bounds 100 cts 0 01inch Scale repeat to integer amp decimal Web repeat 228571 cts 1000 Web divide by 1000 to get cts repeat Set slave bounds to current repeat Set slave bounds to current repeat Set web bounds to current repeat Save values ES41 Reset working values IV 1 1700 IV 2 1 IV 3 2 IV 4 0 FER KKK KKK ee e e K K KKK K K K K K ke K KKK K K K K he he KKK K K K K K KK KKK K K K K K KK KKK K e K hec Kec Kc KKK e ke e he c I e e e x STARTING UP MESSAGE SCREENS FEK X Ak ko e e e e he kk ko sk ke K e e e ke K Sk Sk ke K e e e he hec K ke sk ke e e e he Kc kc KKK K e ke K K KKK sk ke K e K K Kc Kc kc ke ke ke ke e he c I ke kkk Page 174 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Appendix sample programme ES50 Starting up screen MD1 JODE SYSTEMS A MD2 Machine starting MD3 waiting for ES51 Colour 1 drive ready MD MD1 JODE SYSTEMS MD2 Machine starting MD3 waiting for MD4 Colour 1 drive ready ES52 Colour 2 drive ready MD MD1 JODE SYSTEMS i MD2 Machine starting MD3 waiting for j MD4 Colour 2 drive ready ES53 Colour 1 steppers ready MD MD1 JODE SYSTEMS MD2 Machine starting MD3 waiting for MD4 Col 1 stepper ready ES54 Colour 2 steppers ready MD MD
162. e host stepper no 2 Disable host stepper no 2 2 Enable host stepper no 3 Disable host stepper no 3 3 Enable host stepper no 4 Disable host stepper no 4 4 Enable host servo no 1 Disable host servo no 1 5 Enable host servo no 2 Disable host servo no 2 6 Enable slave 1 stepper no 1 Disable slave 1 stepper no 1 7 Enable slave 1 stepper no 2 Disable slave 1 stepper no 2 8 Enable slave 1 stepper no 3 Disable slave 1 stepper no 3 9 Enable slave 1 stepper no 4 Disable slave 1 stepper no 4 10 Enable slave 1 servo no 1 Disable slave 1 servo no 1 11 Enable slave 1 servo no 2 Disable slave 1 servo no 2 12 Enable slave 1 servo no 3 Disable slave 1 servo no 3 13 Enable slave 2 servo no 1 Disable slave 2 servo no 1 14 Enable slave 2 servo no 2 Disable slave 2 servo no 2 15 Enable slave 2 servo no 3 Disable slave 2 servo no 3 The actual allocation of hardware to channel number is done automatically and can be confirmed by using the HWD command The maximum total number of channels is currently set at 8 Copyright O 2003 Pan Controls Limited Page 107 Command Reference Loop Commands User Manual Revision 16 1 7 2 15 FN n1 n2 n3 Page 108 Loop commands For variable 1 to step do command line Variable range a to z or A to Z ni amp yo range 2 147 483 647 to 2 147 483 647 ng range 1 to 127 This command allows the programmer to use a variable lower case letter type to control a loop within a line of a sequence
163. e ite ed u olo nach LER REN ab dela Page 38 A eee Tee ee s or aln Mut a ed Page 38 from keypad operation Page 38 o rx ooo 4 And teens sb Eee ER Page 38 Absolute MOVE P oa as Band Seas at alone fle adi ghd bean a new i Page 39 position wait for lt lt Page 68 profiles ees tez n Rie Page 62 Page 120 value of variable 4 Page 132 AQ EE e e dk nh ete des lp em Dia edite aes Mss Page 41 Acceleration ss dodo in edle rue piss RAIN Page 46 Add a variable 2 40 Page 131 Address NetWofk zzz cv carat Chiste EERM ERE I Page 139 serial DUS e ses tirime ern Rs Page 139 AQ x san eur etus Cacao auk dus cete kone E Page 97 Al nig hte genii ose ud nk hapa e NEUE UTEM Page 97 Alors eed ME day ne SEE M bas Page 97 Page 98 Alpha numeric display from variable Page 127 input to variable 4 Page 127 NN ES Page 127 Analogue input average EXER ERREUR EE REN Page 97 link to demand position Page 97 Page 98 link word llle Page 99 Oa codo tke modico aden serch cadi Page 97 summation 2 Page 97 unlink from demand position Page 98 Analogue inputs link motion to eee eee eee eee Page 30 Analogue output global value 0 0 0 0 000000 Page 80 AG asad iat ak ke eats teras oo diver Pe Atte lah ky AM Sten Page 80 AR ct eee M E A SLE DEP 6 teas ae ae Ns Page 20 AR cornet a aid ide esp
164. e numbers of the most recent sequences executed in inverse chronological order If no parameter is given all of the last 256 most recently executed sequences are listed The optional N or F parameters can be used without a numeric parameter to switch the logging activity on or off respectively For example HSF could be used within a repeat loop to block logging of large amounts of useless information and HSN after the repeat loop to restore the logging of useful information Display history of PC3 100 control board Displays various aspects of the history of the control board This includes Date time the board was originally manufactured Date time the board was last switched on only if real time clock present Total time the board has been switched on only if NOVRAM present Total number of times that the board has been switched on only if NOVRAM present Hardware e g slave boards attached to the system Status of the above data validity of checksum only if NOVRAM present OO ROD gt Display system constants The system displays various parameter values in the following order Proportional gain constant Integral gain constant Velocity feedback gain constant Velocity feed forward gain constant Scale factor for length related units Velocity Acceleration to nearest multiple of 256 Maximum position error Continuous display mode Turns on a continuous display of demand position measured position position er
165. e or constant velocity move to decelerate the motor to a stop The GS command may also be used to break out of sequences Copyright O 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Move Commands MA nn MR nn MM MX nn Move to absolute position p Range 4 000 000 4 0E6 encoder counts The motor moves to the absolute position given in the command It follows a trapezoidal velocity profile graph of velocity against time The motor accelerates from rest at the system acceleration set by the SA command until it reaches the system velocity set by the SV command At the end of the move the motor decelerates at the same rate to stop at the desired final position The position is entered in user units which are equal to encoder counts Example MA 2000 The motor moves to absolute position 2000 Move units relative to current position Range 8 000 000 8 0E6 encoder counts The system performs a move similar to the absolute move above but the move distance is defined relative to the current position The move distance is entered in user units Example MR 3000 The motor moves 3000 units from its current position in the negative direction Prepare move units on current channel multi axis move Range 8 000 000 8 0E6 encoder counts Default 0 The system sets up a distance for a multi axis move The parameter is the distance which will be used by th
166. e placed between inverted commas before the variable name This is useful for de bugging a system and allows a meaningful display to be set up on the terminal Copyright O 2003 Pan Controls Limited Page 129 Command Reference Variable Commands SPV NV 212 VBD C S iv Page 130 Save numeric variables restricted This command saves all the numeric variables to non volatile memory There may be a short delay This works independently of the SP command without a suffix and allows selective saving of variables during a programme The saved variables become the new defaults used by the system on power up Atthe end of the save operation the system calculates a cyclic redundancy check byte CRC on the saved data which is then saved in non volatile memory as well This allows the saved data to be verified at any time by comparing the stored CRC byte with a calculated one If the saved data has changed at all the stored CRC will not be the same as the calculated CRC If the save operation fails for any reason then an F error message is returned In this case please contact your sales office This command is restricted while the save operation takes place and is only available in privileged mode Display range of numeric variables Prints values for variables through to 96 Example NV 100 169 This displays the value of variable 96100 through to 96169 on the display terminal in a format as shown below
167. e ru bp eL eM tc e Ac Page 75 7 2 12 Digital inputs and outputs os ete dead ddd dok e eae Aga ERA ac EUR Page 81 7 2 13 Reference commands ss Eds EC RR RE E REQUE NES ME Page 90 7 2 14 Configuration commandS x bore kt ee bc ute irse ce E Page 96 7 2 15 Loop commandS 3439834 BAe ce arn DEA AB a Page 108 7 2 16 Conditional commands 3 02404 x dcknb uAeIc A TERREA dad Page 110 7 2 17 Display COMMANOS lt kuzi eh mld ele ae acl ee alia hia z Page 114 7 2 18 Vanablecomm n S oet etr tr RD E eee wet ue th Page 129 7 2 18 2 System Variables Page 137 7 2 18 2 1 Channel status variables lt Page 137 7 2 18 2 2 Channel mode variables 0 000 Page 137 7 2 18 2 3 Channel error mode variables Page 138 7 2 19 Remote communication network commands s Page 139 7 2 20 Data logging commands 222 20hehensn dada dada ld z ddd dd ne Page 141 7 3 Status and Error Messages z 54 aec xe RENE Qd a awed Sega NE Page 143 7 3 1 Status MESSAGES ou rone eut tee ew MU Ai doy eee Page 143 7 3 2 Error MES OS Seneca Manet ba aia MAL ve Page 144 INTERFACING m sage E aaa ete hi sige qutd te nd Ree n eats Sites a tla Page 145 8 1 Notes orinstallallOlt a va tess eas Reseau etes Bu Tercer ie cee Deua ER Page 145 O SAO tour ace rtu es Ae o O o p A e tiis Page 146 8 3 InacatorE E DJS ii radar idear idear tds idas B en Page 146 9 4 Position Encoders A ao don d QUE Sold Page
168. e sequence after reference event local RePeat command line Execute sequence on keypad entry event eXecute Sequence Exit from current sequence Wait until stopped before executing sequence Profile commands Enter Offset correction table Enter Profile List Offset correction table List Profile Copyright O 2003 Pan Controls Limited restricted Summary restricted scaled restricted restricted restricted scaled scaled scaled scaled scaled scaled restricted scaled restricted restricted restricted scaled restricted restricted restricted restricted restricted restricted Page 153 Summary PV set Profile Velocity XP eXecute Profile XO Execute offset correction table n Logic commands CY mn Clear node n da Enter logic definition FC O N Fill logic counter value FT 4 O N Fill logic timer value LJ List logic definition IY nt If node true do command line Fs Read node state s SY n Set node FT VO N 2 Fil timer value Wait commands WAG Wait for Absolute position B Wait for Bound position WCz Wait for bound overflow counter Wait End WF Wait for reFerence signal WI Wait for Input WK Wait for keypad entry Wait for network acknowledge response WRz Wait for Relative position WS Wait until stopped before executing sequence WT Wait for Time Error handling EG Set global error options word
169. e sequence number as soon as the time defined by the PE parameter has passed This sequence will be executed once only Example PE64 ED 20 The system executes stored sequence no 64 after a period of 1 2 second Set parameter for ED event Range 1 to 65535 Default 256 This command sets the time parameter for the ED timed sequence event command The units are system ticks 1 256 second Example PL192 This sets the delay between continuous sequence events to 1 5 seconds Execute sequence on error condition Range 1 to 2047 or no value This command sets up the system to execute sequence number as soon as a system error state is encountered This allows for system to interrogate the system error and display an appropriate message Example EE 123 The system executes stored sequence no 123 after an error state has been reached Execute sequence when Move condition complete Range 0 to 2047 This command sets up the system to execute sequence number aS soon as the currently executing motion is complete Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Seguences NE nn RE nn GE MF Execute seguence after snapshot event local Range 0 to 255 This command sets up the system to execute sequence number as soon as a snapshot event has taken place This command needs to be reset after each operation Example NE 55 The system executes stored segu
170. e than 100 units away from the required position Set settling time Range 0 to 65535 Default 256 This command sets the time that the system waits after reaching its required position before the deadband becomes active It is specified in units of 1 256 seconds Example SL 128 This sets the settling time to 128x1 256 0 5 seconds Copyright O 2003 Pan Controls Limited Page 47 Command Reference Set Parameters User Manual Revision 16 1 TH nn TL nn TM nn MT nn Page 48 Set high tension limit restricted Range 4 000 000 4 0E6 Default 15 000 This command sets the upper limit for the system tension set point The units are defined by the calibration of the analogue input and the TM tension multiplier parameter Example SL 13200 This sets the upper tension limit to 13 2 Kg force assuming that the TM parameter has been set up so that one unit represents 1 gramme force Set low tension limit restricted Range 4 000 000 4 0E6 Default 3 000 This command sets the lower limit for the system tension set point The units are defined by the calibration of the analogue input and the TM tension multiplier parameter Example SL 2500 This sets the lower tension limit to 2 5 Kg force assuming that the TM parameter has been set up so that one unit represents 1 gramme force Set tension multiplier restricted Range 1 to 65535 Default 1 This command sets the mul
171. e to be set while inching Execute an inch move This command executes a move whose distance is defined by the IL parameter There is a special case if IM is defined in a DI input line string In this case if the input is not reversed within the IW inch wait tine parameter the axis will continue moving until the input is reversed Example IM This executes a move from the current position by a relative distance defined by the IL parameter Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Set Parameters 7 25 SW SB Set parameter commands Set Window restricted Range 0 to 65535 Default 10 This command sets a window around the required final position of a move Its operation is such that the system finishes a move and returns the prompt character to the user only when the motor is within this window Note that when using a narrow window it is important that the DAC offset on the current channel has been initialised with the ID command If not the offset may be large enough to put the motor outside the window when it is stopped and the system will stay in the move state without returning the normal prompt If this occurs the ST or AB commands may be used to get back to the normal state Note that the window is specified in encoder counts This command is restricted and may only be used in privileged mode Example SW 25 This command sets the window to 25 counts Thus the s
172. e user to switch between any of the motor channels If in position control mode a channel which is not selected remains under servo control with proportional and integral control active to maintain its current position The total number of available motor channels is determined by HW the hardware setup word see section 7 2 14 page 107 Select motor channel variable Range 0 to n where n Max no of channels Default 0 This command sets channel variable This allows any channel related command to operate on the channel defined by the channel variable using the suffix This happens regardless of the setting of the CH command without the B Note Channel related data can also be displayed and changed by using the gt operator to explicitly describe which channel is being referred to This can be particularly useful where sequences can be initiated asynchronously Example FM gt 3 Vh This sets the link multiplier for channel 3 to a value determined by variable h Example CHB3 FM Vh This sets the link multiplier for channel 3 to a value determined by variable h It performs exactly the same operation as the previous example Add channel dependent parameter Range 2 147 483 647 to 2 147 483 647 Allows a channel dependent variable to be set up Example AP gt 2 300 AP gt 1 150 FM lt This sets up FM on channel 1 to be 150 and on channel 2 to 300 Example IVC345 IVD440 AP 2 VC AP 1 VD FM This uses variables
173. eceleration Transform from Polar to Cartesian Transform from Cartesian to Polar set to Velocity Control mode Move multi axis at constant velocity Execute interpolated circular move Execute interpolated linear move scaled Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Set parameter commands SSm nn SW nn TH nn TL nn TM hh mm ss ZC nnl Set bound counter overflow bound set Backlash Compensation distance set input DeBounce time Set maximum tension threshold Set minimum tension threshold Reset bound overflow Count Set Acceleration Set position Bounds Set Creep distance Set Deadband Set settLing time Set Slow creep speed Set Velocity Set Window on final position Set deceleration Set high tension limit Set low tension limit Set tension multiplier Time Set Zero position Counters or set position Sequence commands RPL SK a 5 an nn XT WS set AutoStart sequence Execute sequence continuously as timed event Execute sequence event after time delay Execute sequence on error condition End Repeat Enter Sequence Execute sequence after position Gain event local Go to line in sequence Set Hard Reset sequence or initiate Hard Reset Display history of sequences executed List Sequence display Free Memory Execute sequence after snapshot event local Set parameter for ED event Set parameter for looping continuous event Execut
174. ectory of a personal computer together with the PANTERM programme The command first erases the existing main programme and as a result it should be used with extreme caution It then reads in the S record file and does appropriate checksum checking as it does so If there is any checksum failure during uploading then no programme is loaded If the programme is loaded successfully it is saved together with a checksum to verify the integrity of the complete code WARNING this command destroys the existing low level code It is important that the user is aware of the implications of using this command Execute final running code This command allows the user to execute the main programme from the boot programme It first does a checksum check on the integrity of the code and if it passes it then executes it This operation would happen by default when the unit is switched on or reset if there is a valid main programme installed Display version number This command prints information about the version of software fitted to the system It gives the version number of the firmware its revision date and some configuration information Copyright 2003 Pan Controls Limited Page 19 Command Reference Miscellaneous Commands User Manual Revision 16 1 7 2 2 CH CHB AP nn BV n Page 20 Miscellaneous commands Select motor channel Range 1 to n where n Max no of channels Default 1 This command allows th
175. ed Range 0 to 65535 Default 0 This command sets the gain for the integral term in the controller transfer function When integral control is used the system integrates the position error by adding the current error to a running total Integral gain is useful to remove a constant position error due to a steady load or friction or in steady state velocity control but also tends to make the system overshoot the target position at the end of a move because of the error accumulated during the move This problem is known as wind up The integral action may be set up to avoid this problem such that it is operative only when the system is static by setting bit 7 of the control word to 1 Copyright 2003 Pan Controls Limited Page 77 Command Reference Gain Commands User Manual Revision 16 1 KD nn KV nn KF nn Page 78 Set differential gain constant restricted Range 0 to 65535 Default 0 This command sets the gain for the differential term in the controller transfer function This term uses the differential of the position error rate of change of error which represents the velocity error of the system This is useful where the position error is changing rapidly for example if the required motion is a step change in position In practice if the system is anywhere near correct tuning the position error is small and the rate of change of error is smaller still so that the differential gain only has a limited effe
176. ed by the motor Using the RL command the reference repeat length is set to the number of counts per turn of the motor while the position bound is set as required by the linear motion Each encoder marker signal then gives a useful reference error measurement which may be used for correction if required Copyright 2003 Pan Controls Limited Page 93 Command Reference Reference Commands User Manual Revision 16 1 PJtin PR nn SG Page 94 Set snapshot deferred adjustment position restricted Range 4 000 000 4 0E6 Default 0 This command allows the position correction on a reference input signal to be deferred until the motor passes a defined position In some circumstances it may not be desirable to allow a sudden position correction to occur at the reference position for example because of some mechanical interaction with other parts of a machine In such a case the PJ command defines a position which the motor must pass before the correction due to the reference signal takes place This function is enabled by bit 2 of RW If this bitis set to zero the reference correction takes place immediately NOTE If the PJ position is set to a value which is greater than the bound set by SB the reference correction will never take place Set maximum snapshot reference correction restricted Range 0 to 65535 Default 65535 This command when enabled by bit 1 of RW limits the maximum allowed reference correction to t
177. ed forward gain Page 78 velocity feedback gain Page 78 WIDIdOW oo wx du e deter er tei EE Page 45 zero gain distance for position gain table Page 32 Page 197 Index zero offset for EO table Page 67 zero position lt lt 444444444 Page 49 Settling time z aye tone asad ahead none per katol ee eme iMm Page 47 SUP SIVE La Lice ela URIedosu o eons Page 21 S Ese Lene nus VO ac agate rc au eerie anf s ee Wh ESL Page 79 BG duet o sl ae ee ERES Page 94 Shaft encoders eee eens Page 147 Shortest distance for absolute move Page 91 Sl wii es rte Ro o SERERE ERE Page 103 Sine link motion to analogue inputs Page 30 Sine function O om da E eda ele tet seed oad adie Page 132 Sinusoidal velocity profiles lt lt 4 44 4444 Page 76 Od cree went ease eh E dae See cue t M d ducis Page 92 SK oo CCP Page 2 Page 53 SL od o bin ee dt ee ee hes ee ph AES Page 47 Slow creep distance lt lt lt lt lt lt lt lt lt 4 lt 444 Page 47 Slow creep speed 2 Page 47 SM o PAS Page 124 Page 135 Smart card operations n auauua ee eee eee Page 28 SN ec e GE oka She ouha se tas Page 30 Page 120 Page 124 demand position lt Page 76 measured position 4 Page 76 Snapshot adjustment position Page 94 correction limit 2 Page 9
178. ed the value 24 TVs S c C t T Trigonometric functions Arc Sine Arc Cosine Arc Tangent gt 2 IC Sut Page 132 This command performs a trigonometric function on variable and assigns it to variable If the suffix is S C or T variable is the number of degrees x 100 The result is the sine cosine tangent x 1000000 When the result is this is represented by 2 147 483 647 the largest number which can be assigned to a variable Example TVC c 45 If variable c is 5000 i e 50 then variable 45 will be assigned the value 642788 If the suffix is s c or t variable is the sine cosine tangent x 1000000 The result is the number of degrees x 100 between 0 and 9000 If bit of variable is clear then do the rest of the command line This command executes the remainder of the current command line if bit number in variable is clear This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a programme Example IC 3 b MR 25000 SO5 If bit 3 in variable b is clear then the system executes a move of 25000 counts and then sets output line 5 If bit of variable is set then do the rest of the command line This command executes the remainder of the current command line if bit number in variable is set This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a program
179. ee Page 81 SOb Me ee xs at Contes aeui Cane e kov Page 81 Output lines definitions o o oocoooomoom Page 106 group lt zhe eee et ene dace pacte dares Page 105 stepper motor lt lt Page 76 O tput read iocus ee ee es dg b la lok baht ala da es bo bp B Page 84 Output reversal cece ene eee k Page 76 ONS cis vd dee Sad ne Rak tae D Br eM sos quo Lum pa Rare ron Page 129 Overflow bounds counter Page 49 Page 114 Overrun reference correction Page 93 Page 95 se A Tt is cet DB ie D a tem bytes ads Te data anil Page 119 OX west seeded n nie ee exe de eet NEN UE EE Page 105 PANTERM inscite e mes tee sie booed Page 13 Page 161 AEB ja erae ree Page 167 Page 168 all cic a Page 166 Page 168 EDO 2 i scili d E Re n ELE Page 168 AE ordres Matera at s Page 165 Page 168 AF oed nce ted die vete ates Page 165 Page 168 alb diede ni niei men Urban dett Page 168 al sese i du ERE ERREUR Page 165 Page 168 AR a a ERES Page 165 Page 168 al S ata Page 165 Page 168 al T seemed Ce t ees Page 165 Page 168 al U eee een ek Enn Page 166 Page 168 atras dota Page 162 Page 168 automatic baud rate setting Page 167 baud rate oooomom oomoo Page 166 Page 168 cable 34 4 gene Sis rr a deel tc Page 161 colour Or mono occ Page 167 command files Page 162 Page 165 COMMONS cv ce RE tc Page 162 communication mode Page 167 c
180. eference marker and use it to automatically adjust the absolute position of the system The position of the reference input is immediately stored when the reference input signal is detected This position is compared with an expected reference position either the current zero position or the nearest bound position The difference is defined as the reference error and the absolute position may be corrected by this amount if required For more details on the SB set bound command refer to section 7 2 5 page 45 RW Set reference options word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0001 0000 0000 This command allows various reference functions to be enabled and disabled The bit functions for the reference word are described below bit O When set to 1 enables the position correction on detecting a reference signal When set to 0 disables the position correction but still allows the measurement of reference error 1 When set to 1 limits the position correction to a maximum value set by the SR command if the reference correction is enabled by setting RW bit 0 to a 1 When set to 0 allows the full correction to be made regardless of the maximum value set by SR 2 When set to 1 defers the position correction until the motor passes the adjustment set by the SJ command When set to 0 the correction takes place immediately the reference signal is detected 3 When set to 1 inhibits the move bac
181. eguence Range 1 to no of lines in current seguence This command allows looping to a specified line number within a seguence Note that it can only be executed from within a seguence Copyright 2003 Pan Controls Limited Page 57 Command Reference Seguences User Manual Revision 16 1 WS Page 58 Example A sequence might consist of the following COS MR5000 SO04 WT500 115 XT GL1 This will continue looping to line 1 until input line 5 is negative when the XT command will escape from the sequence Wait until stopped before executing sequence Range 1 to 255 This command sets up the system to execute sequence number as soon as the current channel has stopped This state can be setup for more than one channel Note that if motors are being mapped to others only the master channel is considered to be moving i e if WS parameters have been set up for motors which are mapping to others the sequence s will be executed immediately This command enables an input line to execute commands which are only legal when a channel has stopped without having to perform involved tests Note that once a WS sequence has been executed the parameter is reset to zero and has to re enabled Example DI3 CH2 ST WS 34 CH1 ES34 MI8 CH2 LM1 The system sets up input line so that when it goes to the negative state it executes stored sequence no 34 after channel has stopped Sequence 34 links the motion of channel 2 to channel 1
182. el actually starting to move Move at constant velocity The system accelerates the motor at the system acceleration until it reaches the system velocity in the specified direction It then controls the motor at constant velocity until asked to stop by the ST command Velocity control mode can only be entered from position control mode and not directly from the motor off state Example SA 1000 SV 2000 VC This command sequence sets the acceleration to 1000 units per second squared the velocity to 2000 units per second and then accelerates to the set velocity in the positive direction Move multi axis at constant velocity The system accelerates the motor channels which have been defined in the multi axis move word MW at the system acceleration until it reaches the system velocity in direction which have been specified in the multi axis move word It then controls the motors at constant velocity until asked to stop by the GS all selected channels or ST currently selected channel command Velocity control mode can only be entered from position control mode and not directly from the motor off state Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Move Commands AC XC XL GC e GP 22 Example MW11 CH1 SA 1000 SV 2000 CH2 SA500 SV6000 VX This command sequence enables multi axis velocity control on channels 1 and 2 It sets the acceleration on channel 1 to 1000 unit
183. en an F error message is returned In this case please contact your sales office This command is restricted and is only available in privileged mode The optional V suffix allows the numeric variables to be saved This works independently of the SP command without a suffix and allows selective saving of variables during a programme The optional S suffix allows the sequences alone to be saved This works independently of the SP command without a suffix and allows selective saving of sequences The optional P suffix allows the parameters alone to be saved This works independently of the SP command without a suffix and allows selective saving of parameters This includes items such as system gains upper case variables etc NOTE 1 The system can be set back to its default state regardless of the saved parameters by putting link 29 on the PC3 100 control board before switching on NOTE 2 If sequences are being saved the system will be locked for approximately a second whilst the memory map is adjusted It is important that motion is not taking place when this operation is carried out This happens if SPS or SP with no suffix is used Checksum test This command is used to verify the data stored in the non volatile memory The system calculates anew CRC value for the stored data and displays it It then compares the new value with the CRC value that was stored with the data when it was saved If the values are different an F
184. ence no 55 after an a snapshot event has taken place Execute seguence after reference event local Range 0 to 255 This command sets up the system to execute seguence number as soon as a reference event has taken place This command needs to be reset after each operation Example RE 2 The system executes stored seguence no 2 after an a reference event has taken place Execute seguence after position Gain event local Range 0 to 255 This command sets up the system to execute sequence number as soon as an offset gain event has taken place Display free memory This command displays information about the memory space available for seguences and profiles This command returns the amount of free space as a number of bytes The maximum space available is about 20 kbytes It is possible under certain circumstances for the internal memory to become fragmented when maps and profiles are being entered and deleted This could give rise to the system reporting an N out of memory error message when the total amount of spare memory is larger than the data being entered This occurs because the system allocates a contiguous block of memory for each map or profile A simple solution to this problem is to save and restore the parameters using the SP and RD commands This compacts the data and forces all the spare memory into one single block Example System User Comments 1 gt MF lt CR gt Enter MF command 6538 Syste
185. ength is 255 characters Backspace or delete may be used to remove characters from the current input line Other non printing characters are simply echoed and have no effect The escape character Hex 1B will exit from any command which is producing a long list of many pages The tilde character Hex 7E will cause the system to halt any current activity and perform a soft reset The commands allow very flexible control of the system They fall broadly into the following categories a Boot programme commands Commands to operate on the boot programme to allow maintenance of the main programme b Miscellaneous Commands to change between channels and to handle the stored setup data c Mode commands These include commands to change between motor off and position control modes and between privileged and normal modes d Move commands These include commands to move to absolute and relative positions to find the zero reference position to move at a constant velocity and to stop the move either normally or abruptly e Set parameter commands These commands set up a wide range of system parameters including the velocity and acceleration of the normal moves and setting up the creep and deadband facilities f Sequence commands These include commands to enter list and execute complex command sequences Copyright 2003 Pan Controls Limited Page 15 Command Description General User Manual Revision 16 1 9
186. ent channel has stopped Page 58 Page 70 after motion complete Page 54 error condition lt lt 444444 Page 54 keypad entry ee eee eee Page 53 position gain lt Page 55 reference 4 4 4444 Page 55 Snapshot ot nar 9i et eee po pace Page 55 timed continuous 0 000000 ae Page 53 EW ei ey se cus beds fee pp AREAS UE ER RUE a Page 73 EX k edo Sr otra de ai ose d s RP esto nones Page 2 Page 3 Page 115 Example programme eese Page 169 Execute absolute move lt Page 39 BOO COS Mer Page 24 continuous constant velocity move Page 40 final running code 2 Page 19 inch MOVE eee III Page 44 initialise sequence lees Page 43 interpolated circular move Page 41 interpolated linear move Page 41 multi axis move llle Page 39 Page 40 offset correction table Page 67 jj rc Em Page 65 relative move eee eee Page 39 sequence sss re bsa ris nar RR ee Page 52 sequence after motion complete Page 54 seguence after time interval Page 53 Page 54 sequence on error condition Page 54 sequence on keypad entry Page 53 sequence when current channel has stopped Page 58 Page 70 simultaneous profiles Page 65 Exit from currently executing sequence
187. er the system transfer function When a move command is entered the system moves the motor according to a trapezoidal velocity profile defined by the acceleration velocity and distance of the requested move The system velocity and acceleration may be set by the user The motor speed increases at the set acceleration until it reaches the set velocity It continues at this velocity until it is near enough to the required position to begin decelerating The system calculates the point at which it should start decelerating to minimise any overshoot The rate of deceleration at the end of the move is the same as the acceleration at the start If the change in position is small the motor may not reach the set velocity and will follow a triangular profile instead The motors may be controlled at a constant velocity instead of controlling the motor position In velocity control mode the system accelerates the motor until it reaches the specified system velocity and then maintains that velocity The motor may be stopped with the normal deceleration or may be stopped abruptly in an emergency The system has up to 32 digital input and 32 output lines which may be used in various ways Inputs may be programmed to start either single commands such as a move or stop command or to execute a string of commands or a stored sequence Outputs may be set and cleared and can be used to control external relays or valves or just be used for status indication The
188. er display line They may be listed continuously or the system can print one line at a time and wait for the user to press a key before printing the next line This is useful when using the system with the membrane terminal which only has a two line display This list pause facility is controlled by one of the flag bits in the DW command Example LI This will list the I O line definitions on the display or terminal The display for some of the above definitions would look like this 1 gt LI CR User input to list sequence Inputs 1 AB Function input definition 2 IN WT256 ID MR 5000 ZC Normal O lines undefined Active low limit switch inputs Fr utputs O m HE eS uw P aN Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Configuration Commands HW bbbb Set hardware setup word restricted Range 0000 0000 0000 0001 to 8 channels set or D Default 0000 0000 0011 0000 This command allows the user to write a value into the hardware setup word global Note that the leading zeros may be omitted The hardware setup word allows various combinations of stepper and closed loop servo control to be implemented In the default state there are 2 servo channels on the Host Control board PC3 100 Please note that this command has significantly changed at version 149 and 157 0 of the control software Bit set Bit cleared bit O Enable host stepper no 1 Disable host stepper no 1 1 Enabl
189. er required Decimal number required Error unrecognised or invalid command Failed parameter save or checksum test position error Greater than maximum Hexadecimal number required Limit switch detected or position limit exceeded No room in memory parameter Out of range Restricted command Timeout abort line in Use User Manual Revision 16 1 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 PANTERM communications programme 11 PANTERM communications programme for personal computer 11 1 Introduction The program can be run on an IBM Personal Computer or compatible MS DOS computer PC to make that PC act as a terminal to a PAN digital control system Once installed and running most commands entered on the PC are transmitted directly to the control system and any responses from the control system are displayed on the PC In addition some special commands are provided which are not transmitted to the control system but are handled locally by the PC These commands allow text files to be edited locally on the PC and then transmitted to the control system This allows complex command strings for the control system to be created and amended using the PC and then transmitted to the control system together 11 2 Setting up the serial link Some PAN control systems have more than one serial port The port marked Terminal should be used Most PCs have up to four serial ports referred to as COM1 COM2 COM3 amp COM4 PANterm
190. erence position error lt lt lt lt lt lt lt 4 lt 444444 Page 115 Relative MOVE RP Page 39 position wait for lt Page 69 AA ra Page 62 Page 120 Relay Contacts 4 56s s co ya repre em e mb Mauer et oo Page 147 Relays 6 bees hehe apne c Page 32 Page 34 on board occ Page 146 Reload stored data RD cd tdt da cr soda m se S e c Page 21 Repeat command line 2 Page 52 Repeat end 4 4400 nn Page 53 Repeat length reference Page 93 Reset bound overflow counter Page 49 operator interface lt lt lt 4444 Page 34 Sep xt Rhe e NP UP Page 22 Page 56 soft tilde ii sai oos Page 15 System to default state Page 21 variables to zero lt lt 44 Page 22 Resonance stepper control lt Page 77 Restricted commands nunnan nran Page 17 Retries set no for operator interface communications z p SV plk ky Babee meee he Page 125 set number for RB command Page 125 Reverse DAC output sense 0 000 Page 76 encoder sense eee eee Page 76 outputsense 2 0 ee eee Page 76 stepper direction ooooooo o Page 76 Page 196 User Manual Revision 16 1 Revision number slave board occ Page 20 BE 220 nt wt ac ied ae Pale tee a thes heard ata NUN study Mato u ee Page 92 Hire sac O aca Posed O ek ates TOS ee Page 83 PR eee ea a ote e
191. etry to receive data using the RB command or from the operator interface Set timeout period for RB command Range 1 to 65535 Default 2048 This the timeout period in system ticks for the RB command and for operator interface communications If this period elapses after the RB command or operator interface communications without a valid response the system will retry for the specified number of retries NR Set echo mode on for serial port number Set echo mode off for serial port number Set L E D display number Range 1 to 4 Default 1 This defines the L E D display unit which will be accessed using the display commands above Copyright O 2003 Pan Controls Limited Page 125 Command Reference Display Commands User Manual Revision 16 1 MD F N Draw ccc Send a character string to the LCD VFD display This sends a character string enclosed by double quotes to the line number of the LCD VFD display starting at character number optional Variables can also be displayed before or within text Any number of variables can be used in this way Either or both the character string and the variable can be entered If the command is entered with no parameter the display is cleared If the command is entered with a line number and no other parameter the line referred to is cleared If the command is entered with a line number character number and no other parameter the line referred to is cleared starting fr
192. f machine cycles to complete before stopping Wait for keypad entry This command sets the system into the wait state until an value has been entered using the VK command page 135 An optional parameter can be entered which corresponds to a code for the particular key see appendix page 182 The system will then wait until the key referred to has been pressed Wait for network acknowledge response This command sets the system into the wait state until an acknowledge from a recently sent network command is received or a time has elapsed corresponding to the network timeout TN parameter Copyright O 2003 Pan Controls Limited Page 69 Command Reference Wait Commands User Manual Revision 16 1 WE WS Page 70 End wait state This command ends the current wait state as if it had completed normally This allows the user to escape from a wait state early but to continue with commands following the wait command Example System User Comments 1 DI1 WE Escape from wait state on input line 1 going negative 1 In this example channel 1 moves to position 10000 waits 4 seconds and then moves back to zero However if input line 1 goes negative during the wait state the motor moves back to zero immediately Wait until stopped before executing sequence Range 1 to 255 This command sets up the system to execute sequence number as soon as the current channel has stopped This state can be setup for more than on
193. f the rotation of the crank material can be fed through the head In this instance the stitching head is the master with bit 12 of LW set The material feeder is a slave with bit 13 of LW set In this case modified incremental position data is passed to the slave velocity link for the position range of the master defined by CU and CL Example CH1 SB4000 RW 100000000 PGA 600 CUA1500 CLA1000 Copyright 2003 Pan Controls Limited Page 31 Command Reference Mode Commands User Manual Revision 16 1 CP ZG PC MO GF Page 32 Compile position gain tables restricted This command compiles all position gain tables Since it clears the link table memory area before starting the operation all axes must be unlinked before executing this command Set Zero Gain distance for position gain table restricted Range 1 to 4 000 000 4 0E6 Default 0 This command allows a period of stationary dwell during a negative position gain table It sets the slave distance over which the dwell takes place Note that this refers to the slave distance and not the master i e after the Multiply and divide factors have been applied but before any correction table adjustment Enter position control mode This command puts the system back into the normal state with the motor position continuously controlled after an MO command has been executed or a position error abort has occurred The prompt character n gt is returned in po
194. f the value passed with the DZ command is zero the fast reference input is turned off If the value is one the zero marker input is routed through the Quart device If itis two the VIA device is used producing a higher priority and hence higher response time When the zero marker input is enabled the system looks for a pulse on the zero marker input or a transition on any other reference inputs when the IN initialise position command is executed and when the automatic reference functions are enabled by the RW command The optional D suffix displays the last zero marker reference position error For more details of the operation of the reference inputs see the Reference Commands section 7 2 13 page 90 This command is restricted and is only available in privileged mode Define external counter input restricted Range 1 to 4 This command an input line to be an external counter whose frequency must not be greater than 100Hz The counter has a maximum value defined by the WX parameter The counter subsequently wraps to zero The counter can be read at any time by the use of the RX command The external counter function uses the same mechanism as the reference input function to get an accurate count on an input signal An EC input line may be returned to normal operation by entering this command without the sign This command is restricted and is only available in privileged mode Example EC 1 This specifies that the input line 1 is t
195. fault 1 This command sets the analogue input proportional gain of the system It is to be used in conjunction with the AL command Note that this parameter is local to a particular motor channel Set analogue input to link to motion position Range 1 to 2 This links the external analogue input on analogue channel number to the demand position on the current axis Note that this must be defined with the AW command When the command is executed the current analogue inputis defined as the current demand position The analogue gain constant AG is used to define the gain between the analogue input and the demand position More than one axis may be linked to an analogue input channel Copyright 2003 Pan Controls Limited Page 97 Command Reference Configuration Commands User Manual Revision 16 1 ALV AU Page 98 Set analogue input to link to motion velocity Range 1 to 2 This links the external analogue input on analogue channel number to the demand velocity on the current axis Note that this must be defined with the AW command When the command is executed the current analogue input is defined as the current velocity The analogue gain constant AG is used to define the gain between the analogue input and the velocity More than one axis may be linked to an analogue input channel The optional sign allows the sense of the analogue input signal to be negated Unlink analogue input from motion Range 1 to 2
196. form of a variable together with a variable code and checksum Itis to be received by another unit which is executing the RB command Note that bits 10 and 11 of the display word page 119 120 121 157 must be set as required In addition the CB character delay parameter must be set to an appropriate value The variables used are as follows Channel 1 Variable S Channel 2 Variable T Channel 3 Variable U Channel 4 Variable V Channel 5 Variable W Channel 6 Variable X Channel 7 Variable Y Channel 8 Variable Z Stop continuous display of position data to serial port number This is the complement of the SN command listed above Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Display Commands MS RB NR TB BE BN LD Map position output to serial port number This command defines which serial port s will be used for outputting position data for the current channel It is described in more detail under the SN command Receive a variable from serial port number This receives a number together with a variable code and a checksum to from a serial port It is designed to accept data sent using the SM command If no valid data arrives within the timeout period defined by the TB command the system will retry for a number of retries defined by the NR command Set number of retries for RB command Range 0 to 255 Default 3 This sets the number of times the system will r
197. g at constant maximumm velocity as defined by the SV parameter The minimum non zero value for the QV parameter is defined by SV and SZ and will be displayed if a non zero value less than the minimum is entered If SV or SZ for the current channel are changed then the QS parameter is set to zero Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Move Commands IN IDZ M L Initialise position The system performs the initialisation sequence to find a zero position reference signal The system gives the I initialise prompt character while executing the initialisation sequence The motor accelerates to the system velocity in the specified direction When the system detects a reference input signal it resets the position counters to zero immediately The motor then decelerates to a stop and moves back to the new zero position NOTE The INcommand works independently of the settings of all the other reference commands This is so that whatever the reference setup for normal running the IN command always works normally The exceptions to this are bit 3 of the RW reference options word which disables the move back to the new zero point and bit 4 of RW which defines whether any reference input is valid or only a combination of them The reference offset value is also effective during the initialisation sequence such that the position at which the reference signal is detected is defined as the absolute
198. g takes place When VT is 6 2 64 samples are averaged over a period of half a second The system keeps a running average of the speed which is updated at each 4ms sample so that the latest average speed is always available Note that whenever the averaging time is changed the current average value is reset to zero and the running average is restarted The averaged speed value is returned by the DV display velocity command Display position bound overflow count Displays the current value of the position bound overflow count Each time the motor passes the bound in the positive direction this counter is incremented When the motor passes the negative bound in the negative direction the counter is decremented For more information see the SB command in section 7 2 5 page 45 The count value can be reset using the RC command Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Display Commands DF P RA PT DS DT EX Display reference position error This command displays the last measured absolute position error relative to the reference input for this channel in encoder counts The optional P suffix allows the system to show the extrapolated demand position from the last measured position This is actually the last measured reference position error added to the previous regular servo loop calculation of measured position minus demand position It should be borne in mind that whilst the
199. he Cartesian result is added to the AC zero and placed in the MM parameter for the relevant channel Transform from Cartesian to Polar The system performs a 2 dimensional transform from a Cartesian to Polar co ordinate system The 2 axes are defined by bits 0 7 of MW move word The origin for both the Polar and the Cartesian definition is defined in the AC parameter for each of the two channels the lowest channel number representing the x and the higher number representing the y The AC zero is subtracted from the MM parameter for the relevant channel to generate Cartesian co ordinates The radius is placed in variable and the angle in degrees x 100 is placed in variable Copyright 2003 Pan Controls Limited Page 41 Command Reference Move Commands User Manual Revision 16 1 IW ob bit QC QV n Page 42 NOOR WDM O Set interpolation move word restricted Range 0000 0000 to 1000 0000 binary Default 0 This command allows the user to write a value into the interpolation move word Note that the leading zeros may be omitted The move word defines how a 2 axis circularly interpolated move is to be defined Only one bit may be set at any one time The interpolation move word bit functions are described below Bit set Bit cleared Start point end point centre point Normal Start point arc centre point Normal Reserved for future expansion Reserved for future expansion Reserved for future expansion Re
200. he specified number of encoder counts It may be used to eliminate false reference signals at positions far away from the expected reference position orto allow the position reference facilities to be used even when the machine cycle length is not the same as the distance between reference marker signals When a reference signal is seen the reference error is calculated as the difference between the zero position defined by the reference input and the zero position or nearest bound position as measured by the normal system encoder counters If enabled by bit O of RW and inside the limit defined by the VP command the position is corrected by this reference error If the reference error is greater than the maximum limit the action taken depends on bit 6 of RW If it is clear then the position is not corrected the out of limits error reference value is discarded and the reference is ignored completely lf it is set the position is corrected by an amount equal to the maximum correction limit If required the system may be programmed to generate a motor error when the reference error is outside this limit This facility is enabled by setting bit 1 of EW the error options word When this is set a reference error greater than the reference set by VP gives a RL reference limit error message and the channel goes to motor off Note that the reference error and the out of limits error are only reported if RW bit 6 is set to 1 to enable correction by up
201. he system to wait until the specified input line goes to the specified state Note that if the specified input line has been defined as some other function input the system returns the U line already used error message Example MA 5000 WI 2 MA 0 This sequence tells the system to move to position 5000 units wait there until input line 2 goes to a logic low and then move to position O Wait for absolute position Range 4 000 000 4 0E6 encoder counts This command tells the system to wait until it reaches the given absolute position before executing the next command If the position specified in a wait for position command is outside the range of the previous move command then the system gives an O error message to indicate that the position was out of range Example SV 200 MA 2000 WA 1500 SV 100 This sequence performs a move with a change of speed at a certain position The velocity is initially set to 200 units per second The motor begins a move to position 2000 at this velocity and at position 1500 the velocity is changed to 100 units per second The move is completed at the new velocity Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Wait Commands WR nn WF WB WCE WK nn WN Wait for relative position Range 8 000 000 8 0E6 encoder counts This command is similar to the WA command above It tells the system to wait until it reaches the spe
202. ic low If no node number is set then all available nodes are set to a logic low Example CY 17 This sets up node 17 to a logic low Flash output line pn Range 1 to 16xn where n No of control boards This command sets up the specified output line to flash on and off at a rate defined by the FR flash rate command Note that the output state is maintained until superseded by another command for the same output line If no output line number is set then all available output lines are set to a logic high Example FO 28 FO3 This sets up line 28 to flash at a rate defined by the FR command At the same time line 3 flashes in opposition to output line 3 i e when line3 three is on line 28 is off and vice versa Set flash rate for output lines Range 1 to 65535 This command sets up the flash rate in ticks 1 256 sec It is used in conjunction with the FO flash output line command Note that the time defined is for the ON period and that the total flash cycle time is twice the time defined Example FR 256 This sets up the flash output timer to have a cycle time of 2 seconds Output code via expanded output group Range 0 to maximum value possible on defined output group This command sets the expanded output line group as defined by the OX command to the given code data value If the group was defined as active low the data is inverted It allows a number of output lines to be set or cleared at the same
203. ile and set up PANterm in its terminal mode you are ready to transmit command files to the control system This is called loading To do this type Alt L Load You will then be asked the name of the file that you wish to load Type its name and press return PANterm will now start sending the file to the control system The characters that you will see on your screen are all echoed back from the control system so that you know they have been received correctly The exception to this rule is the comment comments are not sent but printed directly to the screen in reverse colours When your command file has been loaded the program will revert to the terminal mode Also pressing any key while loading will cause the load to be paused a second keypress will continue the load PANterm incorporates a delay mechanism so that you can check the response of the control system to your command file You can type Alt S Slow or Alt F Fast to slow down or speed up the loading A very slow speed combined with pausing can be useful for spotting errors While in terminal mode you may want to record what some of the commands and definitions currently on the control system are You can start this recording by typing Alt R You will be prompted to enter a name for the recording file Both the commands that you type and the control system s response will be recorded You can stop the record at any time by pressing Alt R again While loading a command file you m
204. iliis Page 166 Configuring PANTERM se sth eie em eerie bete e pres Page 166 Automatic baud rate configuration lt lt lt lt lt lt lt lt lt lt lt lt lt lt eee Page 167 PANTERM command summary 000 cece eee ee eee Page 168 Beste tc lak Sue oo Nee kuze RU tc ihe ees UE la etic Pe tees le Ae non Page 169 Sample programme listing lt eee Page 169 Operator interface keypad codes cece eee eee Page 182 Operator interface mask and sequence parameters Page 183 Error Codes seis Lost bred ups Zb ex clay rc tae metas don Page 184 AOUILTADIB Zio A o do vt ci O air Page 186 Operator interface template 00 0 ee Page 188 EE Page 189 Copyright O 2003 Pan Controls Limited Page iii User Manual Revision 16 1 Page iv Copyright 2003 Pan Controls Limited Revision 16 1 User Manual 1 DOCUMENT MANAGEMENT 1 1 Release major issue changes Issue Date Comments Software 1 June 1994 Early release 2 August 1994 Stepper control 3 September 1994 Multi axis moves 4 October 1994 Analogue i p V1 9 5 November 1994 Scaled channel linking V 1 18 6 January 1995 Rev D Host control board V 1 24 7 February 1995 Separate Hardware manual V 1 25 8 June 1995 Flexible hardware configuration HW V 1 30 9 June 1996 Rev E of PC3 100 data logging V 1 42 10 July 1996 Hardware Handshake for terminal port V 1 44 11 November 1997 Revision F host control hardware V 152 12 December 1998 Position gain map
205. imited Index Keypad abort from current operation Page 38 debounce time lt Page 50 interactive with LCD display Page 135 variable entry lt 444 Page 135 Keypad input eriable os teet s Net tel ode oa al ee hs Page 87 MASK parts vests ode en Ba eh one ticos Page 86 mask and sequence parameters Page 183 numeric codes 000000 Page 182 Gad z E ni Lu idt dA Page 87 Walt OF vtr dct lo a p ny nao ead ance Page 69 Kao Bo A zs deeds d bati ks ct ef Page 78 dc PTT Page 77 d apa saath ob SE o gear O Page 80 KP DM EAD ME LE LAE NU a a IPM eae toe Page 77 KV so ers doces ette desastre rra guard kaz ite reped Page 78 L E D numeric display 00 cece eee eee ee Page 123 L E D s indicator zr Ol ae LER ti da Page 146 EA zon o Moo Ep R tof tina Coeds tanec ante Page 22 Page 26 Lasterror lll io Lege wee de Page 73 Page 123 Latch inputline 5235 Vise vus Oe A AES Page 88 EB Bom d UE LC LA Ed Eo E E as od eene Page 2 LOS ilsesna4 bee ite RR cella dade E RE REPE Page 22 LCD display continous output Page 117 Page 135 interactive with keypad Page 135 send character string Page 126 update rate for continous display Page 117 Page 136 UD ey naire CLE Page 125 E Vos Pag lata te ae ci gett cen ho ez dahon tal Ala te eee S Page 73 Page 123 leading zeros send to display
206. in milliseconds You may also speed up file loading by pressing Alt F which has the effect of halving the delay time on each press or pressing Alt S which has the reverse effect When you start to download a new file the initial delay time will revert to this value The default value is 0 milliseconds Page 166 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 PANTERM communications programme Communication mode Transparent or Checksum This determines how PANterm communicates with the control system Under transparent mode PANterm will send characters exactly as they are entered on the keyboard or extracted from a file Under checksum mode PANterm always transmits a checksum after each lt CR gt character It then waits for a lt ACK gt or lt NAK gt character If lt ACK gt is received then the next line is transmitted If lt NAK gt is received then line is re transmitted Software or Hardware Handshaking If set to software handshaking PANTERM will use the XON and XOFF characters for flow control If set to hardware handshaking PANTERM will use to dedicated hardware lines CTS and RTS for flow control Hardware handshaking is only allowed when the RS 232 serial mode has been selected Colour or Mono display You should set this to colour if you have a colour screen for better presentation The default is mono Even parity or none This should normally be set to Even This performs parity checking on incoming data
207. inary number can be replaced with either an X no change to existing value or a T toggle bit All commands are terminated by a carriage return CR or by a carriage return and line feed LF The system responses are all followed by CR LF Numeric parameters are input and output in either decimal or hexadecimal Commands are available to set the system to use one or the other Decimal numbers are output by the system as signed seven digit numbers Hexadecimal numbers are output in 24 bit two s complement format as six hex digits with no sign Leading zeros are not suppressed in numeric outputs Decimal numbers are entered as signed or unsigned assumed positive numbers Hex numbers are entered as signed 23 bit or unsigned 24 bit two s complement numbers Leading zeros may be omitted Any number may be entered as a variable a to z by suffixing the command with a V followed by the variable In addition commands which output numeric data may be re directed to a variable by suffixing the command with an O followed by the variable The normal character set consists of the letters A Z and a z the numbers 0 9 and space Multiple command seguences may be entered as one command line with the individual commands separated by a delimiter character Any printing character not in the normal character set except for 4 or may be used as a delimiter between commands such as the and characters The maximum input line l
208. ing a snapshot correction Set snapshot reference correction velocity restricted Range 0 to 8 Default 0 This command sets the correction speed for any snapshot reference error It is used to make large reference error corrections less harsh by spreading the correction over several time steps If VP is set to zero then the reference error correction is performed immediately in one step If VP is not zero then the position correction is limited to a set maximum speed given by the sum of the reference velocity and the current instantaneous motor velocity The reference correction velocity is a power of two fraction of the current motor speed defined by the value of VP This means that the reference correction speed scales automatically with the machine speed such that the value of VP may be chosen for correct operation at full machine speed without causing unnecessary quick corrections at lower machine speeds At the maximum value of VP 8 the correction speed is equal to the current motor speed and the correction is thus performed at twice the current motor speed Each time VP is reduced by one the correction speed is halved down to the minimum value of VP 1 when the correction speed is 1 256 times the current motor speed If the reference correction velocity is set too small or the reference error is too large then it is possible for the next reference signal to arrive before the correction for the previous reference is complete
209. ion 500 and not zero Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Reference Commands RV RL nn nn Set reference correction velocity restricted Range 0 to 8 Default 0 This command sets the correction speed for any reference error Itis used to make large reference error corrections less harsh by spreading the correction over several time steps If RV is set to zero then the reference error correction is performed immediately in one step If RV is not zero then the position correction is limited to a set maximum speed given by the sum of the reference velocity and the current instantaneous motor velocity The reference correction velocity is a power of two fraction of the current motor speed defined by the value of RV This means that the reference correction speed scales automatically with the machine speed such that the value of RV may be chosen for correct operation at full machine speed without causing unnecessary quick corrections at lower machine speeds At the maximum value of RV 8 the correction speed is equal to the current motor speed and the correction is thus performed at twice the current motor speed Each time RV is reduced by one the correction speed is halved down to the minimum value of RV 1 when the correction speed is 1 256 times the current motor speed If the reference correction velocity is set too small or the reference error is too large then it is po
210. ion to generate a positional error These are the current demanded position and the current measured position The demanded position is calculated by the controller on the basis of a target positional move For example if the controller is asked to move a distance of 4000 encoder counts at a speed of 500 counts sec and an acceleration of 2000 counts sec it can generate a velocity profile in terms of the desired position at every 1 256 second If the system is under control but not moving there will still be a demand position but it will not change This positional error information is used as the basis for a PID proportional integral and derivative calculation whose output is fed to a Digital to Analogue Converter DAC The analogue voltage is sent to an analogue drive as a velocity command Most high performance drive systems will have an analogue velocity control loop built in This takes the form of a Tacho generator on the end of the motor shaft which generates a voltage proportional to its velocity and an associated gain potentiometer on the drive This allows a stable high gain system to be set up Page 10 Copyright 2003 Pan Controls Limited Revision 16 1 User Manual There are two additional control terms built in to the software which can be useful under particular circumstances The first of these is a digital velocity feedback system This is only really useful where no tacho feedback is available and is bound to be of
211. k to the new zero position in the IN command sequence When set to 0 the IN command finishes with a move back to the new zero position defined by the just detected reference input 4 Reserved for future expansion 5 When set to 1 the system only corrects the displayed position value not the motor position When set to 0 it corrects the motor position as well as the displayed position 6 This bit defines the action taken if the reference error is greater than the maximum value set by the SR command and bit 1 of RW is set to enable this limit When set to 1 if the reference error is greater than the maximum value set by the SR command the system corrects by this maximum value The RL reference out of limits error is reported and may set the channel to the motor off state if required When set to 0 a reference error greater than the maximum value is ignored completely and its value is discarded This also inhibits the reference out of limits error message and does not update the reference error displayed by the DF command 7 When set to 1 the system always sets the position to zero on detecting a reference signal When set to 0 the system defines the reference position or SB whichever is closest This is the normal setting for use on a cyclic machine where for example SB is set to the repeat distance between encoder marker positions Page 90 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Refere
212. k with your control system Typing RETURN at this point should produce a control system prompt on the screen 1 If this does not happen you will need to configure PANterm to work with your control system which is explained in the Configuration section below At this stage control system commands such as CH1 PC MR1000 etc can be typed and will be transmitted directly to the control system The responses from the control system such as 1 1 and 2M will be displayed on the PC Your PC is now working as a terminal on the control system To leave the PANterm terminal program and return to MS DOS type Alt X Exit 11 4 Preparing system command files PANterm has been designed not just to send single commands to a control system but also for the preparation and issuing of files of command to the systems PANterm can also be used to receive a set of commands which actually exists on a control system and place these commands in a file You are then able to edit this file as required and issue the new commands to the control system in a similar way You may edit a file of commands with any text editor PANterm also allows you to set up a specific editor for use with the program and this is explained in the configuration section Note that your editor must be able to prepare a file which contains pure ASCII test without hidden control codes Most editors will do this in non document or ASCII mode The resulting file should contain a list
213. ke ET Page 8 3 1 10 Counter timer board TIO 33 0 0 00 c eee ee Page 8 3 1 11 G 64 bus 2 slot PC3 152 ia See kee RE QU RO Ng Qn Page 8 3 1 12 G 64 bus 8 power supply 3 slot PC3 153 lt Page 8 3 1 13 G 64 bus 8 power supply 2 slot PC3 154 2 eee Page 8 4 GENERAL DESCRIPTION CONTROLLER ooo RE doa eee eee eae E E Page 10 5 GENERAL DESCRIPTION SOFTWARE FUNCTIONALITY 22 2000 0 eee Page 12 6 MODIFICATIONS TO THE USER PROGRAMME 0 00 cece eee eee Page 13 Copyright O 2003 Pan Controls Limited Pagei User Manual Revision 16 1 7 10 11 Page ii COMMAND DESCRIP TION rita o en ac ea rt ee Sere a zo Pee aei Page 15 Cab TOPO BEL COOLER CREER TTC A O E a e a a Page 15 7 2 Command Reference camian i iie iie i ee Page 18 7 2 1 Boot programme commands 000 0c eee eee tees Page 18 7 2 2 Miscellaneous commands 00 e eee ees Page 20 7 2 3 MOGSGOMMANG S38 A tt tee Ar M LM o PE cite Aah Co Aa a Page 29 7 2 4 Move commands sione aci sd aed hody S ERRARE ed Page 38 7 2 5 Set parameter commandS 6s sac weed sada A a DEG a NER E RES Page 45 7 2 6 Sequence commands frei it Page 51 7 2 7 Logic commands con a re te re a a a Os ee Oe Page 59 7 2 8 Profile commands 22 c35844 d bird dee Page 62 7 2 9 WaitcommandS x erie Mae easiest wed EQUI UR a weenie Page 68 7 2 10 Error trapping sus uh a cha e s etes cet tete oo eb pandu Page 71 7 2 11 Gain commandS sk cet oiu el Mi tu
214. ke a blank entry by just entering a CR and the system then returns to normal operation The sequence is accessed by means of the sequence number assigned by the user when it is entered If bit 6 of the global control word GW is set and sequences 1001 to 2047 are put in a second memory page This can be useful if there are a lot of large sequences to be stored However it should be noted that this second memory page is also used for the data logging facilities The second sequence memory page should therefore not be used if data logging is to be used Example System User Comments 1 ES 1 CR Enter sequence 1 81 1 ID IN CR Initialise position 812 MA100 WT256 MAO WT256 RP3 CR Do this 3 times 1 3 MA 2000 CR A single move S1 4 CR End sequence 1 Normal prompt Copyright O 2003 Pan Controls Limited Page 51 Command Reference Seguences User Manual Revision 16 1 LS XSm RP Page 52 nn List seguence Range 1 to 255 This command allows the user to examine a seguence that has previously been entered into the system The seguence is listed on the display or terminal one command entry per line The sequence may be listed continuously or the system can print one line at a time and wait for the user to press the CR key before printing the next line This is useful when using the system with a membrane keyboard or a hand held terminal which only has a small number of display lines This list pause facility
215. l command Example DI1 AB This defines line 1 as a single command such that when line 1 goes to a logic high the system executes the AB command Example DI2 ID IN WT256 MR 5000 ZC DI2 ST This defines line 2 as a command seguence such that when it goes to a logic low the system executes the given seguence It initialises the DAC offset initialises the position to the reference position waits for 1 second moves 5000 units and zeros the position counters at this position When the input line reverts to a logic high the ST command is executed If the system is still in motion it will then stop Example DI3 This returns line 3 previously defined as a function input to normal operation Define input line to be latched restricted Range 1 to 16xn where n No of control boards This command defines a specified input line to be latched next time it goes to the state defined by the parameter The latch can be read using the RIL command When the DIL command is executed the RIL state is set to the opposite sign as the DIL parameter At the first transition to the sign defined by the DIL parameter the RIL state follows to this sign The RIL state is reset at the next occurrence of a DIL command If DIL is executed without a sign parameter it removes that line from a latch definition and hence the MID command will not have any effect on it Read input line latch Range 1 to 16xn where n No of control boards This co
216. l mode A new window will appear with the header Configuration Each entry together with its default value is explained below Communications Port Normally PCs have up to 4 serial ports one of which will be used to talk to the control system PANterm is set up to use Port 1 by default Some PCs have more than four ports because this is not standard and methods of implementation between different computers vary it has not been possible to write PANterm to use other ports Baud Rate This item indicated the speed at which PANterm will attempt to talk to the control system This is normally set at 9600 baud because this is the default speed at which the control system will communicate You may want to change this value if you are talking to a different device other than a control system Serial mode RS232 422 or 485 PANterm is designed to operate in conjunction with the standard 16450 or 16550 UART device This option allows the use of an RS 422 or RS 485 converter as manufactured by KK systems to be connected to the standard RS 232 serial port of a personal computer The hardware handshake mode see below can only be selected if the RS 232 option is selected since the RS 422 and RS 485 adaptors do not have hardware handshake facilities The RS 485 option uses the RTS line to control the direction of data flow File Loading delay The rate of loading a file to the control system will be controlled by this value which is
217. l word restricted set to Motor Off Set multi axis move word set to Normal Mode Copyright 2003 Pan Controls Limited restricted restricted restricted restricted restricted restricted restricted restricted restricted Page 151 Summary PB n2 PC MM MR MX OA Z M L Page 152 User Manual Revision 16 1 Enter playback position mode set to Position Control mode Position Gain correction Value set to Privileged Mode set PassWord Enter record position mode Set record position distance rate Set record position time rate Enter tension control mode Wait for system ticks before moving current channel Set position record control word restricted restricted restricted ABort emergency stop Set arc centre coordinate for current channel for interpolated circular move Global abort emergency stop Global Stop Initialise Demand signal offset Set inch distance Execute an inch move INitialise to reference position Set inch pause time Set interpolation move word restricted Move to Absolute position scal ed Prepare move units on current channel multi axis move Move Relative to current position Execute multi axis move Initialise ADC offsets to value Prepare relative stop from creep position on current channel multi axis stop Prepare relative stop position on current channel multi axis stop STop with normal d
218. last servo loop calculation could be up to 3ms out of date the difference between demand and measured position is unlikely to have changed significantly For more details on the reference commands see section 7 2 13 and the DR and DZ commands in section 7 2 14 page 96 Set reference averaging constant Range 0 to 5 Default O The RA command sets up an averaging mechanism such that the number of averaging samples doubles for each increment of the value of RA When RA is zero no averaging takes place When RA is 5 2 32 samples are averaged The system keeps a running average of the reference error which is updated at each time an external reference signal is seen so that the latest average reference error is always available using the DF command Set position snapshot averaging constant Range 0 to 5 Default O The PT command sets up an averaging mechanism such that the number of averaging samples doubles for each increment of the value of PT When PT is zero no averaging takes place When PT is 5 2 32 samples are averaged The system keeps a running average of the reference error which is updated at each time an external reference signal is seen so that the latest average reference error is always available using the DS command Display snapshot position data This command displays the absolute position measured when a snapshot input signal was detected For more details see the PS command in section 7 2 14 page 100 Di
219. lave control PC3 110 board G 64 bus amp power supply 3 slot PC3 153 This is used for a connecting host control PC3 100 Revision F and later to a slave control PC3 110 board Its functions include x S S SS EZ SOE EEN X bv 15v 15v power supply for PC3 100 8 PC3 110 control boards 5v isolated power supply for incremental encoders 7v un regulated power supply for operator interface Isolated RS485 422 port for connection to Operator Interface or serial bus Isolated CAN bus port Infra Red or RS 232 asynchronous serial port 2 asynchronous serial ports which can be configured as RS 422 or RS 232 Socket for isolated analogue input board 8 channel 16 channels of isolated stepper circuits Standard LCD VFD character display port Keypad interface port G 64 bus amp power supply 2 slot PC3 154 This is used for a connecting host control PC3 100 Revision F and later to a slave control PC3 110 board lts functions include bv 15v 15v power supply for PC3 100 8 PC3 110 control boards bv isolated power supply for incremental encoders 7v un regulated power supply for operator interface Isolated RS485 422 port for connection to Operator Interface or serial bus Isolated CAN bus port RS 232 asynchronous serial port Copyright O 2003 Pan Controls Limited Revision 16 1 User Manual vii 2 asynchronous serial ports which can be configured as RS 422 or RS 232
220. ldest EA Page 96 E clock 10r2MHZz i o Rin Page 27 Page 35 EB be e ied e a capas able je oo ums ese Page 2 EQ ae shh Sod 00 dedo ala OE EPA DIT Page 96 Echo mode off lt Page 115 mode 0N n eee eee Page 115 Echo mode set off for aux serial pOrt Page 125 set on for second serial port Page 125 BEDE o ad o Mo E d uM ds abies iis s Page 54 BEL o c ci ees at NEUTRA ET DEN nM E Page 54 EG eee ect sla O T Page 74 El sagan agis es ey ese cette de ee da dee eid stip eed Page 86 EID lts Ritter dat tee a theta tara chats tat Mead OS Page 89 EJ dme Ret dL S RA thew nd esis Page 59 ire a a GRE tat uie do ora Sanath eS Page 2 Page 87 Electrical characteristics CHEN deda OR RR erated tad Page 150 EM 26 ko e ited Mok ts B ra dy oo va oo ao Page 1 3 Page 54 Emergency stop sese Page 38 EN sp ste elb E ROI na Page 19 Enable fUNCtION input foc esee eae akc n Page 86 keypad input 00008 Page 87 Encoders 524 fended avis arse tial sk x Page 147 IMPULS ooo weet svn atts EA ee EN Page 147 multiplication lt Page 147 reversal 6 5 esee bI heb Page 76 End wait state lt 4444 4 4 Page 70 End repeat or loop cece eee nnn Page 53 Enter display mode Page 116 Page 117 high level software revision Page 24 link mode fact faye Dec ede pre teri Page 29 logic definition o oooooo oooo Page 5
221. ls Limited Page 73 Command Reference Error Trapping User Manual Revision 16 1 bit Page 74 OOMNoOG AOTD O Set global error options word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0000 0000 This command allows the user to write a value into the global error options word Note that the leading zeros may be omitted The error word allows various user and motor error options to be turned on or off The error word bit functions are described below Bit set Bit cleared No error messages sent Error messages sent DE command responds to all errors Only responds to motor errors Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Gain Commands 7 2 11 Gain commands The motor control system operates by sampling the position of the motor at regular intervals and calculating a motor demand signal according to some control algorithm The algorithm used is of the following form V ut KDS T KIy e KD es er KV DD KFid
222. ltiplication factor to 5 Enter a user software revision no string This stores a character string enclosed by double quotes maximum 16 characters This can be useful for identifying the current setup using the VN command Execute boot programme This command allows the user to execute the boot programme from the main programme It then enables the user to upgrade a new main code version to the unit Output the time counter Prints the current value for the time counter variable Wrap for time counter input Range 1 to 2 147 483 647 Default 2 147 483 647 This command sets the value at which the time counter wraps to zero Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Miscellaneous Commands TI CA CAI CAS CAO CAR CAPW CAUW CAPR CAUR CAT vo CAM CAWT CADO CADF Initialise ADC offset Under normal conditions there may be some constant offset in the strain gauge amplifier which causes the tension to be displayed and controlled at a value different to the actual tension The TI command sets the system up to allow for this assumed constant offset in all subsequent tension control operations It must be used every time the system is powered on when the system is in not in tension control mode and there is no load on the strain gauge The measured value will then be subtracted from all future tension measurements If this command is used on a regular basis
223. m returns number of bytes free 1 gt Copyright 2003 Pan Controls Limited Page 55 Command Reference Seguences User Manual Revision 16 1 AS R m HR nn XT Page 56 Set autostart seguence Range 0 to 2047 Default 0 This command is used to set up a command seguence to execute automatically when the system starts up after all the saved setup parameters and configuration details are loaded from the non volatile memory If no sequence number is given the system prints the current autostart sequence number If the R option is entered an auto start sequence for startup after software watchdog reset can be entered This could be the same as the AS auto start sequence but could be some alternative sequence to ensure a safe re start To disable the autostart sequence facility set it to zero If the sequence specified in the AS command is not defined then the system simply does nothing at start up Set Hard Reset sequence or initiate Hard Reset Range 0 to 255 Default 0 This command locks the software watchdog in order to force a system reset after about 6 seconds Exit from current sequence This command tells the system to exit from the sequence which is currently running If this is a sequence which has been called from another sequence then the calling sequence will continue execution Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Seguences GL Go to line in s
224. m setup including all parameter values input and output line definitions sequences and profiles may be stored in non volatile memory using the SP save parameters command The setup data is saved together with a checksum value This is used when the system is initially powered up to check the integrity of the stored data If the data has changed at all the checksum test fails and the system gives an error message and resets the system to the manufactured default configuration Copyright 2003 Pan Controls Limited Page 17 Command Reference Boot Programme User Manual Revision 16 1 7 2 Command Reference 7 2 1 Boot programme commands The boot programme is designed so that it is normally invisible to the operator It consists of a small area of code which can operate autonomously and allow upgrades to the main programme by the use of the PANTERM programme on a personal computer This system is installed on hardware revisions E and later of the PC3 100 board The boot programme is the first piece of code to be executed by the microcontroller and its first task is to check that there is a valid main programme installed on the board If the main programme is installed and valid it is executed immediately otherwise the controller will enter the boot programme and await instructions from the terminal port If no terminal is connected the two L E D s on the top edge of the board will indicate the current state of the board If the top L E D is
225. me Example IS 17 35 MR 25000 SO5 If bit 17 in variable 35 is clear then the system executes a move of 25000 counts and then sets output line 5 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Variable Commands lEvive ye Ge Gf TG If is equal to then do the rest of the command line This command executes the remainder of the current command line if variable is equal to variable Example IE NA MR 5000 CO3 If variable N is 16 and variable A is 16 then the system executes a move of 5000 counts and then clears output line 3 If is not equal to then do the rest of the command line This command executes the remainder of the current command line if variable is not equal to variable z Example IF tO MA 0 If variable t is 516 and variable O is 516 then the system moves to an absolute position of 0 counts If is greater than then do the rest of the command line This command executes the remainder of the current command line if variable is greater than variable z Example IG VW IVVO If variable W is 12 and variable V is 13 then O is allocated to variable V If variable is greater than the time counter then do the rest of the command line This command executes the remainder of the current command line if the time counter is greater than variable Example GT X SO12 If variable X is 544 and the tim
226. mmand reads an input line latch which must have been set up using the DIL command as described above Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Digital Inputs A Outputs MID EID Mask input line latch Range 1 to 16xn where n No of control boards This command masks any input lines which have DI strings associated and have also been defined to be latched using the DIL command It differs from the MI command in that a pending DI command string will be executed after the EID command has been executed Pending DI strings will executed in the order of receipt of signal if there is more than one DI string waiting to be executed Enable input line latch Range 1 to 16xn where nzNo of control boards This command enables any input lines which have DI strings associated and have also been defined to be latched using the DIL command It differs from the El command in that a pending DI command string will be executed after the EID command has been executed Pending DI strings will executed in the order of receipt of signal if there is more than one DI string waiting to be executed Copyright O 2003 Pan Controls Limited Page 89 Command Reference Reference Commands User Manual Revision 16 1 7 2 13 Reference commands This section describes the commands available to make use of the position reference facilities In particular these commands allow the user to set up a repetitive position r
227. n error to 500 units TO Timeout restricted Range 1 to 65535 Default 32 This command sets a timeout value in units of 1 256 seconds When a move command is executed if the motor does not move for a period that exceeds the timeout then the system will print a T error message and go to the motor off state The system must be returned to position control mode before any further move commands are accepted Example TO 512 This sets the timeout to 2 seconds LH Set high position limit restricted Range 4 000 000 4 0E6 Default 4 000 000 This command sets up a user defined limit position If at any time the absolute position of the motor exceeds the high position limit the system gives the LH error message and goes to the motor off state This is similar to the action taken on detecting a limit switch input The value is defined in user units Copyright O 2003 Pan Controls Limited Page 71 Command Reference Error Trapping User Manual Revision 16 1 LL nn RT nn Page 72 Set low position limit restricted Range 4 000 000 4 0E6 Default 4 000 000 This command sets up a user defined limit position If at any time the absolute position of the motor is less than the low position limit the system gives the LL error message and goes to the motor off state This is similar to the action taken on detecting a limit switch input The value is defined in user units Example LH 1000
228. n table parameters inconsistent Undefined offset table Calculated sequence checksum differs from saved checksum Time out for camera Motor off errors 107 108 109 110 111 112 113 114 Limit switch errors from 1 to here Reference timeout error Reference error outside limits Reference error correction overrun Position error Timeout error High position limit error Low position limit error Motor off errors unique to multi axis version 115 116 115 Map update timeout error Map position overflow out of range Bounds limit error Copyright O 2003 Pan Controls Limited Appendix error codes Page 185 Appendix ASCII table User Manual Revision 16 1 12 5 ASCII Table American Standard Code for Information Interchange ASCII EQUIVALENT FORMS ASCII EQUIVALENT FORMS Page 186 00000000 00000001 00000010 00000011 00000100 00000101 00000110 00000111 00001000 00001001 00001010 00001011 00001100 00001101 00001110 00001111 00010000 00010001 00010010 00010011 00010100 00010101 00010110 00010111 00011000 00011001 00011010 00011011 00011100 00011101 00011110 00011111 O O ON O Ga A C PY O ON O Ga R CO Iw 00100000 00100001 00100010 00100011 00100100 00100101 00100110 00100111 00101000 00101001 00101010 00101011 00101100 00101101 00101110 00101111 00110000 00110001 00110010 00110011 00110100 00110101 00110110 00110111 00111000 00111001 00111010 00111011 001111
229. nce Commands 8 When set to 1 the system always uses positive numbers when displaying its position This means that while the system is moving in the negative direction past the zero position it will wrap to the current bounds value set using the SB command When set to 0 the system will display negative numbers as it passes the zero position moving in the negative direction It will only wrap when it reaches either the positive or negative bounds value 9 When set to 1 the system allows the crossing of bounds for an absolute move When set to 0 the system always stays within the current bound setting The practical use of this bit is when a system has had its bounds set to a machine cycle and it is necessary to move the shortest distance By setting bits 8 and 9 the system will always take the shortest route for an absolute move 10 When set to 1 enables the position correction on detecting a snapshot signal When set to 0 disables the position correction but still allows the measurement of snapshot position 11 When set to 1 limits the position correction to a maximum value set by the PR command if the reference correction is enabled by setting RW bit 10 to a 1 When set to 0 allows the full correction to be made regardless of the maximum value set by PR 12 When set to 1 defers the position correction until the motor passes the adjustment set by the PJ command When set to 0 the correction takes place immediately the reference
230. nds with a P prompt for the table entries Each entry in the table is the signed distance between the new position and the previous position that is the required cumulative motor position relative to the start of the profile To end the table make a blank entry by entering just a CR and the system then returns to normal operation The profile is accessed by means of the profile number assigned by the user when it is entered Example System User Comments 1 gt EP 1 lt CR gt Enter profile 1 Absolute mode Position format P1 10 First position P1 40 P1 100 P1 180 P1 270 P1 350 P1 410 P1 440 P1 450 Final position P1 CR End profile 1 Normal prompt If bit 4 of the Display Word DW is set then the profile is entered as a table of signed relative position increments instead The table values now represent the change in position at each time step and thus the table may be viewed as a velocity profile Example The same profile entered as relative position steps System User Comments 1 EP 1 CR Enter profile 1 Relative mode Position format P1 10 First relative move P1 30 P1 60 P1 80 P1 90 P1 80 P1 60 P1 30 P1 10 P1 CR End profile 1 gt Normal prompt Copyright 2003 Pan Controls Limited Page 63 Command Reference Profiles User Manual Revision 16 1 LP nn List profile Range 1 to 255 This command allows the user to examine a profile that ha
231. ned to the variable lt will perform a destructive backspace and ESC will cancel the current entry If a second variable v2 is specified the system will assume that a two part number separated by a decimal point is to be entered The third variable is used as a counter to specify the number of decimal points entered particularly useful when the decimal section begins with a 0 This can be useful when entering parameters with decimal points to the system If the command is entered with no variable any pending keypad input is cancelled Set system to input variable from input lines This command sets up the system to allow input lines to set a variable using the RI command with O followed by a variable name The sign defines the sense of the inputs with reference to the binary number which is allocated to a variable using the RI command If no parameter is entered the current VI state is displayed VOA D 4 2 5 Sends a variable continuously to display This command sets up the system to allow display a variable number type continuously at a rate determined by the UR command The suffix defines the line number on the display 13 defines the starting character number within line 2 and defines the field width This will carry on updating the display until VO is executed without a parameter System variables see section 7 2 18 2 can be displayed using the VO command Up to 4 separate variables can be simult
232. ntrols Limited Page 147 Safety User Manual Revision 16 1 8 8 Operation of Limit Switches The limit switch inputs are programmable by means of the DL command This allows the user to select any of the inputs as limit switch inputs and to define the active state of each input The inputs will float to a logic high if left unconnected If a limit switch is operated the system will stop the motor immediately and go into the motor off state The system displays an L error message to indicate that a limit switch has been detected All limit switches should be wired such that operation of any switch gives an error signal to the system 8 9 Reference inputs The reference inputs are used during the IN initialisation sequence to define the zero reference position for each motor They may also be used to continuously update the system absolute position from the external zero reference if required They are connected to marker signals from the position encoders The reference inputs have differential input circuits similar to the encoder inputs The IN initialisation sequence is as follows 1 Accelerate to the system velocity in specified direction 2 When the reference switch is detected zero the absolute position counters and decelerate the motor to stop 3 Move to the new zero position if allowed by RW options The sense of the reference input for the current channel is programmed by using the DR command 8 10 Serial Communication
233. nual Revision 16 1 PV n EO LO mn Page 66 Set profile velocity Range 0 to 8 Default 5 This command sets the rate at which the system steps through a profile table The step rate is 2 steps per second where n is the value of PV The fastest step rate is 256 steps per second or one step every 4ms The system interpolates linearly between table points at the slower speeds in order to maintain smooth motion The profile velocity may be changed at any time even when executing a profile Example PV 5 This sets the profile velocity or step rate to 2 32 steps per second Enter Offset correction table Range 1 to 255 This command is used to enter offset correction tables into the system The system responds with a O prompt for the table entries Each pair of entries in the table is the nominal position and the signed offset from that position Note that the first and last entry points should have offset values of zero and that there need to be at least 4 pairs of values The system interpolates between the nominal positions to create a required offset To end the table make a blank entry by entering just a CR and the system then returns to normal operation A table can be entered automatically by using the optional suffix of a followed by a number or v followed by a variable which indicates the number of entry pairs to be loaded These are copied from numeric variables starting from 960 Once the t
234. number of samples IGM 16 IVM1500 Limit correction to value approx 6 coarse 1G 15 M IVM 1500 Limit correction to value approx 6 coarse IGM515 1G 16 M VMMUM VDMVMZ Fine correction scaling VAMGD AP gt 2 VD AP gt 1 VD Scale FM load AP for col 1 8 col 2 FM lt IVI0 IV 12 0 Action FM on both channels using AP value ES124 Adjust the repeat length VDPKkPz VSWPm VMm s1 2511 VD9511 W95311 z Calc act rpt on web in 11 IVkO IVPO VD 11 jXY Reset accumulator totals 8 calc display I 10 Y MD4 15 Refresh only if Y lt 10 IEyd MD4 Actual Repeat X Y AE KKK KKK ee e e he KK kc ko ke e e e e ke ke Sk ke K K e e e he K KK KK e e e he hec K ke sk ke K e e K he hec kc KKK ke e e he kc Kc kc ke ke ke e e he c A e kkk START OF ADV RET POSITION CONTROL P FE KKK KKK e e e e he KK Sk Sk ke e e e he ke ke Sk Sk K K e e e he hec KKK K e e e he hec K kc kc ke e e e K he Kc kc kc ke ke K e e he Kec Kc kc ke ke ke ke e he c Ke e e e x ES140 One shot correction sequence CH1 CUC3000 CLC600 PGCVQ Load correction with variable Q CH2 CUC3000 CLC600 PGCVQ Load correction with variable Q ES145 One shot correction sequence complete colour 1 EI EKE Enable all inputs CH3 RE120 IEyd MD1 PRINT MODE 5 Clear advance retard message ES146 One shot correction sequence complete colour 2 EI EKE Enable all inputs CH3 RE120 IEyd MD1 PRINT MODE i Clear advance retard message FEK KKK KKK K K K RRE RERE ERRE EEE RRR K K K AK K EERE K
235. o be an external counter Read external counter input This command reads an external counter value Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Configuration Commands WX nn ZX AA a nn Al nn AG AL Wrap for external counter input Range 1 to 2 147 483 647 Default 2 147 483 647 This command sets the value at which an external counter wraps to zero Zero external counter input or set counter input Range 0 to 2 147 483 647 This command reads sets an external counter value to zero If a value is given the system sets the current external counter to the given absolute value If no value is given it sets the external counter to be zero The ZX command may be used at any time Analogue input averaging term Range 1 to 2 Range 0 to 12 This command is used in conjunction with the AL and AG commands It provides a rolling sum on analogue input no The number of terms in the sum is 2 and so this also provides a gain of 2 The output of this sum is then multiplied by the AG gain constant before being converted to a position Read analogue input Range 1 to 4 This command reads an external analogue input Variables can be fed with the analogue input value by using a colon delimiter Example Al2 g This sets variable g to the current analogue input on channel 2 Set analogue input gain constant restricted Range 0 to 1048575 De
236. o motion Unlink analogue input from motion Set analogue input link word Set baud rate define Bound Overflow Output set input DeBounce time Define Error output sense Define inching input Define function Input Define Limit switch input Define multi axis stop input Define Reference input sense Define eXpanded input group Define zero marker input on off Define external counter input Set hardware setup word List 1 O line definitions define eXpanded Output group define Position trigger Output Define position snapshot input Read external counter input Set input to stop current motor channel Wrap for external counter input Zero external counter input or set counter input User Manual Revision 16 1 restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted restricted scaled restricted restricted Copyright O 2003 Pan Controls Limited User Manual Revision 16 1 Summary Display commands BE Set echo mode on for serial port number BN Set echo mode off for serial port number CB Character delay auxiliary serial port CD set Character Delay CN Stop continuous display of position data to serial port number DC Display bound overflow Count DD Display Demand position scaled DF Display reFerence error DK Display system constants DM set continuous Display Mode
237. obal control word Page 26 global position bound Page 46 hardware setup word 00 Page 107 high position limit Page 71 high tension limit 4 40 Page 48 inch distance 0 ee eee eee eee ee Page 44 inch pause time o Page 44 integral gain cece eee eee Page 77 integration time constant Page 79 interpolation move word usse Page 42 L E D display number Page 125 link factor for division Page 29 link factor for multiplication Page 30 link motions control word Page 30 low position limit o o o Page 72 low tension limit lt Page 48 lower bound for link correction Page 30 Copyright O 2003 Pan Controls Limited lower stepper resonance velocity bound Page 77 maximum following error Page 71 maximum position error Page 71 maximum reference correction Page 92 maximum snapshot reference correction Page 94 maximum tension threshold Page 49 minimum tension threshold Page 48 monitor output function Page 79 monitor output gaiN o ooo Page 80 monitor output offset Page 80 multi axis move word Page 40 multiplication factor f
238. ode Copyright O 2003 Pan Controls Limited Page 1 User Manual Revision 16 1 1 2 4 Version 154 5 August 1999 The RW command has a new default value of 0000 0001 0000 0000 positive numbers only Previously bit 8 had a default value of zero If bit 8 is required to be zero it has to be explicitly set to zero 1 2 5 Version 154 9 October 1999 The SK EK and MK commands have had keys re allocated to them This means it is possible that a programme written for an earlier version of software will need to be changed For example EKK now enables the right hand display key previously it enabled the escape key 1 2 6 Version 155 5 March 2000 The IW inch wait been re name IP inch pause This is to allow a new IW interpolation word command The SU Set Units command has been removed The variable system allows scaling to be performed more flexibly 1 2 7 Version 155 9 September 2000 Bit 2 of GW global control word now controls the cursor on the operator interface display Its previous use for defining whether there is an external operator interface is redundant 1 2 8 Version 157 0 June 2001 The hardware control word HW has been re organised to accommodate 2 slave boards 1 2 9 Version 157 2 October 2001 The position trigger output command now uses the character as a delimiter instead of the character This is to allow the PO command to be used within sequences The PO command now allows variables to be used C
239. ode with the motor actually controlling the position and it has no effect if the motor is not driving the system Note that friction in the mechanical system can also cause a position offset after a move command is executed If this command is used on a regular basis e g whenever the system is switched on it will have the effect of removing any drift in the analogue amplifier which may have arisen with time Initialise ADC offsets This variation of the ID command is used for setting up the Analogue inputs for use with the Sine Cos option of the link word The Z M amp L suffix refers to zero point maximum and lower Min points The suffix either 1 or 2 defines which analogue channel is being set up Copyright O 2003 Pan Controls Limited Page 43 Command Reference Move Commands User Manual Revision 16 1 OA Z M L Initialise ADC offsets to value nn nn IM Page 44 Range 512 to 512 Default 0 This variation of the ID command is used for setting up the Analogue inputs for use with the Sine Cos option of the link word The Z M amp L suffix refers to zero point maximum and lower Min points The suffix either 1 or 2 defines which analogue channel is being set up Set inch pause time Range 0 to 65 535 Default 0 This command sets a maximum time for an input line to be set while inching Set inch distance Range 0 to 4 000 000 Default 0 This command sets the distance for an input lin
240. oder this is equivalent to a maximum speed of 250 revolutions per second or 15 000 r p m The encoder inputs have differential input circuits for use with encoders with complementary output signals The encoder signals are complementary signals with line driver outputs which gives good noise rejection 8 5 Demand outputs The demand outputs to the high power drives are analogue signals with a range of 10V at 12 bits resolution These outputs are switched directly to OV in the motor off state The motor drives should be connected such that a positive demand output signal causes the motor to move in the positive direction 8 6 Relay Contacts The relays which switch the demand outputs to OV in the motor off state have a spare set of changeover contacts These may be used to derive inhibit signals to the motor drives in the motor off state or for example to switch a joystick onto a drive input to allow manual control of the motor 8 7 Digital Input Output Lines The control system has eight isolated input and eight isolated output lines per pair of axes Inputs may be programmed as a signal to execute a user defined command sequence or as limit switch inputs Outputs may be controlled directly from command sequences if required In addition there is a dedicated error output line which may be programmed to give an indication of any serious system error condition All the input lines indicate high if left unconnected Copyright 2003 Pan Co
241. of control system commands in exactly the same format as you would type them in direct terminal mode The file could look like this move forward and back CH1 PC SA500 SV1000 MR5000 SV200 MR 5000 move complete Note that comment lines can be put in the file by starting the line with a pound or hash symbol In due course we will see what happens to these comment lines When the above example is sent to a control system it would cause the system to execute the move forward and back immediately This assumes that the control system is ready to move and the velocity and accelerations are sensible If an error occurs perhaps because the motor cannot achieve this acceleration then the system will respond in the normal way with an error message If the move fails early on then all the subsequent move commands will generate errors and a whole batch of error messages may be received by the PC Error messages can be recorded to a file disk using the Alt R PANTERM command In addition the last error on the control system can be interrogated using the LE last error command Page 162 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 PANTERM communications programme If you do not want the sequence of commands to be executed immediately but to be stored on the control system for future use we could edit the file to look like enter sequence to move forward and back ES1 CH1 PC SA500 SV1000 MR5000 SV200
242. oltage on analogue channel 2 If the measured value falls outside of a band defined by the LC parameter then no correction is done to the motor position If it falls inside one of the bands then that defines which of the 2 angular positions are to be used to set the motor position Upload new main programme user level code This command allows the user to upgrade the currently installed user level programme in the form of an ASCII file The file must have been created in advance and placed in the relevant directory of a personal computer together with the PANTERM programme The command first erases the existing user level programme and as a result it should be used with caution It then reads in the file and does appropriate checksum checking as it does so If there is any checksum failure during Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Miscellaneous Commands uploading then an error message is displayed If the programme is loaded successfully it can be saved to non volatile memory by using the SP command NOTE this command does not destroy non volatile code or data The SP command must be used to transfer the programme to non volatile memory BR D P Binary record of user level programme and data This command allows the user to record the binary data for a user programme and data BRP outputs the currently loaded programme and parameters The can be saved to a file using the lt Alt gt
243. om the character number entered The optional F suffix allows actual screen update to be suppressed whilst a series of other screen related commands are executed until an MDN command is executed This technique can cut the amount of writing to the display considerably The L suffix allows a parameter range 0 9 to define the number of digits to be displayed when variables are sent This allows a number which represents a decimal fraction to be correctly aligned A number will be padded with leading zeros so that the total number of digits is equal to the parameter set with the L parameter Alternatively the character can be used within a normal MD string to indicate that the following number will re allocate the number of leading zeros for subsequent variables This allows one MD command to send several variables to the display each with different numbers of leading zeros The table below shows the displayed symbols when the matching characters are enclosed in single quotes Where a Y is indicated the character is illegal E a GEREE H E a i HOGEGQE E EE d ESTIS Es 6 7 9 9 CA ea PPS O16 19 0 EME E ENESESEN ESTER E UR Page 126 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Display Commands ME R EB wie Sends a variable to the LCD VFD display AN DA vn vn n c This sends a variable to line number gt of the LCD VFD display starting
244. ommand is similar to the MD command However the position of the printout is only determined by the width of the last field to be printed There is no specific position parameter and nothing is actually printed until the PPL new line command is issued This prints the contents of the buffer sends a line feed and resets the current column position to 1 There are several variants of the PP command defined by the suffix PPA followed by a variable followed by a number allows an alpha numeric variable to be printed The alpha numeric variable has to be in a block of numeric variables whose starting address is defined by variable The number of characters to be printed is defined by the numeric parameter Example ivt1000 ppat9 This prints 9 characters of the alpha numeric variable starting at 1000 PPC can be used to cancel any current printing activity This can be useful if a lot of information was sent to the printer which needs to be stopped The printer has an 8 KB buffer so a lot of information can be queued for printing inadvertently PPD disables the printer serial port and PPE enables it PPL issues prints the contents of the current line buffer and sends a new line command PPN sets up an internal variable in the controller to define the number of columns for variables which are subsequently sent to the printer Variables are automatically aligned to the right hand side of the number of columns defined PP without a let
245. ommunications port Page 166 configuration lt lt Page 13 configuring llle Page 166 editor kee shee ede te hinh ies aes Page 162 editor name e ee eee Page 167 error display time 004 Page 167 file loading delay Page 166 Handshaking 000000005 Page 167 loading files Page 165 Page 166 repeating commands Page 163 AS ao dori cent pte ea cece antics Page 161 sequences 44 444 Page 163 serial link lt 4 00 Page 161 serial mode lt lt 4 444 Page 166 slow or fast mode Page 167 Software or Hardware Handshaking Page 167 spreadsheet 2 42 rek e ne Page 164 system programme files Page 166 terminal mode 00000 Page 162 Parity zv 8 gee BK pln er b Kane nee te An 98 B Page 148 terminal port 0000000002 Page 26 Password lt td tote enced AM alae enis tend Page 33 Copyright 2003 Pan Controls Limited Index Pause miii ay he clad eel eta radios Page 68 PB been edhe es ty ees Mp dn ee ee da ba t binds enn tes Page 35 RBG 739 Erec at adu da a thee Sea Ko e iia UR oo Page 35 PB ees E Page 36 PBM tea in de etit St ela o LL PEDE Page 36 PRO i ch ead sd en eS eee Ae peii Page 36 PB ooo eugene tematic aa iM s sor sess Mae cst Page 36 Po ood po zadek One erst ads Page
246. on DN use Decimal Numbers restricted DO Display mode Off DP Display current Position scaled DS Display snapshot position data DV Display current Velocity scaled DT Display time DW set Display Word restricted EO Echo mode off EM Echo mode on HE print HElp display HC hn Display history of commands executed HI Display history of PC3 100 control board HS Display history of sequences executed HN use Hexadecimal Numbers restricted LD Set L E D display number LE Display Last Error MD ccc Send a character string to the LCD VFD display MS Map position output to serial port number NR Set number of retries for RB command OB Output brightness value for numeric display k Set number of digits for L E D display unit OE Clear output of L E D display unit ON Output to numeric display OP Set decimal point position for L E D display unit OS M C R 4 Output a string OW Output options word restricted RA Set reference averaging constant RB Receive a variable from serial port number SM Send a variable to serial port number SN Send continuous display of position data to serial port number TB Set timeout period for RB command TD Display measured tension TR Display required tension set point VT Set velocity averaging time constant XW bob auXiliary output word restricted XU Set update rate ticks for continuous auxiliary output display Copyright 2003 Pan Controls Limited Page 157 Summary
247. on proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Example DP II6 MR20000 SO2 This displays the current position and if input line no 6 is negative the system moves 20000 counts and sets output line 2 If input line 6 is positive the current position is displayed and the remainder of the line is ignored lO x If Output true do command line Range 1 to 16xn where nzNo of control boards This command allows the programmer to specify that a command or command line is conditional on the current state of an output line If the output line specified in the IO command is in the specified state the condition is true then the remainder of the command line is executed If the output line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on output line states Example DP IO3 MR5000 CM6 This displays the current position and if output line no 3 is positive the system moves 5000 counts and complements output line 6 If output line 3 is negative the current position is displayed and the remainder of the line is ignored b fees If node true
248. once the machine has started until the stop sequence assigned to another sequence re enables it This prevents any subseguent signal on the start input from generating unnecessary start seguence commands which may not be allowed when the machine is running Disabled inputs are enabled again by the El command If a line number is given as a parameter then the specified line is disabled If no line number is given then all function inputs and or expanded group inputs are disabled Enable function input Range 1 to 16xn where n No of control boards or no parameter This command is used to enable the action of defined function inputs or any expanded input group lines where they have been disabled by the MI command If a line number is given as a parameter then the specified line is enabled If no line number is given then all function input and or expanded group inputs are enabled NOTE The disable enable action applies only to inputs defined as function inputs with the DI command or as expanded group inputs with the DX command Input lines which are not currently defined for any particular function may be masked or enabled but this has no effect unless the lines are subsequently defined as DI or DX inputs It is not possible to disable other types of defined inputs with the MI command or to inhibit the WI command Mask keypad input Range A to Z or no parameter This command is used to disable the action of certain keys on the keypad
249. only be used in privileged mode Example PO5 1000 2000 This example sets up an output as a position trigger such that it goes low between positions 1000 and 2000 Variables can be used to define position trigger points Example IV 34 245 IV 43 900 PO2 V 34 V 43 The position range for the PO outputs is cyclic and repeats at the bound position defined by the SB command To illustrate this consider the above example again Suppose that the bound position is set to 2000 In this case the active position range for the position trigger output repeats at positions 3000 to 4000 one cycle later at 5000 to 6000 two cycles later and so on It also repeats in the negative direction at 1000 to 0 at 3000 to 2000 etc Define expanded output line group restricted Range 0 to 8 or 16 if slave board s present This command sets up a group of outputs that may be set to a binary code with a single OC command instead of using a string of individual SO and CO commands It reserves from line number 1 up to the line number given for the expanded output group and the sign determines whether or not the output data should be inverted To reset the expanded output definition use OXO If any of the outputs required for the expanded output group function are already defined as some other function the U error message is returned This command is restricted and may only be used in privileged mode Example OX3 This example defines
250. or pos feedback Page 24 multiplication factor for VO display Page 118 Page 136 network communication address Page 139 network control word oooo o o o Page 139 no of retries for operator interface communications PR SE bg ME pe eU S Page 125 DOG isc oo n an let dng alant Boz ad ee Page 61 Page 81 number of bounds for deferred correction Page 95 number of digits for L E D display Page 124 number of retries for RB command Page 125 offset value for VO display Page 118 Page 136 OUTPUT ING o oes co ate oe oe yA ak ee pasa Page 81 password ooo Page 33 POSITION 1 es oe ta E Bele da pa Ch Page 49 position bound lt Page 45 position error limit lt Page 71 position feedback factor for division Page 24 position feedback factor for multiplication Page 24 position gain value 44 Page 31 position record control word Page 35 position snapshot averaging constant Page 115 profile velocity llle esses Page 66 proportional gain llle eese Page 77 reference averaging constant Page 115 reference correction limit Page 92 reference correction velocity Page 93 reference offset 4 Page 92 reference options word Page 90 reference repeat length Page 93 reference timeout
251. ot be superimposed on B type and vice versa A and B tables can only be used simultaneously if their bounds do not overlap There are 2 special case suffix options which allow one shot C type tables to be re used without having to re calculate the table These are P prime positive and N prime negative Note that the N suffix is only allowed if bit 3 of the LW link word is set A one shot table can be shared between different channels provided that bits 3 amp 4 of LW are the same and PGC and CUC CLC are the same Note that number of table entry points created is equal to the CU minus CL parameters minus the PG parameter Thus anegative gain value uses more table points than a positive one If the gain value is between 32767 and 32767 it is sensible to set bit 4 of the LW link word This uses 16 bit values instead of 32 bit values for the tables Normally these tables are designed to be used on the slave axis For example the slave may be a print cylinder which is designed to follow an upstream part of the machine The pitch of the material may be 120 of the drum circumference so it is necessary to accelerate the drum over the period when it is not printing The link word and the tables must be set up on the respective slave channels There is an option to use this table mechanism on the master This allows an indexing mechanism to relate to a master s absolute position For example a stitching head is driven by a crank and for 56 o
252. ounter overflow counter command Set velocity speed Range Creep velocity SS to 800 000 8 0E5 Default 1024 This command is used to set the system velocity in user units per second It may be used when the motor is stationary or when moving at constant velocity after a VC command Example SV 5000 This sets the system velocity to 5000 units per second Set acceleration Range 1 to 2 000 000 000 2 0E9 Default 1024 This command sets the normal system acceleration to the specified value in user units per second squared Note that the acceleration is rounded to the nearest multiple of 256 giving a resolution of 256 counts Example SA 10000 This sets the system acceleration to 10000 units per second squared Set deceleration Range 0 to 2 000 000 000 2 0E9 Default 0 This command sets the normal system deceleration to the specified value in user units per second squared If zero is entered then the current acceleration rate will be used for decelerating Note that the acceleration is rounded to the nearest multiple of 256 giving a resolution of 256 counts Example SZ 2000 This sets the system deceleration to 2000 units per second squared Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Set Parameters SCon SSm SD SL Set creep distance Range 0 to 65535 Default 0 The normal trapezoidal velocity profile for a position move can be modified to
253. output lines 1 3 as an active high expanded output group This allows output codes from 0 to 8 to be put on these lines with the OC command Copyright 2003 Pan Controls Limited Page 105 Command Reference Configuration Commands User Manual Revision 16 1 BO LI Page 106 Define bound overflow output restricted Range 0 to 6 This command defines the specified output line as a position bound overflow output Each time the system passes the position bound set by the SB command a logic high or low pulse is output on the specified output line The sense of the pulse is defined by the sign given in the command The output pulse lasts for about 1ms A line which has been defined as a bound overflow output may be returned to normal operation by entering this command without the sign This command is restricted and may only be used in privileged mode Example BO5 This example defines output lines 5 as a position bound overflow output signal Each time the signal passes the position bound a logic high pulse is output on line 5 List O line definitions This command lists the current definitions of the I O lines on the display Lines defined as function inputs are shown as 1 function and lines defined as limit switch inputs are shown as nn L where is the I O line number Lines not defined as either function or limit switch inputs are left blank The I O line definitions are listed on the display or terminal one p
254. output signal The monitor output functions are scaled by the monitor gain and not by the gains used in the control algorithm The monitor output signals are also independent of the settings of the gain term enable bits in the control word Set monitor output offset restricted Range 32767 Default 0 This command allows the auxiliary monitor output to be offset by a fixed voltage Example SF2 KM100 OM25 This selects the measured velocity function to be output on the monitor line sets a gain of 100 and an offset of 25 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Digital Inputs A Outputs 7 2 12 Digital inputs and outputs Revision E and later versions of the PC3 100 host control board have several i o options The basic system has 8 inputs and 8 outputs This can be expanded to 16 inputs and 16 outputs Alternatively the system can be set to 24 inputs and 8 outputs In this configuration please note that inputs and outputs are mixed on connector CN7 If in doubt about the current hardware setup use the BH command to give a breakdown of the current hardware setup SO COn OM SY an Set output line Range 1 to 16xn where n No of control boards This command sets up the specified output line to a logic high Note that the output state is maintained until superseded by another command for the same output line If no output line number is set then all available outpu
255. oves 20000 counts and clears output line 5 If an acknowledge signal has not been received the current position is displayed and the remainder of the line is ignored Note that this condition could also be met if a command has been sent on the bus with no acknowledge received and a time has elapsed corresponding to the network timeout TN parameter If bit of variable is clear then do the rest of the command line This command executes the remainder of the current command line if bit number in variable is clear This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a programme Example IC 3 b MR 25000 SO5 If bit 3 in variable b is clear then the system executes a move of 25000 counts and then sets output line 5 Copyright 2003 Pan Controls Limited Page 111 Command Reference Conditional Commands User Manual Revision 16 1 Sav Ge GT Page 112 If bit of variable is set then do the rest of the command line This command executes the remainder of the current command line if bit number in variable is set This command can be used in conjunction with the VBC or VBS bit manipulation command to control flow through a programme Example IS 17 35 MR 25000 SO5 If bit 17 in variable 9635 is clear then the system executes a move of 25000 counts and then sets output line 5 If is equal to then do the rest of the command line
256. parameter is entered then all the above keys are disabled Example SK 56 The system executes stored sequence no 56 after a variable has been entered using the VK command Example SKB 23 The system executes stored sequence no 23 after the F2 key has been pressed NOTE The keys which are controlled by this command have been changed in software version 154 9 Execute sequence continuously as timed event Range 0 to 2047 This command sets up the system to execute sequence number as soon as the time defined by the PL parameter has passed This sequence will be repeated indefinitely at the defined time interval until CEO or an AB command is entered Note that the time interval relates to the start of the sequence even if the sequence takes a significant time to execute Example PL512 CE 12 The system executes stored sequence no 12 after continuously every 2 seconds Copyright O 2003 Pan Controls Limited Page 53 Command Reference Seguences User Manual Revision 16 1 PL ED PE EE EM Page 54 nn nn nn nn nn Set parameter for looping continuous event Range 1 to 65535 Default 256 This command sets the time parameter for the CE continuous sequence command The units are system ticks 1 256 second Example PL256 This sets the delay between continuous sequence events to 1 second Execute sequence event after time delay Range 0 to 2047 This command sets up the system to execut
257. position given by the value of RF not necessarily zero For more details read the reference command section section 7 2 13 page 90 later in this manual If no reference input or marker input is defined then the IN commands returns the E error message and the initialisation sequence is not executed Example RWO IN The motor moves in the positive direction until the reference input is seen It then stops and in this example it moves back in the negative direction to the reference position Initialise DAC offset Under normal conditions there may be some constant offset in the demand signal analogue output amplifiers which causes the motor to settle at a position slightly different to the required position The ID command sets the system up to allow for this assumed constant offset in all subsequent position control operations It must be used every time the system is powered on when the system is in position control mode to set the actual position as close as possible to the required position This can be done automatically by using the autostart sequence facility This is particularly necessary when the final position window as set by the SW command is small otherwise the output offset may be such that the motor normally settles at a position outside the final position window and after a move remains in the move state without returning to the normal position control mode The ID command is only effective in normal position control m
258. position to within one revolution of the motor only but it is not necessary to distinguish between complete revolutions of the motor If a move from zero to position 1200 is executed the final position is 200 The motor has moved a total distance of 1200 counts as required but the final position is the remainder when divided by the bound value If a move from zero to 1200 is executed the final position is 200 In this application the position overflow counter represents the number of complete revolutions of the motor from the zero position to the current position and the normal position value defines the position within one revolution Copyright O 2003 Pan Controls Limited Page 45 Command Reference Set Parameters User Manual Revision 16 1 GB BB nn SV SA Za Page 46 Set global position overflow bound restricted Range SB value to 4 000 000 4 0E6 Default 4 000 000 This command sets upper and lower bounds on the global absolute position of the system It allows an overall position measurement which could be a complete cycle of a machine whilst the local SB bounds values could be set to an encoder revolution The global position can be accessed using the DPG command Set bound counter overflow bound restricted Range 0 to 4 000 000 4 0E6 Default 0 This command sets upper and lower bounds of the bounds counter The number of times the bound counter has wrapped can be read using the DCB display bounds c
259. pt mechanism and a special high priority interrupt is used for reference marker detection This gives a response time of better than 15us The command interpreter is executed in background mode together with display routines The modular approach to the software means that system can be easily adapted to particular situations Page 12 Copyright 2003 Pan Controls Limited Revision 16 1 User Manual 6 MODIFICATIONS TO THE USER PROGRAMME The user programme consists of sequences of instructions which are stored in non volatile memory on the Pan controller To make the management of the construction of the user programme simple a system has been developed to allow the user to develop and modify a master copy of the user programme on a personal computer The sequence of programme development can be summarised as follows 1 Develop programme on personal computer using any editor which will generate an ASCII file i e no embedded control codes 2 Download programme from personal computer to Pan controller to the controller s RAM volatile memory 3 Save the programme from the controller s RAM to FLASH non volatile memory This procedure means that a master copy of the programme is always maintained on a personal computer and can be copied and maintained for archiving purposes A utility programme called PANTERM is supplied to run on an MS DOS based personal computer This enables the personal computer to emulate a terminal
260. puts the system back into the mode when the control algorithm is calculated using tension as the feedback instead of position The velocity parameter is used as the desired tension Likewise the maximum error SE parameter is used to monitor the tension error The prompt character Tn gt is returned in position control mode This is the normal default state entered by the system on power up unless specified otherwise by the control word In the tension control mode an onboard relay on the hardware is energised such that the motor command signal is available from the command signal output The spare contacts of the relay are also switched over for use as a drive enable signal if required Enter transparent Communication with operator Interface This command allows the terminal port to communicate directly with the operator interface command interpreter This allows a complete system to be set up and tested from the host control board The asynchronous serial port to be used is defined by the parameter All commands with the exception of CX are handled transparently Remote reset of operator interface This command performs a remote reset of the operator interface even if it is currently in a locked state waiting for characters from the controller The asynchronous serial port to be used is defined by the parameter Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Mode Commands ZW opp bit
261. rent position and if an acknowledge signal has been received as a result of a command sent on the serial bus the system moves 20000 counts and clears output line 5 If an acknowledge signal has not been received the current position is displayed and the remainder of the line is ignored Note that this condition could also be met if a command has been sent on the bus with no acknowledge received and a time has elapsed corresponding to the network timeout TN parameter Wait for network acknowledge response This command sets the system into the wait state until an acknowledge from a recently sent network command is received or a time has elapsed corresponding to the network timeout TN parameter Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Logging Commands 7 2 20 Data logging commands AR Abort Recording of data This command aborts a current recording session if the parameter defined by the MN command has not been reached NL Set number of channels to log Range 1 to 4 Default 1 This command sets the total number of channels to be logged IR Initialise Recording of data This command starts recording of data as defined with the LF NL MN and LG commands When the recording is finished an L is displayed on the screen LF Set logging frequency Range 0 to 65504 Default 0 This command sets the frequency of sampling of the pre defined variables The frequency is
262. repeat parameter after a comma and up to four separate profiles to be executed in sequence each profile separated by a semi colon By using a single XP command for multiple profiles and repeats the system stays in the profile state until the repeated profile is completed without returning to the idle state in between This maintains a continuous smooth operation without any pause in between profiles for command interpretation Example XP 2 The motor follows the stored profile no 2 at the speed set by the PV command Example XP 1 2 2 3 The motor follows the stored profile no 1 three times followed by the stored profile no 2 four times at the speed set by the PV command Execute simultaneous profiles and Range 1 to 255 This command tells the system to execute profile number on the foreground channel simultaneously with a second can be the same profile on the background channel The speed at which the system steps through the tables the profile velocity is set by the PV command Note that the profiles are always executed relative to the current position A profile move may be aborted by using the AB command If one or both of the profile numbers are followed by a minus sign the respective profile is executed in the reverse direction Example XP 2 The motor follows the stored profile no 2 at the speed set by the PV command Copyright O 2003 Pan Controls Limited Page 65 Command Reference Profiles User Ma
263. right 2003 Pan Controls Limited User Manual Revision 16 1 OW Output options word restricted Command Reference Display Commands Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0001 0001 0001 This command allows the user to set various auxiliary serial port options Note that the leading zeros may be omitted The display option word bit functions are described below Bit set Terminal port communications on Auxiliary port 1 communications on Auxiliary port 2 communications on Auxiliary port 3 communications on Terminal echo on Auxiliary port 1 echo on Auxiliary port 2 echo on Auxiliary port 3 echo on Terminal parity on Auxiliary port 1 parity on 10 Auxiliary port 2 parity on 11 Auxiliary port 3 parity on 12 Terminal parity odd 13 Auxiliary port 1 parity odd 14 Auxiliary port 2 parity odd 15 Auxiliary port 3 parity odd bit OONOG AOTD O Bit cleared Terminal port communications off Auxiliary port 1 communications off Auxiliary port 2 communications off Auxiliary port 3 communications off Terminal echo off Auxiliary port 1 echo off Auxiliary port 2 echo off Auxiliary port 3 echo off Terminal parity off Auxiliary port 1 parity off Auxiliary port 2 parity off Auxiliary port 3 parity off Terminal parity even Auxiliary port 1 parity even Auxiliary port 2 parity even Auxiliary port 3 parity even NOTE Auxiliary port 1 is a 9 pin male RS 232 socket on the left hand side of the motherbo
264. rofile lt A gt lt B gt lt C gt lt D gt lt 1 JOLT FREE PROFILE CALCULATION 2 1 3 Parameters 2 4 3 5 Move distance 500 Counts 4 6 Move time 30 Ticks 5 7 6 8 w 2 3 14159 B6 2094393 7 9 8 10 Formula used in cells E2 to E31 9 111 10 12 Profile B5 B6 Dn SIN B8 Dn B8 11 13 12 14 where n is the row number 13 115 14 116 15 28 27 29 28 30 29 31 30 32 If the spreadsheet is used to print column E to a disk file then that disk file would be a suitable control system command file Note that the printout should include row 32 containing a blank entry Note also that column E should be formatted so that the numbers in it are integers It will be obvious to any computer programmer that programming languages such as Basic C and Fortran can also be used to produce control system command files By using such a language or a spreadsheet it is possible to produce complicated profiles and maps and load them into a control system far more easily than can be done by hand Also this approach is far guicker when it comes to making amendments For instance in the above example a second profile move numbered 2 of 600 counts could be created by amending just two cells E1 and B5 Page 164 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 PANTERM communications programme 11 5 Loading command files Once you have prepared a control system command f
265. ror and time Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Display Commands DO Display mode off Turns off the DM continuous display This is the default state CD Character delay terminal Range 0 to 255 Default 0 This command sets the delay between characters sent to the serial terminal port in units of 1 256 seconds It allows the system to be used with terminals that do not support XON XOFF protocols DN Use decimal numbers for input and output This is the default state This command is restricted and is only available in privileged mode HN Use hexadecimal numbers for input and output This command is restricted and is only available in privileged mode VOA D 4 2 5 Sends a variable continuously to display This command sets up the system to allow display a variable number type continuously at a rate determined by the UR command The suffix defines the line number on the display 13 defines the starting character number within line and defines the field width This will carry on updating the display until VO is executed without a parameter System variables see section 7 2 18 2 can be displayed using the VO command Up to 4 separate variables can be simultaneously displayed using the A B C or D suffixes Example UR50 VOA33 This will continuously send the measured position from channel 1 to the display at an update rate of once every 50 ticks
266. s 8 10 1 Diagnostic terminal The serial link to the diagnostic terminal uses RS 232 signal levels The serial word format used is 8 data bits 1 stop bit and even parity The baud rate is set by default to 9600 baud The baud rate and parity may be changed if required The serial interface is buffered in software and echoes back the characters as they are received By default it uses hardware handshaking and is designed to communicate with the PANTERM programme for a personal computer However it can be set up to use XON XOFF software handshake where it sends XOFF to signal that its input buffer is becoming full and sends XON when it is ready for more characters Note that if the XOFF is ignored the buffer may overflow and characters will be lost The system also responds to XON XOFF to control its output The characters normally used for the XON XOFF protocol are DC1 11 hex cntl Q for XON and DC3 13 hex cntl S for XOFF Page 148 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Safety 8 10 2 Outstations The serial links to the outstations use RS 485 signal levels This has a high noise immunity and allows long transmission lengths if this should be reguired in the future The wiring is be arranged in a daisy chain configuration allowing the use of multi drop protocol Copyright 2003 Pan Controls Limited Page 149 Electrical Characteristics User Manual Revision 16 1 9 ELECTRICAL CHARACTERISTICS
267. s Event sequences V 153 8 13 May 1999 4Mb Flash second serial port V 154 0 14 February 2001 Printer amp Smart card options V 156 1 15 March 2002 Expanded memory options V 157 5 16 January 2003 Numerous additional commands V 157 8 1 2 Critical changes to software The purpose of this section is to highlight changes to software revisions where there could be compatibility problems with previous versions 1 2 1 Version 152 2 November 1997 Bit 14 of the DW Display Options word Hardware handshaking option has now been transferred to bit 4 of the GW Global Control Word In addition it s sense has been changed so that there is now hardware handshaking with bit 4 cleared Parity and checksum checking have been added to the global control word and for Revision F of the PC3 100 boards the default is for parity checksum checking and hardware handshaking Revision E have these bits clear by default For more information see the description of the global control word page 26 1 2 2 Version 154 0 May 1999 The RM reference mode command has been removed The same functions are now carried out by the El Enable input and MI Mask input commands when the inputs referred to have been defined for reference activities 1 2 3 Version 154 4 August 1999 The EO command has been changed from echo mode off to Enter Offset table The EM Echo Mode command has been changed to accept a parameter 1 or 0 This defines the state of the echo m
268. s Master is 4000 cts for 17 1 2 so gives 8000 cts per 35 an approximate ratio of 1 1 This is a fixed nominal ratio Store web slave counts inch 1000 cts 0 001 multiply by repeat in 0 01 then divide by 100000 G 15483 H 15483 Ratio starting values for FM FD 14 G 30966 H 30966 Ratio starting values for FM FD 15 Modification History Mod 28 07 99 Link ratio resolution increased to achive finer correction using FD15 32768 and FM 30966 Mod 06 08 99 Added F4 to allow operation with no registration Mod 10 08 99 Made fine adv ret 3 was 10 Mod 11 08 99 Added a jog mode on F5 for type roll clean up operation making use of the advance retard buttons with the colour select switch conditions Machine must be in machine mode Press must not be inched during this mode When ESC is used to quit jog rolls will realign to last position before jog was used also modified S122 to pass the reg error to both colours simultaneously using pointer system gt lt Copyright 2003 Pan Controls Limited Page 169 Appendix sample programme User Manual Revision 16 1 Variable used list Repeat Length mm Ch2 DS colour 1 error Scaled colour 1 Ch2 FM Slave bounds used to calculate adv ret shift Nominal FM for Col 1 CH2 running average total Desired offset ch 2 Error signed ch 2 Cumulative CH3 DF 5 samples Correction for one shot PGC Repeat for display use Speed for display use
269. s global Page 74 interpolated move lt Page 42 multi axis Move eee eee eee Page 40 Bit manipulation operations variables 2 cece eee ee eens Page 130 Bit test for variables Page 111 Page 112 Page 132 BKS ue loo its hak Lee d yet Qian de Page 18 Page 24 Block assignment variables eee eee Page 134 Block move Variables Ho ied ers 4 koled ooo Page 134 BNO sherds Foo aan Rb SERERE READ aeons Page 125 BO PCM NEM pP Pr PUE Hor Se oa Page 106 Boot programme TUIS AD Sat DA ta yid Ed Mei Page 24 Bound COUNT 232 eta hc shares oed s Page 49 Page 114 for link correction Page 30 Page 31 Bound position 5 e ta a DER DS Page 45 crossing with absolute move Page 91 o AA A A IA Page 46 overflow count Page 49 Page 114 overflow output lt 2 Page 106 reset overflow counter Page 49 Walt OF sg cud UD debe ates soe ez nt Page 69 wait for overflow count Page 69 Bound table enable checking Page 76 Bounds counter variables lt 4 4444 Page 138 Bie usse paths toda Yad oP lead Sate Alo eam d pao A Page 23 Breakdown of current hardware display 54 4 s ses ee ip Rime Page 23 Brightness L E D display 4 cia ern Page 123 vacuum fluorescent display Page 26 BS lt a aoe ue van ae ned AF TR nep Page 95 BU ee eae va
270. s User Manual Revision 16 1 DI 1 DIL X nn RIL nt m Page 88 Define input line function restricted Range 1 to 16xn where n No of control boards This command defines a specified input line to have the given function The sign specifies the active state of the input such that the system executes the function when the input changes to the specified state Alternatively the sign may be replaced by a character This indicates the action when a previously defined input line reverts to its normal state The command function may be a single command or may be a sequence of commands The text of the command function is separated from the DI command by any delimiter character The length of each definitions is limited to 80 characters If there is not enough memory for the new line definition the system will return an N no room error message Note that a line that has been defined as a function input cannot be set or cleared A function input line may be returned to normal operation by entering this command without the sign and the function text This command is restricted and is only available in privileged mode If a line is defined as an input and is already in the true state when it is defined as a function input the system does not act on the input until it has gone false and become true again If an input is currently masked by the MI command when it is defined it does not become active until it is enabled by the E
271. s are set to a logic low Example CY 17 This sets up node 17 to a logic low Copyright O 2003 Pan Controls Limited Page 61 Command Reference Profiles User Manual Revision 16 1 7 2 8 Profile commands This section describes the profile facilities They provide facilities for setting up motions with user defined velocity profiles the Software Cam Profile definitions may be entered up to the memory capacity of the system If the system runs out of memory it returns an N no room error message The normal move commands allow the user to easily move the motor to any possible position However they are limited to using the trapezoidal or sinusoidal velocity profile defined by the set velocity and acceleration parameters In some cases it may be desirable to use a different velocity profile such as parabolic It is also not clear from the normal move parameters exactly how long a given move command takes to complete and it may be important in some machines to specify a motion that is known to take a specific time to execute In either of these cases the profile move facilities are very useful The profile commands allow a velocity profile to be completely specified by the user as a table of positions This gives the user complete flexibility over the motor velocity and acceleration A typical application of this is where the profile is calculated to take into account higher order derivatives of position such as jerk to give a particularly
272. s data unsigned 16 bit Al command uni polar Normal Serial communications Low priority serial communications High priority serial communications Under normal conditions the serial communications use the same interrupt level as the servo loop closure Copyright O 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Miscellaneous Commands BW Set boot options control word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0000 0000 This command allows the user to write a value into the boot options control word Note that the leading zeros may be omitted The boot options control word allows various components of the system to be enabled and disabled as required The boot options control word bit functions are described below Bit set Bit cleared bit 1 MHz E clock 2 MHz E clock No check for operator interface Check for operator interface High speed operator interface Low speed operator interface No check for smart card interface Check for smart card interface Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion 10 Reserved for future expansion 11 Reserved for future expansion 12 Reserved for future expansion 13 Reserved for future expansion 14 Reserved for future expansion 15 Reserved for future expansion OONOGO ROD Oo OA
273. s do not match the hardware found this L E D will flash on and off with a different time period for on and off If a terminal is connected to the RS 232 port it will be possible to identify what the problem is ii The second indicator shows the state of the on board watchdog timer which is in turn connected to the on board relays When the watchdog is activated the L E D is off iii The third indicator shows the presence of a 5v power supply It should be noted that for the analogue part of the board to work correctly 15v and 15v supplies are also required Page 146 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Safety 8 4 Position Encoders The system is designed for use with digital incremental position encoders These encoders provide two signals in quadrature one is phase shifted by 90 relative to the other The system can monitor these signals and determine both the direction and distance of any movement The direction is defined by which signal leads the other The normal definition for both channels is such that the track A encoder input leads the track B input for movement in the positive direction The system generates four counts for each complete cycle of the input signals such that an encoder with 1 000 counts per revolution is seen as generating 4 000 counts per revolution The maximum count rate is 10 counts per second 1 MHz giving a maximum encoder cycle rate of 250 kHz On a 1000 line enc
274. s per second squared the velocity to 2000 units per second and on channel 2 to 500 and 6000 respectively It then accelerates to the set velocity in the positive direction Set arc centre coordinate for current channel for interpolated circular move Range 8 000 000 8 0E6 encoder counts Default O The system sets up a co ordinate for the centre of an interpolated circular move This should be set up on both the axes which together will create a circular interpolated move Execute interpolated circular move The system starts a circular move in the positive clockwise or negative anti clockwise direction The destination is defined by the MM parameter If it is found that the current position is not on the arc of the same circle as that defined by the MM and AC parameters then an error is returned Execute interpolated linear move The system starts a linear move The destination is defined by the MM parameter The current position is the starting point Transform from Polar to Cartesian The system performs a 2 dimensional transform from a Polar to Cartesian co ordinate system The 2 axes are defined by bits 0 7 of MW move word The origin for both the Polar and the Cartesian definition is defined in the AC parameter for each of the two channels the lowest channel number representing the x and the higher number representing the y The radius is defined in variable v and the angle in degrees x 100 is defined in variable T
275. s previously been entered into the system The profile table is listed on the display or terminal one table entry per line The system prints the profile number the step number and then the position value for the entry The total time for the profile to execute is given by the step time multiplied by the number of steps in the profile which is equal to the step number of the last entry in the profile table The profile table may be listed continuously or the system can print one line at a time and wait for the user to press the CR key before printing the next line This is useful when using the system with a membrane keyboard or a hand held terminal which only has a small number of display lines This list pause facility is controlled by one of the flag bits in the DW command If no profile number is given in the command the system lists the numbers of all profiles which are currently defined If bit 4 of the Display Word DW is set the profile is listed as the relative position increment at each step instead of as the cumulative position through the table at each step At the end of the profile it then prints the total distance for the profile Example LP 1 This will list profile 1 on the display or terminal The output for the example profile given previously would look like this in absolute position format System User Comments 1 LP 1 lt CR gt User input to list profile Absolute mode Position format P1 1 410 P1 2 40 P1 3
276. sent to terminal The default value of 100010 is for a PANTERM 80 column terminal and uses decimal input and output It produces verbose error messages This command is restricted and is only available in privileged mode Note that bit 13 should be used in conjunction with bit 15 in order to have an effect The result of combining bits 13 amp 15 is to only transmit data of requested items e g DP OV etc This can be useful when the system is being controlled on the terminal port from a PLC It is subtly different from using the EM1 echo off command since the echo off command sends prompts error messages etc Example DW 101 This sets the display options for use with a 40 column display terminal and turns the list pause on The list pause is used when listing sequences and profile tables on a display with a small number of display lines Page 120 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 XWbbob bit XU OOOCONOG ROD O auXiliary output word restricted Range 0000 0000 0000 0000 to 1111 1111 1111 1111 binary Default 0000 0000 0000 0000 Bit set Channel 1 position output Channel 2 position output Channel 3 position output Channel 4 position output Channel 5 position output Channel 6 position output Channel 7 position output Channel 8 position output Display inputs Display outputs Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved
277. served for future expansion Reserved for future expansion Reserved for future expansion Prepare relative stop from creep position on current channel multi axis stop Range 0 or min defined by SS amp SZ to 8 000 000 8 0E6 encoder counts Default 0 The system sets up a relative distance for a multi axis stop using an input line defined by the DQ command The parameter is the relative distance which will be used to stop the current axis when an input line is seen The DQ stop for a particular motor channel is enabled by setting a non zero value to the QC parameter Please note that the stop is only performed when running at constant creep velocity as defined by the SS parameter The minimum non zero value for the QC parameter is defined by SS and SZ and will be displayed if a non zero value less than the minimum is entered If SS or SZ for the current channel are changed then the QC parameter is set to zero Prepare relative stop position on current channel multi axis stop Range 0 or min defined by SV amp SZ to 8 000 000 8 0E6 encoder counts Default 0 The system sets up a relative distance for a multi axis stop using an input line defined by the DQ command The parameter is the relative distance which will be used to stop the current axis when an input line is seen The DQ stop for a particular motor channel is enabled by setting a non zero value to the QV parameter Please note that the stop is only performed when runnin
278. set correction 4 Page 27 Page 43 Page 44 enter ran ele dana Pandy Kde de ence te date s Page 66 St cox octet a ERR eH RAUS A aa Page 66 Offset correction table execute cesses nen Page 67 GXIETTOITT S e cadets bakes eben chad oM e eA Page 67 use global position as index Page 30 OM zz bs eed nhe tpt eser ees tried A EX REESE Page 80 OWN o a no Brg setae EE Page 123 OBL tan ohon o dnb Ao doo o oo a ente any Page 123 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Operator interface lt 4 lt lt lt lt lt lt lt c lt lt 400 Page 26 cursor control lt Page 26 remote reset lt Page 34 set no of retries for communications Page 125 set timeout for communications Page 125 transparent communication Page 34 DS a oe Ao ld e e REMIT Page 128 OT zoe IO Page 24 Page 134 Output character string to LCD VFD display Page 126 character string to printer Page 128 continuous position data to LED Page 30 Page 120 continuous position data to serial port Page 30 Page 120 Page 121 Page 124 Page 125 set to flash oooomoomommom Page 82 variable to a serial port Page 124 Page 135 Output CODE ra ga aimag ed a h hae entem dve eee Page 82 Output line CLEAN 344 se wlen ete dyn Med yd B ek teen dl bos a toe 8 Page 81 complement 00 ce cece eee eee e
279. signal is detected 13 Reserved for future expansion 14 This bit defines the action taken if the snapshot error is greater than the maximum value set by the PR command and bit 10 of RW is set to enable this limit When set to 1 if the snapshot error is greater than the maximum value set by the PR command the system corrects by this maximum value The RL reference out of limits error is reported and may set the channel to the motor off state if required When set to 0 a reference error greater than the maximum value is ignored completely and its value is discarded This also inhibits the reference out of limits error message and does not update the snapshot error displayed by the DS command 15 Reserved for future expansion Example RW 11 SR20 This enables the position correction on detection of a reference input limits the allowed correction to a maximum of 20 encoder counts Example RW 10100001 This enables the reference input and sets the system up to a only correct the displayed position and b always set the position to zero on detecting a reference signal In this setup the reference input has the same effect as the ZC command but is effective on the fly at any time Copyright O 2003 Pan Controls Limited Page 91 Command Reference Reference Commands User Manual Revision 16 1 Sut SR RF nn Page 92 Set deferred adjustment position restricted Range 4 000 000 4 0E6 Default 0 This
280. sion Copyright 2003 Pan Controls Limited Page 139 Command Reference Network Commands User Manual Revision 16 1 NC ne TN WN Page 140 Send a network command on the serial network This sends a command to a device at address on the serial network using a parameter from variable q Set timeout period for response time from network Range 1 to 65535 Default 2048 This the timeout period in system ticks for the WN command If this period elapses after transmitting to the serial bus without an acknowledge packet the system will clear an internal flag which indicates that the system is waiting for acknowledgement from the network If the system is currently waiting with the WN command it will stop waiting If network acknowledge received do command line This command allows the programmer to specify that a command or command line is conditional whether an acknowledge has been received from the serial bus as a result of a recent command on the bus If the acknowledge signal has been received then the remainder of the command line is executed If the input line is not in the specified state the remainder of the command line is skipped and execution proceeds to the next line of input This could either be the next line of a sequence or new input commands This command can be used within sequences to construct multiple conditions based on input line states Example DP IA MR20000 CO5 This displays the cur
281. sition control mode where n is the current channel number This is the normal default state entered by the system on power up unless specified otherwise by the control word In position control mode an onboard relay on the hardware is energised such that the motor command signal is available from the command signal output The spare contacts of the relay are also switched over for use as a drive enable signal if required Motor off Turns off the position control servo loop action All other facilities still operate normally including the input and output lines and the encoder position is continuously monitored When the system is returned to position control mode the motor does not jump back to its last controlled position but remains at its new position The system returns a character as a prompt when in the motor off state In the motor off state the motor command signal output is switched directly to Ov by the onboard relay The spare relay contacts are also switched to their normal unenergised state It is recommended that this relay is used to disable the drive completely If the drive is not disabled in the motor off state then it is likely that the motor position will drift due to some offset in the drive circuits since the motor position is not controlled in this state The MO command may also be used as a third stop command to put the motor directly to the motor off state from any other state instead of using the ST stop
282. smooth motion The profile table also defines exactly the time taken for the profiled move to execute since this is egual to the number of entries in the table multiplied by the profile step time Data for the profiles is entered either as absolute or relative position increments In the absolute position format each profile table entry represents the next motor position at that time step relative to the start of the profile In the relative position format each table entry represents the change in position at each time step The selection of either absolute or relative position format is controlled by bit 4 of DW the display options word The profile step rate or profile velocity is itself programmable by means of the PV command The fastest profile velocity is 256 steps per second or approximately one step every 4ms The profile velocity may be reduced by factors of 2 that is to half speed quarter eighth etc down to the slowest step rate of 1 step per second At the slower step rates intermediate position values between the positions given in the profile table are calculated by interpolating linearly between the table values This maintains the smoothness of the speed control even at the lowest step rates Page 62 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Profiles EP nn Enter profile Range 1 to 255 This command is used to enter profile tables into the system The system respo
283. splay time Displays current time in dd mm yy hh mm ss format If the O suffix is used to output to a variable then the seconds from startup value is sent to the defined variable Echo mode Range 0 to 1 This command defines whether characters are to be echoed back to the display terminal The default state is 0 echo mode enabled When set to 1 the echo mode is switched off Copyright 2003 Pan Controls Limited Page 115 Command Reference Display Commands User Manual Revision 16 1 HC N F an HS N F nn HI DK DM Page 116 Display history of commands executed Range 1 to 255 or no value Displays a list of the most recent commands executed in inverse chronological order If no parameter is given all of the last 256 most recently executed sequences are listed In addition together with each command there is listed a time stamp and calling sequence The time stamp is to a resolution of 1 256 second This can be useful for debugging a system particularly when there is a large amount of asynchronous activity The optional N or F parameters can be used without a numeric parameter to switch the logging activity on or off respectively For example HCF could be used within a repeat loop to block logging of large amounts of useless information and HCN after the repeat loop to restore the logging of useful information Display history of sequences executed Range 1 to 255 or no value Displays a list of th
284. square root function Page 4 Copyright 2003 Pan Controls Limited Revision 16 1 User Manual 2 INTRODUCTION This document describes the Pan Controls motion control system The system controls servo motors with position feedback or stepper motors with or without position feedback The system is supplied on circuit boards which can be installed in a 6U height 19 sub rack system It may be set up with a standard computer terminal It includes comprehensive software to allow the user to control the motors using simple high level commands Digital control systems are not simple but can be very useful when applied correctly It is important to understand the basics of the operation of the system before it is installed on an expensive machine The system is completely programmable in all aspects of its operation and it is recommended that users carry out training to experiment to familiarise themselves with the facilities available This is best done on an off line test machine which is not directly linked into a production unit Copyright 2003 Pan Controls Limited Page 5 User Manual Revision 16 1 3 SYSTEM OVERVIEW The control systems are based on microprocessors running on Euromodule sized circuit boards using established hardware and software technology The system is designed to be able to provide an integrated solution to a wide range of motion control situations In particular Stepper motors open or closed loop and position fee
285. ssible for the next reference signal to arrive before the correction for the previous reference is complete This condition is called reference correction overrun and is indicated by the RO error message This error may be set to give either a user error or a motor error by setting bit 2 of EW the error word If this error occurs it indicates either that the machine is not performing correctly and is giving excessive reference errors or that the value of RV is too small and should be increased Set reference repeat length restricted Range 0 to 4 000 000 4 0E6 Default 0 This command sets the reference repeat length for the current motor channel This is the position at which the system expects to see the reference position signal If RL is set to zero then the system uses the bound position set by SB as the expected reference position If RL is set to some value greater than zero then it is used as the expected reference position instead of the bound value When a reference signal is detected the position is compared with the nearest multiple of the reference repeat length instead of to the nearest zero or bound position This allows the expected reference position to be set independently of the bound position A typical example where this is useful is a leadscrew application where the encoder is mounted on the motor and provides a marker signal every turn of the motor while the bound value must be set for the total travel requir
286. sues tede ek o eat La oa eue e La idle teeth Aperte Page 140 TO sees edhe eg ea ese ged date ee dade I Page 71 F hadi ts Ranta Roach ey mais tau LET Page 123 Transform from Cartesian to Polar Page 41 from Polar to Cartesian Page 41 Trapezoidal velocity profiles o oooo ooo o Page 76 Trigger outputs c his Peeled ae Gch area ed Page 105 Trigonometrical functions LR A o ini Page 132 A BAE ny o MEO gebo n de antes ubo n RUA Page 49 Rec Soda P n old ov a A aa o A arte o aa Page 132 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 O we E Page 24 Page 134 UL weve en eds plk d a eh eye dale eta en gies boule Page 141 Unlink external analogue input from demand position Page 98 Unload logged data 2 Page 141 P aso ati dor de do oa oo kdo aah Page 19 Page 22 Upgrade main programme code Page 19 Upload main programme code Page 19 user level programme Page 22 Upper position limit lt 44 44 Page 71 Upper tension limit o ococococococcococooooo Page 48 Uaec Mr di sese Seas Mt te d lk Page 117 Page 136 Use decimal numbers Page 117 hexadecimal numbers sues Page 117 User programme download 22 clem ieee sd oed Page 13 modification lt Page 13 Modify s ze efi SA ae san a ee Page 13 User programme code binary record
287. t lines are set to a logic high Example SO 11 This sets up line 11 to a logic high Clear output line Range 1 to 16xn where n No of control boards This command clears the specified output line to a logic low Note that the output state is maintained until superseded by another command for the same output line If no output line number is set then all available output lines are set to a logic low Example CO 7 This sets up line 7 to a logic low Complement output line Range 1 to 16xn where n No of control boards This command complements the current state of the specified output line Note that the output state is maintained until superseded by another command for the same output line If no output line number is set then all available output lines are complemented Example CM 5 If line 5 is initially logic high this command sets up line 5 to a logic low Likewise if line 5 is initially logic low this command sets up line 5 to a logic high Set node Range 1 to 32 This command sets up the specified node to a logic high If no node number is set then all available nodes are set to a logic high Example SY 15 This sets up node 15 to a logic high Copyright 2003 Pan Controls Limited Page 81 Command Reference Digital Inputs amp Outputs User Manual Revision 16 1 CY n FO FR nn OC mn Page 82 Clear node Range 1 to 32 This command clears the specified node to a log
288. t position Single line help Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Display Commands LE TD TR ON OB OE OP Display last error This command redisplays the error message for the last error detected by the system It is useful for finding an error message which has stopped the system when there is not normally a display connected to the machine or to display the long error message for an error which has been reported with a short error message This is done by setting bit 5 of DW before executing LE If The O output to variable option is used then a channel number most significant 16 bits followed by and error number least significant 16 bits is transferred to that variable This can be interpreted by interrogating the variable based on the table of error codes page184 Example LEo 1 Ov amp 2 Shows channel no Ov amp 3 Shows error no Display measured tension Displays current tension in measured units multiplied by the tension factor TM Display required tension set point Displays current required tension set point in units defined by the TL and TH parameters Output to numeric display Range 32767 Sends numeric value to numeric L E D display unit Output brightness value for numeric display Range 1 to 15 Sets a brightness for the L E D display unit Clear output of L E D display unit Clears the output of the L E D
289. te ta coat toa Venkata wher rte tee Page 112 Page 133 GW suu bad pA paced e ues Page 2 Page 22 Page 26 cp Spr MP ES Page 110 Handshake feo sdk Ek webb sy ate Al E k ene Page 148 Handshaking hardware eee ee eee Page 26 Page 167 software Page 26 Page 148 Page 167 Hardware display breakdown lues Page 23 setup word Page 22 Page 107 Hardware handshaking Page 26 Page 167 Hardware setup display 245 cots oed oto d eect cette eden Page 23 HE ETE E Page 116 in a Savane O cat li ELPDOD Page 19 Page 122 Help display 0 cece eee cece eee eee Page 19 Page 122 Hexadecimal numbers cece eee eee Page 117 PE EPOS PO AO a toa gh ise tay lk s Page 120 in Se yh pd Page 116 History of commands executed display sos ee ous ve sce lon act Page 116 History of control board display co shSote p RM RA da Page 116 History of sequences executed display s de xut er ERRR Page 53 Page 116 AN exe MR R k s M UEM er Page 117 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Home command 0c eee eee eee Page 43 HR en eee hr ste eae Ae once da ere tp het Page 22 Page 56 FS ora tela tita dade n sua er antares eR n Page 53 Page 116 FUL rsh cack ne are tate dd ed ie duse ie tie Ten ane Boe Page 49 EM clea tos oh deck ies Uae at crete as caedes Page 2 Page 22 Page 107 p WT Page 111 Page 140 IBM PC communications programme
290. ter suffix can be used to send character strings and variables to the printer buffer in the same way as the MD command OS M C R Output a string Page 128 Prints a string Example OS testing This displays the word testing on the display terminal This is useful for de bugging a system and allows a meaningful display to be set up on the terminal The M option allows communication with a serial Modem Note that bit O of OW should be set to 0 and bit 3 of GW should be set to 1 no parity The C option allows the system to operate with a modem in connect mode The R option resets the modem flags Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Variable Commands 7 2 18 Variable commands The system allows the use of integer variables This enables fixed programmes to be modified merely by changing one or two key parameters This can be particularly useful for controlling machine tools The variables are 32 bits long and are signed There are 32280 of them 26 of them are designated by the letters A Z case sensitive and are saved in non volatile memory with the SP command Another 26 are volatile and are designated by the lower case letters a z case sensitive There are 256 volatile variables 0 to 255 some of which are designated as system variables and are read only please see section 7 2 18 2 on system variables page 137 The remaining 32768 are non volatile and are
291. terminal device will not communicate with the controller until its own baud rate has been correspondingly changed The list below shows the available baud rates It also indicates whether a particular baud rate is available on the standard serial port of a personal computer This is useful when using a terminal emulation program such as PANTERM Please note that the terminal being used must be capable of operating at the baud rate set If the reset button is pressed during the third ON period of the flashing L E D after power up then the system will reset to its default values including the baud rate 9600 baud available on personal computer 14400 baud available on personal computer 19200 baud available on personal computer 28800 baud available on personal computer 38400 baud available on personal computer 57600 baud available on personal computer 76800 baud 115200 baud available on personal computer 230400 baud 7200 baud available on personal computer 4800 baud available on personal computer 2400 baud available on personal computer Print help display This command prints a complete list of all commands on the system in alphabetical order a screenful at a time It pauses between each page until a character is received Help on a single command is displayed if the command mnemonic followed by is entered Example System User Comments 1 DP lt CR gt Request help on DP DP Return curren
292. the external counter then do the rest of the command line Set display division factor Set display multiplication factor Set a block of numeric variables to zero Zero time counter or set time counter Data logging commands AR DG Abort Recording of data Define logging output line restricted Initialise Recording of data Set logging freguency Define logging channel Set Maximum Number of stored samples Set number of channels to log Unload Logged data Boot programme commands Erase non volatile memory Upload new main programme low level code Execute final running code Network commands IA NA NC da NS NW ip n WN If network acknowledge received do command line Set a serial network communication address Send a network command on the serial network Display status of the serial communication network Serial network control word Set timeout period for response time from network Wait for network acknowledge response Copyright O 2003 Pan Controls Limited restricted restricted Page 159 Summary 10 2 S lt LOVZ OV UV e ww camozr ronri uiu Page 160 Status Messages normal prompt character motor off prompt character parameter value prompt character executing slow Creep Initialising to reference position Moving to new position executing a Profile Stopping under normal deceleration Velocity control mode Waiting Error Messages Binary numb
293. time instead of using a string of separate SO and CO commands If this command is used when there is no output group defined and E error message is returned If the parameter value given cannot be represented as a binary number with the number of lines in the output group then the O error message is returned Example OC 5 This sets the output group lines to the binary value 0101 5 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Digital Inputs A Outputs Rlan Read input line s Range 1 to 16xn where n No of control boards This command reads the current state of the specified input line and prints it as a 0 or 1 on the display A 0 represents a logic low and a 1 represents a logic high If no line number is given in the command the system displays the current state of all available input lines If the parameter is replaced by O followed by a variable name and some input lines have been set up for variable input using the VI command then the named variable will be set to a number corresponding to the binary input Example RI 3 This reads the state of input line 3 and prints it on the display System User Comments 1 RI Read a particular input 0 Input line 3 is low 1 gt Normal prompt Example VI2 6 RIOB The first command VI sets up the inputs so that lines 2 to 6 will form a 5 bit binary number with positive inputs giving 1 s in the resultant binary n
294. tiplier factor for converting measured tension to grammes force Example TM 75 This sets the tension multiplier to a value of 75 Set minimum tension threshold restricted Range 0 to 65535 Default 0 This command sets minimum tension value measured tension x TM tension multiplier If the system tension is below this value tension control will stop and both channels 1 and 2 will enter the motor off state Example MT 50 This sets the tension multiplier to a value of 50 grammes force assuming that the TM parameter has been set up so that one unit represents 1 gramme force Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Set Parameters HT Set maximum tension threshold restricted Range 0 to 65535 Default 3 000 This command sets maximum tension value measured tension x TM tension multiplier If the system tension is above this value tension control will stop and both channels 1 and 2 will enter the motor off state Example HT 2800 This sets the tension multiplier to a value of 2 8 Kg force assuming that the TM parameter has been set up so that one unit represents 1 gramme force BC Set backlash compensation distance Range 0 to 65535 Default 0 This command sets up a backlash compensation facility It applies only to the MA and MR point to point move commands It defines an extra distance that the motor moves each time it reverses direction thus taking up any slack or
295. to 0 the reference timeout error is treated as a user error and the system simply prints an error message 1 When set to 1 the reference limit error is treated as a motor error and the system goes to the motor off state when it occurs When set to 0 the reference limit error is treated as a user error and the system simply prints an error message 2 When set to 1 the reference correction overrun error is treated as a motor error and the system goes to the motor off state when it occurs When set to 0 the reference correction overrun error is treated as a user error and the system simply prints an error message Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion Reserved for future expansion NOG RO Display last error This command redisplays the error message for the last error detected by the system It is useful for finding an error message which has stopped the system when there is not normally a display connected to the machine or to display the long error message for an error which has been reported with a short error message This is done by setting bit 5 of DW before executing LE If The O output to variable option is used then a channel number most significant 16 bits followed by and error number least significant 16 bits is transferred to that variable This can be interpreted by interrogating the variable Copyright 2003 Pan Contro
296. to 2 147 483 647 Default 2 147 483 647 This command sets the value at which the time counter wraps to zero Zero time counter or set time counter Range 0 to 2 147 483 647 This command reads sets the time counter value to zero If a value is given the system sets the current external counter to the given absolute value If no value is given it sets the external counter to be zero The ZT command may be used at any time Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Variable Commands RB n SM VK 1v1 v2 V3 Vlil io Receive a variable from serial port number This receives a number together with a variable code and a checksum to from a serial port It is designed to accept data sent using the SM command If no valid data arrives within the timeout period defined by the TB command the system will retry for a number of retries defined by the NR command Send a variable to serial port number This sends a number together with a variable code and a checksum to a serial port It is to be received by another unit which is executing the RB command Set a variable from the keypad This command waits for an input from the keypad It displays the current value of the variable on the left hand side of line number of the LCD VFD display and echoes the keys entered on the right hand side Only decimal numbers are allowed The Enter key causes the number entered to be assig
297. trols Limited Page 137 Command Reference Variable Commands User Manual Revision 16 1 7 2 18 2 3 Channel error mode variables The channel mode is allocated to variables 17 through to 24 for motor channels 1 to 8 respectively The variable value indicates the following information about the current motor channel 7 Limit switch error 8 Reference timeout error 9 Reference error outside limits 10 Reference error correction over run 11 Position error 12 Timeout error 13 High position limit error 14 Low position limit error 15 Bounds limit error 7 2 18 2 4 Channel bounds counter variables The channel bounds counter is allocated to variables 25 through to 32 for motor channels 1 to 8 respectively 7 2 18 2 5 Channel position variables The channel position is allocated to variables 33 through to 40 for motor channels 1 to 8 respectively 7 2 18 2 6 Channel velocity variables The channel velocity is allocated to variables 41 through to 48 for motor channels 1 to 8 respectively 7 2 18 2 7 Channel position error variables The channel position error is allocated to variables 49 through to 56 for motor channels 1 to 8 respectively Page 138 Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Command Reference Network Commands 7 2 19 Remote communication network commands The system is designed to communicate bi directionally with other devices and controllers on a serial network Each device
298. umber The second command RIOB reads the state of input lines 2 to 6 and puts the result in variable B Example RI This reads the state of all 8 input lines and displays them System User Comments 1 gt RI Reads all inputs Line 1 is low Line 2 is high OONOG AROTD OS OOo gt O V Normal prompt Copyright 2003 Pan Controls Limited Page 83 Command Reference Digital Inputs amp Outputs User Manual Revision 16 1 ROn RY nn Page 84 Read output line state s Range 1 to 16xn where n No of control boards This command reads the current state of the specified output line reads its current state and prints it as a 0 or 1 on the display A 0 represents a logic low and a 1 represents a logic high If no line number is given in the command the system displays the current state of all available output lines Example RO 6 This reads the state of output line 6 and prints it on the display System User Comments 1 gt RO6 Read a particular output 0 Output line 6 is low 1 gt Normal prompt Example RO This reads the state of all output lines and displays them System User Comments RI Reads all outputs Line 1 is high Line 2 is low ONOGROV O a a O O gt V Normal prompt Read node state s Range 1 to 32 This command reads the current state of an imaginary node Nodes can only be set and cleared using logic equations The current state is printed as a 0 or
299. umeric variable to be filled and indicates the maximum number of characters to be input and from which the number of variables to be used can be calculated The arrow keys can be used to move the cursor over a character if the key is then pressed the character under the cursor will be placed above the 4 character on the third line The backspace key can be used to delete the character above the 4 character The a character can be moved to the left and right by using the left and right up arrow keys under the display The lt ESC gt key can be used to abort the current operation without changing the variables Entering the enter key clears the assigned variable s and places the preceding characters in the variable s The contents of variables which have strings of characters can be displayed using the DA command Display alpha numeric characters from variable s Range 1 to 20 This sends a character string to the line number of the LCD VFD display starting at character number The string consists of characters starting from type variable pointed to by variable Each variable can store up to 4 characters Copyright O 2003 Pan Controls Limited Page 127 Command Reference Display Commands User Manual Revision 16 1 PP A C D E L N cce nco CCC Send a character string to the printer This sends a character string enclosed by double quotes to an ASL AP24XS 40 panel mounting printer The principle of using this c
300. unter value Page 24 Page 134 to LCD VFD continuously from variable Page 117 Page 135 Variable tocara dsd Page 129 A aa E bomen pied Page 114 version number Page 19 Page 21 Display brightness o iie N cee oa ans tes Page 123 Display mode cece eee eee Page 116 Page 117 Display options word Page 22 Page 30 Page 119 Page 120 Display terminal update rate o oooooocoocmmmoo mm Page 121 Divide gain factors by256 Page 26 Page 76 Division factor for VO display Page 118 Page 136 Copyright O 2003 Pan Controls Limited Index link factor ii ese ko ra rs Page 29 position feedback factor Page 24 variables lt Page 131 D STR Page 116 DIS mood Rue neat te deba dies LR E EL SPN Page 99 DM obe adh aot dn poho ad Page 116 DINI be E ne eM s eit ta MSN Page 117 DO and do no a do ob o n ooo no ed Page 117 DPS 2168 a adem mE retos teres dan Page 114 DO ein ve dale bem EE RI ore te ges EX RM Page 101 DES S re s la Mec uate ertt e seared a Sede duty ER ANA eb a Page 96 DS et tt IN uie quo Aiea eM a eee te k Page 115 DT BM ee ta cas deba cab ots tts Page 115 DV ected on tats ee eve Ae eed mea Aa eee Page 114 1D Ee ee En eek ee ea er N Page 22 Page 120 me od a ea Or E ee Page 124 Del ii ose AA hii a eed pto Perdre rti Page 68 distance for position gain table Page 32 DX zt astu NN O Page 102 DAZ e
301. utputs Set lower stepper resonance velocity bound restricted Range 0 to 800 000 8E5 Default 0 This command sets the lower bound for the stepper stepper resonance zone This zone defines a range of velocities which are never used due to electrical and or mechanical resonance in a stepper system It should be used in conjunction with the UV command and the parameter for LV cannot be set higher than the current UV parameter Set upper stepper resonance velocity bound restricted Range 0 to 800 000 8E5 Default 0 This command sets the upper bound for the stepper stepper resonance zone This zone defines a range of velocities which are never used due to electrical and or mechanical resonance in a stepper system It should be used in conjunction with the LV command and the parameter for UV cannot be set lower than the current LV parameter Set proportional gain constant restricted Range 0 to 65535 Default 256 This command sets the proportional gain of the system The proportional gain acts on the measured position error which is calculated as the difference between the current demand position and the position measured by the encoder High gain gives the system a faster response and tighter position control but if the gain is too high the system may oscillate For best results the proportional gain should be set as high as possible without inducing severe overshoot or oscillation Set integral gain constant restrict
302. viii Socket for isolated analogue input board 8 channel ix Standard LCD VFD character display port x Keypad interface port Copyright 2003 Pan Controls Limited Page 9 User Manual Revision 16 1 4 GENERAL DESCRIPTION CONTROLLER cement Ju em PL Dem Pos Kp Ki Kd y t3 incremental encoder encoder Control board PC3 100 1 axis This section gives an overview of the operating principles and a brief description of the facilities of the digital motor control system The hardware resides on double height Euromodule circuit boards connected by means of a G 64 computer bus The host processor and the motion control interface for two axes are taken from an PC3 100 circuit board Three PC3 110 boards used in conjunction with a PC3 100 controls an additional six axes The serial interface for the outstations is taken from a daughter board and the diagnostic terminal interface comes from the PC3 100 processor board The eight axes of positional control will be operated from one PC3 100 PC3 110 set of boards The tension control will be operated from a single PC3 100 board The control system works on the basis of continually sampling information and performing a control algorithm at a defined timer interval known as the sampling time This sampling time is set to be 1 256 second In other words the time interval between updating calculations is about 3 9ms The control software uses two key pieces of informat
303. wed by an inch move of the amount defined in the IL command followed by sequence 7 when line 8 goes to a logic low Define expanded input line restricted Range 0 to 7 This command sets up a group of input lines as an expanded input command facility It operates in a similar way to the DI function input lines but allows a larger range of different functions to be programmed into the system When the DX function is used input line 8 is used as a strobe or trigger input The sense of the strobe input is given by the sign after the parameter Lines 8 downwards are used for the expanded input function To reset the expanded input group use the command DXO On detecting the strobe input the remaining input lines from line 7 most significant bit down to the line number specified in the DX command are read as a binary code This value is used as the number of a sequence which is executed immediately if it is defined This allows a maximum of 127 possible different operations to be controlled by lines 1 to 7 on a single controller If the strobe input is active low as defined by the sign in the command then the data lines are also inverted when deriving the number of the sequence to be executed This keep the strobe input and data inputs consistent The MI mask input command may be used to disable any of the expanded input lines If the strobe input is masked no DX functions are executed until it is enabled by the El command If any DX data
304. whatever action is taking place It may be used in repeat loops with a repeat count or in endless repeat loops In either case the loop terminates normally at the end of the command line When the ER command is executed any commands following the original RP command are not executed Commands following the ER command are executed when the repeat loop terminates This allows a command line beginning with the ER command to override the current operation and neatly replace it with a new operation at the end of the repeat loop The optional F parameter allows the termination of a for next loop next time the loop is completed See page 108 Display history of sequences executed Range 1 to 255 or no value Displays a list of the numbers of the most recent sequences executed in inverse chronological order If no parameter is given all of the last 256 most recently executed sequences are listed Execute sequence on keypad entry event Range 1 to 2047 or no value This command sets up the system to execute sequence number as soon as the enter key has been pressed on the keypad after a VK command page 135 This allows for the system to operate in an asynchronous manner The optional prefix parameter A Z allows non numeric keys to start events at any time These keys can be selectively masked using the EK and MK commands page 86 A table of parameters to define which keys are to be used can be found in section 12 3 page 183 If no
305. y may also be used to allow the system to be controlled from an industrial programmable logic controller PLC The facilities allow the user to define move profiles other than a trapezoidal or triangular profile in order to follow a specific motion or to mimic some mechanical system Sequences of commands may also be defined by the user In addition the profiles may be operated simultaneously on axis 1 and 2 allowing complex axis movement profiles The use of variables allows a fixed programme to operate in a flexible manner Copyright 2003 Pan Controls Limited Page 11 User Manual Revision 16 1 5 GENERAL DESCRIPTION SOFTWARE FUNCTIONALITY MAINTENANCE REFERENCE Highest priority interrupts TERMINAL MARKERS DEMAND Position data GENERATOR i 9 COMMAND POSITION DISPLAYS o gt MEASUREMENT INTERPRETER Hardware interrupt CONTROL ALGORITHM GLOBAL DATA DEBOUNCE SOFTWARE Polled scan Switch state EXTERNAL INPUTS Data flow diagram The control software is highly deterministic being interrupt driven by a hardware timer The control algorithm is implemented every time this hardware timer generates an interrupt every 1 256 second In addition polling of the external inputs is carried out during the same servo loop closure process Serial character receipt and transmission is also handled by the interru
306. you repeat the Alt R command Slower Slows the speed at which command files are sent to the control system Terminate Terminates loading of a control system command file and returns to terminal mode Upload Starts loading of a control system S record file This is used for changing the system low level programme and can only be used from the boot controller programme using the UP command When the file has been loaded the program will revert to the terminal mode eXit Exits the PANterm terminal program and returns to MS DOS Copyright 2003 Pan Controls Limited User Manual Revision 16 1 Appendix sample programme 12 APPENDIX 12 1 Sample programme listing PANMC V154 3 Rev 6th July 1999 Pan Controls PC3 100 board Issue F No of wait states 0 AMD 1048576 bytes flash memory Operator Interface V106 5 OI 19980530 PC3 120 Issue C Hardware PC3 100 Host control board The machine is a 3 axis flexographic printer with axes defined Desc CH3 CH2 CH1 Master Slave Master Slave 1 Slave 2 Axis Web Colour 1 7 Colour 2 8 Encoder ppr 1000 Counts rev 4000 6 75 4 6 75 4 Distance rev 444 5mm 17 5 1 repeat 1 repeat Counts mm Jk a k k k k fk fk fk fk Fk fk fk bk Wk WE dE dk fk fk dk GE The type roll is driven via a 140t 1 4 pitch gear mounted on the impression roll whose circumference is 889mm 35 Set slave motor to 280ppr gives 1120 cts rev so 35 is approx 7560ct
307. ystem returns the normal prompt at the end of a move only when the motor is within 25 counts of the required position Set position overflow bound restricted Range 1 to 4 000 000 4 0E6 Default 4 000 000 This command sets upper and lower bounds on the absolute position of the system If the position of the motor exceeds the upper bound then the position bound value is subtracted from the current position If the position goes below the lower bound the bound value is added to the current position to keep the position within bounds Note that this does NOT limit the range of any move commands but only changes the value of the final position for moves outside the position bounds This is illustrated by the example below There is also a 32 bit position overflow counter which is incremented when the position passes the upper bound and is decremented when the position passes the lower bound This effectively provides a 32 bit high order extension to the absolute position The overflow count may be displayed by using the DC command and may be reset to zero by the RC command The bound position defined by the SB command is also used as the expected reference position when the system is set up to continuously monitor the reference input Refer to section 7 2 13 page 90 for more details about the reference commands Example SB1000 This sets the position bounds to 1000 counts An application of this is where it is required to know the motor

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