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Motion Control - AutomationDirect

1. VAUTOMATIONDIRECT Surestep PNECtKoyo more Micro Available videos in this series on Motion Control Part 4 of 8 Wiring CT RIO Jumper Settings amp Drive DIP Switch Settings L PC DL STP 001 4 Part 5 of 8 Workbench Utility Configure CT RIO Module amp Create Motion L PC DL STP 001 5 Profiles Part 6 of 8 DirectSOFTS5 Ladder Logic Box CTRIO Configuration amp IBox CTRIO Load Profile pe Part 7 of 8 C more Micro Graphic Panel Programming L PC DL STP OO1 7 Part 8 of 8 Demo Jogging Homing Trapezoid Profile amp S curve Profile L PC DL STP OO1 8 VAUTOMATIONDIRECT Suregaiy Birect Koyo C more Please note Learn AutomationDirect com is an online streaming tutorial site offering training and information on a wide range of practical automation products THE LEARN AUTOMATIONDIRECT COM WEBSITE AND THE TRAINING AND INFORMATION PROVIDED IN CONNECTION THEREWITH IS SUPPLIED AS IS These video presentations and other documents are provided by our associates to assist others in learning the products we sell and service We make no representation warranty or guaranty whether expressed implied or statutory regarding the LEARN AUTOMATIONDIRECT COM website on the training information and the content including without limitation the implied warranties of merchantability or fitness for a particular purpose and any representation warranty or guaranty that the foregoing will be accurate
2. Link to Bipolar Step Motors Data Sheet http bit ly rhEcyt VAUTOMATIONDIRECT Suregtan Pire t koyo C more micro SureStep Stepping System Product Lineup 5 of 5 Voltage Selection Voltage range switch is factory set to 240 VAC Switch AC input fuse Stepping System Power Supplies Less expensive than regulated supplies these power supplies are perfectly suited to power SureStep stepper drives and stepper motors gt Four models available with 32V 4A 48V 5A 48V I10A amp Transfonme alt 70V 5A DC unregulated step motor power sv gt SVDC 5 at 500 mA regulated logic power electronic overlo ad e Circuit Board STP PWR 3204 gt Screw terminal AC input and DC output connectors gt 120 or 240 VAC 50 60 Hz power input switch selectable gt Power ON LEDs gt Integrated input and output fusing gt Matched to SureStep drives for maximum voltage Link to Stepping System Power Supplies Data Sheet http bit ly oRYdXe Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 2 of 8 SureStep Stepping System Control Methods VID L PC DL STP OO1 2 Ucea QUTOMATIONON CCT COT VAUTOMATIONDIRECT Suresten MISI Kaya C more SureStep Stepping System Control Methods 1 of 4 Once the components in the SureStep Stepping System have been determined a means to control the microstepping drive is required Currently
3. Qut0_OutActiv Output Active Qut0_OutStald Output Stalled OutO_CmdError Cmd Error Out0_CmdCmplt Cmd Complete Importing line 24 B2429 9 DUD OutSuspd Output Suspended B2422 3 B2422 1 Out _FosLoded Position Loaded motion control demo ctio workbench tag name Comma Delimited csv rd IWearnsieleanprojectssurestep dives and motors motion conl Help VAUTOMATIONDIRECT Suregtan Pire t koyo C more DirectSOFTS5S Ladder Logic and Box Instructions 4 of 10 The first Box instruction I use in my ladder logic is the CTRIO Config B 1000 I use constant KO for the ID number of the CT RIO module The module is located in the only Slot available with the DLOS PLC so it is identified as constant K1 for Slot 1 I use V memory register V2300 as the instruction s Workspace memory area The radio button for Local Base is selected for the CTRIO s location An explanation for the Input and Output assignments is continued on the next slide Raha Be LC MOTION CONTROL DEMO CTRIO Config PEEP EEEEEEEEEEE EEE EE ET CTRIO B 1000 TRIG Configure the CTRIO module located in the DLOS expansion slot ae The slotis identified as being in slot 1 so a constant K1 is used slot K1 Vememory is used for the workspace and should only be used once Workspace 2300 Vememory for inputs into the CTRIO from the PLC is assigned in the range of V2400 W495 CTRIO Location V
4. Priority Alarm Notification Beep LED Blink Backlight 11 P OVERTRAVEL_LEF 0N C Red MIL Curent TZ Overtravel Lett o2 WVERTRAVEL iG ON C S Red T Curent IZ Overtravel Right 03 z a a co GT ee k l CO L Ea VAUTOMATIONDIRECT step MSS Koyo C more C more Micro Graphic Panel HMI 13 of 14 Here is the final C more Micro Graphic panel layout that I use with the Motion Control demo It is simple and to the point The five basic moves can be executed with the individual push buttons that have been assigned in the DirectSOFTS ladder logic to execute the various Pulse Profile moves Again I can home my axis jog the axis left or right execute a Trapezoid move or execute an S Curve move And I also have the ability to alert the operator to any alarm conditions through messages on the screen background color changes audible sound F SON _ c R N fi K P N i PT FZ FS d Fi P Fi k Dan Sin jio a F ae k a d i F h j i i i i f d of k F h 0 I T i a a at z a P The C more Micro Graphic panel has much more capability for adding more features enhancements to any application as needed WAUTOMATIONDIRECT Surestap DISC koyo C more C more Micro Graphic Panel HMI 14 of 14 Simulation A great feature that is built in to ce moare micro vers
5. Read Module l White File N Read File Utlty Functions f WAUTOMATIONDIRECT Surestep PNECtKoyo more CTRIO Workbench Goto RUN Mode 23 of 28 With the CTRIO module fully configured am now SS ready to test my settings and parameters I click on the Config Operations Es Goto Run button under the Utility Functions area on 7 Pean KH Module Status Coil Operations the right center of the CTRIO Workbench utility MLL pee 1 n ana Write File a C o S P S y pear leadscrew slide with DLOS og The Module Mode indicator will now display Run if nane more Micro y Wie File S x Read File the module has a valid configuration B Utlty Functions The Monitor I O button located on the middle right side of the CTRIO Workbench utility will now be available e Y S A ld S Leie IE Let s test the configuration f Che Frl M onitor IO Special Rescan Ch2 Fn2 Hardware Info Contig Information _Hardware Info Total Blocks 256 WO Map Inputs 2400 Outputs Clear Config pee Bienes ele Preset Tables Total Preset T ables T Config Status l Same as Both Pulse Protiles Total Pulse Profiles 4 VAUTOMATIONDIRECT Urestep MES Koyo C more CTRIO Workbench Monitor I O Startup 24 of 28 The CTRIO Workbench utility has the ability to not only monitor the module s I O but also can be used to test the user s profiles The
6. 19 of 28 It is always recommended to use the latest Firmware in the CTRIO module to take advantage of the latest Module Status Config Operations enhancements and or possible bug fixes Module Mode RS 245 Us Read Module The module s existing firmware can be checked under ax Scan Time 314 us TEN Module Status in the CTRIO Workbench dialog Read File window as OS Version In the example shown here the T existing firmware 1s OS Version 2 1 13 To check the latest available firmware version visit AutomationDirects Firmware Upgrade Web site page and click on the HO CTRIO shown in the list which will take you to Host Engineering Inc s Web site or do directly to Host s Web site Click on Firmware under Host s Support category The links are listed below for your convenience Link to AutomationDirect s Firmware Upgrades Web site page http bit ly KC3g cH Link to Host Engineering s Web site click Firmware under Support http bit ly JykODI WAUTOMATIONDIRECT SUrestep PMECt Koyo more C TRIO Workbench Update Firmware 20 of 28 Once it is determined that there 1s a later OS Firmware Doe Version available and it has been downloaded click on the Update Firmware button located in the lower right corner of the CTRIO Workbench dialog window Select the firmware ceb file that will be used and click the Open button The example here shows up
7. Family S Ls Visit Host Engineering Automationdirect com s DL series PLC Direct Logic 0 1 2 4 350 a B Host Forum FAQs Downloads Se i a E programming package Direct Logic 305 Help fff CTRIO WB 2 DirectLogic PLC Direct Logic 3055 HH CTRIO WB 2 EBC WinPLC Version j S H cTRIO we 2 PBC SE a k Simatic T1305 HA CTRIO WB 2 Offline Additional Info Programming support is installed ftor c maie T 2055 ARE ERM Workbench ala ee eee Simatic TI 405 Lig DBWin32 Logger Se E a E DirectLogic 105 Series 58 DNLoader DirectLogic 205 Series E NetEdit 3 DirectLogic 305 Series S Calculator DirectLogic 405 Series ee 2 Version Lf DS500 ini G a Projects dl Done VAUTOMATIONDIRECT Suregtan Pire t koyo C more DirectSOFTS5S Ladder Logic and Box Instructions 2 of 10 I can now Import the CSV Comma Separated Values file format that I created in the CT RIO Workbench utility under the IO Map dialog window This will save time by eliminating the task of manually entering the various functional word and bit Nicknames for the CTRIO inputs and outputs I open the Import utility under the File pull down menu and select Element Documentation This will take me to the Import Documentation window that will allow me to select the CSV file that I wish to imp
8. 20 0 0 motion co the C more programming software 1s its J File Edit View Tool Object Sere Simulation ability i a x 3 i L simulation Start aj Simulation Screen List Click on the Simulation icon and a E Navigat representation of the C more panel will be r ed Tag List displayed along with a list of the various Tag has Names that are included in the project G LEFT F z ss Discrete Discrete The Simulation has the ability to control the maja Discrete various Tag Name bits and words by changing TRAPEZOID MOVE Discrete their states or values so that the operation of the panel can be tested 0 ED F4 IO Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 8 of 8 Demo Jogging Homing Trapezoid Profile amp S curve Profile VID L PC DL STP 001 8 LCGO T QUTOMATIONON CCT COT VAUTOMATIONDIRECT step PY8S Koyo C more micro Demo Jogging Homing Trapezoid Profile amp S curve Profile Peak Freg 70000 Hz Total Time 5 0 sec UTE KSL a2 Talalelelolel gt Rit 2 2 Accel Time Wu ms C gt L A 1 R TE 3 E Decel Time prn TU ms Trapezoid Profile Peak Freg k L again 3 26 Hz Total Time 1697 ser T E i Sec Accel Time 7000 me 0 itii H I Decel Time Motion Control Demo S curve Profile
9. 9 SCURVE MOVE pDEVO project s Jog Right Home Axis Trapezoid Move and S 10 SUCCESS 11 ERROR DEVO Curve Move pulse profiles I stretch compress and 12 ENABLE CTRIO U a Successz leil DEV position each object on the screen to make for a uniform d E DDUH Til D a at Ar look JOG LEFT PE JOG RIGHT PE LEFT OUTPUT EN QUTO_LACTIVE QUTO_CMOCMPLT QUTO_CMDERROR OVERTRAYEL LEFT VAUTOMATIONDIRECT dap Pirect koyo more micro C more Micro Graphic Panel HMI 10 of 14 Another benefit of using the C more Micro Graphic panel in our demonstration application is the ability to have alarm messages pop up on the screen with both visible and audible signals if a problem is detected I use this feature to alert the operator to Whenever one of the overtravel proximity sensors 1s actuated Bring up Alarm Control Setup under the Setup drop down menu Under the Event column for Alarm Notification click in the first pull down box that is labeled 01 under Priority This will bring up a second dialog window titled Alarm Control Setup which is shown on the next slide m ann Alarm Control Setup ss a VEH H NA L Alarm Notification LED Blink Backlight Priority LA oo G lall GT L G L Ea LGA LPA h k L CO CH L d M _ T Down Delete YAUTOMATIO
10. Monitor I O dialog is accessible lt w from the CTRIO Workbench dialog window when the 298 us Read Module module is in the Run mode o wie File 1 0 9 Safety To prevent damage to equipment and or possible injury to personnel it is strongly suggested that the stepping motor be uncoupled from the load before Monitor l entering into the Monitor I O mode Un expectant A results could occur en x i Contig Uperations With the CTRIO module in Run mode I click on the CTRIO ts currently reading output data from the controller This will interfere with the VO Monitor s ability to control CTRIOQ Monitor I O button located under the Utility Functions area of the CT RIO Workbench utility Would you like me to suspend output reads An Attention popup box will allow me the choice to suspend reading output data from the PLC controller and prevent interference with the Monitor I O s ability to control the CTRIO so I select Yes WAUTOMATIONDIRECT SUre Step Direct j Koyo C more CTRIO Workbench Monitor I O I O Status amp Input Functions 25 of 28 Looking at the I O Status amp Input Functions tab and because I am only using Channel 1 I can see Out 0 has the Pulse Inactive and Out 1 shows a Discrete On condition at this time Out O is my YO physical connection on the HO CTRIO module that produces the ste
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12. 14 I will be using Comm Port 2 on the C more Micro Graphic panel with the addition of the C more Serial Port amp Power Adapter p n EA MG SP1 This will allow me to communicate with the DirectLogic DLOS PLC that I am using in the Motion Control demo and free up C more s Comm Port 1 for programming I open the Panel Manager under the Setup drop down menu select the proper communications port Comm Port 2 use Station Number 1 a Baud Rate of 9600 with Parity set to Odd The Timeout and Poll times are kept as 10ms sore micro projectmap 1 screen 1 i Panel Window Help sj Panel Manager Configure panni PLO lt gt Panel Alarm Control Setup Bezel Menu Key setup Tab Index Panel Manager Gadd Delete S Panel EA1 S3MLW oo COM Portt Ol PLE Protocol AutomationDirect E Sequence 0L05 06 105 205 350 405 F the DirectLogic PLC you are using has a Mode switch it must be in the TERM position in order for the panel and PLC to communicate Timeout Time 40 100ms Poll Time 0 30000 msec WAUTOMATIONDIRECT SUre step Sl koyo C mare C more Micro Graphic Panel HMI 4 of 14 Next I will Import the Tag Names CSV file that I created with the DirectSOFT5S programming software 5 S C more micro werd 20 0 0 motion control demo c more micro projectmap 1 Screen 1 e that I showe
13. DRV 4850 and STP DRV 80100 Advanced Programmable SureStep stepper drives include software selectable resolutions up to 51 200 steps per revolution for smoother more accurate motion and power capability up to 10 Amps phase The SureStep Pro Configuration Software can also be used for easy configuration and setup of the stepper drive motion control mode I O stepper motor and test the stepper system using the Serial Command AUTOM TIO N v bey STE P n Dirge xh Ry 0 DRiy Programming Cable STP DRV 4850 STP DRV 80100 step Configuration Software noe micro WAUTOMATIONDIRECT Surestep PlECtKoyo more SureStep Stepping System Product Lineup 4 of 5 STP MTR 23079 Torque vs Speed 1 8 step motor 1 2 stepping Ste p per Motors and Cables x 70V Power Supply 48V Power Supply 32V Power Supply Speed rpm 0 900 1350 1800 The SureStep stepper motors are 2 phase technology with 200 full steps per revolution or 1 8 per full step and there are nine standard motors offered to handle a wide range of automation applications The stepper motors include different torque ratings in NEMA sizes 17 23 and 34 The 20 foot STP EXT 020 and STP EXTH 020 extension cables with locking connectors are standard options to interface the various Speed pps 1 pulse 0 9 stepping motors to the stepping drives
14. Hardware Hardware Setup Links pointing to available technical information from AutomationDirect have been included such as below Link to SureStep Stepping Systems User Manual http bit ly rsdgUO VAUTOMATIONDIRECT Surestap PISS Koyo C mare Reference Automation Notebook Starting with Steppers Article You may find the two part Tech Thread article titled Starting with Steppers that was published in the Automation Notebook useful as a reference to Motion Control using steppers Part of 2 Issue 21 Fall 2011 covers the SureStep product and explains the various methods to control a stepping system by way of pulse and directional signals Part 2 of 2 Issue 22 Spring 2012 focuses on using ASCII commands as available from the Advanced Microstepping Drivers and includes links to other useful design materials Link to Starting with Steppers Part 1 http bit ly JSUOtN Link to Starting with Steppers Part 2 http bit ly IQSjUb VAUTOMATIONDIRECT SUrestep PESt Koyo C more LOGIC What is a Motion Control System Motion Control as used in industrial automation is the task of controlling the position and or velocity of an actuator typically an electric motor Motion Control 1s a very important component of robotics applications but it 1s also used extensively in industrial applications where the motions are less complex For example Motion Control Systems are used widely in indust
15. O Map Output Functions 10 of 28 The Output Functions that have been assigned as part es S Map Display Mode Inout Ma Enable write ta PLE Iw Output Ma Enable Read from PLC fw of the selections made include stat et put Map LC Mapped Addresses 12 ranges PLC 7AF Addresses 4 ranges Starting Y address for inputs V2400 Starting Y address for outputs V2430 Range 2400 2425 Range V2430 2461 as a H ange Output 0 Pulse Step Output 1 Pulse Direction Input Data CTRIO gt Controller Output 0 Pulse Step SQ Output 1 Pulse Direction Input Data CT AIO 3 Controller wout Data CTARIO Controller Input Data CT ARIO 3 Controller Input Data CT AIO 3 Controller V2422 0 Output Enabled OutOQ_OutEnbld YR Loa 2 Qutput Suspended V 2422 1 Position Loaded OutOQ_PosLoded 3 T Oupa Stale a ees V 2422 2 Output Suspended Out0_OutSuspd _ V2422 4 Output Active OutO_OutActiv Dutput Data Contoler gt CTRIO Output Data Contoler9CTRIO Output Data Contoler gt CTRIO Output Data anala CTR V2422 5 Output Stalled OutO_OutStald V2422 6 Cmd Error Out0 CmdError V2422 7 Cmd Complete OutO_CmdCmplt The Output Data Controller gt CTRIO is continued on the next slide VAUTOMATIONDIRECT Suregtan Pire t koyo C more CTRIO Workbench I O Map Output Functions Cont d 11 of 28 Continuing with the Output Functions that have been up SS Map Displ
16. OFF Text ON Text Tos r g I choose Button 1 for the Frame Style use Style 1 TE square for the Object Style and check the Top Bottom Color Momentary On radio button for the Object Type mice S I select my Tag Name as JOG LEFT PB and explain Frame Style Line S this in more detail n the next slide Function Key Assign JOG LEFT FB N L None hd Object Style Object Type j C Toggle Momentary On C Momentary OFF Style 1 Style 2 VAUTOMATIONDIRECT Suregtan Pire t koyo more C more Micro laa Panel HMI 9 of 14 fan ane Dalle es The Tag Names that were imported earlier from the ee CSV file that was created using DirectSOFTS can be i Display System Tags 1 F Display intemal Tags brought up in the Tag Name Database or chosen from a Highlight Highlight F Highlight Unused Tags b drop down list in the Pushbutton dialog window Tag Tag Name Data Type PLC Address Device Name At J a 9 S 9 e SYS DISABLE USE F1 Discrete lt INTERNAL gt Name settin 2 SYS GO TO SETUP ME Discrete lt INTERNAL gt OVERTRAVELLEFT Discrete x0 DEVO Recall that the JOG LEFT PB was assigned to PLC OVERTRAVEL RIGHT Discrete Al DEVOO1 HOME AXIS PB Discrete DEVON Address Cl n the DirectS OFTS ladder lo gic l S S JOG RIGHT PB Discrete x 6 N o S ez I continue adding the other Pushbutton objects for my
17. Range anana SSS Input Data CTRIO gt Controller V2424 6 SysCmd Error SysCmdError Ieee e V2424 7 SysCmd Complete SysCmdComplet Henk ieee iene Fen V2425 0 Chl A ChlA m eee V2425 1 Chl B Ch1B V2425 2 Chl C Chi C V2425 3 Chl D Ch1D V2425 8 Out U Active OutO_ Active V2425 9 Out 0 Mode OutO_ Mode V2425 10 Out 1 Active Outl Active V2425 11 Out 1 Mode Out Mode Output Data Controller gt CTRIO V2460 7 Process SysCmd ProcSysCmd WAUTOMATIONDIRECT Sureste p Direct Koyo C more micro CTRIO Workbench Export Assigned Function Nicknames 13 of 28 A CSV Comma Separated Values file format of the assigned functions can be exported from the IO Map dialog window and later imported into the DLOS PLC ladder logic program as part of the Element Documentation and used for Nicknames Export Filename CTRIO CS Browse Prefs S utti NOTE The exported nicknames are not unique to a specitic slot number or module IF uou have multiple modules installed and wish to export from more than one module you will need to specity a unique pretis suffis f specitied this two character identifier will be added to the beginning or end of each nickname to ensure unigueness f Hone C Add Pretix C Add Suffix Unique Slot ID 1 or 2 characters l a Hap Display Mode Input Map Enable write to PLE M Output M ap Enable Read from PLC w PLU Mapped Add
18. and Box Instructions 6 of 10 I next start adding the ladder logic and Box instructions that are used to Load the various Profiles that were created in the CT RIO Workbench utility As an example when the Home Axis push button is pressed on the C more Micro Graphic panel a positive differential leading edge triggered one shot contact comes on for one CPU scan is used to actuate the CTRIO Load Profile IB 1001 Box instruction shown in the ladder rung below The next slide explains the various parameters that are programmed into the CTRIO Load Profile Box instruction HOM L2 Load CTRIO file 1 homing profile created in CTRIO Workbench The axis moves to the right until the home proximity sensor is actuated then the axis reverses fora distance of 2000 pulses or a distance of 0 125 inches Apush buttom from a C more Micro panel is used to initiate homing Arising edge ong shotis used to have the IBox CTRLDOPR instruction load the profile file C more Micro CTRIO Load Profile Momentary l i CTRLDPR IB 1007 Home Axis PB co LU L CTRIO KO Output KO File K1 Workspace VW2301 SUCCESS C10 Error C11 VAUTOMATIONDIRECT SUrestep Pire t koyo more DirectSOFTS Ladder Logic and Box Instructions 7 of 10 As with the CTRIO Config Box instruction the CTRIO module is identified as module 0 therefore KO is entered for the CT RIO module ID number The Output is set t
19. as type The CWB file is titled motion control demo ctrio workbench project cwb and includes all of the settings and parameters covered in this video tutorial WAUTOMATIONDIRECT urestep PMES Koyo C more CTRIO Workbench Write and Read Module s Configuration 22 of 28 After all of our configuration elements are complete and saved we next need to download the information into the CTRIO module by using the Write Module button under the Config Operations area located in the upper right corner of the CTRIO Workbench utility The module needs to be in the Program mode This action will take place as soon as the button is clicked and it takes a few seconds to complete Likewise 1f we have a previous configuration saved in a CTRIO module you can Read the CWB file from the module by clicking on the Read Module button also located in the upper ght corner of the CTRIO Workbench utility And you can do a Write File to save the CWB configuration file if it hasn t previously been saved lodule Status odule Mode an Time e Scan Time A poter version LE Version lodule Status odule Mode an Time e Scan Time Footer version LE Wersiore ody US 317 us 1 0 4 2 1 22 Config Uperations Wire Module ps Read Module N Wl nite File Read File Utlty Functions f CTRIO Module HO CTRIO Config Uperations MJ nte Module
20. both to the left and to the right and is executed as long as the jog left or right push button on the C more Micro Graphic panel is pressed I use 10 000 pulse second second for the Accel and Decel rates in both the Clockwise and Counter Clockwise directions These values can be adjusted to produce a slower response during jogging if desired VAUTOMATIONDIRECT SUrestep PIES Koyo C more LOGIC CTRIO Workbench Trapezoid Profile 17 of 28 The third profile I set up for my demonstration is the Trapezoid profile This profile will produce a pre c ll determined move distance and the ability to control how Profile Info fast the step motor will accelerate up to the target speed Name Trapezoid Peak Frea and decelerate to a stop I use a set time of 1 000 Profle Type Total Tine milliseconds to accelerate and decelerate to a maximum Symetical S Cuve Accel Time target Pos Frequency of 20 000 Hertz Dynamic Positioning 1004 ms Decel Time Free Form 1024 ms I set the Start and End frequency for 40 Hertz 20 Hertz is the minimum Fle Stats File Humber 3 L enter 160 000 for the Total Pulses S which i taken Blocks 7 Total Pulses 60000 Accel Time 1000 me Decel Time 1000 mg times 00 0000625 inches per step the result will equal 10 00 inches of total linear travel Start Freq 40 Hz Pos Fre 20000 Hz End Freg 40 Hz I have created the Trapezoid profil
21. count can be read from or written to only if the pulse output is running Dynamic Velocity or Dynamic Positioning profiles The reading from and writing to the CTRIO internal registers is accomplished using the DirectLOGIC Read from Intelligent Module RD and Write to Intelligent module WT instructions respectively eee bee LOGIC CTRIO Workbench Monitor I O Done 28 of 28 When I am done monitoring and testing my configuration can click the Done button in the lower right corner of the Monitor CTRIO reading of controller outputs is currently suspended I O dialog window A pop up message will tell me that the CT RIO Would you like me to re enable them reading of controller outputs 1s currently suspended and if it is OK to re enable them I click Yes and I am taken back to the CT RIO Workbench utility dialog window VAUTOMATIONDIRECT Surestep PIEStKoyo C more No error 100 Specified command code is unknown or unsupported 101 File number not found in file system 103 Profile type is unknown 104 Specified input is not configured as a limit on this output 106 Specified input function is unconfigured or invalid 107 Specified input function number is out of range 108 specified preset function is invalid 109 Preset table is full status Bar T0 Specified table entry number is out of range e TH Specified register number is out of range SER P SEINE De ta enen oo N2 12 Spec
22. drive s various parameters which include a self test function 400 1 000 2 000 or 10 000 steps revolution miucrostepping resolution current reduction at idle and the step motor s phase current The Self Test feature can be used for trouble Microstepping is accomplished by precisely controlling the amount of shooting your system Slide DIP switch current in each phase at each step position and allows the steps to be position toward the label marked TEST electronically subdivided even further The drive can be set up for either and the step motor will slowly rotate 1 2 half step or three microstep resolutions 1 5 1 10 or 1 50 microsteps In revolution forward and then 1 2 revolution a typical 1 8 degree step motor this will equate to 400 1 000 2 000 or backward This motion will repeat until the 10 000 steps per revolution DIP switch positions 2 and 3 are used to set DIP switch is returned to the off position the resolution as shown below The self test will use half step mode and ignore Microstepping Resolution Table any input signals on the STEP and DIR terminals The ENABLE input will continue to function normally Self Test 1 000 172 70 On Off Test None Factory Default Nera X Factory Default WAUTOMATIONDIRECT SUre Step Direct L Koyo C more micro SureStep STP DRV 4035 Drive Dip Switch Settings 2 of 3 The drive s Current Reduction built in feature will reduce the motor current by 50
23. memory for outputs from the CTRIO to the PLC is assigned in the range of V2430 Y Local Base V246 L EBC Connected via ERM Input V2400 CTRIO UU CTRIO C0 pil Out Params lot Workspace ER Input V2400 V2425 Output V2430 V246 1 WAUTOMATIONDIRECT Surestap Pire t koyo more DirectSOFTS Ladder Logic and Box Instructions 5 of 10 Continuing the CTRIO Config IB 1000 instruction recall that V memory register V2400 was assigned in the CT RIO Workbench utility as the starting address for the Input Map in the I O Map MIATA dialog box I enter V2400 as my Input starting address The range neea for the V memory inputs used in the CTRIO module is V2400 thru CTRIO KO V2425 Guan Workspace I enter V2430 as my Output starting address Again recall that V Riana memory register V2430 was assigned in the CTRIO Workbench C EBC Connected via ERM utility as the starting address for the Output Map in the I O Map Input dialog box The range for the V memory outputs used in the CTRIO module is V2430 thru V2461 Output ut0_Param3 CTRIO Config You will notice that after the CTRIO Config IBox is completed and you then re open to edit the output will show as OutO_Param3 This is because the imported Nickname for the first Output V2430 1s labeled Out0_Param3 VAUTOMATIONDIRECT SUrestep PIES Koyo C more DirectSOFTS5S Ladder Logic
24. there are two control methods available from AutomationDirect to accomplish controlling the stepping system The first method uses pulse and direction signals that can be obtained from PLCs with built in high speed pulse outputs or the use of a high speed counter interface module specific to certain PLCs The second method uses ASCII commands via a serial communications connection that is a feature of the Advanced Microstepping drives See Diagram on Page 21 of the Automation Notebook Issue 21 Fall 2011 Tech Thread article titled Starting with Steppers listing the many choices that can be taken between AutomationDirect PLCs and specialty modules to any one of the currently available microstepping drives Link to SureStep and DirectLOGIC Controller Compatibility http bit ly pjcl Y3 VAUTOMATIONDIRECT Suresten MISI Kaya C more SureStep Stepping System Control Methods 2 of 4 Mode 30 Built in Pulse Direction Control The DirectLOGIC DLOS DLO6 and DL105 micro PLCs have a built in feature referred to as High Speed Input and Pulse Output The high speed input feature 1s available on the PLC models with DC inputs while the high speed pulse output is available on models with DC outputs The number of high speed inputs varies with the particular PLC while all three PLC series mentioned have two high speed outputs There are several modes of operation available for the inputs and outputs designated as Modes 10 20 30 40 50 and 60
25. 425 8 will open and drop the homing signal HOMIN L Monitor Homing push button on C more Micro panel if loading file 1 is successful and there are no errors enable the output bit and reset the direction bit Lock output on until homing is complete Homing Homing C more Micra ERTO Axis nial Axis AEIR Homing CTRIO File 1 CTRIO File 1 Wor ape Chit Prox Sensor Prox Sensor Internal Bit roa Gea mel Prob Overtrave Lett Overtravel Right Enable nee Out 1 h ea Homing CTRIO Internal Bit Out 0 Active Direction Enable CTRIO Out QOutO Active UU Dirction C12 T E B2456 4 l __ L RST WAUTOMATIONDIRECT DirectSOFTS5 ENABLE CTRIO OUTPUT This is where each of the various moves that are done cause the CTRIO Enable Output to be turned on which allows the CTRIO to set the direction and provide pulses to the stepper motor driver Homing Axis Overtravel Axis Giorgia CTRIQ Internal Bit Prox Sensor Prox Sensor Enable Output Enable CTRIO Out Bra Lett Ove rtravel Right Out EnablOut C12 AT B2 456 0 o j L ouT Jogging Axis Overtravel internal Bit Prox Sensor Right Output EN ee Right C15 es gt Jogging Axis Overtravel Internal Bit Prox Sensor Left Output EN Overtravel Left C16 _ Trapezoid Move Axis epee Internal Bit dis Trap Output EN Axis Overtravel Prox Sensor Overtravel Right x1 Axis Overtravel Prox Sensor Overtravel Right Axis Overtravel Prox Sensor Overtravel Left 5 Curve Mov
26. Blocks 256 HHS inputs sin EE S i S Free Blocks 243 Preset Tables 7 otal Preset Tables become familiar with the Scan Time and check which Seeks sen Ee oie S s Same as Module Pulse Profiles Total Pulse Profiles OS Version is running on the module In our example we have OS Version 2 1 22 being used We will cover updating the firmware version a little later 1n this series VAUTOMATIONDIRECT Surestap Pire t koyo C more CTRIO Workbench Module Name amp Description 4 of 28 Its always good practice to provide a name and R L S lt wad CTRIO Workbench descrip tion of the CTRIO module for identifying later Curent PLC Curent Module Module Status Config Operations Mame and especially if there are multiple modules in your a Te Module Mode Rogar ___ WiteMedule _ 1 omm Link escriptiory scan Time 297 us Read Module ap D lication ae P Mae Scan Time 458 us Comm Status s S pDontersersion E mte File Under the heading Current Module select the Edit cee sees Edit Module Info mesial L Read File button to type in a Name and Description of the Sane oase Col pe Da nR Function C e Installed Modules Config 10 Goto RUN module In my case I named the module Motion A Description L A S l Chi Frl 16 Single axis linear lead screw slide with Demo and gave a description of Single axis linear _ mia and C more Micro leadscrew slide with
27. DLO5 CTRIO and C more Micro ee covet h CA i l Rescon ale CIT are Click OK to accept the edits T Hardens nfo Contig Information Total Blacks 256 170 Map Inputs Outputs Clear Contig e Preset Tables Total Preset T ables T Config Status l o Same as Module Pulse Profiles Total Pulse Profiles T VAUTOMATIONDIRECT Suregtan Pireet Koyo C more CTRIO Workbench Configure IO 5 of 28 The first step is to determine how the CTRIO module will be used in your application I will be using the module to output step pulses and a directional signal to i the stepping motor driver and I also will make use of the ds WEE CTRIO module s built in inputs as explained on the next slide A A oe wa a L an ier oe a an eo oe Module Configuration Installed Modules Carat ID I next click the Configure IO en C button at the middle left of Sis the CTRIO Workbench dialog gt Che Fr window Contig Information The opened Configure IO window shows the various functions that can be selected for the HO CTRIO module s four inputs and two outputs Please note that the available functions within each input and output function box change based on the selections made in other function boxes VAUTOMATIONDIRECT Suregtan Bireet Koyo C more C TRIO Workbench Configure IO 6 of 28 I select the Pulse Step Dir function listed in the Output O function box Output functi
28. MOVE STLURVE MOVE SUCCESS ERROR ENABLE CTRIO OUT SUCCESS TTT Highlight Data Type Discrete Discrete Discrete Discrete Discrete Discrete re __ Delete Discrete Discrete Discrete Discrete Discrete Discrete Discrete Display Internal T ags F Highlight Unused Tags Device Name INTERNAL gt INTERNAL DEVOO1 DEVON DEVON DEVOO1 DEVON VAUTOMATIONDIRECT Surestep P48E Koyo more C more Micro Graphic Panel HMI 7 of 14 C more micro verd 20 0 0 motion control dermo c more micro projectmap 1 Screen 1 als leas At this point l am ready LO add ob ects to my C more File Edit View Tool Object Screen Database Setup Panel Window Help ol x 1 d a 43 ame Micro Graphic panel s screen I start by adding a simple Start a Project Simulate Project Send Project to pane Static Text object which title Motion Control at the _ Navigation x ii Object List x meg m l top my screen This 1s used to identify my screen and O X pg Recipe e o o L BB Recipe ution also allows me to see which screen 1s in use if I were Jl Alou tet L using multiple screens in my project application ice TOP Layer Dynamic Text E eee Screen AZ Scroll Text T For my needs I type in Motion Control for the Text General Option use a Frame Style of None select the ce
29. Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI VID L PC DL STP OOT Ucea QUTOMATIONON CCT COT Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 1 of 8 Video Series Rundown amp SureStep Product Lineup VID L PC DL STP OO1 1 Ucea QUTOMATIONON CCT COT WAUTOMATIONDIRECT Surestep PMECtKoyo more Motion Control Video Series Rundown There are eight 8 videos in this series on Motion Control 2 What is Motion Control using the AutomationDirects SureStep Stepping System components controlled by pulses and a directional signal obtained from a High Speed Counter Interface Module p n Control Methods HO CTRIO installed in a DirectLOGIC DLOS Micro PLC A C more Micro Graphic panel is used as a simple HMI operator interface to allow the operator the ability to control Wiring the position of a linear leadscrew slide and execute various programmed move profiles The list to the right is a breakdown of the topics that the videos in this series will CTRIO Workbench Utility re DirectSOFT5 Ladder Logic amp Boxes This handout can be used to follow along with the videos C more Micro Graphic Panel HMI and can also be useful as a refresher to the steps required to create a working Motion Control System j Operation Demonstration Stepping System Product Lineup Example
30. NDIRECT SUrestep Pire tkoyo more C more Micro Graphic Panel HMI 11 of 14 I select the Tag Name titled OVERTRAVEL LEFT from the tag name database to use for my first alarm notification I want the Alarm to be visible when the address value is ON so I check the ON radio button tag Name Tag Data Type must be UNSIGNED INT 16 OVERTRAVEL LEFT z steal Bon Alarm Control Setup I check the Beep check box so I have an audible signal with the alarm check the Backlight check box and chose Red with the Blink check box checked back to Current backlight color Beep Alaris visible when address valueis 6 ON E OFF L LED Blink F1 I check the Banner Message check box and type in my Resa F Blink alarm message that reads Left Overtravel Banner Message OUvyvertravel Lett I click OK when finished and then create an Alarm Notification for my next Priority which will be number 2 for the OVERTRAVEL RIGHT alarm message VAUTOMATIONDIRECT step USC Koyo more C more Micro Graphic Panel HMI 12 of 14 When the alarm Tag Name notification conditions are true the screen will show the message in the upper area blink back and forth from a green to a red background and sound the beeper This action will continue until the alarm condition 1s cleared Alarm Control Setup 12 mE vent iiaae gt
31. Settings The output signals from the High Speed Counter Interface Module HO Bae Je ae eerie CTRIO can be jumper configured for either sinking or sourcing nt lin ck il operation In our example we will be sinking the pulse and direction signals that feed the SureStep STP DRV 4035 microstepping motor driver so the four jumpers need to be placed over the set of pins to the left as shown in the diagram to the right Note The HO CTRIO module has one input channel consisting of 4 optically isolated input points terminals A D common to terminal M The inputs can be wired to either sink or source current The module has 2 optically isolated output points terminals YO Y1 common to terminal YC The outputs can be wired to either sink or source current but the Sourcing Outputs Sinking Outputs sink source jumper selection sets both outputs to the same option SIS ojoo oojoo Sourcing outputs must be wired so positive current flows into the YC ojo ojoo oojoo High Common position Low Common position terminal and then out of the Yn terminal Sinking outputs must be wired ee A for switching the low so positive current flows into Yn terminal and then out of the YC terminal Source operation 1s the factory default setting for the outputs HO CTRIO WAUTOMATIONDIRECT SUrestap DISC Koyo more SureStep STP DRV 4035 Drive Dip Switch Settings of 3 The STP DRV 4035 drive includes a 9 position DIP switch The DIP switch is used to set the
32. The majority are for the inputs that allow high speed counting encoder input interrupts pulse catching and filtering Mode 30 is reserved for high speed pulse output that will control the SureStep Stepping System Mode 30 is the normal function used to control direction speed and profiles for pulses going to the stepping motor drives Only one High Speed I O mode can be in use at one time DO 05DD PLC MICROSTEPPER STP DRV 4035 DIR 4850 80100 S ie AJ e Prd L L YAUTOMATIONDIRECT Surestep Pire tkoyo C more SureStep Stepping System Control Methods 3 of 4 CTRIO Pulse Direction Control Another option to produce pulse direction signals that allows greater flexibility in controlling a SureStep Stepping System is to use one of AutomationDirect s High Speed Counter Interface Modules These are available for use with DLOS and DLO6 DL205 and DL405 PLCs as well as Terminator Field I O The part numbers for these modules include HO CTRIO H2 CTRIO H4 CTRIO and T1H CTRIO The HO CTRIO High Speed Counter Interface Module is used in the demo that is part of this video series on Motion Control PLC with CTRIO Power Supply MICROSTEPPER ri Ca 3 sg 6 STP DRV 4035 High Speed DIR 4850 80100 Counter L L Interface Module with Sinking Outputs YO amp VAUTOMATIONDIRECT SUrestep PMECtKoyo more SureStep Stepping System Control Methods 4 of 4 ASCII Serial Communications Control The second meth
33. anytime the motor is not moving Drive heating is reduced by about 50 and the feature lowers motor heating by 75 Slide DIP switch position 4 toward the label marked 50 Idle to enable this feature Note Please be aware that when this feature is used holding torque is reduced Current Reduction On 50 TESSE Factory enor The Motor Current of the step motor is set using the last five positions 5 9 of the DIP switch The value of current for each position is printed adjacent to the DIP switch There is always a base current of 0 4 A To add to the base current slide the appropriate switches toward their labels marked on the drive s PC board The factory default is set for 2 8 Amps which is also the current rating for the STP MTR 23079 step motor that is used in our demo Motor Current Base 0 4 A 1 6 0 8 0 4 2 8 A Factory Default VAUTOMATIONDIRECT Surestep PIEStKoyo C more SureStep STP DRV 4035 Drive Dip Switch Settings 3 of 3 micro Below is shown the drive s DIP Switch settings that are used for the demonstration linear leadscrew slide The Self Test position is Off The Microstepping Resolution is set for 1 10 which will allow us to use 2 000 steps per revolution The Current Reduction position is On to allow 50 current at idle The Motor Current per the step motor nameplate has been set for 2 8 Amps WAUTOMATIONDIRECT Demo DIP Switch Settings None izo 1 10 2 000 112 Ste
34. ar slide with a total travel stroke of 300 mm and a NEMA 23 motor frame mounting with shaft coupling was selected The assembly was mounted on standoffs to a wood base for display purposes The leadscrew I have chosen for the application demonstration has 8 threads per inch It 1s general practice to define inch based leadscrews in terms of threads per inch TPI while metric threads are defined by Pitch I can say my leadscrew has a pitch of 1 8 inch or 0 125 inches The slide will move a distance of 0 125 inches for every revolution of the stepping motor Based on the 2 000 microstepping steps per revolution we will use to set our driver our slide will move 0 0000625 inches per step NOTE You may also run across the term Lead when defining a leadscrew Pitch and Lead are closely related terms and if the screw threadform s defined as single start Pitch and Lead are the same Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 4 of 8 Wiring CTRIO Jumper Settings amp Drive DIP Switch Settings VID L PC DL STP 001 4 LCGO T QUTOMATIONON CCT COT YAUTOMATIONDIRECT SUrestep Pire tkoyo more Motion Control Wiring Diagram Components The wiring diagram for the Motion Control System is shown on the next slide Included in the wiring diagram are the following products and devices gt DirectLOGIC DLO5 M
35. ay Mode Input Map Enable Write to PLE w Output Map Enable Read from PLE assigned as part of the selections made include starting address for inputs Wao starting address for outputs V2s30 Range 2400 2425 Range V2430 2461 Output Data Controller gt CTRIO V2440 Command Code OutO CmdCode Range as a V2441 Parameter 1 Out Param Output O Pulse Step 7 Output 1 Pulse Direction V2442 Parameter 2 OutO Param ae E CTRIO gt Controller Input Data CTRIO gt Contraller Input Data CTRID gt Controller Output Enabled V2430 2431 Parameter 3 OutO_Param3 1 Postion Loaded utput Suspended 4 Output Active V2456 0 Enable Output OutO_EnablOut gt Output Functions 7 Cmd Complete V2456 1 Goto Position OutO_ GotoPos V245 6 2 Suspend Output OutO_SuspOut Output Z Contoller gt CTRIO Output Data Controlle gt CTRIO Output Data Controller gt CTRIO Output Data Controller gt CTRIQ V 2456 4 Direction OutO_Dirction V2456 7 Process Cmd OutO_ProcCmd The System Functions is continued on the next slide VAUTOMATIONDIRECT Surestep P48 Koyo C mare CTRIO Workbench I O Map System Functions 12 of 28 The System Functions that have been assigned as part Input Map Enable Write to PLE w Output Map Enable Read from PLC of the selections made include Tie TE suri raaes Starting Y address for inputs Veq00 Starting Y address for outputs V2s30 Range Was SSCS
36. d earlier If you recall l Was able to Export Gar File Edit View Tool Object Screen Database Setup Panel Window Help lG x the DS5 Nicknames with the C more Tag Names radio leir nese i if roject button selected I select the motion control demo Close Project im directsoft5 project csv file and click Open a ee Send Project to pane Object List sawe Project Ctrl 5 save Project As T Rectangle save Project As Protected L 1 Circle m gt J Frame c Open Import Tag Mame Database X Jutton Lookin Curent D55 Project 6 2 e Ei Export Message Database F Pushbutton d Date modified Simulation Project Data Object Help eh p x Project Transte Ctrl T Recent Places S E Library Print Previews Desktop Print Setup a Project Information Libraries Project Option LiL b File name motion control demo directsoft5 project csw Files of type Amport Tag File Format 65 7 vle V Cancel VAUTOMATIONDIRECT surestep Pire t koyo more C more Micro Graphic Panel HMI 5 of 14 The Import Tag name Database from Excel CSV File dialog window will pop up Make sure under the Import Option area that the From DirectSOFT check box is checked This allows the C more s Import function to treat the exported data from DirectSOFT5S5 properly I next click the Import button All of the data recor
37. dating from version 2 1 13 to 2 1 22 ye Confirm Firmware Update a os oe J eee 5pecial Curent OS wersion 21 13 hOctrio_2_1_2 ceb New OS version Elde i tucia Z l ZE LE CTRIO Firmware Files ceb Clear Contig SLeamSite LeamProjects Surestep elll A Drives and Motors M otan Control C E lt T Cancel In the U S 2 pdate popup DOX CICK i Firmware update status make sure the New OS Version is the latest and click OK The update will take a few minutes VAUTOMATIONDIRECT SUrestep PMECtKoyo more CTRIO Workbench Write and Read CWB Files 21 of 28 Once we have all of our settings and parameters mE Sa configured in the C TRIO Workbench utility we can 3 n seen Jj Curent CTRIO Workbench Cori cf EBs Write the configuration to a CWB file format so that it Config Operations L ES wite Module eal pias IE 1 D55 Motion Control Demo Project Workben 5 31 2012 8 24 AM _ CWE File is saved and available as a backup copy for future use Read Module Z Desktop Likewise if we have a previous configuration saved CWB file we can Read the file into the CTRIO Workbench utility and then Write it to the CTRIO module while in Program mode as explained in the next slide get I have made the CWB configuration file for the gang demonstration unit covered in this video series available on the LEARN site Save
38. ddressing can be used within the PLC The addresses can be broken down into either 2 ranges or 4 ranges i noe Using 2 ranges allow us to address the I O in word and bit of word formats Using 4 ranges allow us to address in word and Control Relay formats In our example I have chosen to use the 2 ranges for Input Map and Output Map display mode WAUTOMATIONDIRECT Sureste p Direct Koyo Cmore CTRIO Workbench I O Map Addresses 8 of 28 In the IO Map dialog window I check the Enable Write to PLC box and enter V2400 for the Starting V address for inputs producing a range of V2400 2425 I check the Enable Read from PLC box and enter V2430 for the Starting V address for outputs producing a range of V2430 2461 Once the Input and Output Map address ranges have been entered the available functions for the Inputs Outputs and System are shown under tabs at the lower area of the IO Map dialog window From the IO Map dialog window we can print a Report that shows all of the mapped I O addresses and their functions and use as a reference while developing the ladder logic Input Map Enable Write to PLE w Output Map Enable Read from PLC v2400 Starting Y address for outputs v2430 V 2AUU 24 25 d Range V 2420 2461 Pi Starting Y address for inputs Inputs Outputs Input Functions Output Functions System Functions Input Data CT AIO 3 Cont
39. ds located in the motion control demo directsoft5 project csv file will be stored in the C more s Tag Name Database with a bar graph showing the progress An Import Completed message will be displayed when done Import Tag name Database from Ec elC gt V File File Path ontrol demo directsottS project Motion Control Demo Directs UE B project CS re Import U pion Dyverwrite Existing Tags 1 From CLICK Z From DitectSOFT F 4 B SLC and MicroLogix o My tle contains a Header Row P 7 Import Completed All rows are imported Import Cancel Help WAUTOMATIONDIRECT Su Cote p Direct L Koyo Comore C more Micro Graphic Panel HMI 6 of 14 To check the newly imported Tag Names I open the Tag Name Database located under the Database pull down menu in the C more application programming software I can see that all of the Nicknames I created within DirectSOFTS and also the Assigned Functions I exported from the CTRIO Workbench utility and then later imported into the DSS Nicknames are ready for my use in programming the C more Micro Graphic panel There are also a couple of System tag Names that are already predefined as lt INTERNAL gt to the C more panel Tag Name Database Display System Tags Highlight Tag Name SYS DISABLE USE Kil 5Y5GO TO SETUP ME OVERTRAVEL RIGHT HOME AXIS PB JOG LEFT PE JOG RIGHT PB TRAPEZOID
40. e mei Ts under the Command pull down menu T then enter 3 T into the File Number field I click the Process Command button and should see the Command Suspend Output 9 N 6 9 C Direction Complete bit turn ON I then turn the Process 1 E Command bit to OFF Output Enabled Position Loaded gt x Qutout Suspended I leave the Direction button as shown Bun Output Stalled a TD N Coiria Enor nerd Ei DISDA To execute the profile I click the Enable Output button conan cone MARU S T and observe the Output Enabled and Output Active indicators are UN When the profile is complete the Output Active indicator will turn OFF VAUTOMATIONDIRECT Suregtan BirectiKoyo more CTRIO Workbench Monitor I O System Functions 27 of 28 O Statue amp Input Functions Output Functions System Functions Under the Systems Functions tab this dialog window 6 2 4 2 E allows you to Read from or Write to the current input I ensor oeo oen count and the current output pulse count within the eea o gt oye E al m ne one regis ET following conditions meinen moe BAe gt The current input count can be read from or written System Functions Tab to if the input is configured for a Counter or Quad E Counter Timer values are not accessible SysEmd Enor S neae aes T SyCmd Complete Un gt The current output pulse
41. e internal Bit 5 Curve Cut EN Sure 454 step Direct L Koyo C more Ladder Logic and Box Instructions 9 of 10 Seen here is the rung of ladder logic that enables the CTRIO output for the various tasks that can be carried out such as homing jogging Trapezoid move and the S Curve move The OutO EnablOut bit B2456 0 is active when any of the five possible moves Homing Jog Right Jog Left Trapezoid Move or S Curve Move are initiated In our example when Homing internal relay C12 is true based on the logic conditions shown in the previous slide Notice each of the five possible profile moves also include overtravel signals from the proper left and or right Overtravel proximity sensors to disable the output if the linear leadscrew slide travels too far in either direction VAUTOMATIONDIRECT Suregtan BirestiKoyo more DirectSOFTS5S Ladder Logic and Box Instructions 10 of 10 The final task I will do after I have all of my ladder logic and Box instructions programmed f Epor Documenten a lee all of my rungs commented for clarity and all Save in jj Curent DS5 Project 5 ci Ear Content Format mm element Nicknames documented 1s to Export Nm pate relied ES ane di ZIPPED 8 14 2012 1 31 PM File folder Plener IO S Recent Places ZN motion control demo directsoftS project csv 8 14 20121 29PM Microsoft Wiring Into Description the Nickname da
42. e to be slightly SS SS aggressive in accelerating to target speed and decelerating to a stop so it s motion can be compared to the S Curve profile which is next VAUTOMATIONDIRECT Surestep PIEStKoyo C more LOGIC CTRIO Workbench S Curve Profile 18 of 28 The S Curve profile is identified as File Number 4 with Total Pulses equal to 160 000 representing 10 sann pens m inches total travel as also used in the Trapezoid profile ados Peak Freg 19728 Hz I use a set time of 10 000 milliseconds to accelerate and ai decelerate to a maximum target Pos Frequency of eae Symmetrical Curve Accel Time 25 000 Hertz and a Start and End frequency of 20 Dimara Veen os Hertz I have left the default of 3 for the Min Freq Change and 10 ms for the Min Entry Time File Stats Please notice in the calculated results that the Peak Fie Number 4 Total Entries 25A Frequency does not reach the target of 25 000 Hertz Blocks Used 43 Total Pulses 160000 Accel Time 10000 me Decel Time 10000 mnz The Accel and Decel times could be reduced to al oS S S S Min Freg Change 3 fe Min Enty Time 10 m achieve reaching the target 1f required Cancel The S Curve profile is ideal in applications where we do not want the load subjected to vibrations or jarring motions WAUTOMATIONDIRECT SUrestep PNECtKoyo more C TRIO Workbench Update Firmware
43. equency 2 Limit is assigned to Channel 1C and I want the actuation to take place when the proximity sensor changes to a High Level r Frofile Info Mame H ome Profile Type Symmetrical S Llurve Dynamic Positioning Dynamic Yelocit Free Form File Stats File Humber Total Entries Blocks Used ee x Home Search Procedures Run to Limit 1 at Frequency 1 Aun to Limit 1 at Frequency 1 then continue to Limit 2 at Frequency 2 Run to Limit 1 at Frequency 1 then reverse to Limit 2 at Frequency 2 Aun to Limit 1 at Frequency 1 then continue to Count at Frequency 2 Run to Limit 1 at Frequency 1 then reverse to Count at Frequency 2 Frequency 1 7500 Hz Limit 1 ChIC Count 2000 Event High level ka Frequency 2 1000 Hz Cancel VAUTOMATIONDIRECT Suregtan Bireet Koyo more CTRIO Workbench Dynamic Velocity Profile Jogging 16 of 28 I use the Profile Type Dynamic Velocity for my next profile and name it Dynamic Vel The File Number ans pene 00 ee 5 Z s A ccel Rate 10000 z5 numbers are used within the DirectSOFTS s ladder logic a TI F F Box instructions to load the profile into the PLC s CPU Tia edee Accel Rate T0000 pes memory prior LO executing the move profile ie Pe itic i ounter clockwise Decel Rate 10000 p s for this profile will be 2 We will see later that the file Again this profile will be used for jogging the slide axis
44. gnals that are translated by the microstepping drives into precise movement of the stepping motor shaft The SureStep product line consists of the following gt One DIP switch configurable microstepper drive gt Two software configurable advanced microstepper drives gt Four step motor power supplies gt Nine stepper motors NEMA 17 23 34 frame sizes gt Two stepper motor extension cables gt FREE stepper configuration software for advanced drives Link to SureStep Stepping Systems Overview http bit ly rscNQR VAUTOMATIONDIRECT Surestep PIEStKoyo C more SureStep Stepping System Product Lineup 2 of 5 STP DRV 4035 DIP Switch Configurable Microstepper Drive Block Diagram EE C2 12 42 VDC The standard SureStep drive requires setting a few DIP switches 1 hooking up a step motor connecting to a PLC or other controller and applying power to the components in order to have an operating 3 motion control system Com i gica Isolation The STP DRV 4035 Microstepping Drive can accept an input voltage be 2 of 12 42 VDC and produces an output current selectable from 0 4 to 3 ag eel 3 5 Amps phase of stepping motor current Logic Connections Current Reduction from PLC or Indexer Link to Microstepping Drive Data Sheet http bit ly oh9Mil AUTOMATIONDIRECT step Direct Koyo SureStep Stepping System Product Lineup 3 of 5 Advanced Microstepping Drives Both the STP
45. icro PLC D0 05DD gt High Speed Counter Interface Module HO CTRIO gt SureStep Microstepping Drive STP DRV 4035 gt SureStep Stepper Motor STP MTR 23079 L gt SureStep Stepper Power Supply STP PWR 3204 gt SureStep Stepper Motor Extension Cable STP EXT 020 gt C more Micro Graphic Touch Panel EA1 S3ML gt C more Serial Port w DC Power Adapter EA MG SP1 gt C more Communications Cable EA 2CBL gt Rhino 24 VDC Power Supply PSC 24 030 gt ProSense Proximity Sensors APS4 12S E D gt Linear Leadscrew Slide Pitch equals 0 125 inches per revolution VAUTOMATIONDIRECT Suregtan Pire t koyo more micro Micro sraphic Counter Interface Panel EA1 S3ML Module a HO CTRIO C more 3 Motion Control System Wiring Diagram Hes TE senal Port wi Port 4 available DC Power Adapter Reta serena EA MG SP1 ef bi ig ae lt i wwe LO f H 24 VDC to EA MG SP1 Sapna Port wi 7 5 A G gv x Port 1 available DirectLOGIC for programming i pD 0405 PLE 24 VDG Power Supply Communications Cable EA 2CBL 120240 Step Motor Power Supply AC Power Cable Color Code Red APS4 125 E D er ee i VDC W Extension Cable ouas Ee Rza ee E D T A a Sa Motor a STPM TR 23079 Prat View 4 2 CL tah eo i a LLL 12 Motor Pigtail APSA 12S ED with Connector ET Sensor YAUTOMATIONDIRECT ourestep DISC Koya more HO CTRIO High Speed Counter Interface Module Jumper
46. ified register is in unconfigured input or output Last Error gt 0 No eror Link to CT RIO User Manual Monitor I O http bit ly N8xzw 1 Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 6 of 8 DirectSOFT5 Ladder Logic Box CTRIO Configuration Boy CTRIO Load Profiles VID L PC DL STP 001 6 LCGO T QUTOMATIONON CCT COT YAUTOMATIONDIRECT SUrestep PNECt Koyo more LOGIC DirectSOFTS5S Ladder Logic and Box Instructions 1 of 10 My next step 1s to create the DirectSOFTS5 ladder logic program that will consist of ladder logic elements and Box instructions The Box instructions allow me to reduce my programming time by reducing the number of ladder logic rungs that would be required in the past I start by opening the DirectSOFTS DSLaunch application and click on DirectSOFTS Programming under the Applications folder in the menu tree This brings up the New Project dialog box I enter my project name motion control demo directsoft5 project and select DirectLogic 0 1 2 4 3 50 for the Family and DL OS for the C I click OK File View Help gan DirectSOFT on the Web New Project Mame oe Ie Applications g DIKE AS le motion control demo directsoft5 project wea E o ha EE DirectSOFT 5 Programming e ae e t E a ome Utilities Lancel L pe Ll Visit AutomationDirect
47. l cover in detail configuring dy Address 56 Ay DLOS the CTRIO module online Also included will be oat updating the Firmware to the latest version and the use of the I O Monitoring feature WAUTOMATIONDIRECT Once the CT RIO Workbench dialog window opens the Select Link box will prompt you to establish a link to any found CTRIO modules or other devices that are supported by the application In my case I will select the DLOS Motion Control with Micro PLC for our link After the Link s selected the C TRIO Workbench window will display without any info shown while waiting for the link to become established This may take a few seconds or longer After the link 1s established all of the known parameters and information will be displayed As shown on the next slide the Comm Status should indicate OK and the Config Status most likely will show as Same as Module if this is the first time use of the CTRIO module Su step 5 Direct j Koyo C more CTRIO Workbench Select amp Establish Link 2 of 28 kad CTRIO Workbench Current PLC Current Module Module Status Mame Type Edit Module Mode H Scan Time Description Max Scan Time Comm Status Select Link Select PLC Installed Modules Address 18 ECOM protocol on Ethernet Address 56 ECOM protocol on Ethernet ECOM UU ECOM protocol on Ethernet Mp DLO Motion Contro with Micin PLC Re
48. n control demo c more micro project I select my Panel Type EAI S3ML and then select the PLC protocol AutomationDirect K Sequence DLO5 06 105 205 350 405 I then click OKR This will open up the C more Micro Main Application Screen that includes the Work Area Navigation Window Object List Window etc as seen on the next slide step 1 otar a Project Make a New Project Read From Disk Read From Panel Automation Direct Technical Support TEL 770 844 4200 WANA auborrathondirect corn Select Project Save Location Sleamnsite LeanProyects 5urestep U Browse Project Name motion control demo c more micro prop EA1 53ML Hh Type Landscape Portrait PLC Protocol AutomationDirect E Sequence DLUSUE TUE Protocol Setup 3 Monochrome Touch 5 Color Backlight Hote Project Auto Save amp Backup Save Option can be used lF uou need this Option Chet Here J Always display this dialog when starting C more micro software ok Cancel Help C WAUTOMATIONDIRECT SUrester step Direct koyo C more C more Panel HMI 2 of 14 The C more Main Application Screen is used to develop the various screens that I will use in my project In my case I will only have one screen so I decide to use the dark green Backlight Color I will use the Work Area to place and adjust the position of the vario
49. ns Complex movement can also be handled with the use of a stepping motor driving a conveyor or multiple drive mechanisms that are linked together Different speed rates can be programmed along with various acceleration and deceleration times to coordinate synchronization with other devices in the process Belt Drive Fg ravity VAUTOMATIONDIRECT Suregtan BirectiKoyo more micro Typical Applications Rotary Index Table 3 of 3 Using a stepping motor coupled to a rotary table or through a gear reduction to increase available torque provides a simple method for indexing the table into precision locations This application of a stepping motor is ideal for assembly machines that may have multiple locations where various steps or operations are preformed The use of a stepping motor can provide excellent repeatability between the various stations on an assembly machine The positions will return to the same location accurately Another great benefit of using a stepping motor for the type of applications outlined here and the proceeding application slides is the stepping motor cannot be damaged by mechanical overload Index Table Link to SureStep User Manual Appendix A http bit ly JSy3kH WAUTOMATIONDIRECT Sur step Direct Koyo C marp micro Linear Leadscrew Driven Slide Hardware A linear leadscrew slide was chosen to use as the demo n this video series on Motion Control A manufactured line
50. nter icon Text 7 Motion Control i__ under Align for my text alignment and use a 8x160 for T FontformatSeting Motion Control Fon the Font Format Setting mt oH GS Classic Font Effect Ready Bold Italic l s l ed se ee iee e ane ower Lastly I stretch the Static Text object to fit at the top of 66 es ase rece esl von esate Iie aal aal ea the screen The C more Micro Graphic panel total screen Toon conteo size is 128x64 pixels I set the Static Text to 128 pixels Foni wide by 16 pixels high CO Windows Font Description Text Color 4 Align Sd Cran YAUTOMATIONDIRECT SUrestep Pire tkoyo more C more Micro Graphic Panel HMI 8 of 14 C more micro Wers 20 0 0 motion control dermo c rmore micro projectmap 1 Screen 1 als leas l now locate the Pushbutton object in the Library List File Edit Wiew Tool Object Screen Database Setup Panel Window Help E X SlUl a a a A a m a and click drag and drop it on the screen The Start a Project Simulate Project Send Project to panel Pushbutton dialo g box will open E Navigation x gt ii Object List x Mot Jon n I check the Label box type in Jog with a Top iz sen o Position and in my case I type Left for both the OFF ae L and ON Text for displaying I use the defaults for Color Align and Font Label
51. o 0 so KO is entered for this parameter The Output specifies which CTRIO Output 1s to receive the profile In my case this is Output 0 I then enter the File of the predefined profile that I want loaded which is 1 for the Homing profile so I enter K1 I use V memory register V2301 as the instruction s Workspace memory area The CTRIO Load Profile instruction includes two flag bits that can be used to confirm that the instruction has successfully executed and there are no errors use internal control relays C10 and C11 as my flag bits ZIS EE C CTRIO Load Profile CITRLDPR IB 1001 CTRIO Output File Workspace Success Error VAUTOMATIONDIRECT Surestap Pire t Koyo C more DirectSOFTS5S Ladder Logic and Box Instructions 8 of 10 I now create the ladder logic seen below that enables the profile to execute by enabling the CTRIO output and also set the direction of the stepping motor The following rung is used to latch the Homing signal with conditions that profile file 1 was loaded successfully with no errors the axis is not on the homed sensor or at either overtravel limit sensor If conditions are met the C12 homing signal will be initiated along with the direction reset and the rung latched in through the Out O Active signal bit B2425 8 When the move profile has completed the Out 0 Active contact bit B2
52. od for control is done by taking advantage of the Advanced Stepping drives ability to accept ASCII data commands via RS 232 serial communications This method is supported from certain serial ports of all DirectLOGIC PLCs CLICK PLCs and the Productivity3000 Programmable Automation Controller Review the instruction set for the specific PLC and investigate the instructions that can produce the ASCII data commands then confirm which RS 232 serial communications port 1s supported by those instructions usually configurable as an ASCII port EC Move Profile The Advanced Stepping drives make use of a Serial Command Language SCL that can be used to control motion by accepting serial ASCII commands from a PLC or PC serial port DC Distance l x ADVANCED i DI Distance PLC or PAC MICROSTEPPER STP DRV 4850 80100 RS232 RS232 RJ12 Port STP 232RJ12 CBL 2 6P4C RJ12 4 Red Red 5 zor 3 Green Green 3 1 Blue Blue 2 Serial Command Language MD ME CM21 D19000 AC2 DC6000 NC2 YC 5 WES SA EG1000 FC Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 3 of 8 Typical Stepping System Applications amp Demo Linear Slide Hardware VID L PC DL STP 001 3 Ucea QUTOMATIONON CCT COT YAUTOMATIONDIRECT Suregtan Pirget koyo C more Typical Applications Leadscrew of 3 One of the more
53. on box will now show Slaved to 0 Output 0 designated as YO on the CTRIO module and not the same as YO on the DLOS5 PLC will provide the step pulses while Output 1 designated as Y1 also not the same as Y1 on the DLOS PLC will provide the stepping driver s direction signal I will be using the Homing profile in my demo so I will set Input C to the Limit Out O function which will allow us to use it to indicate when the linear slide 1s at the home proximity sensor Configuring the IO at this point will allow us to see how the Input and Output addresses are assigned when we Map the I O in the next step VAUTOMATIONDIRECT Suregtan BirectiKoyo more CTRIO Workbench I O Address Ranges 7 of 28 Next we need to setup the PLC s memory addresses that the C TRIO module will be communicating Click the E TO Map button at the bottom of the Bees Workbench re eS l a dialog window ee PT ah v Ranges Range PO Range o i Input Map Enable Write to PLE Output Map Enable Read from PLE 7 inertial G Total Blocks 256 WO Map Inputs 4 Free Blocks 249 Preset Tables Total Pres Input Functions Output Functions System Functions Contig Status Chanqed Pulse Profiles Total Pulse an i Input Data CT AIO 3 Controller Input Data CT a Controller Input Data CT R gt Controller Input Data CT AIO 3 Controller The Map Display Mode has two choices for how the a
54. ort as explained in the next slide File Edit Search View Tool PLE Debug Window Help New Project K EDIT Open Project Ctrl 0 iag Fin se Close Project Save Project fy Rave Project As 9 Backup Project Read Program Write Program lza Print Preview ae Print ik Print All ge Print Setup ae Properties icknames wiring info from comma separated variabl w E Exit YAUTOMATIONDIRECT SUurestep Pire tkoyo C more DirectSOFTS5S Ladder Logic and Box Instructions 3 of 10 From the Import Documentation window I select the motion control demo ctrio workbench tag names csv file that was created earlier I make sure the Import Method radio button for Merge PRJ priority 1s checked This allows the new documentation data to be imported without overwriting any existing data When I have completed my selections I click on the Open button A progress bar popup window will show the importing taking place and after a few seconds the Import will be completed The new Nicknames can be viewed in the DS5 Documentation Editor as seen here e Fe Name Date modified Type di Eh motion control demo ctrio workbench tag 8 14 2012 116 PM _ Microsoft O Delete existing etl al B2421 13 B2421 14 Import Documentation D B242115 i B2422 0 Out0_ OutEnbld Output Enabled Import Method Y Merge PRJ priority Ladder View Documentation Editor
55. p pulses as we discussed earlier and Out is my Y l physical connection on the module that determines the stepping motor s direction Again do not confuse YO and Y1 with the DLOS PLC s output designations L am using just the C channel as my Output Limit 0 so I can test it by toggling the Home proximity sensor on and off by placing a piece of metal in front of the sensor s target area n O Statue amp Input Functions Ou utput Function z System Function z Chan Channel 2 I O Status amp Input Functions Tab Input Status Output Status Input Status Output Status A B C D Out U Out 1 A B C D Out 2 Out 3 Ott Of OR Of Pulselnactive Discrete On Input Functions Input Functions Uncontigur d Lnconhaured A r Function 1 Function 2 Home Sensor Direction Step Pulses E ee Pe H E pe Pe CTRIO read of PLE outputs i gt Suspended Click to enable Last Error gt 0 No error VAUTOMATIONDIRECT Suregtan BirectiKoyo more CTRIO Workbench Monitor I O Output Functions 26 of 28 The Output Functions tab is where I can actually test ferrans Dapa Fuco the various Profiles that I have created in the CTRIO Pulse Sten fiise Diecton Workbench utility R ut Functions Tab For example I can execute the Trapezoid pulse profile PN P 1 Z Z Command 0x10 Ty labeled as file 3 by first selecting 0x10 Load Tabl
56. popular methods for converting the stepping motor s rotary motion into linear motion is though the use of a leadscrew Using a leadscrew running through a matching threaded nut adapted to a slide mechanism provides the mechanical translation The slide mechanism is used to carry the working part of the process and move it from position to position as needed a _ e kad k a r e _ ame e EFFEEF z E 7 D oo u e r gt U U U x s P P En Mmmm D E ER Zs v on R m p w eee n 6 S e PK 2 t g 2 6 The number of threads per inch determines the distance the slide mechanism will travel For example if we use a leadscrew with 10 threads per inch then one revolution of the attached stepping motor will cause the leadscrew to produce 0 100 inches of travel More on this later Leadscrew Slide Stepping Mechanism Motor VAUTOMATIONDIRECT Surestep Pire t koyo C more Typical Applications Belt Drive 2 of 3 Another application suited for a stepping motor is to drive a belt such as a conveyor belt In this type of application we are able to control the position of product on the conveyor stop it at various positions and even back up if the process requires a second look be taken such as in a visual inspection application Using a stepping motor to control a conveyor has the advantage of providing precise positioning The positioning can be altered on the fly to suit changing conditio
57. ps Rev 50 Idle Current Reduction 0 1 0 2 Motor Current Base 0 4 A 0 4 1 6 0 8 0 4 0 8 2 8 A Phase Z 1 6 K Microstepping Drive Step Motor STP DRV 4035 STP MTR 23079 Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 5 of 8 Workbench Utility Configure CTRIO Module amp Create Motion Profiles VID L PC DL STP O0O1 5 Ucea QUTOMATIONON CCT COT VAUTOMATIONDIRECT Suregtan Bireet Koyo more CTRIO Workbench Open WB 2 for DirectLOGIC PLC 1 of 28 Start the DirectSOFTS DSLaunch application and open the Workbench support version titled CTRIO WB 2 DirectLOGIC PLC under the Utilities menu sd La Visit AutomationDirect Te i bLA Visit Host En There are additional support versions of the CTRIO ZS era Mai _ CTRIO WB 2 DirectLogic PLC Workbench that can be used with a WinPLC that uses B SC WinPLC l l fff CTRIO wB 2 PBC Windows CE and Think amp Do runtime software or an B CTRIO WB 2 Offline Version JBpanmni ERM Workbench EBC interface device 2 a S bres Additional info There is also an Offline support version that allows the LJ Calculator user to create a complete CTRIO configuration file os cwb that can be read into the C TRIO module at a later a Epe s E time LLY iMearnsite lea mprojects surest L s Comm m e Address 18 The following steps here wil
58. resses 12 ranges PLC Mapped Addresses 4 ranges Starting Y address for inputs V2400 Starting address for outputs V2430 Range 2400 2425 Range W 2430 2461 ls po H ange Input Functions Output Functions system Functions System Input Data CT AIO 3 Controller Input Data CTRIO Controller Input Data CTRIO Controller Input Data CT AIO 3 Controller Wed da 6 Syelrnd Error Wedded 7 lt SpsCmd Complete Wed75 OO Chl Vede51 Ch1 B 2425 2 Chi C Export Wed5 Chl D 2425 8 Out 0 Active Assigned Wed 9 Out U Mode i Wed5 10 Out Active Functions WOA9R 17 Out 1 Monde E Output Data Controller gt CT AIO Output D ata Controller gt CT AIO AWD Data Controller gt CT AIO Output D ata Controller gt CT AIO VedbO Process Syslmd Cancel Report Export WAUTOMATIONDIRECT SUrestep PMECtKoyo more CTRIO Workbench Create Pulse Profiles 14 of 28 The next step I need to do is to create the various Pulse 1 E p j wad CTRIO Workbench Profiles that I will be using in our demonstration To TET gnes prn rnap Wer Wier OOUWIE OAE t ong Operations create the profiles I click on the Pulse Profiles button a cit Module Mode Pragam _Wite Module _ S S a a Scan Time 297 us E at the bottom of the CTRIO Workbench dialog window cai S Read Module v Write File e Comm Status 1 0 9 I click the Add button in
59. roller Input Data CTRIO Controller Input Data CTRIO Controller Input Data CT AIO 3 Controller Output Data Controller CTRIO Output D ata Controller CTRI0 Output D ata Controller gt CT AIO Output D ata Controller gt CT AIO VAUTOMATIONDIRECT Surestep PIEStKoyo C more CTRIO Workbench I O Map Input Functions 9 of 28 Under the Input Functions tab there is no Input Data gap CTIRO gt Controller OT Output Data Controller Ge wad pez Input Map Enable Write to PLO W7 r Output Map Enable Read trom PLC w 5 ss nr ore Starting Y address for inputs v2400 Starting Y address for outputs baad gt CTRIO shown or defined iaiia Range fyeauo2a25 ange vaoz Although earlier in the Configure IO dialog window I L assigned physical Input C as Limit Out 0 to use for res bY n our Homing profile t becomes an internal function and gt is not communicated between the CT RIO module or the Controller in our case a DLOS PLC J gt Controller Input Data CTRIO Controller Input Data CTRIO Controller Input Data CT AIO 3 Controller Input Functions In the next slide we will continue with the Output Functions 9 that are available to use in our ladder logic Output Data Controller CTRIO Output Data Controller CTRIO Output Data Controller TRIO Output Data Controller CT RIO program VAUTOMATIONDIRECT Suregtan Pire t koyo C more CTRIO Workbench I
60. ry for packaging printing manufacturing and assembly as well as many others Common Motion Control product manufacturing applications include conveyor system controls food processing or other material handling applications Motion Control System architectures include gt A motion controller to generate the trajectory and close the position loop the velocity loop is Sometimes referred to as a servo control gt Servo can also refer to servomechanism which is a device used to cause mechanical motion for apin t ye E RR SE El GR d a specific distance J coh ANE 4 gt A drive or amplifier to transform the velocity or SS a 4 torque signal into a high power electrical current Step mr a ___ Sign gt A motor used for actuation of mechanical motions such as cams eS gt Some mechanical device such as a gearbox pulleys amp belt or rack amp pinion gt A feedback sensor to return the final position back to the motion controller VAUTOMATIONDIRECT SUrestep PIEStKoyo C more SureStep Stepping System Product Lineup of 5 x E 9 E Py lt Fh AY t PA nale b MM LE ana A t i pe Ban oar S La TR A E 0 5 6 eU eth R J ka CLL U The SureStep open loop stepping systems provide simple and accurate control of position and speed where lower power and cost are considerations AutomationDirects family of PLCs or other indexers and motion controllers can be used to provide the si
61. scan W Link Enabled Contig Information Total Blacks O Map Inputs Outputs MUTE Preset T ables Total Preset T ables Config Status l Pulse Profiles Total Pulse Profiles Config Uperations Nd rite Module Read Module Vi rite File Read File gt m Utility Functions Monitor 1 0 Special Update Firmware Hardware Info Clear Config YAUTOMATIONDIRECT Surestap PISS Koyo C mare CTRIO Workbench Linked and in Program Mode 3 of 28 All of the C TRIO modules installed in the PLC that are __ linked will be displayed in the Installed Modules OT prm T Mame window Make sure the CTRIO module that you are a cat Module Mode Rogan __ WiteMedule _ i i i i L ae Scan Time 303 us E configuring 1S the one hi Sd ghted Comm T Description nee a Read Modul wite File Comm Status Booter version 1 0 9 Most likely the CT RIO Workbench dialog window will see comes DS Version TA ReadFile indicate the Module Mode is in Program mode BECER i tty Functions Installed Modules Config ID Goto RUN After I have entered all of my configuration I O cht irae mapping profiles and other parameters I will show how Chi nd Unassigned to place the CT RIO module in Run mode and test the Sau Special se tings S T Update Firmware Hardware Info Contig Information It is good practice to take a look at the Module Status to Talal
62. ta in a CVS file format as Tag Z Names that I can then Import into my C more Desktop Check Content R S A S 5 s 5 5 radio button for C more Value Type Element Micro project This will save programming time a on oeaes Libraries L KEPDiect Server Format i i i i Standard Format PLUS Nicknames to be used e and help eliminate typo errors Me RAs hrd mc gnames S Computer a Network 4 File name motion control demo directsott5 project csv Save as type Comma Delimited csv Weansiteleanprojecs surestep dives and motorssmotion cor Help Link to DirectLOGIC PLCs Web site http bit ly Nyasby Motion Control DirectLOGIC Micro PLC CTRIO Module to SureStep Stepping System with C more Micro Graphic Panel HMI Part 7 of 8 C more Micro Graphic Panel Programming VID L PC DL STP OO1 7 Ucea QUTOMATIONON CCT COT WAUTOMATIONDIRECT Sure e54 Estep P4SStKoyo C more C more Micro Graphic Panel HMI 1 of 14 In the Motion Control demo the C more Micro Graphic panel is used as my operator interface to jog the linear leadscrew slide axis left or right home the axis execute a Trapezoid move profile and also execute an S Curve move profile To create the project for the C more Micro Graphic panel that am using in the Motion Control demo I first open the C more Micro application software and select the Make a New Project button I give the project a name motio
63. the Pulse Profile Tables Ok h rO Eal ear Read Fle dialog window which will bring up the Edit Pulse rane ogue od l m Functions Installed Modules Confia Goto AUN Profile as shown on the next series of slides CH1 Frl My demonstration will make use of four different Pulse Chi Fre Profiles Included are Ch2 Fn1 avec E Update Firmware Rescan Ch2 Fn2 L Home Search Config Information X _ Hardware Info l 2 R Total Blocks 256 vO Mapp oe Duin he Clear Contig gt Dynamic Velocity Used for jogging Free Blocks RT Tables toxsi rece Tonle Contig Status S ae o Same as Module Ase TONES Total Pulse Profiles gt Trapezoid aca gt S Curve WAUTOMATIONDIRECT Sureste p Direct Koyo Cmore CTRIO Workbench Home Search Profile 15 of 28 The first profile I will create uses the Home Search profile and as the name implies I will use it to home my linear leadscrew slide to a know position based on the actuation of a fixed proximity sensor from a metal target that is on the slide I give the profile the name Home and select Home Search from the Profile Type list The File Number will default to 1 this being the first profile that I am creating I decide to use the Home Search Procedure that will Run to Limit at Frequency 1 then reverse to Count at Frequency 2 I use 7 500 Hertz for Frequency and 1 000 Hertz for Fr
64. us objects that I will use as my operator devices The Navigation Window has tabs that allow me to adjust my screens work with various functions and features and obtain information on the connected panel along with updating firmware The Object List Window gets me to the available standard objects and includes a library of predefined special objects and includes user generated special objects ree lt File Edit Wiew Tool Object Screen Database Setup Panel Window Help X S W aa aal a m a T Start a Project Simulate Project Send Project to panel Navigation 5 L Object List Screen Function Panel Object Library Sg Setup Shape elie Panel Manager Configure Passwort ool PLG lt gt Panel 6 Alarm Control Setul E Bezel Menu Kev SE a SS Tab Index Database p amp Tag Name Databas 237 Message Database C more micro Wers 20 0 0 motion control demo c more micro projectmap 1 Screen 1 Pushbutton Object Help S et Manual Heljo Software Manual aoc I r 1 Yee dieses hd k i l d 11 b Draw H E HS Ready Background C WAUTOMATIONDIRECT SUrezte p Direct Koyo Comore C more Micro Graphic Panel HMI 3 of

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