Stepper Positioning Module Manual
Contents
1. CH 2 INSTALLATION 29 SEP 1999 PAGE 2 4 REVISED MODEL Q WAQ 1 BYTE2 BYTES 6935 100 6 HE693STP101 7 HE693STP110 F 6 HE693STP111 7 HE693STP300 16 16 5 6 1 0 0 HE693STP301 7 HE693STP310 P 6 HE693STP311 HE693STP104 2 Figure 2 4 I O Reference and Bytes 1 3 Configuration Parameters Figure 2 4 revised 29 SEP 1999 The second column of configuration parameters contains a number of additional configuration bytes The stepper module requires that Byte 1 through Byte 7 be configured For these parameters see the chart for Bytes 1 3 and the chart below for Bytes 4 7 REVISED MODEL BYTE 4 BYTE 5 BYTE 6 BYTE 7 HE693STP100 HE693STP101 2 6935 110 Encdr Encoder Encdr Encoder Type Multiplier Divisor Tolerance Hep Td 01 FF H 01 0F H 00 FF H HE693STP300 HE693STP301 i 9 i HE693STP310 Encoder Encoder Encdr HE693STP311 Encoder Type Multiplier Divisor Tolerance HE693STP104 0 0 0 0 Figure 2 5 Bytes 4 7 Configuration Parameters Figure 2 5 revised 29 SEP 1999 Bytes 4 7 are utilized by those indexer models which feature encoder feedback capability Byte 4 configures the type of encoder used see Figure 2 6 Byte 5 and 6 set the encoder multiplier and divisor and Byte 7 sets the encoder tolerance For details on encoder feedbac2. 4 6 Resume Move i Page 4 7 Set Current Position 4 i Page 4 8 Clear Error s Page 4 9 Decelerate and Stop Page 4 10 Immediate Stop Page 4 11 CHAPTER 5 ENCODER FEEDBACK 5 1 5 1 Encoder Type i Page 5 1 5 2 Step Pulse to Feedback Pulse Ratio i i Page 5 2 5 3 Example Ratio Configurations Page 5 3 54 Setting Encoder Tolerance Page 5 3 APPENDIX A SAMPLE WIRING DIAGRAMS Page A 1 APPENDIX B STPCALC i Page B 1 Page vi PREFACE This manual explains how to use the Horner Electric Stepper Positioning Modules model numbers HE693STPxx0 revision G or later HE693STPxx1 revision A or later for use with GE Fanuc Series 90 and CEGELEC Alspa 8000 family of Programmable Logic Controllers ABOUT THE PROGRAMMING EXAMPLES Any example programs and program segments in this manual are included solely for illustrative purposes Due to the many variables and requirements associated with any particular installation Horner Electric cannot assume responsiblity or liability for actual use based on the examples and diagrams Itis the sole responsibility of the system designer utilizing the Stepper Positioning Module to appropriately design the end system to appropriately integrate the Stepper Positioning Module and to make safety provisions for the end equipment as is usual and cus
3. Page A 2 APPENDIX A SAMPLE WIRING DIAGRAMS A2 ENCODER FEEDBACK CONNECTION The Stepper Indexer Module is compatible with incremental encoders which output either a 5V line driver differential or 5V positive active single ended signal Some encoders feature a marker pulse This signal may be used as a home input if a signal converter is used This signal converter is available from Horner Electric It converts the Home 1 input terminal from negative active to positive active 5V Line Driver INDEXER ENCODER MODULE 10 ENCODER B ENCODER B4 ENCODER ENCODER A4 QUAD OUT A 5V Positive Active ENCODER B QUAD OUT ENCODER B 12 ENCODER 3 ENCODER A APPENDIX A SAMPLE WIRING DIAGRAMS Page A 3 A3 HOME END LIMIT AND EMERGENCY STOP INPUTS SWITCH INPUTS The Stepper Indexer Module allows real world switches limit proximity mechanical etc to be connected to the module This enhances the ability of the overall stepper control system to find home position accurately and to quickly stop motion in the event of an emergency situation The Stepper Models HE693STPxx0 allow mechanical switches proximity switches limit switches etc to be connected to the module Optical isolation is notprovided thus the common for these switch inputs terminal 20 on the terminal strip is designated digital ground electrically equivalent to the common f
4. 1 AQ2 Command Description This command is used to manually set the current position for the current axis When this command is issued DESTINATION POSITION is copied into MOTOR POSITION and into ENCODER POSITION if axis 1 is selected and CURRENT POSITION VALID status bit is turned ON This command can be used in conjunction with the JOG UP and JOG DOWN commands as an alternative to the FIND HOME UP and FIND HOME DOWN commands for finding and setting a reference position CHAPTER 4 COMMAND DESCRIPTIONS Page 4 9 CLEAR ERROR S Command Number Q14 Status Bits Required None Status Bits Affected l1 thru l8 Status Words Required None Status Words Affected None Command Words Required None Command Description This command is used to clear errors previously detected by the SPM30 When this command is issued all error status bits 11 thru 9618 are turned OFF Note that when an error status bit is ON the SPM30 will not obey any other commands till the error is cleared via the CLEAR ERROR S command This logic also acts as a safety interlock since the POWER UP WATCHDOOG error status bit is always set after the SPM30 is reset due to power up or watchdog timer reset Page 4 10 CHAPTER 4 COMMAND DESCRIPTIONS DECELERATE AND STOP Command Number 015 Status Bits Required None Status Bits Affected 96110 96113 thru 116 Status Words Required None Status Words Affected thru A14 Command Words Requir
5. 11 12 13 14 15 16 17 18 19 20 ENC A Phase A incremental encoder inputs Diff HOM 3 Axis 3 home input S E Isol HI LIM Upper end limit input S E Isol HOM 2 Axis 2 home input S E Isol LO LIM Lower end limit input S E Isol HOM 1 Axis 1 home input S E Isol ESTOP Emergency stop input S E Isol D GND I GND Digital Ground or Isolated Ground S E Isol PN 6 Eo E EM EUN EM 16 Lie ie EM 20 Figure 2 1 Stepper Positioning Module Terminal Strip Pinout Type Diff Differential S E Isol Single Ended or Isolated Page 2 3 CHAPTER 2 INSTALLATION 2 3 LED Indicators INDICATOR COLOR DESCRIPTION STOP Red Stopped RAMP Yellow Accelerating or decelerating CNST Moving at constant velocity Figure 2 2 Stepper Positioning Module LED Indicators 2 4 Configuring the Series 90 30 Before any I O module can be accessed by the Series 90 30 the makeup of I O modules must be defined inside the Series 90 30 CPU This process is called configuration Stepper Positioning Module configuration is supported by Logicmaster 90 version 2 01 or later Alternatively the user may configure the Series 90 30 using the Hand Held Programmer 2 4 1 Configuration with Logicmaster TheStepper Positioning Module is programmed in the Logicmaster 90 30 Configuration program as aforeign module From the main configuration menu select O Configuration F1 cursor o
6. SPM30 The SPM30 is an intelligent programmable motion control option module for the GE Fanuc Series 90 30 Programmable Logic Controller PLC Within a stepper motor control system the SPM30 acts as a programmable indexer which is capable of interfacing to a wide variety of stepper motor translator drives limit switches and encoder feedback devices In addition its high maximum step rate and wide dynamic range position control make the SPM30 compatible with microstepping translator drives for smooth quiet operation 1 1 Stepper Positioning Module SPM30 Features The Stepper Positioning Module offers a variety of features including One and Three Axis multiplexed models Up to 245 730 steps or microsteps per second Motion may be completely controlled by ladder program Non volatile memory storage Auto find home and manual jogging Moves to relative and or absolute positions Home and Overtravel inputs Power up watchdog timer safety interlock Emergency Stop input Incremental Encoder input some models Programmable position velocity and acceleration Automatic ramp down deceleration calculation Trapezoidal and Triangular velocity profiles E E Page 2 1 CHAPTER 2 INSTALLATION SECTION 2 INSTALLATION 2 1 Module Placement The Stepper Positioning Module may be placed in any I O module slot ofthe GE Fanuc Series 90 30 model 311 321 or 331 The user should NEVER i
7. 607 96AQ2 Destination Position High Word Velocity Resolution Typically the AQ command words are set to appropriate values and then one of the Q command bits is changed from OFF to ON On the CPU sweep following the one in which the Q was transitioned from OFF to ON the AQ command words may be changed to prepare for the next move without affecting the move in progress The exception to this rule is that the DESTINATION POSITION must not be disturbed during a FIND HOME UP or a FIND HOME DOWN command until either an error occurs or the CURRENT POSITION VALID status bit goes ON 3 4 1 Destination Position The first two command words AQ1 and AQ2 are treated as a single 32 bit signed integer value representing the DESTINATION POSITION for the selected axis For the FIND HOME UP FIND HOME DOWN and SET CURRENT POSITION commands the DESTINATION POSITION is the value to be loaded into MOTOR POSITION when the command completes sucessfully For the MOVE ABSOLUTE command the DESTINATION POSITION is the absolute position to move to Forthe MOVE RELATIVE command the DESTINATION POSITION is the relative distance to move above or below wherever we are now Page 3 6 CHAPTER 3 CONTROLLING MOTION 3 4 2 Velocity Resolution This command word determines the resolution of the BASE VELOCITY AQ4 and the RUNNING VELOCITY AQ5 command words The selectable resolutions range from 01 pulses per second to 30 pulses per
8. A resolution error has occurred because the encoder is less precise than the microstep rate STEP RESOLUTION is higher than the ENCODER RESOLUTION 3 The STEP RESOLUTION exceeds the motor s ability to accurately position its rotor Mostmotors have an absolute step accuracy of about 1 part in 2000 which means a STEP RESOLUTION higherthan 2000 only contributes to motor smooth ness 4 The motor missed some step pulses or stalled because of low or mid frequency resonance 9 The motor missed some step pulses or stalled because the programmed ACCELERATION TIME was too low for the inertial load 6 Some external force changed the motor s position SPM30 can be configured to use encoder feedback pulses to automatically detect position errors and motor stalling This is accomplished viathe encoder tolerance configuration parameter If encoder tolerance is zero automatic position error detection is disabled and the MOTOR STALLED ERROR will never go ON Otherwise encoder tolerance may be set to a number between 1 255 indicating the position error magnitude which will cause CURRENT POSITION VALID to be turned OFF In this case when the absolute value of the difference between MOTOR POSITION and ENCODER POSITION reaches encoder tolerance the CURRENT POSITION VALID status bit will be turned OFF Also when ENCODER TOL is non zero the SPM30 uses the encoder feedback pulses to verify motor velocity during motion Thi
9. B1 3 1 Actual acceleration rate This value is the actual acceleration rate Rate in pulses per second and is calculated in two steps as follows z gt AQ6 24576 Rounded up to the nearest integer A AQ5 AQ4 x 5 _ 4915200 x 600 Rate Z x AQ3 pulses per second APPENDIX B STPCALC Page B 3 B1 3 2 Actual deceleration rate This value is the actual deceleration rate Rate in pulses per second and is calculated in two steps as follows Z aoe ROME Rounded up to the nearest integer Rate 2 pulses per second B1 3 3 Actual velocity resolution This value is the actual velocity resolution Vel Res in pulses per second and is calculated as follows 600 Web Rege ii pulses per second The table in section B1 2 2 shows some useful AQ settings along with the resulting velocity resolution and maximum velocity B1 3 4 Actual base velocity This value is the actual base velocity Vel in pulses per second and is calculated as follows Vel AQ4 x pulses per second B1 3 5 Actual running velocity This value is the actual running velocity Velp in pulses per second and is calculated as follows Vel AQ4 x aa pulses per second Note that if the total pulses parameter is too short to accomodate the acceleration time and deceleration time parameters the motor will never reach the running velocity and the move will become triangular When this happens act
10. a HE693STP110 with the exception of the number of AQ registers assigned to the module The configuration parameters for the STP113 are shown in Table C1 1 below For further details on the configuration parameters see pages 2 3 through 2 5 of Chapter 2 C1 2 1 Find Home Byte 2 of the configuration has been redefined Previously this byte was used to define the parity for serial communications Since serial communication is not supported this byte is now used to select the Find Home algorithm A 0 entered for this parameter indicates the Normal or default algorithm A 1 entered for this setting configures the module for the Simplified algorithm The Simplified algorithm assumes that the home command will be run at a slow enough step rate that there is no possibility of loss of motor synchronization or overshoot Byte 3 has been redefined as a spare byte and is not used This configuration byte was previously used for the serial communications baud rate HE693STP113 Encoder Encdr Multiplier Encoder Divisor Encdr Tolerance Type 01 FF H 01 0F H 00 FF H 3 Table C1 2 Configuration parameters of HE693STP113 APPENDIX C INDEXED MOVES Page C 3 C1 3 Controlling Motion C1 3 1 Status Bit Inputs l The status bit inputs of the STP113 are identical to those detailed in Section 3 1 on Page 3 1 C1 3 2 Command Outputs Q The command bit outputs of the STP113 are identical to those detailed in Section 3 2 on Pa
11. and Vel_Res see sections B1 3 8 and B1 3 5 respectively For a triangular move Time will be zero B1 3 13 Actual deceleration time This value is the actual deceleration time Time and is calculated as follows for trapezoidal moves 5 AQ4 x Z x 5 mS 24576 For the definition of Z see section B1 3 2 Time For a triangular move Time is multiplied by the ratio R described in section B1 3 8 before being displayed B1 3 14 Actual total acc dec time If a value was not entered for total pulses section B1 2 1 this value is displayed as the total time spent accelerating and decelerating Time and is calculated as follows Time Time Time For the definitions of Time and Time see section B1 3 11 and B1 3 13 B1 3 15 Actual total move time If a value was entered for total pulses section B1 2 1 this value is displayed as the total time required for the entire move Time and is calculated as follows Time o Time Time Time For the definitions of Time Time and Time see sections B1 3 11 B1 3 12 and B1 3 13 respectively Page B 6 APPENDIX B STPCALC This page was intentionally left blank APPENDIX C INDEXED MOVES Page C 1 APPENDIX C INDEXED MOVES This appendix details the added functionality of model number HE693STP113 Stepper Indexer Module for the Series 90 30 PLC The user of this product should have an understanding of the standard functionality of the s
12. as a result of EMERGENCY STOP ERROR 1 LOWER END LIMIT ERROR 9612 UPPER END LIMIT ERROR 13 MOTOR STALLED ERROR 3415 or IMMEDIATE STOP command Q16 3 3 2 Encoder Position For SPM30 models which support encoder feedback the AI3 and 14 status words treated as a single 32 bit signed integer value representing the ENCODER POSITION for Axis 1 ENCODER POSITION is continuously updated up or down based on feedback pulses sent by the encoder to the SPM30 regardless of which axis is currently selected Note that at power up or after a watchdog timer reset this value will be set to zero and is considered invalid This is reflected by the fact that the CURRENT POSITION VALID status bit is OFF If the SPM30 is properly configured see Chapter 5 ENCODER POSITION will track Axis 1 s MOTOR POSITION Note that when ENCODER POSITION doesn t match MOTOR POSITION exactly a position validation error has been detected There are several possible causes for this error see Chapter 5 Some position validation errors can t be avoided which is why the SPM30 supports an error tolerance configuration parameter ENCODER TOL CHAPTER 3 CONTROLLING MOTION Page 3 5 3 4 Command Word Outputs The AQ command words are qualifiers for the Q command bits The words and their minimum and maximum values are detailed in the chart below POINT DESCRIPTION MINIMUM MAXIMUM 96AQ1 Destination Position Low Word 8 388 608 48 388
13. dated 12 11 97 List of Effective Pages continued on next page 0084 06 29 SEP 1999 KEEP WITH USER MANUAL List of Effective Pages continued s Eds TE Contained 0084 06 dated 12 11 97 Pu cn UR Contained in MAN0084 06 dated 12 11 97 PAS Revision Pages dated 29 September 1999 M elu LUAM ELLA AE Contained in 0084 06 dated 12 11 97 Gal Gade a AL Lu ciii k i LM dini ne Contained in MAN0084 06 dated 12 11 97 29 Sep 1999 Keep with User Manua Revised Logo HORNER APG User Manual for the HE693STPxx0 Revision G or later AND HE693STPxx1 Revision A or later AND HE693STP104 Revision A or later Stepper Positioning Module Sixth Edition 12 11 1997 0084 06 PREFACE 29 Sep 1999 PAGE iii REVISED Reflects name change from Horner Electric Inc to Horner APG LLC LIMITED WARRANTY AND LIMITATION OF LIABILITY Horner APG LLC HE APG warrants to the original purchaser that Stepper Positioning Module manufactured by HE APG is free from defects in material and workmanship under normal use and service The obligation of HE APG under this warranty shall be limited to the repair or exchange of any part or parts which may prove defective under normal use and service within two 2 years from the date of manufacture or eighteen 18 months from the date of installation by the original purchaser which
14. ATTENTION READER REVISION PAGES ATTACHED AFTER PAGE 52 OF THIS MANUAL HORNER ELECTRIC Horner Electric s Stepper Positioning Module for models HE693STPxx0 Revision G or later AND models HE693STPxx1 Revision A or later User s Manual E V ARI EE INDEXER 5IE HES NOITH HE ASIS lt 52 HE6335TF410 S N 2525 R3 e ra 125 2 aie 3 j A MO F lt A ale s 62 x 5 gt zx z 2 r 2 E E amp 5 u E 5 o i 5 8 52 fa 5 Eis l l Horner Electric Advanced Products Group 12 11 97 MAN0084 06 Page iii LIMITED WARRANTY AND LIMITATION OF LIABILITY Horner Electric Inc HE warrantsto the original purchaserthatthe Stepper Positioning Module manufactured by HE is free from defects in material and workmanship under normal use and service The obligation of HE under this warranty shall be limited to the repair or exchange of any part or parts which may prove defective under normal use and service within two years from the date of manufacture or eighteen 18 months from the date of installation by the original purchaser which ever occurs first Such defectto be disclosedto the satisfaction of HE after examination by HE ofthe allegedly
15. IND HOME DOWN commands Also a quadrature encoder s resolution can be effectively doubled or quadrupled by the SPM30 s quadrature decoding hardware CHAPTER 5 ENCODER FEEDBACK Page 5 2 If the ENCODER type is configured for U D the SPM30 s phase A input becomes a count up input and phase B becomes a count down input The U D mode is especially useful for unidirectional motion control in which some mechanical event provides the feedback such as a proximity detector monitoring gear teeth 5 2 Step Pulse to Feedback Pulse Ratio In order to use encoder feedback for MOTOR POSITION validation it is necessary to know the ratio of SPM30 step pulses to encoder feedback pulses STEP RESOLUTION specified in microsteps per revolution indicates the number of step pulses which must be sent by the SPM30 to the translator drive to move the stepper motor one revolution This value is determined by the translator drive and is switch or jumper selectable on some drives ENCODER RESOLUTION specified in lines per revolution indicates the number of feedback pulses the encoder sends to the SPM30 during one revolution of motion This value is determined by the encoder itself For a given STEP RESOLUTION and ENCODER RESOLUTION the following formula may be used to determine the proper settings for the ENCODER MLT and ENCODER DIV configuration parameters ENCODER MLT STEP RESOLUTION ENCODER DIV ENCODER RESOLUTION Where ENCODER MLT is any value fr
16. ITAL GROUND ISOLATED GROUND V Page A 4 APPENDIX A SAMPLE WIRING DIAGRAMS Electrical Connection for Mechanical Switches 6935 HE693STPxx1 END LIMIT OR o END LIMIT OR HOME LIMIT HOME LIMIT L Go DIGITAL GROUND ISOLATED GROUND Electrical Connection for Proximity Switches HE693STPxxO HE693STPxx1 ai NPN ciu NPN END LIMIT OR _ END LIMIT OR HOME LIMIT HOME LIMIT L Go DIBITAL GROUND 49 L ISULATED GROUND APPENDIX B STPCALC Page B 1 APPENDIX B STEPPER CALCULATOR B1 1 STPCALC In addition to the LogicMaster 90 example folder the STEPEXAM disk contains the STPCALC EXE executable file STPCALC EXE can be used to predict motion profiles which will result from particular sets of HE693STPXXX AQ parameter values loaded by the user s ladder program B1 2 Entering Parameters When STPCALC is started it prompts for the entry of 6 parameters These parameters correspond to the values which would be loaded in the stepper module s AQ registers to define a move B1 2 1 Enter total pulses 0 to 16777215 This parameter corresponds to the module s AQ1 and AQ2 double word register destination position and is the total number of step pulses for a particular move Since some moves e g jog up jog down have no specific destination this parameter is optional If this parameter is entered it should be uns
17. STP104 lis i NDE End Limits Inputs On 1mA all models except STP104 i 3 NDE End Limits Inputs Off 1mA covers STP104 only 9 VDC End Limits Inputs On covers STP104 only 12 VDG Emergency Stop Input On 12 VDC Emergency Stop Input Off 1mA 9 VDC Figure revised 29 SEP 1999 CH 2 INSTALLATION 29 SEP 1999 PAGE 2 2 REVISED PIN SIGNAL UNITS TYPE 1 D GND Digital Ground Diff 2 STEP1 Axis 1 motor step outputs Diff 3 STEP1 Diff 4 STEP2 Axis 2 motor step outputs Diff 5 STEP2 Diff 6 STEP3 Axis 3 motor step outputs Diff 7 STEP3 Diff 8 DIR Motor direction outputs Diff 9 DIR Diff 10 ENC B Phase B incremental Di iff Encoder inputs 11 ENC B Diff 12 ENC A Phase A incremental Di iff Encoder inputs 13 ENC A Diff 14 HOM3 Axis 3 home input S E Isol 15 HLLIM Upper end limit input HI LIM STP104 only Upper end S E Isol HI LIM All models except STP104 limit input 16 HOM 2 Axis 2 home input S E lsol 17 LO LIM Lower end limit input LO LIM STP104 only Lower end S E Isol LO LIM All models except STP104 limit input 18 HOM 1 Axis 1 home input S E lsol 19 ESTOP Emergency stop input 5 20 D GND I GND I S Ground or S E lsol solated Ground Figure 2 1 Stepper Positioning Module Terminal Strip Pin out Type Diff Differential S E Isol Single Ended or Isolated Figure 2 1 revised 29 SEP 1999
18. TY till the home input is active at which time the axis stops precisely AT HOME 7 DESTINATION POSITION is copied into MOTOR POSITION and into EN CODER POSITION if axis 1 is selected and CURRENT POSITION VALID status bit is turned ON Page 4 4 CHAPTER 4 COMMAND DESCRIPTIONS FIND HOME UP and FIND HOME DOWN cont d Command Description cont d If the current axis is axis 1 and the ENCODER configuration parameter is set to QUAD there is a slight variation in step 3 of the above sequence as follows 3 Whenthe axis End Limit input for the current direction becomes active motion is stopped immediately This variation assumes the encoder s marker output is to be used as axis 1 s home input see later chapter for more information on the use of encoder feedback devices Since the marker output on a rotary encoder typically occurs several times during a full stroke move this technique allows the marker which occurs closest to the limit switch to be used as the home position For best results the marker to limit switch relationship should be mechanically adjusted such that the marker occurs at appoximately half of an encoder revolution away from the limit switch CHAPTER 4 COMMAND DESCRIPTIONS Page 4 5 JOG UP and JOG DOWN Command Numbers Q6 Q7 Status Bits Required 11 thru 9618 and 116 must be OFF Status Bits Affected 9ol1 thru 9615 96113 thru 96116 Status Words Required None Status Words Affected t
19. UME MOVE command can be issued to restart the pre empted move from where it left off Of course this action will turn the PRE EMPTED MOVE RESUMABLE status bit back OFF Note that the resume logic is such that a move may be pre empted and resumed any number of times until one of the following occurs 1 move reaches its originally programmed relative target position 2 An error occurs such as end limit or emergency stop 3 Some command other than Q10 is issued after the move is pre empted The RESUME MOVE command is especially useful for manually assisted programmed moves For example the machine operator may trigger a MOVE ABSOLUTE command by pressing a footswitch If he continues to press the footswitch the move will continue until it reaches its programmed target position However at the operator s option he may release the footswitch causing a DECELERATE AND STOP command to be issued There are a number of reasons why he might decide to do this such as to make a mechanical adjustment or to manually reposition the material being moved Then when he s ready he may press the footswitch again sending a RESUME MOVE command to the SPM30 to complete the motion Page 4 8 CHAPTER 4 COMMAND DESCRIPTIONS SET CURRENT POSITION Command Number Q13 Status Bits Required l1 thru 18 and 116 must be OFF Status Bits Affected 19 Status Words Required None Status Words Affected thru A14 Command Words Required
20. ation time in mS to be used during an index move It is only used during an index move when a valid index signal is received If a valid index signal is not received during the index move the deceleration time defined in AQ7 is utilized instead Index Window Open This is the starting point in steps in which a index signal is considered valid An index signal received before this point is ignored The Index Window Open point must be defined as a point which occurs after the full acceleration point Index Window Closed This is the ending point in steps in which an index signal is considered valid An index signal received before this point is ignored The Index Window Closed point must be defined as a point which occurs no later than 1mS before the deceleration point Full Acceleration Deceleration Point d 1m S Index Window Open Index Window Closed Figure C1 2 Restrictions on Index Window Open and Index Window Closed Parameters 0084 06 29 SEP 1999 KEEP WITH USER MANUAL By HORNER APG 29 September 1999 Revision pages for Horner APG s Stepper Positioning Module User Manual Sixth Edition for Models HE693STPxx0 Revision G or later AND HE693STPxx1 Revision A or later AND HE693STP104 Revision A or later Attached to this cover page are revisions for the Stepper Positioning Module User Manual dated 12 11 97 0084 06 THESE REVISED REQUIREMENTS ARE NOW IN EFFECT New and revised pages ma
21. defective part or parts THIS WARRANTY IS EXPRESSLY INLIEU OF ALL OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING THE WARRANTIES OF MERCHANTABILITY AND FITNESS FOR USE AND OF ALL OTHER OBLIGATIONS OR LIABILITIES AND HE NEITHER ASSUMES NOR AUTHORIZES ANY OTHER PERSON TO ASSUME FOR HE ANY OTHER LIABILITY IN CONNECTION WITH THE SALE OF THIS STEPPER POSITIONING MODULE THIS WARRANTY SHALL NOT APPLY TO THIS STEP PER POSITIONING MODULE OR ANY PART THEREOF WHICH HAS BEEN SUBJECT OT ACCIDENT NEGLIGENCE ALTERATION ABUSE OR MISUSE HE MAKES NO WAR RANTY WHATSOEVER IN RESPECT TO ACCESSORIES OR PARTS NOT SUPPLIED BY HE THETERM ORIGINAL PURCHASER AS USED IN THIS WARRANTY SHALL BE DEEMED TO MEAN THAT PERSON FOR WHOM THE STEPPER POSITIONING MODULE IS ORIGI NALLY INSTALLED THISWARRANTY SHALL APPLY ONLY WITHIN THE BOUNDARIES OF THE CONTINENTAL UNITED STATES In no event whether as a result of breach of contract warranty tort including negligence or otherwise shall HE or its suppliers be liable for any special consequential incidental or penal damages including but not limited to loss of profit or revenues loss of use of the products or any associated equipment damage to associated equipment cost of capital cost of substitute products facilities services or replacement power down time costs or claims of original purchaser s customers for such damages Toobtain warranty service return the productto your distributor after obtainin
22. e last known MOTOR POSITION CURRENT POSITION VALID and AT HOME status for the new axis 5 If the new axis AT HOME status has changed since the last time it was selected its CURRENT POSITION VALID status is turned OFF CHAPTER 4 COMMAND DESCRIPTIONS Page 4 3 FIND HOME UP and FIND HOME DOWN Command Numbers Q4 05 Status Bits Required 11 thru 18 and 116 must be OFF Status Bits Affected 11 thru 9615 19 96113 thru 90116 Status Words Required None Status Words Affected 9eAl1 thru A14 Command Words Required 9eAQ1 thru AQ6 Command Description These commands are used to start a search for the current axis home reference position as follows 04 Searches for home in the UP direction 5 Searches for home in the DOWN direction When searching for home the following sequence takes place 1 CURRENT POSITION VALID status is turned OFF 2 The current axis is moved normally starts at BASE VELOCITY and accelerates to RUNNING VELOCITY in the selected direction 3 When the axis home input becomes active motion is stopped immediately 4 justin case we shotright past home the axisis run atthe BASE VELOCITY in the opposite direction till the home input becomes active again b Motion then continues in the same direction as step 4 above still at the BASE VELOCITY till the home input is inactive for 50 mS 6 Then the direction is reversed again and the axis is moved at the BASE VELOCI
23. ed None Command Description This command is used to cause the current axis to decelerate and stop When this command is issued the current axis will decelerate until it reaches the BASE VELOCITY and then it will stop If this command pre empts a MOVE RELATIVE or MOVE ABSOLUTE command the PRE EMPTED MOVE RESUMABLE status bit is turned ON unless an error occurred In this case the original move may be resumed from where it left off via the RESUME command CHAPTER 4 COMMAND DESCRIPTIONS Page 4 11 IMMEDIATE STOP Command Number 016 Status Bits Required None Status Bits Affected 9 96113 thru 116 Status Words Required None Status Words Affected thru A14 Command Words Required None Command Description This command is used to cause the current axis to stop immediately When this command is issued the current axis will stop as quickly as possible If the axis was moving the CURRENT POSITION VALID status bit is turned OFF Page 5 1 CHAPTER 5 ENCODER FEEDBACK CHAPTER 5 ENCODER FEEDBACK SPM30 models which support encoder feedback may be configured for a variety of incremen tal encoder feedback options for axis 1 The type of encoder used and the relationship of the SPM30 step pulses to the encoder feedback pulses are set via the encoder type encoder multiplier encoder divisor and encoder tolerance configuration parameters 5 1 Encoder Type First of all the type of encoder used is dete
24. ever occurs first such defect to be disclosed to the satisfaction of HE APG after examination by HE APG of the allegedly defective part or parts THIS WARRANTY IS EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING THE WARRANTIES OF MERCHANTABILITY AND FITNESS FOR USE AND OF ALL OTHER OBLIGATIONS OR LIABILITIES AND HE APG NEITHER ASSUMES NOR AUTHORIZES ANY OTHER PERSON TO ASSUME FOR HE APG ANY OTHER LIABILITY IN CONNECTION WITH THE SALE OF THIS Stepper Positioning Module THIS WARRANTY SHALL NOT APPLY TO THIS Stepper Positioning Module OR ANY PART THEREOF WHICH HAS BEEN SUBJECT TO ACCIDENT NEGLIGENCE ALTERATION ABUSE OR MISUSE HE APG MAKES NO WARRANTY WHATSOEVER IN RESPECT TO ACCESSORIES OR PARTS NOT SUPPLIED BY HE APG THE TERM ORIGINAL PURCHASER AS USED IN THIS WARRANTY SHALL BE DEEMED TO MEAN THAT PERSON FOR WHOM THE Stepper Positioning Module IS ORIGINALLY INSTALLED THIS WARRANTY SHALL APPLY ONLY WITHIN THE BOUNDARIES OF THE CONTINENTAL UNITED STATES In no event whether as a result of breach of contract warranty tort including negligence or otherwise shall HE APG or its suppliers be liable of any special consequential incidental or penal damages including but not limited to loss of profit or revenues loss of use of the products or any associated equipment damage to associated equipment cost of capital cost of substitute products facilities services or replacement power down time costs or claims of or
25. g a Return Material Authorization RMA number Send the module with a description of the problem proof of purchase post paid insured in a suitable package Sixth Edition Page iv TABLE OF CONTENTS PREFACE ABOUT THE PROGRAMMING EXAMPLES COPYRIGHT NOTICE TRADEMARK ACKNOWLEDGMENTS MODULE SPECIFICATIONS CHAPTER 1 INTRODUCTION 1 1 Stepper Positioning Module SPM30 Features CHAPTER 2 INSTALLATION Module Placement Terminal Wiring LED Indicators Configuring the Series 90 30 2 4 1 Configuration with Logicmaster 90 2 4 2 Configuration with the Hand Held Programmer CHAPTER 3 CONTROLLING MOTION 3 4 Status Bit Inputs Command Bit Outputs Status Word Inputs 3 3 1 Motor Position 3 3 2 Encoder Position Command Word Outputs 3 4 1 Destination Position 3 4 2 Velocity Resolution 3 4 3 Base Velocity 3 4 4 Running Velocity 3 4 5 Acceleration Time 3 4 6 Deceleration Time Page vi Page vi Page vi Page vi Page vii Page 1 1 Page 1 1 Page 2 1 Page 2 1 Page 2 1 Page 2 3 Page 2 3 Page 2 3 Page 2 5 Page 3 1 Page 3 1 Page 3 2 Page 3 3 Page 3 3 Page 3 4 Page 3 5 Page 3 5 Page 3 6 Page 3 6 Page 3 7 Page 3 7 Page 3 8 Page v CHAPTER 4 COMMAND DESCRIPTIONS 4 1 Select Axis Page 4 2 Find Home Up and Find Home Down i Page 4 3 Jog Up and Jog Down Page 4 5 Move Relative and Move Absolute
26. ge 3 2 EXCEPT for Q11 which is defined in the STP113 as the index move command An index move command causes the stepper module to execute a special relative move If a valid index signal pin 14 on the terminal strip is not received the module executes a standard relative move Ifa valid index signal is received the stepper module moves a predetermined number of steps from that point Index Original Move indax Move Signal Figure C1 1 Index move C1 3 3 Status Word Inputs Al The status word inputs of the STP113 are identical to those detailed in Section 3 3 on Page 3 3 C1 3 4 Command Word Outputs AQ The STP113 contains several command word outputs in addition to those detailed in Section 3 4 on Page 3 4 Table C1 3below lists the additional AQ command word outputs Page C 4 APPENDIX C INDEXED MOVES 48 388 607 96AQ12 Index Window Open High Word 13 Index Window Closed Low Word 96AQ14 Index Window Closed High Word Table C1 3 Additional Command Word Outputs AQ for STP113 48 388 607 96AQ11 Index Window Open Low Word 8 388 607 Index Destination Position This is a double integer value which establishes the length of the index move The index move is executed starting at the point in which a valid index input is asserted If a valid index input is not received during the index move the destination position defined in AQ1 is utilized instead Index Deceleration This is the deceler
27. herwise without the prior agreement and written permission of Horner APG LLC All software described in this document or media is also copyrighted material subject to the terms and conditions of the Horner Software License Agreement Information in this document is subject to change without notice and does not represent a commitment on the part of Horner APG LLC Series 90 30 and Logicmaster are trademarks of GE Fanuc Automation North America Inc Alspa 8000 and P8 are trademarks of CEGELEC For user manual updates contact Horner APG LLC Technical Support Division at 317 916 4274 or visit our website at www heapg com PAGE vii 29 SEP 1999 PREFACE MODULE SPECIFICATIONS Connector Specifications REVISED PARAMETER MIN MAX UNITS 5V Power Output Step Direction 300 mA Step Outputs Frequency DC 245 KHz Step Outputs High 20mA 2 5 VDC Step Outputs Low 20mA 0 5 VDC Direction Output Setup Time 2 mS Direction Output High 20mA 2 5 I VDC Direction Output Low 20mA 0 5 VDC Direction Output High 60mA Rev A 2 5 E VDC Direction Output Low 60mA Rev A 5 VDC Encoder Input Frequency DC 1 0 MHz Encoder Single Ended Threshold 1 2 1 6 VDC Encoder Differential Threshold High 0 2 VDC Encoder Differential Threshold Low 0 2 VDC Home Inputs Off 12 VDC Home Inputs On 1mA 9 VDC End Limits Inputs Off all models except
28. hru A14 Command Words Required AQ3 thru AQ6 Command Description These commands are used to perform manual jogging on the current axis as follows 06 Starts manual jog move in the UP direction 96 Q7 Starts a manual jog move in the DOWN direction When one of the jog command bits goes ON the current axis starts in the selected direction at the BASE VELOCITY and accelerates to the RUNNING VELOCITY The axis will continue moving atthe RUNNING VELOCITY until the jog command bit goes OFF At that time the axis will decelerate to the BASE VELOCITY and then stop If the jog command bit goes OFF before the axis has reached RUNNING VELOCITY acceleration and deceleration times will be decreased and the velocity profile becomes triangular Page 4 6 CHAPTER 4 COMMAND DESCRIPTIONS MOVE RELATIVE and MOVE ABSOLUTE Command Numbers 08 96 Q9 Status Bits Required l1 thru 18 and l16 must be OFF 9el9 must be ON for Q9 command Status Bits Affected 11 thru 9615 96110 96113 thru 9016 Status Words Required AI1 AI2 required for Q9 command Status Words Affected thru A14 Command Words Required 9eAQ1 thru AQ6 Command Description These commands are used to perform relative or absolute moves onthe current axis as follows 08 Performs relative move 9 Performs an absolute move These commands perform a programmed move up or down to a relative target position If doing a relative move the relative target po
29. iginal purchaser s customers for such damages ABOUT PROGRAMMING EXAMPLES Any example programs and program segments in this manual or provided on accompanying diskettes are included solely for illustrative purposes Due to the many variables and requirements associated with any particular installation Horner APG cannot assume responsibility or liability for actual use based on examples and diagrams lt is the sole responsibility of the system designer utilizing Stepper Positioning Module to appropriately design the end system to appropriately integrate the Stepper Positioning Module and to make safety provisions for the end equipment as is usual and customary in industrial applications as defined in any codes or standards which apply Note The programming examples shown in this manual are for illustrative purposes only Proper machine operation is the sole responsibility of the system integrator PAGE vi 29 Sep 1999 PREFACE REVISED Reflects name change from Horner Electric Inc to Horner APG LLC PREFACE This manual explains how to use the Horner APG s Stepper Positioning Modules Copyright C 1993 Horner APG LLC 640 North Sherman Drive Indianapolis Indiana 46201 All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form by any means electronic mechanical magnetic optical chemical manual or ot
30. igned since all calculations performed by STPCALC are independant of the move s direction Note that legal values accepted by the module for this parameter range from 8 388 608 to 8 388 607 Therefore the maximum relative move would be 8 388 608 pulses while the maximum absolute move would be 16 777 215 pulses Note that this value is input without commas B1 2 2 Enter velocity resolution 20 to 65535 This parameter corresponds to the module s AQ3 register and determines the value in pulses per second of each count of the base velocity and running velocity parameters This parameter is actually a velocity divisor which results in selectable velocity resolutions ranging from 01 pulses per second to 30 pulses per second The following table shows some useful AQ settings along with the resulting velocity resolution and maximum velocity 245 730 0 pulses per second 6 10 0 pulses per second 81 910 0 pulses per second 40 995 0 pulses per second 300 16 382 0 pulses per second 60 tOpulespersecond 8 191 0 pulses per second 4 095 5 pulses per second Page B 2 APPENDIX B STPCALC B1 2 3 Enter base velocity 1 to 8190 This parameter corresponds to the module s AQ4 register and determines the velocity in pulses per second the module starts at when a move begins B1 2 4 Enter running velocity X to 8191 This parameter corresponds to the module s AQ5 register and determines the maximum velocity in p
31. io before being displayed Pulse T Pulse Pulse B1 3 9 Actual deceleration pulses This value is the actual number of deceleration pulses Pulse and is calculated as follows for trapezoidal moves AQ4 AQ4 1 x Z 16384 x AQ3 For the definition of Z see section B1 3 2 Pulse pulses For a triangular move Pulse is multiplied by the ratio R before being displayed as descibed in the previous section B1 3 10 Actual total acc dec pulses If a value was not entered for total pulses section B1 2 1 this value is displayed as the total number of acc dec pulses Pulse and is calculated as follows Pulse Pulse Pulse pulses B1 3 11 Actual acceleration time This value is the actual acceleration time Time and is calculated as follows for trapezoidal moves AQ5 AQ4 x Z x 5 Ti 24576 mS For the definition of Z see section B1 3 1 APPENDIX B STPCALC Page B 5 For a triangular move Time is multiplied by the ratio R described in section B1 3 8 before being displayed and before being used to calculate peak velocity section B1 3 6 B1 3 12 Actual running time z time at full speed This value is the actual running time Time and is displayed only if a value was entered for total pulses section B1 2 1 This value is calculated as follows for trapezoidal moves Pulse x 1000 mS Vel Res Time For the definitions of Pulse
32. k operation see Chapter 5 APPENDIX A SAMPLE WIRING 29 SEP 1999 PAGE A 3 REVISED The Stepper Indexer Module allows real world switches limit proximity mechanical etc to be connected to the module This enhances the ability of the overall stepper control system to find home position accurately and to quickly stop motion in the event of an emergency situation The Stepper Models HE693STPxx0 allow mechanical switches proximity switches limit switches etc to be connected to the module Optical isolation is not provided thus the common for these switch inputs terminal 20 on the terminal strip is designated digital ground electrically equivalent to the common for the step and direction outputs of the module For these non isolated models switches must be selected which are compatible with 5V signal levels and great care must be taken to ensure that noise is not picked up by the wiring run from these switches to the module terminal strip Preventative steps may include seperate conduit and or shielded wiring If the switches selected require power this must be provided externally The Stepper Indexer models HE693STPxx1 and HE693STP104 provide optical isolation for the switch inputs Optical isolation is provided thus the common for the switch inputs is designated isolated ground isolated from the common for the step and direction outputs Switches may be selected which are compatible with 12 or 24V signal levels If proximity ty
33. n see the Hand Held Programmer User s Manual from GE Fanuc or contact Horner Electric CHAPTER 3 CONTROLLING MOTION Page 3 1 CHAPTER 3 CONTROLLING MOTION The Stepper Positioning Module communicates with the 90 30 CPU via a seriesof bit type l and Q and integer type Al and AQ I O registers These registers are assigned to the SPM30 during rack configuration see Chapter 2 Executing motion control with the 90 30 and the SPM30 is accomplished by properly monitoring and manipulating these bits and words These I O registers can be divided up into four different types Status Bits Command Bits Status Words and Command Words These registers and their role in the control and monitoring of the SPM30 is described in detail below 31 Status Bit Inputs The Status Bits are the 16 digital inputs l assigned to the SPM30 The CPU uses the l status bits to determine what the SPM30 is doing and whether or not an error has occurred These status bits are summarized in the table below Page 3 2 CHAPTER 3 CONTROLLING MOTION Note thatthe I O addresses ofthe bits are listed in the table starting with 11 butthe bits may reside in any 16 consecutive legal l addresses At power up or after a watchdog timer reset all status bits will be OFF except the POWER UP WATCHDOG ERROR 9418 will be ON If any of the lower eight bits 11 to 9618 is ON the SPM30 has detected an error condition These bits will be latched ON u
34. nsert or remove the Stepper Positioning Module while power is applied to the host PLC Follow the guidelines defined in the Series 90 30 literature for proper module insertion and removal 2 2 Terminal Wiring The Stepper Positioning Module is equipped with a 20 contact removable terminal block The pinout of the removable terminal block is illustrated on the following page Terminals are provided for interfacing the Stepper Positioning Module with a variety of devices including Stepper Motor Drives Translators Incremental encoders quadrature or up down Mechanical and Proximity type limit switches E stop pushbuttons S so The sign or after each signal name indicates what state the signalis in when itis active Active high is indicated by while active low is indicated by The motor outputs may be connected to translator drives with either differential or single ended inputs For single ended drives select the motor output whose active signal state matches the drive s input The encoder inputs may be connected to an encoder with either differential or single ended outputs For single ended encoders use the active high encoder inputs ENCODERA and ENCODERB The emergency stop input should be connected to terminal 20 via a normally closed ESTOP switch for normal operation CHAPTER 2 INSTALLATION Page 2 2 hs zmo sep oups STEP2 Axis 2 motor step outputs Diff STEP3 Axis 3 motor step outputs Diff
35. ntil the CLEAR ERROR command 014 is issued No other commands will be obeyed by the SPM30 while an error bit is ON The upper eight bits 19 to 96116 reflect various other SPM30 status conditions and are not affected by the CLEAR ERROR command 3 2 Command Bit Outputs The Command Bits are the 16 digital outputs Q assigned to the SPM30 The CPU uses the l status bits to trigger action in the SPM30 These command bits are summarized in the table below CHAPTER 3 CONTROLLING MOTION Page 3 3 All Qcommandbits are OFF to ON edge sensitive This means that the command will be obeyed only when the SPM30 sees it go from OFF to ON The SPM30 will always detect this transition inless than one CPU sweep time thus allowing the use of one shots to trigger commands The JOG UP and JOG DOWN commands Q6 and 96Q7 are unique in that they are also ON to OFF edge sensitive Note that since the POWER UP WATCHDOG ERROR status bit 9618 is ON at power up or after a watchdog timer reset the CLEAR ERROR command 96Q14 must be issued before any other command may be executed This is an important safety interlock Also some command bits are ignored depending on the state of other status bits For example if the MOVING status bit 96116 is ON the only legal command bits are DECELERATE AND STOP Q15 and IMMEDIATE STOP 016 Finally in the event that more than one legal Q goes from OFF to ON in the same CPU sweep the one with the highe
36. om 1 to 255 ENCODER DIV is any value from 1 to 16 If more than one combination of ENCODER MLT and ENCODER DIV will satisfy the formula choose the combination with the lowest values for ENCODER MLT and ENCODER DIV reduce the fraction Page 5 3 CHAPTER 5 ENCODER FEEDBACK 5 3 Example Ratio Configurations Lets assume we have atwo phase quadrature incremental rotary encoder with an ENCODER RESOLUTION of 1000 lines per revolution Lets further assume the encoder is mechanically connected to the stepper motor shaft and is electrically connected to the SPM30 s Phase A and B incremental encoder inputs The following table shows the proper configuration settings for ENCODER MLT and EN CODER DIV for 16 typical STEP RESOLUTIONS ENCODER STEP DIV RESOLUTION 20000 21600 25000 25400 36000 50000 50800 5 5 1 1 1 1 5 1 5 4 Setting Encoder Tolerance ENCODER ENCODER MLT DIV 254 c When an encoder feedback device is connected to the SPM30 itcan be used to verify successful execution of axis 1 motion commands In an ideal control loop ENCODER POSITION and MOTOR POSITION would always match exactly However when ENCODER POSITION and MOTOR POSITION become skewed it means that one or more of the following errors have occurred 1 A change in direction produced a backlash error caused by the mechanical linkage between the motor and the encoder CHAPTER 5 ENCODER FEEDBACK Page 5 4 2
37. or the step and direction outputs of the module For these non isolated models switches must be selected which are compatible with 5V signal levels and great care must be taken to ensure that noise is not picked up by the wiring run from these switches to the module terminal strip Preventative steps may include seperate conduit and or shielded wiring If the switches selected require power this must be provided externally The Stepper Indexer models HE693STPxx1 provide optical isolation for the switch inputs Optical isolation is provided thus the common for the switch inputs is designated isolated ground isolated from the common for the step and direction outputs Switches may be selected which are compatible with 12 or 24V signal levels If proximity type switches are used they must be of the NPN type The voltage required to power the switches if needed must be provided externally Home End Limit and Emergency Stop Inputs HE693STPxxO HE693STPxx 1 oi 3 HOME 3 o G HGH to o HGH o HOME 2 __0 18 HOME 2 o 7 __ Low UMT 7 __ 7 10 MT ta o D Home 1 to o D Home 1 aTo 4 E STOP E STOP LGD DIGITAL GROUND 8 ISOLATED GROUND Equivalent Circuit circuitry within dotted lines internal to module HE693STPxx0 HEC9SSTPxx1 24N a o O o END LIMIT OR END LIMIT UR INPUT INPUT D DIG
38. ording to the following formula 600 RUNNING VELOCITY z 96AQ5 x s h v pulses per second 3 4 5 Acceleration Time This command word determines the maximum time spent accelerating from the BASE VELOCITY to the RUNNING VELOCITY during a move If the move ends normally this same amount of time is spent decelerating from the RUNNING VELOCITY to the BASE VELOCITY before stopping Note that if the move is halfway done before acceleration to the RUNNING VELOCITY is complete the SPM30 will start decelerating right away In this case the acceleration and deceleration times are decreased and the velocity profile becomes triangular Also note thatthe maximum useful value for ACCELERATION TIME is dependent on the BASE VELOCITY AQ4 and RUNNING VELOCITY 96AQ5 according to the following formula AQS AQ4 MAXIMUM USEFUL AQ6 milliseconds 0 3 Page 3 8 CHAPTER 3 CONTROLLING MOTION 3 4 6 Deceleration Time This command word determines the maximum time spent decelerating from the RUNNING VELOCITY tothe BASE VELOCITY during a move Also note thatthe maximum useful value for DECELERATION TIME is dependent on the BASE VELOCITY AQ4 and RUNNING VELOCITY 96AQ5 according to the same formula as used with acceleration Note that only models HE693STPxx1 allow for independent control of acceleration time and deceleration time If the deceleration time is set to 0 the module will automatically set the actual decelera
39. pe switches are used they must be of the NPN type The voltage required to power the switches if needed must be provided externally Paragraph revised 29 SEP 1999 Home End Limit and Emergency Stop Inputs NEW 6935 104 HE693STPxxO HE693STPxx1 Ne 5 High Limit 9 14 HOME 3 9 i4 3 N o 15 HIGH 9 i8 2 HOME 2 7 EStop 9 i7 LOW LIMIT s LOW UMIT Isolated Ground HOME 1 HOME 1 i E STOP i E STOP DIGITAL GROUND ISOLATED GROUND 9 Figure added 29 SEP 1999 REVISED HE693STPXX1 amp 9 35 HE693STP104 TS 2k 2k V2 K o o o o 68k END LIMIT OR END LIMIT OR HOME INPUT HOME INPUT D DIGITAL GROUND ISOLATED GROUND V The end limit inputs on an HE693STP104 are active high for compatibility with normally closed switches Added note to Figure 29 SEP 1999 PAGE A 4 29 SEP 1999 APPENDIX A SAMPLE WIRING REVISED Electrical Connection for Mechanical Switches HE693STPXX1 amp 69535 0 HE693STP104 O fue LM amp 9 O Roue MT Go DIGITAL GROUND 20 ISOLATED GROUND The end limit inputs on an HE693STP104 are active high Electrical Connection for Proximity Switches for compatibility with normally closed swi
40. r Encdr Multiplier Encoder Divisor Encdr Tolerance HE693STP300 HE693STP310 Encoder Encoder Encoder Encoder Figure 2 5 Bytes 4 7 configuration parameters Bytes 4 7 are utilized by those indexer models which feature encoder feedback capability Byte 4 configures the type of encoder used see Figure 2 6 Byte 5 and 6 setthe encoder multiplier and divisor and Byte 7 sets the encoder tolerance For details on encoder feedback operation see Chapter 5 Page 2 5 CHAPTER 2 INSTALLATION ENCODER TYPE NONE QUADRATURE UP DOWN 3 QUAD NO MARKER Figure 2 6 Bytes 4 values for different encoder types 2 5 2 Configuration Using the Hand Held Programmer When utilizing the Hand Held Programmer select configuration mode Press the DOWN arrow untilthe slotcontainingthe stepper module is selected Press READ thenthe ENTER button One by one configure the starting l Q and AQ addresses allocated to the module with the numeric and ENTER keys After completing I O address configuration press the RIGHT arrow key to display additional configuration parameters The firsttwo parameters baud rate and parity will not affect module operation these are for future use only The encoder type parameter is configured using the key and ENTER The encoder multiplier encoder divisor and encoder tolerance parameters are set using the numeric keys and ENTER For additional information Hand Held Programmer operatio
41. rmined by the ENCODER configuration parameter as follows ENCODER Description NONE No encoder feedback QUAD Incremental quadrature encoder feedback with marker as home input U D Incremental up down encoder feedback QUAD N M Incremental quadrature encoder feedback without marker as home input If the encoder type is configured to NONE the ENCODER POSITION status registers and Al4 will always match axis 1 s MOTOR POSITION and the MOTOR STALLED ERROR 9515 will never go ON Otherwise if the encoder type is configured for QUAD or QUAD N M or U D the ENCODER POSITION status registers are updated as a result of feedback pulses from the encoder to the SPM30 thus allowing MOTOR POSITION validation and motor stall detection The quadrature encoder is the most common position feedback device used in motion control This type of encoder outputs two square wave signals A and B which are 90 degrees out of phase from each other The SPM30 determines the direction of motion based on which signal lags behind the other A third signal called a marker is also provided by some quadrature encoders This signal occurs once per revolution and is used as a reference location which may be connected to the SPM30 s Home 1 input Ifthe marker signal is to be connected to the home input the encoder type should be QUAD and an marker signal converter must be used contact Horner Electric See Chapter 4 for a description of the FIND HOME UP and F
42. s allows the SPM30 to detecta stalled motor regardless of how fast the motor is supposed to be moving When the SPM30 detects a stalled motor the MOTOR STALLED ERROR is turned ON and motion is stopped immediately Page 5 5 CHAPTER 5 ENCODER FEEDBACK This page was intentionally left blank APPENDIX A SAMPLE WIRING DIAGRAMS Page A 1 APPENDIX A SAMPLE WIRING DIAGRAMS A1 TRANSLATOR DRIVE CONNECTION The Stepper Indexer Module is compatible with translator drives which accept signal levels of 5V These include TTL level signals 5V single ended negative or positive active and Line driver signals 5V differential The following three diagrams illustrate the connection of the stepper indexer module to translator drives of the abovementioned types These diagrams illustrate connection for the step pulse and direction forward reverse signals 5V Line Driver INDEXER MODULE DIGITAL GROUND 3 STEP 1 mO SP 1 2 8 DIRECTION DIRECTION 5V Positive Active INDEXER MODULE DRIVE Q pira GROUND 2 se 1 GROUND Gi STEP 1 step STEP 2 DIRECTION 6 STEP 3 L 9 5V Negative Active INDEXER MODULE h naa cRoUND EST ied ser O 4 s 2 S STP 2 DIRECTION O 6 STEP 3 STEP 3 L a S DIRECTIONS llle DRIVE
43. second according to the following formula 600 VELOCITY RESOLUTION pulses per second The following table shows some useful settings along with the resulting velocity resolution and maximum velocity 245 730 0 pulses per second 6 10 0 pulses per second 81 210 0 pulses per second 120 40 995 0 pulses per second 300 16 382 0 pulses per second 60 tOpulespersecond 8 191 0 pulses per second 4 095 5 pulses per second 3 4 3 Base Velocity This command word determines the velocity the SPM30 starts at when executing one of the motion commands Q4 through Q10 A typical move will start atthe BASE VELOCITY and accelerate to the RUNNING VELOCITY Then if the move ends normally it will decelerate from RUNNING VELOCITY to BASE VELOCITY and then stop Also near the end of a FIND HOME UP or FIND HOME DOWN command the motor will move at a constant BASE VELOCITY while searching for the exact home position CHAPTER 3 CONTROLLING MOTION Page 3 7 BASE VELOCITY depends on VELOCITY RESOLUTION AQ3 andis calculated according to the following formula 600 BASE VELOCITY 96AQA pulses per second 3 4 4 Running Velocity This command word determines the maximum velocity the motor will be moving after the SPM30 finishes accelerating The RUNNING VELOCITY must be greater than the BASE VELOCITY RUNNING VELOCITY depends on VELOCITY RESOLUTION 96AQ3 and is calculated acc
44. sition is taken directly from DESTINATION POSITION and it IS NOT necessary for CURRENT POSITION VALID to be ON If doing an absolute move the relative target position is calculated as the difference between the DESTINATION POSITION and the MOTOR POSITION and therefore it IS necessary for CURRENT POSITION VALID to be ON Normally the move will start at the BASE VELOCITY and accelerate to the RUNNING VELOCITY until itis time to decelerate back down to the BASE VELOCITY and then stop This type of move is said to have a trapezoidal velocity profile If the move gets halfway to its relative target position before accelerating to the RUNNING VELOCITY the SPM3030 will start decelerating at that point In this case the accel eration and deceleration times are decreased and the velocity profile becomes triangular CHAPTER 4 COMMAND DESCRIPTIONS Page 4 7 RESUME MOVE Command Number 010 Status Bits Required l1 thru 18 and 9el16 must be OFF 110 must be ON Status Bits Affected 9ol1 thru 9615 96110 96113 thru 96116 Status Words Required None Status Words Affected 9eAl1 thru A14 Command Words Required None Command Description This command resumes a previously pre empted relative or absolute move If a MOVE RELATIVE or MOVE ABSOLUTE command was previously pre empted by a DECELERATE AND STOP command and no other commands have been issued since then the PRE EMPTED MOVE RESUMABLE status bit will be ON In this case the RES
45. st Q number will be obeyed and the others will be ignored Note that this gives the Immediate Stop command Q16 the highest priority 33 Status Word Inputs SPM30 modules use either two or four Al status words All models use and 96AI2 but AI3 and are used only by SPM30 models which support encoder feedback These words described in the table below POINT DESCRIPTION MINIMUM MAXIMUM Motor Position Low Word 8 388 608 48 388 607 2 Motor Position High Word Encoder Position Low Word 8 388 608 8 388 607 Encoder Position High Word 3 3 1 Motor Position The first two status words 96Al1 and AI2 are treated as a single 32 bit signed integer value representing the MOTOR POSITION for the selected axis Page 3 4 CHAPTER 3 CONTROLLING MOTION MOTOR POSITION is continuously updated up or down based on step pulses sent by the SPM30 to the stepper motor translator drive Note that at power up or after a watchdog timer reset this value will be set to zero and is considered invalid This is reflected by the fact that the CURRENT POSITION VALID status bit is OFF The MOTOR POSITION will continue to be invalid until a FIND HOME UP Q4 FIND HOME DOWN Q5 or SET CURRENT POSITION Q13 command is executed successfully Until this happens the SPM30 will not obey the MOVE ABSOLUTE command 09 Note also that MOTOR POSITION may become invalid again if motion stops suddenly
46. tches HE693STPXX1 amp HEI693STPxx0 HE693STP104 cu NPN 24V NPN END LIMIT OR END LIMIT OR HOME LIMIT A HOME LIMIT L Go DIGITAL GROUND ISOLATED GROUND Added note to figures 29 SEP 1999
47. tepper indexer modules in addition to the information contained in this document C1 1 Wiring The pinout of the HE693STP113 is identical to any of the isolated Stepper Indexer Modules with the exception of the HOMES input The STP113 utilizes this input 14 on the 20 pin terminal strip as its INDEX input The INDEX input is wired with the same electrical considerations as the HOMES input The INDEX is connected at pin 14 of the terminal block while the negative connection is attached to pin 20 digital groiund See page A 3 of Appendix A for more details 1 Digital Ground 2 Axis 1 motor step outputs 4 Axis 2 motor step outputs Axis 3 motor step outputs oR Motor direction outputs 10 Phase B incremental encoder inputs r 12 Phase A incremental encoder inputs 14 Indexed move input 15 Upper end limit input 16 Axis 2 home input 17 Lower end limit input 18 Axis 1 home input 19 Emergency stop input 20 Digital Ground or Isolated Ground Table C1 1 wiring for the HE693STP113 9 919 9 9 59 a i i g g g S E Isol S E Isol S E Isol S E Isol S E Isol S E Isol S E Isol Page C 2 APPENDIX C INDEXED MOVES C1 2 Configuration Due to the information required to perform an indexed move the STP113 requires additional I O to be allocated to the module as compared to a standard isolated module Configuration of the STP113 is identical to configuration of
48. tion time equal to the acceleration time CHAPTER 4 COMMAND DESCRIPTIONS Page 4 1 CHAPTER 4 COMMAND DESCRIPTIONS COMMAND DESCRIPTIONS These pages describe the commands in more detail Each command description includes the following information 1 Command Name 2 Command Bit s 3 Status Bits Required 4 Status Bits Affected 5b Status Words Required 6 Status Words Affected 7 Command Words Required 8 Command Description Page 4 2 CHAPTER 4 COMMAND DESCRIPTIONS SELECT AXIS Command Numbers 01 Q2 Q3 Status Bits Required l1 thru 9618 and 116 must be OFF Status Bits Affected 19 and l13 Status Words Required AI1 AI2 Status Words Affected AI1 Al2 Command Words Required None Command Description These commands are used to select a new axis to be acted upon by the other commands as follows 96 Q1 Selects axis 1 to be the new current axis 02 Selects axis 2 to be the new current axis Q3 Selects axis 3 to be the new current axis At power up or after a watchdog timer reset axis 1 is selected by default Q2 and Q3 are illegal commands for the STP100 and STP110 1 axis models When a new axis is selected the following sequence takes place 1 If requested new axis is the same as the old axis or is illegal do nothing 2 Otherwise save old axis MOTOR POSITION CURRENT POSITION VALID and AT HOME status 3 Set axis multiplexer for the new axis 4 Restor
49. tomary in industrial applications as defined in any codes or standards which apply COPYRIGHT This manual is for use with the Horner Electric Stepper Indexer for GE Fanuc Series 90 and CEGELEC Alspa 8000 family of Programmable Logic Controllers Copyright C 1993 1994 Horner Electric Inc 1521 East Washington Street Indianapolis Indiana 46201 3899 All rights reserved No part of this publication may be reproduced transmitted transcribed stored a retrieval system or translated into any language or computer language in any form by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior agreement and written permission of Horner Electric Inc Information in this document is subject to change without notice and does not represent a commitment on the part of Horner Electric Inc TRADEMARK ACKNOWLEDGEMENTS Series 90 and Logicmaster are trademarks of GE Fanuc Automation North America Inc Alspa 8000 and P8 are Trademarks of CEGELEC Page vii MODULE SPECIFICATIONS Connector Specifications ETE i 0 Direction Output Low 20mA Page viii Power Load Specifications PARAMETER 5Vdc Logic 24Vdc Relay 24Vdc Isolated Environmental Specifications CHAPTER1 INTRODUCTION Page 1 1 SECTION 1 INTRODUCTION Congratulations on your purchase of a Horner Electric Stepper Positioning Module
50. ual peak velocity is calculated and displayed instead of running velocity B1 3 6 Actual peak velocity For triangular moves this value is the actual peak velocity Vel in pulses per second and is calculated as follows Rate x Time Vel 1000 For the definitions of Rate Time and Vel see sections B1 3 1 B1 3 11 and B1 3 4 respectively Vel pulses per second Page B 4 APPENDIX B STPCALC B1 3 7 Actual acceleration pulses This value is the actual number of acceleration pulses Pulse and is calculated as follows for trapezoidal moves 5 AQ4 x AQ5 AQ4 1 x Z Pulse u SEA 16384 x AQ3 pulses For the definition of Z see section B1 3 1 For atriangular move Pulse is multiplied by the ratio R before being displayed as described in the next section B1 3 8 Actual running pulses pulses at full speed If a value was entered for total pulses section 1 2 1 this value is displayed as the actual number of running pulses Pulse and is calculated as follows for trapezoidal moves Pulse Pulse Pulse Pulse pulses Pulse is the total pulses parameter as described in B1 2 1 For the definitions of Pulse and Puse see section B1 3 7 and B1 3 9 respectively If the resulting value for Pulse is negative running velocity is never reached and the move is triangular In this case Pulse is displayed as zero and Pulse and Pulse are multiplied by the following rat
51. ulses per second the motor will be moving after accelerating The running velocity must be greater than the base velocity B1 2 5 Enter acceleration mS X to YYYYY This parameter corresponds to the module s AQ6 register and determines the maximum time spent accelerating from the base velocity to the running velocity at the start of a move This parameter will always be in the range 1 to 27300 but its actual minimum and maximum values depend on the values previously entered for velocity resolution base velocity and running velocity B1 2 6 Enter deceleration mS X to YYYYY This parameter corresponds to the module s AQ7 register and determines the maximum time spent decelerating from the running velocity to the base velocity at the end of a move This parameter will always be in the range 1 to 27300 but its actual minimum and maximum values depend on the values previously entered for velocity resolution base velocity and running velocity When using STPCALC for a module which does not support seperate deceleration control enter the same value as was entered for acceleration time B1 3 Calculated Values After the 6 motion parameters have been entered STPCALC performs calculations to determine the corresponding motion profile and then displays the results These results help the system designer determine the expected motions for specific sets of AQ parameters The calculated results are described in the following sections
52. ver to the slot containing the module and select Other F8 and Foreign F3 The foreign module screen appears see below SOFTWARE CONFIGURATION Catalog H FOREIGN FOREIGN MODULE Module ID 3 Ref Adr xIHHHi1 Byte 1 BBBBBBB1I Byte 9 BH xI amp ize 16 Bute 2 HAHAHAHHA Byte iH BH Ref x HHHi Byte 3 BA Byte 11 BH Size i6 Byte 4 BH Byte 12 B Ref fidr AIBA Byte 5 BA Byte 13 pH AI Size 2 Byte BH Bute 14 HH AG Ref Adr AGHA Byte 7 gH Byte 15 pH AQ Size 6 Byte 8 B Byte 16 B Figure 2 3 Logicmaster 90 30 Configuration Foreign Module Screen The foreign module screen contains many different parameters The first column of param eters configures the I O references allocated to the module The amount of I O references required by the module will depend upon its model number See the following chart CHAPTER 2 INSTALLATION Page 2 4 1 HE693STP100 gt L5 7HE693STP101 a HE693STP110 6 HE693STP1 11 HE693STP300 6 2 HE693STP301 HE693STP310 L HE693STP311 TE Figure 2 4 Reference and Bytes 1 3 configuration parameters The second column of configuration parameters contains a number of additional configuration bytes The stepper module requires that Byte 1 through Byte 7 be configured For these parameters see the chart above for Bytes 1 3 and the chart below for Bytes 4 7 HE693STP100 6935 110 Encode
53. y be issued periodically For user manual updates please contact Horner APG Technical Support Division at 817 916 4274 or visit our website at www heapg com Revision Key Changes to text tables or graphics contained in the attached revision are indicated as follows Added text is underlined 1 2 3 New revised or deleted items are specified as such in List of Effective Pages The most current user manual consists of the following list of effective pages including the attached revision pages Denotes new or revised pages Page Date Revision Page dated 29 September 1999 MI uuu puan O Revision Page dated 29 September 1999 IW Wie PER ERE EM Contained in 0084 06 dated 12 11 97 qas Revision Page dated 29 September 1999 I m Revision Page dated 29 September 1999 e Contained 0084 06 dated 12 11 97 jm basal Contained 0084 06 dated 12 11 97 L Contained 0084 06 dated 12 11 97 p EM Revision Page dated 29 September 1999 ms cm Contained 0084 06 dated 12 11 97 Vu P M saus Revision Page dated 29 September 1999 SEI E Contained in 0084 06 dated 12 11 97 41 41 Contained in 0084 06
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