6000 Series . . .
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1. Indexer Catalog 8000 2 USA Motion Builder Making Motion Control Programming Easy Motion Builder revolutionizes motion control programming by providing a software tool which decreases the learning curve of motion control programming Motion Builder allows users to design and program their motion control application in a way they are already familiar with a flow chart style method This innovative tool shortens your system design time and reduces your overall system cost by decreasing programming and troubleshooting cost Motion Builder a Microsoft Windows based graphical development environment allows expert and novice programmers to easily program Compumotor s 6000 Series products without learning a new programming language or syntax Visual icons representing the motion function you want to perform are simply dragged and dropped L ht Fipan 2 gem Oh p Em be pad l ml ME Ta E ae bre Lk e Graphical motion develooment environment e Visual programming e Fill in the form process details e Motion icons with label and comment fields e Real time display environment e Debug environment e On line Helo system Motion Builder provides a user friendly graphical environment for designing motion control applications Visual icons representing standard motion and process control operations are selected from a floating palette In addition to visually programming Compumotor s 6000 Series product2. Cancel Resolution counts inch Hax Pos Error counts Darker Automation C100 Parker Hannifin Corporation Compumotor Division Rohnert Park California Catalog 8000 2 USA Programming is accomplished by selecting the motion or process functions from the floating palette and dropping them one by one onto the chart Each function s action is set up by a Windows dialog box associated with the icon For example double clicking on the Move icon brings up the dialog box where values for move parameters are entered When all functions are on the screen a special tool connects the icons in a manner indicating the program flow When the program diagram is complete the program is compiled and can be executed hiim Asish AST FT ri gt igd Pega Foil Waze Japi Poms BU Wed a pn fe SE EE e E Erike Llsplas Mich Aea att Tins Wu Fri E F ce F Eedatlezs ee s E kad as Tempus dkgflap aF H 0 Ek d U masl oe a i T Jepit trp 1 gt ack ppc a ilis aslim imu aor input pace Hn Se aaaaaaaaaaaaaaaaasasasasasasasasasasasusutuatgj trt aul raa Pe IEI Bid w A debug environment is also included in Motion Builder The user can set program break points by selecting the break point icon from the palette and dropping it into the area beginning and end of the program that needs to be debugged Another debugging aid is
3. Rohnert Park California Software Parker Hannifin Corporation Ce Q aj N JA N b o s e Q Q s N Indexer Catalog 8000 2 USA Compumotor s new Motion OCX Toolkit Compumotor s new Motion OCX Toolkit is a powerful standalone software package that allows the programmer to easily and effectively develop virtual instrument interfaces for the AT6000 Series Bus based controllers i e AT6200 AT6400 and AT6250 AT6450 The Motion OCX Toolkit provides programmers with an easy way to incorporate advanced functionality into their applications with little or no programming The Motion OCX Toolkit includes three OCX custom controls which are loaded directly into the development environment s toolbox palette With this application develooment tool an operator interface can be built by simply clicking on the palette and placing the pre designed object on a form The programmer does not have to bother with the details of syntax associated with implementing Dynamic Link Libraries DLLs into their code With this burden removed programmers can concentrate solely on their applications Novice and advanced virtual instrument programmers will appreciate the flexibility and functionality of Compumotor s new Motion OCX Toolkit Compumotor s Motion OCX Toolkit provides a 32 bit OLE Custom Control Extension OCX designed to run under Windows 95 or Windows NT and the following development environ
4. Architect you can open multiple windows at once For example both the Program Editor and Terminal Emulator windows can be opened to run the program get information and then make changes to the program On line help is available throughout Motion Architect including interactive access to the contents of the Compumotor 6000 Series Software Reference Guide Standardizing your motion control software requirements around Motion Architect protects your software investment e The code is transferable to any 6000 Series indexer or servo controller e Reduce your learning curve and development e Reduce maintenance and support training e This is the platform for future products and enhancements Motion Architect requires e Microsoft Windows release 3 1 or later or Windows NT Motion Architect automatically detects the operating system on your computer and installs the proper drivers e At least 2 MB of RAM e At least 3 MB of hard disk space This does not include the memory requirements for additional add on modules The heart of Motion Architect is the shell The shell provides an integrated environment to access four main modules These modules consist of e System Configurator and Code Generator Setup Automatically generate controller code of basic system setup parameters I O definitions encoder operations drive setup etc based on answers you give to dialog boxes Program Editor Editor Create blocks or lines of 60
5. Detection Position Maintenance PH Stall Detection PH Deadband os Stall Backlash Deadband post quad counts motor steps PH Gain 10000 PH Max Yelocity 0 5000 units sec L Enable Encoder Move Deadband C Enable Kill Move on Stall Generating controller code for system set up parameters Generate After you finish answering the dialog boxes under the Configure menu click the Generate menu to view the Pdr coke racisy IHl e 0 aj p b o sa 2 Q i s N resultant controller code A program prg file is automatically webep ragah beet he UA deiri saved to store the newly generated code You can later open this prg file in the Editor and use it as a building block for a i set up program pre decyd IL Deol See Vaden da Pm set I Uri cme l H PT PET Pe DP ee Tee Pee FET Pe eee ee Pe Pe Tee Tee Peet ete FEE BERT eee eee ALS PS Ce ee ee nnn nnan IPEN I7 1 in amli ia bienni Tar hLEJLEJLEJLEJLELEJLEJLEJ j p Gs 2 ee ed LEJ ed ee LEd Controller set up code is automatically CP TURE TEGO PLOd See slal Y Paper palo tac ber ol DAT J Bole Der lar IFF wtb ive slide 31 Fh generated based on your answers to IMI 8 boaakdeg decals ake bide Pde th the confuration dialog boxes a a C93 Parker Hannifin Corporation i Compumotor Division Automation Rohnert Park California Indexer Program Editor The Editor module is a tool you can use to cre
6. a Subroutine prior to each subsequent move G80 Cancel G79 mode Default G90 Absolute positioning mode G91 Incremental positioning mode G92 Set current position H Codes Add offset to specified axis Codes 1st axis incremental distance to center point J Codes 2nd axis incremental distance to center point L Codes Number of repeats for a subroutine call M Codes M01 End of program o MOG Same as MO1 M98 Execute a gosub M99 Return from a subroutine S Mxx M codes other than those listed are O customizable for I O control N Codes Optical line number O Codes Begin definition of a subroutine o P Codes Time delay or subroutine definition number QO R Codes Radius of an arc X Codes Commands a move on the X axis Y Codes Commands a move on the Y axis Z Codes Commands a move on the Z axis Codes All characters between are sent directly to 6000 product Codes All characters between are ignored The G Code filter will import geometry from NC programs that do interpolated motion as well as XY motion with an unrelated Z motion The XYZ interpolated motion includes linear XYZ motion and arcs in the XY plane It does not include arcs in the XZ or YZ planes Darker Automation C97 Parker Hannifin Corporation Compumotor Division Rohnert Park California Catalog 8000 2 USA Indexer Motion Toolbox enhances LabVIEW for 6000 Series programming Motion Toolbox is an extensive software library of LabVIEW
7. and 4 axes of linear interpolation 1 500 000 bytes of RAM for program path and storage Complete specifications begin on C113 Software and hardware options completes the system For more information on the support software available for the 6000 Series indexers see the following POE ORNO errr re eee S C91 Motion Architect sentra ocr cutecersaerdrancehas cet i C92 C95 COMDPUCAM svencsa aeiaasiget ee ses ia i C96 C97 Motion Toolbox Motion Vis for LabVIEW ccccccececseeeeeeeeseeeeaeees C98 C99 MOTOR UIE P sacocecvecettcacdibicarscstermossessece ussite C100 C101 Motion OCX Toolkit eeren C102 C103 FON OV WING E E E E O C104 C107 GORON e nedtencereaeeaehutere heater ecuaietes C108 Motion Architect Servo Tuner and CompuCAM are registered trademarks of Motion Toolbox is a registered trademark of Snider Integration Group Parker Hannifin Corporation Compumotor Division Microsoft Windows is a registered trademark of Microsoft Corporation LabVIEW is a registered trademark of National Instruments Corporation All others are trademarks of their respective companies C90 Parker Hannifin Corporation i Compumotor Division Automation Rohnert Park California Catalog 8000 2 USA Dynamic Data Exchange DDE Server The DDE6OOO is a software driver that enables communications between Microsoft Windows applications that support the DDE protocol and our 6000 Series products The DDE6000 supports NetDDE allowing any compu
8. and activation of the product sensor Both the correction and exit conveyors are moving or slaving at a 1 1 relationship with the infeed conveyor or master axis The conveyors are following the feedback from the encoder on the infeed conveyor When the product enters the correction conveyor the 6000 servo controller can determine how much correction is needed by looking at the phase relationship between sensors After the product has completely left the infeed conveyor the correction conveyor makes the required shift and then matches the speed of the exit conveyor for a smooth transfer The result is a quality product that is perfectly soaced on the exit conveyor Darker Automation C107 Parker Hannifin Corporation Compumotor Division Rohnert Park California Indexer Catalog 8000 2 USA Contouring Circular Interpolation Contouring in the 6000 Series indexers makes it easy to follow a two dimensional path consisting of multiple line and arc segments Circular interpolation is useful for making arcs and circles especially when a constant path velocity must be maintained along a two dimensional path One such example would be in dispensing and engraving In addition a tangential axis is available to keep an angular position which changes linearly with the path direction The tangential axis would be used in applications that require a work piece or tool to remain tangent or perpendicular to the path direc
9. product must be placed Line speed is critical when the product moves from one conveyor to another Two sensors one located on the junction between the infeed conveyor and correction conveyor and the other sensor on the exit conveyor must have a fixed phase relationship The first sensor senses the product and the other sensor detects the locations of the dividers The phase relationship is simply the distance the correction conveyor has traveled between the activation of the sensor on the exit conveyor and the activation of the product sensor Random Timing Infeed Application Problem A food products manufacturer produces candy that is randomly spaced on an infeed conveyor The manufacturer needs to place this candy on an exit conveyor with perfect spacing so that the candy can be wrapped o and packaged accurately The candy must be transferred and spaced properly without stopping the conveyor so that the throughput of the process can be maximized The line speed of the infeed conveyor fluctuates but the line speed of the conveyors must match each other exactly when the product moves from one conveyor to another in order to maintain product quality I O Requirements e 2 high speed sensor inputs e encoder feedback from the infeed conveyor Solution The solution of this application uses the Following and Random Timing Infeed functionality of the 6000 servo controller to control a short correction convey
10. short fast advance to introduce uniform product spacing on the slave conveyor This advances each product a specific distance ahead of the next product as they move onto the second or following conveyor Controller i web pattern Registration errors could arise if the web slips stretches or the original pattern is not perfectly regular This problem is solved by using the registration sensor Each new edge of each repeated web pattern is detected and the drum position is noted automatically If the drum is not in the required position at the instant the web pattern is detected a corrective advance or retard is superimposed on the regular cycle This allows continuous perfect print alignment even if the existing pattern is slightly irregular Because the control of the print drum is based on the measurement of the web positions and speed registration is maintained regardless of web speed changes Darker Automation C106 Parker Hannifin Corporation Compumotor Division Rohnert Park California Catalog 8000 2 USA Random Timing Infeed Random timing infeed refers to operations in which a product at a particular point in a process enters a conveyor with non repeatable or random timing yet must leave the conveyor with perfect spacing Typically there is an infeed conveyor on which products are randomly spaced a short conveyor on which the correction is made and an exit conveyor with dividers on which the
11. speed to overcome the friction of the dispensing head and the inertia of the large roll of labels A photosensor connected to a programmable input on the controller monitors the bottles positions on the conveyor The controller commands the label motor to accelerate to line speed by the time the first edge of the label contacts the bottle The label motor moves at line speed until the complete label is applied and then decelerates to a stop and waits for the next bottle Product Solutions Motor APEX604 Controller APEX6152 The ZXF single axis servo controller has also been used in these types of applications Darker Automation C105 Parker Hannifin Corporation Compumotor Division Rohnert Park California e 0 aj p b o s 2 Q Q s N Indexer 6000 Position Following Product Spacing This example shows a possible down stream operation froma continuous cut to length operation Ina continuous cut to length operation product lengths are separated from the feed stock but are not spaced apart from each other In order to wrap the individual products they must be spaced at specific intervals The master conveyor moves the product away from the cutting operation where newly cut product is spaced close together The slave conveyor moving at a velocity proportional to the master takes the correctly spaced products to a wrapping station A sensor at t
12. the single step mode This allows the user to control and step through the program executing the icons one at a time An on line help system is also included in Motion Builder The on line helo system includes e Context sensitive help e Help index with search e Tooltip help e Status bar help C101 Darker Automation 6000 Series Mast Pols Hsr ie Pas Wr E rrd d at T lman rda Tr ae Coe Il Her zarad fem nna he Phim Find drap Paha Lo eh ae a Fb Hr e cot Capers ia al ft A are LE L LAT LE het LETE E E l LE hirae r lE Cores Frak nl Ahi Ahn Amal lF J d 7 J 3 sreski en en ot 7 a ile 1 Aal Palette rm gi real ee eee eee I You can even display real time controller information while your program is running e Motion motor and encoder position velocity e I O programmable I O analog I O limits e Status axis system e Variables e Diagnostics e Terminal communications interface hiim Asioh RAAT FT gerd Peageeam Fail Waze Flags RELOS Wie 218 ss e E A E c aa a ee Dara biad igid Ses Waimea Hazy OT SEL Slip mapami l Addins FT o Corde F Be Usable a gle isp Pesach er halir Fusa Ca halir Pages 1ELIH kemr Wings ee a i A Benefits e Easy programming e Shorten your system design time e Cut your cost e Eliminate syntax errors Compumotor Division
13. 00 Series controller code or copy portions of code from a previous file You can save Editor files for later use in a high level program e g BASIC C etc or in the Terminal or Panel modules Terminal Emulator Terminal Providing communication directly with the 6000 Series product the terminal emulator allows you to type in and execute controller code and transfer code files to and from the controller Owners of 6000 Series bus based controllers can transfer download the soft operating system Test Panel and Program Tester Panel Create your own test panel to exercise your programs and check the activity of I O motion system status indicators timers and counters and the communications interface In addition to the functions of the preceding modules Motion Architect gives you these on line resources see Help pull down menu e Context Sensitive Help Access via the Help pull down menu the Help buttons in the dialog boxes or by pressing the F1 key at any time This resource provides comprehensive help information about the modules e On Line User Guides 6000 Series Following User Guide 6000 Series Software Reference Guide The modules listed below are sold separately as add on utilities to Motion Architect After they are installed you can access them from the utilities menu To purchase one of these options contact your local Automation Technology Center e CompuCAM CAD to Motion CAM software all
14. 6000 Series Following User Guide e About Displays revision and copyright information Darker Automation C95 Parker Hannifin Corporation Compumotor Division Rohnert Park California e 0 aj p b o s 2 Q i s N Indexer CompuCAM CompuCAM is a Microsoft Windows based programming package that imports geometry from CAD programs plotter files or NC programs and generates 6000 code compatible with Compumotor s 6000 Series motion controllers From CompuCA M run your CAD software package Once a drawing is created save it as either a DXF file HP GL plot file or G code NC program This geometry file is then imported into CompuCAM where the 6000 code is generated After generating the program you may use Motion Architect functions such as editing or downloading the code for execution Complex moves can be programmed without any 6000 Series coding experience Simply invoke CompuCAM and import DXF G code or HP GL files All set up can be accomplished within Motion Architect and CompuCAM s menu driven format CompuCAM runs on an IBM PC AT or compatible with 2M RAM 1M hard disk space and a VGA color monitor Microsoft Windows 3 1 or greater and Compumotor s Motion Architect 2 2 or greater are required A math coprocessor is highly recommended Cinu obd Labill Rb M ladi Tors ise Heels Ti fe tet b se FF Aea ee TID Epler TAJI dd Catal
15. Catalog 8000 2 USA 6000 Series A powerful lineup of controllers and software There are four 6000 Series controllers indexers that provide a 6200 10V analog voltage output All units share the following One or two axes of step amp features direction control with encoder feedback Operates standalone or interfaces with PCs PLCs and thumbwheels e Two RS 232C communication ports e 150 000 bytes of non volatile memory for program path and storage Complete specifications begin on C109 e Powerful 6000 programming language e Up to 28 programmable inputs and 26 programmable outputs Fast inputs for position capture registration etc Analog inputs for joystick control and variable input e End of travel and home limit inouts for each axis Encoder feedback e Software provided Motion Architect DOS based 6000 Series disk Dynamic Link Library DLL for use with Microsoft Windows and Microsoft Windows NT application develooment kits Optional software CAD to Motion CompuCAM Motion Vlis for LabVIEW Motion Toolbox Dynamic Data Exchange DDE servers Graphical icon based software Motion Builder OCX Custom Control Interface Motion OCX Toolkit AT6200 AT6400 e PC AT based indexer e One to four axes of step amp direction control with encoder feedback Separate adaptor board to simplify connection and optically isolate I O e 2 axes of circular interpolation
16. TEE Wip jaj Fin Fdil perah Wile ETS el eE mo r 0 p Air l oo an E li mia Fa le oD o 0 Bon Ez ollj is i 2 i 3M aj ee atl eq Mt 10 i iri ipa i iH a 0 TG A LabVIEW user interface and an associated block diagram showing how Motion Toolbox VIs are used to control the 6000 series C98 Parker Hannifin Corporation Compumotor Division Automation Rohnert Park California i i Catalog 8000 2 USA The LabVIEW Graphical Environment LabVIEW is a graphical programming environment for data acquisition data analysis and instrument control that runs on several platforms including Windows based PCs Sun SPARC stations and HP computers This programming environment allows you to rapidly build test and modify application programs without the syntactical knowledge of a conventional programming language LabVIEW programmers can use Motion Toolbox to develop motion control systems for a wide range of applications including automated test and manufacturing medical biotech metering and dispensing machine control and laboratory automation Using LabVIEW in conjunction with Motion Toolbox and the 6000 Series allows you to integrate motion control into data acquisition process control and image processing systems LabVIEW includes knobs slides switches charts and many other controls and indicators allowing programmers to quickly create custom user interface panels for motion control applicati
17. ate and edit controller programs using the 6000 Series programming language You can then save these programs as separate files for later use in high level programs e g BASIC C etc or in the Terminal and Panel modules After you have created or edited a controller code file in the Editor you can save it as a separate file This file can then be used in the following ways e Before running the program in an application you can test run the file from the Panel module From within the Editor module you can open any program file and print its contents From within the Editor module you can copy the contents part or all of the file and then paste it into the Terminal module for immediate execution Within the Terminal module download the file that was created in the Editor module to the 6000 Series product for immediate execution Use the file s controller code in a high level program g BASIC C etc Fou Alh Ses winie Hilp Leig Si Kilimas ninis Kice E e a TP dar ees CLS L bidr hE dr h Edr h E r Less LIL LIL LIU oud na C o i lA Bdr Edra Edra Edr eqb c pu a III WL MEU M FJa oral Evia Escbded CJI C112 C112 orerke Fa TUI bid WEU WIU ail Beinar ELL ra CILE JILE IZE JILE IIE rra Rema Beati ELL ra CICC JJZ E IIZ E IIEL IIEL acca Fence se I Catalog 8000 2 USA Jul Doe rmm Hestqetens Sek riidan Pie See m ee AIN 7 i 3d iimm Beste mk riidan lie
18. ether you are outputting geometry from a CAD program as a DXF file or programming in G code CompuCAM has a version for you Specific information regarding each CompuCAM version follows Darker Automation C96 Parker Hannifin Corporation Compumotor Division Rohnert Park California Catalog 8000 2 USA DXF Import Filter The DXF import filter will handle the following geometric entities e Lines e Arcs e Circles e Polygons e Polylines representing complex geometry e ellipses splines bezier curves etc The DXF filter will only import curve geometry This filter does not handle points and text HP GL Import Filter The HP GL import filter will handle the following subset of HP GL AA Arc Absolute AR Arc Relative Cl Circle PA Plot Absolute PD Pen Down PR Plot Relative PU Pen Up IP Input P1 and P2 SC Scale The HP GL import filter does not handle instructions from the polygon group the line and fill attributes group the character group or any of the advanced extensions 6000 Series Software G Code Import Filter The G Code import filter will handle the following subset of EIA RS 274 D G Codes F Codes Feedrate G Codes GOO Rapid traverse positioning mode Default G01 Linear interpolation mode G02 CW contouring mode G03 CCW contouring mode G04 Time delay G28 Move to home switch input G61 Turn off continuous path motion G64 Turn on continuous path motion Default G79 Execute
19. he entrance to Web Processing Rotary printing ona moving web is a typical web processing application In this example the web is the master and its position and speed are measured with an encoder The web has an existing repeating pattern which is detected with a registration sensor The slave axis drives a rotary point drum The print drum has a raised and inked portion which will lay down the new pattern on top of the existing pattern During the print segment of its rotation the print drum surface must match the position and speed of the existing print on the web in order to print without smearing and maintain the proper registration This requires that the surface speeds match at a 1 1 ratio during the actual print portion The length of the existing pattern on the web however will generally not match the circumference of the drum This requires that the print drum change to a different ratio during the non print portion of the cycle In other words it requires the construction of a periodic ratio profile Such a profile allows the drum to match the web speed during printing yet rotate to correct position at the start of the next Catalog 8000 2 USA the slave conveyor is wired into the controller The front edge of the product is detected by the sensor as it moves off the master conveyor The controller waits for the entire product length to leave the master conveyor before It Superimposes a distance shift i e a
20. llowing moves or normal time based moves in the same application because following can be enabled and disabled at will In position following acceleration ramps between ratios are dependent upon a specified master distance Product cycles can be easily specified with the master cycle concept Continuous Process Automation In any continuous process throughput can often be increased if familiar motion functions are done on moving targets as opposed to stopping the process For example a conveyor belt carries trays of parts which are to be unloaded If a controller could detect and track the motion of the tray and then perform pick and place operations on those parts without stopping the process overall efficiency would be dramatically increased The Position Following feature of the 6000 servo controllers has the capability to solve continuous automation process applications Controller capability requirements range from simple concepts such as electronic gearbox track ball and slave feed to length to complex changes of ratio based on master position Common applications include packaging printing continuous cut to length and coil winding Catalog 8000 2 USA The following examples represent common applications in packaging and printing Each application demonstrates the advance and retard capabilities or the use of the Periodic Master Slave Synchronization features of the 6000 servo controllers The latter feature is im
21. ments e Visual Basic 4 0 or later e Delphi 2 0 or later e Visual C e Any other 32 bit develooment environment containing OCX controls OCX controls also Known as an OLE Object Linking and Embedding Custom Controls are the latest addition to Microsoft s OLE family The controls provide unprecedented compatibility with almost any virtual instrument application The Motion OCX Toolkit makes DLLs a thing of the past VB Elements e Toolbar e Tookbox e Form e Properties Window e Project File Window Darker Automation C102 Parker Hannifin Corporation Compumotor Division Rohnert Park California 6000 Series Catalog 8000 2 USA Software The Motion OCX Toolkit facilitates the quick development of your custom operator interface to Compumotor s 6000 Series bus based controllers Motion OCX Toolkit includes these controls e Communications Shell OCX Comm6000 Use Comm 6000 to control basic communication with the 6000 product including interrupt handling and sending receiving files e Terminal OCX Term6000 Use Term6000 s active communication interface to the 6000 product for executing 6000 commands checking program responses and status reps and viewing error messages e Fast Status Polling OCX Poll6000 Use Poll6000 to poll the 6000 product s fast status register and display information such as position velocity axis status system status etc Each control ha
22. munication Set Default Address Port Set Error Action Send 6000 Block Receive 6000 Block Download 6000 File Fast Status Motor Position Encoder Position Motor Velocity Captured Position Status Command Error Limit Status Motion Status System Status Analog Input Status Joystick Status Digital Output Status Digital Inout Status 6000 Series Controllers RP240 Display Variable amp Transfer Transfer Numeric Variable Transfer String Variable 6000 Series Software I O amp Limits Set 6000 Input Active Level Set 6000 Output States Set 6000 Output Active Level Configure Limits Joystick amp Jogging Set Jog Velocity Set Jog Acceleration Set Joystick Acceleration Set Joystick Velocity Motion Initiate Motion Stop Motion Kill Motion Set Distance Set Velocity Set Acceleration Set Deceleration Set Direction Set Position Initiate Lin Interpolated Motion Run Path Set Path Velocity Acceleration Wait for Move Run Program Go Home Write Text to RP240 Display Variable on RP240 Clear RP240 Display Set RP240 LED States Set Numeric Variable Set String Variable e 0 aj V DA N b o s 2 Q Q sa N e Single and multiple axes of control e Stepper servo and hydraulic control e ISA bus based stand alone and packaged drive controller systems Parker Hannifin Corporation Compumotor Division Rohnert Park California C99 Darker Automation
23. og 8000 2 USA CompuCAM Features e CompuCAM s three versions import and translate shapes defined in DXF HP GL or G code Compatible with most off the shelf CAD packages that output DXF HP GL or G code files e g AutoSketch Supports Point to point positioning 2 axis circular interpolation when available Multi axis linear interpolation CompuCAM s DXF version translates circles and polygons Allows imported line and arc segments to be ordered for sequential execution Operations such as turning on and off an output can be specified at the beginning and end point of each motion path Ability to step through the program to verify motion Customized M and H codes can be used to increase CompuCAM s functionality with G code translation Utilizing the menu bar the user may Ascribe motion and I O to the imported geometry Save work Retrieve previous sessions Zoom pan geometry Access Help system Sequentially order the execution of motion paths Compatible with Compumotor s 6000 Series controllers Two way splitter window provides simultaneous views of the imported geometry and the generated 6000 code The Motion Architect editor can edit 6000 code generated by CompuCAM The Motion Architect terminal emulator can download the generated code to a 6000 Series controller CompuCAM offers two alternative code generation schemes Define Run Delete or Define All Run All Wh
24. ons Capture the Power of Icon Based Motion Control Programming The combination of LabVIEW and Motion Toolbox simplifies the development of any application that requires motion control Motion Toolbox can directly control motion or act ina supervisory capacity In the supervisory mode complex motion programs and paths can be downloaded to the 6000 controller and be orchestrated by the Motion Toolbox application The supervisory approach provides parallel execution and performance advantages required by demanding motion control applications e Develop applications faster with less debug time e Reduce operator training by providing intuitive user interfaces e Maximize your development time by reusing the code from project to project e Reduce application development by leveraging off powerful Motion Vis designed to take full advantage of the 6000 Series products e Utilize rapid prototype techniques Motion Toolbox was developed by Snider Integration Group through an alliance with Parker Compumotor Snider Integration Group is an NI Alliance member specializing in the develooment of LabVIEW based systems Partial List of Vis Counters and Timers Start 6000 Timer Stop 6000 Timer Reset Hardware Counter Configuration Motion Scaling Path Scaling Participating Axes Set Continuous Preset Mode Set Absolute Incremental Mode Enable Drive Set Drive Resolution Configure Feedrate Override Set Encoder Motor Step Mode Device Com
25. opped to be separated Web Processing Any process that must be performed on a continuous web of product can be accomplished on the fly with 6000 following See following example on next page Darker Automation C104 Parker Hannifin Corporation Compumotor Division Rohnert Park California Catalog 8000 2 USA Drive Controller Application Description Bottles on a conveyor run through a labelling mechanism that applies a label to the bottle The spacing of the bottles on the conveyor is not regulated and the conveyor can slow down speed up or stop at any time Machine Requirements e Accurately apply labels to bottles in motion e Allow for variable conveyor speed e Allow for inconsistent distance between bottles e Pull label web through dispenser e Smooth consistent labelling at all soeeds Motion Control Requirements e Synchronization to conveyor axis e Electronic gearbox function e Registration control e High torque to overcome high friction e High resolution e Open loop stepper if possible 6000 Series Software Start Photocell Encoder Labelling Machine an example of following application Application Solution A motion controller that can accept input from an encoder mounted to the conveyor and reference all of the soeeds and distances of the label roll to the encoder is required for this application A servo system is also required to provide the torque and
26. or as well as the exit conveyor onto which the product is placed Two sensors one located on the junction between the infeed conveyor and the correction conveyor and the other on the exit conveyor are placed with a fixed phase relationship The first sensor recognizes the product and the other sensor detects the locations of the dividers between which the 6000 Series Software The goal of the correction conveyor is to correct for variations in this phase relationship Both the correction and exit conveyors are normally moving or slaving at a 1 1 relationship with the infeed conveyor or master axis When the product enters the correction conveyor the 6000 servo controller can determine how much correction is needed by looking a the phase relationship between sensors After the product has completely left the infeed conveyor the 69099 servo controller adds an advance to the correction conveyor so that the calculated adjustment is made in time for the product to be placed on the exit conveyor The controller can also be programmed to adapt to changes in mechanical alignment of the conveyors Ce Q aj N DA p b o sa 2 2 6 s N K OA Ex Controller product must be placed The purpose of the correction conveyor is to correct for variations in this phase relationship The phase relationship is simply the distance the correction conveyor has traveled between activation of the exit conveyor sensor
27. ows you to translate DXF HP GL and G code files into 6000 Series language motion programs Darker Automation C92 Parker Hannifin Corporation Compumotor Division Rohnert Park California 6000 Series Catalog 8000 2 USA Software Motion Architect system configurator and code generater Configure Setup Establishing system set up parameters The Setup module takes Configure much of the drudgery out of The setup module includes the Configure and Generate menu motion control programming items Under the Configure pull down menu are the This module automatically configuration parameters to consider for your application When ain generates configuration code you select one of these parameters a dialog box appears ce In response to your answers Shown here is an example of the encoder configuration dialog Aag Scaling to a series of dialogs box Note that as you complete the configuration of the eee oer concerning I O definitions parameters a check mark v appears next to the menu item encoder operations homing operations end of travel limits drive setup joystick setup execution modes etc Define Setup Program Participating Axes Step Pulse Memory Limits Encoder Outputs Inputs Triggers Analog Encoder Configuration Encoder Resolution 4000 Axis U post quad counts rev Encoder Operations Cancel E Enable Position Maintenance Ll Enable Stall
28. p Te E ini P TATE T Terminal Module Communicating directly with the 6000 Series product the Terminal module allows you to type in and execute controller code and transfer code files to and from the controller From the Terminal module AT6200 AT6400 AT6250 and AT6450 users can transfer download the soft operating system Darker Automation C94 Parker Hannifin Corporation Compumotor Division Rohnert Park California Catalog 8000 2 USA 6000 Series Software Test Panel The Panel module allows you to test your controller programs ae with your own test panel You can customize the panel with ine Lapin Sleek Fee NER Dae Aie i multiple windows monitoring controller output and programmable buttons for user input One or more windows can be opened to view the following controller information e O programmable I O analog I O limits e Motion motor and encoder position velocity e Status axis system interrupt user status and following e Miscellaneous timer and counter values e Communications interface Four tiers of 8 user definable buttons are available which allow you to send controller code fragments up to 256 characters each to a 6000 Series product You can download controller programs to the 6000 Series oroduct via the file transfer Transfer menu and execute them using programmable buttons or external I O Additionally you can create as many test panel configurations as
29. portant for applications in which periodic operations must occur in intervals which are not perfectly repeatable For these the master and slave must be re synchronized every cycle The features of the 6000 servo controller s Following package that are used here are not specific to these applications They can be combined in a variety of ways to solve almost any application which requires coordination and synchronization of multiple axes Even if you do not recognize your exact requirements in these examples there is a very good chance that your synchronization application could be solved using these features Electronic Gearbox Two or more axes are electronically geared together to maintain an exact relationship between the different axes and yet allow any mechaical gearing or linkages to be removed Mechanical backlash and wear are eliminated Random Timing Infeed Randomly spaced product on a conveyor is adjusted so that it is placed precisely on another conveyor for a later process See following description Flying Cutoff cut to length A continuous bar sheet or other extgrusion of material is cut to specific lengths while the material is in motion Production times are reduced as product does not have to be stopped to be cut Product Spacing A method of spacing out product that may have been cut ina flying cutoff process without stopping the product Production times are reduced as the product does not have to be st
30. s it can completely configure the motion controller compile run and debug the program all from the same tool You simply select the 6000 Series product you are using and Motion Builder then configures the on line help for steppers and servos from one to four axes Communication protocol for serial or PC ISA bus communication and graphical icons to reflect your product hoist Asieh RAAT FT gerd Peagaem Fail Wase Jaji Poms BU Zwe ee Re Llsplay Seite Tin Lesdiace Acie ia lij M hR ain Broil r par Pro qian hl garpar Tigger beamda 7 Mored Migne Lindi lapu d TeTIKE Fa E y C erian so enile STE E cT z 1i H ne i Application parameters are specified by answering a series of questions contained within a series of drop down dialog boxes The topics for configuration include e Drive and feedback type e Axis and path scaling e Programmable inputs and outputs e Home and end of travel limits e Joystick and analog I O e Servo gain sets e Settling criteria for move complete e Performance criteria for steppers When you select one of these parameters a dialog box appears Shown here is an example of the feedback configuration dialog box Feedback Configuration Feedback Selection gt Encoder gt ANI gt LDT O Resolver Feedback Setup nn microsec inch Reciculations number of Units Probe Length O Inches O Millimeters inches
31. s a custom properties dialog box for easy set up There is also a registration utility that can check for 6000 controller registration information in the windows registry and enter or change parameters When you hold down a JOG button the Position display should show the changing position negative or positive depending on which button you press and the Velocity display should eb aed O he O E e Q 3 pur 7e show 1 rev sec S When you release the JOG button the Position display should stop changing and the Velocity display should go to zero C103 Parker Hannifin Corporation Compumotor Division Automation Rohnert Park California Indexer 6000 Position Based Following Position following is a standard feature on all 6000 series servo controllers Position following is commonly used in applications such as e Electronic gearbox e Flying Cutoff e Random Timing Infeed e Web Processing e Product Spacing e Cut to Length Positioning following can include continuous preset and registration like moves in which the velocity is replaced with a ratio Position Following allows for these capabilities and more e The slave may follow in either direction and change ratio while moving e Phase shifts are allowed during motion e Ratio changes or new moves may be dependent on master position or based on receipt of a trigger input e A slave axis may perform fo
32. ster Velocity VMAS 6000 Response Time Frame Counter TFC Inputs TIN Outputs TOUT CW Limits TLIM CCW Limits TLIM Home Limits TLIM Other Inputs TINO Analog Inputs TANV Hi Res Analog TANI Master Cycle Position PMAS Master Cycle Number NMCY Extra Encoder Position TPE These DDE6000 servers allow our products to communicate easily with a wide variety of applications including several factory automation or man machine interface software packages Listed here are some of the most popular products that have DDE support and the companies who produce them The list to the left is a small subset of applications that support DDE Ce Q aj N DA p b o s 2 Q Q s N C91 Darker Automation Parker Hannifin Corporation Compumotor Division Rohnert Park California Indexer Catalog 8000 2 USA Motion Architect does the work for you configure diagnose debug Motion Architect has been designed for use with all 6000 Series products for both servo and stepper technologies The versatility of Microsoft Windows and the 6000 Series language allow you to solve applications ranging from the very simple to the complex Motion Architect comes standard with each of the 6000 Series products and is a tool that makes using these controllers even simpler consid erably shortening the project development Ii rann Anhilcr Ei hA a time Using Motion
33. ter on any Windows for Workgroups or NT Server Network which supports NetDDE to control any 6000 Series product connected to a networked computer Compumotor s DDE6000 not only supports all 6000 Series products but also supports multiple 6000 Series products simultaneously DDE is a standard Microsoft protocol that automatically updates data to and from Windows applications The DDE servers provide the 6000 Series with fast status information to a Windows application that wants it Information that can be provided by the DDE server and the corresponding equivalent 6000 command is listed in the table Company Product s East Point Software Corporation IPC Xpert Iconics WinWorx ICCOM Inc WinView Wintrend LinLinx WinLogic 5 LabTech Real Time Windows Real Time Vision Intellution FIX DMACS National Instruments LabVIEW TA Engineering AIMAX WIN Canary Labs Inc Trend Link Wonderware Software Development Corp InTouch United States Data Corporation FactoryLink IV FIX DMACS is a registered trademart of Intellution AIMAX WIN is a registered trademark of TA Engineering All others are trademarks of their respective companies 6000 Series Software Status Report Status Command Motor Positions TPM Encoder Positions TPE Motor Velocities TVEL Axis Status TAS System Status TSS Interrupt Status TINT User Status TUS Timer TTIM Variables VAR Following Status FS Phase Shift PSHF Ma
34. tion A typical example that requires a tangential axis is a knife always pointing into the cut or a welding head staying normal to the weld A proportional axis may also be included to keep a position that is proportional to the distance traveled along the path described by X and Y This allows helical interpolation Example of Contouring Application Engraving Machine a Digitizer Pad The 6000 Series contouring option allows users to create complex move profiles on multiple axes The easy programming language enables the user to generate arcs by only specifying the endpoint radius or origin of the arc and the direction of travel 6000 Series contouring also provides the user with the ability to control I O while in the contouring mode The 6000 Series indexers allows the user to define and execute up to 300 two dimensional motion paths with expanded memory A path refers to the path traveled by the load in an X Y plane and must be defined before any motion takes place along the path Coordinated systems allow the assignment of an arbitrary X Y position as a reference position for subsequent absolute end point specifications Darker Automation C108 Parker Hannifin Corporation Compumotor Division Rohnert Park California
35. virtual instruments VIs for icon based programming of Compumotor s 6000 Series motion controllers When using Motion Toolbox with LabVIEW applications are developed by linking graphic icons VIs together to form a block diagram Motion Toolbox s library of more than 150 command status and example Vis accentuates the power of the 6000 Series including Vis for the following capabilities and more e Downloading setup and control programs to the 6000 controller s memory for later execution Motion control Go Stop velocity acceleration etc Inout output setup and function configuration e Home configuration and control Hardware limit and soft limit configuration Indexer configuration of jogging joystick limits encoders drives etc Fast status querying of I O limit home motor and encoder position velocity etc Debugging capabilities include command snooping where developers can view commands sent to the 6000 Controller and communications tracing where command and query information is streamed to disk All command and status VIs include LabVIEW source diagrams so you can modify them if necessary to suit your particular needs Motion Toolbox also comes with a Windows based installer and a comprehensive user manual to help you get up and running quickly Create stunning user interface using controls and indicators built into LabVIEW Motion Toolbox The definitive answer in motion control programming arta OT
36. you wish and save them as separate files On line Help From the menu bar in the Shell or from any module you can access the on line help system by clicking on Help or by oressing the F1 key when a menu item is selected The Help pull down menu items are briefly described here e Help for help The same help resource for all modules describes how to use the on line help system s features e Keys help Defines the shortcut hot keys you can use within a particular module to help you select certain commands or menu items faster e Help Index Provides information on how to use the particular module from which you accessed the on line help system The information is categorized by the items that appear in the module s menu bar e 6000 Commands Displays the Command Dialog Box from which you can look up commands edit them and insert them into an active program editor session or terminal emulator session e 6000 Software Reference Brings you directly to the Contents menu of the on line version of the 6000 Series Software Reference Guide This is a valuable resource for detailed command descriptions and programming guidelines re Ptagietebokle lkphiL oa r i a ar l p s 7 a I d I I re I a hemp ahrs m n n eet I lie Llr Waehppett ijel rrari ama Mt tt p I la EnES Erer ri ara kranu i e 6000 Following Reference Brings you directly to the Contents menu of the on line version of the
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