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303 Indexer User Guide

1. CHAPTER 5 SOFTWARE REFERENCE _ 65 Designate Y Axis VALID Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES Y None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO x Zz XY XZ Y2 XYZ Description The Y command designates all subsequent commands as applicable to the Y axis only YZ Designate Y amp Z Axes VALID Set Up Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES Yz None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO x Y 2 XY X2 XYZ Description The YZ command designates all subsequent commands as applicable to the Y and Z axes only SYNTAX UNITS RANGE DEFAULT Z EXECUTION TIME lt 10 ms SEE ALSO x Y XY XZ Y2 XYZ Description The Z command designates all subsequent commands as applicable to the Z axis only Z Software Reset VALID Set Up Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES VALID Software Version A Designate Z Axis ATTRIBUTES None None None Sequence Immediate Z None None None Immediate EXECUTION TIME lt 10 ms SEE ALSO None Description The Z command resets the software to its power up default values All variables except motor resolution MR are initialized as they would be if power was cycled Chapter 6 HARDWARE REFERENCE Chapter Objectives CHAPTER 6 HARDWARE REFERENCE _ 67 The information in this chapter will enable you to e Use this chapter as a quick reference t
2. LIST OF TABLES Table 2 1 Model 303 Ship Kit List vio iii 5 Table 2 2 Input Bit Command Structure eese eee senes sese ren 10 Table 31 HS 239C Prius desa 20 iv How To Use This User Guide Assumptions Contents of This User Gui gt Chapter 1 introduction Chapter 2 Getting Started Chapter 3 Installation Chapter 4 Application Design Chapter 5 Software Reference Chapter 6 Hardware Reference Chapter 7 Maintenance amp Troubleshooting MODEL 303 USER GUIDE This user guide is designed to help you install develop and maintain your system Each chapter begins with a list of specific objectives that should be met after you have read the chapter This section is intended to help you find and use information in this user guide To use this user guide effectively you should have a fundamental understanding of the following information e IBM or IBM compatible computer experience e Basic electronics concepts voltage switches current etc e Basic motion control concepts torque velocity distance force etc e Basic serial communication concepts e g RS 232C With this level of understanding you can effectively use this user guide to install develop and maintain your system This user guide contains the following information This chapter provides a description of the product and a brief account of its specific features This chapter contains a list
3. e Removed 10 pin screw terminal external voltage supply requirement Changes to Chapter 7 are summarized as follows e Added Troubleshooting section Motor fails to move CONTENTS Table Of Contents Table Of Contents i UST OF FIGURES suas ili LIST OF TABLES sica add ili How Io Use This SON oce Ee ERES hewn EHE SEENA EEEa EANA iv PSSUMPUONS ua iv Contents of This User Guide seddelen iv Installation Process Overview cccccececscacscccececcccacceccetscecescsenseatneceannenceccesesesecssenes v Developing Your ApplicatiON ooonoooonooorornononncccnoncnconocnonocoronenanncorcanonurnoss v Installation Recommendation ooooroccocccccacnnoncoconoornoononnonnancnncnacararanacanannno v CONVENON mre CETT vi pnr DIM H vi Warnings Personal Injury amp Cautions System Damage vi elated PUDICADONS p vii Chapter 1 INTRODUCTION m O 1 Proguet DeSCHDIOT aa 1 Product Featur8s usar m 2 Chapter 2 GETTING STARTED cnica 5 Wbat You Should Havdal 5 BASIC System CORTIQUIBIIOn iie cn ii ees Va uo r2 op eda ONDPRUMEREUEAS Vas Re OE E TIS 5 INCOXOT IO MINO NE MEI A ias 6 Establish Communication 5s oi oo eee see ir sepa E eo doe ox Hi Eye c o Pa irren ndveseveetnhduwwes 6 Drive indexer Connection cintas 7 MAKING 8 MOVO cosa it 8 BI Op 9 A aden ce saw ine O A AE a
4. Half Duplex In half duplex mode a terminal will display every character transmitted It may also display the received character Hand Shaking Signals RST Request To Send CTS Clear To Send DSR Data Set Ready DTR Data Terminal Ready IDB Input Data Buffer ODB Output Data Buffer Holding Torque Sometimes called static torque it specifies the maximum external force or torque that can be applied to a stopped energized motor without causing the rotor to rotate continuously Home A reference position in a motion control system usually derived from a mechanical datum Often designated as the Zero position Hysteresis The difference in response of a system to an increasing or a decreasing input signal IEEE 488 digital data communications standard popular in instrumentation electronics This paralle interface is also known as GPIB or General Purpose interface Bus Incremental Motlon One step of motion for each step command usually a pulse received incremental Programming coordinated system where position or distances are specified relative to the current position Inertia A measure of an object s resistance to a change in velocity The larger an object s inertia the larger the torque that is required to accelerate or decelerate it Inertia is a function of an object s mass and its shape Inertial Match For most efficient operation the system coupling ratio should be selected so th
5. VALID Software Version A Execute Sequence w Return ATTRIBUTES Sequence Immediate CHAPTER 5 SOFTWARE REFERENCE _ 63 Example Command Description 1 DI G XT 2 D29p20 G XT 31 paggg G XT 4 D4gpoo G XT 20 AS V5 IF 100001 XR1 NIF IF 100818 XR2 NIF IF 100811 XR3 NIF IF 100100 XR4 NIF XG2 XT Enter XG20 The motor will move different distances based on inputs XT End Sequence Programming SYNTAX UNITS RANGE DEFAULT ATTRIBUTES xT None None None Sequence EXECUTION TIME lt 10 ms SEE ALSO EXR XG XR Description The XT command ends a sequence If the sequence is called from an XG command program execution stops when the indexer reaches an XT command If the sequence is initiated with an XR command program execution returns to the line that follows the XRnn command when the indexer reaches an XT command If the sequence does not contain an XT command program execution will move on to the next sequence VALID Software Version A Enable Disable Trace Mode VALID Software Version A XTR Programming SYNTAX XTRn DEFAULT 0 ATTRIBUTES Immediate RANGE 1 Trace mode On UNITS n enable disable O Trace mode Off EXECUTION TIME lt 10 ms SEE ALSO Description When you set the XTR command to 1 the Trace mode is enabled As a debugging tool the Trace mode sends user programs one character at a time as the indexer rea
6. Velocity v Distance D or mode MN or MC commands with each G command A G command in the Absolute mode MPA will cause motion to the position you specify with the Distance D command In Continuous mode MC you only need to enter the acceleration and velocity commands prior to the G command The system ignores the distance command in this mode No motor motion occurs until you enter the G command Example Command MN Sets mode to Normal preset A5 Sets acceleration to 5 ps gt v5 Sets velocity to 5 rps gt D25 Sets distance to 25 000 steps gt G Executes the move Go gt A1 Sets acceleration to 1 rps gt G Executes the move Go VALID Software Version A EA ZEE SYNTAX UNITS RANGE DEFAULT ATTRIBUTES GH None or must enter or Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO GHF GHV Description This command instructs the indexer to search for home in the CW or CCW direction depending on your instruction 2 The speed is the previously entered Go Home Velocity GHV If the motor encounters a limit while it is going home the indexer will stop The home limit input on the Model 303 is optically isolated and is normally off You must use a normally open load activated switch to ground to determine the home position 46 MODEL 303 USER GUIDE The CW edge of the home switch is defined as the first switch transition that occurs when the motor reaches the home sw
7. cr This keystroke combination terminates the editing session You may also press cr on an empty line or the ESC key while you are in the Edit mode to terminate an editing session IF Conditional IF VALID Programming Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES IF Innnnn n input bit 0 1 or X None Sequence pattern EXECUTION TIME lt 10 ms SEE ALSO NIF R TEST Description The IF command tests the input bit pattern If the statement is true the commands between IF and NIF will be executed If the statement is not true the indexer executes the line that follows the NIF statement The condition is checked against the saved input state Refer to Chapter 2 Getting Started or the TEST command description in this chapter Example Command gt IF I2211X Sets IF condition gt G Executes a move when inputs 1 and 2 are low and 3 and 4 are high gt NIF Ends IF condition gt XT Ends IF condition K Kill Program Execution VALID Programming Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES K None None None Immediate EXECUTION TIME lt 10 ms SEE ALSO s Description The K command is an emergency stop command and should only be used as such This command stops indexing immediately There is no deceleration of the motor If the Kill command causes the motor to slip i e large loads at high speed the load could be driven past limit switches and cause damage to the mechanism and possibl
8. After you edit the line enter a carriage return cr to mark the end of the line The entire block is rewritten to include the change You will be prompted to enter your next Edit mode command by an asterisk To exit the Edit mode you must enter Q Quit Edit Mode and press the carriage return cr This keystroke combination terminates the editing session You may also press cr on an empty line or the ESC key while you are in the Edit mode to terminate an editing session 44 MODEL 303 USER GUIDE Edit SYNTAX EXRnn n Edit Sequence in a Program VALID UNITS sequence Software Version A DEFAULT ATTRIBUTES None Immediate EXECUTION TIME lt 10 ms SEE ALSO D E I Q XG XR XT Description Example This command enables you to edit an existing sequence of commands or write a new sequence of commands into the user program A sequence may contain many single line commands An asterisk will appear before the command line prompt when you are in Edit mode If you specify a new sequence enter the commands after the indented prompt appears If you specify an existing sequence the sequence is listed and you may only enter line edit menu commands Line edit menu commands are E nn I nn and D nn which you may use to create insert or delete single lines within an existing block A single line may not exceed 40 characters You must use the ENTER key or lt cr gt carriage return to
9. Description The PR command is a status request command that provides current absolute position information You can request for the absolute position of a specific axis or of all axes configured to the Model 303 refer to RANGE above You can also execute position requests with the 8 bit interface refer to Chapter 2 Getting Started Example Command PRA Displays the status of all axes 45909000 4259020 PZ Programming SYNTAX UNITS RANGE DEFAULT ATTRIBUTES PZ None None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO PR SP Description This command allows you to set the absolute position register for the active axes to zero The PZ command can only set the absolute position register to zero for axes that are active Set Position Zero VALID Software Version A Example Command gt PRX Requests position of X Axis 25209 PZ Set X axis to zero position PRX Requests position of X Axis 2 Quit Editing Mode VALID Software Version Edit ATTRIBUTES Immediate SYNTAX UNITS RANGE DEFAULT Q None None None EXECUTION TIME lt 10 ms SEE ALSO D E EXR I Description You can use this command to exit the Editing mode Pressing the carriage return key cr on an empty line also exits from the Editing mode You can also press the Escape key esc to exit from the editing mode CHAPTER 5 SOFTWARE REFERENCE 57 H Status Report Status SYNTAX UNITS RANGE
10. Sets distance to 50 000 steps gt G Executes the move Go gt G No motion because the axis has already traveled the 50 000 steps commanded with the 1st Go command 42 MODEL 303 USER GUIDE D Delete Edit SYNTAX RANGE DEFAULT 1 999 None D nnn EXECUTION TIME lt 10 ms SEE ALSO E EXR I Q Description In the Edit mode the D command lets you delete an entire sequence You can also use a variation of this command D nn to delete one line in a sequence If the stored sequence is VALID Software Version A ATTRIBUTES Immediate 10 V5 AS DS 0111111 G T2 011211168 xT You can enter the Edit mode for sequence 10 with the following command gt EXRl lt er gt Sequence 10 will be listed 1 10 V5 AS DS 2 0111111 Cs G 4 T2 0111112 5 XT Editing Sequence 1 To delete just one line in the sequence you can use the D nnn command in the manner shown below This command will remove the third line from the sequence D 3 cr The Model 303 will respond with the following prompt 3 G Deleted 1 10 VS AS DS5 2 0111111 3 T2 0111112 4 XT Editing Sequence 1 To delete the entire sequence you can use the D lt cr gt command The following prompt will appear Are You Sure Y N Enter Y Sequence 19 Deleted CHAPTER 5 SOFTWARE REFERENCE 43 DLY Delay Before Changing VALID Motion Output or Velocity
11. absolute accuracy of the motor cause the steps to expand and contract by an amount up to the relative accuracy figure The error is not cumulative Repeatability The degree to which the positioning accuracy for a given move performed repetitively can be duplicated Resolution The smallest positioning increment that can be achieved Frequently defined as the number of steps required for a motor s shaft to rotate one complete revolution Ringing Oscillation of a system following a sudden change in state RMS Torque For an intermittent duty cycle application the RMS Torque is equal to the steady state torque which would produce the same amount of motor heating over long periods of time Where Ti Torque during interval i t Time of interval i RS 232C data communications standard that encodes a string of data on one line in a time sequential format The standard specifies the proper voltage and timing requirements so that different manufacturers devices are compatible Slew In motion control the portion of a move made at a constant non zero velocity Speed Used to describe the linear or rotational velocity of a motor or other object in motion Start Bits RS 232C character transmissions begin with a bit which signals the APPENDICES 81 logical one or high is represented receiver that data is now being by a voltage from 2 5V to 5V transmitted XON XOFF Static Torque Two ASCII cha
12. values match the IF statement L19 Loops 10 times T S Pause tor 5 seconds G Execute the move Go E Change the direction of the move N End the loop NIF End the IF condition O Set Programmable Outputs VALID Programming Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES Onnnnnn n output 0 off 0 Sequence Immediate on or off 1 on X don t care EXECUTION TIME lt 10 ms SEE ALSO oDLy I O Description The Output 0 command turns the programmable output bits on and off The output can indicate that the motor is in position about to begin its move or is at constant velocity etc The PLC can read the 6 outputs as the least significant bits of the upper address If the Model 303 is in slot address 00 to 07 the 6 outputs can be read at address 100 to 105 The 0 command cannot be used with an extended card cage Example Command Description A5 Set acceleration to 15 rps gt v5 Sets velocity to 5 rps gt D2 Set move distance to 20 000 steps gt 081 Set programmable output 1 off and output 2 on gt G Executes the move Go gt 088 After the move ends turn off outputs 1 and 2 outputs 3 6 are not affected 56 MODEL 303 USER GUIDE PR Position Request VALID Status Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES PRx X axis X X Y Y None Sequence Immediate and Z Z axis A all axes EXECUTION TIME lt 10 ms SEE ALSO Pz SP RESPONSE TO PRx IS See Below
13. A program is being executed B5 B 1 Y u can set these general outputs to any logic level in immediate mode or under program control Note that outputs are labeled from 1 to 6 Zero is not used Command MN Sets normal preset mode gt A12 Sets acceleration to 10 rps gt vig Sets velocity to 10 rps gt D25 Sets distance to 25 000 steps gt TR P L The move cannot be made until inputs 1 4 are off and 5 is on gt 016008 Turns output 1 on gt G Executes the move Go If you are in Normal mode MN output 1 will indicate when the move is complete If you are in Continuous mode MC output 1 will signify when the move begins You can use the Trace XTR command to compare how commands are executed in these two modes Time Dela ys You can use the Time T command to delay execution of a sequence for a preset period of time Command gt MN Sets normal preset mode gt A19 vig D25 Sets the move parameters gt G Executes the move Go gt T19 Sets a time delay of 10 seconds gt G Executes the move Go gt XT Ends the sequence 36 MODEL 303 USER GUIDE Branching You can use the Conditional IF statement for conditional branching within a program This command tests the input conditions If the condition is true all commands that follow the IF statement are executed If the conditions are not true the Model 303 will skip all of the commands associated with the condition until it
14. Command MN Set positioning mode to preset gt AS Set acceleration to 5 rps gt V5 Set velocity to 5 rps gt DI Set distance to 1 000 steps gt G Executes the move Go The motor turns 1 000 steps in the CW direction after the G command is issued The motor comes to a stop after the move Normal mode is the default operating mode It is in effect upon power up In a sequence execution of commands always stops at the G command until the incremental move has been completed CHAPTER 5 SOFTWARE REFERENCE 53 VALID Software Version A Absolute Position Mode MPA Motion SYNTAX UNITS RANGE DEFAULT M None None None PA EXECUTION TIME lt 10 ms SEE ALSO MC MN MPI Description The MPA command sets the indexer to the Absolute Position mode In this mode the Distance command D serves as an absolute position command To return to the Incremental mode use the MPI command MPI is the default position mode The MPA mode can only be used if one axis is active ATTRIBUTES Sequence Immediate MP Incremental Position Mode VALID Motion Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES MPI None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO MC MN MPA Description The MPI command sets the indexer to the Incremental Position mode In this mode the Distance D command serves as an incremental position command Incremental mode is the default operating mode it is in effect upo
15. GIOUNGING urene 19 homing function 22 Homing Operation 23 al nin suse 17 Incremental mode 26 Indexer Insertion 18 Input and Output Circuits 69 lU C see 10 23 command valid strobe line 10 Input Bit Command Structure 10 programmable inputs 23 trigger Inputs sirisser sorsas 34 modes of operation 27 Immediate mode 28 Interactive Edit mode 28 PLC Operation 33 motion prolila AAA 25 Triangular Profile 25 Normal mode eee 26 DUIDUIS Langlee 9 35 Programmable Outputs 23 power supply eee een eere 67 preset MOVE iiic esce scese Sees orar a secan 26 RS 232C communications 6 20 67 71 RS 232C Connection 6 Sequences eeronorrranrannnsnnnenrronenneser 33 Ship Kit List cessere 5
16. Waits until inputs match S Stops the motor XT Ends sequence 5 definition Use XG5 to execute sequence 45 The motor will begin to move at 5 rps Use the TEST command to force the inputs to match the TR command values gt TEST L This will allow the motor to continue execution The motor will accelerate to 10 rps Now use the TEST command to force the inputs to match the values of the second TR command gt TEST1g909292 This will stop the motor You can also see the impact of the TEST command by using the R command to review the state of the registered data VALID Software Version A Trigger TR Programming SYNTAX TRnnnnn ATTRIBUTES Sequence DEFAULT 0 UNITS n input bit pattern EXECUTION TIME lt 10 ms SEE ALSO r R check reg data TEST Description The TR command is only valid in a sequence Commands that follow the TR command will not be executed until the PLC or the TEST command make the inputs match the TR command s value nnnnn Refer to Chapter 2 Getting Started for more information on hardware latching of inputs Refer to the TEST command description for more information on setting inputs through the serial port Inputs 5 and 6 must be high Example Command Description 5 V5 AS MC G Begins continuous motion at 5 rps TR12111 Sequence execution stops here until the registered inputs match the TR command s values vig G Accelerates to 10 rps C
17. and complete any settings e g motor current CAUTION Never disconnect the motor with power on This will damage the contacts of the motor connector Before proceeding be sure that you have properly made all connections and settings Indexer Settings RS 232C Connection Indexer Drive Connection Drive Functions Drive Motor Connections To ensure that you have wired the Model 303 and the other components of your system properly use the following instructions to perform a move Apply power to the PLC external power supply and the drive Use the Motor Resolution MR command to set the motor resolution to 25 000 motor steps rev MR25 To ensure that the motor resolution is properly set issue the Status Report R command Under the Active Parameters portion of this report the current motor resolution is shown The motor resolution is highlighted in the example below This is only part of the report Refer to the R command description in Chapter 5 Software Reference for the entire report Step 3 8 Bit Outputs CHAPTER 2 GETTING STARTED 9 ACTIVE PARAMETERS AXIS 1 MR225ggg GHVnn nn GHFnn nn VSnn nn Vnn nn Annn nnn 2 D nnnnnnnn Tnnn nn Lnnnnn The active axis or axes will be displayed e g X or XYZ MPA MPI or MC will be in this position This indicates if the system is in Absolute Incremental or Continuous mode Using the terminal enter the following commands gt X A5 V
18. any line after you enter the Q delimiter Comments can be useful when you need to briefly describe the action that a statement line will perform 40 MODEL 303 USER GUIDE General Command Listing VALID Software Version A Set Acceleration Motion ATTRIBUTES Sequence Immediate DEFAULT 0 RANGE 0 01 to 999 99 motor dependent EXECUTION TIME lt 10 ms SEE ALSO p v G Description The Acceleration command specifies the acceleration rate to be used upon executing the next Go G command The acceleration remains set until you change it You do not need to reissue this command for subsequent G commands If you set the acceleration value outside the valid range the Model 303 will use the previous valid acceleration setting SYNTAX UNITS Annn nn n rps Example Command MN Sets the moves to mode normal preset moves gt AS Sets acceleration to 5 rps gt vig Sets velocity to 10 rps gt DI Sets distance to 10 000 steps gt 6 Executes the move Go CLR Clear Entire Program VALID Edit Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES None None Immediate EXECUTION TIME lt 10 ms SEE ALSO D E EXR I LST Description This command clears erases the entire user program The Model 303 will prompt you to enter Y or N to verify your intentions before it erases the memory You can use the Delete D command to delete individual sequences This
19. e Humidity O to 95 non condensing The Model 303 is protected against short circuit and over temperature Compumotor does not recommend that you test these features or operate your system in such a way as to induce short circuiting or overtemperature situations Before you proceed with this section you should have completed all of the steps and procedures contained in Chapter 2 Getting Started The system should still be in the preliminary configuration you created during Chapter 2 Started The Model 303 should be in the PLC You should already be familiar with the set up procedures for communications power and the ESTOP Each PLC port has a unique device address The Model 303 will assume the device address of the port in which it is inserted You can insert the Model 303 Indexer into any available port Figure 3 1 shows the standard addresses given to PLC ports Outputs 130 137 120 127 110 117 Power Supply Figure 3 1 PLC Port Addresses 18 MODEL 303 USER GUIDE Extended PLC Cages Indexer insertion e Ina standard rack system the jumper refer to Figure 3 2 must be placed over pins 1 and 2 e Inan extended PLC cage the jumper refer to Figure 3 2 must be placed over pins 2 and 3 The jumper disables the 1XX octal addresses on the card If you need to modify the jumper setting that you used during Chapter 2 Getting Started push in the buttons at the top and bottom of the Model 303 s front panel to remo
20. mode MC the motor will accelerate to its constant velocity when you issue a G Go command The motor will run at constant velocity until you issue a Stop or Kill command a command that interrupts motion Command gt MC Sets unit to Continuous mode gt A1 Sets acceleration to 10 rps gt Vig Sets velocity to 10 rps gt G Executes the move Go In the example above the motor will ramp up to 10 rps and continue to run You can command a new velocity while the motor is running Command gt v5 Sets velocity to 5 rps gt G Executes the move Go The motor will decelerate from 10 rps to 5 rps using the previously specified acceleration rate Modes of Operation immediate RS 232C Mode This section discusses the three modes of operation that are applicable to the Model 303 e Immediate RS 232C e Interactive Editing e PLC Operation The Model 303 s RS 232C interface port allows you to send motion commands for immediate execution You can also use this port to interactively edit motion programs and sequences that are stored in the Model 303 s internal nonvolatile memory You can enter and edit sequences from any RS 232C terminal or computer Being able to execute commands as soon as they are received is especially useful during set up and debugging when you are installing the system or if an application requires data from a remote computer or programmable controller All commands are composed of simple ASCII ch
21. of actual damping to critical damping Less than one is an underdamped system and greater than one is an overdamped system Data Bits Since the ASCII character set consists of 128 characters computers may transmit only seven bits of data However most computers support an eight bit extended ASCII character set DCE Data Communications Equipment transmits on pin 3 and receives on pin 2 Dead Band range of input signals for which there is no system response Decibel A logarithmic measurement of gain lf G is a system gain ratio of output to input then 20 log G equals gain in decibels dB Detent Torque The minimal torque present in an unenergized motor The detent torque of a Compumotor or step motor is typically about one percent of its static energized torque Duty Cycle For a repetitive cycle the ratio of on time to total cycle time Duty Cycle On Time On Time 4 Off Time 80 MODEL 303 USER GUIDE Efficiency The ratio of power output to power input Encoder device that translates mechanical motion into electronic signals used for monitoring position or velocity Friction resistance to motion caused by surfaces rubbing together Friction can be constant with varying speed Coulomb friction or proportional to speed viscous friction Full Duplex The terminal will display only received or echoed characters Gain The ratio of system output signal to system input signal
22. of items you should have received with your shipment It will help you become familiar with the system and ensure that each component functions properly You will configure the system properly in this chapter This chapter will help you properly mount the system and make all electrical connections Upon completion of this chapter your system should be completely installed and ready to perform basic operations This chapter will help you customize the system to meet your application s needs Important application considerations are discussed Sample applications are provided This chapter explains Compumotor s X Series programming language in detail It describes command syntax and system parameters that affect command usage An alphabetical list of all commands with a syntax and command description for each command is included This chapter contains information on system specifications dimensions and performance This chapter describes Compumotor s recommended system maintenance procedures It also provides methods for isolating and resolving hardware and software problems Installation Process Overview Developing Your Application Installation Recommendation CONTENTS v To ensure trouble free operation you should pay special attention to the environment in which the Model 303 will operate the layout and mounting and the wiring and grounding practices used These recommendations are intended to help you easily and safe
23. reaches an End of If Statement NIF command You can use the Conditional IF statement in conjunction with the xc GOTO sequence and the XR GOSUB sequence commands for flexible program development CHAPTER 5 SOFTWARE REFERENCE 37 CHAPTER 5 SOFTWARE REFERENCE Chapter Objectives The information in this chapter will enable you to Identify the five types of commands in Compumotor s X Series Language e Use this chapter as a reference for the function range default and sample use of each command Description of Format OPR status Ol syntax units PRx X JEXECUTION TIME Position Request v Ovauip Software Version A prance perauLt SArrRIBUTES X X axis None Y Y axis Z Z axis A all axes Sequence Immediate Osee ALSO PZ SP RESPONSE TO PRx IS See Below 1 Mnemonic Code 2 Type Edit Motion Programming Set Up Status 3 Full Name This box contains the command s mnemonic code and the command type The command types are described below This portion of the box contains the command s type The five command types are listed below You can use edit commands to create or modify sequences Motion commands affect motor motion i e accelerate velocity distance go home stop direction mode etc amming commands affect programming and program flow For example output all sequence commands time delays loop and end loop and triggers Set up
24. s holding torque divided by the inertia of its rotor The higher the ratio the higher a motor s maximum acceleration capability will be Transfer Function A mathematical means of expressing the output to input relationship of a system TTL Transistor Transistor Logic Describes a common digital logic device family that is used in most modern digital electronics TTL signals have two distinct states that are described with a voltage a logical zero or low is represented by a voltage of less than 0 8V and a INDEX 83 INDEX lio AA N AET E 12 Storage Temperature 17 Absolute mode 26 Time Delays 35 Ambient Operating Temperature 17 axis commands arernornonernonrovensenenrer 39 Basic System Wiring Diagram 5 Brancnmg ae 36 Continuous mode 27 device address esee 17 Drive Connections eeseeee 8 AMINO NS 29 Clearing Memory 33 Deleting A Sequence 32 Edit a Line pc 30 Exiting Edit Mode 30 Inserting and Deleting Lines 32 Listing Sequences 31 ESTOP Input ariista DO limit switches us 21 extended PLC cage 6 18 External Power Supply 20
25. terminate the line The total length or number of lines within a program block is limited only by the size of the nonvolatile memory To exit the Edit mode enter Q Quit Edit Mode and press the carriage return lt cr gt This keystroke combination terminates the editing sessioh You may also press lt cr gt on an empty line or the ESC key to end an editing session If you do not complete the edited sequence with an End Sequence XT command the sequence that follows the edited sequence in the program s memory will be executed when you run the edited sequence Sequence numbers can serve as labels for subroutines or branches Refer to the following example 95 A5 V5 D25 G T2 96 AL V2 D582 G XT When sequence 6 is called a move of 5 000 steps will be performed When sequence 5 is called a move of 25 000 steps will be executed followed by a wait delay of two seconds After the two seconds have elapsed the 5 000 step move of sequence 6 will be executed Command gt EXR15 Retrieves sequence 15 for editing CHAPTER 5 SOFTWARE REFERENCE 45 LET o CC SYNTAX UNITS RANGE DEFAULT G None None None EXECUTION TIME lt 10 ms SEE ALSO A p K MC MPA MPI MN S V VALID Software Version A ATTRIBUTES Sequence Immediate Description The Go G command instructs the axis to make a move using motion parameters that you have previously entered You do not have to re enter Acceleration A
26. this command only after you issue a Stop S command It enables the Model 303 to complete a move that was interrupted with the S command After you initiate a pause you can clear it with an RE command You can also execute Pause and Resume commands with the 8 bit interface refer to Chapter 2 Getting Started VALID Software Version A Example Command MN Sets move to Norma mode gt D599g9gg Sets distance to 500 000 steps A5 Sets acceleration to 5 ps gt V5 Sets velocity to 5 rps gt G Executes the move Go gt S Interrupts execution of move gt RE Resumes execution of move R Report Software Revision VALID Status Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES RV None None Immediate EXECUTION TIME lt 10 ms SEE ALSO RESPONSE TO rv IS 92 11 7 1A Description The RV command reports the version of software in the indexer FANE ae SYNTAX UNITS RANGE DEFAULT ATTRIBUTES S None None None Sequence Immediate EXECUTION TIME 10 ms SEE ALSO K Description This command allows you to stop axis motion When the indexer receives the S command it immediately initiates a ramped deceleration You can also execute a stop with the 8 bit interface refer to Chapter 2 Getting Started VALID Software Version A CHAPTER 5 SOFTWARE REFERENCE 59 VALID Software Version A SP Programming Set Position Counter ATTRIBUTES Sequence Immediate UNITS RANGE DEFAULT
27. 029 HOMES X 1 Y 1 Z 1 CEA EA AAA ADA AAA AA AAA AAA AAA AAA AAA AAA AAA AA AAA AAA ALCA AAA AAA AAA REGISTERED DATA INPUTS Il I2 13 0 i4 2 15 OUTPUTS O12 02 Y 03 04 O05 06 Y POSITION X tnnnnnnnn POSITION Y nnnnnnnn POSITION Z itnnnnnnnn KARA AAA AAA AAA AAA AAA sa ACTIVE PARAMETERS AXIS 1 X MRnnnnn GHVnn nn GHFnn nn VSnn nn Vnn nn Annn nnn 2 D nnnnnnnn Tnnn nn Lnnnnn I The active axis or axes will be displayed e g X or XYZ 2 MPA MPI or MC will be in this position This indicates if the system is in Absolute Incremental or Continuous mode If you receive the data listed above your RS 232C connection is working properly If you do not receive the response check your wiring and perform the steps again Before proceeding remove power from the PLC Connect the external power EXT V external ground EXT GND and emergency stop input ESTOP to the drive outputs as shown in Figure 2 4 Compumotor recommends that you make multiple connections to a terminal block and a single connection to the Model 303 MODEL 303 USER GUIDE Setting Drive Functions Making a Move Step 1 Step 2 5V External Power Supply MODEL 303 Figure 2 4 Model 303 Drive Connections Refer to the manual that accompanied the drive you are using with the Model 303 Indexer Follow the instructions provided in the manual to configure the motor and drive
28. 13 D5 4 H 535 G 6 XT Editing Sequence 10 gt N 4 4 H Deleted 1 10 A192 2 vig 3 D5 4 G 5 XT Editing Sequence 16 gt If you want to delete an entire sequence from memory use the following steps Enter the Edit Sequence EXRnn command 2 At the edit prompt gt type D and press the carriage return key 3 The system will ask you to verify your request before the sequence is deleted D Are You Sure Y N Y Sequence nn Deleted The variable nn refers to the sequence st to be deleted Clearing Memory PLC Operation Program Design Sequences CHAPTER 4 APPLICATION DESIGN 33 Occasionally you may want to clear the entire contents of the battery backed RAM memory To do this use the Clear CLR command The system will ask you to verify your request to clear the memory before performing the task Refer to the example below gt CLR Are You Sure Y N MN Enter Y to clear gt The Model 303 also communicates with the PLC processor GE Fanuc One and TI Series 3057 over the backplane communication bus The PLC program can instruct the Model 303 to execute a pre programmed sequence monitor the status of the indexer and synchronize the motion program with the rest of the machine it is controlling Chapter 2 Getting Started discusses the Model 303 s inputs and outputs and their role in communication with the PLC re
29. 5 D25 G lt cr gt Please note the spaces between the commands and the carriage return after the Go G command A description of each command is given below Mode Normal is the default Command Description x Selects X Axis gt AS Sets acceleration to 5 rps gt v5 Sets velocity to 5 rps gt D25 Sets distance to 25 000 steps gt G Executes the command Go The X axis should move 25 000 steps in the CW direction If the motor does not move check the wiring Figure 2 4 and refer to Chapter 7 Troubleshooting If the message ESTOP ACTIVE is displayed on the PLC terminal you must ground the ESTOP input refer to Figure 2 4 To make the motor move in the CCW direction enter the following commands Command gt H Changes the direction of movement gt G Executes the command Go The previous acceleration velocity and distance parameters are repeated in this move but in the CCW direction The Model 303 Indexer has outputs to the PLC These outputs are transmitted on the upper octal addresses If the card is in the slot to the left of the Series One CPU the outputs from the indexer card which are inputs to the PLC would occupy an address space from 100 to 107 The address 100 corresponds to B and 107 corresponds to B7 Refer to the example below refer to Figure 3 1 for more information on rack addresses If you are using an extended card cage the output bit addresses are not available refer to th
30. Button Jumper Button Figure 2 2 Location of Jumper for Standard Card Cage You can program the Model 303 with any ASCII device that communicates via standard RS 232C The terminal s parameters for RS 232C communications should be e Baud Rate 9 600 fixed e Stop Bit 1 e Data Bits 8 e Echo Off The Model 303 s echo function is always on Attach the RS 232C connection from your ASCII device to the 9 pin D connector on the front panel of the Model 303 refer to Figure 2 3 If you are using an IBM PC an RS 232C cable is provided Model 303 9 Pin Connector Figure 2 3 RS 232C Connection Testing Communications Drive Indexer Connection CHAPTER 2 GETTING STARTED 7 To ensure that the RS 232C connection is operating properly complete the following steps 1 Apply power to PLC If your terminal is already on you will see a message indicating that the indexer is ready Below the message a prompt should be present Press the Return key A new prompt should appear 1f you powered up your terminal after you powered up the Model 303 press the Return key The terminal should display a prompt 2 Type R and press the Return key always use a carriage return as the delimiter The Model 303 will display the Dynamic Data Registered Data and Active Parameters The Status Report R command s response is shown below DYNAMIC DATA INPUT BYTE BO B7 00000002 OUTPUT BYTE BO Bl 00000
31. Compumotor Division Parker Hannifin Corporation p n 88 011293 01 B User Guide Change Summary Chapter 1 introduction Chapter 2 Getting Started Chapter 3 Installation Chapter 4 Application Design Chapter 5 Software Reference Chapter 6 Hardware Reference Chapter 7 Maintenance The following is a summary of the primary changes to this user guide since the last version was released This user guide version 88 01 1293 01B superseded version 88 011293 01A When a user guide is updated the new or changed text is differentiated with a change bar in the right margin this paragraph is an example If an entire chapter is changed the change bar is located to the right of the chapter title The entire user guide has been changed according to the new Compumotor user guide styles and illustration standards Also the chapters have been renumbered and reorganized There were no changes to Chapter l Changes to Chapter 2 are summarized as follows e Added 8 Bit Inputs PR Position Report R Report Status commands e Removed note saying Kill and Reset Outputs are not cleared at the start of deceleration There were no changes to Chapter 3 Changes to Chapter 4 are summarized as follows e Clarified sequence memory status Changes to Chapter 5 are summarized as follows e Changes to DYL command e The 0 command will not work with an extended card cage Changes to Chapter 6 are summarized as follows
32. DEFAULT R None None None EXECUTION TIME lt 10 ms SEE ALSO RESPONSE TO R IS See Below VALID Software Version A ATTRIBUTES Immediate Description This command provides you with a report of the indexer s current status The status report includes the following information e PLC input values e Indexer output values e Current position count e Last operating parameters A sample response from the R command is shown below DYNAMIC DATA INPUT BYTE B B7 00000029 OUTPUT BYTE BO Bl 900000005 HOMES X 1 Y 1 Z 1 REAKKKKEKKEKEKEKKEEKEEEKKKEKKKKEKAEKEEKKKEKEKANEKKKKKKEKEKEKEKKKKKKK EK REGISTERED DATA INPUTS 11 9 12 29 13 2 T4 B 15 86 OUTPUTS 01l 02 Y O 04 4 05 B 06 6 POSITION X tnnnnnnnn POSITION Y tnnnonnnn POSITION Z tnnnnnnnn AEB AAA AAA AAA AAA AAA AAA AAA AAA AAA AAA r roe AAA AA AAA AAA AAA ACTIVE PARAMETERS AXIS 1 MRnnnnn GHVnn nn GHFnn nn VSnn nn Vnn nn Annn nnn 2 D nnnnnnnn Tnnn nn Lnnnnn The active axis or axes will be displayed e g X or XYz 2 MPA MPI or MC will be in this position This indicates if the system is in Absolute Incremental or Continuous mode 58 MODEL 303 USER GUIDE n SYNTAX UNITS RANGE DEFAULT ATTRIBUTES RE None None None Immediate EXECUTION TIME lt 10 ms SEE ALSO s Description The Resume RE command continues the execution of an interrupted sequence The indexer recognizes
33. HAPTER 5 SOFTWARE REFERENCE _ 61 VALID Software Version A V Velocity Motion ATTRIBUTES Sequence Immediate DEFAULT 0 rps RANGE 0 01 13 00 if MR 25 000 EXECUTION TIME lt 10 ms SEE ALSO A D G VS Description This command allows you to set the maximum speed that an axis may reach during a move The Model 303 can only output 325 kHz Thus the maximum velocity allowed when the motor resolution MR is equal to 25 000 is v13 325 000 steps per sec 25 000 steps per rev To move the motor at a faster speed set the drive to a coarser resolution A motor resolution of 10 000 would allow the maximum velocity to be SYNTAX UNITS Vnn nn n rps 32 5 rps 1 950 rpm Example Command MC Sets unit to Continuous mode gt Al Sets acceleration to 1 rps gt V5 Sets velocity to 5 rps gt D259g99 Sets distance to 25 000 steps gt G Executes the move Go VS Initial Velocity VALID Programming Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES VSnn nn n rps 0 01 99 99 0 rps Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO A D G V Description At the outset of a move this command sets the initial velocity This command allows you to avoid specific low frequency ranges that might stall or resonate step motors Example Command gt MC Sets unit to Continuous mode gt Al Sets acceleration to 1 rps gt v5 Sets velocity to 1 rps gt VS1 Set
34. SIGN 3 1 You can list sequences by using the LST command This command lets you list the entire contents of memory specified sequences or ranges of sequences This command lists the entire nonvolatile sequence memory This command allows you to list the designated sequence This command allows you to list all sequences within a specified block e g 15 30 This command allows you to list all sequences from a specified sequence to the end of the program This command allows you to list all sequences from the beginning of the program to a specified sequence of the program When you list multiple sequences or enter LST or LST63 the number of bytes of program memory that are available will be displayed after the contents of the sequences 32 MODEL 303 USER GUIDE Inserting and Deleting Lines Deleting A Sequence When you are in the Edit mode you can insert and delete lines in a sequence To insert a line type the I Insert command followed by the line number that follows the point where you want to insert a new line For example if you wanted to insert a line between lines 3 and 4 you would specify line 4 as the point of insertion Your new line will be inserted between the previous lines 3 and 4 Refer to the following example gt EXRAIZ 1 10 A19 2 V1g 3 D25 04 G 5 XT Editing Sequence 16 gt 1 4 4 Inserting gt gt gt H 1 10 A12 42 vi
35. Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES DLYnnnnnnnn n steps O 99 999 999 0 Sequence EXECUTION TIME lt 10 ms SEE ALSO G T TR Description The DLY command delays program execution based on position counts that you specify A DLY command must follow a Go command in a sequence The number of steps that you specify as the DLY variable represents the count of relative steps from the initiation of the previous Go command that program execution will be delayed This command is similar to the Time Delay T command except that the T command delays execution according to a specified time Several examples are provided below NOTE The DLY command only works in Continuous mode Changing Velocity Command Description After Position Delay 5 A5 vi MC G Begins continuous move at 1 rps DLY1 V3 G Ramps motor to 3 rps after 100 000 steps DLY1 V5 G Ramps motor to 5 rps after 100 000 more steps DLY12 622 S Stops the motor after 100 000 more steps e E VALID Edit Software Version A SYNTAX E nnn ATTRIBUTES Immediate Edit a Line in a Sequence UNITS nnn line RANGE DEFAULT 1 999 None number EXECUTION TIME lt 10 ms SEE ALSO D EXR I Q Description This command allows you to edit a single line within a sequence The value that you specify with the E nn command is the nth line counted from the beginning of that block You can only use this command in Edit mode
36. The command is displayed in boldface Be sure to separate each command with a space press the space bar Press the carriage return key to execute the commands on a specific line In this user guide commands e often shown in a vertical fashion so that a short explanetion of each command can be provided Refer to the example below Command Description gt A5 Sets acceleration to 5 rps gt v5 Sets velocity to 5 rps gt DI Sets distance to 1 000 steps gt G Executes the move Go On your computer screen or terminal the command string shown above would actually look like the example shown below gt A5 V5 D1992 G lt cr gt Responses are set in all capital letters as they are on the terminal An example is provided below Command RV 92 011007 01A The system generally ignores command syntax that is not within the valid range for a specific command valid ranges are provided in Chapter 5 Software Reference Compumotor does not guarantee system performance when the system executes commands that contain invalid syntax outside valid range Warning and caution notes alert you to possible dangers that may occur if you do not follow instructions correctly Situations that may cause bodily injury are presented as warnings Situations that may cause system damage are presented as cautions These notes will appear in bold face and the word warning or caution will be centered and in all capital letters Refer to th
37. UNITS DEFAULT ATTRIBUTES Hx x direction None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO Description The commanded direction will be used when the indexer receives this command A plus sign represents a CW motion A minus sign represents a CCW motion If you do not specify a or the direction will be toggled Example Command gt MN Sets unit to Normal mode A5 Sets acceleration to 5 rps gt v5 Sets velocity to 5 rps gt D25 Sets distance to 25 000 steps gt G Executes the move Go gt E Changes the direction of the move gt G Executes the move in opposite direction Go VALID Software Version A Insert a Line Within a Sequence Edit SYNTAX UNITS RANGE DEFAULT I nnn nnn line 1 999 None number EXECUTION TIME lt 10 ms SEE ALSO p E EXR Q Description The 1 command is an Edit mode command that is valid only after you have entered an EXR Edit a Sequence 1n a Program command The I command variable nn allows you to insert a new line counted from the beginning of the block After you insert the line and press the carriage return to mark the end of the line the entire block is rewritten to include the change You will be prompted to enter your next edit mode command by an asterisk ATTRIBUTES Immediate CHAPTER 5 SOFTWARE REFERENCE 49 To exit the Edit mode you must enter Q Quit Edit Mode and press the carriage return
38. YNTAX UNITS RANGE DEFAULT See Below n line 4 1 63 1 EXECUTION TIME lt 10 ms SEE ALSO CLR EXR Description You can use the List command in a variety of ways This command allows you to display all of the sequences in the unit s memory LST This command lists the entire nonvolatile sequence memory LSTnn This command allows you to list the designated sequence VALID Software Version A List Program ATTRIBUTES Immediate CHAPTER 5 SOFTWARE REFERENCE _ 51 LSTnn nnn This command allows you to list all sequences within a specifled block e g 15 30 LSTnn This command allows you to list all sequences from a specified sequence to the end of the program LST nn This command allows you to list all sequences from the beginning of the program to a specified sequence of the program Example Command LST Lists all current sequences 5 MPI MN D 1 V11 A82 6 IF 1000000 S NIF 0111111 L1 7 5 GH N T1 RG XT MC Mode Continuous VALID Motion Software Version SYNTAX UNITS DEFAULT ATTRIBUTES MC None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO A G MN T TR V Description The Mode Continuous MC command causes subsequent moves to ignore any distance parameter and move continuously You can clear the MC command with the Mode Normal MN command MN is the default mode The controller uses the Acceleration A and Velocity Vv commands to reach continuous velocity U
39. a cable for this connection part number 71 11319 10 Connector Hx JL GREEN Ji Pin 2 Shield J Le OND Connector Ping o Pin 3 The pin out for the 25 pin D Motor Driver cable part number 71 11189 10 for connection between the Model 303 and a Ein 45 n Compumotor drive is provided below m Compumotor indexer 25 Pin Connector Pinglo Pins2 The pin connections for the inputs and outputs on the 10 pin screw terminal are shown in Figure 6 2 External V 5V External Gnd Step X Step Y Step Z od on Oo NM A Y A O o O O a Figure 6 2 10 Pin I O Connector The typical output circuit for the step and direction signals and the typical input circuit for the home and disable input signals is shown in Figure 6 3 LEDs CHAPTER 6 HARDWARE REFERENCE 69 External V 5V Extemal Gnd Step X Step Y Step Z 1 e 3 4 5 6 7 8 9 YVVYVV9 VVg0gd mb o Figure 6 3 Typical Input and Output Circuits All of the inputs and outputs as well as the RS 232C interface are optically isolated The busy LED indicates that a sequence is currently running The moving LED indicates that steps are being sent to the drive System Specifications VO Specifications Memory The following performance specifications apply to the Model 303 indexer Maximum Step Output Frequency 325 000 pulses second Nonvolatile Memo
40. and moves in the CW direction until the home switch becomes inactive 3 The motor creeps to the CCW edge of the switch at the velocity you set with the GEF command The motor stops when the switch becomes active At the end of the go home move the position is automatically zeroed Inputs amp Outputs Inputs Programmable Outputs CHAPTER 3 INSTALLATION 23 GH for CW Edge GH for CW Edge Home Switch Active Region Figure 3 5 Homing Operation This section discusses the Model 303 s inputs and outputs The Model 303 has eight inputs five of which can be used for program control Chapter 2 Getting Started contains a description of these inputs General nrogrammable inputs may be defined as end of travel limits or used for pi ogram conditional branching The inputs are labeled from 1 to 5 is not used Upon power up the inputs are initialized to a logic zero state until the PLC reprograms an input specifically Data from the PLC may be dynamically transmitted to the indexer card via the general inputs when B5 and B6 are both high logic 1 Ifeither B5 or B6 go low the last state of the inputs are saved to the indexer card The strobe line B7 is not used to latch the state of these inputs If you switch the PLC mode from RUN to PROG using the key all of the latched inputs will be set to zero To test your programming without a PLC program or while the PLC is in PROG mode you can set the state of the input
41. anel With a standard 3 wire RS 232C interface the Model 303 uses an extended form of Compumotor s X Series Language for ease of programming and flexibility of interactive control with the PLC rack The Model 303 has an on board editor that provides complete program creation modification and monitoring through a remote terminal As programs are written they are automatically stored in nonvolatile memory Execution may begin at any point in the stored program as designated by the PLC program or through the RS 232C port The point at which motors are commanded to move may depend on PLC contacts time and position information You can even program the Model 303 to turn on and off outputs of the PLC within the execution of its own program This bus compatible product provides complete backplane integration between the PLC and the motion axes MODEL 303 INDEXER Busy 9 o MOVING e EXTOND EXT V STEPX STEP Y STEP Z DIR HOMEX HOMEY HOMEZ ESTOP Figure 1 1 Model 303 Front Panel 2 MODEL 303 USER GUIDE Product Features There are home input lines for each axis to decouple the scan time of the PLC for sensing motor home positions The Model 303 controls motor axes independent of the PLC s CPU The indexer is not burdened by PLC scan time limitations The scan time of the PLC is only pertinent in the communication between the Model 303 and the PLC through the backplane Figure 1 2 is an example of a Model 303 configu
42. aracters 28 MODEL 303 USER GUIDE Sending Characters Requesting Status In Immediate mode the indexer responds with a prompt when it receives a valid command and a question mark when it receives an invalid command If you enter a valid command but enter an invalid range e g V2 the Model 303 will respond with a question mark The interactive responses are preceded with a carriage return and a line feed In Interactive Edit mode the Model 303 does not check syntax command validity or ranges You must execute a defined sequence to determine if it is interpreted properly Use the Trace XTR command to see where question mark appear to find invalid commands When the Model 303 is connected to a terminal and you issue a carriage return cr a prompt will be provided gt The Model 303 is now ready to receive commands The following commands demonstrate what you would type to perform an incremental move Command gt FSB Sets unit to motor step mode MPI Sets unit to Incremental mode gt ALS Sets acceleration to 10 rps gt vi Sets velocity to 1 rps gt D25269 Sets distance to 25 000 steps gt 6 Executes the move Go All commands listed in Chapter 5 Software Reference that are categorized as immediate can be executed in this fashion There are several commands that you can use to request status information from the Model 303 s RS 232C port You can also obtain this information fr
43. at the reflected inertia of the load is equal to the rotor inertia of the motor Lead Compensation Algorithm A mathematical equation implemented by a computer to decrease the delay between the input and output of a system Limits d Properly designed motion contro systems have sensors called limits that alert the contro electronics that the physical end of travel is being approached and that motion should stop Logic Ground An electrical potential to which all control signals in a particular system are referenced Microstepping An electronic control technique that proportions the current in a step motor s windings to provide additional intermediate positions between poles Produces smooth rotation over a wide speed range and high positional resolution Null Modem A simple device or set of connectors which switches the receive and transmit lines of a three wire RS 232C connector Open Collector term used to describe a signal output that is performed with a transistor n open collector output acts like a switch closure with one end of the switch at ground potential and the other end of the switch accessible Open Loop Refers to a motion control system where no external sensors are used to provide position or velocity correction signals OPTO isolated A method of sending a signal from one component to another without the usual requirement of common ground potentials The signal is transmitted opti
44. ation Move Profiles In any motion control application the most important requirement is precise position whether it be with respect to time or velocity A motion profile represents the velocity of the motor during a period of time in which the motor changes position The type of motion profile that you need depends upon the motion control requirement that you specify The basic types of motion profiles are described below Triangular and For indexing systems you must define velocity acceleration Trapezoidal Profiles and distance parameters before the system can execute a preset move The value of these parameters determines the motion profile as either triangular or trapezoidal A triangular profile results when the velocity and acceleration are set such that the defined velocity is not attained before the motor travels half of the specified distance This results from either a relatively low acceleration a relatively high velocity or both A triangular profile is shown in Figure 4 1 Triangular Profile Trapezoidal Profile Velocity ms Figure 4 1 Triangular Profile 26 MODEL 303 USER GUIDE incremental vs Absolute Positioning Incremental Preset Mode Moves Absolute Preset Mode Moves A trapezoidal move profile results when the defined velocity is attained before the motor has moved half of the specified distance A trapezoidal move may occur if you specify a low velocity with a high acceleration or a lon
45. available memory All stored sequences do not have to be the same size e g two 500 byte sequences and four 250 byte sequences For applications that require additional memory storage capacity the Model 303 M offers 8K of battery backed RAM memory To begin entering a sequence you must issue the Edit Sequence EXR command At the prompt enter EXR followed by the sequence that you want to create Refer to the following example The commands that you enter are shown in boldface and gnderlined The interactive responses from the system are shown in plain type gt BXRI 1 18 Inserting Sequence 12 10 gt M z gt Vig A gt DESEOS gt amp gt xT gt At this point you can begin to enter the commands for sequence 10 Notice that the Model 303 prompts you with an asterisk and a bracket gt in the Interactive Edit mode To exit the Edit mode enter a cr or press the esc key Within the Interactive Edit mode there are two editing sub modes e Fill mode e Edit mode 30 MODEL 303 USER GUIDE Fill Mode Edit Mode Edit a Line Exiting Edit Mode This mode is used when no sequence exists you are creating the sequence You can fill line after line just as in the example above You will automatically enter this mode whenever you edit an existing sequence The sequence and its line numbers will be displayed You must use the line editor commands that allow you to insert edit o
46. ber of stop bits and parity If you recetve double characters for instance typing A and receiving AA your computer is set for half duplex Use DC common or signal ground as your reference not Cable lengths should not exceed 50 ft unless you are using some form of line driver optical coupler or shield As with any control signal shield the cable to earth ground at one end only To test your terminal for proper three wire communication unhook your peripheral device and transmit a character You should not recetve an echoed character If you do you are in half duplex mode Change the setup to full duplex Connect the host s transmit and receive lines and send another character You should receive the echoed character If you do not receive the echoed character consult the terminal manufacturer for the unit s serial interface and proper pin outs Test the motor to see if it has holding torque If there is no holding torque here are some probable causes There is no AC power There are bad connections or bad cables Disconnect the cables Use an ohm meter to check continuity through the cables If the unit has holding torque and the motor shaft still fails to move here are some probable causes The load is jammed You should hear the drive attempting to move the motor Remove AC power from the drive and verify that you can move the load manually away from the point of the jam Indexer parameters are incorrectly set u
47. cally with a light source usually a Light Emitting Diode and a light sensor usually a photosensitive transistor These optical components provide electrical isolation Parallel Refers to a data communication format wherein many signal lines communicate more than one piece of data at the same time Parity An RS 232C error detection scheme that can detect an odd number of transmission errors Phase Angie The angle at which the steady state input signal to a system leads the output signal Phase Margin The difference between 180 and the phase angle of a system at its crossover frequency Pole A frequency at which the transfer function of a system goes to infinity Pulse Rate The frequency of the step pulses applied to a motor driver The pulse rate multiplied by the resolution of the motor drive combination in steps per revolution yields the rotational speed in rps Ramping The acceleration and deceleration of a motor May also refer to the change in frequency of the applied step pulse train Rated Torque The torque producing capacity of a motor at a given speed This is the maximum torque the motor can deliver to a load and is usually specified with a torque speed curve Relative Accuracy Also referred to as Step to Step Accuracy This specification tells how microsteps can change in size In a perfect system microsteps would all be exactly the same size but drive characteristics and the
48. ccesssesccscesens 39 Special COmImarnds aske 39 General Command Listing etoile decere reu Fo Ee See Fokus ean Ey as PE VORNE aa C OXRR VARY Re n up EVER Gap UTE 40 Chapter 6 HARDWARE REFERENCE a is 67 Environmental SPOCITICANONE coo cocaina ceto tiva vod aa acu RM cara uua Py eiii 67 Electrical SACAMOS id 67 Power Supply Requirements ccccscccecceccecscvccccccccccaescecsessuccsecseessacensess 67 Serial Communications RS 232C 0 0 0 0 ccc cccccccccscccvcesccesscccasccvsceccceeccsscececcevescs 67 i MODEL 303 USER GUIDE 10 Pin Screw Terminal Connections cesses eene eene eene retener ethernet enn 68 2 D mr T 69 System c repe gn me tems 69 UO SBOCHICALIONS aid 69 MOMON NNN 69 Chapter 7 TROUBLESHOOTING areonenannsnvvunnunnvensnnnvenesenuerennevnenevnenenee 71 a A O 71 Problen ISI ON ia dao 71 Reducing Electrical Noise csccccsecsscsscnrecsresccsctsseecsccsccsetecasececesceeensassaees 71 AS 2320 Co mm nicatlons cosi ee 71 Motoi Fails 10 MOVO SN 72 APPENDICES se 75 command LISTING Ge 75 Warranty Effective November 1 1990 erenorrravnonevsvnnnnronennenenenenanernenvnvesnennennnannneneneer 76 ICI rri a ETT TRIP TN 79 CONTENTS LIST OF FIGURES Figure 1 1 Model 303 Front Panel 1 11 1 releee eere ccce eeu rere nnno ee inns ned aannsesveee 1 Figure 1 2 Sample Model 303 Configurati
49. ces tied cade ines 10 Sample Program for 5 Slot Rack eosseeoesesesssesssroosessossreesspesnrreserpnasoseseneene 12 Chapter 3 INSTALLATION ociosa darias 17 Environmental Considerations cocinan iaa rad ad 17 Complete System Configuration conocio diia 17 Indexer Address Settings sidra cio aca 17 ndex r TASA ON door 18 System CONASCHIONE ici aca 18 Wino Guide INOS aia ii 19 Verifying Proper Installation coincida Fra Du Ve YR AS vau sk Ye PRUSTEYK VAS 21 Testing Limit Switch Operation 1 ecce eese eee eee eene nenne ee eene rennen no 21 dn MP Reli Tm 23 Chapter 4 APPLICATION DESIGN oronevnonnannnenrnnnnenenennnnenns snsnnensanennenee 25 Motion Control COnCODIS oi eon o rar SE 25 MOVO PTOS taa 25 incremental vs Absolute Positioning ooooococorcconnccorccnconocroracaronocrnacononanos 26 Modes OF Oen Lan 27 Immediate RS 232C Mode cccscscscccessoeneccnccccsssencsencsccecssbassecnecnesceasasenecers 27 Interactive Edit MODO ss 29 modes Of operaan iii 33 Frogram DOS MP E EET 33 OOS AR 33 TOGO INDUS saci on iue tre oer ot E Y ox ende ea ton bc eco qu Nen tu dedev eov i esa Pee vea EVE QI RES 34 Programmable OUIDUTS sindicar ii ii 35 Time DOIE sa 35 A TC EUN 36 CHAPTER 5 SOFTWARE REFERENCE ooeronsannenevnnensnnenensnnnsesnenanemnenennenenee 37 Description OF FOLIDAl Ne 37 Axis Goms 39 Axis Command Considerations scscccccsssscssessesscessccceesuessccccs
50. command will also tell you how much memory is available free For example if you are using the 2 000 byte version of the Model 303 and clear memory the indexer will indicate that approximately 1 300 bytes of memory are free CHAPTER 5 SOFTWARE REFERENCE 41 Set Direction amp Distance VALID Software Version A SYNTAX RANGE DEFAULT ATTRIBUTES Dinnnnnnnn 99 999 999 0 Sequence Immediate EXECUTION TIME 10 ms SEE ALSO A G V MN MPA MPI SP Description The Distance D comrnand defines either the number of steps the motor will move or the absolute position it will seek after you enter a Go G command In Incremental mode MPI the value set with the D command will be the distance in steps that the motor will travel on all subsequent G commands In Absolute mode MPA the distance that the motor moves is the difference between the current motor position and the position specified in the D command The Model 303 ignores the D command in Continuous mode MC Example 41 Command MN Sets unit to Norma mode preset MPI Sets unit to incremental mode A5 Sets acceleration to 5 rps gt V1i Sets velocity to 10 rps gt DS Sets distance to 50 000 steps gt G Moves the motor 50 000 steps Go Example 2 Command Description gt MPA Sets unit to Absolute Position mode gt PZ Sets current axis position as zero gt AS Sets acceleration to 5 rps gt v5 Sets velocity to 5 rps gt DS
51. commands define set up conditions for the application 1 e selecting active axes Status commands respond report back with information This field contains the full command name 38 MODEL 303 USER GUIDE 4 Valid Revision Level 5 Syntax 6 Units 7 Range 8 Default 9 Attributes 10 Execution Time 11 See Also 12 Response This field contains the revision history of the command It includes the revision of software when the command was added or modified If the revision level of the software you are using is equal to or greater than the revision level listed in this field you are using the proper version of the software The proper syntax for the command is shown here The specific parameters associated with the command are also shown Definitions of the parameters are described below n This represents an integer You may use an integer to specify a variety of values acceleration velocity etc s This represents a sign character or This variable allows you to specify direction CCW or CW or a positive or negative value This field describes what unit of measurement the parameter in the command syntax represents This is the range of valid values that you can specify for n or any other parameter specified The default setting for the command is shown in this box A command will perform its function with the default setting if you do not provide a value This box indicates if the comma
52. cted to earth ground through a grounding electrode conductor to provide a low impedance path for ground fault or noise induced currents All earth ground connections must be continuous and permanent Compumotor recommends a single point grounding setup One commonly used method is to prepare components and mounting surfaces prior to installation so that good electrical contact is made between mounting surfaces of the equipment and the enclosure Remove the paint from equipment surfaces where the ground contact will be bolted to a panel and use star washers to ensure solid bare metal contact For temporary installation or when you cannot implement the grounding method described above you must connect the GROUND terminal on the AC power connector to the earth ground 20 MODEL 303 USER GUIDE Communications External Power Supply Wiring the Indexer to the Drive Limits You can program the Model 303 with any ASCII device that communicates via standard RS 232C The terminal s parameters for RS 232C communications should be Baud Rate 9 600 fixed Stop Bit 1 Data Bits 8 Echo Off The Model 303 s echo function is always on The 9 pin D connector on the Model 303 s front panel provides the RS 232C connections The pin out for this connector is defined in Table 3 1 UNN LSignalGround sm Table 3 1 RS 232C Pin Out Refer to Chapter 2 Getting Started for communications testing procedures that you can
53. d the entire user guide You should try to simulate the task s that you expect to perform when you permanently install your application however do not attach a load at this time This will give you a realistic preview of what to expect from the complete configuration 5 After you have tested the system s functions and used or become familiar with the system s features carefully read Chapter 3 Installation 6 After you have read Chapter 3 and clearly understand what must be done to properly install the system you should begin the installation process Do not deviate from the sequence or installation methods provided vi MODEL 303 USER GUIDE 7 Before you begin to customize your system check all of the system functions and features to ensure that you have completed the installation process correctly The successful completion of these steps will prevent subsequent performance problems and allow you to isolate and resolve any potential system difficulties before they affect your system s operation Conventions Commands Warnings Personal injury amp Cautions System Damage To help you understand and use this user guide effectively the conventions used throughout this user guide are explained in this section All commands that you are instructed to enter are displayed in all capital letters just as they appear on the terminal vertically A one line explanation of the command is provided next to each example
54. ds it This mode tends to slow down program execution slightly The command 1s displayed before it is executed Example Command XTR1 Instructs the PLC to send the executed command to the terminal 64 MODEL 303 USER GUIDE XY Designate X amp Y Axes VALID Set Up Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES XY None None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO x Y z xz XZ XYZ Description The xx command designates all subsequent commands as applicable to the X and Y axes only XYZ Designate All Axes VALID Set Up Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES XYZ None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO x Y Z XY XZ YZ Description The XYZ command designates all subsequent commands as applicable to all axes X Y and Z XZ Designate X amp Z Axes VALID Set Up Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES Xz None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO x Y z XY Y2 XY2 Description The XZ command designates all subsequent commands as applicable to the X and Z axes only Y Programming SYNTAX UNITS RANGE DEFAULT Y None None None EXECUTION TIME lt 10 ms SEE ALSO L N Description The Y command terminates loop execution at the end of the loop that is currently being executed VALID Software Version A Terminate Loop ATTRIBUTES Immediate
55. e Indexer Setting section earlier in this chapter The PLC may use the most significant two output bits B7 amp B6 to determine indexer status These two bits indicate whether the indexer is executing a user program i e Program Busy or if the indexer is sending pulses i e Motor Busy The other bits are general purpose outputs that are controlled by the indexer and its program The protocol of these outputs is shown below 10 MODEL 303 USER GUIDE B7 Be JP B5 I B4 83 Jj B2 B BO L Busy J ProgramBuy oe j o5 0 o4 10 os j c2 j OO B7 1 The motor is moving the indexer is sending pulses B6 1 A sequence is being executed B5 B 1 You can set these general outputs to any logic level in immediate mode or under program control The outputs are initialized to a logic zero on power up If you turn the Series One from RUN mode to PROGRAM mode all of the outputs will be reset to a logic one 1 You can program and execute commands through the RS 232C port in PROGRAM mode When you return the unit to RUN mode the outputs will be at zero state 8 Bit Inputs The Model 303 Indexer card looks like an 8 bit output card to the Series One PLC If the card is in the slot to the left of the Series One CPU the eight inputs which are outputs from the PLC would have the address space from to 7 The PLC output at address is the B input bit to the indexer card and address 7 correspo
56. e examples shown below CONTENTS vil WARNING Do not touch the motor immediately after it has been in use for an extended period of time The unit will be hot CAUTION System damage will occur if you power up the system improperly Related Publications The following publications may be helpful resources Seyer Martin RS 232C Made Easy Connecting Computers Printers Terminals and Modems Englewood Cliffs New Jersey Prentice Hall Inc 1984 Current Parker Compumotor Motion Control Catalog Operations manual for the Texas Instruments Series 305 PLC or the GE Fanuc Series One PLC that you will use with the Model 303 Indexer Schram Peter editor The National Electric Code Handbook Third Edition Quincy MA National Fire Protection Association CHAPTER 1 INTRODUCTION 1 Chapter 1 INTRODUCTION Chapter Objectives The information in this chapter will enable you to e Understand the product s basic functions amp features e Understand basic motion control concepts and apply them to your application Product Description The Model 303 Indexer is designed for plug in compatibility with the Texas Instruments Series 3057 PLC and the GE Fanuc Series One PLC Conservative electrical design and complete optical isolation of external signals maintain the industrial ruggedness of the PLC The Model 303 allows you to control up to three motion axes Figure 1 1 shows the Model 303 s front p
57. e software reset command 2 The direction of an absolute preset move depends upon the motor position at the beginning of the move and the position you command it to move to For example if the motor is at absolute position 12 800 and you instruct the motor to move to position 5 000 the motor will move in the negative direction a distance of 7 800 steps to reach the absolute position of 5 000 The Model 303 powers up in Incremental mode When you issue the Mode Position Absolute MPA command it sets the mode to absolute When you issue the Mode Position Incremental MPI command the unit switches to Incremental mode The indexer retains the absolute position even while the unit is in Incremental mode You can use the Position Report PRA or Status Report R commands to read the absolute position Continuous Mode Moves CHAPTER 4 APPLICATION DESIGN 27 Command Description MPA Sets unit to Absolute Position mode A2 Sets acceleration to 2 rps vig Sets velocity to 10 rps PZ Sets the current position to zero gt Disses Sets position to 10 000 steps gt G Moves the motor to absolute position 10 000 Go gt D2 Sets position to 20 000 steps gt E Reverses the direction of next move gt G Moves the motor to absolute position 20 000 Go gt D Sets the move position to 0 gt G Moves the motor to absolute position 0 Go gt MPI Sets indexer to Incremental Position mode In the Continuous
58. eceleration and reset all six of the general programmable outputs to a logic low Outputs are cleared at the start of deceleration This command allows you to de lerate the motor to a stop This command allows you to decelerate the motor to a stop and reset all six of the general programmable outputs to a logic low The Home command searches for the home switch in the CW direction When the home switch for axis X Y or Z goes low the indexer searches for the CW edge of the home switch The Home command searches for the home switch in the CCW direction When the home switch for axis X Y or Z goes low the indexer searches for the CCW edge of the home switch This command allows you to interrupt program execution Any motion will be decelerated as 1f a Stop S command had been issued The Resume command continues the execution of an interrupted sequence This is a Position Report command It provides axis position information for the specified axes which is transmitted over the RS 232C port The axes to be transmitted are selected by setting appropriate bits B X e Bl Y e B2 Z 12 MODEL 303 USER GUIDE R REPORT STATUS RESET OUTPUTS GENERAL INPUTS Sample Program for 5 Slot Hack i Output Model 303 e Vis Power Supply Report current indexer status over RS 232 port This command allows you to reset all six of the general programmable outputs to a logic low You can use these input
59. en off The screen should display the X axis position as 4 Now you can execute sequence 1 Remember the weights of the address lines REARS L 32 JL 16 JL 8 JL 4 JL 2 JL Set the switches on the input simulator to the following settings to execute sequence 1 XG1 B TE BILL B2 JILO B83 L o B4 2 BS 2 Be 2 _B7 JL 9 Toggle B7 input The X axis should turn 25 000 steps in the CW direction when sequence 1 is run Now you will check the X axis position again to determine if it made the move properly Since it started at it should be at position 25 000 now Set the input simulator to the following settings to execute the X Axis Position Report PRX command BL 82 J LO B6 1 LB7 LO Toggle B7 input Axis X s position should be displayed on the screen as 425099 steps You will now execute sequence 5 Set the switches on the input simulator to the following settings to execute sequence 5 XG5 CHAPTER 2 GETTING STARTED 15 BS jt 1 BI LO BS Lo LBe JLO 87 JL 9 Toggle B7 input Toggle Switch B7 The X axis should turn 25 000 steps in the CCW direction when sequence 5 is executed Now check the X axis position again Since 1t moved 25 000 steps in the CCW direction it should be at position again Set the input simulator to the following settings to execute the X Axis Position Report PRX command Toggle B7 input Axis X s position should be 4 steps Enter the followin
60. executes the specified sequence like a GOTO command Jebugginc Enables Disables the Sequence Trace mode imulates the PLC inputs Provides a status report of the indexer sommands Special Sequence Commands Defines the end of a sequence A sequence is a series of commands These commands are executed in the order in which they are programmed entered Refer to the Interactive Edit Mode section earlier in this chapter for an explanation of how to enter and edit sequences Two example sequences are shown below Command gt LST1 2 Lists sequences 1 8 2 1 A19 Sets acceleration to 10 rps vig Sets velocity to 10 ms D25 Sets the distance to 25 000 distance G Executes the move Go 2 D5 P Sets the distance to 50 000 distance H Sets axis to the CCW direction G Executes the move Go XT Ends the sequence The commands that you enter to define a sequence are presented vertically in the previous example This was done to provide you with descriptions of each command You can actually enter as many commands each command separated by a space as you wish on a single line A maximum of 40 bytes or key strokes is allowed per line LST1 2 1 A19 V19 D25 G 2 DS H G XT In the two example sequences only sequence 2 has an XT 1 the Model 303 will execute sequence 2 after sequence 1 is completed If you execute only sequence 42 the indexer will stop after the sequence is completed Trig
61. fer to sections 8 Bit Outputs and 8 Bit Inputs Table 2 2 contains a list of PLC backplane commands This section discusses the basic elements and issues of program design for the Model 303 The issues addressed are e Sequences e Trigger Inputs e Programmable Outputs e Time Delays e Branching Sequences are the building blocks of motion programs in the Model 303 You can store up to 63 individual sequences in the indexer s nonvolatile battery backed RAM Sequences can be as small as a single command or as large as the 2K or 8K o available memory Sequences can also be thought of as subroutines within a larger program A sequence is a list of commands that are executed one at a time when you run the sequence The Model 303 has commands that allow you to branch to other sequences based on conditions within a sequence The indexer also provides the ability to GOTO a different sequence or GOSUB to another sequence returning to the original point after execution is complete Refer to Chapter 5 Software Reference for detailed descriptions of the following commands Sequence Programming Editing Commands EXH LIE LESA D EU LST LST ist sequence s ear memo 34 MODEL 303 USER GUIDE Sequence Execution Commands Runs a sequence When used within a sequence it jumps to execute another sequence then returns to the original point like a GOSUB command Exits the current sequence and
62. fore the subsequent system problem You may be experiencing more than one problem You must solve one problem at a time Log document all testing and problem isolation procedures You may need to review and consult these notes later This will also prevent you from duplicating your testing efforts Once you isolate the problem take the necessary steps to resolve it If your systern s problem persist contact Compumotor s Applications Department For detailed information on reducing electrical noise in your system refer to the current Compumotor Catalog If you are having problems communicating with the Model 303 indexer use the following procedure to troubleshoot the RS 232C communications interface 1 Ensure that the transmit connection Tx of the PLC is wired to the receive connection Rx of the Model 303 and that the receive connection Rx of the terminal is wired to transmit connection Tx of the Model 303 Try switching the receive and transmit wires on either the terminal or the Model 303 1f communication fails 72 MODEL 303 USER GUIDE Motor Fails to Move Verify that you have wired RS 232C on the Model 303 to the port selected Some serial ports require handshaking If so you may establish three wire communication by connecting RTS to CTS usually pins 4 and 5 and DSR to DTR usually pins 6 to 420 at the PLC end Configure the terminal and the Model 303 to the same baud rate number of data bits num
63. g commands through the terminal Command Description gt MC Sets the indexer to Continuous mode gt G Executes the move Go The X axis should begin moving CCW The indexer executes the command parameters that were last used sequence 5 The motor continues to move beyond the 25 000 distance defined in sequence 5 because you are operating in Continuous mode the distance value has no meaning in this mode To stop the X axis you will set the input simulator to perform the Stop S command which will decelerate the motor to a stop Set the input stmulator as follows BO j o Bi Be J LOL 83 J LOL B4 LO BS JLO Be Ll 87 JLO Toggle B7 input Toggle Switch B7 The X axis should stop You can try other patterns with the input simulator Refer to Table 2 2 for additional remote input commands CHAPTER 3 INSTALLATION 17 Chapter 3 INSTALLATION Chapter Objectives The information in this chapter will enable you to Insert the unit into the PLC properly Connect all electrical system inputs and outputs properly Ensure that the complete system is installed properly Perform basic system operations Environmental Considerations Complete System Configuration Indexer Address Settings Parker Compumotor recommends that you operate and store your Model 303 under the following conditions e Ambient Operating Temperature 32 F to 122 F 0 C to 50 C e Storage Temperature 22 F to 185 F 30 C to 85 C
64. g distance The resulting motion profile will resemble the profile shown in Figure 4 1 A preset move is a move in which you specify the distance in motor steps You can select preset moves by putting the indexer into Normal mode MN command Preset moves allow you to position the motor in relation to the motor s previous stopped position incremental moves or in relation to a defined zero reference position absolute moves You can select incremental moves with the Mode Position Incremental MPI command You can select absolute moves with the Mode Position Absolute MPA command When you are in the Incremental mode MPI a preset move moves the motor the specified distance from its starting position You specify the direction with the optional sign D 2 or D 19299 or you can define it separately with the Set Direction H or H command Command MPI Sets unit to Incremental Position Mode A2 Sets acceleration to 2 rps gt v5 Sets velocity to 5 rps gt D25929 Sets distance to 25 000 steps gt G Executes the move Go gt G Repeats the move Go gt B Reverses direction of next move gt G Executes the move Go A preset move in the Absolute mode MPA moves the motor the distance that you specify from the absolute zero position You can set the absolute position to zero with the Position Zero PZ command successfully completing a Go Home move GH or by cycling the power to the drive or with th
65. ger Inputs The Model 303 has 5 trigger inputs that are controlled by the host PLC To recognize trigger inputs the eight inputs from the PLC bus must be set by the PLC program as follows LLLB7 1 BS BS J B4 B3 B2 B1 BO Colt li dls las dla J ee E CHAPTER 4 APPLICATION DESIGN 35 X Don t Care Bits 45 amp 46 must be ON for the Model 303 to recognize bits 4 as trigger inputs 1 5 respectively You can use the Trigger TR command to instruct your program to wait for the correct combination of inputs to be turned on before it proceeds with the next command This is one way in which you can synchronize the Model 303 s motion program with the PLC program Refer to the following example C D ipti gt A19 Sets acceleration to 10 rps gt vig Sets velocity to 10 rps gt D25 Sets the distance to 25 000 steps gt TR L The move cannot be made until inputs 1 4 are off and 5 is on gt G Executes the move Go Programmable The Model 303 has eight programmable outputs to the PLC Outputs bus Two are dedicated Busy and Program Busy With the Output 0 command you can use the Model 303 to turn the other six general programmable outputs on and off within a sequence The O command signals the PLC when some part of your motion program is or has been execut LL Busy j PregraamBusy 0 J o5 J m j os j o2 JLO B7 1 The motor is moving the indexer is sending pulses B6 1
66. itch if it is traveling in the CCW direction The indexer searches for home to the CW edge You can also execute the Go Home commands with the 8 bit interface refer to Chapter 2 Getting Started If you specify a velocity after a GHt it will replace the previous value that was stored in the GHV register e g GH 5 commands the motor to search for home in the direction at 5 rps the GHV value becomes 5 rps To test the Model 303 s homing function enter the following command string i D ipt gt GHV5 Set go home velocity to 5 rps gt GHF 2 Sets final go home velocity to 0 2 rps gt GH Instructs the motor to go home in the CW direction The following events occur when you go home in the CW direction refer to Figure 5 1 1 The motor moves in the CW direction at 5 rps 2 When the home switch is closed and opened the motor decelerates to a stop then moves in the CCW direction at the velocity you specified with the GHF command 3 Momentarily glose the home switch again to stop the motor The following events occur when you go home in the CCW direction refer to Figure 5 1 1 The motor moves in the CCW direction until the home switch becomes active 2 The motor decelerates to a stop and moves in the CW direction until the home switch becomes inactive 3 The motor creeps to the CCW edge of the switch at the velocity you set with the GHF command The motor stops when the switch becomes active The abs
67. le The PLC reads the status of 12 ENT OUT SHF 32 ENT the input module and sends the 13 ENT OUT SHF 33 ENT command inputs to the Model 303 14 ENT OUT SHF 34 ENT 15 ENT OUT SHF 35 ENT 16 ENT OUT SHF 36 ENT 17 ENT OUT SHF 37 ENT 130 ENT OUT SHF 0 ENT Writing from indexer module to output 131 ENT OUT SHF 1 ENT module The PLC reads the Model 132 ENT OUT SHF 2 ENT 303 s outputs and sets the 133 ENT OUT SHF 3 ENT appropriate outputs on the output 134 ENT OUT SHF 4 ENT module 135 ENT OUT SHF 5 ENT 136 ENT OUT SHF 6 ENT 137 ENT OUT SHF 7 ENT Turn the PLC s key to the RUN position To turn on outputs 1 3 and 5 enter gt 01812193 To turn on outputs 2 4 and 6 enter gt 0819181 The output modules are typically labelled from to 7 so output I on the Model 303 with the above PLC program will activate light btt on the output card Controlling the Indexer With Remote inputs CHAPTER 2 GETTING STARTED 13 This exercise will teach you how to program and store motion sequences and activate the sequences from a remote input First you must use the terminal to create the sequences You should enter the boldface and underlined instructions gt CLA gt Are You Sure Y N Y gt EXRL EE GT Inserting Sequence 1 1 gt AS VS D25222 G Mass outer Key gt REGER Kater Key Again o Exit Edit Mode gt EXRS 1 5 Inserting Seque
68. ly integrate the Model 303 into your manufacturing facility Industrial environments often contain conditions that may adversely affect solid state equipment Electrical noise or atmospheric contamination may also affect the Model 303 Before you develop and implement your application there are several issues that you should consider and address 1 Clarify the requirements of your application Clearly define what you expect the system to do 2 Assess your resources and limitations This will help you find the most efficient and effective means of developing and implementing your application 3 Follow the guidelines and instructions outlined in this user guide Do not skip any steps or procedures Proper installation and implementation can only be ensured if all procedures are completed in the proper sequence Before you attempt to install this product you should complete the following steps 1 Review this entire user guide Become familiar with the manual s contents so that you can quickly find the information you need 2 Develop a basic understanding of all system components their functions and interrelationships 3 Complete the basic system configuration and wiring instructions in a simulated environment not a permanent installation provided in Chapter 2 Getting Started 4 Perform as many basic moves and functions as you can with the preliminary configuration You can only perform this task if you have reviewe
69. n steps 0 tnnnnnnnn None SYNTAX SPtnnnnnnnn EXECUTION TIME lt 10 ms SEE ALSO PR PZ Description This command allows you to set the position counter to the specified value of the active axes Example Command Description gt SP 5999 Sets the active axis position to 5 000 steps T Time Delay VALID Programming Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES Tnnn nn n Seconds 0 01 999 99 None Sequence EXECUTION TIME lt 10 ms SEE ALSO Description The T command delays program execution for a number of seconds based on the value that you specify Exampie Command T5 5 Delays motion for 5 5 seconds gt G Executes the move Go TEST Test Simulate VALID Programming Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES TESTnnnnn n seconds 0 or 1 0 Immediate bit pattern EXECUTION TIME lt 10 ms SEE ALSO ir R TR Description The TEST command allows you to simulate the inputs from the PLC bus This command is useful when you want to test a sequence but the PLC program is not yet finished You can also use this command to debug sequence commands Assume the inputs are all g s Use the Status Report R command to review registered data and determine current input status Inputs 5 and 46 must be low Refer to the following example 60 MODEL 303 USER GUIDE Example Command 5 V5 AS MC G Begins continuous motion at 5 rps TR 29021 Waits until inputs match vig G Slew to 10 rps TRI P
70. n powerup Example Command MN Sets indexer to Norma mode MPI Sets positioning mode Incremental A5 Sets acceleration to 5 rps gt v5 Sets velocity to 5 rps gt D5 Sets distance to 50 000 steps gt G Executes the move Go VALID Software Version Motor Resolution MR Set Up SYNTAX UNITS ATTRIBUTES Sequence Immediate RANGE DEFAULT M 100 65 535 25 000 Rn EXECUTION TIME lt 10 ms SEE ALSO A V ER Description This command sets the number of steps per revolution Jt allows the indexer to control drives of different resolutions while maintaining the commanded acceleration and velocity This variable is not reset with the Reset Software z command n steps rev 54 MODEL 303 USER GUIDE Example Command Description gt MN Sets positioning mode to preset gt MR4 Sets motor resolution to 400 steps rev gt A5 Sets acceleration to 5 rps vig Sets velocity to 10 rps gt D8 Sets distance of move to 800 steps gt G Executes the move Go A 400 step per revolution motor drive will turn 800 steps two revs CW at an acceleration of 10 rps and a velocity of 10 rps If this same command set is sent to a motor drive with a resolution of 4 000 the motor will still turn 800 steps 1 5 of a revolution However the actual acceleration would only be 0 5 rps and the actual velocity would only be 1 rps The controller resolution and motor drive resolution m
71. nce 5 5 gt ALLVYL D 25 00 G XI Press Enter Key gt Prese Enter Key Again to Exit Edit Mode LSI 1 A5 V5 D25 G XT 5 Al V1 D 25099 G XT 1314 BYTES FREE gt XL gt EZ gt MEI The commands are described in detail below Command CLR Clears the indexer s memory gt EXR1 Begins definition of Sequence 1 AS Sets acceleration to 5 rps v5 Sets velocity to 5 rps D25 Sets distance to 25 000 steps G Executes the sequence XT Ends Sequence 1 definition press the Enter key twice to exit Edit mode gt EXR5 Begins definition of Sequence 1 Al Sets acceleration to 1 rps v1 Sets velocity to 1 rps D 25299 Sets distance to 25 000 steps G Executes the sequence XT Ends Sequence 5 definition press the Enter key twice to exit Edit mode LST Lists current Sequences 1 amp 5 gt X Selects the X axis PZ Sets the current position to zero MPI Sets the X axis to Incremental mode We will now use the input simulator to execute sequences 1 and 5 and to execute other commands Refer to Table 2 2 for a complete list of the input bit command structure First you will ensure that the X axis is set to position This should have been done with the Set Position Zero Pz command you issued earlier Set the switches on the input simulator to the following settings to execute the X Axis Position Report PRX command 14 MODEL 303 USER GUIDE Toggle B7 input turn the input on and th
72. nd is immediate sequence or sequencefimmediate The system executes immediate commands as soan as it receives them You will enter immediate commands via an RS 232C terminal you must enter a carriage return after these commands to execute them With the Model 303 buffered commands are only executable in a sequence and in the order that they are received Commands that are classified as sequence can only be executed in a sequence Commands that are classified as sequence immediate may be executed in the Immediate mode as well as within sequences The execution time is the span of time that passes from the moment you issue a command to the moment the system begins to execute it Commands that are related or similar to the command described are listed here A sample status command is given next to RESPONSE TO and the system response is shown This box will only be provided if the system provides a response to the command If no response is provided this box will not be included with the description CHAPTER 5 SOFTWARE REFERENCE 39 Axis Commands You must enter an axis command to determine which axis will perform the command line s instructions When you use an axis designation command you must follow it with a slash Valid axis commands are are shown below x Only the X axis is active Y Only the Y axis is active z Only the Z axis is active xY Only the X 8 Y axes are active XZ Only the X 8 Z axes are active Yz O
73. nds to B7 The input addresses that correspond to B B4 are shown below Ba E 82 E pe T 13 You must use the command structure shown in Table 2 2 to issue commands from the PLC to the indexer card The most significant bit MSB B7 is the command valid strobe line When this line is toggled from low to high the other 7 bits have valid data The strobe line must stay high for at least 1 ms COMMAND O B7 LAO KE VK a ER _2 E L9 EE L9 2 n L9 RENT EN LX L5 ERAN LLLGENERALINPUTS ffx mm Table 2 2 Input Bit Command Structure XG KILL KILL amp RESET OUTPUTS STOP STOP amp RESET OUTPUTS HOME HOME PAUSE RESUME PR POSITION REPORT CHAPTER 2 GETTING STARTED 11 The following section defines each of the commands in Table 2 2 This command executes a user program beginning from the sequence that you define 0 63 The least six bits A A5 are the program sequence pointer The address lines have the following weights EP HERHERHEZdCE 32 JL 16 JL 8 J 4 JL 2 JL t To run sequence 35 A Al and A5 1 2 32 35 must be active If you instruct the indexer to execute a program that does not exist it will respond with a question mark This command allows you to terminate an output pulse train immediately with no deceleration This command allows you to terminate an output pulse train immediately with no d
74. nly the Y 8 Z axes are active xYz All axes are active You may type the remainder of the command line after the slash delimiter If you do not enter an axis designation the last axis that you designated will perform the new commands Upon power up the X axis is the default designation Axis Command Each axis has its own position counter When you select an Considerations axis the axis counter for that axis will be updated The distance position command D nnnnnnnn affects all axes that are active If axes X and Y are active both of these axes will move to the position that you specify with the Dinnnnnnnn command When you use the HOME command you may select only one of the axes to seek its respective home position Special Commands You can use the following special commands with the Model 303 ESC Key The ESC escape key terminates motion During a move this key acts like the 5 command The user program in addition to the motion is terminated with the ESC key If you press the ESC key while you are editing a program you will exit from the Edit mode without changing the current line If you press the ESC key two times the terminal screen will clear VT100 must be emulated Comments Delimiter VALID Edit Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES None None Sequence EXECUTION TIME lt 10 ms SEE ALSO D E EXR I Q Description When you edit a program in the Edit mode you may place comments on
75. oN oooocococorocconoccccnacanononcnnccanocananranonnoness 2 Figure 2 1 Basic System Wiring Diagram eese eene enne 5 Figure 2 2 Location of Jumper for Standard Card Cage o oooooococccocconcconcanocaconcanorornnnans 6 Figure 2 3 H5 232C COnnectioni eiies aor etos xus ae Ves VE cob avv oasen 6 Figure 2 4 Model 303 Drive Connections ooooomconcccarennononcronconanconaconiocnaracanconacnnaronocoss 8 Figure 2 5 5 Slot Rack Component Arrangement cccscsccenscecnececsccecseccescsessceeeseceeaes 12 Figure 3 1 PLC Port Add essas oir reris eee s ir read 17 Figure 3 2 Location of Jumper for Standard Card Cage oocoocoonocccorocenncnconconnocccanornocureso 18 Figure 3 3 Complete Configuration rerrrorerrrrnannrnnereersnnnnnnnrnvanennenenneennnnnnnnnesnnuvneesnnnee 19 Figure 3 4 Sample Limit Wiring Diagram oooococooonccocacornccarnacananonononcnnnnonccnonanannono 22 Figure 35 Heming ODO us occisos qu DrEE PEE eia io aaa 23 Figure 4 T Triangular Profile cacon 25 Figure 51 Homing Operation eec eor ii sisi cea Venus berre dreide 47 Figure 6 1 RS 232C Serial Communications eee eese sienne orna anne rna 67 Figure 6 2 10 Pin VO CONNOCTOS oocconcconccccornccononacnonacanoconcononenocnaconorononaconaronccnonronanone 68 Figure 6 3 Typical Input and Output CircultS oooococucnnconencnnacaroncaronccnraaccononronoronncanano 69
76. olute counter is automatically set to zero at the end of a go home move CHAPTER 5 SOFTWARE REFERENCE 47 GH for CW Edge GH for CW Edge Home Home Switch Switch Active Active Region Figure 5 1 Homing Operation GHF Go Home Final Speed VALID Motion Software Version A SYNTAX R NGE DEFAULT ATTRIBUTES GHFtnn nn 0 01 99 99 Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO GH GHV Description This command allows you to set the speed at which the indexer instructs an axis to creep into a home switch during the final portion of the HOME routine The value nn nn that you specify should be small see GHV command to guarantee a repeatable and accurate homing routine This is the portion of the HOME move that finds the precise edge of the limit Switch that defines home in the system Exampie Command Description GEF 4 Sets velocity for go home final to 0 04 rps 48 MODEL 303 USER GUIDE GHV Motion VALID Software Version A Go Home Velocity SYNTAX UNITS RANGE DEFAULT ATTRIBUTES GHVtnn nn n rps 0 01 99 99 1 0 Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO GH GHF Description This command allows you to set the speed at which an axis will seek its home position After the switch is detected the system will use the final go home speed refer to the GHF command to find the final home switch edge H Toggle Direction VALID Motion Software Version A SYNTAX
77. om a terminal or computer and use the data to debug the system One example of such a command is the Status Report R command A sample response from the R command is shown below DYNAMIC DATA INPUT BYTE B Bl 00000009 OUTPUT BYTE B Bl 2 9 HOMES X 1 Yw 1 Z 1 Ve de de de le le e e e e e le e e le e lr le lr e e lr rl e lr e e e e e A A e e e e e le e e e e e e e e e lr e A REGISTERED DATA INPUTS Il 12 13 0 14 15 OUTPUTS Ol 02 03 04 05 O6 20 POSITION X nnnnnnnn POSITION Y tnnnnnnnn POSITION Z t nnnnnnnn AREA AA DAI AAA ADA DAL AA AAA AAA AAA AAA AAA ADA AAA AAA AAA AAA AAA ACTIVE PARAMETERS AXIS 1 MRnnnnn GHVnn nn GHFnn nn VSnn nn Vnn nn Annn nnn 2 D nnnnnnnn Tnnn nn Lnnnnn Refer to Chapter 5 Software Reference for more status commands interactive Edit Mode CHAPTER 4 APPLICATION DESIGN 29 You can also use the Model 303 s RS 232C interface to enter and edit sequences A sequence consists of several Model 303 commands You should be sure to enter the commands in the order that you intend them to be executed When the sequence is run the system executes the commands in exactly the order that they appear in the sequence You can store up to 63 sequences in the Model 303 s battery backed RAM memory There is no limit to the size of each sequence as long as the combined total of all sequences does not exceed the
78. ool for most system specifications e Use this chapter as a quick reference tool for proper I O connections Environmental Specifications Ambient Operating Temperature 32 F 140 F O C 60 C Storage Temperature 40 F 185 F 40 C 85 C Humidity 5 95 Electrical Specifications Power Supply Requirements Serial Communications RS 232C This section summarizes the power supply requirements and electrical characteristics of the available interfaces The Model 303 card requires only the 9V supply provided by the PLC rack power supply The Model 303 uses a maximum of 150 mA of the 9V supply This is equivalent to 15 units of the load described in the PLC user manual To interface the Model 303 to the drive a separate 5V supply is required It should supply 200mA current minimum The 9 pin female D shell connector on the Model 303 front panel provides the connection for RS 232C communications Figure 6 1 shows the pin assignments for the serial communications port The indexer s serial communications parameters are listed below Baud Rate 9 600 Data Bits 8 Stop Bits 1 Parity None XON XOFF Not used ECHO On RS 232 Serial Communications Connection Not Used Figure 6 1 RS 232C Serial Communications 68 MODEL 303 USER GUIDE Cable Pin Outs 10 Pin Screw Terminal Connections The pin out for the RS 232C 9 pin D connector on the Model 303 is provided below Compumotor provides
79. p If certain parameters are out of range or are missing the motor will not move when you issue the Go G command Use the R status command to determine what is preventing the move Also check A V and D commands to make sure that all the parameters are set properly The following are additional troubleshooting techniques CHAPTER 7 TROUBLESHOOTING 73 Check the motor for damage Also check the motor cable to see 1f it is damaged or shortened These conditions may cause the drive to fault Ohm the motor and cables to make sure that short circuits do not exist between phases or to earth ground On your most sensitive scale the resistance across each motor phase should be consistently low but not zero and similar to each other On your highest scale the resistance between motor phases and between each phase and earth ground should be infinite Does the moving LED come on after a G command is executed If the LED is on the Model 303 is sending out step pulses APPENDICES 75 Command Listing Comments Delimiter Edit Mode XG Execute Sequence XR Execute Sequence w Return A Acceleration XT End Sequence XTR Enable Disable Trace Mode CLR Clear XY Designate X amp Y Axes XZ Designate X amp Z Axes D Distance XYZ Designate X Y amp Z Axis D Delete Edit Mode DLY Delay Y Terminate Loop Y Designate Y Axis E Edit YZ Designate Y amp Z Axes EXR Edit Sequence in a Program Z Rese
80. ponents and their interrelationships e Bench test the system Inspect your Model 303 shipment upon receipt for damage to its shipping container Report any damage to the shipping company immediately Parker Compumotor cannot be held responsible for damage incurred in shipment The items listed in Table 2 1 should be present and in good condition art Quantit Model 303 PLC Indexer Card Model 303 Model 303 User Guide 1 88 011293 01 A Indexer Drive Cables 2 71 011159 10 7 1 2 10 Position Screw Teminal Connector 1 43 011058 01 RS 232C Cable 1 1 011319 10 Table 2 1 Model 303 Ship Kit List Figure 2 1 provides an overview of the connections you will have to make to operate the Model 303 Each of the connections will be discussed in detail in this chapter MODEL 303 Remote Terminal Figure 2 1 Basic System Wiring Diagram MODEL 303 USER GUIDE Indexer Setting Establish Communications Before you insert the Model 303 into one of the PLC s available ports you must check the following indexer settings e Ina standard rack system the jumper refer to Figure 2 2 must be placed over pins 1 and 2 This is the default configuration e In an extended PLC cage the jumper refer to Figure 2 2 must be placed over pins 2 and 3 The jumper disables the 1XX octal addresses on the card Push in the buttons at the top and bottom of the Model 303 s front panel to remove the unit from the rack TT pee
81. r delete a line The following example demonstrates how to edit an existing sequence When you issue the EXR command the Model 303 lists the sequence along with the line numbers You may now edit E insert 1 or delete D gt LXRI 1 10 A19 2 v19 3 D25009 4 G 5 XT Editing sequence 19 gt To edit a line enter E followed by the line number that you want to modify gt 3 D25 gt gt Pb2 22242 The Model 303 lists the line to be edited directly above the asterisk prompt This allows you to see what is currently stored in the line as you prepare to edit it To edit a line you must re enter the entire line including the change you want to make When the entire line is re written press the return key The Model 303 will automatically re list the entire sequence so that you can review the changes 1 10 A12 2 v12 3 D5 4 4 G 9 XT Editing Sequence 19 gt If you press the Enter key while the cursor is on a blank line the currently stored line will remain unchanged You can press the Escape lt ESC gt key at any time to abort the editing session without changing the current line You can also exit the Edit mode by typing Q Quit Editing Mode on a blank line and pressing the Return key Pressing the return key twice exits the edit mode Listing Sequences LST LSTnn LSTnn nnn LSTnn LST nn CHAPTER 4 APPLICATION DE
82. racteristics Of the system Break Frequency Frequency ies at which the gain changes slope on a Bode plot Break frequencies correspond to the poles and zeroes of the system Byte A group of 8 bits treated as a whole with 256 possible combinations of ones and zeros each combination representing a unique piece of information Closed Loop term relating to any system where the output is measured and compared to the input The output is adjusted to reach the desired condition In motion control the term is used to describe a system wherein a velocity or position or both transducer is used to generate correction signals by comparison to desired parameters Critical Damping A system is critically damped when the response to a step change in desired velocity or position is achieved in the minimum possible time with little or no overshoot Crossover Frequency The frequency at which the gain intercepts the 0 dB point on a Bode Plot Used in reference to the open loop gain plot Daisy Chain A term used to describe the linking of several RS 232C devices in sequence such that a single data stream flows through one device and on to the next Daisy chained devices usually are distinguished by device addresses which serve to indicate the desired destination for data in the stream Damping An indication of the rate of decay of a signal to its steady state value Related to settling time Damping Ratio Ratio
83. racters supported in The maximum torque available at zero speed some serial communication programs If supported the Step Angle receiving device transmits an XOFF character to the host when its character buffer is full The XOFF character directs the host to stop transmitting characters to the device Once the buffer empties the device will transmit an XON character to signal the host to resume transmission The angle the shaft rotates upon receipt of a single step command Stiffness The ability to resist movement induced by an applied torque Is often specified as a torque displacement curve indicating the amount a motor shaft will rotate upon application of a known external force when stopped Zero frequency at which the transfer function of a system goes to zero Stop Bits When using RS 232C one or two bits are added to every character to signal the end of a character Synchronism motor rotating at a speed correctly corresponding to the applied step pulse frequency is in synchronism Load torques in excess of the motor s capacity rated torque cause a loss of synchronism This condition does not damage step motors Text Echo Off On This setup allows received Characters to be re transmitted back to the original sending device Echoing characters can be used to verify or close the loop on a transmission Torque Force tending to produce rotation Torque to Inertia Ratio Defined as a motor
84. ration 45V Power 9 1 m CL 41131 Motor 1 Motor 2 Motor 3 Figure 1 2 Sample Model 303 Configuration e Three multiplexed axes of open loop control e Plug in bus compatibility with the TI Series 3057 or GE Fanuc One PLC e Standard RS 232C programming interface and complete online editing of the stored program e Programmable position direction velocity and acceleration for precise motion control e SVDC optically isolated inputs and outputs provide high electrical noise immunity e 2K or BK battery backed RAM memory to store multiple programs CHAPTER 1 INTRODUCTION Up to 63 separate indexer program entry points may be defined complete flexibility of indexer program execution from the PLC program Integral high speed inputs for accurate home sensor and sensor interactive control Commands support complex move profiles velocity changes on the fly triggered by time position or PLC contacts Conditional control of program flow with IF statements based on the state of PLC contacts On line debugging with the Trace XTR command PLC output contacts may be set or cleared from the Model 303 s programs 3 CHAPTER 2 GETTING STARTED Chapter 2 GETTING STARTED Chapter Objectives What You Should Have Basic System Configuration The information in this chapter will enable you to e Verify that each component of your system has been delivered safely e Become familiar with system com
85. ry 2 K bytes Expanded Memory Option 8 K bytes CHAPTER 7 TROUBLESHOOTING 71 Chapter 7 TROUBLESHOOTING Chapter Objectives The information in this chapter will enable you to e Maintain the system s components to ensure smooth efficient operation e Isolate and resolve system hardware problems e Isolate and resolve system software problems Troubleshooting Problem Isolation Reducing Electrical Noise RS 232C Communications This section discusses methods to identify isolate and resolve problems that may occur with the Model 303 If your system malfunctions you must identify and isolate the problem When you accomplish this you can begin to eradicate and resolve the problem The first step is to isolate each system component and ensure that each component functions properly when it is run independently You may have to dismantle your system and put it back together piece by piece to detect the problem If you have additional units available you may want to use them to replace existing components in your system to help identify the source of the problem Try to determine if the problem is mechanical electrical or software related Can you repeat or re create the problem Do not attempt to make quick rationalizations about problems Random events may appear to be related but they are not necessarily contributing factors to your problem You must carefully investigate and decipher the events that occurred be
86. s as end of travel limits or for program conditional branching Upon power up the inputs are initialized low logic Information from the PLC may be dynamically transmitted to the indexer card via the general inputs when B5 and B6 are both high logic 1 If either B5 or B6 go low the last state of the inputs are saved in the indexer card The strobe line is not used to latch the state of these inputs When you switch the PLC from the PROGRAM or LOAD modes to RUN mode the general inputs are reset to logic until the PLC re programs a specific input If you use the Model 303 in a 5 slot rack you can use the following program example The program can be used with an input simulator output module the Model 303 and a PLC programmer The program allows the Model 303 to control the output module s outputs or enables external devices to send commands to the Model 303 via the input module The modules must be arranged in the rack as shown in Figure 2 5 Figure 2 5 5 Slot Rack Component Arrangement Program CLR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHF STR SHE Turning On Outputs Enter the following program with the PLC programmer Be sure the PLC s key is set to PROG 348 DEL NXT Clears PLC memory 10 ENT OUT SHF 30 ENT Writing from input module to indexer 11 ENT OUT SHF 31 ENT modu
87. s initial velocity at 1 rps gt G Executes the move Go e2 MODEL 303 USER GUIDE Designate X Axis VALID Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES x None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO Y 2 XY X2 Y2 XYZ Description The X command designates all subsequent commands as applicable to the X axis only XG Execute Sequence VALID Programming Software Version A SYNTAX UNITS DEFAULT ATTRIBUTES XGnn n None Sequence Immediate sequence EXECUTION TIME lt 10 ms SEE ALSO EXR XR XT Description The XG command begins the execution of a program starting at the sequence that you specify nn You may also use this command within a program to move from within a sequence to begin executing another sequence You can execute a sequence with the 8 bit interface refer to Chapter 2 Getting Started Example Command gt XG7 Executes the commands in sequence 7 SYNTAX UNITS DEFAULT XRnn n None sequence EXECUTION TIME lt 10 ms SEE ALSO EXR XG XT Description When you use the XR command within a sequence it begins the execution of a program starting at the sequence st that you specify nn When the indexer reaches the End Sequence XT command execution is returned to the command line that follows the XRnn command This command is especially useful when you want to initiate subroutine sequences This command works just like the XG command in Immediate mode
88. s with the TEST command through the RS 232C port When you put the PLC back into RUN mode the inputs will be reset to zero The Model 303 has eight programmable output bits The indexer card s outputs to the PLC are transmitted on the upper octal address 1XX addresses If the card is tn the slot to the left of the Series One CPU the outputs from the indexer card which are inputs to the PLC will occupy addresses 100 to 107 Address 100 corresponds to B and address 107 is B7 If you are using an extended rack system the output bits are not usable The PLC uses the most significant two bits of the outputs to determine indexer status B6 amp B7 You cannot define or program these bits These two bits indicate whether the indexer is busy executing a user program Program Busy or whether it is currently sending out pulses Motor Busy The protocol of these outputs is shown below Status J BusyJ P Busy O6 J O5 J 04 03 J 02 JL 01 CHAPTER 4 APPLICATION DESIGN 25 Chapter 4 APPLICATION DESIGN Chapter Objectives The information in this chapter will enable you to e Recognize and understand important considerations that must be addressed before you implement your application e Understand the capabilities of the system e Use examples to help you develop your application Motion Control This section discusses basic motion control concepts that you Conce pts should be familiar with as you develop your applic
89. sing the Time Delay T Trigger TR or Delay DLY with Velocity V commands you can achieve basic velocity profiling Example Command MC Sets mode to continuous A5 Sets acceleration to 5 rps gt v5 Sets velocity to 5 rps gt G Executes the move Go The motor turns at 5 rps until it is halted by the Stop S command Kill x command a limit switch or given a new velocity specification In a sequence the execution of commands will continue after the G command Commands will be executed after the motor reaches constant velocity 52 MODEL 303 USER GUIDE Command gt NC Sets mode to continuous gt AS Sets acceleration to 5 ps gt V6 Accelerates at 5 mps to 6 rps gt G Executes the move Go gt TR12111 Wait here until the registered inputs match the TR command s values gt vi Decelerates at 6 rps to 1 rps gt G Executes the move Go VALID Software Version MN Mode Normal Motion SYNTAX UNITS RANGE DEFAULT ATTRIBUTES MN None None None Sequence Immediate EXECUTION TIME lt 10 ms SEE ALSO A D G MC MPA MPI V Description The Mode Normal MN command sets the Positioning mode to preset In Mode Normal the motor will move the distance specified with the distance D command To define the complete move profile you must define Acceleration A Velocity V and the Distance D The MN command changes the mode of operation from Mode Continuous MC to Preset mode Example
90. sting the RS 232C Communications already the steps for this test were first discussed in Chapter 2 Getting Started You will now test the system s limit switch es and the homing function 1 Before you verify that the limit switches are working properly check the following connections e Ensure that the limit switches are wired properly Ensure that the load is not attached to the motor e Ensure that you can manually open and close the limit switches 2 Totest the CW limit with the Model 303 enter the following command string Command gt MC Sets indexer to Continuous mode gt A1 Sets acceleration to 1 ps gt Vi Sets velocity to 1 rps gt E Sets motor direction positive direction gt G Executes the move Go 3 While the motor is moving open the limit switch that you want to test Motor motion should stop and the terminal should display the following message ESTOP INPUT ACTIVE If this message is displayed the limit switch is functioning properly Repeat this procedure for each switch 22 MODEL 303 USER GUIDE Homing The Motor You can initiate the Go Home function by issuing the Go Home GH command When you issue the GH command you must include the direction that the motor should use to search for home The home limit input on the Model 303 is optically isolated and is normally off You must use a normally open load activated switch to ground to determine the home position When you command
91. t Software G Go Z Designate Z Axis GH Go Home GHF Go Home Final Speed GHF Go Home Velocity H Set Direction I Insert a Line in a Sequence IF Conditional IF K Kill L Loop LST List Program MC Mode Continuous MN Mode Normal MPA Mode Position Absolute MPI Mode Position Incremental MR Motor Resolution N End of Loop NIF End of IF Commands O Set Programmable Outputs PR Position Request Q Quit Editing Mode R Status Report RE Resume RV Revision S Stop SP Set Position Counter T Time Delay TEST Test Simulate TR Trigger V Velocity VS Initial Velocity X Designate X Axis APPENDICES 79 Glossary Absolute Positioning Refers to a motion control system employing position feedback devices absolute encoders to maintain a given mechanical location Absolute Programming A positioning coordinate reference wherein all positions are specified relative to some reference or home position This is different from incremental programming where distances are specified relative to the current position Acceleration The change in velocity as a function of time Acceleration usually refers to increasing velocity and deceleration describes decreasing velocity Accuracy measure of the difference between expected position and actual position of a motor or mechanical system Motor accuracy is usually specified as an angle representing
92. the maximum deviation from expected position Address Multiple devices each with a separate address or unit number can be controlled on the same bus The address allows the host to talk individually to each device Ambient Temperature The temperature of the cooling medium usually air immediately surrounding the motor or another device ASCH American Standard Code for Information Interchange This code assigns a number to each numeral and letter of the alphabet In this manner information can be transmitted between machines as a series of binary numbers Bandwidth The frequency range in which the magnitude of the system gain expressed in dB is greater than 3 dB Baud Rate The number of bits transmitted per second Typical rates include 300 600 1 200 2 400 4 800 9 600 19 200 This means at 9 600 baud one character can be sent nearly every millisecond BCD Binary Coded Decimal is an encoding technique used to describe the numbers 0 9 with four digital on or off signal lines Popular in machine tool equipment BCD interfaces are now giving way to interfaces requiring fewer wires such as RS 232C Bit Abbreviation of binary digit the smallest unit of memory equal to 1 or O Block Diagram A simplified schematic representing components and signal flow through a system Bode Plot graph of system gain and phase versus input frequency that graphically illustrates the steady state cha
93. the motor to go home it begins to move in the direction you specified It performs this move at the last defined acceleration and velocity rates and looks for the home limit input to go active If the motor encounters an end of travel limit while it searches for home it will stop The CW edge of the home switch is defined as the first switch transition that occurs when the motor reaches the home switch if it is traveling in the CCW direction The indexer searches for home to the CW edge The homing function only works with one axis at a time If you select two or more axes the function will not operate To test the Model 303 s homing function enter the following command string Command Descrintion gt GHVS Set go home velocity to 5 rps gt GHF 2 Sets final go home velocity to 0 2 rps gt GE instructs the motor to go home in the CW direction The following events occur when you go home in the CW direction refer to Figure 3 5 1 The motor moves in the CW direction at 5 rps 2 When the home switch is closed and opened the motor decelerates to a stop then moves in the CCW direction at the velocity you specified with the Go Home Final Speed GHF command 3 Momentarily close the home switch again to stop the motor The following events occur when you go home in the CCW direction refer to Figure 3 5 1 The motor moves in the CCW direction until the home switch becomes active 2 The motor decelerates to a stop
94. use to ensure proper operation The indexer card is powered by the PLC s rack power supply The indexer card uses a maximum of 150 mA of the PLC s 49V supply This is equal to 15 units of load as described in the Series One Programmable Controllers Manual distributed by GE Fanuc To use the Model 303 s inputs and outputs you must provide an external 45V power supply Figure 3 3 illustrates the 45V wiring configuration Connect the external power EXT V external ground EXT GND emergency stop input ESTOP and drive outputs as shown in Figure 3 3 Compumotor recommends that you make multiple connections to a terminal block and a single connection to the Model 303 You can use the ESTOP input to wire limit switches e g CW and CCW limits Figure 3 4 is a sample wiring configuration for 1 axis of motion If you do not install limits the ESTOP input must be grounded refer to Figure 3 3 If the ESTOP is not grounded motion will not be possible Verifying Proper Installation Testing Limit Switch Operation CHAPTER 3 INSTALLATION 21 MODEL 303 INDEXER CW inn CCW Limit Figure 3 4 Sample Limit Wiring Diagram gt To add more limit switches or ESTOPs add additional normally closed NC switches in series You should have completely configured your system This section will help you verify that you have wired the system properly and ensure that it is fully operational You should have completed te
95. ust match to get the commanded velocity and acceleration This command does not affect distance 1f you change the motor resolution the velocity v value must be valid for the new resolution If it is not valid the system will ignore the MR command Refer to the Velocity V command description for information on maximum velocity N End of Loop Programming SYNTAX UNITS RANGE DEFAULT ATTRIBUTES N None None None Sequence EXECUTION TIME lt 10 ms SEE ALSO L Y Description The N command marks the end of a loop You can use this command in conjunction with the Loop L command All sequence commands that you enter between the L and the N commands are executed as many times as you specify with the L command s variable nn VALID Software Version A Example Command Description gt MN Sets the unit to Normal mode gt AS Sets acceleration to 5 rps gt v5 Sets velocity to 5 rps gt DI Sets distance to 10 000 steps gt L5 Loops or repeats the move 5 times gt G Executes the move Go gt N Ends the loop gt XT Ends sequence definition CHAPTER 5 SOFTWARE REFERENCE 55 NIF VALID Software Version A SYNTAX UNITS RANGE DEFAULT ATTRIBUTES NIF None None None sequence EXECUTION TIME lt 10 ms SEE ALSO MIF End of IF Commands Programming Description The NIF command marks the end of an IF statement Example Command gt IF I L Perform the following sequence when input
96. ve the unit from the rack IB 4 Button Jumper Button Figure 3 2 Location of Jumper for Standard Card Cage After you have properly set the jumper if necessary you can insert the Model 303 Indexer into any available port on the PLC You may now begin the system connections System Connections This section will help you properly wire the Model 303 Specifically the following procedures and information will be addressed Wiring Guidelines Establishing communications RS 232C Wiring the external 5VDC power supply Wiring the indexer to the drive Wiring user defined limits from the ESTOP optional 25 Pin D Connector on Drive 17 SHUTDOWN BLACK NO CONNECTION UNDER HEATSHRINK 16 SHUTDOWN o o O o o O O O gt 0 0 010 00000000 A O A AAA ES ll ASCII Device CHAPTER 3 INSTALLATION 19 MODEL 303 5V External Power Supply INDEXER GND 45V MOVING PLC Figure 3 3 Complete Configuration Wiring Guidelines Proper grounding of electrical equipment is essential to ensure the safety of personnel You can reduce the effects of electrical noise due to electromagnetic interference EMI by grounding All Compumotor equipment should be properly grounded A good source of information on grounding requirements is the National Electrical Code published by the National Fire Protection Association of Boston MA In general all components and enclosures must be conne
97. y the operation In addition to stopping the motor the K command will terminate a loop end a time delay terminate program execution kill a trigger and end a pause You can also execute the Kill command with the 8 bit interface refer to Chapter 2 Getting Started 50 MODEL 303 USER GUIDE Example Command Description gt AS Sets acceleration to 5 rps gt V2 Sets velocity to 2 rps gt MC Sets unit to Continuous mode gt G Executes the move Go gt K Stops the motor instantly L Loop VALID Programming Software Version ATTRIBUTES Sequence SYNTAX RANGE DEFAULT Ln 0 65 535 0 EXECUTION TIME lt 10 ms SEE ALSO N x Description When you combine the Loop 1 command with the End of Loop N command all of the commands between L and N will be repeated the number of times indicated by n The L command without a value specified for n or with a Y will create an infinite loop The End of Loop command prompts the controller to proceed with further commands after the designated number of loops have been executed The Stop Loop Y command ends execution of the loop Example Command MN Sets indexer to Normal mode LS Loops 5 times gt AS Sets acceleration to 5 rps gt V1g Sets velocity to 10 rps gt D1 Sets distance to 10 000 steps gt G Executes the move Go gt N Specifies the above 10 000 step move to be repeated five times gt XT End of sequence LST Programming S

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