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1. MOTOR X LMAX PARALLEL CONNECTION P41 K41 4 46 5 20 P YELLOW BLACK _ fg x rur G Ru WHT RED 3 C WHT ORG P43 K43 8 49 9 23 RED t ORANGE l AT WHTYEL WHT BLK E Note Specs apply to parallel 120 VAC connections Electrical Specs P41 P42 P43 K41 K42 K43 Continuous Stall Torque oz in N m 1250 8 8 2300 16 2 3250 22 9 TBD 3000 21 2 TBD Recommended Current Phase Amps 5 7 6 6 6 6 5 7 6 4 6 6 Inductance mH 15 21 28 15 15 28 Max Winding Temperature F C 212 100 212 100 212 100 212 212 100 212 Mechanical Specs P41 P42 P43 K41 K42 K43 Rotor Inertia oz in sec 0783 1546 2293 0783 1546 2293 Axial Shaft Load Ibs N 404 1790 404 1790 404 1790 404 404 1790 404 Radial Shaft Load 0 5 inches lbs N 125 550 110 489 110 489 125 110 489 110 Motor Weight lbs kg 11 18 4 25 7 11 18 7 25 7 Step Angle full step degrees 1 8 1 8 1 8 1 8 1 8 1 8 Wire Color on Quick S6961 2 ee EE Eua Disconnect Cables Connection Signal Pin Color Red w Black B A B Red IDC Quick F A C Pink or h Disconnect Red w White B Purple E Cable Green GND B N Green B P Blue A4 PIN QF4 12 Red w Yellow A ES M Yellow Red A Z U Orange V Gray colored Quick Disconnect Cables aay K white NC are shielded connect shield to GND COM H Black 5 Shld
2. N C GND RX TX 5V eree e 5V VN i e GND Keypad Ww Connection 5V Regulated Joso oo Power Supply T FP220 Keypad TX GND N C Connecting a 5V Power Supply 6961 S6962 4 3 Chapter 4 Using the Keypad Functions of the Keypad Keys F Keys F1 F2 F3 Used as Menu selectors Used with numeric keys to select commands in the program editor Programmable as operator menu selections See the FK command for information on using the function keys within a program Menu Keys RUN Runs a program jogs an axis or accesses Test Debug functions EDIT Edits Setup parame ters and programs lists pro grams amp resets position counter HELP Provides help on keys menus and command syntax COPY Copies one program to another within a Smart Drive DEL Deletes characters in the editor or deletes entire programs from memory ESC Stops a program or moves back one menu level Exits and saves a program in the program editor Selects the direction of motion in programs and may be used in math programs ALPHA ALPHA plus a numeric key selects alphabet characters for example ALPHA 1 selects A ALPHA 1 1 selects B 4 4 Enters numbers Used with ALPHA to select characters and with F Keys to select commands in the program editor For
3. INDUSTRIAL DEVICES CORPORATION 5 3 Chapter 5 Configuring Your System Motor Wiring The A A B and B phase outputs power the motor windings The two INTLK pins must be jumpered together at each motor connector for the drive to apply power to the motor If the interlock wire breaks or the connector is removed the current to the motor is immediately stopped the drive faults latched and flashes the dual function LED labeled Over Voltage INTLK Extending the interlock wire beyond about 5 inches can lead to noise generated shutdowns GND is internally connected to the Earth pin on the Power connector This provides a convenient terminal for grounding the motor frame and a motor cable shield IDC Motors The figure below illustrates the drive connections to IDC motors with eight flying leads Parallel Connections WhU BIK p e B Orange Interlock t Wht Org Jumpers Black Em Must Be 7 Installed Wuel 4 qu Motor c Red Phase A c Wht Red Yellow AE Series Connections uu Orange e Motor C Wht Ort a PhaseB gt r Wht BIk t Black B e SE d Red A Motor Wht Red E Phase A Wht Yel Yelow az M Wire Color on Quick 6961 2 Disconnect Cables Connection IDC Quick Disconnect Cables Red w Black B IDC P N IDC Motor Applicability QF3 1
4. JO ALPHA ENTER OH c 0 25 The following example shows how to use the keypad function keys as an operator interface 1 Write a menu message MS on the keypad display above the corresponding function keys 2 Usethe FK command to pause command processing until the operator selects a valid function key Only keys explicitly defined in the FK statement are considered valid 3 Gosub to the appropriate program 6 7 Chapter 6 Programming Commands 6 8 Example of a 3 screen menu program Program 20 SCREEN 1 MS1 MS3 Select a Part MS21 Part A Part B Part C FK1 2 3 17 18 GT FKEY EN Program 18 SCREEN 2 MS21 Part D Part E Part F FK1 2 3 17 18 IF FKEY 17 GT SCREEN 1 EB IF FKEY 18 GT SCREEN 3 EB FKEY FKEY 3 GT FKEY EN Program 17 SCREEN 3 MS2 Part G Part H Part J FK1 2 3 17 18 IF FKEY 17 GT SCREEN 2 EB IF FKEY 18 GT SCREEN 1 EB FKEY FKEY 6 GT FKEY EN Name the main program Clears keypad screen Writes a Message Writes a message above function keys Wait for selected key press Jumps to prog 1 2 or 3 if F1 F2 or F3 is pressed Jumps to prog 17 or 18 if the up or down arrow keys are pressed End of Routine Writes a message above F1 F2 F3 Wait for selected key press If Up arrow goto screen 1 If Down arrow goto screen 3 Add offset to FKEY variable to goto correct part subroutine Jumps to part D E F in prog
5. Brown NC Chapter 9 Hardware Reference This page intentionally left blank 9 18 Chapter 10 Troubleshooting Chapter 10 Troubleshooting The following table will help you isolate some of the more common application problems with S6961 2 sys tems For detailed descriptions of the fault LEDs see LED Diagnostic Indicators in Chapter 5 Configuring Your System Symptom Possible Causes Possible Remedies Troubleshooting the Keypad The keypad is blank and the backlight is off The keypad is not receiving a good 5VDC signal Check wiring verify that the 5VDC is between 4 8 and 5 2V Keypad cable miswired Ensure signals are connected to correct pins See Chapter 4 It is difficult to read the display The contrast needs adjustment Adjust the contrast potentiome ter on the back of the keypad Controller doesn t respond to keypad inputs keypad is inop erable The keypad is disabled Dip switch settings on back of keypad may be set to disable the keypad Change settings recycle power and try again Troubleshooting RS 232C Cannot communicate over RS 232C Various possible causes See Troubleshooting RS 232C in Chapter 8 Keypad Message Faults Hit A Limit An EOT switch has been activated or has not been con nected Either the motion commanded was not correct or the EOT Switch is incorrectly positioned on yo
6. 38SQ EQUALLY SPACED ON A 3 875 B C dina 0 885 0 865 xXx pem i in CN i di i uu d X Be H 0005 MES LLL fers E S IA Ze l L 0 33 T 000 017 Ge 0 79 M L 2 877 2 873 1284 L MAX Sl ons A Motor Dimensions m 0 665 0 585 1 95 MAX S Y i u 1 2 NPS THROUGH 1 A S 4 40 UNC 2B x 0 27 Dp MIN 2x EQ SPACED ON A 812 B C 0 3148 0 3143 22AWG GROUND WIRE IS GREEN 12 LONG MIN MOTOR LEADS Motor Wiring parallel only for S6961 2 MOTOR D K T x LMAX PARALLEL CONNECTION P31 K31 5000 1250 555 3 70 4 44 i ELW BLACK Tex P32 K32 5000 1250 555 5 22 5 96 WHT RED 3 WHT ORG P33 K33 6250 1875 705 6 74 7 48 RED gt ORANGE Al j B WHT YEL Note Specs apply to parallel 120 VAC connections DNUS Electrical Specs P31 P32 P33 K31 K32 K33 Continuous Stall Torque oz in N m 450 3 2 920 6 5 1260 8 9 580 4 1 1200 8 5 1600 11 3 Recommended Current Phase Amps 29 3 3 4 0 29 3 3 3 3 Inductance mH 14 30 25 14 30 30 Max Winding Temperature F C 212 100 212 100 212 100 212 100 212 100 212 100 Mechanical Specs P31 P32
7. Application Developer Industrial Devices Corporation 3925 Cypress Drive Petaluma CA 94954 a Phone 800 747 0064 Open File E EA u Look in a IDC Application Developer 6 4 c ks E amp data idc IS Dembrief idc m SS Demostep idc Open an Existing Project a Demservo idc men Files of type IDC files 1DC Cancel 8 7 Chapter 8 Programming With Serial Communication New Project Using the Setup Wizard 1 Click on the New Project button to start the Setup Wizard IDC Motion Pictures Startup x Application Developer Industrial Devices Corporation 3925 Cypress Drive Petaluma CA 94954 Phone 800 747 0064 Fax 707 789 0175 New Project Open an Existing Project 2 Select the product you are configuring 6962 in this case and click on the Next button Note an 6962 will be configured in this example of using the Setup Wizard If you are configuring an 6961 you will only be configuring one axis The Wizard Navigator left of photo allows you to quickly locate your current position at any time during the setup process The column of boxes represents the axes to be configured A box s color represents its configuration status i e gray indicates a parameter that has not been configured yellow indicates the current position of the Wizard parameter being configured and black indicates that the parameter has been configured IDC Setup Wizard Select
8. Encoder Fault Attempted motion in a closed loop mode and encoder posi tion remained unchanged Check encoder wiring and if the encoder is connected and powered properly Wrong encoder mode selected If you are not using an encoder OPEN LOOP must be selected as the Encoder Mode See Chapter 5 Error Finding Home Both EOT switches were acti vated without finding a home switch Ensure home switch is con nected Ensure home switch is properly configured as NORM OPEN or NORM CLOSED Invalid Program Attempted to access an empty program i e GT GS Verify program number or de fine program called Program Too Large Program exceeds 1024 bytes in length Split program into smaller pro grams or reduce program size Insufficient Memory All stored user programs ex ceed 30K Reduce program size or delete programs Invalid Program Program number value ex ceeds 199 400 with 30K mem ory option or program name does not exist Verify program name and num ber Unknown Command A command not in the IDeal programming set has been is sued Check program for data entry errors Command Is Too Long Command and parameter string exceeds 80 characters Reduce command string size Too Many Parameters Parameter list exceeds amount supported by command Reduce parameter list size Invalid Parameter Parameter
9. Until now since each actuator has its own revs per inch ratio data from the model number had to be interpreted and then a ratio calculated The following pages reduce that procedure to looking up the inch or mm ratio from a table sorted by actuator model number Instructions are also included to calculate a ratio for other distance units Increased positional accuracy is often achieved when using these values because some ratios aren t exact 3 5 1 is really 50 14 or 3 571428 Shown below are the three different ways to change the RATIO in an SmartDrive Please note that some ratios cannot be entered via the keypad or Application Developer The keypad and Application Developer screens only support up to 5 digits in each RATIO number Via RS 232C up to 8 digits can be entered for each number The rounding error caused by only being able to enter 5 digits is very minimal for most actuators and stroke lengths and is often much less than the positional uncertainty caused by mechanical backlash and windup Methods For Configuring Ratio There are three methods for entering the ratio information The keypad is the quickest method if your system includes that option 1 SmartDrive Keypad EDIT SETUP MECH RATIO Menu 2 IDC Motion Application Developer Setup Axis Menu 3 Direct RS 232C connection GR Command Using the Keypad to Enter Ratio Information Press Keypad Display Axis One Ratio tor gt SETUP gt
10. n PUi PV Position Maintenance Max Velocity Sets position maintenance maximum correction velocity Units specified by VU command n PVi i 8 27 Chapter 8 Programming With Serial Communication Serial Setup Commands These are the commands that IDC s Application Developer program uses to configure the SmartDrive ac cording to the choices made in the SETUP dialog boxes Command Command Description and Application Examples Syntax PW Password n PWaaaa Up to 4 characters a z A Z 0 9 aaaa Entering a dash will clear the password Skipping a parameter will leave the password unchanged see examples below Examples using PW Example 1 PW4FT Q12h Set the OPRATR password to 4FT and the ADMIN password to Q12h Example 2 PW New Changes ADMIN password to New leaves OPRATR password unchanged Example 3 PW Clears both the OPRATR and ADMIN passwords SN Scan Conditions lt n gt SNiiiiiiii Conditions stopping program select line scanning are represented by i 86 see ue um 9r Fa enn ESL ee RR EE UR ee 0 Continue program select scanning 1 Stop program select scanning on this condition Example SN 0111111 all input conditions except pressing the ESC key stop program select line scanning SR Stop Deceleration Rate lt n gt SRr r Example SR100 100 rps Note Stop Deceleration Rate units are always in rps and are not user selected UN Unit Number lt n
11. 2 Press T and J keys to scroll through the list of available programs until you find the program you want 3 Press ENTER Select JOG To Jog the Motor 4 6 To jog the motor 1 Press RUN 2 Press JOG F2 3 Press lt 7 and J keys to jog the motor PROG JOG TEST T RUN PROGRAM J gt 5 T RUN PROGRAM gt 12 GRIND JOG AXIS 1 0 0000 lt LO gt HIGH Change between LO and HIGH speeds with the F1 and F2 keys Jog speeds and accelera tions can be changed in the EDIT gt SETUP gt JOG menu To jog an incremental distance 1 Press RUN 2 Press JOG F2 3 Enter the desired distance number i e 0 012 4 pressed determines the direction of the move 2 JOG AXIS 1 0 0000 Dist 012 Press and release an arrow key to make the motor move this distance The arrow Repeat steps 3 and 4 until desired position is reached Repeatedly pressing the arrow keys will jog the same distance until a new distance is defined This feature is intended for very fine final positioning The incremental jog speed is therefore fixed at a very low speed Note Pressing ESC at any time will terminate the incremental JOG mode Chapter 4 Using the Keypad Using TEST For Testing and Debugging TEST Sub Menus TRACE The trace feature allows you to debug programs by sequential ly executing one program command at a time T TRACE PROGRAM J 1 Press RUN gt TEST gt TRACE 2 Enter
12. Syntax MD Motor Direction Reference 0 Positive direction 1 Negative direction Example MDO one positive n MDi i MR Motor Resolution Default 25 000 steps rev 200 steps rev 400 steps rev 1000 steps rev 2000 steps rev 5000 steps rev 8000 steps rev 10000 steps rev 18000 steps rev 25000 steps rev 25400 steps rev 36000 steps rev Wood io o ll eo n MRi i MT Motor Type MT10 fixed at MT10 on S6961 2 Selects a built in motor type n MT10 10 MV Maximum Velocity Example MV50 0 axis one 50 in units selected by VU command lt n gt MVr r OD Output Definition Example OD PPPPPPPP All 8 outputs defined as Programmable outputs All 8 output states must be specified See also ID lt n gt ODaaaaaa aaaaaaaaaa OE Output States on Event Configures output states on an event specified by a OPTO positions 9 16 are only definable if configured as an output using OP command a P Power Up F Fault S Stop Kill i 0 Off 1 On X No Change Example OEF 0001XX01XXXXXXKXKX OP OPTO Configuration i Input O Output Example OP IIIIOOOO First four configured as inputs last four as outputs n OPIIII OOOO PG Position Maintenance Gain Sets position maintenance correction gain i 1 to 32 767 n PGi i PU Power Up Program Example PU105 Runs program number 105 on power up
13. 22 1 5A 16 ON ON ON 3 0 4 ON ON OFF 23 1 7A 16 OFF OFF ON 3 5 4 OFF ON OFF 32 2 8A 8 OFF ON OFF 5 6 4 ON OFF OFF 33 3 5A 8 OFF ON OFF 7 0 4 ON OFF OFF 42 6 0A 4 ON OFF OFF 7 9 4 OFF OFF OFF P21 1 3 20 OFF ON ON P22 2 0 16 ON OFF ON P31 2 9 12 OFF ON OFF P32 3 3 28 ON OFF OFF P33 4 0 24 ON OFF OFF P41 5 7 12 ON OFF OFF mE Series Settings N A on EE zm EE P21 K43 P43 6 6 28 OFF OFF OFF K31 2 9 12 ON OFF OFF K32 3 4 28 ON OFF OFF K33 3 3 28 ON OFF OFF K41 5 7 12 ON OFF OFF K42 6 4 12 ON OFF OFF K43 6 6 28 OFF OFF OFF Current shown applies to optional 8 Amp drive Set standard 6 Amp drive current to 6 0 Amps To make the appropriate Anti Res setting round to the nearest avail able value 0 7 and set the corresponding binary weighted dip Standby switches The example to the right shows a setting of N 0 Waveform ON 1 OFF 0 Step type Anti Resonance Note Anti Resonance The Resolution settings are read only at power up Subsequent Anti Resonance changes to these settings have no effect until power is cycled The other settings Current Waveform Standby Inductance Anti Resonance and Phase Offsets may be adjusted while the motor is energized and moving Chapter 3 Quick Start Apply Power CAUTION The motor will be enabled when the drive is powered up When power is applied the display briefly shows Model and Firmware Revision then change
14. Connects to SmartDrive and other IDC controls with remote cable e Allows application programs to be copied from one SmartDrive to another or to from a PC 4 1 Chapter 4 Using the Keypad Keypad Hardware Features Setting DIP Switches to Limit Access to Keypad Menus Four DIP switches on the back of the keypad provide a means of preventing access to certain keypad menus If access to a menu is denied pressing that menu key will have no effect For example if 1 is ON and 2 is OFF the operator will be able to stop motion by pressing the ESC escape key but will not be able to access the RUN menus to select another program This is a hardware inhibit and is independent of any firmware or setup parameter in the Smart Drive SS Keypad Functionalit Fx peces ii on ore 7 7 Ne access 10 RUN EDIT COPY DEL menus Con on 7 Neseessie EDI COPY DEL mens Reserved for future functions Notes Power must be cycled before DIP switch setting changes take effect Access to the JOG menu can be enabled or disabled from software Using Passwords to Limit Access to Keypad Functions Another method of limiting access to keypad functions is to assign passwords when configuring your setup parameters See Configuring Your Miscellaneous Setup Parameters in Chapter 5 for more information on passwords Please note that DIP switch settings have priority over passwords Adjusting Contras
15. In other applications you may want to choose your motor resolution to achieve a desired number of steps per engineering unit per inch degree mm etc Resolution also has an affect on velocity smoothness Above 10 000 steps per revolution you will notice little improvement in smoothness unless you are moving only a few steps per second Chapter 5 Configuring Your System Motor Inductance IDC Motor Inductance The S6961 2 drive has a dial in Motor Inductance range of 2 60 mH per phase with 16 settings over that range The 16 position rotary inductance setting switch has inductance settings from 0 to 60 mH in multiples of 4 mH To get the proper inductance setting from the motor inductance rating round to the nearest multiple of 4 mH When using motors with an inductance less than 4 mH always set the Motor Inductance switch to 4mH For example when using an IDC model S33 wired in series the inductance rating is 10 mH Rounding to the nearest inductance setting gives 8mH The following table shows motor inductance rating for IDC step motors The Meter Reading column shows the inductance that a typical digital multi meter would read if you measured the inductance of the motor The S6961 2 Setting column shows the actual 6961 2 drive setting Series T Inductance mH Parallel V Inductance mH IDC Motor z 2 M
16. P Pause Continue When this input is grounded program execution is stopped Moves are not interrupted when the Pause input goes active Command execution will Pause at the end of the move and Continue when the input goes high See the ST and RG commands in Chapter 3 for interrupting moves in progress R r Retract Jog R specifies axis 1 r specifies axis 2 When activated the motor will Jog in the Retract minus direction When the input is released motion stops at the Jog Accel rate If an End of Travel limit is hit while jogging the motor will stop at the Stop Rate see Edit Setup Misc Before the motor can be moved back off the limit a Stop or Kill input must be activated to clear the fault generated by hitting an End of Limit switch Alternatively an S or K command sent over serial communication will also clear the fault The velocity is determined by the Jog Speed J input and the Jog Low and Jog High setup parameters When the input is OFF the speed is low and vice versa If none of the inputs are configured for Jog Speed the motor will jog at the Jog Low setting S Stop When activated any program execution or functional operation is immediately stopped This includes any motion time delays loops and faults Moves will be decelerated at the stop deceleration rate New programs will not execute until the stop input goes inactive See the SCAN setup parameter for more information on stopping program execution See the ST
17. Product C 56961 C SmartStep Ce 56962 C SmartStep 240 961 SmartStep23 C 962 C B8961 cC A C B8962 C PC 104 Wizard Navigator 55362 Dual Axis Programmable Microstepping Drive 3 4 Chapter 8 Programming With Serial Communication Click on the Next button and the Encoder setup window will appear IDC Setup Wizard Encoder Operation Mode Open Loop no encoder C Open with Stall Detection C Closed Loop C Servo Closed Loop Closed With Position Maintenance Encoder Settings 1 Encoder Resolution Post Quad Following Error Motor Cts Cancel lt Back 3 SIE If you will be connecting an encoder select one of the Encoder Operation Modes Encoder modes are described in Chapter 5 If you have made a selection other than Open Loop no encoder you may wish to edit the Encoder Resolution and Following Error parameters at this time Note It may be necessary to edit these parameters because servo systems usually require a larger following error than stepper systems Click Next and you will be in the Mechanics setup window Mechanical System setup is particulary easy if you are using IDC systems Select the IDC Mechanical System and Part you intend to control with this axis and the Wizard will calculate the rest Select Other if you are using a non IDC system IDC Setup Wizard Select an IDC Mechanical System T Seri
18. SE duty cycle max above 5 Max Winding Temperature F C 212 100 rps 300 rpm Mechanical Specs S12T S12V Always use at least 30 Rotor Inertia oz in s kg m 5 1x104 torque safety margin when Axial Shaft Load lbs N 10 45 applying step motors Radial Shaft Load 0 5 inches lbs N 5 22 Motor Weight Ibs kg 0 66 0 3 Step Angle full step degrees 1 8 Drive Settings S12T Series S12V Parallel Current Inductance Current Inductance 1 0 Amps 8 mH 2 0 Amps 4 mH Motor Wiring SERIES CONNECTION PARALLEL CONNECTION YELLOW BLACK At 3 B ll YELLOW BLACK By WHT YEL gt WEETIBEIK WHT RED 3 C WHT ORG WHT RED 2 WHT ORG RED j 3 t ORANGE A RED ORANGE A WHT YEL WHT BLK E Chapter 9 Hardware Reference 21 S22 S23 Hybrid Step Motor Specifications 8 CONDUCTOR SHIELDED 1 003 A CABLE WITH DRAIN DIM A SEE TABLE MES DRAIN CONNECTED TO 0 84 0 78 e L e en ne 0 19 0 195 0 215 THRU 4 N 8 Mrd ei 0 70 FULL FLAT ON A 2 625 B C Se Ki E 7N 0 2500 0 2495 0 219 p AEAN 0 2500 0 2495 Es N B LS i 1 502 1 498 wE KS E J O02 Ja deg E l Bee L Gan 006 JL 1 656 SQREF L ON 1 812 amp C 2 227SQMAX a T Serie
19. SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm T 101 1 1 1 1 to 1 10 to 254 T 151 1 5 1 1 5 1 5 to 1 15 to 254 T 201 2 1 2 2 to 1 20 to 254 T 501 5 110 1 5 110442 42432 to 8303 4243 to 21090 T 1001 10 007 1 10 00729 68640 to 6859 6864 to 17422 T 104 1 4 4 4 to 1 40 to 254 T 154 1 5 4 6 6 to 1 60 to 254 T 204 2 4 8 8 to 1 80 to 254 T 504 5 110 4 20 44177 169728 to 8303 16973 to 21090 T 1004 10 007 4 40 02916 274560 to 6859 27456 to 17422 T 106 1 6 6 6 to 1 60 to 254 T 156 1 5 6 9 9 to 1 90 to 254 T 206 2 6 12 12 to 1 120 to 254 T 506 5 110 6 30 66265 254592 to 8303 25459 to 21090 T 1006 10 007 6 60 04374 411840 to 6859 41184 to 17422 R2 Smart Drive Mechanical Ratio Setting S Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm R2 10T 1 0 33333 0 33333 1 to 3 10 to 762 R2 15T 1 5 0 33333 0 5 1 to 2 10 to 508 R2 20T 2 0 33333 0 66667 2 to 3 20 to 762 R2 31T 3 125 0 33333 1 04167 50 to 48 500 to 12192 R2 35T 3 571 0 33333 1 19048 50 to 42 500 to 10668 R2 120T 12 0 33333 4 4 to 1 40 to 254 R2 102 1 2 2 2 to 1 20 to 254 R2 152 1 5 2 3 3 to 1 30 to 254 R2 202 2 2 4 4 to 1 40 to 254 R2 312 3 125 2 6 25 50 to 8 500 to 2032 R2 352 3 571 2 7 14286 50 to 7 500 to 1778 R2 1202 12 2 24 24 to 1 240 to 254 R2 105 1 5 5 5 to 1 50 to 254 R2 155 1 5 5 7 5 7 5 to 1 75 to 254 R2 205 2 5 10 10 to 1 100 to 254 R2 315 3 125 5 15 625 250
20. T EDIT PROGRAM J 2 Press Fl PROG and you will see a display with a gt blinking cursor as shown to the right 3 Enter an identifying number that will be used later to call up the program The number you enter may be from 1 199 1 400 with 30k memory option but do not use a number that is already being used for another program If the SmartDrive contains several programs scroll the list to determine a number that has not been used Note You may assign a name rather than a number to your program if you wish See Naming Your Programs later in this chapter 4 Press ENTER You will see a completely blank display screen with only a blinking cursor in the upper left corner The SmartDrive is now ready to accept a program 5 Once inside the program editor you will enter commands by pressing a function key and then a numeric key Examples of creating saving naming and editing programs follow 4 10 Entering Commands with the Number Keys Examples of entering commands found on the number 2 key and on other number keys To enter VE the upper command press F1 blue then press the 2 key To enter AC the middle command press F2 yellow then press the 2 key To enter DE the lower command press F3 green then press the 2 key Chapter 4 Using the Keypad Press ENTER to insert a space before entering the next command Note All commands that may be used by the SmartDrive are not on ke
21. 2 C B WHT RED 2 t WHT ORG RED 3 3 ORANGE AT WHT YEL g WHT BLK SS Drive Settings S32T Series S32V Parallel Current Inductance Current Inductance 2 8 Amps 8 mH 5 6 Amps 4 mH S33T Series S33V Parallel Current Inductance Current Inductance 3 5 Amps 8 mH 7 0 Amps 4 mH YELLOW BLACK At oe BH Motor WHT YEL 2 e WHT BLK Wiring WHT RED 2 WHT ORG RED ORANGE A B Wire Color on Quick 6961 2 Disconnect Cables Connection IDC Quick Red w Black B Disconnect Red w White B Cable Green GND P N QF3 12 Red w Yellow A Red A Gray colored Quick Disconnect Cables bw Emm are shielded connect shield to GND 9 13 Chapter 9 Hardware Reference 42 Hybrid Step Motor Specifications 7 82 198 6 10 32UNF 2B x 0 38 0 1875 0 1850 v 440UNF 28 THRU 2 1 2 1ANPS WIRE ENTRY SE Do MIN EQ SPACED ON A 3 000 B C 3 1 010 0 990 d So ATN F i 0 6250 0 6245 0 705 0 688 EUH PLOT2 188 2184 d F if oe dE Ms 0 29 0 27 THRU 4 c zi nd m 0 73 0 03 ES mr ON ALOSOBC P 3 500 SQ REF tes 4 22 SQ MAX T Series V Parallel p 4 28 MAX N Electrical Specs
22. 6 22 This allows you to Have asynchronous inputs change the speed of an axis Make motion profile changes based on time delays or input states Manipulate I O while moving as a function of time distance or input states Change speed based on analog inputs or variables Have an operator update the speed of an axis through the keypad Servo to an analog input Make a one or two axis joystick using analog inputs Start a continuous move on one axis and make distance based moves on another If a motor is making a move when it comes to the end of a program the motor will continue moving even after the program ends This allows you to Put different MC moves in different programs and select different speeds by running different programs Change speeds based on Binary or BCD program select lines Call MC moves as subroutines Run from hosted RS 232C mode where the computer commands speed changes Run another program from the keypad that does not violate MC syntax So you could run another program from the keypad to change speeds move the other axis manipulate I O interface with an operator or calculate arithmetic Example 1 Basic Move Continuous syntax Demonstrates how to change speed and stop MC moves based on time delays and input conditions MC Enable Move Continuous on axis 1 AC 1 Set the acceleration rate VE50 Set top speed to 50 GO Start the Move Continuous move command processing will continue when axis 1 reaches
23. DUi CH Axis One Dist Units EDIT gt SETUP gt MECH gt DIST ef res lo Default revs Range n a DIST is used along with RATIO to select your distance units and unit label All distance values specified in the system will be expressed in the units selected here The relationship between motor revolutions system mechanics and the distance label chosen here is defined with the RATIO command defined below 1 Use lt or keys to select an axis 2 UsetheT J keys to select distance units from the following list Notes mils arcmin inch degrees um feet radians yards grads steps cm K meter arcsec revs mm index e You can change DIST or RATIO at any time Changing them will not change the associated DI or DA values in a program i e DI100 will command a 100 inch move instead of a 100 step move if the DIST units are changed from Steps to Inches Make certain that your Gear Ratio GR option is set to accurately reflect the Distance Unit e If steps is chosen the control automatically fixes the RATIO see following 5 23 Chapter 5 Configuring Your System Configuring the Gear Ratio GRi i Axis One Ratio EDIT gt SETUP gt MECH gt RATIO EE Default 1 to 1 Range n a The RATIO option is used to scale DI and DA moves to your preferred distance units RATIO sets the ratio of motor revolutions per DIST unit Up to 5 digits on either side of the rat
24. Following error is still active while in CLOSED LOOP PM mode A following error will occur when the number of correction steps exceeds the following error value This allows the unit to signal a fault when the displacement cannot be corrected i e an obstruction CLOSED LOOP PM will not attempt to correct position while navigating menus with the keypad 5 20 Chapter 5 Configuring Your System Configuring Encoder Resolution ERi Axis One Encoder Res EDIT gt SETUP gt ENC gt E RES T 200 lo Default 2 000 counts rev Range n a This option is used to set the encoder resolution The resolution is specified in encoder pulses per revolution of the motor post quadrature To prevent end of move dither with a SmartDrive we recommend an encoder resolution of 8000 counts rev or less 1 Use lt or keys to select an axis 2 Use the numeric keys to enter the encoder resolution Configuring Following Error Limit FEi et gt SETUP gt ENC gt FOL ERR EU oe Default 750 motor steps Range 0 999 999 motor step counts 0 OFF This option defines the maximum position following error allowed during motion A fault occurs when the error between the commanded and feedback signal exceeds the Following Error value 1 Use lt or gt keys to select an axis 2 Using numerical keys enter desired motor steps 3 Press ENTER to save your entry If a Following Error occurs the control will
25. MECH gt RATIO ME QUE E Default 1 to 1 These two integer values set the number of motor rev s per distance unit i e inch mm cm etc A 1 Appendix A Actuator Ratios Application Developer m Axis Setup Axis 2 User Units Distance Ratio Distance revs Velocity er Max Velocity 80 00 rps oe Hb oklash aes cant HI amp ielien AXgpliczaliei Deseleper Note Your entire application setup parameters and pro grams must be downloaded to the SmartDrive before the new RATIO scaling will be used You cannot download only a new RATIO from Application Developer RS 232C Terminal Example File Status Ok 1DU2 distance unit inches pe Ed 1DU2 1GR10 1 gear ratio 10 1 1GR10 1 VIRC Sostieni pplication Deseleper Gear Ratio Notes Youcan change DIST or RATIO at any time Changing them will not change the associated DI or DA values in a program so all moves will change by the same factor that RATIO was changed e If using an IDC supplied actuator the proper Gear Ratios for entering units of Inches and mm can be found in the following actuator ration tables A 2 N T R2 R3 R4 NM RM NV EC2 EC3 EC5 Series Appendix A IDC Actuator Ratios IDC Actuator Ratios N Smart Drive Mechanical Ratio Setting Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for In
26. PMGAIN e 10 Default 10 Range 1 32 767 PM Gain specifies a gain value used to determine correction velocity The correction velocity is calculated as displacement correction gain in units of steps sec Therefore the larger the displacement the faster position maintenance will attempt to correct position For example if the correction gain is set to 3 and an active displacement of 3200 steps occurs the correction velocity will be 3 3200 9600 steps sec Configuring Position Maintenance Max Velocity PVi 5 Axis One PM MaxVel EDIT gt SETUP gt ENC gt PMMAX ee Default 1 0 rps Range 0 005 9 999 999 PMMAX limits the velocity of a position maintenance correction Regardless of the magnitude of displacement of correction gain the correction velocity will never exceed the maximum velocity setting Chapter 5 Configuring Your System Configuring Your Mechanics Through the MECH SETUP menu your SmartDrive allows you to program distance velocity and acceleration units convenient for your application Once configured your keypad will use these units in all display and position reporting modes This menu also allows you to seta maximum allowable speed for each axis T MECH SETUP DIST RATIO BKLASH T MECH SETUP 1 Pressing MECH displays three menu choices EE T MECH SETUP J Pressing orT reveals four additional menu choices AMAX I Configuring the Distance Unit
27. S42T S42V Continuous Stall Torque oz in N m 1000 7 1 725 5 1 Recommended Current Phase Amps 6 0 7 9 Winding Resistance Ambient Ohms 36 09 Notes Inductance mH 7 1 75 Parallel V wiring 5096 duty cycle Max Winding Temperature F C 212 100 max above 5 rps 300 rpm Mechanical Specs S42T S42V e Always use at least 30 torque Rotor Inertia oz in s kg m 114x10 80 5x10 5 eae when applying step Axial Shaft Load lbs N 65 289 l Radial Shaft Load 0 5 inches Ibs N 23 6 105 Motor Weight Ibs kg 19 1 8 66 Step Angle full step degrees 1 8 Motor Wiring SERIES CONNECTION PARALLEL CONNECTION YELLOW H BLACK At 2 B pe YELLOW o 3 BLACK B WHT YEL 3 WHT BLK WHT RED 3 CWHT ORG WHT RED 7 f WHT ORG RED 3 t ORANGE A RED j t ORANGE A WHT YEL WHT BLK Wire Color on Quick 6961 2 Disconnect Cables Connection Drive Settings J IDC Quick Red w Black p S42T Series S42V Parallel Disconnect Red w White B m Cable Current Inductance Current Inductance Green GND P N QF4 12 Red w Yellow A 6 0 Amps 8 mH 7 9 Amps 4 mH Red A 1 SCH Gray colored Quick Disconnect Cables ES are shielded connect shield to GND 9 14 Chapter 9 Hardware Reference P21 P22 Hybrid Step Motor Specifications BI 03 be H 02 vi kb Al 02 8X 24 AWG CONDUCTOR z HI CA
28. Square Root Go start a move Stop on Input Go Point Time Delay Gosub Velocity Go to a Program Wait If Industrial Devices Corporation 3925 Cypress Drive Petaluma CA 94954 800 747 0064 Outside the U S Call 707 789 1000 World Wide Web http www idcmotion com E mail info idcmotion com 6961 S6962 User s Manual PCW 4757
29. T V 1 second 1 second Output 1 T NOT as shown here Axis 1 Output 1 After the first pass through the loop command LP will wait at the GI command since sub sequent GI moves must wait for the present move to finish D Another issue is programming conditional GI moves within IF blocks for example LP IF1 1 VE5 DI20 GI OTXX100 EB IF2 1 MC VE 10 GO EB IF3 1 VE 0 GO EB EB In this program when input 1 is asserted the GI move will be commanded however since the program will continue executing input 1 may still be asserted on the next loop itera tion This will cause a second GI move to be commanded which may be undesirable To avoid this situation the addition of a WT1 0 after the IF1 1 will ensure that input 1 is only seen once since it has to be deactivated to allow the program to continue V Axis 1 Axis 2 Chapter 6 Programming Commands E DI1 GI DL5 GO DII GI The above program will V function as shown below Not as shown here Axis 1 MEE E l T V Axis 2 T F DI10 GI DL2 GO DI 2 GO DI10 GI V Axis 1 T V Axis 2 T 6 12 CG VARD IO LP EB EN DI55 10 VE10 10 AC 5 5 GI M i MS1 AI9 WT 2 TD 5 DI 10 GI IF8 1 OT10 1 TD 1 OT10 0 EB WT 2 TD 5 DL10 GI DIST VAR1 1000 TERM DIST Chapter 6 Programming Commands Initialize Variable Beginning of Loop Block Define Two Axis Move Start Go Immediate Move Both Axes
30. The shaft can easily be manually rotated ENABLERDISABEESSHIEDEN RESET is applicable only to the B8961 2 1 Press RUN gt TEST 2 Press T or J until SHUTDN appears above F1 3 Press SHUTDN 4 Press ENABLE or DISABLE RS232 The RS232 feature allows for testing and debugging of daisy chain terminal communications through the keypad thus eliminating the need for a PC terminal connection Testing Serial Transmit TRUN TESTJ 1 Press RUN gt TEST SHUTDN RS232 ENCODER 2 Press or 4 until RS232 appears above F2 3 Press RS232 Test Connection 4 Inthe Test Connection menu press TRANSMIT TRANSMIT RECEIVE The SmartDrive will now transmit the string EE ABCI23 every 5 seconds Test String ABC123 Idle Testing Serial Receive 1 Inthe Test Connection menu press RECEIVE 2 Any character received on the terminal port will be displayed on the keypad Data Received 4 8 Chapter 4 Using the Keypad ENCODER The ENCODER sub menu allows you to perform three differ ent tests to determine if encoders are working properly SHUTDN RS232 ENCODER Press RUN TEST Press T or J until ENCODER appears above F3 Press ENCODER Press desired encoder test described below Use the lt or arrows to select the axis of the encoder to be tested Un poa bacs Note the encoder tests are performed by toggling the F1 F2 and F3 buttons Disabl Enable F1 allows you
31. X 2 X X 3 or X 3 and e Length Total 3 125 Multiply by the significant figures e Length Length 01 Then move the decimal place or Length Total 32 The SmartDrive fixed point variable storage supports 4 characters to the right of the decimal place 32 bit storage of fractional decimal number 7 7 Chapter 7 Programming Your Application 7 8 Boolean Operators amp And Or The operators amp and will perform the respective bitwise Boolean functions on immediate or variable parameters An application example of the Boolean operators would be isolating a specific bit from an SD Tell Drive Status response Suppose you want to determine if axis 1 drive was enabled from a program This corresponds to a bit 5 10000 Binary 16 integer in the SD response The program segment would look as follows DRIVE STAT SD1 amp 16 IF DRIVE STAT 16 MS 1 Drive Enabled EB The 16 corresponds to an integer weight of bit 5 10000 since you wish to mask out the enable bit Logical Operations on Expressions amp amp Conditional commands IE WT LU LW support logical operations of AND amp amp and OR Il Two expressions may be logically AND d or OR d within one conditional command For example A 5 B 22 5 IF A 2 amp amp B 2 5 MSI True Statement EB In the above program the message True Statement would appear since BOTH conditional statements are true thus mak
32. installation process the program will prompt you to enter information Click on the Next button to continue the installation At any point during the installation you can click on Cancel to abort the process Welcome Thank you for your purchase For assistance call 00 747 0064 The Setup program will take you through a series of screens to verify user information and destination directories When you reach the window that says Click the type of Setup you prefer then click next select Typical unless a partial installation is required Selecting Custom allows you to select de select applications and various IDCMotion support files Application Developer and Servo Tuner may not run properly if these support files are not installed 8 5 Chapter 8 Programming With Serial Communication The Setup program will then prompt you to select a program group or program folder in Win 95 to install the program icons The Setup program will also create a series of sub directories containing Application Developer and an icon list Also included in the Application Developer directory is a readme txt file a PowerPoint training presentation and a terminal program for use in troubleshooting daisy chains Common Installation Errors and Remedies 8 6 There are no known installation problems with Application Developer Please call the IDC Applications Department at 800 747 0064 or 707 789 1000 from outside U S i
33. lt cr gt or space lt sp gt character The commands that follow define IDC s command syntax A brief command description is given here but the full command definition is found in Chapter 5 This listing is intended only to help programmers with command syntax Deal programming commands are defined in Chapter 6 The table below describes the abbreviations and format used in our command syntax definitions Letter or Description Symbol lt n gt Unit address number is optional with RS 232C and the command is sent to all units if no address is specified All Status commands require an address Example n AUI i Field separator a Alphabetic character h Hexadecimal number Decimal integer number r Decimal real number up to 4 places to the right of the decimal A colon is a neutral character It can be used in a command to make it more readable to the programmer For example OP OOOOIIII is easier to understand than OPOOOOIIII Note The colon is required in GR command and is not neutral Unit Ratio Example GR4 1 TM Some Deal commands request a response from the control Responses will always be preceded by an asterisk which notifies the other controls on a daisy chain to ignore the subsequent response characters preceding the next command delimiter For example the Input State IS command might return AFO9 lt cr gt Your computer program will need to mask the asterisk
34. ratio 6 25 motor turns inch Units must be motor turns inch Convert Ratio to Turns User Unit Convert turns inch ratio by multiplying or dividing by the same factor you 6 25 2 54 cm in would to convert inches to your preferred user unit 2 4606 Convert Decimal Ratio to Ratio of Two Integers A Multiply by the power of ten required to move decimal point to the far SE 2 4606 x 104 right Note that a maximum of six digits can be entered into the Smart 24606 Drive it might be necessary to round of the number from step 3 above This is the numerator of the integer ratio 10 10000 B The power of ten becomes the denominator Enter Ratio into Smart Drive A Press EDIT SETUP MECH RATIO to get to the Mechanical 24606 to 10000 Ratio menu The numbers from step 4 can now be entered 24606 revs 10000 cm B Press Enter after entering the ratio numerator then to move right and enter the ratio denominator Press Enter after entering the denominator then ESC to move back one menu Program Smart Drive The Smart Drive is now ready to program in your own User Units DI10 0 GO Distances will match the units configured above moves 1 0 0 cm A 8 A AC power 5 11 acceleration maximum 5 26 acceleration units 5 26 actuator ratios EC2 series actuators A 6 EC3 series actuators A 7 ECS series actuators A 7 N series actuators A 3 R2 series actuators A 4 R3 series actuators A 5 R4 series actuator
35. switches or outputs from a computer Up to 99 programs may be selected using BCD inputs The lowest numbered input becomes the least significant selection bit i e input 1 is less significant than input 2 The act of configuring an input as a program select input also enables the BCD program select mode c Clear Command Buffer Clears the terminal input buffer and buffered command buffer D Lock Disable Keypad When activated the keypad is disabled allowing NO user access The keypad resumes normal operation subject to the dipswitch pattern when the input is released E e Extend Jog E specifies axis 1 e specifies axis 2 When activated the motor will Jog in the Extend direction When the input is released motion stops at the Jog Accel rate If an End of Travel limit is hit while jogging the motor will stop at the Stop Rate see Edit Setup Misc Before the motor can be moved back off the limit a Stop or Kill input must be activated to clear the fault generated by hitting an End of Limit switch Alternatively an S or K command sent over RS 232C will also clear the fault The velocity is determined by the Jog Speed Input and the Jog Low and High setup parameters When the input is off the speed is low and vice versa If none of the inputs are configured for Jog Speed the motor will jog at the Jog Low setting G Registration For the Registration RG command to function Input 1 must be configured as a Registration i
36. 1 GAD LID TARY EE 11 1 Web Sit ECTS 11 1 WARRANTY amp REPAIRS 5 end eite t deiade sr Ra E Ene ad RR Eege KEEN 11 2 APPENDIX A IDC ACTUATORRATIOS sese A 1 INDEX dee eta vedi uten da eset dete erc l 1 SUMMARY OF COMMANDS sess IMMEDIATELY FOLLOWING INDEX KEYPAD PROGRAMMING TEMPLATE ON BACK OF SUMMARY OF COMMANDS Chapter 1 Overview Chapter 1 Overview IDC s 6961 and 6962 one and two axis SmartDrives combine a top of the line mircostepping drive with a powerful but easy to use machine controller We offer a single axis version S6961 and a dual axis version S6962 The S6962 has two axes of independently selectable motor resolution and current settings Both products incorporate IDC s 6 0 Amp 160 VDC recirculating microstepping drive with a motion machine controller in a single compact package 8 Amp drives and controls are available as an option 8A and automatically include a fan kit Up to 24 digital I O are available to control other machine functions Up to 8 of these can be configured as analog inputs or outputs The S6961 2 series of SmartDrives also feature IDC s proprietary anti resonance circuitry Most step motor users have probably experienced a phenomenon known as mid range instability which can cause a step motor to stall between 13 and 18 revolutions per second Since microstepping alone does not address mid range instability IDC s 6961 2 SmartDrives use advanced anti resonance
37. 14 3 mil 7 yard 11 grad 15 index 4 meter 8 foot 12 arcsec 16 um DY Scan Delay lt n gt DYi Where i is the number of ms Example DY500 500 ms Default is 100ms EL Enable Line Polarity lt n gt EL1 1 Fixed in SmartDrive EM Encoder Mode n EMi i 0 Open Loop 1 Open Loop with stall detect 2 Closed Loop 3 Servo Closed Loop 4 Closed Loop Position maintenance Example EM2 closed loop 8 25 Chapter 8 Programming With Serial Communication Serial Setup Commands These are the commands that IDC s Application Developer program uses to configure the SmartDrive ac cording to the choices made in the SETUP dialog boxes Command Command Description and Application Examples Syntax ER Encoder Resolution Where i is an even integer Example ER2000 2000 counts rev lt n gt ERi i ET End of Travel Switch Polarity Selects the polarity of the EOT End of Travel switches i 0 NORM OPEN i 1 NORM CLOSED lt n gt ETi i FE Following Error Limit Example FE1000 axis one 1000 counts lt n gt FEi i FL Fault Line Polarity Fixed in SmartDrive lt n gt FLO 0 GR Units Ratio Example GR4 1 4 motor revolutions per distance DU unit n GRi i i i HE Home Edge 0 Negative Edge 1 Positive Edge Example HEO positive lt n gt HEi i HF Home Final Direction 0 Negative direction 1 Positive direction Example HF1 one posi
38. 2 position with axis units VEL1 Axis 1 commanded velocity VEL2 Axis 2 commanded velocity CUR1 Axis 1 current in Amps B896X only CUR2 Axis 2 current in Amps B896X only INPUTS Discreet input status 0 off 1 on OUTPUTS Discreet output status 0 off 1 on OPTOS OPTO input and output status 0 off 1 on as configured SA STATUS1 Displays SA serial command response for axis 1 SA STATUS2 Displays SA serial command response for axis 2 SS STATUS Displays SS serial command response TEXT Display user defined text in a quadrant 5 47 Chapter 5 Configuring Your System 3 Use the T and J key to scroll through the data types and press ESC to save all data types except TEXT see step 4 4 Inorder to define a text field scroll to the TEXT data type and then press the ALPHA key or a number key A cursor will appear allowing up to 10 characters to be entered Type the desired text press the ENTER key and then press ESC to register Configuring Stop Decel Rate SRi f Axis One Stop Decel EDIT gt SETUP gt MISC gt STOP RATE Ke 04 ps gt Default 100 rps units fixed at motor rps Range n a This option is used to set the deceleration rate whenever a configurable stop input is activated or when the ESC key is pressed while moving This is usually set to the fastest controllable deceleration rate possible with mechanics in your application 1 Use or gt keys to select an axis 2 Use the numeric
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40. 9 Hardware Reference provides SmartDrive mounting information detailed I O schematics motor drawings cables and specifications Chapter 10 Troubleshooting lists a series of common application problems along with their symptoms and solutions Included with this manual is the IDCMotion M disk set IDC s Application Developer is automatically installed on your hard drive by running the setup program on Disk 1 of the IDCMotionQ disk set This disk also includes a readme file containing the latest information on software features The readme file also contains a program listing of demo program included with Application Developer Chapter 2 Shipping Contents Chapter 2 Shipping Contents Before connecting any equipment please examine your order to ensure that all parts were received If any part of your order is missing please call IDC Customer Support at 800 747 0064 If you ordered P N S6961 or S6962 you will receive 1 S6961 2 with mounting bracket attched to back of control Keypad attached to control w 3 mounting balls Keypad mounting gasket Keypad mounting template Keypad cable 5 position AC power cord Application Developer software 6961 2 User s Manual Black label to cover switch settings 4 short screws for minimum width mounting IDC screwdriver SSB OON Oo RAN If you ordered P N S6961 FK or S6962 FK you will receive 6961 2 with fan kit amp fan bracket attached to back of control Stand
41. Absolute eee syntax DAzr r Units selected from the EDIT SETUP MECH menu Range unit scaling dependent Default n a DA sets the next move position referenced from absolute zero The absolute zero position is established after a Go Home move GH and or with the Set Position SP command Absolute positioning is typically used in applications where you are moving to a number of known locations or if your physical work area is restricted Incremental DI and absolute moves may be mixed the control always keeps track of the absolute position Examples AC2 DE 5 VEI2 DA3 GO Moves to absolute position 3 units DA3 GO DA3 GO Moves once to absolute position 3 units 6 3 Chapter 6 Programming Commands 6 4 DC Distance to a Changge ne syntax DC r r Units selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Default n a DC is used to define complex multiple velocity move profiles or to change an Output at a specific point during the move It defines the distance at which a change will occur on the fly while the motor is still moving At the specified distance you can change the velocity acceleration deceleration or change the state of one or more outputs The DC command must follow the DA or DI commands which specify the total move distance The DC distance is interpreted as an absolute position when used with DA
42. DC commands reset the mode to distance Each Move Continuous segment must contain a GO command Accelerations and velocities may be changed in any segment If no change is specified to one of these parameters the last value will be used It is not valid to issue positional commands DI DA DC GH SP to an axis while it is in a Move Continuous mode However you may make distance based moves on the other axis while running one axis continuously Any command is valid within an MC segment except Distance Commands DA DC amp DI The direction of the move is specified by the sign of the VE parameter If the sign of the VE parameter changes between two segments the control will automatically stop the motor at the programmed rate and change directions to the new speed This makes changing directions based on variable inputs very easy to program using a scaled variable as the VE parameter Once a Move Continuous segment is started it will continue to move at the speed specified by VE until either another VE is commanded the ESC Key is pressed or an End Of Travel Kill Motion Interrupt or Stop Input is activated A commanded velocity of zero VEO stops an MC move Motion will also stop if you enter the Edit Help Copy or Delete menus After a continuous move segment has started command processing will continue when constant velocity is reached Other commands are then processed sequentially 6 21 Chapter 6 Programming Commands
43. GO EP uses optional program name RN Run Program lt n gt RNi This commands any program by number only The RN command does not support the optional program names Example RN25 SW Software Firmware Version lt n gt SW SW returns firmware version SW 1 returns DSP FPGA and firmware versions UA Upload All lt n gt UA Uploads all setup parameters and programs from unit n SmartDrive sends an EX to terminate upload UL Upload Program lt n gt ULi Range i 1 199 program up to 400 programs with 30K option Uploads program number i to the host SmartDrive adds brackets Example 1UL2 Uploads program 2 from unit 1 Response part A AC4 VE30 DI10 5 GO 8 40 Chapter 9 Hardware Reference Mounting Your S6961 2 Chapter 9 Hardware Reference Your S6961 6962 SmartDrive arrived ready for a minimum depth cabinet mounting By moving the mounting bracket to the narrow side of the heatsink you can mount the SmartDrive in a minimum width configuration Minimum Width Mounting Dimensions 5 99 4 3 65 149 a 2 50 gt A A With Keypad Attached 10 50 With Opto Modules Attached L 1 03 gt M T bi 4 0 26 The S6961 2 depends on air flow for cooling In all but the least demanding applications the following mounting guidelines should be observed
44. Read Only CRCS Value of the EEPROM setup checksum Read Only CRCP Value of the EEPROM program checksum Read Only SA1 SA2 Integer value of the status of axis 1 2 See Read Only RS232 command SA SD1 SD2 Integer value of the drive status of axis 1 2 See Read Only RS232 command SD SS Integer value of the system status See RS232 Read Only command SS INT98CTRL Enables disables ARM INT98 trigger option Read Write Refer to Ch 5 Configuring Your Inputs Input Descriptions Input I ARM INT98 Enables disables INT98 input if INT98CTRL is Read Write Examples of Built in Variables PIECES 10 SPEED AI12 VEL SCALE MS21 Enter Length IV32 LENGTH VE SPEED MS1 POS2 TERM POS1 TEMPERATURE AI9 AO15 4012 Chapter 7 Programming Your Application Assigns 10 to variable Speed analog input times a scalar Prompts user and gets feed length Sets velocity to value in variable Displays current position of axis 2 on keypad screen Sends the current position of axis 1 out the RS 232 port of the SmartDrive Reads in temperature from an analog input Sets the analog output to 4012 Using the Built In Variable AROWREL AROWREL is a built in Boolean read only variable which determines the status of any of the 4 arrow keys When used in conjunction with FKEY the user can detect whether or not an arrow key is being held down AROWREL will return one of the following values AR
45. Switch selectable Pure sine or 4 3rd harmonic distortion Resolution Switch selectable 200 400 1000 5000 10000 18000 25000 25400 Stand by Switch selectable Reduces motor current to 7096 if no step pulses are received for 250 ms Full current restored upon next step pulse Protection Shuts down due to short circuits phase to phase and phase to ground Open circuits Brownout and Over temperature Anti Res Compensation Switch selectable 0 7 gain setting for motor resonance compensation IDC s S Series motors have custom windings to provide optimum dynamic performance with our S6000 drives If you need to use another manufacturer s motors they should meet the following guidelines 2 phase hybrid permanent magnet step motor 4 6 or 8 lead motor Series or parallel inductance rating between 2 60 mH Higher inductance motors will not damage the drive but they will have limited dynamic performance Aminimum high pot test rating of 500 VDC Type RS 232C serial type 3 wire implementation TX RX amp COM Parameters 9600 Baud 8 data bits 1 stop bit no parity XON OFF Configuration Programmable Inputs Up to 99 units can be supported over RS 232C on a daisy chain 8 optically isolated programmable inputs Limits Home All inputs are active low optically isolated inputs Min current 12 mA Max 35 mA 250 mA max current available from on board 12Vdc supply
46. below The function for each input channel is indicated by a letter along the bottom of the display 1 Use and gt keys to select an Input The function of the highlighted input will be displayed on the top line 2 Once your cursor is on the desired input use TJ to select from the following list of dedicated functions for each input Input Characters and Keypad Display Character Keypad Display Bin Program C Bcd Program c Clear Command Buffer D Lock Keypad Ee Extend Jog 1 Extend Jog 2 F f Set Force 1 Set Force 2 l Interrupt Run98 J j Jog Speed 1 Jog Speed 2 K Kill M m Shutdown 1 Shutdown 2 N Analog Input P Pause Continue R r Retract Jog 1 Retract Jog 2 G Registration 1 For Axis 1 2 For Axis 2 S Stop U Unassigned V Data Valid W Warm Boot B8961 2 only 5 28 Chapter 5 Configuring Your System Input Character Descriptions B Binary Program Select Allows programs to be run remotely using a PLC switches or outputs from a computer Up to 199 programs may be selected with standard 6K memory up to 255 programs with 30K option The lowest numbered input becomes the least significant selection bit i e input 1 is less significant than input 2 The act of configuring an input as a program select input also enables binary program select mode C BCD Program Select Allows programs to be run remotely using a TM99 Thumbwheel module PLC
47. calculates the move Like other commands using I O GOi does not restrict you from using an input even if it has been configured for some predefined function Example AC 05 DE 05 VE50 DIS GO GO initiates calculation of a move profile using buffered parameters 05 unit Accel and Decel Ramp speed 50 5 unit incremental move and then executes it AC 05 DE 05 VE50 DIS GO2 When input 2 is activated immediate execution of the motion calculation already in the buffer is performed NOTE If you have a multi axis control refer to the section on multi axis moves in Programming Your Application It contains important information on multi axis syntax and synchronization Chapter 6 Programming Commands Go Point Linear Interpolation syntax GP or GPi Units n a Range n a Default n a The GP command allows the SmartDrive to execute a linear interpolated move An example of the GP move is as follows Y 4 2 X The units and values for path velocity acceleration and deceleration in GP moves are specified by the parameters traditionally defined for an axis 1 based move As in regular moves velocity acceleration and deceleration only need to be defined once Each sequential GP move thereafter will use these values until new values are specified The endpoint of the move is specified by a two axis DA or DI command which corresponds to the appropriate X and Y coordinates The following program would execute the
48. command is the equivalent of cycling power lt n gt RS Stop Terminates program execution and immediately decelerates each motor to a halt at a rate set by the SR command Functions the same as the pressing ESC key on the IDC keypad or activating an input defined as a Stop input lt n gt S 8 35 Chapter 8 Programming With Serial Communication 8 36 Serial Immediate Status Commands Note All but the S and K commands require an address Command Command Description and Application Examples Syntax SA Tell Axis Status Returns the current axis status as a four digit hexadecimal number preceded by an asterisk Your controller program will decode the hexadecimal number to determine the axis status Example SAI returns 002A cr This means Axis 1 is not moving the last move completed successfully and the home switch is on Status 16 15 14 13 12 11 10 9 8 7 6 5 A4 31 2 1 off off off off off off off off off off on off on off on off Not Moving Moving 1 Steps being sent to the amplifier 0 No steps being sent At Velocity 1 Stepping at a constant rate includes zero velocity 0 Step rate is changing Move Command 1 The correct number of steps were sent without an Complete Same as amp fault following error or hitting an End of Travel Move Done Output limit O Reset
49. constant velocity TD2 Delay for 2 seconds at speed VE25 GO Decel to 25 WTIII Wait for inputs 1 2 and 3 to go active VEO GO Stop the move Example 2 Demonstrates how to prompt an operator for speed changes on a single axis SmartDrive The move is started after the initial velocity prompt The velocity only changes when the operator enters a new value via the keypad The move can be stopped by entering a velocity of zero or when any of the stop conditions defined above exist One Axis MC MS1 Enter the Velocity Prompt the operator IV23 V Put the operator input in variable V MC ACI VE V Use operator entered variable V as new speed GO Change velocity of axis 1 to the new speed GT One Axis MC Repeat Chapter 6 Programming Commands Example 3 Demonstrates how to prompt an operator for speed changes on a two axis SmartDrive Two Axis MC MS1 Enter the X Velocity Prompt the operator IV23 V1 Put the operator input in variable V1 MC ACI Enable MC and set acceleration on axis 1 VE V1 Use operator inputted variable V1 as new speed GO Change velocity of axis 1 to the new speed MS1 Enter the Y Velocity Prompt the operator IV23 V2 Put the operator input in variable V2 MC AC Enable MC and set acceleration on axis 2 VE V2 Use operator inputted variable V2 as new speed GO Change velocity of axis 2 to the new speed GT Two Axis MC Repeat Example 4 Demonstrates the use of WT OT and TD commands in continu
50. enter a fault state where e Any motion or program being executed is immediately terminated e The LCD Display will indicate Following Error along with an explanation e A fault output will be generated if defined as a Stall or Fault output e The fault must be cleared before motion can occur A Stop or Kill via programmable inputs or serial command the ESC key or a RESET will clear a Following Error fault e Bit 9 of SS response is set to 1 e Bit 1 of SD response is set to 1 5 21 Chapter 5 Configuring Your System 5 22 Configuring Position Maintenance Deadband IRi quet IN RANGE SETUP EDIT gt SETUP gt ENC gt IN RNGE gt WINDOW WINDOW TIME Default 25 encoder steps Range 0 99 999 In Range Window specifies the position maintenance deadband or region surrounding the set point position The window is specified in post quadrature 4 x of lines encoder steps The window is the region surrounding the commanded position in which the motor shaft can reside and not be considered out of position In Position Maintenance mode the control will try to correct the position if the motor is outside this window Select WINDOW F1 in the IN FRANGE SETUP menu Use lt or gt keys to select an axis Enter the desired number of encoder steps must be a positive number Press ENTER SoS Configuring Position Maintenance Gain PGi Axis One PM Gain EDIT gt SETUP gt ENC gt
51. from a keypad user s perspective via the keypad menu structure and step by step keypad instructions All of the software configuration can be done via the keypad or via RS232 using Application Developer Details on how to use IDC s Application Developer can be found in the Chapter 8 Application Developer and RS 232C users should to refer to this chapter for detailed explanations of configuration parameters For RS 232C terminal users non Windows PC users or PLC users the equivalent 2 character ASCII configuration commands are detailed in the Chapter 8 but the examples presented here are valid for all users The 2 character ASCII command appears in brackets next to the appropriate keypad menu choice in this chapter Application Developer users will find that the Windows dialog boxes follow the keypad menu structure very closely 5 1 Chapter 5 Configuring Your System Section 1 Hardware Setup LED Diagnostic Indicators Before making connections and applying power to your system you should become familiar with the Light Emitting Diode LED diagnostic indicators on your 6961 2 The following descriptions of indicators apply to both the 6961 and 6962 although only the 6962 side panel is shown LED Functional Description Power The green Power LED indicates that the internally regulated logic supplies are operating If 120 VAC power is applied at the line neutral terminals and the Power LED does not illuminate imm
52. gt MOTOR gt D RES 7 25000 l5 Default 25000 steps rev Range n a Your application will dictate the choice of D RES For example if you want moves in 0 1 degree increments a D RES of 18 000 will allow 50 motor steps per degree and prevent any resolution induced rounding errors Setting the drive resolution automatically adjusts the pulse width 1 Use keys to select an axis 2 Use the TL keys and ENTER key to select from a list of drive resolutions 200 400 1000 2000 5000 8000 10000 18 000 25000 or 25400 5 18 Chapter 5 Configuring Your System Configuring Motor Direction MDi f EDIT l Axis One Motor Dir gt SETUP gt MOTOR gt DIR 1T POSITIVE i Default POSITIVE Range n a This option provides a convenient way to change which direction the motor moves when you program a positive distance command When POSITIVE is selected as the motor direction the EOT limit switch should be wired so that moves in the plus direction as shown on the keypad display or via the PA command will activate the switch When NEGATIVE is selected the EOT limit switch should be wired so that moves in the negative direction as shown on the keypad display or via the P command will activate the switch 1 Use lt keys to select an axis 2 Usethe T J and ENTER keys to select a direction Chapter 5 Configuring Your System Configuring Your Encoder If you are not using an encoder only the encoder mode
53. gt UNi Example UNS sets unit address to 5 VU Velocity Units n VUi i units sec where units is a string defined by the DU command units min where units is a string defined by the DU command rps 0 1 2 3 rpm Example VU2 axis one set to rps 8 28 Chapter 8 Programming With Serial Communication The commands in this category may be sent to the SmartDrive s buffer and executed on a first in first out FIFO basis This execution does not require you to create or download any program to the SmartDrive s volatile memory See Chapter 6 Programming Commands for complete definitions Serial Programming Commands Command Command Description and Application Examples Syntax AC Acceleration ACr r Example AC10 DA Distance Absolute DAr r Example DA15 DC Distance to a Change DC rr Example DC20 DE Deceleration DE r r Example DE 2 DI Distance Incremental Dirr rr Example DI 3 42 EA Enable Axis EAi i 1 0 disable drive i 1 enable drive i 2 standby Example EAO disables axis GH Go Home GH Example GH10 GI Go Immediate Gl Gli i GO Begin Move GO GOi i MC Move Continuous MC OT Set Outputs OTi iii Example OT5 101 turns on outputs 5 and 7 turns off output 6 OTiii ua Send String Over Serial Port user text Example GO End of Move sends End of Move out serial port after m
54. inside the other Each LP command must have a corresponding EB command to end the block loop A GT command within a loop will terminate the loop clear the loop stack and jump to a new program Example AC 09 DE 09 LP3 VE30 DII GO EB VE7 DI 3 GO EN The motor will perform an incremental 1 unit move at speed 30 three times and then a 3 unit move at speed 7 in the other direction Loop Until Condition True syntax LU See Below Units n a Range n a Default n a The Loop Until LU command defines a loop block in which loop iterations are based on a conditional result The syntax for LU which is identical to the IF command is as follows Syntax LUixx LUxx LU Mathematical expression or expressions 2 where i starting input number 1 8 SmartStep 1 16 SmartDrive x 0 Input Off x Input On x anything else Input level Don t Care Mathematical expression Any valid conditional or logical expression Note An End of Block EB command must be used with every LU command The LU loop will continue to iterate until the specified conditional result is true LU checks the conditional at the end of the loop block therefore the block is always executed at least Chapter 6 Programming Commands 6 20 LW once even if the condition is true on the first iteration Loop While LW defines loops where the conditional is checked at the beginning of the loop The standard software a
55. longer life and uses RP LIMITS LEDs jut Ge RP 2 Normally Closed Switch Mounts to N T R2 R3 Shield and R4 Actuators PSR 1 Normally Open Reed Switch PSR 1Q Home Only Q indicates Quick Dis Hom ET or ET zeen connect LIMITS PSR 2 Normally Closed Shield Connector PSR 2Q Mounts to EC NV PSN 1 Normally Open NPN Hall Effect PSN 1Q Home Only Q indicates Quick Dis BER S6961 2 connect Limit cuits PSN 2 Normally Closed Switch Connector PSN 2Q Mounts to EC NV Shield PSP 1 Normally Open PNP Hall Effect PSP 1Q Used on Controls requir Will Not Work with IDC Controls PSP 2 Normally Closed ing PNP PSP 2Q Mounts to EC NV 9 8 OPTO Modules optional Chapter 9 Hardware Reference IDC stocks the following Opto modules which may be specified when ordering an S6961 or S6962 Order Code p n UO Module Description Opto 22 P N Grayhill P N A PCB 1210 10 32 VAC VDC Input G4IDC5 70G IDC5NP B PCB 1211 TTL Input G4IDC5K C PCB 1212 35 60V DC Input G4IDC5G 70G IDC5G D PCB 1213 90 140 VAC Input G4IAC5 70G IAC5 E PCB 1214 180 240 VAC Input G4IAC5A 70G IAC5A F PCB 1215 5 60 VDC 3 Amps Output G4ODC5 70G ODC5 G PCB 1216 12 140 VAC 3 Amps Output G4OAC5 70G OAC5 H PCB 1217 Output 24 280 VAC 3 Amps G4OAC5A 70G OAC5A PCB 1218 Input Test Switch G4SWIN J PCB 1219 0 10 Volt Analog Input 73G IV10 K PCB 1220 4 20 mA Analog Input 73G 11420
56. of 50 to 1524 5 24 Chapter 5 Configuring Your System Configuring the Units of Velocity VUi Axis One Vel Units EDIT gt SETUP gt MECH gt VEL T mm sec l gt Default rps motor revolutions per second Range n a Use this option to select your velocity units All velocity values specified in the system will be expressed in these units 1 Use lt or gt keys to select an axis Use the TJ and ENTER keys to select velocity units from the list e rps rpm e DIST units sec see SETUP gt MECH gt DIST e DIST units min see SETUP2 MECH DIST Configuring Maximum Velocity MVr Axis One Max Vel EDIT gt SETUP gt MECH gt VMAX 1 50 0 inch sec Default 50 velocity units Range n a This parameter limits the top speed of your motor Depending on the application you may want to limit the speed of your control to prevent accidental damage to your mechanics For example in a leadscrew driven system exceeding the critical speed will damage the leadscrew 1 Use or 9 keys to select an axis 2 Use the numeric keys to set the maximum velocity in VEL units 5 25 Chapter 5 Configuring Your System Configuring Acceleration Units AUi Axis One Accel Unit EDIT gt SETUP gt MECH gt ACCEL e sm J gt Default sec Range n a This option is used to select acceleration and deceleration units All acceleration and deceleration values spe
57. offset value in DIST units A home offset allows you to have separate systems with identical programs in them All you have to change is the home offset value for each machine It helps reduce start up time since your home limit switch can now be almost anywhere It also reduces the time necessary to get a system back up and running should your home switch ever get damaged or moved Example Home Offset 1 0000 When the control finds the home position it sets the position counter to 1 0000 distance unit The absolute zero position counter is now referenced 1 unit behind the mechanical home position All absolute moves will be referenced from the absolute zero position Configuring Home Final Direction HFi EDIT Axis One Final Dir gt SETUP gt HOME gt FINAL POSITIVE gt Default POSITIVE Range n a Specify the final approach direction of your Go Home GH move with this option This is the direction used to search for the encoder index mark Z channel after the appropriate home switch edge is found 1 Use or gt keys to select an axis 2 Use Tl keys to select the final approach direction 5 42 Chapter 5 Configuring Your System Configuring Homing Mode HMi mum Axis One Home Mod r sETUP gt HOME gt MODE MMC RE TRE lt 7 Switch Only 15 Default Switch Only Range n a The Homing Mode parameter establishes how a Go Home GH command will execute homing routines There ar
58. program storage in your IDC SmartDrive is 6K bytes maximum single program is 1 024 bytes and will store up to 199 programs The 30K memory option will store up to 400 programs Note one byte equals one character in a program and on the keypad display l Press EDIT gt 1 gt LIST to display the number of programs DIRECTORY TMORE stored in your Smart Drive PROGRAMS 18 2 Press to display the total amount of memory your DIRECTORY TMOREL programs have used BYTES USED 1186 3 Press J to display the number of bytes of memory you still DIRECTORY TMOREL have available BYTES FREE 4958 4 Pressing 1 continuously will take you through the list of DIRECTORYTMORE programs displaying the number of bytes being used by 5 untitled 56 bytes each program TUNING Necessary only on brushless servo Smart Drives 4 16 Chapter 4 Using the Keypad Using HELP If you have a question while using the keypad pressing HELP will display a help message related to the currently active menu Help messages are often several lines which you can scroll through using the T and keys When you are finished reading a help message press ESC to return to the menu Pressing HELP in the Main Menu HELP explains the functions available when you press any of the non numeric keys 22 2 HELP es Use RUN key to Pressing HELP in Menus and Sub Menus HELP explains the selections available from your current This option is us
59. s Application Developer program uses to configure the SmartDrive according to the choices made in the SETUP dialog boxes These Serial Setup Commands include the syntax of the command but the full command definitions and examples are found in Chapter 5 Configuring Your System The second category is Serial Programming Commands These are commands that can be executed over RS 232C or downloaded to the SmartDrive s non volatile memory for later execution This category of commands is identical in syntax and functionality to the equivalent keypad command These run time RS 232C commands are listed in the RS 232C Command Reference but the full definition and examples are listed in Chapter 6 Programming Commands The third category of Serial commands is Serial Immediate Status Commands These commands bypass the normal command buffer and are executed immediately regardless of what else the SmartDrive has been asked to do These commands include instantaneous position reporting drive status and emergency kill and stop commands The final category is Serial Supervisory Commands These are the actual uploading and downloading of the setup and program parameters Once an application with setup parameters and command has been created these commands are used to download and upload the file to and from the SmartDrive 8 21 Chapter 8 Programming With Serial Communication Sample idc File To familiarize yourself with Deal RS 232C comman
60. s direction in the EDIT SETUP MOTOR DIR menu or with AC power off change motor direction by swapping A with A on the motor connector Motor has torque steps are being received Stepping LED is on but motor doesn t turn Motor is stalled or load is jammed mechanically Reduce the load acceleration or the speed of the move Remove obstruction from ma chine Chapter 10 Troubleshooting 10 6 Symptom Possible Causes Possible Remedies Motor seems to whine The inductance or anti reso nance setting may require ad justment Change confirm the inductance setting If this does not help try adjusting the anti resonance setting No motion occurs when pro grams are run Motor Safety Motor runs very hot Current set too low Motor current set too high Check current settings Check current setting Motor running beyond recom mended duty cycle Lower duty cycle Motor housings can reach tem peratures up to 100 C may not be a problem Use Standby mode if your ap plication allows it Reduce cycle rate LO Troubleshooting Controller does not recognize OPTO outputs OPTO positions default to in puts Configure as output from the EDIT SETUP I O OPTO menu Product Support amp Warranty Product Support Factory Authorized Distributors IDC has more than 45 factory trained and authorized automation technology d
61. to 16 2500 to 4064 R2 355 3 571 5 17 8571 250 to 14 2500 to 3556 R2 1205 12 5 60 60 to 1 600 to 254 R2 108 1 8 8 8 to 1 80 to 254 R2 158 1 5 8 12 12 to 1 120 to 254 R2 208 2 8 16 16 to 1 160 to 254 R2 318 3 125 8 25 25 to 1 250 to 254 R2 358 3 571 8 28 5714 200 to 7 2000 to 1778 R2 1208 12 8 96 96 to 1 960 to 254 Appendix A IDC Actuator Ratios R3 Smart Drive Mechanical Ratio Setting Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm R3 10T 1 0 1666667 0 16667 1 to 6 10 to 1524 R3 15T 1 5 0 1666667 0 25 15 to 60 150 to 15240 R3 20T 2 0 1666667 0 33333 1 to 3 10 to 762 R3 30T 3 000 0 1666667 0 5 3 to 6 30 to 1524 R3 50T 5 037 0 1666667 0 83951 3536 to 4212 354 to 10699 R3 100T 10 000 0 1666667 1 66667 10 to 6 100 to 1524 R3 102 1 2 2 2 to 1 20 to 254 R3 152 1 5 2 3 3 to 1 30 to 254 R3 202 2 2 4 4 to 1 40 to 254 R3 502 5 037 2 10 07401 212160 to 21060 21216 to 53492 R3 1002 10 000 2 20 20 to 1 200 to 254 R3 105 1 5 5 5 to 1 50 to 254 R3 155 1 5 5 75 75 to 10 750 to 2540 R3 205 2 5 10 10 to 1 100 to 254 R3 505 5 037 5 25 18519 106080 to 4212 10608 to 10699 R3 1005 10 000 5 50 50 to 1 500 to 254 R3 108 1 8 8 8 to 1 80 to 254 R3 158 1 5 8 12 12 to 1 120 to 254 R3 208 2 8 16 16 to 1 160 to 254 R3 508 5 037 8 40 2963 212160 to 5265 21216 to 13373 R3 1008 10 000 8 80 80 to 1 800 to 254 R4 Smart Driv
62. to disable the amplifier and manually turn the motor shaft As you turn the shaft you should see position changes on the first line of the display i e plus positions in one direction and minus positions the other direction lt Enc One 40 0000 Disabl OneRMov FindZ OneRMov F2 allows you to command the motor to turn one full revolution in either direction Selecting OneRMov gives you two choices EXTEND moves the shaft in one direction and RETRACT moves it back FindZ F2 commands the motor to rotate until it finds the Z DEE pulse position This allows you to accurately center the position of the Home switch ENC AXIS 1 0 0000 EXTEND RETRACTT 4 9 Chapter 4 Using the Keypad Using the EDIT Menus Pressing the EDIT key reveals three sub menus called PROG ____ NEDIM OE SEFUE marO PROG SETUP POS Pressing the T orl key reveals three more EDIT sub menus 7 EDIT J called LIST and TUNING LIST TUNING Access the PROG SETUP POS LIST and TUNING menus by pressing the appropriate function key Descriptions of these sub menus follow Using the PROG Sub menu to Create and Edit Motion Control Programs This menu allows you to edit an existing program or enter a new program from the keypad Use the numeric keys to enter a program number to start a new motion program or use the T and L keys to scroll through the list of existing programs To Create a New Program 1 Press EDIT
63. to zero at the beginning of each move Home Successful 12 The last homing move was successful 0 At power up reset to zero at the start of the next jog GO or GH Home Switch Status Hardware status of home switch O off 12 on Hardware status of limit switch O off 1 on limits require a NC switch Limit Switch Status Limit Switch Latched 12 Set when a move is terminated by a limit in the direction Cleared at the start of a move in the direction 0 At power up or reset even if on the limit Limit Switch Status 7 Hardware status of limit switch O off 1 on limits require a NC switch Limit Switch Latched 12 Set when a move is terminated by a limit in the direction Cleared at the start of a move in the direction 0 At power up or reset even if on the limit RESERVED State undefined should be masked RESERVED State undefined should be masked lt n gt SA1 Chapter 8 Programming With Serial Communication Serial Immediate Status Commands Note All but the S and K commands require an address Command Command Description and Application Examples Syntax SD Tell Drive Status Returns the current drive status as a four digit hexadecimal number preceded by an asterisk Your controller program decodes the hexadecimal number to deter mine the drive status Example SD1 returns 0010 lt cr gt This means Axis is enabled in position mode and is not faul
64. torque You will not be able to use Standby mode in applications where you need more than 7096 of the motor s torque to hold a load stationary e g holding a vertical load against gravity with a ball screw Standby should not be used in applications where an encoder is used to perform end of move position maintenance AC Power AC power is supplied via the Earth Line and Neutral terminals on the bottom of the drive Line and Neutral are internally fused Input voltage must be in the range 85 132 VAC rms 50 60Hz Low voltage will fault the drive High voltage will fault the drive and possibly blow the internal fuse The Earth terminal should be connected to ground For safety and best grounding results use a 14 gauge braided wire to provide a low impedance path to earth ground CAUTION HIGH VOLTAGE The drive can draw up to 1200 VA per axis current setting and duty cycle dependent Chapter 5 Configuring Your System After Applying Power After you have applied power to your 6961 2 drive and have established a valid step command source the following side panel adjustments can be made to fine tune the performance of your motor drive system Phase Offset 5 12 Microstepping a step motor requires producing sinusoidal currents in the two phase windings of the motor Motor to motor manufacturing variances can result in a DC offset in either or both windings that produce a small torque ripple which can result in tw
65. variable can be used anywhere in a program where a real number or integer could be used Due to the nature of converting decimal numbers to binary and back care must be taken in performing math on variables used in LP statements LP will truncate the non integer portion of the variable For example COUNT 25 2 LP COUNT will only loop 4 times because COUNT 4 9999 A small offset can be added to variables used in LP statements to avoid this problem COUNT COUNT 1 will guarantee that COUNT will be greater than 5 so the program will loop 5 times Example MSI Clears the Display MS1 How many Writes string beginning at character 1 top line IVI2 PIECES 1 15 Waits at 12th character for the of pieces in the range 1 15 MSI Clears the Display MS1 How long Writes string beginning at character 1 top line IVI2 LENGTH Waits at 12th character for the of pieces LP PIECES Loops the number of pieces entered DI LENGTH Defines the desired move length distance GO Moves the length commanded EB Ends the loop 6 18 LP LU Chapter 6 Programming Commands QOD dne die ATT syntax LPi Units n a Range n a Default 0 LP will cause all commands between LP and EB to be repeated i times If LP is followed by a 0 or no number the loop will repeat continuously Note An End of Block EB command must be used with every LP command The standard software allows up to 16 nested loops one
66. 1 because the last D command GO only had a parameter for axis 1 DL2 Moves only axis 2 because the last D command GO only had a parameter for axis 2 In the first move in the example the GO command is used to start multiple axes at the same time The move profiles for each axis are independent While axes start at the same time the moves are independent and will follow their respective accelerations and velocities though the axes may not stop moving at the same time The Go Interpolated GI command allows you to move two axes along a linear path that starts and stops at the same time The control uses the most recent value in axis 1 the first parameter to specify the AC VE and DE values along the path see example 1 below In most cases your program will be easier to understand if you redefine these parameters as a single value for the path see example 2 below GI uses the last distance value for each axis to determine the end points of the linear move The two examples below result in identical GI moves Example 1 Example 2 AC2 3 AC2 VE4 10 VE4 DE 5 DE 5 DI5 6 DI5 GI DL6 GI Chapter 7 Programming Your Application GO and GI commands support additional parameters providing more advanced features The additional parameters allow you to Start each axis based on different conditions Start one axis with an input while another is moving Start one or more axis moving based on one input Start different axis based on differe
67. 164 us If you have FPGA 6 7 or higher the position is captured in hardware and the only Capture Delay is the input s opto isolator 5 us Use the keypad s HELP key to determine your FPGA version Regardless of the FPGA version used we have found both Capture Delays to be extremely repeatable This leads to a very repeatable Capture Window distance lag from when the registration input is made that can be accounted for by decreasing your commanded regis tration distance by the Capture Window For example a motor traveling 240 000 steps sec 30 rps with 8000 step rev drive resolution has a capture window of 39 steps for a 164 us Capture Delay and 1 step for a 5 us Capture Delay Assuming the desired registration dis tance was 3 user units assuming 1 user unit is 8000 motor steps an RG2 9795 would re sult in the motor traveling exactly 3 user units for a unit with a 164 us Capture Delay Set Position E syntax SP r r Units selected in EDIT gt SETUP gt MECH menu Range varies based upon Distance Units Default 0 SP sets the current absolute position to n This command is typically used to readjust or shift a coordinate system It is often done after a series of incremental moves to reset the absolute coordinate frame Example MC GO WTI 1 VEO GO SP10 5 After the move is complete sets the current position of axis 1 to 10 5 Square Ro l retentus syntax SQr var Units n a Range 0 0001 to 214748 364
68. 2 P32T P32V P33T P33V P33V EQ nso Ne Br it S3 T S32V S33T S33V Green GND QF4 12 K42T K42V PA1T PA1V Red w Yellow A P42T P42V S42T S42T EM S42V S42 EM Red A Gray colored Quick Disconnect Cables wes are shielded connect shield to GND 5 4 Chapter 5 Configuring Your System Non IDC Motors Bi filar wound 8 lead non IDC motors can be wired in series or parallel as shown in the drawing though the color code will probably be different When using a 6 lead unipolar motor the center taps are left unconnected from the drive and insulated from each other and from ground Motor Wiring SERIES CONNECTION PARALLEL CONNECTION r B uy C t At y B 5 ia gt 2 e 2 3 2 3 CC 3 A B A B 5 5 Chapter 5 Configuring Your System Encoder Wiring An optional encoder port is available for each axis to allow for stall detection and position maintenance Encoders are also used to position to the actual load position rather than a motor position IDC recommends at least a 4 1 motor step to encoder step ratio to prevent the possibility of end of move dither caused by trying to position to an encoder position that falls between to motor step positions The color codes shown to the side apply to IDC supplied encoders only Use the signal names to connect other manufacturers enco
69. 2 once input 5 is activated GO4 4 Move axis 1 and 2 once input 4 is activated Chapter 7 Programming Your Application Typical Programming Examples The following program examples will show how the IDeal command language can be used to perform simple tasks There are more extensive and elaborate example programs in the DEMOS idc file that came with your Application Developer disk set To aid your program documentation comments can be placed in brackets comment These comments are stripped out of the program as it is downloaded to help conserve memory in the control Files should be saved BEFORE downloading for documentation purposes Example DI10 2 GO Moves to load position DI15 15 GO Moves to unload position To create a Message and input a Variable GET PARTS MS1 MS1 How many IV12 PIECES MSI MS1 How long IV12 LENGTH LP PIECES DI LENGTH GO EB Name of subroutine Clears the Display Writes string beginning at character 1 top line Waits at 12th character for the of pieces Clears the Display Writes string beginning at character 1 top line Waits at 12th character for the length Loops the number of pieces entered Moves the length entered Creating an Operator Menu see the FK command description for details MS1 MS21 PARTI PART2 PART3 FK1 2 3 FKEY FKEY 50 GT FKEY 7 12 Clears keypad screen Writes a message above function keys Waits for a Function Key t
70. 5 Default n a The SQ command calculates the square root of a number and returns the result in a user defined variable The n parameter in the syntax can be a number or a variable parameter however the second parameter must be a previously defined variable for which the square root result is stored If the second parameter is not a defined variable you will get a Bad Variable Name error Following mathematical convention SQ will produce an Invalid Parameter error for negative r values The return value is accurate to the 0 01 place Example The following example program calculates the square root of 27 96 and stores the value in the user defined variable SQRESULT Program SQRESULT 0 SQ27 SORESULT The returned value in SQRESULT would be 5 28 6 29 Chapter 6 Programming Commands ST TD 6 30 Stop On Input syntax STn n or ST n n Units n a Range 0 16 Inputs 1 2 Axes Default n a S yntaxes ST stops move execution upon activating the input specified by n STO disables turns off the STn command ST 1 stops move execution on axis 1 ST 2 stops move execution on axis 2 ST 1 2 stops move execution on both axes ST n functions identically to the STn command without the use of an input allowing program command conditional motion termination After the ST command is executed the specified input is monitored during every move profile If the imput is act
71. 500 0 79375 1 19 3810 to 3200 15 to 320 EC5 20 32B 2 000 0 79375 1 59 508 to 320 2 to 32 EC5 50 32B 5 110 0 79375 4 06 107777 to 26570 42432 to 265696 EC5 100 32B 10 007 0 79375 7 94 174346 to 21949 68640 to 219488 EC5 10 25B 1 000 1 016 1 02 254 to 250 1 to 25 EC5 15 25B 1 500 1 016 1 52 3810 to 2500 15 to 250 EC5 20 25B 2 000 1 016 2 03 508 to 250 2 to 25 EC5 50 25B 5 110 1 016 5 19 107777 to 20757 42432 to 207575 EC5 100 25B 10 007 1 016 10 17 174346 to 17148 68640 to 171475 EC5 10 10B 1 000 2 54 2 54 254 to 100 1 to 10 EC5 15 10B 1 500 2 54 3 81 3810 to 1000 15 to 100 EC5 20 10B 2 000 2 54 5 08 508 to 100 2 to 10 EC5 50 10B 5 110 2 54 12 98 107777 to 8303 42432 to 83030 EC5 100 10B 10 007 2 54 25 42 174346 to 6859 68640 to 68590 EC5 10 06A 1 000 4 23333333 4 23 254 to 60 1 to 6 EC5 15 06A 1 500 4 23333333 6 35 3810 to 600 15 to 60 EC5 20 06A 2 000 4 23333333 8 47 508 to 60 2 to 6 EC5 50 06A 5 110 4 23333333 21 63 107777 to 4982 42432 to 49818 EC5 100 06A 10 007 4 23333333 42 36 174346 to 4115 68640 to 41154 Appendix A Actuator Ratios Steps for Entering Custom Distance Units when ratio for inches is known Instruction Example Select User Units Selecta preferred unit of measure for linear distance This will be used for ntimeter programming distance and can be used for velocity and acceleration as well Determine Overall Mechanical Ratio Look up actuator mechanical inch
72. 533 Hybrid Step Motor Specifications Hardware Reference LL DIM A SEE TABLE 1 00 FULL DEPTH ER t 4 40UNF 28 THRU 2 1 2 14NPS 0 23 0 21 THRU 4 E 122 16 re ONA amp B 5BBC ft 0317 0807 gt x l J E i L IL 2877 2873 SC Lt A X EN Gesi i i M T XR 0 3750 0 3745 ion i Heind G 002 A 97 LL 0 7320 03 el be 0 06 Ee GE H 0 19 l T Series V Parallel Electrical Specs S32T S32V 33T S33V Continuous Stall Torque oz in N m 300 7 1 400 5 3 Notes Recommended Current Phase Amps 2 8 5 6 3 5 7 0 Parallel V wiring Winding Resistance Ambient Ohms 1 03 26 96 24 5096 duty cycle Inductance mH 10 2 5 10 2 5 max above 5 rps E 300 rpm Max Winding Temperature F C 212 100 212 100 Mechanical Specs S32T S32V S33T S33V Always use at least EE 2 5 5 30 torque safety Rotor Inertia oz in s kg m 0 017 8 51x10 0 0265 3 51x107 margin when apply Axial Shaft Load lbs N 50 222 50 222 ing step motors Radial Shaft Load 0 5 inches Ibs N 14 5 64 4 14 5 64 4 Motor Weight Ibs kg 5 1 2 3 8 3 3 8 Step Angle full step degrees 1 8 1 8 SERIES CONNECTION PARALLEL CONNECTION YELLOW BLACK At
73. 54 M 9910 1 10 10 10 to 1 100 to 254 NV Smart Drive Mechanical Ratio Setting T Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm NV 105 1 5 5 5 to 1 50 to 254 NV 155 1 5 5 7 5 75 to 10 750 to 2540 NV 205 2 10 10 to 1 100 to 254 NV 108 1 8 8 8 to 1 80 to 254 NV 158 1 5 8 12 12 to 1 120 to 254 NV 208 2 8 16 16 to 1 160 to 254 EC2 Smart Drive Mechanical Ratio Setting d Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm EC2 10 16B 1 1 5875 1 59 254 to 160 1 to 16 EC2 15 16B 1 471 1 5875 2 33 6350 to 2720 25 to 272 EC2 20 16B 2 1 5875 3 18 508 to 160 2 to 16 EC2 50 16B 5 022 1 5875 7 97 242341 to 30400 9541 to 30400 EC2 100 16B 10 005 1 5875 15 88 183487 to 11552 72239 to 115520 EC2 10 05B 1 5 08 5 08 254 to 50 1 to 5 EC2 15 05B 1 471 5 08 7 47 6350 to 850 25 to 85 EC2 20 05B 2 5 08 10 16 508 to 50 2 to 5 EC2 50 05B 5 022 5 08 25 51 242341 to 9500 9541 to 9500 EC2 100 05B 10 005 5 08 50 83 183487 to 3610 72239 to 36100 EC2 10 04A 1 6 35 6 35 254 to 40 1 to 4 EC2 15 04A 1 471 6 35 9 34 6350 to 680 25 to 68 EC2 20 04A 2 6 35 12 70 508 to 40 2 to 4 EC2 50 04A 5 022 6 35 31 89 242341 to 7600 9541 to 7600 EC2 100 04A 10 005 6 35 63 53 183487 to 2888 72239 to 28880 Appendix A IDC Actuator Ratios EC3 Sm
74. 8 Programming With Serial Communication Serial Supervisory Commands The following commands control program uploading downloading deleting execution etc All of these commands are fully defined in this section Command Command Description and Application Examples Syntax EX Ends Upload All or Load All lt n gt EX Singles the end of a upload all UA or load all LA sequence EX is sent by the SmartDrive to the host after completing a UA EX is sent by the host to the SmartDrive to terminate a LA LA Load All lt n gt LA Sent to the SmartDrive before downloading a long list of setup parameters and programs This command will disable the non addressed units so that each setup parameter doesn t need an address Must be followed by an EX to reestablish the daisy chain communications LS List Programs lt n gt LS Lists number of programs memory usage and the current available memory of the SmartDrive Just like Edit List from the keypad OC Original Configuration lt n gt OC Returns the FLASH to its original factory default state The command buffer is cleared all programs are erased and all configuration settings are returned to their default values PR Define Program lt n gt PRi Starts a program definition Just like the DR command but writes the Smart Drives non volatile EEPROM memory Example PR25 AC 1 VES DI10 GO EP uses only a program number Example PR25 P N 170 001 AC 1 VE5 DI10
75. Axis C Axis2 C Axis3 C Axis4 r User Units Distance Ratio Distance revs bd Motor Revs revs Velocity rps e per 4 Acceleration seconds Max Velocity 50 00 rps Backlash revs Accel Limit 0 002 seconds 8 13 Chapter 8 Programming With Serial Communication Jog Menu The parameters which control your jog operation are configured using the Jog menu shown below iB Axis Setup Axis 3 Axis Limits Menu Your 6961 2 has a built in homing function which combines the flexibility of a customized homing routine with the ease of use of calling a canned program Also see the GH command in the IDeal Command Reference chapter for more details on homing iB Axis Setup AXIS 3 E gie 8 14 UO Setup Chapter 8 Programming With Serial Communication UO Setup Click on the I O Setup button To define a dedicated function for each input and output scroll through the pulldown Isits and select from the available choices 3170 Configuration E Unassigned Set the discrete input functions 3 1 0 Configuration Discrete Inputs a o m m E t PM Opto 1 0 Stop State State State 1 Programmable z off zm px 2 Programmable z D m 3 Programmable z off p tss 4 Programmable z att a se 5 Programmable z off zm amp Programmable z off oe A 7 Programmable z ah EE 8 Pro
76. BLE X 144 0 LONG MIN 30 509 aa WITH FOIL SHIELD AND DRAIN APPROXIMATE SIZE 23 DIA Nees bane E an 1807 t m 495 Lee 1 500 002 Div 41 007 alc i ZAO 4 T e ELZ 004 1A QU WT Ji S 2800 l EN E j NS d 2495 uc A V Z O01AI Al J5 04 ADUNAR NE TO N y L1 222 02 4 ON A 2 625 BC Ms 12 010 AIC 7 e 9 010 AR Note Specs apply to parallel 120 VAC connections Electrical Specs P21 P22 Continuous Stall Torque oz in N m 100 200 Recommended Current Phase Amps 1 3 2 0 Winding Resistance Ambient Ohms 4 7 3 7 Inductance mH 20 16 Max Winding Temperature F C 248 120 Mechanical Specs P21 P22 Rotor Inertia oz in s kg m 0 0035 2 48 x 105 0 0061 4 32 x 10 Axial Shaft Load lbs kg 10 44 Radial Shaft Load 9 0 75 inches 19mm Ibs kg 15 66 Motor Weight Ibs kg 1 9 0 86 2 7 1 23 Step Angle full step degrees 1 8 Drive Settings Note P21 P22 Always use at least 30 torque safety Current Inductance Current Inductance margin when applying step motors 1 3 Amps 20 mH 2 0 Amps 16 mH Motor Wiring parallel only for S6961 2 PARALLEL CONNECTION p YELLOW BLACK s WHT RED 3 WHT ORG RED gt ORANGE A WHT YEL WHT BLK LE 9 15 Chapter 9 Hardware Reference P K 31 32 33 Step Motor Specifications 4x 0 218 THRU
77. C Axs2 C mxis3 C Gs be configured separately 1 Select the axis to be configured 2 Configure parameters for each axis as it applies to your application Motor Encoder Mechanics Jog Limits Motor Menu Settings for Drive Type Resolution Stop Decel Rate and motor Directions are selected in the Motor menu Motor Type automatically defaults to Indexer There are no other options B Axis Setup Axis 1 C Axis 2 Axes C fxs 4 Stepper Direction 4 Resolution 5000 e Stop Rate RPS 100 00 Cancel 8 12 Chapter 8 Programming With Serial Communication Encoder Menu If you are not using an encoder only the Encoder Mode must be configured Ensure that OPEN LOOP is selected if you are not using an encoder and skip to Configuring Your Mechanics S5962 Ce Axisl C Axis 2 C Axis 3 C Axis4 Weser e Te Y Turina Gees Resolution Post Quad 4X Encoder Mode Following Error Motor Steps Open Loop In Range Window 4X Open with Stall Detection Closed Loop C Servo Closed Loop PM Gain C Position Maintenance In Range Time ms PM Deadband Motor Steps PM Ymax rps OK Cancel Mechanics Menu The Mechanics menu allows you to program distance velocity and acceleration units convenient for your application This menu also allows you to set a maximum allowable speed and acceleration for each axis Axis Setup Lx S6962
78. Clear Screen Write Analog Input 9 to the Screen While Moving Wait for Axis 2 to Stop Moving Time Delay of 0 5 seconds Define Axis 2 Move of 10 units Start Axis 2 GO Immediate Move If Input 8 is on Turn on Output 10 Time Delay of 0 1 seconds Turn off Output 10 End of If Block Wait for Axis 2 to Stop Moving Time Delay of 0 5 seconds Start Axis 2 Go Immediate Move Do Variable Math while Moving Send Value of DIST Variable out of Serial Port WT 2 Wait for Axis 2 to Stop moving OT2 1 Turn On Output 2 WT 1 Wait for Axis 1 to Stop Moving OT1 1 Turn On Output 1 DAO0 0 GO Move Both Axes Back to Starting Position End of Loop Block Restart Loop End of Program V 10 Axis 1 Tas 55 60 f 3 5 4 0 55 6 0 t Chapter 6 Programming Commands 6 14 Go Start a Move syntax GO or GOi i Units n a Range 1 1 16 Default n a GO executes a move profile defined by some combination of AC VE DE DL DA DC or MC commands Actual motion of a new profile will occur after a short calculation of the motion trajectory GOi pre calculates the move and waits for Input number i to activate before executing This variation is sometimes useful for applications needing very short repeatable move calculation delays It is more often used simply to shorten code since it functions like the combination of Wait on Input and Go WTi GO yet it pre
79. Command Reference chapter for more details on homing Configuring Home Edge HEi Axis One Home Edge FBI gt SETUP gt HOME gt EDGE EE Default NEGATIVE Range n a This option selects which side positive or negative of the home switch active region the SmartDrive must find before searching for the index channel of the encoder 1 Use lt or keys to select an axis 2 Use Tl keys to select the positive or negative side of the home switch Configuring Home Switch HSi Axis One Home Switch Norm Open gt EDIT gt SETUP gt HOME gt SWITCH Default Norm Open Range n a This option selects the type of switch used for the home input for each axis A Normally Open switch connects to ground when activated A Normally Closed switch is pulled high when activated 1 Use lt or keys to select an axis 2 Use Tl keys to select the switch type NORM OPEN or NORM CLOSED NOTE To conserve inventory part s you may want to use only N C switches 5 41 Chapter 5 Configuring Your System Configuring Home Offset HOr Axis One Home Offset EDIT gt SETUP gt HOME gt OFFSET 0 0 rev gt Default 0 0 Distance Units Range n a This option sets the home offset After a successful homing move the home position the default home position is 0 0000 is set to the offset value 1 Use lt or keys to select an axis 2 Use the numeric keys to enter a new home
80. Definition ODaaaaaaaa uid gt SETUP gt I O gt OUTPUTS OUT1 PROGRAMMABLE PPPPPPPP SE Default PPPPPPPP Range n a The function for each output channel is indicated by a letter along the bottom of the display The first 8 letters are for the dedicated Outputs 1 Use lt and keys to select an Output channel The function of the highlighted output will be displayed on the top line 2 Once your cursor is on the desired output useTY to select from a list of function configurations for each channel See below Output Characters and Keypad Display Character Keypad Display A Amp Fault B b Brake 1 Brake 2 C Over Current D d Direction 1 Direction 2 F Fault H h At Home 1 At Home 2 K k At CI Limit 1 Limit 2 L Limit Error M m Move Done 1 Move Done 2 P Programmable S Stall T Torque Mode B8961 2 only 5 33 Chapter 5 Configuring Your System Output Character Descriptions A Amplifier Fault Output goes low on any amplifier fault An amplifier fault may be due to temperature motor short circuits excessive following error over voltage and excessive regeneration conditions Note This is not an all inclusive fault output Use F Fault for this B b Brake B specifies axis 1 b specifies axis 2 CAUTION IDC offers brakes for the actuator screw or as an integral part of some motors Though both types of brakes are highly effective the
81. Di for more detailed fault information 0 No faults RESERVED State undefined should be masked Program Select 12 1 BCD and Binary program select scanning enabled 0 A Stop Scan condition has occurred or no inputs are configured as program select lines Data Download Status 1 1 Data Transfer failed program memory overflow 0 Data successfully received RESERVED 14 16 State undefined should be masked Scanning lt n gt SS 8 38 Chapter 8 Programming With Serial Communication The following commands control program uploading downloading deleting execution Serial Supervisory Commands etc All of these commands are fully defined in this section Command Command Description and Application Examples Syntax AA Auto Address The AA command automatically addresses SmartDrive units in a daisy chain It assigns an address to each unit on the daisy chain This allows the units to be wired in a daisy chain without setting each unit s address manually The AA command parameter n indicates the value in which the addressing sequence will begin 1 Unit assigned 4 5 2 Unit assigned RX TX RX TX In the example above the Host issues an AA4 and the units are addressed 4 5 6 7 This offers the convenience of adding a new unit anywhere in the daisy chain without manually re addressing all the other units Just connect the new unit issue an AA command from the new unit with the addres
82. Encoder Programmable Outputs Differential quadrature incremental TTL Max freq of 1 5MHz Power 5 VDC 9 200 mA output power for each external encoder 8 optically isolated open collector programmable outputs Isolated Pull Up 5 24 VDC 100 mA max current per output 250 mA max current available from 12 VDC supply OPTO compatible I O Positioning Range 8 OPTO compatible Any G4 I O module analog amp temperature 2 147 483 647 steps absolute and incremental Velocity Range 0 to 1 250 000 steps sec motor and voltage dependent Acceleration Range Drive Temp 0 002 seconds to 2 0 hours Thermal Shutdown occurs if the drive heatsink temp exceeds 70 C Motor Temp Max winding temp 135 C thermostat protected Humidity 0 90 non condensing 9 5 Chapter 9 Hardware Reference S6961 and S6962 Hardware Connections S6962 shown here S6961 has same features for single axis Side Panel Two Axis i Microstepping S 6 0 6 Two Axis SmartDrive Microstepping SmartDrive Regen Over Voltage INTLK Power Temperature Encoder Encoder 2 A A B B Z res 5 COM Drain Keypad Connection Standby Waveform Step Type Anti Res Anti Res Anti Res J L4 Stepping L e Disuble Short r na Da Res ws Wm n a 1K nla 1K 254K 5K 254K E 25K wa 10K 25K py K Motor Current 0 0 to 7 9 amps phase EOT COM EOT 2 12 See Next Pa
83. I PhaseB de Interlock EAD SN Jumpers Black EA eh Must Be Installed Wht Yel Motor tot Red Phase A Wht Red C du Yellow M Series Connections s Orange e E Motor Wht Org a Phase bp gt gt Wht BIK Black X o IB ES Red A ae Motor whiRed Phase A Wht Yel t Yellow a w Wire Color on Quick S6961 2 Disconnect Cables Connection IDC Quick Disconnect Cables Red w Black B IDC P N IDC Motor Applicability QF3 12 P32T P32V P33T P33V P33V EQ Red W White Ex Sat S32V S33T S33V Green GND QF4 12 K42T K42V PATT P41V Red w Yellow A P42T P42V S42T S42T EM S42V S42 EM Red A Gray colored Quick Disconnect Cables AC are shielded connect shield to GND 3 1 Chapter 3 Quick Start Side Panel Settings Use the table below to configure the Motor Current Inductance and Anti Res switches for the IDC motor you are using If using a non IDC motor please refer to Chapter 5 Configuring Your System Series T Connection Parallel V Connection Motor Current Inductance Eds onec aa Lada Current Inductance mda pecado SW4 SW5 SW6 sw4 SW5 swe 12 1 1A 8 ON ON ON 2 2 4 ON ON ON S21 1 2A 16 ON ON ON 2 4 4 ON OFF ON
84. I 6 5 Distance to a Change DC 6 4 Enable Disable Amplifier EA 6 5 End of Block EB 6 6 End of Routine EN 6 6 Function Key FK 6 7 Go start a move GO 6 14 Go Home GH 6 9 Go Immediate GI 6 10 Go Point GP 6 15 Go to a Program GT 6 16 Gosub GS 6 16 If IF 6 17 Input Variable IV 6 18 Loop LP 6 19 Loop Until LU 6 19 Loop While condition true LW 6 20 Message to Display MS 6 25 Move Continuous MC 6 21 Output OT 6 26 Quote 6 26 Registration RG 6 27 Set Position SP 6 28 Square Root SQ 6 28 Stop on Input ST 6 29 Time Delay TD 6 29 Velocity VE 6 30 Wait WT 6 31 incrementing variables 7 8 inductance 5 9 input character descriptions 5 29 analog 5 31 BCD program select 5 29 binary program select 5 29 clear command buffer 5 29 data valid 5 32 extend jog 5 29 interrupt 5 29 jog speed 5 30 kill motion 5 30 lock keypad 5 29 motor shutdown 5 30 pause continue 5 31 registration 5 29 retract jog 5 31 stop 5 31 unassigned 5 31 warm boot 5 32 inputs 5 27 J jog parameters 5 39 K Keypad using the IDC Keypad adjusting display contrast 4 2 COPY menu 4 17 DEL menu DELETE 4 18 EDIT menus 4 10 HELP menu 4 16 menu structure 4 5 password access 4 2 remote mounting 4 3 RUN menu 4 6 setting dip switches 4 2 L LED indicators 5 2 limit switches 9 8 M miscellaneous setup parameters 5 47 motor direction 5 19 motor specifications P21 P22 9 15 P31 P32 P33 K31 K32 K33 moto
85. Industrial Devices S6961 and S6962 Corporation One and Two Axis Microstepping SmartDrives Vd 15 4 4 lt 2 t2 02 Gi Hi iim gi ri Li gg mn ep uz 8 Ss we M w Pris EE LE BE St rE BE GE LE User s Manual Version 2 0 PCW 4757 SC Revision History Version 1 0 March 1998 Version 1 1 April 1998 Version 2 0 June 1999 Industrial Devices Corporation IDC strives to maintain effective communi cation with all users and potential users of our products If you have any questions or concerns regarding this technical manual or the product it cov ers please contact Industrial Devices Corporation 3925 Cypress Drive Petaluma CA 94954 TEL 800 747 0064 FAX 707 789 0175 OUTSIDE THE U S CALL 707 789 1000 WEB SITE www idcmotion com EMAIL info idcmotion com Table of Contents Table of Contents CHAPTER 1 OVERVIEW 2 donee ede o re tL Ee Eee EL deed 1 1 CHAPTER 2 SHIPPING CONTENTS 0 0 c cecsceceeeececeeeeeeeeeceeeeeeaeseeaaeeseeeeseaeeneaeeesaes 2 1 CHAPTER 3 QUICK START nce tt tenente ende xoa ENEE eren 3 1 CHAPTER 4 UGINGTHEKEYBAD nennen nnne nnns 4 1 Keypad Hardware Features 4 2 leegen 4 4 Keypad Menu Structure nennen nnne ennt enne nennen nens 4 5 Using R n Menus etr ettet epe eere bite rene ete ete o ree tt 4 6 Usinig Edit MOmUS EE 4 10 BEP om 4 17 Using Copy Menus 2 1 cinge aiaei arniran Deest vee dela ce Deere eL eee Meg En iue 4 18 BENI MERE E
86. Jumps to program number or name and returns to the calling program when command processing reaches the EN command in the sub routine After the return execution continues at the command immediately following the GS Subroutines may be nested in the standard firmware up to 16 levels deep A Goto GT will clear the subroutine stack preventing future Gosubs from overflowing the stack or returning to the wrong location Example DI10 GS Part A GO Run program Part A return and make a 10 unit incremental move Go to Program syntax GTi or GT name Units n a Range i 1 199 1 400 with 30K memory option name any legal program name Default n a GT branches to the program number or name specified All subsequent commands in the calling program are ignored Nested loops and subroutines calls are cleared by a GT command Example IF10 GT PART A EB IF input 1 is on and input 2 is off jump to program Part A IF01 GT20 GT30 EB EN IF input 1 is off and input 2 is on run program 20 Program 30 will never run Use the GS command if you want to return to this program and goto program 30 Chapter 6 Programming Commands EEPEETEPEARERERI HEP RE RR syntax IF See Below Units n a Range see below Default n a Syntax s IFixx IFxx assumes first input is input 1 IF mathematical expression or expressions 2 Range i starting input number 1 8 x 0 input high x 1
87. L PCB 1221 0 10 Volt Analog Output 73G OV10 M PCB 1222 4 20 mA Analog Output 73G Ol420 N PCB 1223 J Type Thermocouple Input 73G ITCJ 0 to 700 C O PCB 1319 K Thermocouple Input 73G ITCK 100 to 924 C P PCB 1224 RTD Thermocouple Input 100 Ohm 73G ITR100 9 9 Chapter 9 Hardware Reference Accessories for the S6961 and S6962 S6961 S6962 Accessories Accessory P N Description PCS 4852 SmartDrive to PC Cable PCS 5004 PC Keypad Cable for copying programs between keypad and PC RPACK 1 External Regenerative Power Dissipation Module FK1 Fan Kit Fan Kit for High Performance Applications 9 10 C 12 Hybrid Step Motor Specifications hapter 9 Hardware Reference Ll DM A a i SEE TABLE 0 8660 0 8648 24 AWG LEADS A a 7 ec See d 4 40UNC x 0 17 CS T EN 12 INCHES LONG 0 3969 0 1983 e ie KO CN F BOTH ENDS A Tue pen SE a pees qn S gt oe 1 22 SQ REF i 0 434 0 354 el a 0 08 lk gt 1 598Q Ps T Series V Parallel Electrical Specs S12T S12V Continuous Stall Torque oz in N m 35 0 25 Recommended Current Phase Amps 1 0 2 0 Winding Resistance Ambient Ohms 5 52 1 38 Notes H iri 7 o Inductance mH 8 8 2 2 Parallel V wiring 50
88. MAX Critical speed limit ACCEL Acceleration units AMAX Maximum rate of acceleration deceleration INPUTS Input functions OUTPUTS Output functions OPTOS OPTO module configuration OUTSTS State of output on Power up Fault or Stop LIMITS End of Travel Switch Polarity ACCEL Jog acceleration LO VEL Low jog velocity HI VEL High jog velocity ENABLE Enable disable jog in RUN menu MODE Homing method EDGE Edge of home switch SWITCH Type of home switch OFFSET Position counter offset DIR Final homing direction positive or negative Program to run on power up if any How to scan program select inputs Program Select de bounce time Echo characters Serial address DISP Format Display STOP RATE Decel rate when stop input activated TEST Enable Test Menu not currently implemented FAULT Polarity Fixed Active Low in S6961 2 ENABLE Polarity Fixed Active Low in S6961 2 PASWRD Password setup for operator administrator access 4 15 Chapter 4 Using the Keypad Select POS to Reset the Current Position to Zero POS is a quick way to reset the motor s current position to absolute zero a very useful setup and debugging tool f Reset Position 1 Press EDIT gt POS F3 You will be queried as shown YES NO 2 Press YES F1 or NO F3 Select LIST to View Program Memory Usage LIST provides a way to view your program memory usage Standard
89. O EB If analog input 9 is less than 5500 turn on output 1 and 2 then GO IF TEMP gt 50 OT1 EB If temperature variable 250 turn on Output 1 IF PARTS 25 GS20 EB If PARTS variable 25 Gosub to Program 20 Chapter 6 Programming Commands IV Input Variable syntax IVi variable min max Units n a Range i 1 40 display position in characters variable any legal variable name min the minimum range value optional max the maximum range value optional Default n a This command allows an operator to input variable information under program control It is typically used with the message command MS to prompt for operator input of the variable specified in IV The cursor is placed on the display at character position i The program waits until a number is entered before continuing execution The command will not allow you to type past the end of either line on the display Variables will store 4 digits to the right of the decimal place When minimum and or maximum range values are specified the IV command will not accept inputs from outside this range When a value outside the range is entered one of the following messages is displayed on the keypad e Input below minimum Press ESC to resume e Input above maximum Press ESC to resume These variables can then be used in a math equation conditional expression or to set any command parameters Example DA DC VE AC LP IF TD etc A
90. OWREL 0 One of the arrow keys is being held down AROWREL 1 The arrow key has been released AROWREL will return key status for the 4 arrow keys only If any other key is pressed AROWREL will return zero regardless if the key is held down or not The following is an example jog application using AROWREL and FKEY MAIN Program 1 FK12 13 Wait for a Left or Right arrow key GT FKEY Jump to arrow key program 12 or 13 LEFTARROW Program 12 MC Enable MC mode AC Start MC move VEI Move in positive direction GO LP IF AROWREL 1 Check status of arrow key VEO Stop MC move on key release GO GTI Return to main program EB EB End loop block RIGHTARROW Program 13 MC Enable MC mode AC Start MC move 7 5 Chapter 7 Programming Your Application 7 6 VE 1 Move in negative direction GO LP IF AROWREL 1 Check status of arrow key VEO Stop MC move on key release GO GTI Return to main program EB EB End loop block Non Volatile Variables The non volatile variables EE1 EE20 are twenty user accessible variables that retain their values through power cycles warm boots and system resets Standard user variables are reset at power down or reset Each time one of these variables is changed i e used on the left side of an equal sign the new value is written to and stored in the user non volatile EEPROM CAUTION Caution must be observed when using these variabl
91. P33 K31 K32 K33 Axial Shaft Load Ibs N 305 1350 305 1350 305 1350 305 1350 305 1350 305 1350 Radial Shaft Load 0 5 inches Ibs N 65 285 65 285 110 489 65 285 65 285 110 489 Motor Weight Ibs kg 5 8 4 11 9 5 8 4 11 9 Step Angle full step degrees 1 8 1 8 1 8 1 8 1 8 1 8 Wire Color on Quick S6961 2 eee Disconnect Cables Connection Signal Pin Color Red w Black B Ag B Ei A C i IDC Quick Red w White B Puro Disconnect B N Green F Cable Green GND gt um L Red w Yellow A ES M Yellow P N QF3 12 Red A Z U Orange Gray colored Quick Disconnect Cables ae i X NC are shielded connect shield to GND z d N Shld as SCH SCH Bm Brown NC EM 9 16 Chapter 9 Hardware Reference P K 41 42 43 step Motor Specitications 4 325sQ___ Nog F i Slos A 0 328 THRU EQUALLY SPACED ON 4 950 B C 4x 0 1875 0 1855 A 0 7500 0 7495 ES 1 003 0 813 0 830 2 184 2 188 Motor Dimensions A 1 385 1 365 0 665 0 585 0 3148 0 ON 1 2 NPS THROUGH 3143 4 40 UNC 2B x 0 27 Dp MIN 2x EQ SPACED ON A 1 812 B C _ 22AWG GROUND WIRE IS GREEN 12 LONG MIN MOTOR LEADS Motor Wiring parallel only for S6961 2
92. Power Supply Total 250 mA available from 12 VDC supply Connecting an Encoder VEO n 1 2 Outside Inside SmartDrive Color codes are for IDC encoders only Use signal names for other manufacturer s encoders Encoder Wiring Color Code Standard EQ Cable obi Encoder for P amp K Motors En rin hemati S6961 2 on S6961 2 Color Pin Out Color Outside S6961 2 Inside S6961 2 A Red B Red A Pink or C Pink or x o Purple Purple A O KH ers B Green N Green Differential signal pr dete ES Bii S Blis from Encoder i a 5 A B Z A Z Yellow M Yellow EI 26LS32 Z Orange U Orange 45V White K White Com Black T Black Drain Shield SS E Brown NIC OPTO Input digital OPTO Output digital Screw Terminals Screw Terminals r9 Op 1 i V voltage source m n3 d r a V voltage source LC J D V wu LQ v AC or DC K AC or DC USER KR LOAD OUTPUT EM 9 7 Chapter 9 Hardware Reference Connecting IDC Limit Switches to the S6961 2 IDC Limit Switches Switch Type Comments Connections RPS 1 Normally Open Reed Switch has SR Hom ET or ET S6961 2 Home only less wiring and lower LIMITS cost Connector RPS 2 Normally Closed Shield Mounts to N T R2 R3 and R4 Actuators RP 1 Normally Open Hall Effect Switch has Red 1 S6961 2 Home only
93. Speed J specifies axis 1 j specifies axis 2 This input works along with the Extend Jog and Retract Jog When a jog input is activated the control checks the state of this input to determine the jog speed If the input is OFF the system will jog at the Jog Low speed If the input is ON it will jog at the Jog High speed If the input is not configured the jog inputs will induce motion at the low speed K Kill Motion Causes the control to abruptly stop commanding further motion and terminates program execution No deceleration ramp is used Caution instantaneous deceleration could cause damage to mechanics The Stop input provides a more controlled halt M m Motor Shutdown M specifies axis 1 m specifies axis 2 May be activated when the control is not running a program and the motor is idle Selecting shutdown M m will disconnect power to the motor which removes current torque and allows the motor to spin freely Chapter 5 Configuring Your System N aNalog Only the OPTO I O may be configured as analog inputs To use an analog or temperature I O module the I O position must be configured as an analog input signal This tells the SmartDrive that the input is no longer a discrete input and prevents the input signal from being misinterpreted Analog signals are read into input variables AI9 through AI16 corresponding to OPTO positions 9 through 16 See Chapter 7 Programming Your Application for details on using analog I O
94. States Returns the current state on or off of the 8 Outputs and any of the Optos that are configured as digital Outputs The status is returned as a four digit hexadec imal number preceded by an asterisk Example OS returns 00F6 cr with the Output conditions shown in this table n a Inputs 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 off off off off off off off off on on on on off on on off 0 0 F 6 Your computer program will have to decode the hexadecimal number to deter lt n gt OS mine the state of any output 8 34 Chapter 8 Programming With Serial Communication Serial Immediate Status Commands Note All but the S and K commands require an address Command Command Description and Application Examples Syntax PA Tell Absolute Position Reports current position in user units based on encoder mode selected Can report specifically commanded or encoder position when PAa n is used a C Commanded Position E Encoder Position i 1 2 axis Examples PA2 Returns axis 2 encoder mode position PACT Returns axis 1 commanded position lt n gt PAn lt n gt PAa i RS Reset System Re initializes or warm boots the control software to its power up state The initialization process takes about 10 seconds to complete Programs and config uration settings are not erased This
95. Status Read Only Write FKEY Val of Func Key Pressed Read Only INT98CTRL Enable Disable ARM INT98 Read Write LASTKEY Val of Last Function Key Read Write ARM INT98 Enable Disable INT98 if Read Write Pressed INT98CTRL is Enabled TERM Send Var out RS232 Port Write Only Keypad Programming Template Use this template to write MS Message to Display command menus or programs exactly as they will appear on the keypad LCD display Each character position on the keypad display is represented by a numbered blank square below Please feel free to make copies of this page for writing your programs IDeal Programming Commands Command Description Acceleration Page Command Description Input Variable Page Break Loop Distance Absolute Loop Until Distance to a Change Loop While Deceleration Move Continuous Distance Incremental Message to Display Enable Disable Amplifier On Command End of Block Output End of Routine Quote Function Key Registration Go Home Set Position Go Immediate
96. Wait for inputs 1 3 to equal 110 before moving WT 1 Causes program execution to halt until GI move is complete Note In order to synchronize program execution with the end of a GI move there is new syntax associated with the WT command WT 1 2 will halt program execution until the respective axis has completed its move WT 1 will wait for only axis 1 WT 2 will wait only for axis 2 WT 1 2 will wait until both axes have stopped Chapter 6 Programming Commands Summary of Operators Functions and Expressions Name Program Name Variable amp amp Logical AND Logical OR Logical NOT l Not Equal Add Subtract Multiply Divide Equal gt Greater Than lt Less Than gt Greater Than or Equal to lt Less Than or Equal to amp Bitwise Boolean AND Bitwise Boolean OR Increment Variable Increment by n Decrement Variable Decrement by n lt lt Shift Left gt gt Shift Right Refer to Chapter 7 Programming Your Application for more details and examples of how to use the above operators functions and expressions 6 33 Chapter 6 Programming Commands This page intentionally left blank 6 34 Chapter 7 Programming Your Application Chapter 7 Programming Your Application The purpose of this chapter is to provide information that will help programmers begin developing ap
97. able LP Loop MS Display Message EN End Routine FK Function Key LU Loop Until LW Loop While WT Wait 8 31 Chapter 8 Programming With Serial Communication This page intentionally left blank 8 32 Chapter 8 Programming With Serial Communication Serial Immediate Status Commands Serial Immediate Status commands are processed immediately upon receipt rather than waiting in the buffer for previous commands to finish They can be issued while a program is running or while motion is in progress They can t be stored within a program Using Immediate Status Commands Serial Immediate Status commands are provided for two purposes One is to allow a host control to query the SmartDrive in real time for system position and I O status The second is to provide a means to do in depth troubleshooting via RS 232C These commands will interrupt the SmartDrive and generate a return They do not affect operation of the SmartDrive In a typical hosted mode application all machine operations and decisions are performed by a high level device Motion commands are generated and downloaded to the SmartDrive by this host device such as a computer or PLC The following commands are provided so that the host can verify the status of the SmartDrive before commanding motion The System Status SS command returns overall system information and indicates general faults The Axis and Drive SAi and SDi commands can then be used to provid
98. age VE Velocity DI Distance Incremental GS Go to Subroutine ON On Condition WT Wait EA Enable Amplifier GT Go to Program OT Outputs ON OFF EB End Block IF If Conditional 1 Quote EN End Routine IV Input Variable RG Registration Serial Setup Commands AM Acceleration Max FL Fault Line Polarity JE Jog Enable PG Pos Maint Gain AU Acceleration Units GR Units Ratio JH Jog High Velocity PU Power Up Program DF Display Format HE Home Edge JL Jog Low Velocity PV Pos Maint Max Vel DU Distance Unit Label HF Home Final Direction MD Motor Dir Reference PW Password DY Scan Delay HM Homing Mode MR Motor Resolution SN Scan Conditions EL Enable Line Polarity HO Home Offset MT Motor Type SR Stop Decel Rate EM Encoder Mode HS Home Switch MV Maximum Velocity UN Unit Number ER Encoder Resolution ID Input Definition OD Output Definition VU Velocity Units ET E O T Switch Polarity IR Pos Maint Deadband OE Ouput States on Event FE Following Error Limit JA Jog Acceleration OP OPTO Configuration Serial Immediate Status Commands CB Clear Comnd Buffer MN Model Number RS Reset System SD Tell Drive Status IS Tell Input States OS Tell Output States S Stop SS Tell System Status K Kill PA Tell Absolute Position SA Tell Axis Status Serial Supervisory Commands AA Auto Address EP End Program Definition OC Original Configuration UA Upload A
99. alog output 1 Configure the position as an output using EDIT gt SETUP gt I O gt OPTOS 2 Configure the output position as analog using EDIT gt SETUP gt I O gt OUTPUT The analog system output variable has a range of 0 4095 12 bits 0 is the minimum output and 4095 is the maximum value of the analog module you are using Example 4 20mA output module 0 4mA 4095 20mA AO15 256 Sets the analog output to 5 mA 7 15 Chapter 7 Programming Your Application This page intentionally left blank 7 16 Chapter 8 Programming With Serial Communication Chapter 8 Programming with Serial Communication Overview Any RS 232C terminal PC computer serial RS 232C card or RS 232C equipped PLC can be used to configure program and operate IDC s SmartDrive controls IDC provides and strongly recommends using our Windows based Application Developer for configuration and programming If you choose not to use this tool all of the Deal RS 232C programming and setup commands are listed alphabetically later in this chapter Application Developer provides a graphical control configuration environment a program development editor and a terminal communication package Application Developer also provides application upload and download utilities and an on line software reference help utility This chapter is divided into 4 main sections Section 1 covers common RS 232C details including baud rate settings as well as hardwa
100. also activates the Short output but does not turn on the Short LED see description of Short LED below The red Short LED indicates that a Short Circuit or Undervoltage condition has occurred A short circuit problem can occur because of shorted or miswired motor leads or because of an internal drive defect This fault is cleared by recycling power If the cause persists repeated faults may occur To isolate the problem disconnect and insulate the motor leads from the drive connector but leave the Interlock jumper installed Apply power and step pulses If the drive does not invoke the short circuit fault then it is likely that the defect is in the motor its cabling or the connections at the drive NOTE Though similarly named the Fault LED and Fault Output do NOT activate the same The Fault Output indicates that one of several fault conditions has occurred Overvoltage Undervoltage Interlock Over temperature Shutdown or Short Circuit Fault and the front panel LEDs provide a means of resolving the source of the fault Axis 1 LEDs uw Axis 2 Res LEDs Sten Type Anti Res Anti Res NI tts Ld a LA Ss seein D 2 Disable Shorh nja 200 400 Res nja 200 400 nja n n a n 25 4K 5K 25 4K 5K 25K gy 10K 25K jg 10K Motor Current 0 0 to 7 9 omps phase Amps Tenths of Amps Offset A Offset B L iIndNi sindino Inductance e 4 C Un bk CO B3 EN c DWN Ui 4 wr
101. am your application using RS 232C you may want to skip this chapter Keypad Hardware Features describes physical settings and adjustments that facilitate operator access for programming and best viewing of the keypad display Keypad Features and Description of Keys provide an overview of functionality The Keypad Menu Structure section gives the programmer a broad overview of how the setup and programming menus operate Detailed information about each setup parameter is presented in Chapter 5 Configuring Your System While keypad programming and system configuration are defined by IDC run time operation how the machine operator interfaces with the SmartDrive falls completely within your control Here are some of the operating functions you can program with the SmartDrive e Run a program on power up on input signal from a PLC or RS 232C host command e Within a program prompt the operator for any program variable the number of parts to run size of parts speed etc e Run apart or program by name e Lock out operators from programming functions For more information on programming your SmartDrive s operator interface see Chapter 6 Programming Commands and Chapter 7 Programming Your Application Keypad Features Wis sre vemor Easy to read two line 40 charac ter back lit supertwist display e Can be sealed to IP65 NEMA 4 washdown environment e Large scratch proof keys with audible and tactile feedback
102. ance is not long enough the motor may end up making a triangular velocity vs time move and the motor may never reach the specified speed Once VE is specified the value is used in all subsequent moves until re defined Example AC 1 DE 2 VE50 DA4 GO Move to absolute position 4 units with a top speed of 50 units sec 6 31 Chapter 6 Programming Commands WT 6 32 NEE syntax see below Units n a Range i starting input number 1 16 x 0 input high x 1 input low grounded x anything but I or 0 ignore the input level expression any valid expression as defined in the math and variables section Default n a Syntax WTi xx WTXxx assumes first input is input 1 W Lexpression WT 1 used with GI moves This command waits for the specified condition to be true before continuing execution of a program Either digital or analog input conditions may be used To increase flexibility the WT command allows you to use configured inputs in the expression To help prevent this added flexibility from causing programming confusion you can specify any character as an input x This allows you to self document your WT statements For example assume you configured input 3 as a JOG SPEED input Programming like WTO1J10 can help remind you that you are already using input 3 Example WT4 1 GO Wait for input 4 to equal 1 before moving WT2 010 GO Wait for inputs 2 4 to equal 010 before moving WT110 GO
103. and an incremental position when used with DI When used with DI the value of DC must be specified as a positive number When multiple DC s are specified within an incremental move DD the incremental distance specified by the DC command is taken from the last DC command not from the beginning of the move See the incremental move examples below for more clarification The standard software supports a maximum of 20 DC commands within a move profile Examples AC 05 DE 05 VE10 DA4 DC1 OT100 DC2 OTO10 DC3 OT001 GO While moving to an absolute position of 4 units turn on output 1 at 1 unit output 2 at 2 units and output 3 at 3 units AC 05 DE 09 VE30 DA6 DC3 VE15 GO Move to absolute position 6 units with a starting speed of 30 At 3 units reduce speed to 15 change on fly and complete move ACI DE 5 VE20 DI 8 DC1 OT10 DC3 OT01 GO Move an incremental distance of negative 8 units After 1 unit turn on output 1 and after 3 additional units of motion turn off output 1 and turn on output 2 AC 05 DE 15 VE50 DI15 DC5 VE10 DCS VE5 GO At a starting speed of 50 begin moving an incremental distance of 15 units After 5 units ramp down to 10 speed After an additional 5 distance units ramp down to 5 speed and continue until the final position is reached AC 1 1 VE10 20 DI10 10 DC5 5 VE20 10 GO Move an incremental distance of 10 units on axis 1 and 2 After 5 units on axis 1 ramp up to a speed 20 after 5 units on axis 2 ramp down to spee
104. apter for hardware information on daisy chain wiring Setup Comm Port Comm Port is used to select a Comm Port when your PC has multiple serial ports This dialog box also has a comm port test utility to verify proper RS 232C operation IDC Terminal Terminal 1s a standard terminal emulator used for on line communication with a SmartDrive control It is very useful for troubleshooting interactive host control communications Run Program is used to run a specific program from Application Developer Programs can also be initiated via dedicated program select inputs through the keypad or via any terminal using the RN command Run is only accessible from the main menu bar Chapter 8 Programming With Serial Communication Section 4 RS 232C IDeal Command Reference Overview Though we strongly recommend taking advantage of the capabilities and convenience of Application Developer you can configure program and run a SmartDrive from any RS 232C terminal or computer If you do not intend to use the Windows software tools we provide you will need to use the IDeal M RS 232C command listings that follow Hosted or interactive motion control from a PLC or PC is also a common mode of operation You can write your control programs in your language of choice BASIC C ladder etc RS 232C SmartDrive operation is divided into four categories of commands The first category is Serial Setup Commands These are the commands that IDC
105. apter 8 The task of configuring your 6961 or 6962 SmartDrive system to a specific application consists of customizing a number of software parameters to match the mechanics of the system These parameters include distance acceleration and velocity scaling as well as I O configuration Each SETUP step follows the format of the example below Input Definition Keypad display Default UUUUUUUUUUUUUUUU Range N A Information and steps that apply to configuring this parameter will appear here Chapter 5 Configuring Your System Using the SETUP Parameters to Configure Your System Press the EDIT key then the SETUP F2 key to reveal three parameters as shown at top right SETUP Y PROG RS232 MISC Press TJ keys to access the remaining six parameters TSETUP HO JOG HOME Configuring your system with the keypad begins below em SETUP ease MOTOR ENC MECH Configuring Your Stepper Motor Configuring Motor Type MT11 Note Motor type is not configurable with the 6961 2 Motor type is fixed at STEPPER When you select MOTOR TYPE you will see three motor choice STEPER R SRVO and L SRVO Pressing STEPER F1 and the arrow keys will only verify that the keypad display is working properly Axis One Motor Type lt T STEPPER l ED SETUP MOTOR TYPE STEPER Configuring Drive Resolution MRi Axis One Drive Res EDIT gt SETUP
106. ard mounting bracket for minimum width mounting side attachment if desired Keypad attached to control w 3 mounting balls Keypad mounting gasket Keypad mounting template Keypad cable 5 position AC power cord Application Developer software 6961 2 User s Manual Black label to cover switch settings 4 short screws for minimum width mounting IDC screwdriver If you ordered P N S6961NP or S6962NP you will receive 1 S6961 2 with mounting bracket attached for minimum width mounting 4 long screws for moving mounting bracket to back for minimum depth mounting 5 position AC power cord Application Developer software 6961 2 User s Manual Black label to cover switch settings 4 short screws for minimum width mounting IDC screwdriver 2 1 Chapter 2 Shipping Contents If you ordered P N S6961NP FK or S6962NP FK you will receive 1 S6961 2 with fan kit attached to back of control and mounting bracket attached to side for mini mum width mounting Fan mounting bracket for optional minimum depth mounting attaches to fan housing 4 short screws for optional mounting bracket 5 position AC power cord Application Developer software 6961 2 User s Manual Black label to cover switch settings IDC screwdriver If you ordered P N FP220 you will receive Keypad 3 keypad mounting balls in case you decide to mount the keypad directly to the S6961 2 Keypad cable Keypad mounting gasket Key
107. art Drive Mechanical Ratio Setting Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm EC3 10 16B 1 000 1 5875 1 59 254 to 160 1 to 16 EC3 15 16B 1 500 1 5875 2 38 3810 to 1600 15 to 160 EC3 20 16B 2 063 1 5875 3 27 8382 to 2560 33 to 256 EC3 50 16B 5 038 1 5875 8 00 284988 to 35635 112200 to 356352 EC3 70 16B 7 000 1 5875 11 11 327736 to 29491 129030 to 294912 EC3 10 10B 1 000 2 54 2 54 254 to 100 1 to 10 EC3 15 10B 1 500 2 54 3 81 3810 to 1000 15 to 100 EC3 20 10B 2 063 2 54 5 24 8382 to 1600 33 to 160 EC3 50 10B 5 038 2 54 12 80 284988 to 22272 112200 to 222720 EC3 70 10B 7 000 2 54 17 78 327736 to 18432 129030 to 184320 EC3 10 05B 1 000 5 08 5 08 254 to 50 1 to 5 EC3 15 05B 1 500 5 08 7 62 3810 to 500 15 to 50 EC3 20 05B 2 063 5 08 10 48 8382 to 800 33 to 80 EC3 50 05B 5 038 5 08 25 59 284988 to 11136 112200 to 111360 EC3 70 05B 7 000 5 08 35 56 327736 to 9216 129030 to 92160 EC3 10 04A 1 000 6 35 6 35 254 to 40 1 to 4 EC3 15 04A 1 500 6 35 9 53 3810 to 400 15 to 40 EC3 20 04A 2 063 6 35 13 10 8382 to 640 33 to 64 EC3 50 04A 5 038 6 35 31 99 284988 to 8909 112200 to 89088 EC3 70 04A 7 000 6 35 44 45 327736 to 7373 129030 to 73728 EC5 Smart Drive Mechanical Ratio Setting Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm EC5 10 32B 1 000 0 79375 0 79 254 to 320 1 to 32 EC5 15 32B 1
108. ary switches for setting the current independently in each motor The top switch sets the integer current value and the bottom switch sets the tenths of amps value The example shows the current set to 2 6 Amps on Axis 1 and Motor Current 4 0 Amps on Axis 2 0 0 to 7 9 ampsiphase 0 ma 9 4 ma 9 4 na 7 X 2 na Z i Des Amps 7 V 3 e 4 6 eI DA 0 a Tenths NOS AL ot Amps e Ia e Axis 1 Axis 2 WARNING Ja a Setting the current too high can destroy the motor IDC Motor Current The following table shows the S6961 2 current settings for IDC step motors When using step motor wired in parallel at speeds above 5 revs per seconds the duty cycle of the motor must be limited to 60 to prevent the motor from overheating IDC Motor Series T Current Parallel V Current 12 1 1A 2 2A S21 1 2A 2 4A 22 1 5A 3 0A 23 1 7A 3 5A 32 2 8A 5 6A 33 3 5A 7 0A S42 6 0A 7 9A P21 Series Current N A on 1 3A P22 VOTIS 2 0A P31 2 9 P32 3 3 Motor current settings P33 greater than 6 0 Amps 4 0 pL 57 P42 6 6 INE o ee es K31 tion includes a fan kit 2 9 K32 3 4 K33 3 3 K41 5 7 K42 6 4 K43 6 6 5 7 Chapter 5 Configuring Your System Non IDC Motor Current IDC s S Series motors have custom windings to provide optimum dynamic performance with our 6961 2 drives If you need to use another manufactur
109. atile user variable SPEED EE1 LENGTH Loads the length into non volatile system variable EE1 EE2 SPEED Loads the speed into non volatile system variable EE2 EN Chapter 7 Programming Your Application PARTS PARTS runs on power up unless new parameters are entered LENGTH EE1 Load the part specific variable from the non volatile variables SPEED EE2 LP NUMBER Loop NUMBER of times DI LENGTH Move LENGTH VE SPEED at SPEED velocity GO OT1 TD 1 OTO Toggle output to indicate part done EB End the loop Block Arithmetic Operands and Equations The SmartDrive supports addition 4 subtraction multiplication and division Expressions may only contain one operand Complex equations require multiple statements Variables and fixed point numbers may be mixed in arithmetic equations All user arithmetic and variable storage uses 32 bit integer and fractional representation The and symbols have a dedicated button on the keypad Pressing the button will toggle between the two The and are accessed from the Alpha 0 keystrokes Examples e QOz Y 10 e AO15 VOLTAGE ERROR Do not enter e X 142 3 This statement is not legal because it has more than one operand e Length Total 03125 The SmartDrive fixed point variable storage only supports 4 places to the right of the decimal place 32 bit storage of fractional decimal number Instead enter X 1 X 2 X 42 Or
110. band If the speed is within the deadband set the speed to zero IF VX gt Neg Deadband VX 0 EB EB IF V Y Deadband If the speed is within the deadband set the speed to zero IF VY Neg Deadband VY 0 EB EB EP Return to Joy Stick and update the speeds of X and Y 6 24 Chapter 6 Programming Commands Message to Display syntax see below Units n a Range n 1 40 display position in characters Characters 1 20 on top line 21 40 on the bottom display line Default n a Syntax MS returns to the default runtime display MSn MSn user text MSn variable MS allows you to put messages on the keypad s display Messages are typically used to prompt for operator input display function key prompts or as a diagnostic tool MSn clears the display from the n character on MSn user text prints user text beginning at the n character MSn variable writes the value of the variable on the display beginning at the n character The above variations to MS will disable the default position and I O display until program execution stops MS can be used to restore the default axis position and I O display during program execution Examples MSI Clears the Display MS3 Part Count Writes string beginning at character 3 top line MS27 COUNT Displays the value of the variable COUNT beginning at position number 27 7th character 2nd line Be
111. be mixed the control always keeps track of the absolute position Example AC 1 VE60 DD GO DH GO DI 4 GO Move 2 units in the direction Move 1 more unit in the positive direction Move 4 units in the negative direction The final absolute position is 1 0000 Enable Disable Amplifier syntax EAi i Units n a Range 0 disable 1 enable 2 standby Default n a EA sets the state of the amplifier enable signal The polarity can be changed in EDIT SETUP MISC ENABLE Example EAO Disables the amplifiers on axis one and two 6 5 Chapter 6 Programming Commands 6 6 ENG OP BIO CK EE syntax EB Units n a Range n a Default n a The EB command designates the End of a Block of loop or IF commands Every LP LW LU and IF statement must have an EB associated with it Examples LP2 DI3 GO EB Performs the move twice IF1 1 DIS GO DI10 GO EB GH3 If input 1 is On make 2 moves before homing If input 1 is Off jump to the GH command End Kugel syntax EN Units n a Range n a Default n a EN marks the end of a program or subroutine It is optional at the end of a program If EN marks the end of a subroutine command execution continues from the command following the gosub GS command which called the subroutine If the routine was not called from another program the EN command simply stops command execution The control continues to monitor the program selec
112. been defined it is active in all user programs and need not be redefined unless the user wishes to change the interrupt program type number or name or clear the event condition Example Using ON to handle an EOT event POWERUP ONL GT ON EOT Goto ON EOT on an end of travel input GT HOME Home the machine MAIN LP Loop infinitely VE5 DA20 GO Define move DAO GO Define move EB ON EOT IF SA1 amp 256 Check if EOT switch was hit bit 9 in SA VEI DAO 5 GO Move off EOT switch GT HOME Home the machine EB VEI DA 0 5 GO Move off EOT switch GT HOME Home the machine HOME GH3 Home GT MAIN Jump to main loop OT Chapter 6 Programming Commands OUT UT ste aise nune hene syntax see below Units n a Range i starting output number 1 16 x 0 output high OFF x 1 output low ON x anything but a 1 or 0 the state of the output remains unchanged Default n a Syntax OTi xx OTxx assumes first output is 1 Sets both discrete and digital Opto output states Once an output is turned on it will remain set until changed by another output command a reset input software warm boot or power is cycled All outputs are turned off upon power up or during a reset To increase flexibility the OT command allows you to use configured outputs anytime To help prevent this added flexibility from causing programming confusion you can use any character in the don t change secti
113. before decoding the value returned You can document your programs by placing comments between brackets For example this is a comment To maximize program storage space the control strips off these comments when a program file is downloaded Chapter 8 Programming With Serial Communication These are the commands that IDC s Application Developer program uses to configure the SmartDrive ac Serial Setup Commands cording to the choices made in the SETUP dialog boxes Command Command Description and Application Examples Syntax AM Acceleration Maximum lt n gt AMr r AU Acceleration Units lt n gt AUi i i 0 units s where units is a string defined by the DU command 1 rps 2 seconds Example AUO units s on axis one DF Display Format n DFi i i i Configures the 4 keypad run time display quadrants DF takes 4 parameters n2 DF Text where i is an integer representing a display data type per quadrant User LL defined text is limited to 10 characters per field i20 Blank i 8 CUR2 i 1 POS1 i 9 INPUTS i 2 POS2 i 10 OUTPUTS i 3 POS1 UNIT i211 OPTOS i 4 POS2 UNIT i 12 SA STATUS1 i 5 VEL1 i 13 SA STATUS2 i 6 VEL2 i 14 SS_STATUS i27 CUR1 User defined text in quotes Not available DU Distance Unit Label n DUi i i 0 steps fixes GR 1 1 1 rev 5 cm 9 deg 13 arcmin 2 inch 6 mm 10 radian
114. ches Ratio for mm N 992 1 2 2 2 to 1 20 to 254 N 102 1 2 2 2 to 1 20 to 254 N 152 1 5 2 3 3 to 1 30 to 254 N 202 2 2 4 4 to 1 40 to 254 N 252 2 5 2 5 5 to1 50 to 254 N 312 3 125 2 6 25 625 to 100 6250 to 25400 N 352 3 571 2 7 14286 100 to 14 1000 to 3556 N 602 6 2 12 12 to 1 120 to 254 N 1202 12 2 24 24 to 1 240 to 254 N 995 1 5 5 5 oi 50 to 254 N 105 1 5 5 5 to1 50 to 254 N 155 1 5 5 7 5 75 to 10 750 to 2540 N 205 2 5 10 10 to 1 100 to 254 N 255 2 5 5 12 5 125 to 10 1250 to 2540 N 315 3 125 5 15 625 250 to 16 2500 to 4064 N 355 3 571 5 17 85714 250 to 14 2500 to 3556 N 605 6 5 30 30 to 1 300 to 254 N 1205 12 5 60 60 to 1 600 to 254 N 998 1 8 8 8 to 1 80 to 254 N 108 1 8 8 8 to 1 80 to 254 N 158 1 5 8 12 12 to 1 120 to 254 N 208 2 8 16 16 to 1 160 to 254 N 258 2 5 8 20 20 to 1 200 to 254 N 318 3 125 8 25 25 to 1 250 to 254 N 358 3 571 8 28 57143 400 to 14 4000 to 3556 N 608 6 8 48 48 to 1 480 to 254 N 1208 12 8 96 96 to 1 960 to 254 N 9910 1 10 10 10 to 1 100 to 254 N 1010 1 10 10 10 to 1 100 to 254 N 1510 1 5 10 15 15 to 1 150 to 254 N 2010 2 10 20 20 to 1 200 to 254 N 2510 2 5 10 25 25 to 1 250 to 254 N 3110 3 125 10 31 25 500 to 16 5000 to 4064 N 3510 3 571 10 35 71429 500 to 14 5000 to 3556 N 6010 6 10 60 60 to 1 600 to 254 N 12010 12 10 120 120 to 1 1200 to 254 Appendix A Actuator Ratios T Smart Drive Mechanical Ratio Setting A Motor Screw Overall Ratio EDIT
115. cified in the system will be expressed in these units You can specify acceleration as a rate or in time to accelerate to full speed 1 Use lt or gt keys to select an axis 2 Use the T and ENTER keys to select acceleration units from the list at below sec time to reach top speed DIST units sec e rps motor revolutions sec Configuring Acceleration Maximum AMr tor gt SETUP gt MECH gt AMAX De lt 0 002sec gt Default 0 002 seconds or 999999 units sec Range n a Acceleration Maximum command sets a maximum acceleration and deceleration limit for programmed move profiles in the current acceleration units Programmed accelerations and decelerations for moves will be limited by this parameter analogous to VMAX for velocity 1 Use or gt keys to select an axis 2 Enter the desired Acceleration Maximum 3 Press ENTER 5 26 Chapter 5 Configuring Your System Configuring Your Inputs amp Outputs Your SmartDrive has eight discrete optically isolated inputs and eight discrete optically isolated outputs It also supports up to eight Opto I O modules G4 G5 footprint which is like having a G4PB8 board and cable built in and it has the capability of supporting a mix of analog and digital modules Every input and output can be configured to a specific machine control function The eight OPTO positions can be inputs or outputs logic or AC DC power digital or ana
116. circuitry to virtually eliminate stalls due to mid range instability This dramatically improves the usable torque from the motor IDC s powerful SmartDrive controllers provide excellent value when your application calls for any of the following e A small 1 or 2 axis machine controller e A motion node to a master PLC or PC e Acost effective operator interface e Thumbwheel data inputs e Flexible I O capabilities e On board OPTO I O modules analog or digital The 6961 2 SmartDrives also feature a programming operator interface keypad FP220 which allows you to quickly and easily configure and program your system Initial setup and configuration will in most cases require only a few minutes using the keypad While the SmartDrives also fully support PC based RS 232C programming the setup and configuration sections of this manual primarily emphasize the keypad approach RS 232C commands and setup definitions are in a separate chapter We strongly recommend using a keypad with your first SmartDrive application This manual has been designed to help you successfully install program and operate your SmartDrive System If you have any questions that this manual does not adequately answer please contact our factory application engineers at 800 747 0064 or 707 789 1000 Use Chapter 2 Shipping Contents to verify that you have received everything you ordered Chapter 3 Quick Start will help you quickly confirm basic system operati
117. command in Chapter 3 for more information on stopping moves without halting command execution U Unassigned An Unassigned input functions as a programmable input and can be used in IF and WT statements just like any of the dedicated function inputs 5 31 Chapter 5 Configuring Your System 5 32 d Data Valid When this input is configured it determines if the Binary BCD program select lines are processed or ignored If the input is active program select lines are processed otherwise they are ignored This allows applications to be wired in a pseudo bus architecture fashion with each unit sharing the same program select lines and the data valid inputs determining which units should listen Configuring this output can greatly reduce panel wiring In the example shown below using the Data Valid input reduced the number of wires by one half 2 Data Valid i i Selection 6961 2 6961 2 6961 2 6961 2 4 3 2 1 PLC Program Selection W Warm Boot System Reset Resets the SmartDrive clearing the RAM Buffer and resetting the control to its power up state Programs and setup parameters are not erased This is typically used to restart system when a fault condition occurs The power up program if defined will be run Chapter 5 Configuring Your System Configuring Your Outputs Configuring Output
118. ctance switch too high will produce an audible hum from the motor and increase motor heating Between these two extremes there are generally 2 or 3 correct inductance settings With 4 lead motors the manufacturer s inductance rating usually translates directly to the 6961 2 inductance setting To determine the 6 lead unipolar motor inductance setting we normally use 4X the manufacturer s rating For 8 lead bi filar wound motors in series set the inductance to 4X the manufacturer s rating In parallel use the manufacturer s rating Again please check with the motor manufacturer for the correct inductance settings Chapter 5 Configuring Your System Standby Current The automatic Standby current function allows your motor and drive to operate cooler if the motor is not required to move a significant percentage of the time Drive losses which produce heat in the drive are directly proportional to motor current Reducing current in the motor has a slight cooling effect Standby Waveform Step Type Anti Resonance Anti Resonance Anti Resonance Setting the Standby current DIP switch to ON reduces motor current by 30 when the drive has not received a step pulse for 250 msec Full current is restored when the next step pulse is received Each drive can also be set to standby via software command with the EA2 command A 30 reduction in motor current during Standby correlates with an approximate 30 reduction in motor holding
119. d 10 Note that these velocity changes both take place after 5 distance units but they do not take place at the same time Chapter 6 Programming Commands Deceleratlori ie eer etndeu de ora lira geed syntax DEr r Units sec rps or unit s Range unit scaling dependent Default n a Sets the deceleration ramp on all negative velocity changes The deceleration value will be the same as the acceleration value unless a deceleration is specified The value set will be used on subsequent moves unless it is re specified by either an acceleration AC or deceleration DE command Examples AC2 VEI2 DA3 GO Sets acceleration and deceleration to 2 DE 5 VEI2 DA6 GO Accel stays at 2 and decel changes to 0 5 VE20 DAO GO Acceleration and deceleration remain at 2 and 0 5 ACA DA2 GO Both acceleration and deceleration become 4 DE3 ACI DI3 GO ACI sets both the accel and decel to 1 Distance Incremental syntax Dltr r Units selected from the EDIT SETUP MECH menu Range unit scaling dependent Default n a DI specifies a move distance relative to the current position Such moves are called incremental moves as opposed to the absolute zero reference used in DA Incremental moves are typically used in applications where there is no concern for origin such as feed to length applications Incremental moves are also often used inside a loop to shorten a program Incremental and absolute moves may
120. delay Encoder mode Open loop Open loop Encoder resolution 8 22 Chapter 8 Programming With Serial Communication Sample configuration file continued IDC Motion Application Developer untitled idc File Edit Setup Communications Run View Help Ze eal 2 E 750 750 Following error 725 25 In Range 0 10 In Range Time 20 0 Homing Method 710 10 PM Gain lv PM Vmax i 0 0 Backlash 21 2 9 10 Display format SR 100 100 Stop deceleration rate 70 0 Rotor begeint 50 00 50 0 002 002 0 0 anti hunt 20 0 Anti inertial windup Accel feed forward gain 0 Velocity feed forward gain Integral gain fac e m tion gain fac Motor enable polarity Motor fault polarity Clamp break velocity Clamp current units es BB le Bel in o t3 anti A Motor inductance current m Wave form O disabled l enabled dle O disabled l enabled m oo Ss 0 SH gt p SD SA dy z5 SD SR 20 SH 20 S Programs 4CZ VElO DI10 GO EP MSZ Press Fl to Proceed FEl GTl EP DI3 GO EP DI3 4 GO EP DI2 2 GO 0O EP 2 n 4 ON download Industrial Devices Corporation 1 800 747 0064 8 23 Chapter 8 Programming With Serial Communication Command Syntax 8 24 All IDeal commands use two letter UPPER CASE ASCII characters Command delimiters can be a carriage return
121. ders Side Panel Settings The operation and purpose of the side panel rotary and DIP switch settings are described in detail in this section The side panel adjustments fall into two categories The first are the motor dependent settings such as current and inductance These settings should be made before power is applied to the drive The second group of settings are application dependent These include the anti resonance and current waveform settings They should be optimized while the drive and motor are loaded and running Before Applying Power Prior to applying power to your 6961 2 drive the motor current inductance step type and resolution settings must be made The other settings waveform standby current anti resonance and phase offset adjustments can be made while the drive is powered and the 5 6 motor is moving Encoder Wiring Color Code Abe encoder for SS Kon on 6961 2 Color Pin Out Color A Red B Red A Pink or C Pink or Purple Purple B Green N Green B Blue P Blue Z4 Yellow M Yellow Z Orange U Orange 5V White K White Com Black T Black Drain Shield Brown N C Chapter 5 Configuring Your System Motor Current The 6961 2 has a Motor Current range of 0 0 6 0 Amps peak per motor phase per axis The 6961 2 8A option has 0 0 7 9 Amps available The total current of an S6962 8A should not exceed 12 0 Amps Each axis has two 10 position rot
122. distributor Chapter 5 Configuring Your System Configuring Your Output States Configuring Output States on Power Up OEP EDIT gt SETUP gt I O gt OUTSTS gt PWR UP On PwrUp Output 1 OFF 12 Default OFF Range n a This option sets the desired states of the outputs on power up 1 Use lt and gt keys to scroll through outputs 1 8 and any OPTO positions configured as outputs 2 Use the T and J keys to set the output state as OFF or ON and press ESC to save Configuring Output States on Fault OEF EDIT gt SETUP gt I O gt OUTSTS gt FAULT On Fault Output 1 ap OFF Lo Default NO CHANGE Range n a This option sets the desired states of the outputs on a fault 1 Use lt and 9 keys to scroll through outputs 1 8 and any OPTO positions configured as outputs 2 Use the T and J keys to set the output state as OFF ON or NO CHANGE and press ESC to save Configuring Output States on Stop Kill OES f On ST K Output 1 EDIT gt SETUP gt I O gt OUTSTS gt ST K 1 NO CHANGE l gt Default NO CHANGE Range n a This option sets the desired states of the outputs on a Stop or Kill 1 Use lt and 5 keys to scroll through outputs 1 8 and any OPTO positions configured as outputs 2 Use the T and J keys to set the output state as OFF ON or NO CHANGE and press ESC to save 5 37 Chapter 5 Configuring Your System Configuring End of Travel Switch P
123. ds review the following example of a typical file created in Application Developer for download to an 6962 You will need to generate a similar file to configure your SmartDrive Individual programs can be downloaded in such a configuration file or downloaded separately at run time The SmartDrive can also execute run time commands in an immediate mode outside of any program See the Command Syntax section of this chapter for more details iw IDC Motion Application Developer untitled idc File Edit Setup Communications Run View Help Delale sll al zie ella el ia View Configuration Ipc untitled ide 04 29 1999 Industrial Devices Corporation 64 Digital Dr 949 a This sample configuration file is continued on the next page Controller Firmware Rev Unitf and begin download OLILA Setup Paramete Motor type Stepper Motor resolution noo Acceleration uni second Velocity units rps Distance uni revs Gear ratio OPTO definition I Input Input definition U Unassigqned Output definition P Programmable P o000000000000000 Output state on power up pese 0900 00 0 00009 Output ate on fault OC Output te on stop End of travel polarity Jog acceleration Jog low velocity Jog high velocity Jog enable Home edge Home final direction Home level Home Offset Power up program None Oe w in i d v a scan on settings Scan
124. e Mounting S6961 2 in an Enclosure Proper Ventilation 9 2 Adequate ventilation is critical for optimum performance and prevention of damage to components when mounting your 6961 2 in an enclosure The cooler this or any other electronic equipment is maintained the longer its life expectancy Heat produced by the drive will be introduced into the enclosed environment increasing ambient temperature If the drive is enclosed this hot air must be exhausted from the enclosure to maintain as low an ambient temperature as possible In still air the heatsink temperature will rise 0 9 C per watt above the ambient temperature If air flow is maintained across the heatsink the thermal resistance may decrease to about 0 4 C per watt The FK1 Fan Kit described below achieves 0 3 C W decrease in thermal resistance Calculating Heat Dissipation In order to determine how to best provide ventilation it may be necessary to calculate the amount of heat dissipation or thermal loss by your S6961 2 To estimate the thermal loss for the S6961 2 use the following formula Pass 5 7 2 67 0j D 201 1 watts where I and I are the commanded current settings in axis 1 and 2 To estimate the dissipation from an 6961 2 add 5 watts to the dissipation calculated Example For a one axis drive 86961 with I 5 amps Prp 25 7 2 67 x 5 0 2 x 57 22A watts The power loss in the drive is NOT related to motor load or the work the m
125. e ARM INT98 variable Setting UNT98CTRL 1 also initializes ARM INT98 to 1 This means the control is watching for interrupts When INT98CTRL is set to 1 an interrupt causes the program to jump to program 98 AND sets ARM INT98 0 disabling any further interrupts until you re enable them by setting ARM INT98 1 This allows you to control when you want to re enable Interrupts in your interrupt service routine program 98 To summarize when INT98CTRL 1 If ARM INT98 0 Interrupts are ignored ARM INT98 is internally set to 0 on the first edge if the previous ARM INT98 value was 1 Interrupt processing will be suspended until ARM INT98 is reset to 1 This allows for input debouncing and controlling the ability of program 98 to interrupt itself If ARM INT98 1 The system is awaiting the first INT98 input assert edge Once the interrupt is seen the control will go to program 98 Subsequent interrupts are ignored until ARM INT98 is set to 1 INTOSCTRL and ARM INT98 are reset to default values on power up Note There is a space between M and I in ARM INT98 When activated any executing program or functional operation is terminated and program 198 interrupt program is immediately executed If a move is executing when the interrupt is activated the move is terminated decelerated at a rate determined by the Stop Deceleration rate setup parameter The unit will enter Run mode once program 98 is completed J j Jog
126. e Allow approximately one inch clearance for a fan kit FK1 if the available air flow appears marginal The fan kit adds 1 05 in to the depth of the drive if mounted in the Minimum Depth Configuration It adds 1 05 in to the width if mounted in the Minimum Width Configuration e The heat sink fins should be oriented vertically for convection currents to flow along the fins e The vertical clearance between an S6961 2 drive and other equipment or surfaces of the enclosure should be a minimum of 4 0 inches Horizontal clearance should be a minimum of 3 0 inches See drawing High heat generating equipment should not be mounted directly below this drive Minimum Depth Mounting Dimensions 4 3 73 gt al lt _ _ 5 92 p I 2 Oo A A With Ves Keypad CIO Attached o Mic cess ao EE 10 50 eis AM Pm enis exscr M Opto Modules Attached m v Y d l yY v s P i 0 25 10 08 0 73 1 03 sa Minimum Panel Mounting Separation in I 5 92 D A lt 3 0 gt s6962 30 S6961 10 50 0 0 5 A n n M E a HE D 6962 430 7 6961 t t WEI 0 73 E E Forced air cooling may be necessary if air flow is extremely poor if the ambient temperature is excessive above 35 C See FEI Fan Kit 9 1 Chapter 9 Hardware Referenc
127. e Mechanical Ratio Setting Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Series Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm R4 10T 1 0 1333333 0 13333 8 to 60 8 to 1524 R4 15T 1 5 0 1333333 0 2 12 to 60 12 to 1524 R4 20T 2 0 1333333 0 26667 16 to 60 16 to 1524 R4 30T 3 000 0 1333333 0 4 24 to 60 24 to 1524 R4 50T 5 110 0 1333333 0 68139 28288 to 41515 2829 to 105448 R4 100T 10 007 0 1333333 1 33430 27456 to 20577 2746 to 52266 R4 101 1 1 1 1 to 1 10 to 254 R4 151 1 5 1 1 5 15 to 10 15 to 254 R4 201 2 1 2 2 to 1 20 to 254 R4 501 5 110 1 5 11044 42432 to 8303 4243 to 21090 R4 1001 10 007 1 10 00729 68640 to 6859 6864 to 17422 R4 104 1 4 4 4 to 1 40 to 254 R4 154 1 5 4 6 6 to 1 60 to 254 R4 204 2 4 8 8 to 1 80 to 254 R4 504 5 110 4 20 44177 169728 to 8303 16973 to 21090 R4 1004 10 007 4 40 02916 274560 to 6859 27456 to 17422 R4 106 1 6 6 6 to 1 60 to 254 R4 156 1 5 6 9 9 to 1 90 to 254 R4 206 2 6 12 12 to 1 120 to 254 R4 506 5 110 6 30 66265 254592 to 8303 25459 to 21090 R4 1006 10 007 6 60 04374 411840 to 6859 41184 to 17422 Appendix A Actuator Ratios NM RM Smart Drive Mechanical Ratio Setting Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Reduction Pitch mtr turns inch Ratio for inches Ratio for mm M 992 1 2 2 2 to 1 20 to 254 M 995 1 5 5 5 to 1 50 to 254 M 998 1 8 8 8 to 1 80 to 2
128. e more detailed axis specific information These commands are also an invaluable system troubleshooting aid Since they are immediate commands they will generate a response from the SmartDrive even if it is in the middle of move waiting for an input condition to become true etc Checking the System Status and the I O Status will give you enough information to explain what the SmartDrive is doing If a fault is indicated the Drive and Axis Status commands can give detailed axis specific information Summary of Immediate Status Commands Command Syntax Purpose Clear Command n CB Clears the terminal input buffer and buffered command Buffer buffer Input States n IS Real time status of discrete and OPTO inputs Kill lt n gt K Issues immediate halt to current and programmed motion Model Number lt n gt MN Returns unit model number over RS 232C Output States lt n gt OS Real time status of discrete and OPTO outputs Current Position lt n gt PA1 Real time position in user units of axis 1 axis2 lt n gt PA2 Stop lt n gt S Issues program terminaiton decelerates to a halt Axis Status lt n gt SA1 Returns axis specific status i e limit and home states of lt n gt SA2 axis 1 axis 2 Drive Status lt n gt SD1 Returns drive specific status i e type of amp fault of axis 1 lt n gt SD2 axis 2 System Status lt n gt SS Returns general system status and operation 8 33 Chapter 8 Pr
129. e right Scroll through the list to select your next character or press ESC to leave the editor 4 13 Chapter 4 Using the Keypad Example of Naming a Program Add the name MINE to the program created earlier AC 3 VE2 DII GO 4 14 To insert MINE 1 2 3 4 5 6 7 8 9 Press F3 Press 0 zero key Press ALPHA Press 5 key Press ALPHA Press 3 key three times Press ALPHA Press 5 key two times Press ALPHA 10 Press 2 key two times 11 Press the key to move cursor to the right of the bracket 12 Press ESC You will be prompted as shown MINE AC 3 VE2 DI1 GO Save Program _ YES NO Chapter 4 Using the Keypad Using the SETUP Sub Menus for Configuring Your System The following table shows the structure within the EDIT SETUP sub menu For com plete descriptions of each system parameter in the SETUP sub menus see Configuring Your System Sub Menu Setup Parameter Description of Setup Parameter TYPE Motor parameters Drive resolution DIR Direction of travel MODE Select open closed loop mode E RES Encoder resolution FOL ERR Following error IN RANGE Position maintenance window PMGAIN Position maintenance gain PMMAX Position maintenance maximum velocity DIST Distance Units RATIO Scale distance to preferred user units BKLASH Electronic backlash compensation not implemented VEL Speed units V
130. e three modes of operation Switch Only n GE will only search for the appropriate edge of a Switch Switch Then Z Channel The control first looks for a home switch aligns to the edge and then slowly moves until an encoder Z pulse is found Z Channel Only The control does not search for a home switch instead it rotates at a slow speed until an encoder Z pulse is found regardless of the home switch state The magnitude of GH velocity parameter is ignored The sign of the velocity parameter determines the low speed direction Requires an encoder 1 Use lt or gt keys to select an axis 2 Use Tl keys to select the homing mode 5 43 Chapter 5 Configuring Your System Configuring Your PROGRAM SETUP Parameters 5 44 2 scanning conditions for the BCD or binary program select inputs Configuring Power Up Program PUi The Program Setup menu allows selection of 1 a program to PROGRAM SETUP be immediately run when the SmartDrive is powered up and PWR UP SCAN DELAY Power Up Program EDIT Range n 0 to 199 400 with 30K option Default 0 This option selects a power up program The selected program is executed run when your SmartDrive is powered up or reset If a value of 0 is entered in this menu or if the specified program does not exist no program is run 1 Use or keys to select an axis 2 Use numeric keys to enter a program number Configuring Scan Cond
131. ed during a jog move 1 Use lt or keys to select an axis 2 Usethe numeric keys to enter new low jog velocity value in the same units you selected in the SETUP MECH VEL menu 5 39 Chapter 5 Configuring Your System 5 40 Configuring Jog High Velocity JHr f Axis One Jog Hi Vel EDIT gt SETUP gt JOG gt HI VEL 2 0 in sec gt Default 2 0 Velocity Units Range n a This option sets the high speed jog velocity used during a jog move 1 Use or gt keys to select an axis 2 Use the numeric keys to enter new high jog velocity value in the same units you selected in the SETUP gt MECH gt VEL menu Configuring Jog Enable JEi f Axis One Jog Enable EDIT gt SETUP gt JOG gt ENABLE Default Enabled Range n a This option enables or disables the jogging features of the control When disabled an error message is displayed when the jog buttons are pressed Jogging functions are often disabled once a machine is installed to prevent an operator from accessing them 1 Use or gt keys to select an axis 2 Use TL keys to enable and disable the function Chapter 5 Configuring Your System Configuring Your HOME Parameters Your SmartDrive has a built in homing function which THOME SETUP 1 combines the flexibility of a customized homing routine EDGE LEVEL OFFSET with the ease of use of calling a canned program Also see the GH command in the IDeal
132. ed to menu location select the motor type Pressing HELP In the Program Edit function HELP provides a brief alphabetical list of commands Command syntaxes and details on using commands are available in the Chapter 6 Programming Commands or from HELP in the Application Developer editor Note A program must be selected to view the COMMAND SUMMARY Chapter 4 Using the Keypad Using COPY Copying programs from one name or number to another and downloading between key pads or between keypad and PC can save a significant amount of time when programming with a keypad Pressing the COPY key brings up three choices thatcanbe Ir COPY accessed by pressing the function keys PROG TOPAD FROM PROG PROG allows you to copy any existing program to a new pro 4 SOURCE PROGRAM J gram name S5 To copy one program to another 1 Press PROG 2 Enter the source program number Or if you wish you can scroll through your list of program names by using the TY keys 3 Press ENTER Then you are asked to enter the new program If the target program already exists you will have to delete it first see DEL 1 Enter the target program number TTARGET PROGRAM J 2 Press ENTER SE Remember to change the name of the copied programs to avoid subroutine call conflicts Note regarding keypad and SmartDrive memory standard memory on both the keypad and SmartDrive is 6K The keypad cannot copy more than 6K of
133. ediately the drive is defective For several seconds after power is applied to the drive various LED indicators will illuminate and flicker This is a normal initialization sequence Once complete only the Power LED should remain illuminated Regen The yellow Regen LED illuminates whenever the internal power dump circuitry is shunting energy from the High Voltage DC Supply to a regen resistor This occurs when the regenerative energy transferred from the motor surpasses a level set by the drive If the Regen activity is modest the indicator may flicker very briefly Over Voltage INTLK The red dual function Over Voltage INTLK LED illuminates when either of the two following fault conditions occur 1 Overvoltage on the internal high voltage power bus due to regen activity that overwhelms the power dump capacity This latched condition is indicated by continuous illumination and is cleared by recycling power to the drive 2 Loss of continuity in the Interlock circuit A missing Interlock jumper at either motor connector will invoke this latched condition which flashes the indicator This condition is cleared by cycling power Temperature The red Temperature LED illuminates when the drive has faulted due to an over temperature condition approximately 70 C 158 F on the heatsink The fault is latched and must be cleared by recycling power If over temperature occurs once it will probably occu
134. ent transcription errors Low volume requests are complimentary Check the web site for CAD drawings that may be downloaded Check us out at www idcmotion com for information on our products and support Address e http www idemotion com I Links industrial Dev ch Welcome to Industrial Devices Corporation Positioning Systems m Electric Cylinders Rod Type Search Discover IDC TID Rodless Actuators d Linear Servo Modules Support m Cartesian Systems Application Solutions m Positioning Tables Engineers Resource Motors and Controls News NT 2 X DC Motor Controls mi s Step Motor Systems m Servo Systems Gearheads Fax Related Sites Contact Us E m Linear Servo Motors Industrial Devices In Product Support amp Warranty Warranty amp Repairs Industrial Devices Corporation IDC warrants this product to be free of defects in material and workmanship for a period of two 2 years from the date of shipment to the end user Products that have been improperly used or damaged in the opinion of IDC are not subject to the terms of this warranty IDC maintains a repair facility at its factory in Petaluma California for products manufactured by IDC Prior approval by IDC is required before returning any product for any reason All returned packages must be accompanied by an RMA Return Material Authorization number To obtain return authorization contact your local IDC distr
135. er preceded by an asterisk Your controller program decodes the hexadecimal number to determine the system status Example SS returns 0001 lt cr gt means there are no amplifier faults and no programs running SmartDrive is ready to process any buffered RS 232C com mand Status off off off off off off off off off off off on off off off on 1 Ready to Buffer 1 Ready to buffer RS 232C commands RS 232C Commands 0 Initializing from a power up or reset or unchecked errors exist Any buffered commands sent will be discarded FLASH Error 2 12 Non volatile memory checksum error all programs were deleted on power up 0 Non volatile memory checksum OK Program Running 3 1 Running a program 02 Not running a pre defined program FK Active 4 12 Paused waiting for a function key 02 Not waiting at a FK command WT Active 5 12 Paused waiting for a input condition O Not waiting at a WT command TD Active 12 Paused at a time delay 0 Not waiting at a TD command Waiting for IV 12 Paused waiting a variable input 0 2 Not waiting 1 1 at a IV command Buffer Full 12 RS 232C buffer 75 full Total Capacity 2k 0 RS 232C buffer less than 60 full Axis 1 Fault 1 Amp fault following error move stopped by limit switch see SAi and SDi for more detailed fault information 0 No faults Axis 2 Fault 0 12 Amp fault following error move stopped by limit switch see SAi and S
136. er Communications menu click on Retrieve All and choose From Keypad The keypad will display the message Sending to PC and a few more messages will quickly appear then disappear from the screen When the keypad display goes blank the keypad to PC upload is complete 4 1 c Chapter 4 Using the Keypad Using DELETE DEL The DEL key allows you to delete any motion program currently in your SmartDrive To delete a program 1 Press DEL DELETE PROGRAM 2 Enter the number of the program to delete Or if you wish T RO gt you can scroll through a list of existing program names by using the TJ keys 3 Press ENTER To Delete a single entry letter or number 1 Move the cursor over the entry you wish to delete move with or 2 Press DEL 4 20 Chapter 5 Configuring Your System Chapter 5 Configuring Your System This chapter presents a straightforward procedure for configuring your system to your specific equipment and application requirements The task of configuring your 6961 or 6962 SmartDrive system can be divided into two sections the first is the Hardware Setup of your SmartDrive which includes motor and encoder connections current inductance and anti resonance settings The second section covers the Software Configuration of the control This includes distance acceleration and velocity scaling as well as I O configuration The software configuration is presented
137. er s motor it should meet the following guidelines e Jf possible use the manufacturer s 160 VDC bipolar current rating With 4 lead motors the manufacturer s bipolar current rating translates directly to the 6961 2 current setting For the proper current setting for 6 lead unipolar motors use 70 of the manufac turer s rating e For 8 lead motors you have the choice of wiring the motor in series or parallel see Motor Wiring In series set the current to the manufacturer s bipolar rating In paral lel double the bipolar current rating Motor Resolution 5 8 Your S6961 2 drive has eight selectable motor resolutions 200 400 1 000 5 000 10 000 18 000 25 000 and 25 400 steps per motor revolution Motor Resolution may be selected using the switches on the side panel of the 6961 2 shown right or Ps Axis 2 configured with the keypad see Configuring Your el d Res wa 200 400 Software later in this chapter 25 aK d 5k ac i The motor resolution setting labeled Resolution S6961 or RES S6962 on your drive will determine the number of incoming step pulses per revolution of your motor This resolution setting assumes you are using a step motor with 1 8 per full step The example shows Axis 1 set to 25k steps rev and Axis 2 set to 400 steps rev Motor resolution is most often set to the maximum your indexer can handle i e the maximum step rate of the indexer provides the maximum motor speed you require
138. es EC2 Series EC3 Series ECS Series Ur Finish 8 9 Chapter 8 Programming With Serial Communication 7 Clicking on the Next button will bring up the Units setup window The SmartDrive lets you program the control in the units that work best for your application IDC Setup Wizard IDC s IDeal Command Language allows you to program your application in the acceleration velocity and distance you prefer revs zl Distance rps 7 Velocity seconds E Acceleration Finish Finish Cancel lt Back 8 Select your preferences from the pulldown menus and click on Next 9 When all axes have been configured the following window will appear This display gives you the opportunity to review the settings you have made for each axis and to return using the Back button to any parameter you may wish to change at this time IDC Setup Wizard Wizard Settings Axis 2 Product S6962 Resolution 25000 Encoder Mode Open loop Distance Units revs Velocity Units rps Acceleration Units seconds Mechanics Electric Cylinder N Series N 99 GearRatio 2 1 View Axis 1 Additional Setup Required for View Axis 2 Home Offset Cancel lt Back EXE 3 f 10 When you are satisfied with the setup of your system click on Finish Note that the Wizard Navigator now indicates that all axes and parameters have been configured 8 10 Chapter 8 Programming With Serial Commun
139. es Since EE have a limited read write lifetime 100 000 writes before failure variable values that change frequently should not be stored as EE system variables Examples include loop count variables and POS and POS 2 variables The SmartDrive will allow only 1 000 EE writes between power cycles This limit has been set to prevent a simple programming mistake or misunderstanding from permanently damaging the SmartDrive s non volatile memory When this write limit has been exceeded all programs will stop running an error message will be displayed and the appropriate status bits will be set The EE system variables were originally developed for use in batch manufacturing applications where a number of variable setup parameters must be entered at the start of each part run These same setup parameters can then be used through any number of power cycles or machine resets Example A program called Set up is run at the start of each part run to initialize a number of variable part parameters During production the program called PARTS is run This program reads from the EE variables but does not generate any writes to the EE so the lifetime of the EE is not compromised Set up MS1 Feed length Writes string beginning at character 1 top line IVI2 LENGTH 1 15 Loads the part length into volatile user variable LENGTH MS1 Feed Speed Writes string beginning at character 1 top line IV12 SPEED 05 5 Loads the speed into vol
140. essss 9 2 amer EE 9 3 RPACK 1 Mounting And Installation sss enne 9 3 Remote Mounting Your FP220 Keypad sse 9 4 Extending The Cable Length To Your Keypad sse 9 4 6961 86962 SmartDrive Hardware Specifications sssssssssss 9 5 6961 And S6962 Hardware Connections seesseesseessessetssttstr tst netnernssrnssrnssrnssrnssens 9 6 S6961 And S6962 Input And Output Gchematce 9 7 Connecting IDC Limit Switches To The S6961 2 sse 9 8 Opto MOGUICS rm E MO 9 9 Accessories For The S6961 And 86962 sse 9 10 12 Hybrid Step Motor Specifications sseeseeeeneeeneeeneeese esen ttn nsen netnnsennnetnnsennstnneen nene 9 11 21 S22 S23 Hybrid Step Motor Specifications sss 9 12 32 S33 Hybrid Step Motor Specifications sseesseeeseeeseeeee eese tsen retn nsennntnnennnernnnnnnne 9 13 S42 Hybrid Step Motor Gpechflcatons sss 9 14 P K 21 22 Step Motor Specifications sss 9 15 P K 31 32 33 Step Motor Specifications sss 9 16 P K 41 42 43 Step Motor Specifications essssssssseseeeerenenneenne 9 17 CHAPTER 10 TROUBLESHOOTING enne nennen 10 1 PRODUCT SUPPORT rinii cue ie fere epe De AN eae nd p ene ada s 11 1 Factory Authorized Distributors A 11 1 ele ele ue 11 1 Toll Free Technical Support eee el eee eben e rct 11
141. eter Reading S6961 2 Setting Meter Reading S6961 2 Setting 12 10 8 2 5 4 21 18 16 4 5 4 22 18 16 4 5 4 23 18 16 4 5 4 32 10 8 2 5 4 S33 10 8 2 5 4 S42 7 4 1 8 4 P21 Series Inductance N A on 20 20 P22 DE 16 16 P31 14 12 Note P32 If you are installing and config 30 28 uring an S6961 2 that shipped ES from IDC before 08 01 96 the SS SS P41 serial number is date coded 15 12 you will need to set the induc P42 tance switch to 2 times 2X the 21 20 P43 value shown in this table to get 28 28 catalog specified performance K31 from your system 14 12 K32 30 28 K33 30 28 K41 15 12 K42 15 12 K43 28 28 5 9 Chapter 5 Configuring Your System 5 10 Non IDC Motor Inductance The 6961 2 will operate motors with inductance up to 100 mH per phase but dynamic performance with high inductance motors will be limited If you are not using an IDC step motor look for the motor manufacturer s inductance rating If the exact inductance of the motor is not known initially set the inductance to 32 mH The inductance switch is more of an adjustment than a setting Because of the variety of ways that manufacturer s specify motor inductance it is difficult to relate a spec sheet number to an actual drive setting so some adjustment may be needed If the S6961 2 Inductance is set too low the motor will not output its rated torque and speed Setting the Inductance switch too low will cause motor stalls Setting the Indu
142. etween 2 and 5 K RPS depending on the type of motor B 29 Chapter 5 Configuring Your System Current Waveform Step Type Depending on motor design and the current level at which the motor is being driven it may be advantageous to distort the sinusoidal waveform to achieve better low speed smoothness and step to step accuracy The S6961 2 allows you to select between a 4 3rd harmonic distortion Waveform DIP switch OFF and a pure sine wave Waveform DIP switch ON The motor designs used by IDC run best with the Waveform switch OFF To determine the best setting for your motor 1 Operate the unloaded motor continuously at speed De Moto PRESE VI as shown in the chart to the right S12 1 35 2 While touching the shaft lightly flip the Waveform S21 1 15 switch back and forth to determine which setting produces the smoothest motion S22 9 99 S23 0 90 Standby S32 0 75 Waveform S33 0 70 StepType Anti Resonance S42 0 53 Anti Resonance P21 0 95 Anti Resonance i P22 1 0 P31 0 88 You will not have to repeat this test unless you change P32 0 87 motor type or motor manufacturer Pure sine wave will usually produce the best results with skewed rotors or P33 0 84 50 48 tooth geometry P41 0 71 P42 0 69 P43 0 68 Step Type is not configurable in the S6961 2 Changing K31 0 58 the position of the Step Type switch switch 3 should K32 1 4 not affect the perfor
143. f you need assistance installing this software Chapter 8 Programming With Serial Communication Section 3 Using Application Developer Application Developer s graphical environment helps you setup and program your SmartDrive from your computer It guides you through configuring your control following the same steps and menus as the keypad configuration Complete details on setup menus and choices can be found in Chapter 5 Configuring Your System Applications programs and configuration files may be created saved edited and downloaded sent to your control Application Developer will also upload receive an entire setup and program memory from a control Setup Wizard The Setup Wizard allows the quickest and most accurate initial selection of drive encoder mechanics and motion units This chapter contains information to help you get started using Application Developer Open an Existing File The window shown below appears immediately after starting the Application Developer program If you Open an Existing Project Application Developer will bypass the Setup Wizard and allow you to select a file in the Open File window see below After you have opened an existing file it is still possible to use the Setup Wizard at any time by simply clicking on the Wizard tool bar button IDC Motion Application Developer untitled idc File Edit Setup Communications Run View Help Delme ell a zie 2l BIC Motion Pictures Startup
144. for repair 11 2 RS 232C programming 8 1 RS 232C protocol 8 3 Index S S6961 2 specifications AC power 9 5 command interface 9 5 controller performance 9 5 environmental 9 5 inputs 9 5 motor output 9 5 outputs 9 5 step motor specifications 9 5 serial communication commands not available in hosted mode 8 31 daisy chaining drives 8 4 IDeal commands 8 21 immediate status commands 8 33 programming 8 1 programming commands 8 29 RS 232C connections 8 3 RS 232C protocol 8 3 setup commands 8 25 supervisory commands 8 39 troubleshooting 8 3 Shipping Contents 3 1 standby current 5 11 step type 5 13 stop deceleration rate 5 48 I technical support 11 1 troubleshooting SmartDrive problems 10 1 U unit number 5 46 using IDC actuators A 1 V variables 7 3 velocity maximum 5 25 velocity units 5 25 W warranty 11 2 waveform 5 13 IDeal Programming Commands Summary of Commands Used on S6961 2 AC Acceleration FK Function Key LP Loop SP Set Position BR Break GH Go Home LU Loop Until SQ Square Root DA Distance Absolute GI Go Immediate LW Loop While ST Stop Move DC Distance to Change GO Start Move MC Move Continuous TD Time Delay DE Deceleration GP Go Point MS Mess
145. ge for PULL UP Input Output Encoder and Opto Connections Amps Tenths of Amps Offset A Cc Ce m ad C CZ Lil Z gt LLI cy J lt L m as I L el EE Ca E OptionalOpto Modules 9 10 11 12 13 14 15 16 p94 105 rfj 124 134 r14 154 165 gau 00000000 INDUSTRIAL DEVICES CORPORATION OPTO Connections Power LN m E m Motor 2 m Z See Chapter 5 for Motor and Power Connections Offset B gt E L SINdNI sindino Inductance o a 54 8 8 45 w mH 48 amp 16 wa 24 24 LLL 1L 1L 1711 1L 1L EL CL WIL 211 1 1L 4 LL 24 1L 4L 7171 127207217211 INPUTS OUTPUTS 88 COO Jm Ci E WMH E E DO Jm mb Co N o zz o rA Pus f be ES SC e D LA CAUTION HIGH VOLTAGE ia 9 6 Chapter 9 Hardware Reference 6961 and S6962 Input and Output Schematics Programmable Output Schematic Programmable Input Schematic Factory installed jumper between 12 v and PULL UP terminals Factory installed jumper between 12V and PULL UP terminals e 5 VDC C 5 VDC 4 12V N VA 12v A d j a Ss PULL UP d A lt gt 5 1K Es 2 SS PULL UP E S 10K PS N A Ny EOT HOME Pan pe and Inputs _ Programmable A N d Outputs 1 8 4 i bo Lail v Soe 8 Inside Min 12 mA Max 35 mA Ke Outside SmartDrive Total 250 mA available Max sink current 100 mA per output from 12 VDC
146. grammable z off cab ME SN X Unchanged Cancel Discrete Inputs Discrete Outputs Power Stop Type Up Fault Kill On Oft State State State iE Unassigned M Input Off D Unassigned x Input Off Input Off Input Off BE BEE 4 3 Unassigned 4 4 Unassigned Input Off Input Off Input Off Input Off 5 Unassigned B Unassigned 4 7 Unassigned D Unassigned 4 elelelelelelele BEER d X Unchanged OK Cancel l 8 15 8 16 Chapter 8 Programming With Serial Communication Miscellaneous Misc Setup Misc Click on the Misc Miscellaneous button Misc Setup contains two configuration categories that include options available in the PROGRAM SETUP and RS 232C SETUP menus detailed in Chapter 5 Program a Sets the SmartDrives address b Sets the program to run on power up No program will run if set to 0 c Sets the debounce scan time time of the program select inputs iia Miscellaneous Setup m Diagnostic Display Format Program Post Pos2 Set Unit Number To 3 8 Inputs Outputs RN Powerup Program Scanning Time ms Text NES Wee m Stop Scanning Program Select Lines After Dac RENE v Esc M Limit v Interrupt v Kill v Stop M Limit v Fault E Cancel Stop Scanning Program Select Lines After Allows you to select the conditions under which program scanning st
147. he display indicates whether the channel is currently configured as an input or an output 2 Once your cursor is on the desired channel use TJ to select INPUT or OUTPUT Your SmartDrive is compatible with almost any manufacturer s G4 or G5 digital Opto modules OPTO 22 Grayhill Gordos etc However at the time of this printing only Grayhill s analog modules are compatible with our control Other manufacturer s analog modules do not fit into a G4 footprint IDC stocks the following Opto modules which may be specified when ordering an 6961 2 Order Code p n I O Module Description Opto 22 P N Grayhill P N A PCB 1210 10 32 VAC VDC Input G4IDC5 70G IDC5NP B PCB 1211 TTL Input G4IDC5K C PCB 1212 35 60V DC Input G4IDC5G 70G IDC5G D PCB 1213 90 140 VAC Input G4IAC5 70G IAC5 F PCB 1215 5 60 VDC 3 Amps Output G40DC5 70G ODC5 G PCB 1216 12 140 VAC 3 Amps Output G40AC5 70G OAC5 PCB 1218 Input Test Switch G4SWIN J PCB 1219 0 10 Volt Analog Input 73G IV10 K PCB 1220 4 20 mA Analog Input 73G 11420 L PCB 1221 0 10 Volt Analog Output 73G OV10 M PCB 1222 4 20 mA Analog Output 73G Ol420 N PCB 1223 J Type Thermocouple Input 73G ITCJ 0 to 700 C O PCB 1319 K Thermocouple Input 73G ITCK 100 to 924 C P PCB 1224 Ge Thermocouple Input 100 73G ITR100 m More information on available OPTO modules is available from the Opto module manufacturer or your local
148. he password prompt will return the keypad to the standard run time display e Select EDIT gt SETUP gt MISC gt PASWRD gt CLEAR to delete all passwords NOTE Subsequent attempts to RUN or EDIT a program do not require the password to be entered each time You will be prompted to Use Last F1 or Reset F3 Select Use Last to run or edit another program Select Reset to require the next user to enter a password 5 49 Chapter 5 Configuring Your System This page intentionally left blank 5 50 Chapter 6 Programming Commands Chapter 6 Programming Commands This chapter defines in alphabetical order all of IDC s Deal commands that can be used in a program Please refer to Chapter 4 Using the Keypad for more information on entering these commands with the keypad Some IDeal M commands are supported only in serial communication mode These commands are listed and defined in Chapter 8 Programming with Serial Communication and they can also be found in the Summary of Commands immediately inside the back cover of this manual The commands in this chapter are defined according to the following example Distance Incremental syntax Dl r r Units selected from the EDIT SETUP MECH menu Range unit scaling dependent Default Ifthe command has a default it will be listed here n a if there is no default DI specifies a move distance relative to the current po
149. his section contains detailed step by step directions for customizing the 6961 or S6962 to your specific application and mechanical requirements IDC recommends that even experienced users follow this procedure in its entirety Following all the SETUP steps will ensure that the most crucial parameters are configured This section is presented from the point of view of the keypad user The directions that follow will take you through each of the SETUP menus in the keypad and give you details about each of the choices you will be asked to make Application Developer and RS 232C users will want to refer to this chapter for detailed explanations of configuration parameters Details on how to use IDC s Application Developer can be found in the Chapter 8 For RS 232C terminal users non Windows PC users or PLC users the equivalent 2 character ASCII configuration commands are detailed in the RS 232 Command Reference section Chapter 8 but the examples presented here are valid for all users The 2 character ASCII command appears in brackets next to the appropriate keypad menu choice in this chapter Application Developer users will find that the Windows dialog boxes under the Setup menu follow the keypad menu structure very closely Users who plan to create and download their own ASCII setup file will also find this section useful ASCII commands relating to the parameter being set are shown in brackets RS 232 command syntax details may be found in Ch
150. i Resonance for a Loaded Motor The gain required for a loaded motor is a function of the motor winding and load inertia gain will be inversely proportional to load inertia The value of N for a moderately loaded step motor system will normally fall between 0 and 10 To get the proper anti res setting round to the nearest available value 0 7 and set the corresponding binary weighted DIP switches Use the following formula to calculate the gain setting N to use in a loaded motor situation 0 45 N V TU Jy Where Jy Rotor moment of inertia kg m J Load moment of inertia kg m T Motor stall torque N m less 10 V Motor speed rps at which torque has fallen off 10 from its stall value This speed torque point is located just beyond the knee of the motor s speed torque curve NOTE The Resolution and Step Type settings are read only at power up Subsequent adjustments have no effect until power is cycled The other adjustments Current Waveform Standby Inductance Anti Resonance and Phase Offsets can be changed while the motor is energized and moving Chapter 5 Configuring Your System This page intentionally left blank 5 16 Chapter 5 Configuring Your System Section 2 Configuring Your Software Parameter being Configured ASCII Command l l Definition ID r o 3 D IN1 unassigned KH gt SETUP gt UO gt INPUTS BBBBKREJUUUUUUUU T
151. ibutor or IDC Please note the following procedure 1 Obtain the model and serial number of the defective unit Prepare a purchase order for possible repair cost in the event that the unit is not warranted Contact your IDC distributor or IDC 1 800 747 0064 for an RMA 4 Provideinformation describing the nature of the failure The better the information the faster we ll have your problem resolved 5 Ship unit prepaid to the address below be sure to include your RMA on the shipping label Ge Attn Repair Department Industrial Devices Corporation LLC 3925 Cypress Drive Petaluma CA 94954 Appendix A IDC Actuator Ratios Appendix A IDC Actuator Ratios Configuring inch amp mm Units on SmartDrives Used With IDC Actuators One of the first steps in setting up an IDC SmartDrive with an IDC linear actuator is to configure the distance velocity and acceleration to use meaningful units probably inches or millimeters This is done via the RATIO GR command The RATIO is the number of motor revs per distance unit The Distance Unit used is selected via the SETUP MECH menu from the keypad or Application Developer Example GR5 1 means 5 motors revs per 1 distance unit Several other examples are available in the Configuring Your System chapter of this manual The RATIO is also used to scale the velocity and acceleration numbers when user units sec or units sec have been selected from the velocity or acceleration menus
152. ication After Using the Setup Wizard Axis Setup Your basic system setup parameters have been configured by the Setup Wizard and though the system is functional your application will probably require further configuration and fine tuning The remainder of this chapter provides the same setup information as configured by the Setup Wizard plus more detailed information on each parameter to allow more control of your system and greater capacity for applications The Setup Wizard remains available at any time by clicking on the Wizard button The Axis Setup I O Setup and Misc toolbar buttons provide access to the setup parameters that will be explained throughout the remainder of this chapter Setup Tool Bar Buttons To access the setup windows and menus simply s click on the desired toolbar buttons as shown here X m z P satt A 2 wie K up Misc SetuP Motup Axis Setup Click on the Axis Setup button The first menu to appear will be the Motor menu as shown below Note please refer to Chapter 5 for detailed descriptions of setup parameters D IDC Motion Application Developer untitled idc File Edit Setup Communications Run View Help Li eee oll 2 zie glee sl Axis Setup Axis 1 C Axis2 C xis C xis stepper Direction Resolution 25000 Stop Rate RPS 100 00 Chapter 8 Programming With Serial Communication Axis Each axis of your system must Axsi
153. ifies axis 1 specifies axis 2 The output is on as long as an axis is at home L Limit Error The output goes low if a limit switch is hit during a normal move or if both limits are hit during a Go Home move M m Move Complete M specifies axis 1 m specifies axis 2 The output goes high as soon as an axis move is started and goes low when a move is completed 5 34 Chapter 5 Configuring Your System P Programmable Unassigned outputs default to Programmable and can be used in OT commands N aNalog Only the OPTO I Os may be configured as analog outputs To use an analog output module the position must be configured as an analog output This tells the SmartDrive that the output is no longer a discrete output and ensures that the output signal is sent properly Analog signals are set by assigning a value to reserved variables AO9 AO16 corresponding to OPTO positions 9 through 16 See Chapter 7 for more details on using analog I O modules S Stall The output goes low if the control detects a motor stall 5 35 Chapter 5 Configuring Your System Configuring Your Optional OPTO Modules Opto Definition OP p EDIT OPTO14 Output Default III Range n a The OPTOS menu allows you to configure each OPTO I O position as either an input or an output The hardware is protected against damage if you mistakenly configure an input as an output 1 Use and 9 keys to select an OPTO channel The top line of t
154. ing the entire IF conditional true AND OR Expression A Expression B A amp B Expression A Expression B A B False False False False False False False True False False True True True False False True False True True True True True True True Incrementing and Decrementing Variables There are four syntaxes supported by variables single increment value increment single decrement value decrement These operators will initialize any uninitialized variable to zero before incrementing or decrementing it for the first time Variable Name Increments a variable value by 1 Variable Name n Increments a variable value by n Variable Name Decrements a variable value by 1 Variable Name n Decrements a variable value by n Chapter 7 Programming Your Application Expressions The SmartDrive supports five conditional expressions less than equal to greater than gt less than or equal to lt and greater than or equal to gt The IF and WT commands can use these expressions to direct program flow or wait for an analog input to meet a condition The and symbols are entered into the keypad editor with the ALPHA T T T Examples IF X gt 10 GS20 EB If X is greater than 10 gosub to program 20 WT AI12 lt MAX TEMP Wait for the temperature to go below the maximum before continuing command processing Summar
155. input low grounded x anything else input level don t care expression any valid expression defined in math and variables section Allows the conditional execution of a block of commands based on the evaluation of an expression or input state If the expression or input state is TRUE the commands between the IF and the EB are executed If FALSE execution continues with the command following the EB An IF statement should not be confused with a WT statement An IF statement evaluates true or false based on the conditions that the SmartDrive sees at the instant the command is processed A WT statement pauses command processing until the condition is true Note An End of Block EB command must be used with every IF command IF blocks can be nested up to 16 levels deep To increase flexibility primarily with programmable logic controllers or PLCs the IF command allows you to use configured inputs in the command To help prevent this added flexibility from causing programming confusion you can specify any character as an input x This allows you to self document your IF statements For example assume you configured input 3 as a JOG SPEED input Programming such as IF01J10 can help remind you that you are already using input 3 as JOG SPEED Example IF14 1 GO EB If input 14 equals 1 Go IF12 010 GO EB If inputs 12 14 equal 010 Go IF110 GO OT3 1 EB If inputs 1 3 equal 110 Go and turn on Output 3 IF A19 lt 5500 OT11 G
156. io can be entered to properly scale your DIST units Make certain that the RATIO accurately represents the Distance Unit DU 1 Use or gt keys to select an axis 2 Use the numeric keys to enter a ratio expressed as two integers Ex when entering output shaft revolutions of a 5 1 gearbox enter 5 to 1 rather than 1 to 0 2 Notes You can change DIST or RATIO at any time Changing them will not change the associated DI or DA values in a program so all moves will change by the same factor that RATIO was changed If using an IDC supplied actuator the proper Gear Ratios for entering units of Inches and mm can be found in Appendix A Units Example Lead Screw System Desired distance units inches Leadscrew 4 revs inch DIST inch e RATIO 4 to 1 Units Example Rotary Index Table ss Desired distance units 1 8 of a revolution Z X DIST index a e RATIO 1 to 8 M Units Example Gear Reduced Tangential Drive System e Desired distance units mm Reducer 5 1 reduction I Drive pulley 6 inch EEANN S AN circumference M Haut us d e DIST mm XM p e RATIO 50 to 1524 5 revolutions of motor travel results in 152 4 mm of linear load travel This ratio must be expressed as an integer to be used in the Gear Ratio command Multiply each side by 10 to get a Gear Ratio
157. istributors located throughout North America Western Europe and the Pacific Rim Each has been selected for their technical expertise their local market knowledge and exemplary business practices They are ready to assist you in applying Industrial Devices systems as well as other complementary equipment Contact us at 800 747 0064 or 707 789 1000 from outside the U S for the name of the distributor in your area Regional Offices IDC Distributors are supported by local direct IDC Regional Managers There are currently 4 IDC regional offices in North America IDC Regional Managers are available to assist with unusually demanding applications present on site customer seminars determine custom product needs or respond to high volume requirements Toll Free Technical Support CAD Library Web Site Industrial Devices employs a large staff of mechanical and electrical engineers whose full time responsibility is to help you select the proper system install it correctly and get it up and operating to your satisfaction The Applications Engineering department is open from 6am to 5pm Pacific Time Monday through Friday The toll free number is 800 747 0064 Outside of the United States call 707 789 1000 The technical support fax number is 707 789 0175 Email should be directed to support idcmotion com IDC actuator motor and gear motor CAD drawings in dxf format are available to save you valuable design time and prev
158. itions SNaaaaaaaa s Stop Scan After EDIT gt SETUP gt PROG gt SCAN Default YYYYYYY Range n a The SCAN menu allows you to select which events will cause the control to stop scanning program select configured inputs It is used to enable or disable stop scan events If a given stop scan event is enabled the system will stop scanning the inputs for program numbers when that condition occurs The SmartDrive must be reset via a Warm Boot input or by cycling power to start program scanning after an active Stop Scan event This option has no effect if the inputs have not been configured as program select inputs either BCD or Binary Each event is represented by one of seven Y N positions on the bottom display line Use or gt keys to select an axis Use lt and keys to select a stop scan condition The selected event will be listed to the right of these 7 characters ESCape STOP LIMIT LIMIT KILL FAULT or INTerrupt 3 Use TL keys to enable Y or disable N the selected event Ne Chapter 5 Configuring Your System Configuring Scan Delay DYi Scan Debounce NC gt SETUP gt PROG gt DELAY ore tendat Default 100 ms Range n a The DELAY time sets the amount of time the control requires the program select inputs BCD or Binary to remain stable before the control will recognize and run a program The minimum time is 2 ms If program select inputs are not stable for a
159. ivated the current move in progress is terminated stoping all motion until the input is deactivated or a STO is processed the drive will process and calculate commands but it will wait at the next GO command until the ST input changes The motor is stopped at the deceleration rate specified in the Stop Decel Rate setup parameter Once issued Stop on Input remains active until it is turned off by the STO command a reset is issued or power is cycled Example Move to absolute position of 6 distance units If A gt 10 motion is stopped AC 1 VE25 25 DA6 6 GI Move to 6 absolute distance units and Go Immediate IF A gt 10 Check value of A assume A was previously defined ST 1 TDI ST 2 Stop motion on axis 1 wait 1 sec then stop axis 2 EB ST 1 2 Stop motion on both axes Uwe E syntax TDr Units seconds Range r Hl to 99999 99 seconds Default n a Delay r seconds before executing the next command Example VES50 DI4 GO OT11 TD 5 OTOO Move 4 units turn outputs 1 and 2 on delay 5 seconds and turn outputs 1 and 2 off See also System variable TIME in Chapter 7 Programming Your Application VE Chapter 6 Programming Commands EEN syntax VEr r Units selected from the EDIT SETUP MECH menu Range 002 50 rps Range is scaled to velocity units Default motor rev per sec rps VE sets the maximum velocity during a move profile If the acceleration rate is not high enough or the move dist
160. keys to enter a stop deceleration Configuring Enable Line Polarity ELO Default FIXED ACTIVE LOW Sas One ERNEUT ACTIVE LOW This parameter is not configurable on the S6961 2 Configuring Fault Line Polarity FL1 Default FIXED ACTIVE LOW SUIOREGENWESE ACTIVE LOW This parameter is not configurable on the 6961 2 5 48 Chapter 5 Configuring Your System Configuring Passwords PWaaaa aaaa E SETUP gt MISC gt PASWRD SE v g gt OPRATR ADMIN CLEAR Default None Range n a In addition to the keypad DIP switches user definable passwords also enable you to restrict access to the RUN EDIT COPY and DEL menus 1 Enter your desired password using the same keypad entry techniques described in Chapter 4 Use lt and DEL keys to edit the password 2 Press ENTER to register the password The SmartDrive allows up to two types of passwords OPRATR Operator and ADMIN Passwords and Menu Accessibility This Password Will Give You Access to These Menus OPRATR only RUN EDIT COPY DEL ADMIN only RUN EDIT COPY DEL OPRATR ADMIN ADMIN RUN EDIT COPY DEL OPRATR RUN only All RUN functions except TEST General Password Rules e Passwords can be a maximum of 4 characters consisting of 0 9 upper and lower case letters A Z or a combination of numbers and letters e f no password is entered there is no restriction Entering the wrong password or pressing ESC at t
161. l or press of the ESC key will halt a GI based move either inside or outside program execution The GI command can cause program execution and moves to be asynchronous In order to re synchronize the end of a GI move with program execution use the Wait WT command and its new syntax i e WT 1 will wait for only axis 1 If a program error occurs during a GI move the move will stop at the Stop Decel Rate ING THE GI COMMAND EXAMPLE The following examples are provided to help further explain the use of the command A If a GI move is in progress and an additional move is commanded on the same axis the additional move will not begin until the GI move has completed For example VEI DA100 GI OT1 1 DAO GI IF1 1 MSI AII moves done TD5 EB In this program one may expect to see the message All moves done immediately after the DA100 move begins In reality the program will wait at the DAO GI until the DA100 move has completed before continuing More simply stated a move cannot be commanded to begin on an axis that is already moving B For multi axis systems GI allows moves within a move For example VEI DA100 GI LP5 VE 10 DL5 GO EB Chapter 6 Programming Commands C Since GI allows program execution to continue there can be programming issues when using GI For example in the following program fragment LP VE2 DI10 GI OTI TD1 OTO0 EB The program above will V function as shown here Axis 1
162. ll DP Delete Program EX Ends UA or UL PR Define Program UL Upload Program DR Dwnid Prog to RAM LA Load All RN Run Program EC RS 232 Echo Enable LS List Programs SW Tell Software Version Operators Functions and Expressions Name Program Add lt Less Than Increment by n Name Variable Subtract gt Greater Than or Equal Decrement Variable amp amp Logical AND Multiply lt Less Than or Equal Decrement by n Logical OR Divide amp Bitwise Boolean AND lt lt Shift Left Logical NOT Equal Bitwise Boolean OR gt gt Shift Right l Not Equal gt Greater Than Increment Variable Built In Variables AI9 thru Al16 Analog Input 9 16 Read Only 1TW Scans Input 1 4 for BCD Digit Read Only AO9 thru AO16 Analog Output 9 16 Write Only 2TW Scans Input 1 8 for BCD Digit Read Only AROWREL Current Status of Any Read Only TIME Elapsed Time ms Since Read Only Arrow Key Last Power Up or Reset CPOS1 CPOS2 Cmnd Pos of axis 1 2 Read Only CRCS Val of Setup Checksum Read Only EPOS1 EPOS2 Encoder Pos of axis 1 2 Read Only CRCP Val of Prog Checksum Read Only POS1 POS2 Current Pos of axis 1 2 Read Only SA1 SA2 Value of Axes Status Read Only VEL1 VEL2 Cmnd Velocity of axis 1 2 Read Only SD1 SD2 Value of Drive Status Read Only EE1 thru EE20 Non volatile Variables Read Ltd SS Value of System
163. llows up to 16 nested loops one inside the other A GT command within a LU loop will terminate the loop clear the loop stack and jump to the new program Following are examples of programs using LU Example 1 A 0 LU A 10 DI10 GO A A 1 EB In this example the loop is executed 70 times with a final position 110 distance units Example 2 A 10 LU A 20 DI10 GO EB In this example the loop is executed once since the A 20 condition is true on the first iteration Example 3 LUXX1X1 MSI Inputs 3 amp 5 are off EB GT Inputs On In this example the loop will continue to execute as long as inputs 3 and 5 are off Example 4 LU4 1 MS1 Input 4 is off EB GT Input On In this example the loop will continue to execute as long as input 4 is off Loop While Condition True syntax LW See Below Units n a Range n a Default n a The Loop While LW command defines a loop block in which loop iterations are based on a conditional result The syntax for LW which is identical to the IF command is as follows Syntax LULxx LUxx LU Mathematical expression or expressions 2 where i starting input number 1 8 SmartStep 1 16 SmartDrive x 0 Input Off x 1 Input On x anything else Input level Don t Care Mathematical expression Any valid conditional or logical expression Note An End of Block EB command must be used with every LW command LW will continue to itera
164. log or even used as thermocouple Type K or J inputs The control is completely protected from damage that might be caused by accidentally interchanging modules Simply insert the modules and configure each position in the OPTO menu as either an input or an output If a module is located incorrectly the control will not respond correctly but no damage will occur Your SmartDrive is compatible with almost any manufacturer s G4 or G5 digital opto modules OPTO 22 Grayhill Gordos etc However at the time of this printing only Grayhill s analog modules are compatible with our control Other manufacturers analog opto modules do not fit into a G4 footprint For more information on how to use your SmartDrive s inputs and outputs in an application refer to Chapter 7 Programming Your Application and Chapter 6 Programming Commands The function of each input and output in your system is V O SETUP easily configured with I O SETUP menus Once you have INPUTS OUTPUTS OPTOS defined your inputs and outputs it is a good idea to document your configuration scheme for later reference when developing future motion programs 5 27 Chapter 5 Configuring Your System Configuring Your Inputs Configuring Input Definition IDaaaaaaaa enn IN1 UNASSIGNED gt SETUP gt I O gt INPUTS UUUUUUUU pee B Default UUUUUUUUUUUUUULUU Range n a The function of each input is easily configured using the keypad as described
165. low is an example of one segment of the Keypad Programming Template which can be found immediately inside the back cover of this manual The template is provided to allow you to write MS programs by hand exactly as they will appear on the 40 character keypad display Please feel free to make copies of the template for writing your programs 6 25 Chapter 6 Programming Commands 6 26 ON Command On Event syntax ONn GTx ONn GSx ONn 0 Units n a Range n a Default n a The ON command allows the user to define conditional program execution based on the occurrence of a certain event When the programmable event occurs the current program and move are interrupted and program execution begins at the predefined interrupt program The interrupt program can be defined as a GT or a GS Defining the interrupt as a GS allows program execution to return to the exact point in the original program where the interrupt occurred The ON command currently supports EOT as an event conditional The syntax for defining an event and interrupt program number and type is ONn GTx or ONn GSx where n is the event type and x is the interrupt program number or name n L On End of Travel Limit The syntax for clearing a previously defined event conditional is ONn 0 where n is the event type as listed above and 0 zero is the clear event designator Once an ON event has
166. luding mounting dimensions RPACK 1 Mounting and Installation The RPACK 1 is a packaged power dump device consisting of high voltage power resistors a heatsink and a cooling fan It is an accessory to IDC s S H and B Series controls The RPACK 1 is typically used when it is necessary to very rapidly decelerate heavy vertical loads or large inertial loads The RPACK 1 dissipates the kinetic and potential energy that would otherwise cause the drive to shutdown due to an Over Voltage or Regen fault Using an RPACK 1 can help reduce overall cycle time by allowing a higher deceleration rate than would be possible without it The RPACK 1 mounting dimensions are the same as the 6961 2 mounting dimensions Electrical connections should be made according to the diagram below Bottom View Bottom View RPACK 1 S6000 EE EE H S Series B Series free Power Connectors Regen Common Earth B A INTLK 115 VAC TTT e 115 VAC J Earth OR Neut U LM Line Q 500 mA max OR Pack D fan power LR Dach BEE Use 18 gauge braided insulated wire for Regen connections 9 3 Chapter 9 Hardware Reference Remote Mounting Your FP220 Keypad The keypad can easily be mounted and sealed to NEMA 4 specifications by using the included mounting gasket and 6 foot communication cable Warning Do not attach the gasket to the keypad Attach the gasket with the adhesive side toward the m
167. mance of your SmartDrive K33 1 0 K41 0 79 K42 78 K43 75 Chapter 5 Configuring Your System Anti Resonance Compensation The 6961 2 s anti resonance compensation eliminates motor stalling caused by mid range instability effects in the motor and reduces the amount of transient ringing that occurs at the end of a move which effectively produces faster move times Anti Resonance Settings for an Unloaded IDC Motor The three Anti Resonance switches adjust the gain of the resonance compensation circuit in the 6961 2 The table below shows the proper setting for an unloaded IDC motor Series T Gain Setting Parallel V Gain Setting Unloaded IDC Motor e sws swe SW4 sws ewe 12 ON ON ON ON ON ON 21 ON ON ON ON OFF ON 22 ON ON ON ON ON OFF 23 OFF OFF ON OFF ON OFF 32 OFF ON OFF ON OFF OFF 33 OFF ON OFF ON OFF OFF 42 ON OFF OFF OFF OFF OFF P21 Series Gain N A on OFF ON ON P22 Eel etn ON OFF ON P31 OFF ON OFF P32 ON OFF OFF Standby P33 Waveform ON OFF OFF P41 Step Type ON OFF OFF Anti Resonance P42 Anti Resonance ON OFF OFF P43 Anti Resonance OFF OFF OFF K31 ON OFF OFF K32 The above example ON OFF OFF K33 OFF OFF OFF ON OFF OFF K41 shows a setting of N 0 ON OFF OFF K42 ON OFF OFF K43 OFF OFF OFF 5 14 Chapter 5 Configuring Your System Setting Ant
168. menu Range unit scaling dependent Default n a AC sets the acceleration and deceleration ramp on all velocity changes The deceleration value DE will be the same as the acceleration value unless it is specifically set after the AC command The value of DE must be reset every time AC is changed Use only AC if you want a symmetrical move profile Use DE if you want a different deceleration rate Subsequent moves will use the last DE or AC value specified Examples AC2 VEI2 DA3 GO Sets acceleration and deceleration to 2 DE 5 VE12 DA6 GO Accel stays at 2 decel changes to 0 5 VE20 DAO GO Acceleration and deceleration remain at 2 and 0 5 AC4 DA2 GO Acceleration and deceleration become 4 DE3 ACI DI3 GO DE reset to 1 by ACI before the move is made Break seca HE syntax BR Units selected from the EDIT SETUP MECH menu Range unit scaling dependent Default n a The Break command instantly breaks a loop block in which it is defined and continues program execution from the loop s terminating EB command This allows for more complex loop conditioning than LU or LW commands Example A 0 Define variable A B 0 Define variable B LP Define loop block IF A gt 10 Check if A is greater than 10 IF2 0 Check if input 2 is off BR Break loop EB EB A Increment variable A by 1 EB BR command jumps here MS1 A is greater than 10 Display message Chapter 6 Programming Commands Distance
169. move in the illustration above VE2 AC 1 DA4 2 GP The path velocity is 2 user units sec path acceleration is 0 1 sec and the X Y position would be 4 2 The GPi syntax is identical to the GOi command GPi pre calculates the move and waits for Input number i to activate before executing For example GP4 would pre calculate the move and wait for input 4 to be active before executing Although both axis move during a GP defined move all GP parameters refer to the path movement rather than to the individual axis movements NOTES ON GP GP will work with any velocity and acceleration unit The largest possible GP moves are restricted to X Y lt oe 1 in units of steps For example the longest simultaneous X Y point move is Steps DA1518500249 1518500249 User units with resolution 8000 DA189 812 5311 189 812 5311 User units with resolution 25000 DA60 740 0099 60 740 0099 Commanding moves larger than X Y lt 23 1 will produce unpredictable results The DC command does not recognize an interpolated move as a single move and will treat the axes independently Therefore using a DC during a GP move will cause unpredictable results unless the user has calculated the necessary values to preserve the vector move Chapter 6 Programming Commands 6 16 GT GOSUD EEN syntax GSi and GS name Units n a Range i 1 199 1 400 with 30K memory option name any legal program name Default n a
170. must be configured Ensure that OPEN LOOP is selected if you are not using an encoder and skip to Configuring Your Mechanics Configuring Encoder Mode EMi EDIT l Axis One Enc Mode gt SETUP gt ENC gt MODE T OPENLOOP l gt Default OPEN LOOP Range n a This option sets the encoder mode Encoder feedback is strictly optional with the SmartDrive Use keys to select an axis 1 Use keys to select an axis 2 Use the T and ENTER keys to select the encoder mode OPEN LOOP The OPEN LOOP position will be displayed on the keypad OPEN STALL The OPEN LOOP position will be displayed on the keypad and the encoder will be used for stall detection See Following Error CLOSED LOOP The actual encoder position is displayed on the screen All subsequent moves are calculated from this actual position All moves are based on encoder pulses Stall detection is enabled Positioning resolution will equal the resolution of your encoder SERVO CLOSED Displays actual encoder position but moves are based only on LOOP commanded OPEN LOOP position Stalls are detected in this mode CLOSED Functionally identical to CLOSED LOOP with the addition of post LOOP PM move position maintenance of the last commanded position Provides pseudo servoing to stepper systems Use PM GAIN PM VMAX and IN RANGE WINDOW setup parameters to specify position maintenance tuning parameters Application Notes
171. nance velocity 5 22 power up program 5 44 program scan conditions 5 44 program scan delay 5 45 serial communications 5 46 stop deceleration rate 5 48 unit number 5 46 units of velocity 5 25 current 5 8 D daisy chaining SmartDrives 8 4 decrementing variables 7 8 diagnostic indicators 5 2 display format 5 47 distance units 5 23 drive mounting 9 1 E enable line polarity 5 48 enclosure mounting 9 2 Index encoder 5 20 encoder input schematic 9 7 encoder mode 5 20 encoder resolution 5 21 encoder wiring 5 6 environmental specs 9 5 expressions 7 9 extending cable to keypad 9 4 F factory authorized distributors 11 1 fan kit 9 3 fault line polarity 5 48 following error limit 5 21 G gear ratio 5 24 H hardware reference basic drive connections 9 6 IDC limit switch connections 9 8 input and output schematics 9 7 OPTO modules 9 9 12 motor specs 9 10 SmartDrive accessories 9 10 hardware setup AC power 5 11 anti resonance for loaded motor 5 15 anti resonance for unloaded motor 5 14 current waveform 5 13 encoder wiring 5 6 LED diagnostic indicators 5 2 motor wiring 5 4 phase offset 5 12 setting motor current 5 7 setting motor inductance 5 9 setting motor resolution 5 8 standby current 5 11 wiring IDC motors 5 4 home parameters 5 41 home switch 5 41 l IDC web site 11 1 IDeal Commands 6 2 Acceleration AC 6 2 Break BR 6 2 Deceleration DE 6 5 Distance Absolute DA 6 3 Distance Incremental D
172. ng Too high an acceleration See Anti Resonance settings Reduce load or acceleration Motor runs rough at low speeds 1 5 RPS You re running at 200 or 400 steps per rev Considered nor mal Increase resolution setting on the side of the drive and in the EDIT SETUP MOTOR DRES menu Both settings must be in dentical Phase Offsets or Waveform may need to be adjusted See Side Panel Settings in Chapter 5 Motor current is set too high Check motor current setting Step pulses are erratic Check for constant step pulse rate with an oscilloscope Motor moves the wrong dis tance Drive and control resolution don t match Make settings indentical Incorrect gear ratio and or unit setting Check the distance units and the Gear Ratio setting in the EDIT SETUP MECH menu Motor stalls at high speeds Commanded velocity is too high for system capability Check motor current setting May have to reduce velocity Also see Anti resonance set tings Motor stalls during accelera tion Motor current is incorrect Acceleration rate is too high for the system capability Check motor current setting Reduce your acceleration or use a motor with higher torque Anti Resonance set incorrectly Modify Anti res setting Motor moves in the wrong di rection The system s sense of direction is reversed The motor phases are mis wired Change control
173. nput on axis 1 and Input 2 must be configured as a Registration input on axis 2 S6962 no other inputs will work See the RG command for more details I Interrupt Run 98 When activated motion on all axes is stopped at the stop rate see Edit Setup Misc Stop Rate The current program is stopped and processing continues with the first command in program 98 If no program is running when the input is activated program 98 will run This input is ignored while the keypad is in Edit mode This is a positive edge sensitive input rather than a level sensitive input If multiple inputs are configured as Interrupts only the first edge of the first activated input will be seen If subsequent Interrupt inputs go active while the first Interrupt input is active no additional interrupts will be seen 5 29 Chapter 5 Configuring Your System 5 30 Advanced Interrupt handling can be achieved using the INT98CTRL and ARM INT98 variables The INT98CTRL variable determines whether Interrupts can be disabled or not The ARM INT98 variable allows you to arm and disarm the Interrupt as desired When the SmartDrive powers up INT98CTRL is initialized to 0 In this mode every interrupt results in an immediate jump to program 98 even if you just entered program 98 This state is backwards compatible with earlier revision IDC SmartDrives The value of ARM INT98 is ignored When INT98CTRL 1 you can enable and disable Interrupts at will with th
174. ns 8 3 Making RS 232C Connections to the 6961 2 sse 8 3 Troubleshooting Serial Communication Problems sssssessesssessessiessiessiesrsesrnnnrennsnene 8 3 Daisy Chaining Gmartirives eene there nnne enne 8 4 Section 2 application developer software 8 5 Installing Application Developer AA 8 5 Common Installation Errors And Remedies ssseseseseesienesirrssrrernssrnretrnrnnrrrnnsrnnnsrnene 8 6 Section 3 Using Application Developer 8 7 Setup Wizard EE 8 7 ACEITE 8 11 ee iit onsite on ee teo e tere f med 8 15 Miscellaneous Misc Getm eene nennt nennen nnn enne 8 16 Ee Men TE 8 17 Program Editor 2 Eegen Eed Me a 8 18 View Configurati BET 8 19 left ul Uer Le TTT 8 19 FUITE MOU ei oet em eet e See tam eia tutte ueni 8 20 Section 4 Rs 232c Ideal Command Reference essere 8 21 MET IEN i5 ee dente ia iiie deviate deh Uh deene 8 21 Sample Files sirenu 8 22 Gommand Syht ax ci tere em ated tite n S 8 24 Serial Setup Commands ase cimo E eed Pt e reete eek karia anai 8 25 Serial Programming Commande sse enne nenne 8 29 Commands Not Used In Hosted Mode enne 8 31 Serial Immediate Status Commande 8 33 Serial Supervisory Commande sse eene nennen nnne 8 39 Table of Contents CHAPTER 9 HARDWAREREFERENCE seen 9 1 Mounting Your Go 9 1 Mounting S6961 2 In An Enclosure Proper Ventilation sss
175. nt inputs Reduce the size of some programs by using fewer move commands Gh pu 9 ea es GO supports an extended syntax to allow these other move specifications GOi i or Gli i i 0 16 integers only The extended syntax always explicitly defines which axes will move Only those axes which have an active input defined by i will move and the last move parameters will define the shape and length of the move profile An axis will start moving when the input defined by i turns on You can start different axes at different times by using different integers i for each axis Setting i 0 will explicitly define which axis will move when a GO command is processed See the examples below for more clarification The last move parameters used to define a move profile are saved This saves program space in applications where sections of code repeat the same moves The DI or DA command is the only motion parameter that needs to be repeated A stair step pattern is one example of this Using different i s for each axis allows you to start one axis and wait for an input on another or start both based on different inputs See the examples below for more clarification Examples GO Moves all the axes defined in the last DA or DI command DI3 GO Move only axis 1 DI3 4 GO Move axes 1 and 2 DI2 2 GO 0 Move only axis 2 even if the last DA or DI command defined both axes DA Part 1 Part 2 G04 5 Move axis 1 once input 4 is activated axis
176. o problems 1 A small cyclic step error arises which repeats itself every 7 2 degrees of rotation 2 Ata particular speed the torque ripple occurs at the resonant frequency of the motor and results in noticeable velocity ripple The S6961 2 drive provides phase Offset A and Offset B potentiometers on the side panel to adjust DC offset in each of the windings for optimum velocity smoothness and step to step accuracy of each motor drive system Here is a simple balancing procedure 1 Run the motor continuously unloaded at the HES URES speed V given in the chart below S12 5 4 2 This should produce a noticeable amount of S21 4 6 velocity ripple which may be audible and can be felt by lightly touching the motor case or 522 3 9 shaft S23 3 6 3 Alternately adjust Offset pots A and B off 532 3 0 center for best smoothness S33 2 8 S42 2 1 P21 3 8 The required speed V depends on the motor P22 4 1 torque and total system inertia We use an P31 35 unloaded motor because you can then accurately find the torque and inertia from the motor data P32 3 5 sheets If you are using another manufacturer s P33 3 4 motor the speed may be calculated from this P41 28 formula i P42 2 8 V 0 0225 P P43 2 7 K31 2 3 Where V speed RPS T holding stall torque N m me Se J rotor moment of inertia kg m MS i K41 3 2 K42 3 1 This formula will yield a value b
177. o be pressed Add an offset to FKEY Goto program 51 52 or 53 50 1 2 or 3 Chapter 7 Programming Your Application Fast In Slow Feed Move Using the Distance to Change DC command AC 05 Set acceleration DE 09 Set deceleration VE50 Set first velocity DA6 Set total move distance DC5 5 Set point where you want to change speed VES Set second speed GO Start the move profile 50 5 0 177 9 55 6 0 Turning On an Output on the fly AC 05 Set acceleration VEIO Set velocity DA4 Set total move distance DC Set point to turn on OTI Output 1 DC2 Set point to turn on OT2 1 Output 2 DC3 Set point to turn on OT3 1 Output 3 GO OT1 1 OT2 1 OT3 1 To input a 4 Digit BCD number reading 2 Digits at a time GET 4 BCDS Returns value of 4 digit BCD number OTO1 Connect ground of first two BCD digits 4 DIGIT BCD 2TW 100 Make value of first two digits the MSB OT10 Connect ground of 2nd two BCD digits 4 DIGIT BCD 4 DIGIT BCD 2TW Add value of 2nd two to Ist two 100 7 13 Chapter 7 Programming Your Application 7 14 Reading an Analog Input The value of the analog system variables AI9 16 are scaled from 14 400 to 72 000 Hz This value is actually a scaled frequency read by the SmartDrive These input values are updated every 16 milliseconds If your program needs to display this value in units such as VOLTS you will need to scale the value to VOLTS in your program The scale number you use will de
178. ogramming With Serial Communication Serial Immediate Status Commands Note All but the S and K commands require an address Command Command Description and Application Examples Syntax CB Clear Command Buffer Clears the terminal input buffer and buffered command buffer n CB Tell Input States Returns the current state on or off of the 8 inputs The status is returned as a four digit hexadecimal number preceded by an asterisk The least significant digit represents the binary value of inputs 4 1 Example IS returns 00F6 cr with the input conditions shown in this table n a Inputs 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 off off off off off off off off on on on on off on on off Your computer program will have to decode the hexadecimal number to deter mine the state of any each input lt n gt IS Kill Issuing the K command causes the control to abruptly stop commanding further motion and terminates program execution No deceleration ramp is used with this command Caution should be used in issuing this command because of the damage instantaneous deceleration could cause to mechanics The Stop com mands provides a more controlled halt lt n gt K MN Model Number Returns the unit model number MN command responses are S6961 S6962 lt n gt MN OS Tell Output
179. olarity ET VO SETUP t amp gt SETUP gt I O LIMITS OUTSTS LIMITS Default NORM CLOSED Range n a This option allows configuration of the EOT switch polarity as NORM OPEN or NORM CLOSED to accommodate the use of either type of switch 5 Use a SC RE to des an CRM Wes See Axis one EOT Pol Usethe an eys to select N N or N 1 NORM CLOSED l gt CLOSED and press ESC to save 5 38 Chapter 5 Configuring Your System Configuring Your Jog Parameters Your SmartDrives s keypad gives the programmer and the T JoGSETUP J machine operator if desired a convenient way to jog the motor ACCEL LO VEL HI VEL The parameters which control your jog operation are T JoGSETUP J configured using the JOG SETUP menu ENABLE Note The Units used by the Jog parameters are configured from the SETUP MECH menu Configuring Jog Acceleration JAr oT gt SETUP gt JOG gt ACCEL Rapes aang o 0 3 sec gt Default 0 3 Accel Units Range n a This option sets the acceleration and deceleration used during a jog move 1 Use lt or gt keys to select an axis 2 Usethe numeric keys to enter a new Jog Accel Decel value in the same units you selected in the SETUP MECH ACCEL menu Configuring Jog Low Velocity JLr Axis One Jog Lo Vel oT gt SETUP gt JOG gt LO VEL 0 5 in sc gt Default 0 5 Velocity Units Range n a This option sets the low speed jog velocity us
180. on Chapter 4 Using the Keypad describes IDC s keypad interface Chapter 5 Configuring Your System covers the steps required to configure your specific equipment and application It includes step by step keypad instructions on entering setup parameters This chapter covers initial motor settings I O configuration and defining the Overview mechanics of your system IDC s Windows based Application Developer also follows the same menu structure described here Chapter 6 Programming Commands provides an alphabetical list of SmartDrive commands including syntax ranges defaults and programming examples for each command Chapter 7 Programming Your Application provides detailed program and application examples and strategies Other topics include variable usage user menus math functions and analog I O Our Deal M command language is generally regarded as the easiest motion control language in the industry It is both easy to remember and intuitive without sacrificing flexibility or power Chapter 8 Programming with Serial Communication is for users who plan to use the SmartDrive in an RS232C hosted mode or for those who wish to program and configure the drive via RS232C IDC s Application Developer program follows a standard Windows dialog box structure for straightforward configuration and programming of the SmartDrive This section also covers RS232C command syntax and definition for users who are not using Windows Chapter
181. on of your output statement This allows you to self document your OT statements For example assume you configured output 3 as a FAULT output Programming like OTO1F10 can help remind you that you are already using output 3 Example OT4 1 Turn on Output 4 OT2 0D1 Turn Outputs 2 off leave 3 as is and turn 4 on OT110 Turn Outputs 1 and 2 on and 3 off IER syntax Any ASCII character Units n a Range n a Default n a The command transmits a string out the serial communications interface A without any string will transmit a carriage return character ASCII 13 Example Move Complete Transmits string only out serial interface E Transmits a carriage return only 6 27 Chapter 6 Programming Commands 6 28 Registration EE syntax RGr r Units n a Range n a Default n a The Registration Command RG specifies a distance to be indexed from the current position as commanded by a specific input trigger For example in the following program of 10 user units on axis 1 the input trigger is received at user unit 4 to move 3 user units from the point where the input trigger was received VE2 AC 1 DA10 RG3 GO In the program above assume the input was an optical sensor which triggered on a registration mark at a position of 4 user units The figure below shows the commanded move related to the registration move V RG Input RG Trigger End of Move 4 7 10 t RG inde
182. open or closed loop moves in the EDIT gt SETUP gt ENCODER menu The control will reverse direction when the first End of Travel limit switch is encountered while searching for a Home switch If the second End of Travel switch is encountered the unit will abort the Go Home move and generate a fault Assuming the presence of an operational home switch the control will ultimately seek a home position according to the home setup parameters you specified edge level final approach direction and offset Closed loop systems will normally home with more accuracy than open loop systems because encoders come with a Z marker pulse 1 8000 of a revolution on our B Series In a typical Go Home routine the control will first sense the edge of the switch defined in the Go Home SETUP menu It will then decelerate the motor to a stop at the last defined deceleration rate The final homing motion will now be determined by the Go Home options selected in the SETUP menu The final homing direction dictates the direction from which the final approach to the switch is made The edge selected will determine which side of the home switch this final approach will be based from In a closed loop mode Go Home routine the control will additionally slow to a creep speed and stop when it sees the encoder s Z Marker Pulse after seeing the reference edge of the switch If a marker pulse is not seen within one motor revolution after the reference edge of
183. ops Chapter 8 Programming With Serial Communication File Menu Applications programs and configuration files may be stored on disk as DOS files The default suffix is idc The other selections under File are generic to all Windows applications IDC Motion Application Developer untitled idc Edit Setup Communications Run View Help zu A ea e Save Save As Delete File Print Printer Setup Exit c progra 1 idemot data ide data idc Industrial Devices Corporation 1 800 747 0064 Chapter 8 Programming With Serial Communication Program Editor 8 18 The Program Editor features the standard windows editing features Cut Copy and Paste plus Grow Editor and Delete Current Program options Undo Delete and Select All are available by pressing the right mouse button and an online HELP file may be reached via the F1 key Ligiala SEA aal celal vi lt lt Prev Next gt gt Sena Run Stop Co 74 C Cn 4 wh Commands Acceleration AC On Function Key FK Message MS Current Limit CL Go Home Move GH Program Name Current Hold Time CT Go Immediate Gl Set Outputs OT Distance Absolute DA Make a Move GO Registration Move RG Grow Editor B 8 ich he rgh enean bution Fes heip on coarermsaned teram Cem The drop down menu box A in the upper left hand corner shows the number and name of the currently active prog
184. or making trouble free connections Making the Connection Using doen Computer Connectors 569612 IDC SmartDrive to PC Cable Ss 25 pin UO vn cl P N PCS 4582 e le Connector Connector S 2 Pin Pin 4 NIA C RX O e fix 2 TX NIA UD 3 TX 9 Gi 3 RX T RX GP PCS 4852 com QD 5 GN 7 GND TX C 5 COM 6 Comm Port Settings Baud Rate 9600 Parity None Stop Bits 1 XON XOFF Yes Data Bits 8 Troubleshooting Serial Communication Problems If communications between computer and SmartDrive are unsuccessful one or more of the following procedures will usually solve the problem 1 Test your terminal or terminal emulation software Unhook the drive and transmit a character An echoed character should not be received If an echoed character is received you are in half duplex mode Jumper your host s TX and RX connections and transmit another character If you do not receive the echoed character consult the manufacturer of the host s serial interface for proper pin outs 2 Host transmit TX must be connected to receive RX of the drive unit and receive RX of the host must be connected to transmit TX of the drive If communication fails try switching connections on either the host or the drive 3 Many serial ports require handshaking Jumper RTS to CTS and DSR to DTR see table Jumpers 9 pin D 25pinD 4 Configure the ho
185. otor is performing If regen occurs regularly then the regen energy adds to the drive losses because it is turned into heat in the internal power dump resistor At high speed where the torque falls off the current is also lowered by the same proportion and consequently the drive losses are lowered accordingly If standby current is invoked the current becomes 0 7 of the set value and the drive losses fall as determined by the above formula The safest estimate is to simply assume that the current is always at the set value Operation at high speed or standby at rest gives some headroom by creating somewhat less heat Chapter 9 Hardware Reference FK1 Fan Kit The FK1 Fan Kit Option may be necessary if air flow across the 6961 2 drive heat sink is extremely poor or if the ambient temperature is excessive FK1 is required by IDC for all applications where the total drive current axis one current plus axis two current in the case of the 6962 exceeds 6 0 Amps A fan kit is automatically provided when the 8 amp version of the Smart Drive S696n 8A is ordered If your 6961 2 drive shuts down repeatedly due to an over temperature condition you will have to take steps to increase cooling The FK1 fan kit can be purchased as a field retrofit kit part number FANKIT 1 The 115 VAC power for the fan is supplied by the 6961 2 drive Please consult IDC for more information See the latest IDC catalog for additional information on the fan kit inc
186. ounting enclosure A pressure seal is formed between the gasket and the keypad while the adhesive maintains the seal between the enclosure and the gasket The keypad communicates with the SmartDrive via RS 232C and this cable may be extended if necessary For distances greater than the standard remote cable length a separate 5 VDC supply may be required to power the keypad See drawing below for power supply connections An FP220 Keypad Mounting Template is included with every keypad Please pay particular attention to the CAUTION on the template Extending the Cable Length to Your Keypad The keypad requires a stable 5 VDC to operate its electronics Since voltage drop may occur at long cable lengths it may be necessary to connect an independent power supply as shown below N C GND RX TX 5V eee N e 5V N GND Keypad Connection 5V Regulated Power Supply BS FP220 Keypad 6961 S6962 9 4 Chapter 9 Hardware Reference 6961 S6962 Smart Drive Hardware Specifications 105 132 VAC single phase 50 60 Hz Motor Output Step Motor Specifications Command Interface Outputs Controller Performance Environmental 6961 500 VA maximum 6962 Voltage 1000 VA maximum 160 VDC bus with 115 VAC input Current Switch selectable 0 1 6 0 Amps phase 0 1 7 9 Amps phase with 8A option Waveform
187. ous move MC AC3 VE3 GO Start first segment WT8 1 AC 1 VE10 GO Wait for input 8 and change speed TD5 AC 3 VE 2 GO Wait for 5 seconds and change speed WT3 1 VE 10 GO Wait for input 3 and change speed and direction OT11 Turn on outputs 1 and 2 TD10 VEO GO Wait 10 seconds and stop the move Example 5 Demonstrates two axis joystick control with a Smart Drive The control must be equipped with two analog inputs in this case we assume AI9 and AI10 and be connected to an external user supplied joystick Joystick Main Program X Axis 1 Y Axis 2 GS Get Speeds Call a routine that scales the analog input voltage to X and Y speeds MC AC 2 2 Enable continuous mode set accelerations VE VX VY Set speeds for X and Y axis GO Start motion GT Joystick When the axes reach constant speed run Joy stick and update the velocity based on the current analog input voltage Get Speeds Converts two analog inputs to X and Y speeds Returns variables VX and VY the X and Y velocities Deadband 15 Set desired zero speed deadband of joystick Neg Deadband 15 Max RPS 5 Set desired full deflection speed Scale Max RPS 28137 Scale factor based on Max RPS Offset X 47685 X axis offset for analog in Offset Y 50990 Y axis offset for analog in VX AI9 Offset X Convert the analog input to a speed for X and Y VX VX Scale 6 23 Chapter 6 Programming Commands VY AI10 Offset Y VY VY Scale IF VX lt Dead
188. ove RG Registration RGr r Example RG3 5 Sp Set Position SPr r Example SP15 0 set axis position to 15 0 sa Square Root SQr var Example SQ16 x ST Stop on Input STi i Example ST4 DI50 GO motor will decelerate to a stop or remain stopped if input 4 is activated STO disables the input TD Time Delay TDr Example OT1 1 TD 12 OT1 0 Turn Output 1 on for 120 msec VE Velocity VEr r Example VESO sets speed for the next move to 50 in units set by the VU command 8 29 Chapter 8 Programming With Serial Communication Serial Programming Commands The commands in this category may be sent to the SmartDrive s buffer and executed on a first in first out FIFO basis This execution does not require you to create or download any program to the SmartDrive s volatile memory See Chapter 6 Programming Commands for complete definitions Command Command Description and Application Examples Syntax WT Wait On Input Condition WTi ii Example WT1 0 GO wait for input 1 to turn off before starting move nWTiii 1 axis to wait on n2 WT expression lt n gt WT i 8 30 Chapter 8 Programming With Serial Communication Commands Not Available In Hosted Mode The following set of commands can only be executed if they are part of or within a program Command Command Name BR Break EB End Block GS Go Sub GT Go To IF If IV Input Vari
189. pad mounting template 6961 2 Accessories Currently Available RPACK 1 External Regener ative Power Dissi pation Module PCS 5004 PC Keypad Cable for copying pro grams between Keypad and PC FK1 Fan Kit For High Performance Applications PCS 4852 SmartDrive to PC Cable Chapter 3 Quick Start Chapter 3 Quick Start The purpose of the Quick Start chapter is to help an experienced motion control user quick ly set up and bench test an 6961 2 SmartDrive and an IDC step motor The following di rections assume that the user is familiar with step motors step motor drives controls and their related electrical connections Please refer to Chapter 5 Configuring Your System for more detailed explanations of these procedures The IDC Keypad FP220 is highly recommended for the easiest possible setup and pro gramming of your application For Quick Start it is assumed that a keypad is used even though serial communication may be used later Connect The Motor s If using a non IDC motor see Non IDC Motors in Chapter 5 for connection information If using an IDC supplied motor with an IDC Quick Disconnect Cable see the table below for color code details For IDC motors with flying leads the proper series and parallel connections are shown below Parallel Connections Wht BIK e Motor C CAL
190. pend on which analog input you are using For example a J thermocouple uses a different factor than a K thermocouple Example Using a 0 10 VDC analog input OV 14 400 10V 72 000 or 5 760 Hz volt VOLT AI12 Read the value of analog input 12 into variable volts VOLT VOLT 14400 Remove frequency offset VOLT VOLT 1 736 Scaling factor multiplied by 10 000 VOLT VOLT 0001 Scaling back to volts The variable VOLT is now in units of volts If you are waiting for a condition to occur or doing a comparison see below there is no need to go through the conversion process TEMP AI9 Read in temperature from analog input WT AI12 lt 45000 GO Wait for analog input 12 lt 45000 lt 5 3 VDC using the previous example before moving IF AI12 lt 45000 GO EB Go if analog input 12 lt 45000 72 80 SC 70 E Output 60 Freq 50 KHz 40 30 GC 144 20 10 Min Input Signal Max Input Value Input Value Chapter 7 Programming Your Application Configuring an Analog Output The analog outputs of SmartDrives are 12 bit outputs The value of the analog output is scaled to this 12 bit 0 4095 resolution If you have a 4 20 mA output you will have an output resolution of 004 mA The output value is set with the system variable AOn n 9 16 The value of n corresponds to the OPTO position of the analog output To configure an OPTO position as an an
191. plications with the SmartDrive There are also several practical examples that can be copied and modified Other program examples are available from the Application Developer disk set see DEMOS idc SmartDrive Programming Overview Before beginning to develop a machine control program with a SmartDrive the user must decide how the SmartDrive fits into the overall machine control hierarchy There are three basic ways SmartDrives are used They can be used in a stand alone mode where the SmartDrive controls all the I O and motion on a machine They can also be used with a PLC where the PLC runs the machine and just calls on the SmartDrive via program select lines for motion Thirdly they can be used in a hosted mode with a PC In this mode no programs are stored in the SmartDrive the PC downloads a string of commands at execution time The information in this chapter applies to all three modes of machine control The SmartDrive uses a sequential interpretive command processor This means that commands in a program are executed one at a time and that the action called for in one command must complete before the next command is processed Example move VE4 DI10 OTO1 GO OT10 In the program move the maximum move velocity is set to 4 the command incremental distance is set to 10 output 1 and output 2 are turned off and on simultaneously axis one then moves 10 units After axis one stops moving output 1 is turned on and output 2 is
192. programs from a SmartDrive equipped with the 30K memory option TO PAD Allows you to copy programs from the SmartDrivetothe _____ COPY keypad or from a PC to the keypad PROG TOPAD FROM To copy programs from the SmartDrive to the keypad 1 Press F2 TO PAD The two messages to the right will appear sequentially on the keypad display Vb r S When the messages disappear the programs have been downloaded to the keypad Saving to EEPROM To copy programs from a PC to the keypad 1 Connect keypad to Computer using RS232 cable IDC P N PCS 5004 2 In Application Developer Communications menu click on Send All and choose To Keypad The keypad will display the message Receiving From PC and a few more messages will quickly appear then disappear from the screen When the keypad display goes completely blank the PC to keypad download is complete 4 18 Chapter 4 Using the Keypad FROM Provides a means of copying sending programs from the keypad to a SmartDrive or from the keypad to a PC To copy programs from keypad to SmartDrive Reading From EEPROM 1 Press FROM F3 The four messages to the right will appear sequentially on the keypad display Zb Ue ENE When the messages disappear the download is complete Waiting For Processing Saving To Memory To copy programs from the keypad to a PC 1 Connect keypad to Computer using RS232 cable IDC P N PCS 5004 2 In Application Develop
193. r again unless steps are taken to increase cooling or reduce throughput Lowering the ambient temperature circulating air past the heatsink installing a fan kit FK1 or using the Standby current setting all help to lower the temperature of the heatsink 5 2 Two Axis Microstepping SmartDrive we Regen Over Voltage INTLK Power 4 Temperature Encoder 2 Encoder 1 COM Drain Standby Waveform Siep Type Anti Res Anti Ras Anti Res C Stepping Ei Disable Short nja 20 400 nja 1K 25 4K 5K 25K ver 10K 25K yay 10K Motor Current 0 0 to 7 9 amps phase Amps Tenths of Amps Offset A S1nd1no Offset B wn A EH m o CH SIfMNI Inductance oN Er Li P INDUSTRIAL DEVICES CORPORATION Chapter 5 Configuring Your System Two Axis Microstepping 9 0 62 SmartDrive Regen Over Voltags INTLK LED Functional Description Power o Temperature Stepping The two green Stepping LEDs indicate that the control is sending CW right LED or CCW left LED step pulses to the amplifier board The LEDs are driven by digital one shots to clearly indicate the receipt of even a single step pulse Above several steps per second the LED becomes continuously illuminated Encoder Encoder 2 Disable Short The yellow Disable LED is illuminated when the Shutdown input is activated by an external controller The Shutdown signal
194. ram plus a list of up to 399 more programs When the entire file is downloaded to the SmartDrive these program numbers correspond to the program numbers the controller uses for binary and BCD program selections Use Edit gt Grow Editor B to increase the working text area and eliminate the command prompts Use Edit gt Shrink Editor C to return to the normal Program Editor Program comments are placed between brackets comments These comments are not downloaded to the SmartDrive Total program length not including comments is limited to 1k Total program length with comments is 8k Chapter 8 Programming With Serial Communication View Configuration Click on the View Configuration button at any time to see your system configuration status All configuration parameters are listed and may be viewed by scrolling the list D IDC Motion Application Developer untitled idc File Edit Setup Communications Run View Help Liege sll al aal HFa sl Mi View Configuration Unitf and begin download OlLA Communications All Communications functions may be accessed Ee from the main menu bar Send All Receive All 391A ipc and IDC Terminal are selectable on the Toolbar Send Terminal as shown here All Ree Send All Use Send All to download the application you have developed In addition to motion programs your application file will include the setup commands derived from the choices you made in the Setup dialog boxe
195. ram 4 5 or 6 End of Routine Writes a message above function keys Wait for selected key press If Up arrow goto screen 2 If Down arrow goto screen 1 Add offset to FKEY variable to goto correct part subroutine Jumps to part G H J in program 7 8 or 9 End of Routine The programs to make Parts A B C D etc are in program numbers 1 9 To continuously cycle through put a GT SCREEN 1 at the end of each part program Chapter 6 Programming Commands Go Bn cco Cate a eee syntax GH r r Units velocity units selected from the EDIT gt SETUP gt MECH menu Range unit scaling dependent Direction positive direction established in EDIT gt SETUP gt MOTOR menu Default n a The GH command initiates a homing routine seeks the home switch to establish a home reference position When it reaches home the position counter is set to zero or to the Home Offset value selected in the EDIT gt SETUP gt HOME menu The motor will move at the GH velocity n and direction specified until it either finds a home limit switch or determines that it can not find one between the two end of travel limit switches The Go Home move uses the last acceleration and deceleration specified The exact homing routine used and the ultimate end position of your system s home reference depends upon the values of your EDIT gt SETUP gt HOME parameters edge level final approach direction and offset and whether or not you have specified
196. re and daisy chaining information All RS 232 users will need this information Section 2 covers the installation of Application Developer Section 3 covers Using Application Developer to setup and program SmartDrive systems Section 4 provides details on all of the RS 232C setup commands that Application Developer employs This section will be useful to users who are not using Windows or who plan to run the SmartDrive in a hosted environment i e the host streams down individual commands for immediate execution or calls previously defined programs The host could be a PC RS 232C equipped PLC or some other type of intelligent device IDC recommends that even users whose final application will be run in hosted mode use Application Developer to initially configure their system 8 1 Chapter 8 Programming With Serial Communication This page intentionally left blank 8 2 Chapter 8 Programming With Serial Communication Section 1 RS 232C Protocol IDC s SmartDrive series controls use a 3 wire implementation of RS 232C The RX TX and COM lines are the serial signals supported No hardware handshaking is required Note that some RS 232C devices require handshaking such as RTS and CTS It is the responsibility of the user to disable this handshaking via software or hardware Making RS 232C Connections to the S6961 2 Make your RS 232C connection as shown below The SmartDrive to PC Cable IDC P N PCS 4852 is an ideal choice f
197. re are specific trade offs that the user should be aware of regarding each type of brake Please discuss the issue of brakes with an IDC Applications Engineer or with your distributor It is often advisable that applications using a ballscrew type actuator with a vertical load use a brake to prevent the load from falling in the event of a fault The Brake output is normally disengaged which is actually an ON condition When a fault occurs power to the brake is removed and the brake is engaged This is a fail safe type of brake controlled by an OPTO module and it requires a customer supplied 120VAC power supply or 24 VDC with B Motors D d Direction D specifies axis 1 d specifies axis 2 The Direction Output indicates the direction of motion for a given axis The output remains set until motion is commanded in the reverse direction F Fault The fault output acts as an all inclusive fail safe output Under normal operation the output is grounded ON and goes high OFF when any type of fault occurs A fault can occur from any amplifier fault condition as well as for the following general faults e BMA Board Monitor Alarm time out e Error finding Home both limits were hit The exact cause of the fault can be determined a number of ways Shown on keypad s display Over RS 232C using the SS SD and SA status commands see Chapter 8 e Other outputs can be configured to show more specific fault states H h At Home H spec
198. re information on this type of application 1 Use or gt keys to select an axis 2 Usethe numeric keys to enter the unit address Note See AA Command in Programming with RS 232C for Auto Addressing Chapter 5 Configuring Your System Configuring Your Miscellaneous Setup Parameters The miscellaneous setup MISC SETUP parameters include T MISC SETUP J auto formatting of the keypad display and setting the DISP STOP RATE TEST deceleration rate used with a stop input or with the ESC key while an axis is moving Configuring Display Format DF d gt SETUP gt MISC gt DISP T MISC SETUP J DISP STOP RATE TEST Default Quad 1 POSI Quad 2 POS2 S6962 BLANK S6961 Quad 3 INPUTS Quad 4 OUTPUTS Range n a Display format allows the user to customize the data displayed on the keypad run time screen The run time screen has been divided into 4 10 character configurable quadrants The DISP menu displays labels for the 4 quadrants with carets gt denoting the selected quadrant 1 Use lt T and J keys to move quadrant selection delimiters lt gt 2 Press ENTER to edit quadrant Once a quadrant is selected there are 16 possible data types that can be displayed in that quadrant Data Type Quadrant Display BLANK No display POS1 Axis 1 position POS2 Axis 2 position POS1 UNIT Axis 1 position with axis units POS2 UNIT Axis
199. remental MS Message to Display EA Enable Amplifier ON On Command EB End of Block OT Output EN End of Routine RG Registration Move FK Function Key SP Set Position GH Go Home SQ Square Root GI Go Immediate ST Stop on Input GO Go Start a Move TD Time Delay GP Go Point VE Velocity GS Gosub WT Wait GT Go to ai Message to Serial Port IF If Then 7 2 Chapter 7 Programming Your Application Variables and Arithmetic Variables The SmartDrive will accept a variable in a command instead of a constant Variables may be used in e Arithmetic e Conditional Expressions e Loop Counts e Distance and velocity commands Set values e Set command values or parameters e Set analog signals e Read analog or temperature input e Display information such as position or velocity e Any place that a number can be used a variable can be used Legal Variable Names The SmartDrive allows you to create descriptive variable names as opposed to V1 V2 etc Variables can be up to 14 characters but the first 10 characters must be unique They may contain other printable ASCII characters such as numbers underscores exclamation points even spaces Upper and lower case characters are supported within variable names and these variable names are case sensitive ASCII control characters such as LF and CR are not supported All variables must be enclosed in parentheses variable name Parentheses are not legal variable charac
200. rs 9 16 P41 P42 P43 K41 K42 K43 motors 9 17 12 motor 9 11 21 S22 S23 motors 9 12 32 S33 motors 9 13 S42 motor 9 14 motor wiring 5 4 mounting guidelines cooling 9 1 mounting the 6961 2 calculating heat dissipation 9 2 cooling 9 1 enclosure mounting 9 2 RPACK 9 3 multi axis operation 7 10 N non volatile variables 7 6 O operands 7 7 opto modules 5 36 output character descriptions 5 34 amplifier fault 5 34 analog 5 35 Index at home 5 34 brake 5 34 direction 5 34 fault 5 34 limit error 5 34 move complete 5 34 programmable 5 35 stall 5 35 output states 5 37 outputs 5 27 P passwords keypad access 5 49 phase offset 5 12 position maintenance deadband 5 22 gain 5 22 max velocity 5 22 program setup parameters 5 44 programming arithmetic operands and equations 7 7 Boolean operators 7 8 built in variables 7 4 configuring an analog output 7 15 expressions 7 9 incrementing and decrementing variables 7 8 legal variable names 7 3 logical operations on expressions 7 8 multi axis operation 7 10 non volatile variables 7 6 programming examples 7 12 variables 7 3 programming examples create a message and input a variable 7 12 creating an operator menu 7 12 fast in slow feed move 7 13 input a 4 digit BCD number reading 2 digits at a time 7 13 reading an analog input 7 14 turning on an output on the fly 7 13 programming variables 7 3 R regional offices 11 1 resolution 5 8 returning the SmartDrive
201. s V Parallel Electrical Specs S21T S21V S22T S22V S23T S23V Continuous Stall Torque oz in N m 65 0 46 100 0 71 125 0 88 Recommended Current Phase Amps 1 2 2 4 1 5 3 0 1 75 3 5 Winding Resistance Ambient Ohms 5 4 1 35 4 8 1 2 4 4 1 1 Inductance mH 18 4 5 18 4 5 18 4 5 Max Winding Temperature F C 212 100 212 100 212 100 Mechanical Specs S21T S21V S22T S22V S23T S23V Rotor Inertia oz in s kg m 1 66x10 1 17x109 3 31x103 2 34x105 4 97x10 8 51x10 5 Axial Shaft Load Ibs N 25 111 25 111 25 111 Radial Shaft Load 0 5 inches Ibs N 5 6 25 5 6 25 5 6 25 Motor Weight Ibs kg 1 6 0 73 2 4 1 1 3 2 1 5 Step Angle full step degrees 1 8 1 8 1 8 Drive Settings z Notes S21T Series S21V Parallel Parallel V wiring 50 duty cycle max Current Inductance Current Inductance above 5 rps 300 rpm 1 2 Amps 16 mH 2 4 Amps 4mH Always use at least 30 torque safety 3 margin when applying step motors S22T Series S22V Parallel Current Inductance Current Inductance 1 5 Amps 16 mH 3 0 Amps 4 mH S23T Series S23V Parallel Current Inductance Current Inductance 1 7 Amps 16 mH 3 5 Amps 4 mH Motor Wiring SERIES CONNECTION PARALLEL CONNECTION YELLOW BLACK A 2 B Ge YELLOW BLACK B WHT YEL lt WHT BLK WHTRED 3 t SWHT ORG 2 3 e WHT RED i WHT ORG a S 3 t ORANGE A RED 5 ORANGE B A WHT YEL WHT BLK B 9 12 Chapter 9 532 8
202. s Send All completely configures the SmartDrive control and will overwrite any existing programs or configurations in the control The feature allows easy configuration of repeat machines Program comments will be stripped off before being sent to the SmartDrive IDC recommends saving the commented version of your application before downloading Retrieve All Use Retrieve All to upload the entire contents of a SmartDrive control to a new file that can then be edited downloaded to another SmartDrive or saved to a PC file for documentation purposes This file contains the complete contents of the SmartDrive including all the programs defined I O definition and mechanical scaling parameters Please note that this version of your application does not contain any comments as they are stripped off during download to conserve memory in the SmartDrive 8 19 Chapter 8 Programming With Serial Communication Run Menu 8 20 Change Unit Number Change Unit Number is used to set the device address of the control that Send Receive Program uploads and downloads to on a single RS 232C daisy chain Each unit must have its own unique software address The Unit number of each control should be set BEFORE the units are connected in a daisy chain the default address is one Send Program only sends information to the unit selected here A new unit number must be set to download to the next unit on the daisy chain See RS 232C Protocol earlier in this ch
203. s A 5 T series actuators A 4 using custom distance units A 8 actuator ratios IDC actuators A 1 actuator ratios NM and RM series A 6 actuator ratios NV series A 6 analog input 7 14 analog output 7 15 anti resonance compensation 5 14 Application Developer software axis setup 8 11 communications 8 19 file menu 8 17 I O setup 8 15 installation 8 5 misc setup 8 16 program editor 8 18 Run menu 8 20 Setup Wizard 8 7 view configuration 8 19 arithmetic 7 3 arithmetic operands 7 7 B Boolean operators 7 8 brake braking 5 34 built in variables 7 4 C CAD library 11 1 configuring software acceleration maximum 5 26 acceleration units 5 26 display format 5 47 distance units 5 23 drive resolution 5 18 echo enable 5 46 enable line polarity 5 48 Index encoder mode 5 20 encoder resolution 5 21 end of travel switch polarity 5 38 fault line polarity 5 48 following error limit 5 21 gear ratio 5 24 home edge 5 41 home final direction 5 42 home offset 5 42 homing mode 5 43 input characters 5 29 input definition 5 28 jog acceleration 5 39 jog enable 5 40 jog high velocity 5 40 jog low velocity 5 39 maximum velocity 5 25 motor direction 5 19 motor type 5 18 opto modules 5 36 output characters 5 34 output definition 5 33 output states on fault 5 37 output states on power up 5 37 output states on Stop Kill 5 37 password access 5 49 position maintenance deadband 5 22 position maintenance gain 5 22 position mainte
204. s of the new unit as the AA parameter i e AAT lt n gt AA or AAi DP Delete Program Erases a program from memory where i is the program number This is equiva lent to pressing the delete key on the keypad and entering the program number Range 1 199 1 400 with 30K memory option Example DP99 deletes program number 99 lt n gt DPi DR Download Program to RAM Begins downloading a program from the host to the control s RAM rather than_ non volatile memory Also see the PR command description These programs will be lost after a reset or power cycle The program string must end in EP The commands between DR and EP do not need a device address The DR command is typically used when the control is operated exclusively via a host controller which constantly downloads and executes programs This increases the usable life of the FLASH Range 1 199 1 400 with 30K memory option Example 1DR50 AC4 DE4 VE30 LP6 DI10 5 GO EN 1EP RN50 Downloads program 50 to Unit 1 s RAM then runs program 50 lt n gt DRi EC RS 232C Echo Enable Disable 0 echo Disabled 1 echo Enabled Example ECO echo off The RS 232C Echo must be enabled for daisy chain operation lt n gt ECi EP End Program Definition Denotes the end of a program definition All program definitions must begin with nPRi or nDRi and end with EP Example PR15 part A AC4 VE30 DI10 5 GO EP lt n gt EP 8 39 Chapter
205. s to the Main Display The Main Display continuously shows the position of each axis on the top line and the status of Inputs 1 8 and Outputs 1 8 on the bottom line 40 0000 40 0000 00000000 00000000 End of Travel EOT Limits Encoder Feedback optional 56961 2 Motor Power Power 120 VAC Cable Rod type or Rodless cylinder optional Jog the Motor l Press RUN PROG JOG TEST 2 Press JOG F2 3 Press keys to jog each axis use T and J keys to jog axis two on the 6962 4 Change the Jog Speed by pressing High F2 or Low F1 and jog again Run TEST MOVE Program Press ESC to return to the Main Display PROG JOG TEST 1 Press RUN 2 Press TEST F3 3 Press MOVE F3 to start the move 4 Select F1to jog axis 1 F2 to jog both axes or F3 to jog axis 2 The motor s will move forward one revolution then backward one revolution and stop 3 3 Chapter 3 Quick Start This page intentionally left blank 8 4 Chapter 4 Using the Keypad Chapter 4 Using the Keypad This chapter will help the first time user understand the basics of using the IDC Keypad The keypad was designed to provide operators the quickest possible way to configure an application and though it functions primarily as an operator interface it is equally effective as a programming and troubleshooting tool If you have chosen to progr
206. scrolling through menu options setup choices and programs in the editor Moves an axis in JOG mode Used in multi axis con trols to separate axis command parameters Part of the syntax in message and variable prompt commands DECIMAL POINT Used to enter fixed point numbers ENTER Saves parameters that have been typed into a configuration or the pro gram editor Enters a space in the program editor Keypad Menu Structure Most operations from the Keypad are menu driven A menu consists of a title bar on the top display line and as many as three options or sub menus at a time on the bottom display line Each option is displayed above one of the function keys F1 F2 or F3 Pressa function key to select the corresponding option Chapter 4 Using the Keypad The following table shows the Menus which are accessible from the Main Display by pressing the RUN EDIT HELP COPY and DEL keys Main Menu Keys and Associated Menus Press Once to Begin Menu Options PROG F1 Run programs by name or number PROG F1 Edit or write pro grams In Main Menu Provides help on the function of RUN EDIT or COPY PROGRAM F1 To copy programs within a control PROGRAM Deletes an entire program or charac ters in the editor JOG F2 Jog either axis at low or high speeds Press F1 or F2 and any arrow key SETUP F2 Configure sys
207. should be approximately the same only a few ohms If any phases are open or have large resistance the motor is proba bly damaged and should be re placed Over Voltage Fault Too high a bus voltage is present This is usually caused by a regeneration event that overwhelms our internal power dump circuit It can also be caused by high line voltage or voltage spikes Reduce the regen event by re ducing the load or make the move less aggressively by re ducing the commanded accel eration or velocity Check your AC line voltage to verify it is within SmartDrive limits Interlock Fault Motor connector does not con tain an interlock jumper motor has been disconnected or con nector is loose Verify the motor connector is properly seated and Interlock jumper is installed on motor connector Chapter 10 Troubleshooting Symptom Possible Causes Possible Remedies Following Error Motor stalled Confirm proper motor configu ration current AR mH Make a less aggressive move Verify there is not an obstruc tion preventing motor move ment Wrong motor or encoder reso lution set Setting the encoder resolution incorrectly will cause a follow ing error to occur Confirm the settings are correct Encoder Wired Backwards Encoder position is moving op posite of commanded position Check motor and encoder wir ing Swap A and B channels of the encoder
208. sition Such moves are called incremental moves as opposed to the absolute zero reference used in DA Incremental moves are typically used in applications where there is no concern for origin such as feed to length applications Incremental moves are also often used inside a loop to shorten a program Incremental and absolute moves may be mixed the control always keeps track of the absolute position Example Move 2 units in the positive direction Move 1 more unit in the direction Move 4 units in the negative direction Program AC 1 VE60 DI2 GO DI1 GO DI 4 GO Note Additional programming examples are found in the next chapter Summary of IDeal Commands Command Description mE Description Command Description Acceleration Go Immediate Message to Display Break Go Start a Move On Command Distance Absolute Go Point Output Distance to a Change Gosub Message to Serial Port Deceleration Go To Registration Move Distance Incremental If Then Set Position Enable Amplifier Input Variable Square Root End of Block Loop Stop on Input End of Routine Loop Until Time Delay Function Key Loop While Velocity Go Home Move Continuous Wait 6 1 Chapter 6 Programming Commands IDeal Commands 6 2 AC Pte niin Mee cT syntax ACr r Units sec rps or unit s selected from the EDIT SETUP MECH
209. st to the identical baud rate number of data bits number of stop bits and EE SE parity 5 Receiving double characters XX when entering single characters X indicates your computer is set to the half duplex mode Change to the full duplex mode 6 Check your grounds Use DC common or signal ground as your reference Do not use earth ground or shield 7 Check your cable length If any cable is over 50 ft long you should be using a line driver optical coupler or shield Shields must be connected to earth ground at one end only 8 3 Chapter 8 Programming With Serial Communication Daisy Chaining SmartDrives Your SmartDrive also supports daisy chaining The unit address range 1 99 can be set via the keypad through Application Developer or with a terminal program using the Unit Number UN command or the entire chain may be addressed at once using the Auto Address AA command Rules for Daisy Chain Operation 8 4 1 Units ona daisy chain must be device addressed numbered in ascending order away from the host device controller in order for the Load All LA EX commands to work properly The unit addresses are not required to be numerically sequential but must be in ascending order Example 1 2 4 6 8 is valid addressing 6 3 10 8 2 is not valid 2 Do not duplicate unit numbers or addresses 3 RS 232C Echo should be enabled for each unit on the daisy chain Disabling RS 232C Echo will preven
210. subroutines Call your subroutines by name Make variable names descriptive Use operator messages or prompts Send messages over RS 232C Use commands not on the keypad such as EA or DE General Rules for Using the ALPHA key Any letter and character located above a number on a numeric key may be inserted into a program i e the A B or C above 1 on the 1 key Press a numeric key 4 5 and 6 times to access the lower case letters You must press ALPHA prior to each character you wish to enter Press the lt or arrow key to move the cursor to the next space Press ALPHA to move the cursor more than one space For example if you want to leave more than one space between words in a message to an operator Entering a Character those found above numbers on Keypad Example to insert the A B or C on the 1 key 1 Press ALPHA 2 Press the 1 key once to enter A press it twice to enter B or press it three times to enter the C Using 1 Arrow Keys for Additional ALPHA Characters The 19 special characters shown to the right are available by pressing ALPHA and scrolling through the list using the arrow keys ZEN T je 1 Press ALPHA Press T or J to scroll through the list until the desired character is displayed When you find the desired character press ALPHA or ENTER to insert the character The character will be displayed and the cursor will move one space to th
211. t 4 2 On the back of the keypad there is a plastic potentiometer adjustable with a flathead screwdriver This is used to adjust the contrast on the LCD display If the SmartDrive and keypad were purchased together this adjustment has been made by IDC Some adjustment may still be necessary to accommodate unusual lighting or viewing angles M Keypad Connector Switches shown in N C GND RX TX 5VDC OFF position ON HM kd 4 Contrast Potentiometer Turn clockwise to increase contrast Chapter 4 Using the Keypad Remote Mounting the Keypad The keypad can easily be mounted and sealed to NEMA 4 specifications by using the included mounting gasket and 6 foot communication cable The gasket must be installed with its adhesive side facing toward the mounting enclosure not toward the keypad A pressure seal is formed between the gasket and the keypad while the adhesive maintains a seal between the gasket and the enclosure An FP220 Keypad Mounting Template is included with every keypad Warning Your Keypad can be damaged if mounting screws are allowed to extend more than 0 2 into the Keypad Note The keypad cable may be extended if necessary At longer distances users may be required to provide a separate regulated 5 VDC 500m4A supply to power the keypad example shown below
212. t inputs if defined The EN command can be used anywhere in a program to stop command execution Example IF2 1 EN EB DI2 GO If input 2 is on stop the program or return to the calling program If not move 2 units Chapter 6 Programming Commands Function Key eeeeeeeeeeeeeeeeeeeeeeene syntax FKi i i Units n a Range i 1 28 Default n a Note 24 the ESC key cannot be assigned since it stops a program The FK command allows you to redefine what a keypad key function within your program The FK command pauses processing until any of the buttons you have armed are pressed The number of the button pushed is assigned to the system variable FKEY You can then manipulate or directly use this variable to branch to other routines or make other decisions FK allows the programmer to redefine the keypad function keys as operator menu selection buttons You can even write your program with menus that look and feel like our setup menus Example FK1 2 3 4 GS FKEY Pauses command execution until F1 F2 F3 or RUN is pressed on the keypad FKEY is assigned a value of 1 4 Subroutine 1 4 is called with the GS gosub command See the illustration below for the value of FKEY returned for each key F1 1 F2 2 Pei 3 A x d P RUN EDIT HELP COPY o 4 5 6 7 8 Pa Wei Se 4 N m 12 AN 213 am a 17 z18 J N 22 JN 23 E
213. t the daisy chain from functioning properly 4 Any loose RS 232C connections or miswiring along the daisy chain will cause communication to fail Please double check wiring if communication problems arise 5 Device Addressing RS 232C commands using the specific unit number in front of the command is necessary if the user wants only one specific unit to perform an operation 6 Status commands require addressing Please call IDC if you need to daisy chain more than 99 drives The hardware configuration below shows how to connect the daisy chain PC Host SmartDrive SmartDrive SmartDrive RS 232C Unit 1 Unit 2 Unit 3 Device RX TX COM RX TX COM RX TX COM RX TX COM d Chapter 8 Programming With Serial Communication Section 2 Application Developer Software All of IDC s SmartDrives come with Application Developer software The programs and data files are automatically installed with a setup utility included on the disk Installing Application Developer in Windows 95 98 or NT l Insert Application Developer Disk 1 in your floppy disk drive 2 Click on Start 3 Click on Run 4 There is no drive specified in the Command Line box type the drive letter followed by a colon then a backslash and the word setup For example a setup 5 Click OK The installation program will display the Welcome screen shown below Throughout the
214. te while the specified condition is true LW checks the condition at the beginning of the loop block therefore if the condition is false on the first iteration the block is immediately skipped Loop Until LU defines loops where the condition is checked at the end of the loop block The standard software allows up to 16 nested loops one inside the other A GT command within an LW loop will terminate the loop clear the loop stack and jump to the new MC Chapter 6 Programming Commands program Following are examples of programs using LW Example 1 A 0 LW A lt 10 DI10 GO A A 1 EB In this example the loop is executed times with a final position 110 distance units Example 2 A 10 LW A gt 20 DI10 GO EB In this example the loop is immediately skipped since the A gt 20 condition is false Example 3 LWXX1X1 Mat Inputs 3 amp 5 are on EB GT Inputs Off In this example the loop will continue to execute as long as inputs 3 and 5 are on Example 4 LW4 1 MS1 Input 4 is on EB GT Input Off In this example the loop will continue to execute as long as input 4 is on Move Continuous eere syntax MC Units n a Range n a Default n a MC sets move profiles to continuous move utilizing AC and VE parameters Move Continuous is enabled on an axis with the sign MC enables the mode for axis one MC enables the command on axis two and MC enables both axes DI DA and
215. ted Status 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 off off off off off off off off off off off on off off off off 1 Following Error 1 Following error occurred O At power up and reset Set to zero at the start of the next move Over current 2 1 Over Current requires reset to clear 0 At power up and after reset Thermal Fault 3 12 Thermal fault in the motor or drive requires reset to clear 0 At power up and after reset RMS Over current 1 RMS current limit exceeded requires reset to B8961 2 only clear 02 At power up and after reset RESERVED State undefined should be masked RESERVED State undefined should be masked Torque Position 1 Amplifier in torque mode TM1 call factory for B8961 2 only details 0 Amplifier in position mode factory default Drive Enabled 5 1 Enable Drive see also EA1 0 Disable Drive see also EAO 7 8 Amplifier Fault 12 The amplifier is faulted Requires a power cycle to reset 0 At power up or reset lt n gt SD1 8 37 Chapter 8 Programming With Serial Communication Serial Immediate Status Commands Note All but the S and K commands require an address Command Command Description and Application Examples Syntax ss Tell System Status Returns the current system status as a four digit hexadecimal numb
216. tem components and operating limits In Menus Provides help on moving about in menus TO PAD F2 To upload a control s memory to the key pad TEST F3 POS F3 In Sub Menus FROM F3 Run programs in Reset axis position Explains setup To download keypad trace mode amplifier to zero choices memory to a control shutdown and reset YES NO test outputs or F1 F3 moves LIST 1 F1 In the Editor Directory of stored Provides command programs memory descriptions usage and available space If a menu has more than three options arrows will appear on both sides of the display to indicate that more options are available Press the appropriate arrow key to cycle one dis play at a time through all options in that menu To exit a menu without making a selection or to back up one menu level press ESC NOTE ESC backs up one menu in SETUP and returns the user to the Main Display elsewhere 4 5 Chapter 4 Using the Keypad Using the RUN Menus Pressing the RUN key displays a set of sub menus Access the sub menus by pressing F1 PROG F2 JOG or F3 TEST Following are instructions for various activities within each sub menu Select PROG To Run a Program To run an existing program by program number Press Fl PROG 2 Press program number 1 199 using numeric keys 1 400 with 30K option 3 Press ENTER To run an existing program by name Press PROG FI
217. ters The standard software allows for up to 100 variables All variables are stored as fixed point numbers All variables are global All standard variables are volatile though non volatile variables are available as well 7 3 Chapter 7 Programming Your Application 74 Built In Variables The following variable names are predefined in the control They can be used throughout your programs in expressions to set voltages to test conditions or even to display information on the keypad screen or some other external serial device enabled Variable Name Description Type AI9 thru A116 Analog Input 9 thru 16 Read Only AO9 thru AO16 Analog Output 9 thru 16 Write Only AROWREL Current status of any of the four arrow keys Read Only CPOS1 CPOS2 Commanded Position of axis 1 2 Read Only EPOS1 EPOS2 Encoder Position of axis 1 2 Read Only POS1 POS2 Current Position of axis 1 2 Read Only VEL1 VEL2 Commanded Velocity of axis 1 2 Read Only EE1 thru EE20 Non volatile limited use user system variables Read limited Write FKEY Value of Function Key pressed Read Only LASTKEY Value of last Function key pressed Read Write TERM Sends variable out RS 232 port Write Only 1TW Scans inputs 1 4 for BCD Digit Read Only 2TW Scans inputs 1 8 for BCD Digit Read Only TIME Elapsed Time ms since power up or since reset
218. the program name or number 3 Press ENTER The top line displays the program number the number of nest ed loops and the number of nested routines The bottom line shows the command to be executed when you press ENTER Each time you press ENTER the displayed command will be executed Pressing ESC halts program execution TRACE mode is not currently supported during homing operations PR 5 LP 1 GS 0 DI8000 7 OUTPUT This feature allows you to test the SmartDrive s outputs as DNE Test Output 1 well as the devices to which it is connected by forcing them on E eT ON i2 and off 1 Press RUN gt TEST gt OUTPUT 2 Press lt keys to scroll through outputs 1 8 3 Press T J keys to turn the output ON and OFF Ke EES ys 4 Press ESC and you will be prompted as shown here 5 Make your selection and the display will immediately 40 0000 return to the Main Display 00000000 00000000 Please use caution when connected to live devices MOVE This selection moves your motor shaft one user defined unit forward and backward This allows you to verify basic motor encoder and amplifier operation Axis 1 1 Press RUN gt TEST gt MOVE 2 Press Fl F2 or F3 to select the axis to move 4 7 Chapter 4 Using the Keypad SHUTDN Shutdown Selecting SHUTDN allows you to enable or disable the axis a Drive 1 Disabled When a drive is disabled the amplifier is off and your motor has no power
219. the switch is seen the final homing routine will be aborted Note Homing Mode directly affects or reconfigures the function of the GH command see Configuring Your Home Parameters in Chapter 5 Examples AC 5 DE 5 GH 20 Go Home in the negative direction at a speed of 20 6 9 Chapter 6 Programming Commands 6 10 AC 5 DE 5 GH20 Axis one Go Home in the positive direction at a speed of 20 Axis two Go Home in the positive direction at a speed of 18 Go Immediate eese syntax GI or Gli Units n a Range n a Default n a The GI command begins a defined move profile in the same manner as the GO command Unlike the GO command where program execution waits until all defined moves have terminated GI allows program execution to continue once the move has begun This allows for other program defined processes to take place while an axis is moving such as independent multi axis moves OT commands and conditional IF blocks One axis is not required to wait for another axis to finish a move before beginning its own move Following is an example of a program using the GI command VEI DI20 GI MSI Axis 1 is moving TD2 In this example once the DI20 move begins program execution immediately displays the Axis 1 is moving message for 2 seconds Once the TD2 command has executed the program will terminate however axis 1 will continue to move until the DI20 distance is reached A Stop Kil
220. time Naming Programs 4 12 Any or all of the programs stored in the non volatile memory of the SmartDrive can be given descriptive names in addition to the program number that the SmartDrive assigns it Program names must be put inside of square brackets program name at the start of a program The name can be up to 14 characters but the first 10 must be unique They can like variables be nearly any combination of characters Programs or subroutines are often named to help self document a program It is usually easier to remember and understand a name then a number You may call a program or branch to them by name This feature also makes it easier for operators to run programs and easier for the programmer to develop systems requiring operator interfacing with our keypad Suppose your system will run 20 different parts and each part has a different program With a SmartDrive all you have to do is name each of your programs so an operator will easily recognize them When the keypad RUN key is pressed instead of entering a number simply scroll through the list of program names possibly part names using theT and keys When the desired part is displayed simply press ENTER to run the program for that part Chapter 4 Using the Keypad Entering Characters Using The Alpha Key The ALPHA key allows you to enter almost any character into a program from the keypad You will find this desirable if you want to Name your programs or
221. time equal to or greater than the specified delay the program will not be executed 1 Use lt or 9 keys to select an axis 2 Use the numeric keys to enter a value in ms Note See Data Valid Input Configuration for an alternate approach 5 45 Chapter 5 Configuring Your System Configuring Your Serial Communications 5 46 If you plan to use the serial communications port on your E SmartDrive you can use your keypad to turn the auto echo on ECHO UNIT and off and set the unit s daisy chain address The baud rate of 9600 is fixed on the SmartDrive Fixed RS 232C parameters e Baud rate 9600 e Data bits 8 e Stop bits 1 e Parity none Configuring Echo Enable ECi f Ss Y RS 232C Echo gt SETUP gt RS232 gt ECHO T ENABLED IJ Default ENABLED Range n a This option is used to enable or disable the RS 232C ECHO If ECHO is disabled characters received by the control s serial port will not be re transmitted ECHO must be enabled in daisy chaining applications 1 Use or gt keys to select an axis 2 Use the T1 keys to enable or disable ECHO Configuring Unit Number UNi EN T Unit Number EDIT gt SETUP gt RS232 gt UNIT read Default 1 Range 1 99 This option is used to set the unit address Each unit in an RS 232C serial daisy chain of multiple units must have a unique Unit Address Refer to the section on daisy chain operation in the RS 232 Operation chapter mo
222. tive n HFi i HM Homing Mode 1 0 Switch Only i 1 Switch Then Z Channel 1 2 Z Channel Only n HMi i HO Home Offset Example HO1 0 axis one 1 0 distance unit lt n gt HO r r HS Home Switch 0 Normally Closed 1 Normally Open Example HS1 uses a normally open home switch this is the default setting lt n gt HSi i Input Definition Example ID UUUUUUUU The first 8 inputs are unassigned All 8 input states must be specified See also OD Note The G Registration Command is only valid for Input 1 lt n gt IDaaaaaaa aaaaaaaaa Position Maintenance Deadband Sets position maintenance deadband in motor steps Valid as a program com mand using an immediate parameter only No variables lt n gt lRi i JA Jog Acceleration Example JA 01 01 Units selected by AU command n JAr r JE Jog Enable 0 Jog Disabled 1 Jog Enabled Example JE1 enabled n JEi i JH Jog High Velocity Example JH5 0 5 in units selected by VU command n JHr r JL Jog Low Velocity Example JL1 5 1 5 in units selected by VU command n JLr r 8 26 Chapter 8 Programming With Serial Communication These are the commands that IDC s Application Developer program uses to configure the SmartDrive ac Serial Setup Commands cording to the choices made in the SETUP dialog boxes Command Command Description and Application Examples
223. tnnnnnnrnntsrnnnsrnnt 5 41 Configuring Your Program Setup Parameter 5 44 Configuring Your Serial Communtcattons nens 5 46 Configuring Your Miscellaneous Setup Parameiers nn nnnr ennen 5 47 Table of Contents CHAPTER 6 PROGRAMMING COMMANDS eee 6 1 Ideal Commands Go to Command Links on Back Cover CHAPTER 7 PROGRAMMING YOUR APRBLICATION esse 7 1 Smart Drive Programming Overview ssssssssssesseeeeneneen nennen nnne nen 7 1 Creating Or Editing Programs With The Keypad sse 7 1 Command S MMa EE 7 2 KEE ul Blut 7 3 KEE EE 7 3 tegal Variable Names x cene tte tr pre ete p e Dee E d e reve pre rev o EE 7 3 Built in Variables 2 i ente t t pie iad aedes c Deve ced d Rien 7 4 Non Volatile Te EE 7 6 Arithmetic Operands And Equations sse 7 7 Boolean Operators amp And Or nennen 7 8 Logical Operations On Expressions s ssseesseesseesssetetetstttstntstnntttnntnnttnnstnnntnnnennnsnn nent 7 8 Incrementing And Decrementing Variables sese 7 8 EXPOSSIONS 28 Im 7 9 Multi axis Operation 7 10 simple Go Gommnatnds EE 7 10 Typical Programming Examples essen enne 7 12 Reading An Analog Input enne nennen nnne nnns 7 14 Configuring An Analog Output 7 15 CHAPTER 8 PROGRAMMING WITH SERIAL COMMUNICATION 8 1 Section 1 RS 232C Protocol 5 er rop et bel ec vr pe gu
224. turned off The state changes on outputs 1 and 2 happen at the same time The programmer can control the flow of the program with WT wait for an event or condition to occur TD wait for a pre set amount of time to elapse and IF if a certain condition is true at this instant then execute a block of commands statements External controllers such as PLC and computers can be coordinated via digital outputs and ASCII strings sent out the serial port Creating or Editing Programs with the Keypad IDC s IDeal Command language is easy to remember and powerful Command descriptions are also available on line using the HELP key within the Application Developer program editor If you need help with basic keypad operation please refer to Chapter 4 Using the Keypad and Chapter 5 Configuring Your System 7 1 Chapter 7 Programming Your Application Command Summary The chart below lists all the IDeal commands that can be stored and executed as a part of a program In Chapter 8 Programming with Serial Communication there is more information on serial commands such as Setup Immediate Status Supervisory Commands and Commands Not Available in Hosted Mode Command Description Command Description AC Acceleration IV Input Variable BR Break LP Loop DA Distance Absolute LU Loop Until DC Distance to a Change LW Loop While DE Deceleration MC Move Continuous DI Distance Inc
225. type is invalid with command Verify parameter with com mand syntax Bad Command Syntax Command and parameter list has invalid syntax Check program for data entry errors Chapter 10 Troubleshooting 10 4 Symptom Possible Causes Possible Remedies Too Many Nested LPs Program exceeds 16 nested loops Reduce nested loops Too Many Nested GSs Program exceeds 16 nested gosubs Reduce nested gosubs Too Many Nested EBs Program exceeds 16 nested IF blocks Reduce number of nested IF blocks Bad Variable Name A variable used as a command parameter is undefined or mis spelled Verify variable name or define variable with an initial value No Free Variables Attempted to define more than 100 user variables Reduce number of user vari ables B8961 2 Command Only Command is available on servo SmartDrives only Delete the command or pur chase a B8961 2 Fault LED Illuminated on the S6961 2 Fault LED is on Miswired motor or short circuit in motor Remove power from system Isolate problem by disconnect ing motor leads from the motor connector but leave interlock jumper installed Apply power and step pulses If fault does not occur the motor or its wir ing is defective AC voltage below 85 Volts Verify AC line voltage well above 85 volts Defective amplifier board If fault still occurs the prod
226. uct is defective Return to IDC for repair Temperature LED is on Heatsink temperature in creased above 65 C Increase cooling circulate more air past heatsink add FK1 fan kit use Standby mode or reduce duty cycle Regen LED is fully illuminated Means regen circuit is active This alone is NOT a problem Higher deceleration or load may cause a problem Adding an RPACK 1 may re duce drive heating Over Volt Interlock LED is on and Regen LED was fully illu minated before fault occurred Excessive Regen Use an RPACK and or reduce Decel Over Volt Interlock LED is flashing The interlock jumper is missing Install interlock jumper INTLK to INTLK on motor connector Motor connector disconnected opened or not seated correct ly Check the connection Recon nect wires if necessary Re seat the connector Symptom Possible Causes Chapter 10 Troubleshooting Possible Remedies Little or no holding torque on the motor the power LED is on and the Fault LED is off Drive is disabled Disable LED should be on Enable the amplifier from the RUN TEST SHUTDOWN menu from the keypad OR with the EA1 command from RS232 Motor not wired to drive Check motor wiring Current is set too low Check current setting rotary switches Troubleshooting Motor Performance Problems Motor stalls between 12 18 rps Wrong Anti Resonance setti
227. ur system If you are not using EOT switches jumper EOT and EOT to COMMON EOT wiring incorrect Change limit polarity Amplifier Fault A drive fault has occurred Check the fault LEDs for a spe cific fault Chapter 10 Troubleshooting 10 2 Symptom Possible Causes Possible Remedies Over Temperature Fault The drive has a fan kit and the fan is not turning With power off confirm the in ternal fan connection If con nected the fan bearings have probably worn Contact IDC to obtain a replacement fan Heatsink temperature has reached or exceeded 65 C 1 Enable Standby mode to re duce current by 3096 when the motor is at rest Verify your mo tor will have enough holding torque prior to enabling Stand by mode 2 Provide forced air cooling to your cabinet to reduce heatsink temperature 3 Purchase an IDC Fan Kit See your IDC distributor and order part number FANKIT 1 Over Current Fault The motor is miswired or inter nally shorted The SmartDrive is protected against such shorts but you will need to cor rect the problem to clear the fault With power off recheck connec tions Check SmartDrive current set ting to make sure you did not accidentally damage a winding by using more current than the motor is rated for Check to see the motor phases are not shorted to one another or to the case of the motor The resistance in each phase
228. x A distance Ends at Commanded Position Accompanying the programmable Registration Command is the configurable Registration Input G also G in Serial Setup Commands To configure a Registration input from the keypad choose EDIT gt SETUP gt I O gt INPUTS An input configured as a Registration Input will be designated by a G on the keypad input status display The RG Command will only function if the corresponding input has been configured as a Registration Input see note Note Registration Input is only configurable on input 1 for axis 1 and on input 2 for axis 2 System Performance when Using the RG Registration Command The input capture delay is 5us Worst case position error is 9 steps at 50 rps There is a Capture Window Position Lag associated with the RG Command which is a function of move velocity and the Position Capture Delay reaction time and can be calcu lated with the following equation Capture Window RG Position Capture Delay Velocity Steps Sec The Capture Window value is the number of steps accumulated between the falling edge of the Registration input and the time the current position is captured Depending on the FPGA hardware version of your Indexer this RG Position Capture Delay will either be 164 us or 5 us Chapter 6 Programming Commands The Registration Command is only available on firmware version 4 0 amp higher If you have FPGA version 5 9 or earlier the Capture Delay will be
229. y of Operators Functions and Expressions Name Program Name Variable amp amp Logical AND Logical OR Logical NOT l Not Equal Add Subtract Multiply Divide Equal Greater Than Less Than gt Greater Than or Equal to lt Less Than or Equal to amp Bitwise Boolean AND Bitwise Boolean OR Increment Variable Increment by n Decrement Variable Decrement by n lt lt Shift Left gt gt Shift Right 7 9 Chapter 7 Programming Your Application Multi axis Operation 7 10 IDC s IDeal command language is intuitive yet powerful enough for difficult applications The SmartDrives allow you to make multi axis synchronized moves or multiple independent moves that start at the same time Simple GO commands The most intuitive and simple programs utilize the GO commands Motion parameters for each axis are separated by commas Motion parameters consist of the AC DE VE and either DI or DA command These four parameters completely define the commanded motion profile The last parameter used by an axis is stored in a table The GO command uses the last DI or DA command processed to determine which axes move and how far they move For example AC2 5 Set acceleration of both axes VE10 3 Set velocity of both DI9 3 1 Set distance of each axis GO Start both together DI9 Moves only axis
230. ypad keys See Chapter 6 Programming Commands for a listing of all available commands Step by Step Example of Entering a New Program You must be inside the program editor as accomplished in steps 1 through 5 on the previous page To enter the program AC 3 VE2 DI1 GO 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Press F2 Press the 2 key This will enter the AC command Press the decimal or period key adjacent to the 9 key Press the 3 key Press ENTER Press F1 Press the 2 key This will enter the VE command Press the 2 key Press ENTER Press F2 Press the 1 key This will enter the DI command Press the 1 key Press ENTER Press F1 Press the 3 key This will enter the GO command You will see the display shown here AC 3 VE2 DI1 GO Chapter 4 Using the Keypad To Save the Program 1 Press ESC red octagon in lower left corner or keypad Save Program You will see a Save Program query as shown to the right YES NO 2 Press Fl YES or F3 NO To Edit an Existing Program Follow the same steps as in To Create a New Program and remember that e Inside the editor pressing ENTER inserts spaces which are used as delimiters for commands e Pressing DEL deletes characters e The left and right arrows or gt scroll through programs one character at a time e The up and down arrows T or J scroll through programs one line at a

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