Stepping Motor Cube with DeviceNet Reference Guide, GFK-2207
Contents
1. FANUC GE Fanuc Automation Programmable Control Products Stepping Motor Cube with DeviceNet Reference Guide GFK 2207 August 2002 GFL 002 Warnings Cautions and Notes as Used in this Publication Warning notices are used in this publication to emphasize that hazardous voltages currents temperatures or other conditions that could cause personal injury exist in this equipment or may be associated with its use In situations where inattention could cause either personal injury or damage to equipment a Warning notice is used Caution notices are used where equipment might be damaged if care is not taken Note Notes merely call attention to information that is especially significant to understanding and operating the equipment This document is based on information available at the time of its publication While efforts have been made to be accurate the information contained herein does not purport to cover all details or variations in hardware or software nor to provide for every possible contingency in connection with installation operation or maintenance Features may be described herein which are not present in all hardware and software systems GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made GE Fanuc Automation makes no representation or warranty expressed implied or statutory with respect to and assumes no responsibility for the accuracy2. completeness sufficiency or usefulness of the information contained herein No warranties of merchantability or fitness for purpose shall apply The following are trademarks of GE Fanuc Automation North America Inc Alarm Master Genius PROMACRO Series Six CIMPLICITY Helpmate PowerMotion Series Three CIMPLICITY 90 ADS Logicmaster PowerTRAC VersaMax CIMSTAR Modelmaster Series 90 VersaPro Field Control Motion Mate Series Five VuMaster GEnet ProLoop Series One Workmaster Copyright 2002 GE Fanuc Automation North America Inc All Rights Reserved Preface Content of this Manual This manual provides specifications installation and operation information for the IC800MCUB 12xx0XD Stepping Motor Cube with DeviceNet capability Related Publications The following publications are available at http www gefanuc com support plc m MotionSolutions htm Generation D RTOS Programming Manual GFK 2205 DeviceNet Reference Guide GFK 2208 IMC Hardware Manual GFK 2201 Target ARS Field Service Manual GFK 2200 IMCjr Hardware Manual Pub 330 DeviceNet Reference Guide for Early Firmware Revisions Pub 305 For an in depth DeviceNet resource please consult the DeviceNet Specification release 2 0 Errata 3 published by the Open DeviceNet Vendor Association www odva org GFK 2207 iii Chapter 1 Chapter 2 Chapter 3 Chapter 4 GFK 2207 Contents Specifications and Installation ssccccsssccsss
3. 10 degree Celsius hysteresis requires that the cube must cool to below 70 C before it can be enabled following an overtemperature condition Wiring diagrams for Stepping Motor Cube models are included in Chapter 5 User Connections Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 General Wiring Considerations All power must be in accordance with Class I Division 2 wiring methods as defined in Article 501 4 b of the National Electrical Code NFPA 70 for installations within the United States or as specified in Section 18 152 of the Canadian Electrical Code for installation within Canada Attach wiring connections for the main circuit according to Table 1 2 while observing the following cautions Never connect AC mains power to any terminals Never allow wire leads to contact the enclosure Never operate the unit without an earth ground WARNING When using this equipment in a Hazardous classified location A WARNING Explosion hazard substitution of components may impair suitability for Class I Division 2 B WARNING Explosion hazard when in hazardous locations turn off power before replacing or wiring modules C WARNING Explosion hazard do not disconnect equipment unless power has been switched off or the area is known to be nonhazardous Figure 1 2 Motor Cube Motor Power Wiring Description Connect to Wire Size AWG 24 or 8 Vde Motor Power 2 22 Frame Earth Ground Vmo
4. Stepping Motor Cube ships from the factory with default values for several parameters The drive s continuous current output for example is set to the default of 60 of the maximum continuous current rating of the drive Use attribute 101 of the Position Controller Object to set continuous current to the desired setting The power save current also defaults to 60 and may be adjusted to the desired setting using attribute 102 of the Position Controller Object See figure 2 21 for a complete list of attributes supported by the Stepping Motor Cube Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Using Stall Detection with the DeviceNet Stepping Motor Cube Setting Up Stall Detection The Stepping Motor Cube powers up with stall detection inactive The stall velocity threshold is 4 RPS for all models Users can activate stall detection by setting the five Position Controller attributes described in the following table Figure 2 3 Position Controller Attributes for Stall Detection Attribute Attribute Attribute Attribute Default Units ID Description Type Values 47 Following error Boolean 0 1 0 100 Fault code DINT 0 FFFFFFFF i6 111 Stall velocity DINT 50 000 2 500 000 pulses sec threshold 2 500 000 112 Bus voltage BYTE 0 24 50 0 Volts 113 Stall sensitivity INT 1 2 000 200 ms Added in revision 1 1 on above firmware Complete the following steps to
5. This can be a trade off if the motor performs very short position moves while at low velocities It is important to determine how long the motor will be above the stall detection threshold look at velocity vs time curve for the profile Ensure that the motor achieves a velocity above the stall velocity threshold for at least twice the time set in the Stall Sensitivity parameter On a different note motors with a higher torque constant will provide better results at lower velocities For example the Whedco 1231 motor will produce more accurate results at lower velocities than a Whedco 1216 motor Fastest Possible Detection Time You can achieve the fastest possible detection time in two ways 1 reduce the Stall Sensitivity time so that the controller will react more quickly to a stall Note that using too low a Stall Sensitivity time value may cause the Stepping Motor Cube to falsely detect stalls 2 use a higher Target Velocity with a higher Stall Velocity Threshold This works together with the Stall Sensitivity because velocities over 4 RPS provide accurate results and thus the Stall Sensitivity time can be lowered Selective Use If there is only one particular move in which you are interested in detecting stall you can selectively activate the stall feature by using Motor Voltage attribute 112 as an enable for stall detect By setting this attribute to 0 stall detection is disabled In other words you can set up the Stall Velocity Thres
6. activate stall detection 1 Determine the DC motor voltage applied to the Stepping Motor Cube It may be necessary to measure the voltage with a multimeter if there is some uncertainty about the accuracy of the supply rating Measure the motor voltage while the Stepping Motor Cube is enabled for the most accurate data 2 Round the DC voltage to the nearest integer During the initialization section of your code or elsewhere if preferred Set Position Controller Attribute 112 with DC motor voltage For tips on sending this message or others please refer to the Generation D Real Time Operating System DeviceNet Reference Guide GFK 2208 3 Determine the minimum velocity where stall detection is desired The controller will be sensing for a stall condition only while the actual velocity is above the Stall Velocity Threshold To detect stall the profile must have an actual velocity above this threshold for a time greater than the time set in the Stall Sensitivity attribute default 200ms For example if the profile ramps to a velocity of 10 RPS and is over 8 RPS for a minimum of 500ms selecting a stall velocity threshold around 5 RPS would be good starting point Of course this parameter can be tweaked in for the application Set Position Controller attribute 111 accordingly 4 Please note that stall detection can be used in both position and velocity modes Also it is recommended that the continuous current setting be at least 25 0 for sta
7. successful Set Attribute Single response is returned Causes the object to return the contents of the specified attribute to the requester If an error is detected an error response is returned otherwise a successful Get Attribute Single response is returned along with the requested attribute data Figure 2 20 lists the parameters that are specified within the service data field of service requests and successful service responses Figure 2 20 Service Data Field Parameters Set Attribute Single Data for Request Attribute ID USINT Identifies the Service attribute to be set Attribute Data Object class Contains the value Attribute specific to which the Struct specified attribute is to be modified Get Attribute Single Data for Request Attribute ID USINT Identifies the Service attribute to be read returned Service Data for Attribute Data Object class Contains the Success Response Attribute specific Struct requested attribute data Chapter 2 Basic Setup 2 15 DeviceNet Objects for Explicit Messaging This section identifies the objects in the Stepping Motor Cube and the services and attributes that they provide Figure 2 21 Motor Cube DeviceNet Objects Object Identity Class ID 01 Instance Service Service Attr ID Attribute Attribute Attribute Motor Cube Units Code
8. the drive Path Destination Unknown A produced axis number was requested that does not exist in the drive a lt eer ee GFK 2207 Chapter 2 Basic Setup 2 11 2 12 Figure 2 16 Type 1B os Position Controller Attribute Enable Current General Eaa Target Seas in Direction Fault Position Progress 11 Position Controller Attribute to Get L poi FE Fault ee 3 Response Axis Number 001 Response Message Type 1B m lt lt lt 6 Posion Contoller Atribute Value High Middle Byte Figure 2 17 Descriptions of Response Message Format Bits for the Stepping Motor Cube Byte Bit Name Action 0 0 Profile in This bit indicates that a profile move is in progress 1 profile in Progress progress 0 Profile not in progress 0 2 On Target This bit indicates whether the motor is on the last targeted position Position 1 Current position equals the last target position 0 3 General Fault This bit indicates the logical or of all fault conditions 1 general fault has occurred General faults include lost enable overcurrent undervoltage and invalid motion 0 4 Current This bit shows the current direction of the motor Ifthe motor is not Direction moving the bit will indicate the direction of the last commanded move 0 reverse or negative direction and 1 forward or positive direction 0 7 Enable This bit indicates the state of the drive enable A 1 indicat
9. 1 Stall velocity DINT 50 000 5 000 000 pulses se Single threshold 5 000 000 c pulses sec 1 Get Set Attr 0E 10 112 Bus voltage BYTE 0 24 50 Volts 0 VDC Single 1 Get Set Attr 0E 10 113 Stall INT 1 2 000ms 200 ms Single sensitivity Generation D RTOS Equivalent GFK 2207 Chapter 2 Basic Setup 2 19 2 20 Figure 2 22 Fault Code Attribute Bits and Fault Messages Stepping Motor Cube Explicit Message Position Controller Object Service Code 100 Hex Bit Message 0 2 Reserved 3 Lost Enable 4 15 Reserved 16 Invalid Motion 17 20 Reserved 21 Excessive Following Error 22 25 Reserved 26 4 3 Amp Motor Power Clamp Excessive Duty Cycle 7 2 28 Amp Motor Power Under Voltage 27 Reserved 28 Motor Over Current Fault 29 Reserved 30 Controller Over Temperature After a fault occurs the drive will become disabled To enable the drive use one of the following methods e DeviceNet Command Message implicit messaging set byte 0 bit 7 true e DeviceNet Explicit Message set Position Controller Attribute 17 to 1 Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Chapter Mechanical Drawing 3 Mechanical Specifications Stepping Motor Cube with Integral Drive and DeviceNet GFK 2207 3 1 Chapter User Connections and Network Settings 4 Stepping Mo
10. 2 Instance type USINT 0 1 n a n a Single 1 3 Get Attr OE 3 Transport BYTE 2316 8316 n a n a Single class trigger 1 3 Get Attr 0E 4 Produced UINT 0 7F016 n a n a Single connection FFFF 6 ID 1 3 Get Set Attr 0E 10 5 Consumed UINT 0 7F016 n a n a Single connection FFFF 16 ID 1 3 Get Attr 0E 6 Initial comm BYTE 0 1 2116 3316 n a n a Single characteristic s 1 3 Get Attr 0E 7 Produced UINT 8 24 n a n a Single connection size 1 3 Get Attr 0E 8 Consumed UINT 8 24 n a n a Single connection size 1 3 Get Set Attr 0E 10 9 Expected UINT 0 65 535 n a n a Single packet rate 1 3 Get Set Attr 0E 10 12 Watchdog UINT 0 1 3 n a n a Single timeout action 1 3 Get Attr 0E 13 Produced UINT 0 6 n a n a Single connection path length 1 3 Get Attr OE 14 Produced EPATH Empty n a n a Single connection 202424003021 path 6 1 3 Get Attr 0E 15 Consumed UINT 0 6 n a n a Single connection path length 1 3 Get Attr OE 16 Consumed EPATH Empty n a n a Single connection 202424003020 path Generation D RTOS Equivalent Chapter 2 Basic Setup 2 17 GFK 2207 2 18 Object Position Controller Supervisor Class ID 2416 Instance Service Service Attr ID Attribute Attribute Attribute Motor Cube Units Code Hex Descriptio Type Values Default n Value 0 Get Attr 0E 1 Revision UINT 2 n a n a Single 0 Ge
11. 48 Vde 10 2 4 Amps max Overvoltage Threshold 54 Vde 2 Vde Undervoltage Threshold 18 Vde 2 Vde Operating Temperature Free Air Ambient Storage and Shipping Temperature Length of Trunk Line thin cable 328 feet maximum thick cable 328 feet maximum 500 Kbaud 820 feet maximum 250 Kbaud 1 640 feet maximum 125 Kbaud Steps per Revolution Step Size 50 000 steps rev Notes for figure 1 1 a DC input power has undervoltage and overvoltage detection b The outputs are provided with internal overload protection IC800MCUB12160XD is 2 5A rms per phase GFK 2207 1 1 1 2 Installation Location Location of the Stepping Motor Cube is important to achieve proper performance and operating life The unit is designed with open construction The unit must be installed in an enclosure that protects personnel from contact with wiring terminals and provides a pollution degree 2 environment that protects the unit from e Corrosive gases or liquids e Vibration e Conductive pollution including extreme or condensing humidity and airborne metallic particles e Accidental contact by persons using the equipment e Temperature extremes beyond the equipment ratings Overtemperature Wiring The Stepping Motor Cube has an overtemperature detection circuit When the temperature of the logic electronics located inside the cube enclosure reaches 80 C 5 the drive will fault and become disabled Built in 5 to
12. Hex Descriptio Type Values Default n Value 1 Reset 05 Type of reset USINT 0 1 n a n a 1 Get Attr 0E 1 Vendor ID UINT 38 n a n a Single 1 Get Attr OE 2 Device type UINT 16 n a n a Single 1 Get Attr 0E 3 Product code UINT 0 65 535 n a n a Single 1 Get Attr 0E 4 Revision UINT UINT 1 4 10 99 n a n a Single 1 Get Attr 0E 5 Status WORD 0 65 535 n a n a Single 1 Get Attr 0E 6 Serial UDINT 0 2 1 n a n a Single number 1 Get Attr OE 7 Product SHORT_STRI Model number n a n a Single name NG Generation D RTOS Equivalent Object DeviceNet Class ID 03 Instance Service Service Attr ID Attribute Attribute Attribute Motor Cube Units Code Hex Descriptio Type Values Default n Value 0 Get Attr 0E 1 Revision UINT 2 n a n a Single 1 Get Attr 0E 5 Allocation BYTE USINT 0 255 0 63 n a n a Single info 255 1 Allocate M S 4B BYTE USINT 0 255 0 63 n a n a Connection Set 1 Release M S 4C BYTE 0 255 n a n a Connection Set Generation D RTOS Equivalent 2 16 Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Object Connection Class ID 05 Instance Service Service Attr ID Attribute Attribute Attribute Motor Cube Units Code Hex Descriptio Type Values Default n Value 1 3 Reset 05 n a n a 1 3 Get Attr 0E 1 State USINT 0 5 n a n a Single 1 3 Get Attr OE
13. Incremental n a Load Data Stop Stop Start Profile e Axis Command Message Type 03 Number 001 Response Axis Response Message Type Number 001 Acceleration Low Byte Acceleration Low Middle Byte Acceleration High Middle Byte Acceleration High Byte Acceleration Command Message Type 03 hex This double word defines the Profile Move s Acceleration in pulses sec when the Load Data Start Profile bit transitions from zero to one Figure 2 8 Type EA hex Deceleration Enable meals Smooth Direction E Cae Data Stop Stop V Mode Start Profile i Axis Command Message Type 04 Number 001 Response Axis Response Message Type Number 001 6 _ Desslertion High MiddleByte SSCS Deceleration Command Message Type 04 hex This double word defines the Profile Move s Deceleration in pulses sec when the Load Data Start Profile bit transitions from zero to one GFK 2207 Chapter 2 Basic Setup 2 7 Figure 2 9 Type 1B hex Position Controller Attribute po fee fe fe foes Pw ie Stop Stop V Mode Start Profile 6 Position Controller Atribute Value High Middle Byte Attribute Value Command Message Type 1B hex This double word defines the new value of the attribute to set when the Load Data Start Profile bit transitions from zero to one Object Attribute to Get Command Message Type 1B hex This byte specifies the Position Controller object attribute from which to get the value and return i
14. OL 0 1 0 n a Single profile handshake 1 Get Attr OE 12 On target BOOL 0 1 0 n a Single position 1 Get Set Attr 0E 10 13 Actual DINT 0 pulses Single position 2 000 000 000 Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Instance Service Service Attr ID Attribute Attribute Attribute Motor Cube Units Code Descriptio Type Values Default Hex n Value 1 Get Attr 0E 14 Actual DINT 5 000 000 0 pulses se Single velocity c 1 Get Attr 0E 15 Commanded DINT 2 147 483 648 0 pulses Single position to 2 147 483 647 1 Get Set Attr 0E 10 17 Enable BOOL 0 disable 0 n a Single 1 enable drive 1 Get Set Attr 0E 10 20 Smooth stop BOOL 0 1 stop 0 n a Single 1 Get Set Attr 0E 10 21 Hard stop BOOL 0 1 halt 0 n a Single 1 Get Set Attr 0E 10 23 Instantaneou BOOL 0 negative or 0 n a Single s direction reverse 1 positive or forward 1 Get Set Attr 0E 10 24 Reference BOOL 0 forward is 0 n a Single direction CW 1 forward is CCW 1 Get Attr OE 47 Following BOOL 0 1 0 n a Single error fault 1 Get Attr 0E 58 Load data BOOL 0 1 0 n a Single complete 1 Get Attr OE 100 Fault code UDINT 0 8 LE n a Single see table FFFFFFFFi6 2 22 1 Get Set Attr 0E 10 101 Continuous INT 1 1 000 600 10 Single current 1 Get Set Attr 0E 10 102 Power save INT 0 1 000 600 10 Single current 1 Get Set Attr 0E 10 11
15. by another device on your network Set Data Rate DeviceNet can run a network data rate or baud rate of 125 250 or 500 Kbaud Point the arrow labeled DATA RATE KB to the desired data rate All nodes on the network must be at the same network data rate Figure 2 1 DeviceNet Connections on the Stepping Motor Cube Connect DeviceNet Hardware Follow the instructions provided with your non GE Fanuc DeviceNet hardware to connect your trunk line drop lines Ts terminating resistors and power supplies GFK 2207 2 1 2 2 Connect the Stepping Motor Cube to DeviceNet Each Stepping Motor Cube requires its own dropline Stepping Motor Cubes with DeviceNet communication feature E a standard microconnector on the top of the unit to join the Stepping Motor Cube to the DeviceNet trunkline l A456 Connect the microconnector end of the l i DeviceNet dropline to the DeviceNet port on the top of the unit See figure H 2 2 for the connector location Connections on the Stepping Motor Cube Connect and Apply DC Power The Stepping Motor Cube is designed to operate with motor power voltages of 24 or 48 Vdc Connect the female three pin power cable to the power connector on the top of the unit Connect the opposite end of the cable to your 24 or 48 Vdc power supply Internal logic power is supplied on the DeviceNet cable V pin 2 red and V pin 3 black Configure the System The
16. cccsscccssssccsssscccsssscssssssssesseeeees 1 1 SPECLEIG ALIONS sos sec aye cgac ates a E EEE te las EEE E ES eed te EEEE ONEN ae eens EE os 1 1 Trista lation cite slates tocedsceese vies ste starsat ote doc N AE A AAA E A E AE E 1 2 LOCATION neea e cde ea e E E EE REE sbaleeleselbebobessadesetelacestoba Mel asetes 1 2 Overtemperature innn a a eae a a gale ae Si 1 2 Winastan era aaa e a e a T E A E haces betwee N E 1 2 General Wiring Considerations eesseeeesseseessesressesrtesesressetrtsstentestessesrrsserrrsseeeteseest 1 2 Input Mains Wiring and Grounding eeesseeeeeseeeeesesreesesressersrssresresressesrrsresrrssesressent 1 3 Motor and Drive WINS oneei p ra EEE EE E A E EEE E 1 3 BS QSIC SOC EES EE E EE 2 1 Gette Started siese ene en a aeae de ae EE aae Eoaea ee tee 2 1 Configure Motor Cube for DeviceNet cece ceeceseceseeeseeeeeeeeaeeeseecaeecaaecsaecnaeenaeens 2 1 Connect DeviceNet Hardware 00 eeccssecsseceseceseceseceseeeseessneeeneeeaeecaaecaaecsaecsaeeaeens 2 1 Connect the Stepping Motor Cube to DeviceNet 0 cece eeecceesseceececeeeeeenaeeeeneeeeeees 2 2 Connect and Apply DC Power sniene nieri at a i e a e a 2 2 Configure the System ssie iee aese ineen iaee E REES ae EEEE aesae aeaaea 2 2 Using Stall Detection with the DeviceNet Stepping Motor Cube eesseeeeneeeeereerse 2 3 Setting Up Stalll Detection sinter R hen EEE eee E E EE 2 3 How to Determine if a Stall Occurred 00 eee eeceeeceeeeeeeeeeeeeeneeeseecaeecaaec
17. es the drive is active 2 7 Load Complete A 1 in this bit indicates that the command data contained in the command message has been successfully loaded into the device FE Fault A 1 in this bit indicates that the motor has stalled 0 4 Response This byte defines the Response Message Type Message Type 3 5 7 Response Axis These three bits will always be set to 001 to indicate axis 1 Number Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 DeviceNet I O Handshaking Procedure Two bits are used to provide handshaking between command and response messages the Load Data Start Profile bit i e bit 0 of byte 0 and the Load Complete bit e bit 7 of byte 2 The Load Data Start Profile bit is used to synchronize data transfers between the master and the Stepping Motor Cube The Stepping Motor Cube acts on the data contained in an input message only when the Load Data Start Profile bit is true In each data transaction example reset the Load Data Start Profile bit before writing new data into the scanner output table Use the Load Data bit to ensure that a complete data set is written into the scanner output table before the Load Data Start Profile bit is set true Figures 2 18 and 2 19 flowchart the procedures for Client Data Loading and Client Profile Move GFK 2207 Chapter 2 Basic Setup 2 13 2 14 Load Command Data Values Command Axis Number and Command Type into Command Message Se
18. hold and the Stall Sensitivity time for the application at hand Then only before certain moves the Motor Voltage can be set to its correct value When the move is complete set the Motor Voltage to 0 This will not change the Stall Velocity or the Stall Sensitivity Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Use On board LEDs to Diagnose System Faults Status LEDs labeled NET and MOD are located on the top of the Stepping Motor Cube just above the DeviceNet connector Figure 2 4 details the LED diagnostics Figure 2 4 LED States NET Network LED Flashing Green Online Not Connected Device is online but has no connections in the established state Green Link OK Online Connected The device is online and has connections in the established state Flashing Red The I O Connection is in the Timed Out state Red Critical Link Failure Failed communication device The device has detected an error that has rendered it incapable of communication on the network Check for another device with the same node address and ensure that all devices are set to the same data rate MOD Module Status LED Off No power is applied to device Flashing Green Red Device is in self test Green Device is operational Flashing Red Device has detected a recoverable fault Red Unrecoverable Fault Device has detected an unrecoverable fault may need to be replaced GFK 2207 Chapter 2 Basic Setup 2 5 DeviceNet Com
19. ll to operate as lower settings tend to add errors How to Determine if a Stall Occurred GFK 2207 When the Stepping Motor Cube detects a valid stall condition Attributes 111 113 are set correctly the controller will fault The fault status for stall can be retrieved implicitly I O or explicitly Implicitly bit 5 of byte 2 in any response message will have the FE Following Error Chapter 2 Basic Setup 2 3 fault bit If FE Fault 0 then a stall has not been detected if FE Fault 1 then a stall occurred Explicitly stall can be check in two ways First by accessing Position Controller Attribute 47 which is the attribute for Following Error Again the fault flag is 1 stalled 0 no stall Also this flag is present in the Fault Code attribute Position Controller Attribute 100 In this attribute the FE Fault is bit number 21 Tips on Using Stall Detection 2 4 The goal of using stall detection should be to have 100 accurate detection This is possible for most applications Of course there are always tricks to a trade and following are some suggestions to optimize your use of stall detection Tweaking the Lowest Possible Velocity Threshold In some applications the profile never achieves a high velocity In general stall detection becomes less accurate under 4 RPS It is possible however to tweak in stall detection to perform well at 1 RPS For the best accuracy at lower velocities increase the stall sensitivity time
20. mand Messages Supported by Stepping Motor Cube See page 16 for the complete DeviceNet I O handshaking between command and response messages for each of the following command messages types Figure 2 5 Type 01 hex Target Position Enable Hard Smooth Direction Incremental n a Load Data Stop Stop V Mode Start Profile ee Axis Command Message Type 01 Number 001 Target Position Low Byte Target Position Low Middle Byte Target Position High Middle Byte Target Position High Byte Response Axis Response Message Type Number 001 4 Target Position Command Message Type 01 hex This double word defines the profile move s Target Position in pulses when the Load Data Start Profile bit transitions from zero to one Figure 2 6 Type 02 hex Target Velocity Enable Hard Smooth Direction Incremental n a Load Data Stop Stop V Mode Start Profile e Axis Command Message Type 02 Number 001 Response Axis Number Response Message Type 001 4 Target Velocity Low Byte Target Velocity Low Middle Byte Target Velocity High Middle Byte Target Velocity High Byte Target Velocity Command Message Type 02 hex This double word defines the Profile Move s Target Velocity in pulses sec when the Load Data Start Profile bit transitions from zero to one 2 6 Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Figure 2 7 Type 03 hex Acceleration Enable n a Hard Smooth Direction
21. n Fault Position Progress it FE Fault eee 3 Response Axis Number 001 Response Message Type 03 a AstalVelociy High Middle Bye oo Actual Velocity Response Message Type 03 hex This double word reflects the actual velocity in pulses second Figure 2 14 Type 14 hex oe ae Error Enable Current General Eaa Target een Profile in Direction Fault Position Progress Reserved 0 pt FE Fault eee 3 Response Axis Number 001 Response Message Type 14 oe ee C Comin Mesge Bye SCS General Error Code Response Message Type 14 hex This byte byte 4 identifies an error has been encountered Figure 2 15 summarizes specific behavior for the position controller profile Additional Code Response Message Type 14 hex This byte byte 5 contains an object service specific value that further describes the error condition If the responding object has no additional information to specify then the value FFhex is placed within this field Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Figure 2 15 DeviceNet Error Codes Reported in Message Type 14 hex General Additional Response Semantics Code Code O8hex Ol nex Service Not Supported Command Message type not supported Additional code 01 takes precedence over additional code 02 Service Not Supported Response message type not supported O5 hex Path Destination Unknown A consumed axis number was requested that does not exist in
22. n the response message Object Attribute to Set Command Message Type 1B hex This byte specifies the Position Controller object attribute to set to the new value defined by the attribute value when the Load Data Start Profile bit transitions from zero to one Figure 2 10 Descriptions of Command Message Format Bits for the Stepping Motor Cube Byte Bit Name Action 0 0 Load Data Set from zero to one to load command data The transition of this bit Start Profile from zero to one will also start a Profile Move when the command message type contained in the command message field is the message type that starts a Profile Move for the mode selected 0 2 Incremental This bit is used to define the position value as either absolute or incremental 0 absolute position value and 1 incremental position value 0 3 Direction This bit is used to control the direction of the motor in Velocity mode V Mode 1 forward positive and a 0 reverse negative 0 4 Smooth Stop This bit is used to bring the motor to a controlled stop at the currently implemented deceleration rate Hard Stop This bit is used to bring the motor to an immediate stop 7 Enable This bit is used to control the drive enable Clearing this bit will disable the drive If there is a motion Profile in Progress when the drive is disabled the currently executing motion profile will be aborted 2 0 4 Command This field defines
23. naecaeenaeens 2 3 Tips on Using Stall Detecttomissgac csc eee ideas snes ae eaii aiai need 2 4 Use On board LEDs to Diagnose System Faults 0 0 0 ee ee eeeeeeeeeereeeeeeeecaecnaeenaeenaeens 2 5 DeviceNet Command Messages Supported by Stepping Motor Cube eee 2 6 DeviceNet Response Messages Supported by Stepping Motor Cube ce eeeeeeeeee 2 9 DeviceNet I O Handshaking Procedure 0 0 0 e ce eesceseceseceseceseceseceseeeseeeeeeeeneseaeeeseeenaeenaes 2 13 Sending Explicit Messages c is s ccstipssaseth ses cel aia lee eds see ae 2 15 DeviceNet Objects for Explicit Messaging eeeeseceseceseceseceseceseeeseeseneeeneesseeeneeenaes 2 16 Meecha nical Drawing isc ccsccccsecsiecsssasesdsoousvecnenssenesscbuassoouwescsossssadescesseassoaseocassnveads 3 1 Mechanical Specifications s c nee ees ct based n anre ss dies gies edee eaea eoit tiie eii 3 1 Stepping Motor Cube with Integral Drive and DeviceNet eee ceeeeeeeeeeeeeeeees 3 1 User Connections and Network Settings sccccscccssssccssscccsssesscssscssssseees 4 1 Stepping Motor Cube with Integral Drive and DeviceNet 0 cece ceeeeeeeeeeeeeeees 4 1 v Contents vi Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Chapter Specifications and Installation l Specifications Figure 1 1 Specifications for Stepping Motor Cube with DeviceNet DC Input Power Requirements Drive Input Voltage Operating Range 24 Vdc 20 2 4 Amps max
24. t Load Data Start Profile bit 1 Is Load Data Complete bit in response message 1 Has error response message been received Is Load Data Complete bit in response message 0 Figure 2 18 Client Data Loading Procedure Yes Yes Error Set Load Data Start Profile Process bit 0 a in Progress bit in Call Client Data Loading Procedure response message 0 Figure 2 19 Client Profile Move Procedure Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 Sending Explicit Messages The Explicit Messaging Connection is a generic multipurpose communication path between two nodes Explicit messages travel from client to server The client originates a message or request the server reacts to the message with a response The client s DeviceNet services usually generate message identifiers and headers automatically Explicit messages use the DeviceNet objects that reside within the Stepping Motor Cube Those objects support services that allow you to get set attributes to and from your Stepping Motor Cube over DeviceNet The services perform as described below Set Attribute Single Service Get Attribute Single Service Modifies an attribute value within the DspMotion controller The service validates any attribute data before it accepts the modification If an error is detected an error response is returned otherwise a
25. t Set Attr 0E 10 32 Consumed ARRAY of See figures 2 5 n a n a Single command BYTE 2 9 message 0 Get Attr OE 33 Produced ARRAY of See figures 2 11 n a n a Single response BYTE 2 16 message 1 Get Attr OE 3 Axis number USINT 1 1 n a Single 1 Get Attr 0E 5 General fault BOOL 0 1 fault 1 n a Single condition exists 1 Get Attr 0E 6 Command USINT 1 4 27 n a n a Single message type 1 Get Attr 0E T Response USINT 1 3 20 27 n a n a Single message type Generation D RTOS Equivalent Object Position Controller Class ID 2516 Instance Service Service Attr ID Attribute Attribute Attribute Motor Cube Units Code Descriptio Type Values Default Hex n Value 0 Get Attr OE 1 Revision UINT 2 n a n a Single 1 Get Attr OE 1 Number of USINT 26 26 n a Single attributes 1 Get Attr 0E 2 Attribute list ARRAY of 1 3 6 15 17 same as n a Single USINT 20 21 23 24 attribute values 47 58 100 102 111 113 1 Get Set Attr 0E 10 3 Mode USINT 0 position 1 0 n a Single velocity 1 Get Set Attr 0E 10 6 Target DINT 2 147 483 648 0 pulses Single position to 2 147 483 647 1 Get Set Attr 0E 10 7 Target DINT 5 000 000 1 pulse Single velocity 1 Get Set Attr 0E 10 8 Acceleration DINT 100 100 pulse sec Single 000 000 000 z 1 Get Set Attr 0E 10 9 Deceleration DINT 100 100 pulse sec Single 000 000 000 2 1 Get Set Attr 0E 10 10 Incremental BOOL 0 absolute 0 n a Single position flag incremental 1 Get Set Attr 0E 10 11 Load data BO
26. the Command Message Type Message Type 2 5 7 Command These three bits will always be set to 001 to indicate axis 1 Axis Number 3 0 4 Response This field defines the Response Message Type Message Type 3 5 7 Response Axis These three bits will always be set to 001 to indicate axis 1 Number Stepping Motor Cube with DeviceNet Reference Guide August 2002 GFK 2207 DeviceNet Response Messages Supported by Stepping Motor Cube GFK 2207 Figure 2 11 Type 01 hex Ea Position Enable Current General EZA Target e Profile in Direction Fault Position Progress e FE Fault Ao 3 Response A Axis Number 001 Response Message Type 01 a O I I IIE e AewalPosion High Middle Byte OOo Actual Position Response Message Type 01 hex This double word reflects the actual position in pulses If position feedback is not used this word will report the commanded position Figure 2 12 Type 02 hex Commanded Position Byte Bit7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 n a n a Current General On Target n a Profile in Direction Fault Position Progress pf FE Fault zA 3 Response Axis Number 001 Response Message Type 02 oe 6 Commanded Poston High Middle Be SSS Commanded Position Response Message Type 02 hex This double word reflects the commanded position in pulses Chapter 2 Basic Setup 2 9 2 10 Figure 2 13 Type ae hex Actual Velocity Enable Current General el Target ETa Profile in Directio
27. tor Common 24 or 48 Motor Power Common Notes for figure 1 2 a DC input power has undervoltage and overvoltage detection Overvoltage threshold is 54 Vde 2 Vdc Undervoltage threshold is 18 Vdc 2 Vdc b Suggested maximum AWG size i e minimum wire diameter for stranded copper wire Consult National Electrical Code Handbook ampacities tables for proper wire size Input Mains Wiring and Grounding The DC power input connections are made to the connector located on the top of the Stepping Motor Cube The unit is designed to operate with motor power voltages of 24 or 48 Vdc Motor and Drive Wiring The motor and drive components of the Stepping Motor Cube are factory wired and must not be disconnected Do not attempt to remove the motor connector or to connect the drive electronics to any external motor GFK 2207 Chapter 1 Specifications and Installation 1 3 Chapter Basic Setup 2 Getting Started This section describes the basic setup procedure for the Stepping Motor Cube Follow this procedure to connect and configure the Stepping Motor Cube Configure Motor Cube for DeviceNet Set Node Address Ensure that power to the unit is off Point the arrow labeled MSD to the first digit of the node address sometimes called MAC ID Point the arrow labeled LSD to the second digit of the node address Figure 2 1 shows a node address set to 33 Node addresses may be any number from 00 through 63 that is not used
28. tor Cube with Integral Drive and DeviceNet Models IC800MCUB12160XD IC800MCUB12210XD IC800MCUB12310XD PGM e e JATA RATECKB STATUS os N c LEEEEEEEJ I 30 Oo o1 POWER GFK 2207 GFK 2207 W Wiring 1 2 C Command Message Types Target Position 2 6 Configure Motor Cube for DeviceNet 2 1 Configure the System 2 2 Connect and Apply DC Power 2 2 Connect DeviceNet Hardware 2 1 Connect the Stepping Motor Cube to DeviceNet 2 2 E Explicit Messaging Connection 2 15 G General Wiring Considerations 1 2 Get Attribute Single Service 2 15 H How to Determine if a Stall Occurred 2 3 Input Mains Wiring and Grounding 1 3 Installation 1 2 L Location 1 2 Mechanical Specifications 3 1 Motor and Drive Wiring 1 3 O Overtemperature 1 2 S Set Attribute Single Service 2 15 Setting Up Stall Detection 2 3 Specifications 1 1 T Target Position 2 6 Index Index 1
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