Target Automation Rack System Hardware Manual, GFK
Contents
1. Motor Frame Ground Cable Shield Appendix B Specifications Appendix C Rack Mounting Dimensions Target ARS Rack Mounting Dimensions Dimensions are shown in inches MOUNTING HOLES 25 X 5 4 PLACES 14 75 9 1 29 18 21 0 19 00 Panell Mounting Dimensions Appendix C Rack Mounting Dimensions Target ARS Rack Mounting Dimensions Dimensions are shown in inches WIRE TIE HOLES 1 20 8 68 ern 000 gt Side View Appendix C Rack Mounting Dimensions C Section GFK 2200A ii Target ARS Troubleshooting Guide m Target Troubleshooting Approach 2 Troubleshooting Flowcharts 3 Module Drawings 4 Fault and Status Registers 5 Complete List of Registers and Commands Flash Memory Save and Retrieve a O Target Memory Uploading to a File 8 Target Memory Downloading Files 2 1 Target Troubleshooting Approach 1 Identify module with no OK lamp 2 Check hardware and wiring associated with module 3 If problem is not resolved connect computer with CCS Connect serial cable to Target Program Port 4 Examine system fault code FCS and system status SRS 5 Examine fault code and status of module reporting a problem 6 Identify and correct problem A Power Module Check Start Power Module Check Is the Motor LED on Is the Rack LED on Is the Rack OK LED on End of power module check NO No2. J2 ajo jO DOOR IN OPEN POSITION N NI aj aj ojos O CO CO Un E An optional expansion card is available duplicates the pin outs shown 12 24 VDC 12 24 VDC SINKING CONNECTION 1 2 5 4 5 6 7 8 9 MOOR WH O 12 24 VDC N Un JN gt J 12 24 VDC O w NOTES 1 Outputs are 100 ma maximum Appendix A Wiring Diagrams DOOR IN OPEN POSITION Analog c3 OK DEM RH ee si 1 H a N ta gt o gt gt gt gt gt o o D o o o iZ OZ 61 8l Analog Input Output Module SOURCING CONNECTION CONNECT REMAINING 3 INPUTS 4 6 7 9 10 12 THE SAME AS 1 3 SHOWN ABOVE TE CONNECT REMAINING 3 OUTPUTS 16 17 18 19 AND 20 21 THE SAME AS 14 15 SHOWN ABOVE An optional expansion card is available It duplicates the pin outs shown Appendix A Wiring Diagrams Appendix B Specifications Specifications Motion Parameters Absolute Position Register Incremental Move Distance Acceleration Deceleration 100 Acceleration Deceleration Percent 00d 99 percent a The unit ratio is used to convert to engineering units To determine the range
3. In additon make sure that the expansion axis module is pushed all the way into the rack End of Expansion Axis Module Check One or more of the axes are faulted Check the fault code message for each of the faulted axes by type FCAa where ais the axis number and refer to Appendix F in GFK 2205 Axis Fault Code Messages This will give possible causes and solutions to the fault condition F Servo Module Check Start Servo Module Check No Is the Power LED on Yes Is the OK LED on End of Servo Module Check Either the servo module is not pushed all the way in or the motor power is off Check connections The servo module is faulted Check the fault code message for the related axis by typing where a is the axis number and refer to Appendix GFK 2205 1 Fault Code Messages This will give possible causes and solutions to the fault condition G Analog Module Check Start Analog Module Check Is the OK LED on End of Analog Module Check Either the analog module 1 not pushed all the way into the rack or it 1s faulted 1 Check to see if the module is not assigned correctly by typing AME and refer to Appendix F in GFK 2205 Module Assignment Error Messages This will give possible causes and solutions to the fault condition 2 Check to see if the module is not communicating correctly by typing SRC
4. and refer to Appendix in GFK 2205 Communication Status Messages This will give possible causes and solutions to the fault condition H Digital DC Module Check Start Digital DC Module Check Either the digital module is not pushed all the way into the rack or it is faulted Is the OK LED on 1 Check to see if the module 1 not assigned correctly by typing DME d refer to A dix F in GFK 2205 End of Digital DC Module Check Module Assignment Error Messages This will give possible causes and solutions to the fault condition 2 Check to see if the module 15 not communicating correctly by typing SRC and refer to Appendix in GFK 2205 Communication Status Messages This will give possible causes and solution to the fault condition 3 SRDMn where n is the number of the digital I O module to find out if there 1s some other fault condition Refer to Appendix F in GFK 220Digital I O Module Status Messages If the message is Output Fault check the message Digital Output Fault for possible solutions If the message is Supply Fault one possible solution is to check for a short on the power supply Field Service Fault and Status Registers Use CCS to query the Fault and Status registers T ARE EIE Motion Status Register RAMm DMM SMa m Servo Module Status Register IOAa Axis a VO Status B21 B22 Prog
5. Motor power is off Check to see if rack is plugged in Also check to make sure that the power module is pushed all the way into the rack Rack power is off Check to see if rack 1 plugged in Also check to make sure that the power module is pushed all the way into the rack Rack power is low Check connections Also check to make sure that the power module 1s pushed all the way into the rack B System Module Check Start System Module Check No way in or it is faulted If the module is all the Either the system module is not pushed all the way in check fault code by typing FCS and refer to Appendix F in GFK 2205 System Fault Code Messages This will give possible Is the OK LED on causes and solutions to the fault condition s the terminal communicating with the system module No s N The system module is not receiving characters gli E from the terminal Check the connection from E ME n the terminal to the program port on the terminal Yes The system module is receiving characters from the terminal but is not transmitting them back to the terminal Check the serial No port cable by disconnecting the cable which should go from the terminal to the program port from the program port Connect a Does the Tx LED flicker when you type n inal i i i i on the terminal jumper wire from pin 2 receive to pin 3 transmit see diagram
6. REPEAT RETURN description enables auto retrieving of user memory from the flash memory card on power up automatically sets control constants prompts for change of password clears all user memory and resets registers to factory defaults copies extended memory card to flash memory card in firmware slot copies extended memory card to RAM memory card in firmware slot downloads firmware and saves in the flash memory card reports memory remaining automatically sets up motor constants prompts for password retrieves user memory from the flash memory card to BBRAM resets axis faults resets system and all axes faults resets system faults retrieves firmware from the flash memory card and puts it in code memory disables all other commands except SVF saves user memory from BBRAM to the flash memory card secures user memory space sets axis fault sets system and all axes fault sets system fault saves firmware in the flash memory card from code memory can only be used after RTF enables all command exits editor deletes current statement in editor ends program or motion block and exits editor executes motion block executes program executes command stored in string variable enters editor and makes statement which faulted system current statement unconditionally gosubs label unconditionally gotos label conditionally gosubs label conditionally gotos label kills all programs kills program ma
7. placed in the front for rack mounting If you have multiple racks mounted on the same panel the racks are mounted such that there is a minimum distance between them as shown in the diagram at left There should be at least 4 inches of space on the top of the rack and 6 inches of space on the bottom so that each rack will receive an adequate amount of air flow 4 Installation amp Expansion D Module Expansion In this section we will show you how to expand the axis analog I O and digital VO modules Specifically we will show you how to expand a two axis module to a four axis module z expand an analog I O module from 4 inputs 4 outputs to 8 inputs 8 outputs expand a digital I O module from 16 inputs 16 input outputs to 32 inputs 32 input outputs The steps to expand each of the modules are very much the same Basically you will need to take the module apart put in the expansion card and put the module back together Before starting you will have to remove the module from the rack if you have not done it already After the module has been removed follow these steps to expand the module 1 Remove the screw in the upper right hand corner of the module housing using a Phillips screwdriver 2 Remove the six screws which are on the perimeter of the plate of the module using a Phillips screwdriver Do not remove the three screws in the upper left hand corner of the plate 3 Carefully slide t
8. Target system such as the diagnostic commands In these and other cases this section will show how to use these tools to help identify system problems clearly Digital pc The three main topics of this section are as follows A Hardware e g voltmeter ohmmeter scope PC B Diagnostic Commands C CCS Controller Communication Software A Hardware These are the four different types of hardware that are needed to diagnose any system problem Voltmeters are used to check voltages on digital and analog inputs and outputs AC power and individual power supplies 2 Ohmmeters are used to check for shorts opens and bad resistors NOTE Normally these first two hardware tools are combined into what is called a digital multimeter An example of a digital multimeter is shown at right An optional expansior card is available duplicates the pin outs shown by an oscilloscope and can be adequately ES checked by a voltmeter Scopes can also be the actual signal of interest as opposed to a multimeter which can only give a numerical 3 Oscilloscopes are used to check voltages on inputs and outputs and power supplies but NOT AC power The voltages that occur on an AC power line are much too large to be handled used to check encoder outputs and pulse information Since oscilloscopes can display voltage reading they can be used to check not only voltage levels but noise levels as well z
9. below and type on the terminal The characters you type in should be echoed back to the terminal Yes End of system module check C Expansion Module Check Start Expansion Module Check Is the OK LED on End of expansion module check Nia The expansion module 1 not communicating with the system module Check the system expansion cable connection Also make sure to check the system module and or power module to see if they are working correctly In addition make sure that the expansion module is pushed all the way into the rack D Axis Module Check Start Axis Module Check Either the axis module 15 not pushed all the way into the rack or one or more of the axes are faulted If the module is all the way in check the fault code No Are all of the OK LEDY on message for each of the faulted axes by type FCAa where 15 the axis number and refer to Appendix F in GFK 2205 Axis Fault Code Messages This will give possible causes and solutions to the fault condition End of Axis Module Check E Expansion Axis Module Check Start Expansion Axis Module Check The expansion axis module 1s not communicating with the system module Check the system expansion cable connection Also make sure to check the system module and or power module to see if they are working correctly Are all of the OK LEDs on
10. card into the correct slot For example if you are inserting a new flash memory card insert it into the upper slot NOT the lower slot onan which is reserved for the expanded memory card Non Volatile Make sure that the pins the memory card ry line up correctly before pushing the card all the way in Extended Also after you have inserted the card make sure that it Battery Backed is firmly seated Memory optional B Module Wiring In this section we will show you how the modules are wired The wiring should be done in a certain way so that you can save time if you have to diagnose system problems later on In the diagram at right we see the connectors that are used to attach to the modules see These are quick disconnect connectors which are easily attached and removed Note that not all modules have these For example the power module has a connector that 15 not quick disconnect it needs to be disconnected using a screwdriver The wires that come out from the connectors should go down to the bottom of the rack The wires of all the modules should then be grouped together using a wire tie as shown see B2 This is done so that if the fan tray which is on the bottom of the module needs to be removed the wires will not be in the way Also the air flow through the bottom of the module will not be blocked 260 Installation amp Expansion It is possible to have more than one servo modu
11. far left slot of the rack Motor Rack Rack O K It is used as a power supply for the Target system On the front face of the power module there are three LEDs see A I which give information about the status of the module and the rack The Motor LED is on when the motor power is on the Rack LED is on when the rest of the power to the rack is on and the Rack OK LED is on as long as the power to the rack is OK For example if the Rack OK LED is off the rack power may be low There is a connector on the side of the power module whose function is to supply power to the rack and therefore to other modules SIDE VIEW SHOWING CONNECTOR B System The system module is the main part of the Target system It contains the flash and extended memory cards serial port connections and connectors that are used to link additional racks to the main rack Note that the system module is always in the main rack On the front face of the system module there are three LEDs see BI which give information about the status of the system module The LED is on whenever the program port of the system module is receiving characters the Tx LED is on whenever the program port is transmitting characters and the OK LED is on as long as the system is OK The flash memory card see B2 contains the programs necessary to run the system The extended memory card see B3 contains memory available for variables this ca
12. position PSAa axis velocity VLAa control output CMDa or variable values VBn VIn etc A line of diagnostic items can be printed to the terminal using the DGL command See the command summary for more information Alternatively you can tell the controller when to print a diagnostic line of items to the terminal by setting diagnostic conditions When a diagnostic condition is met then a diagnostic line items will be printed to the terminal The DGC command can be used to define up to eight diagnostic conditions Diagnostic conditions can be set to any boolean expression for example you can set DGCI to program n executing PROGn timer n timed out TMn or axisn motion generator enabled SRAn 0 Note that only one of the eight diagnostic conditions needs to be satisfied for the controller to output the diagnostic line of items 3 Examples Here are two examples which show you how to use some of the diagnostic commands above to troubleshoot the system The examples follow directly from the troubleshooting chart in Chapter 4 Diagnostic Tools 3 3 a Example of an Axis Module Check Let s say that in diagnosing the Target system you find out that on the axis module the OK LED for axis one is off and therefore axis one 15 faulted Then using a PC running a terminal program you would type FCAI to check for the type of fault that has occurred on axis one Now let s say that you get the message Motor Over Temperature
13. should be set to the default of 9600 Under Controller Address select Target If the Target has just been powered up a message will appear indicating the controller address is not valid or baud rate is not correct Indicate OK Each time the Target is powered up the software must be initialized by sending several carriage returns Hit the enter key five 5 times to complete this initialization 3 Once initialized the system will respond with the Target Automation Rack and Network Address If the system fails to initialize check the Troubleshooting Checklist for possible solutions Diagnostic Tools 3 5 Terminal Mode CCS software allows easy communication with the Target from a PC AT compatible computer providing a terminal EE Ro emulator for direct communication Target Automation Rack Network Address 7 Target Automation Rack Network Address 7 Target Automation Rack 4 Network Address 7 To initialize CCS the Com Port Controller Address Target and Baud Rate default 9600 must be specified Troubleshooting Checklist If CCS fails to initialize check the following 1 Be sure the Target is connected to the power source 2 Be sure the serial cable is connected to the System module at program port J3 see Rack amp Module Description on page 2 for location and to Com Port on PC Be sure to note which Com Port is used so correct Com Port can be specified in Settings in CCS 3 Be
14. sure correct Controller Address is specified This must be Target 4 Be sure the default baud rate of 9600 15 specified Target will automatically set the correct baud rate after the system is initialized 5 The Rx LED on the System module should flicker when typing characters to the terminal If the LED does not flicker the System module is not receiving characters from the terminal If the Rx LED is working but the TX LED does not flicker the System module is not transmitting back to the terminal and no characters will appear on the screen 6 CCS also has a Help menu that includes on line troubleshooting tips 3 6 Diagnostic Tools 1999227 137 41999226 598 1999226 002 1999225 464 1999224 924 1999224 384 Queries may also be performed by selecting Start from the Query Menu 1999227 1999226 1999225 1999225 1999224 1999224 at 500 ms Help corer TANT ARAN Query Mode query function provides on screen real time reporting on machine parameters Oueries can be performed in the Terminal Mode by typing the mnemonic command followed by and a carriage return 1 e SRS You may specify up to five different queries which will all be reported simultaneously as well as a query rate in milliseconds Enter the desired queries the query rate and then select OK CCS will send all queries to the Target if all are valid If any query 15 invalid an error messag
15. to the main rack It is inserted in a second and possibly third rack The system module has two 25 pin connectors to be used to connect the system module in the main rack to the expansion module in the second rack The connection 15 made to two of the 25 pin connectors see Cl Also if a third rack is necessary for your setup the expansion module in the second rack can be connected to the expansion module in the third rack using the other two connectors see C2 On the front face of the module is located the OK LED see C3 This tells the user if the expansion module is OK Rack amp Module Description z E 7 a zZ Gi a x e D Axis The axis module is used to control axis motion outside of supplying power to the motor The axis module contains the I O used to control axis motion and also connections for the resolver and auxiliary encoder On the front face of the module there are four OK LEDs see DI These tell the user if the axes are OK The I O is located at the top of the module see 02 The connections are listed below also see Appendix A amp gt Pins 1 and 2 are the axis 1 and axis 2 user test points respectively Pin 3 is the test point common gt Pin 4 is input common Pin 5 is the axis at home input which is used to tell the system that axis 1 1 at home gt Pin 61s the axis at forward overtravel input which is used to tell the system that a
16. 500 nanoseconds Product Overview Torque Limited Moves In servo systems not only can the speed and position of the motor be controlled but also the output torque This is useful in applications where excess force can damage parts or where the assembly specification includes a force with which the part must be inserted The Target Automation Rack System allows the user to control directly the torque parameter in conjunction with position This capability is not available in stepping motor systems Electronic Gearing Many applications require the synchronization of one or more axes with an external axis that is an axis that will not be controlled by the Target Automation Rack System so that the controlled motor runs at a ratio which is proportional to the external axis This is typical in applications such as conveyors In such applications an incremental encoder is mounted to the external axis An axis synchronized to this external incremental encoder input behaves in a manner which is similar to mechanical gearing hence the term electronic gearing The Target Automation Rack System has an auxiliary incremental encoder input per axis which can be used to synchronize up to eight separate axes of motion Each axis can track at the same or at a different rate and can switch in software to track any of the auxiliary incremental encoder inputs Phase Locked Loop Certain applications must coordinate the phase of one axis with the phase of an
17. 78004660 21000481 3 6 17 20 Digital I O 32 in 32 in out 78005778 SAME AS ABOVE for Digital I O Module amp Expansion Card Analog I O 4 in 4 out 78004661 21000481 2 5 17 20 Analog I O Expansion Card 78005069 21000481 2 5 16 19 Analog I O 8 in 8 out 78005721 SAME AS ABOVE for Analog I O Module amp Expansion Card Target Automation Rack System Hardware Manual June 2006 GFK 2200A Section Installing Backplane Jumpers on the Axis 4 Expansion Module The following instructions explain how to install back plane jumpers on the TARGET ARS Axis Expansion Module This process is required if there is more than one rack connected in the system and the Axis Expansion Module is not located in the main rack the one containing the System Module Basically you will need to take the module apart put in the back plane jumpers and put the module back together Before starting remove the Axis Expansion Module from the rack After the module has been removed follow these steps to install the jumpers 1 E N Sw N SES N SEN es lt Ne Figure 1 Remove Retaining Screw Remove Retaining Screw Remove and save the screw in the upper right corner of the module housing using a Phillips screwdriver See Figure 1 for proper orientation and location of Disassemble Module Remove and save the six screws on the perimeter of the module pla
18. E LINKER CABLE 71004640 SERVO MODULE LINKER TERMINATOR OR 71004639 SERVO MODULE LINKER CABLE A Wiring Diagrams Axis Module SOURCING CONNECTION SINKING CONNECTION Axis COOK po E A EC 12 12 24 VDC VDC Km ge J2 Channel At Channel A Channel B Aux Al Channel B Aux 1 Aux B1 ado Mao Aux Ae L mT Aux Be 8 Aux B2 9 DOOR IN OPEN POSITION Strobe 2 10 ES 5 Vdc V Ret J3 J4 Position Feed bac k Resolver 1 8 00000000 8 I9 An optional expansion card is available It duplicates the outs shown Appendix A Wiring Diagrams A 4 O Expansion Axis DK DOOR IN OPEN POSITION 0000000000000 000000000000 00000000 Expansion Axis Module SOURCING CONNECTION SINKING CONNECTION E Com 12 24 VDC 1 1 ot Q Channel Channel J3 J4 Position Feedback Resolver Appendix A Wiring Diagrams 5 DOOR IN FIXED CLOSED POSITION Servo Module VIEW FROM BOTTOM SHOWING CONNECTOR Appendix A Wiring Diagrams DOOR Does not open Digital Input Output Module SOURCING CONNECTION Digital DC 1 2 3 4 9 6 7 8 9 PY A 1 x IX AS A E Oo WN gt RO NO A a _ j0O tO 00 JJ jon
19. GE Intelligent Platforms Programmable Control Products Target Automation Rack System Hardware Manual GFK 2200A February 2010 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 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 Intelligent Platforms assumes no obligation of notice to holders of this document with respect to changes subsequently made GE Intelligent Platforms makes no representation or warranty expressed implied or statutory with respect to and assumes no responsibilit
20. Then by looking this fault code message up in Appendix F of GFK 2205 Axis Fault Code Messages you find the following which tells you the possible cause s in the third column and solution s in the fourth column for the above fault code message The temperature sensor in the Check for a broken wire in the Over Temperature motor sensed the motor going motor feedback cable over its maximum allowed gt If motor is hot it is improperly temperature sized You would then go ahead and try the above solutions to see 1f one of them solves the problem b Example of a System Module Check Let s say that in diagnosing the Target system you find out that the OK LED of the system module is off and therefore the module 1s faulted Then using a PC running a terminal program you would type FCS to check for the type of system fault that has occurred For example let s say you get the message Axis Communication Error Then by looking this fault code message up in Appendix of GFK 2205 System Fault Code Messages you find the following which tells you the possible cause s in the third column and solution s in the fourth column for the above fault code message 24 Axis The system module is not gt SRC to determine the Communication communicating properly with specific axis that is causing the Error one of the axes error You would then go ahead and type SRC and get a message such a
21. al module contains the general purpose digital inputs and outputs of the system Specifically it has either 16 inputs and 16 input outputs or 32 inputs and 32 input outputs depending on whether the module has an expansion card The module has an OK LED that is on when the digital I O module is operating properly e e LA SS e E z Lil tk C o al An optional expansion card is available It duplicates the pin outs shown Rack amp Module Description 1 7 2 Installation and Expansion 2 Installation amp Expansion The purpose of this chapter is to give you an idea of how the different components of the Target system are installed It shows how the different parts of the system fit together to make a working unit This chapter along with Chapter 5 will show you how to install and replace system components which will be needed to correct some of the possible system problems Also this chapter will show you how to expand the axis analog I O and digital I O modules for example how to expand a two axis module to a four axis module Specifically this section will show you how modules are placed in the rack including how to insert the memory card how the modules should be wired how the rack is mounted mounting ears leaving room for airflow and how to expand the axis analog I O and digital O modules GOW A Module Installation In this sectio
22. ary position PWE position register wrap enable PZA axis position synchronized PZX auxiliary position synchronized QTX auxiliary quadrature type TLC torque limit current in percent of continuous TLE torque limit enable cP test point output URA axis unit ratio URX auxiliary unit ratio VLA axis velocity VLAT axis velocity filter time constant VLX auxiliary velocity VLXT auxilary velocity filter time constant Register and Command List 2 CIUSS Motion Input Output mnemonic CAE CAF CAl CAM CAO CAP CAR CAS CAT CCB CCE CCP GRB GRD GRE GRF GRI GRN MAC MAP MDC MDP MJK MPA MPI MPO MT MTM MVL MVM PHB PHE PHG PHL PHM PHO PHP PHR PHT PHZ Al AIB AIF 10 AO AOP CTR DI DIA DID DIT description cam enable cam filter constant cam position register increment cam point cam offset cam shaft position cam position cam scale factor cam shaft position type cam compile beginning point cam compile ending point cam compile starting position gearing bound gearing denominator gearing enable gearing filter constant gearing input gearing numerator axis motion acceleration deceleration axis motion acceleration deceleration percent axis motion deceleration axis motion deceleration percent axis motion jerk percent absolute move position incremental move position offset move position axis motion type axis move time axis motion velocity axis motion velocity for run
23. e 3 The power module must be positioned of the rack Appendix A Wiring Diagrams System Module J3 SIG GND 422 TXB NC 422 TXA 232 RXD NC 232 TXD 422 RXB 422 RXA System c Tx USER RS422 PROGRAM DEVICE SIG GND 422 TXB NC 422 232 RXD NC 232 TXD 422 RXB 422 RXA 0000000000000 0000009000000 USER 232 PROGRAM DEVICE SYSTEM PROGRAM PORT Pd PNE 71004638 Rack Linker Terminator or 71004637 Rack Linker Cable so soo 0920908 71004640 Servo Module Linker Terminator or 71004639 Servo Module Linker Cable 5 J4 422 TXA 422 RXA 12 VDC 422 RXB 422 TXB 12 RET SIG GND 422 RXA 499 TXA SIG GND 422 RXB y i 2 422 SHIELD ENABLE USER 422 SERIAL DEVICE DOOR IN OPEN POSITIN TERTIARY PORT SIG GND 422 TXB NC 422 TXA NC NC NC 422 RXB 422 RXA USER SERIAL PORT READY READY 12 24 VDC 12 24 VDC Control and status I O Control status Sourcing connection Sinking connection Outputs are 100 ma maximum Outputs are 100 ma maximum Appendix A Wiring Diagrams A 2 IN OPEN PISITION DOOR Expansion Module Expansion 71004637 RACK CABLE 71004638 RACK LINKER TERMINATOR Y OR 71004637 RACK LINKER CABLE 0 0606 0000000 000000000000 0000000000000 000000000000 71004639 SERVO MODUL
24. e will appear The tool bar is another way to access Query mode in CCS The button can be used to start a query The button ends a query currently running The hand button pauses a query currently running and the check button resumes the running of a query Diagnostic Tools View Registers explanation of user parameter settings and complete descriptions of program commands View Registers can be accessed through the Tools pull down menu To query the value of a register select the register name from the register list The value will be displayed in the text box along with a description in the dialog box If the register requires a parameter the parameter may be selected from a list appearing below the register list Select Set Value to change the value for that parameter Some values are read only and cannot be changed To set the value of the register use the New Value text box type in the new value and hit Enter or select Set Value to produce the new value The View Registers screen can also be accessed through the eyeglasses icon on the tool bar If you wish to write incoming characters to a file you can open a Capture File through the Tools pull down menu or by using the Camera icon on the tool bar Choose Open Capture File and name the file This will save all settings for communication and all queries and rate When you want to stop capturin
25. end File s Select the file you wish to send and click on OK 5 Wait until the file transmission is complete If no error occurs skip ahead to step 8 6 If an error occurs CCS will stop the transmission and open the editor with the cursor at the line containing the offending command or character 7 Fix the offending line save the file and click on Tools and Send File s again to retransmit the corrected file 8 Restart the system by cycling the power or by typing EXP17 Section Target Connector Key Installation Procedure 3 You Will Need 1 Connector part number 21000480 or 21000481 see attached chart to determine the appropriate connector 4 Keys part number 21000498 To Install the Keys 1 Turn the connector so that the screws and key grooves are facing upward The key grooves are located on top of the connector mating surface 2 Insert the key into the appropriate numbered groove The two dots on the key surface should face upward when inserted into the groove After insertion tear the key from the cluster GFK 2200A 3 1 Connectors Module Module Connector Part Designator Key Positions Number Number 2 Axis Motion Control 78004656 21000481 2 5 17 20 2 Axis Motion Control Expansion 78004657 21000481 2 5 16 19 Card 4 Axis Motion Control 78005682 SAME AS ABOVE for 2 Axis Module amp Expansion Card Digital I O 16 in 16 in out 78004659 21000481 2 5 17 20 Digital I O Expansion Card
26. g characters choose Close CaptureFile All visual settings for CCS such as the color of the screen type fonts and scroll bars can be changed through the Options pull down menu Upon exiting CCS all settings are saved The next time you start CCS all settings will be restored Diagnostic Commands In the Terminal Mode you may review Diagnostic Commands by first setting DGE lt l which enables the diagnostics You may also check the firmware revision level by typing REVISION Reg reports the value of a register 3 8 Diagnostic Tools 4 How to Replace Parts 5 How To Replace Parts Now that you have determined the specific problem it is possible that you will have to replace one of the components of the Target system The purpose of this chapter 15 to show you how to replace the part that is needed This along with Chapter 2 will show you how to install and replace system components which will be needed to correct some of the possible system problems Specifically this chapter will show you A how to replace modules including how to replace memory cards and B how to replace the fans NOTE Before replacing any of the components of the Target system MAKE SURE THAT ALL POWER IS TURNED OFF A Module Replacement The purpose of this section is to show you how to replace a faulty module For all the available modules the steps that you will take to replace the modules are mostly the same except for the power and servo modu
27. he plate which has the circuit board attached to it out of the module Set the housing aside e 4 Remove the six screws on the aa perimeter of the circuit board using a flathead screwdriver Set vi i W these screws aside they are no A longer needed Installation amp Expansion 2 5 5 Ifyou are expanding the axis module you will need to remove jumper plugs JPI and JP2 on the axis board If you are expanding the digital I O module you will need to remove jumper JP1 on the digital board 6 Now install the expansion card Take first the spacers then the expansion card and then the new longer screws and assemble them as shown Tighten the screws using a flathead screwdriver 7 Carefully slide the plate back into the module housing making sure that everything but the plate itself goes inside the housing 8 Fasten the Phillips screws back into the module Make sure that you put the longest of these screws into the upper right hand corner of the housing and the rest into the plate Installation amp Expansion 3 Diagnostic Tools 3 Diagnostic Tools In order to diagnose potential problems of the Target system you will need a working knowledge of the diagnostic tools needed to do this This chapter will describe what these tools are and how they are to be used Some of the tools such as the voltmeter and the oscilloscope should be at your disposal Other tools are already part of the
28. ified The Target Automation Rack System offers many possibilities for this type of move Position moves can be preprogrammed and executed in response to a discrete input Alternatively destination position can be conditional based on program variables or external commands received from a host computer Multiple Speed Position M oves In certain applications different motor speeds are required when specific positions are achieved This is common in applications such as drilling where a rapid infeed is followed by a slower drill to depth move The Target Automation Rack System includes complete capabilities to define this type of move Motion blocks allow a move to be configured where the exact behavior of the move can be described such that each segment of the move is completed without blending any of the move segments Such moves can also include outputs which turn on as specific speeds and or positions are achieved for auxiliary operations such as turning on coolant High Speed Position Capture The performance of many applications in particular those requiring conditional indexing can be improved by obtaining real time position information This is often difficult given inherent processing latencies in computer systems The Target Automation Rack System contains a dedicated high speed input for a position sensor This input will capture and store the position of the motor or an auxiliary encoder at the time this input is received in less than
29. ing two racks is shown below The expansion module see 7 which is used to link additional racks to the main rack is connected to the system module see 2 as shown Note that only the first cable called the rack linker cable see 3 is used to link the two racks The second cable called the servo stepper module linker cable is not used here so terminating plugs are inserted where the connection should be see 4 This setup occurs when you have an axis module in both racks If you had an axis module only in the first rack and you wanted this axis module to control servo modules in the second rack as well as the first rack you would then use the servo stepper module linker cable as well as the rack linker cable to link the two racks Also note that a terminating plug see 5 1s inserted at the place where there would otherwise be a connection to a third rack For other information on the expansion module see Chapter 1 section C Expansion Installation amp Expansion 2 3 C Rack Installation In this section we will show you how the rack should be installed It is assumed that the rack has already been installed therefore the purpose of this section 1 to give you a picture of how this is done not necessarily to show you how to install a rack As you can see in the diagram at right the rack is mounted using mounting ears They are either placed in the rear of the rack for panel mounting or they are
30. ion The Target system incorporates several modules that work together to control servo and stepping motors in conjunction with integrated machine control The modules are inserted in a rack which houses the main components of the Target system This chapter will give an overview of the rack structure and describe each of the possible modules that you may have in your Target system which are as follows A Power F Servo B System G Stepper C Expansion H Analog D Axis I Digital DC Expansion Axis For more specific information on the modules see Appendix Specifications eMotor MORack c3Rack OK Rack Overview Each rack can hold up to nine modules one of which must be the power module which must be located in the far left slot of the rack The modules contain the hardware necessary to perform machine control Each module has a specific function in the Target system and individually they perform one or more specific tasks These tasks will be outlined below in the unit descriptions In order for best performance of the system the servo modules should be placed next to the power module on the left and next the axis module and finally the other modules The modules themselves are interconnected via the backplane so there are typically no interconnections 1 e connections between any of the modules required by the user Rack k Module Description l l A Power I Power The power module is located in the
31. ix B Specifications B 9 Target Digital Module Pin Signal Direction Function _ 6 DIO22 In Out Input Output22_ 8 DIO24 In Out Input Output24 9 DIO25 In Out ImputlOutput25 0 DIO 31 Input Output 31 6 8 Appendix Specifications Target Analog I O Module Pin Signal Direction Common 6 AI2COM Common m aT 9 Common I I In In In In n n n n C Analog Input 4 Analog Input 4 0 Common N Out Common Out Common Out Common Out Common Appendix B Specifications Target System Module J3 System Program Port Signal Direction 422RXA In 232TXD Out 232RXD In NC NC COM Common 422RXB In NC NC 422TXA Out 422 Out Signal 12 VDC Appendix B Specifications Target System Module J5 User Serial Port Direction In NC NC Function RS422 Receive A No Connection No Connection No Connection Signal Common RS422 Receive B No Connection RS422 Transmit A RS422 Transmit B Signal A22RXA NC NC NC NC COM Common 422RXB In NC NC 422TXA Out 422TXB Out Pin 1 6 IN Pin Signal Direction Function _ 6 Common Output Common 8 READY Out System Ready 9 OK 0 System StatusOK Appendix B Specifications Target Servo Module J1 Brushless Servo Motor Pin Signal Direction Function Phase R Motor Power Out
32. kes statement the current statement in editor makes statement at label the current statement in editor locks interpreter to program assigns axes to motion block edits motion block pops gosub address from top of gosub stack edits program comment repeats motion from beginning of block returns from gosub Register and Command List 5 Class Program Motion Input Output Diagnostic mnemonic RSTSTK STVB GOTO UNLOCK WAIT WAIT WHEN GOTO CA2 CCM HT RHR RMF RMR ROF ROR RPA RPO RVF RVR ST STEP EUB GET OUT PUT N DGC DGE DGI DGL DGO DGP DGS DGT REVISION description resets gosub stack to empty sets boolean variable and if variable wasn t set gotos label unlocks interpreter from program waits for expression to be true waits for expression to be true or when expression becomes true gotos label makes next statement the current statement in editor or single zeros cam table compiles cam motion halts motion runs forward to home input runs reverse to home input runs forward to marker runs reverse to marker runs forward to overtravel input runs reverse to overtravel input runs to absolute position runs to incremental position runs to offset position runs to velocity forward runs to velocity reverse stops motion step input empties user port buffer gets one character from user serial port inputs register value from user
33. le 256 Operating Range 12 24 VDC 30 VDC maximum Maximum Off Input Voltage 4 VDC Minimum Off Input Voltage 10 VDC Load 2K Ohms Interface Format source sink user configurable Outputs Number Available 256 Maximum On Resistance Minimum Load Current Maximum Off Leakage Current Interface Format Analog Inputs and Outputs Inputs WeimmNermale Outputs Voltage 10 VDC Appendix B Specifications Position and Velocity Feedback Incremental Encoder Maximum Number Available Input Format Input Voltage Maximum Line Count Frequency Resolver Maximum Number Available Type Phase Shift Primary Impedance Null Voltage Maximum Speed Resolution Transformation Ratio DC Power Supplies Logic Input Drive Input User Output Environmental Operating Temperature Storage and Shipping Temperature Rack Configuration Number of modules per rack Racks per system Number of addressable systems per axis Single ended or differential quadrature sine or square wave or pulse direction 5 to 24 VDC 2 5 MHz 1X or 10 MHz 4X 0 50 to 2 0 180 to 265 VAC 47 63 Hz single phase 180 to 265 VAC 47 63 Hz single or three phase 5 VDC 1 0 Amp 24 VDC 1 75 Amps 0 to 40 degrees C free air ambient 0 to 80 degrees C 8 maximum plus power supply Appendix B Specifications B 4 Performance Drives Motor Type Drive Type Brushless Servo Up to 24 Amps conti
34. le power the same servo motor if needed In this case the servo modules are linked as shown in the diagram at right To each servo module you should attach a servo motor linker cable see I Then the corresponding wire from each of the linker cables should be attached to the same section of the servo motor linker block see 2 Note that the servo module linker block is divided into four sections For example each of the R wires should be connected to one section each of the S wires should be connected to another section and so on Then the wires of the servo motor cable see 3 should be connected to the other side of the connector corresponding to the correct section of the block For example the wire should be connected to the section where all the R wires are and so on Finally the other end of the servo motor cable is connected to the servo z motor For more information on the servo module see 2 Chapter 1 section E Servo ANN QS DN AA ESO a Se 5 at RA DN v N ga N DN SOS a DO US a RN VN N SAR RSs 055 PARRES SON s NJ gt SERVO MODULE rr nnm SERVO MODULE ROT p ES A STR AR ER E WE AN B MM S NANAJ Na x RR NN S a SS SS N WERE 886 T You can have up to three racks connected in a Target system One potential way of connect
35. les These two modules are constructed differently than the other ones and so have to be replaced in slightly different ways First make sure that all power is off and then follow these steps to replace the modules for steps 2 3 and 4 use the diagram below Not applicable to power module Remove all connectors from the module Note that the servo module is wired from the bottom and the rest except for the power module are wired from the front Having done this make sure that the connectors and wires are out of the way so that you can take out the module 2 Push the release button down and hold it down with one hand 3 Not applicable to power or servo module Open the door with your other hand and pull on it outward to remove the module 4 For power and servo module ONLY Hold the bottom of the module with your other hand and pull on it outward to remove the module 5 For power module ONLY Remove the wires from the connector from the bottom of the right side of the module using a screwdri ver To insert a new module see Chapter 2 section A Module Installment for details on how to do this In order to replace a memory card you must first pull the memory card out carefully To insert a new memory card see Chapter 2 section A Module Installment for details How to Replace Parts 4 1 B Fan Replacement This section will show you how to replace the fans which are mounted on the bottom
36. main rack or the expansion axis module in the third rack to the expansion module in the second rack On the front face of the module there are two OK LEDs see E3 These tell the user if the axes are OK DOOR IN OPEN POSITION F Servo The servo module is used to supply power to a servo JOK motor On the front face of the module there are two LEDs see FI which give information about the status of the module The Power LED is on when the internal capacitors are charged the OK LED is on when the servo module is OK Note that unlike the other modules the servo module is wired from the bottom not the front Also unlike the other modules the door does not open IN FIXED CLOSED POSITION DOOR VIEW FROM BOTTOM SHOWING CONNECTOR Rack amp Module Description 1 5 G Analog The analog I O module contains the general purpose analog inputs and outputs of the system Specifically it has either four inputs and four outputs or eight inputs and eight outputs depending on whether the module has an expansion card or not The front face of the module has an OK LED which is on when the analog I O module is functioning properly 1 6 Rack amp Module Description DOGA IM OPEN POSITION HA A A A AAA men o An optional expansion card is available It duplicates the pin outs shown Digital DC The digit
37. n we will show you how to install the modules into the rack and how to insert the memory card s into the system module As we have said at the beginning of chapter 1 each rack can hold up to nine Target modules The power module must be inserted in the far left slot of the rack leaving room for up to eight additional modules The modules are inserted all in the same way but note that for the power module you will need a screwdriver to attach the connector on the right side of the power module This must be done before inserting the module into the rack Most of the other modules have the quick disconnect connectors that can be easily connected after inserting the module into the rack Here are the steps that you should take to insert the modules Line the module up with the slot Make sure that the bottom edges of the module are lined up with the guides before pushing it in 2 Slide the module in Make sure to handle it with care don t force it in 3 Keep sliding the module in until the connectors come together as shown in the diagram Make sure that the connectors are lined up correctly before pushing the module all the way in You should feel the module click into place At this point you should attach all the connectors to the module to complete the installment process Installation amp Expansion 2 1 To insert a memory card into the system module use the diagram shown First make sure that you are putting the memory
38. nuous per axis 310 VDC 2X peak User supplied Any amplifier accepting 10 VDC analog velocity or current input maximum 10 horsepower continuous per rack Consult factory for performance curves Appendix B Specifications B 5 User Connections Target Power Module 6 LI R In Rack PowerMains 8 L2M m jACMotrMais 9 LIM In ACMotoMais Appendix B Specifications B 6 Target Axis Module Pin Signal Direction Function 2 6 FOTI In Axis 1 Forward Overtravel_ 8 ENABLE1 In Axis Enable 9 sp1 to AxislSetPoint In In In In In 18 Ilmo 19 CAPI In Axis Position Capture m Axis 1 Position Capture 0 In 3 CAP 2 Axis 2 Position Capture CAP 2 In Axis 2 Position Capture Appendix B Specifications B 7 Target Axis Module Pin Signal Direction Function 2 6 Axis 2 Auxiliary Channel At DD A2 8 B2r Axis2 Auxiliary Channel B 9 B2 2 Auxiliary Channel B Pin Signal Direction Function 2 R2 Out RotorPin2 6 S4 1 StatorPin4 8 THERM In Thermistor Input 9 SHIELD Return Shied Appendix B Specifications B 8 Target Digital Module Pin Signal Direction 7 0 8 0 In In In In In In In In In In In In In In In n Common Common Out Return Return Append
39. o a z u a O H z NL An optionol expansion card is ovailabic It duplicates the pin outs shown Diagnostic Tools 3 1 4 Finally a PC personal computer is used to run CCS Controller Communication Software or some other terminal emulation software This 1s so that you can enter diagnostic commands into the system To use your PC to enter commands you must first connect one of the available serial f ports of the PC to the program port of the system module This is shown in the diagram below Then using the terminal program you should make the proper settings so that your computer will be able to communicate with the Target system These settings are things such as baud rate and the port name For more help on making the proper settings refer to your computer manuals DOOR IN OPEN POSITION 0600665565665 DULUUUULUuuL B Diagnostic Commands This section describes what the diagnostic commands of the Target system are and how to use them First a summary of the commands are given then they are explained in detail and a few examples of how the commands are used are given Specifically this section is divided up as follows Reporting Register Values 2 Diagnostic Conditions and Items DGC DGI DGE DGL 3 Examples For further information on diagnostic commands see Appendix B Diagnostic Command and Register summary Diagnostic Command Summarv mnemonic description 7
40. of permissible values for each parameter in engineering units divide the parameter minimum and maximums by the number assigned to the unit ratio Memory Interval Pulse Timer 2 000 000 000 seconds 0 Total User Program n a 256 Kbytes BBRAM or EPROM Storage Total Variable Storage 16 5 Kbytes BBRAM 1 Megabyte BBRAM a Integer and Floating Point Variable space is shared There can be a maximum of 4096 integer variables or 2048 floating point variables but not both Integer and Floating Point Variables can be mixed with memory space shared for example if 1024 Floating Point Variables are used 2048 integer variables are possible The same ratio of integer and floating point memory applies if the optional memory is purchased b Floating point variables utilize a 32 bit mantissa and are precise to 9 decimal digits Appendix B Specifications 1 Timing Inputs Digital Inputs 1 5 milliseconds Analog Inputs 2 0 milliseconds Position Capture Update Rate 400 nanoseconds Outputs Axis Timers Countdown Update Rate 1 0 millisecond Interval Pulse Update Rate 100 microseconds Mathematical Operands add subtract multiply divide square root absolute value exponential natural log sine cosine tangent arc tangent trigonometric functions are in degrees Communication Baud Rate 1200 9600 or 19200 Appendix B Specifications B 2 Discrete Inputs and Outputs Inputs Number Availab
41. of the Target module Here are the steps that you should take to replace one of the fans Remove the five screws on the front of the fan tray Slide the fan tray out as shown Disconnect the connector for the backplane Remove the four nuts from the top side of the fan Remove the four bolts from the bottom side of the fan Remove the wires from the back of the fan Note that there are two or four red wires and one green wire To remove the green wire simply unscrew and remove the forked connection To remove the red wires you will have to desolder the connection Take special care in doing this if there are two red wires joined together at one connection point 7 Take the fan off To put the fan back in just back track the steps that you took to remove it In other words take the new fan resolder the red wires reconnect the green wire screw in the bolts etc 4 2 How to Replace Parts Appendix A Wiring Diagrams Power Module Power SHUNT CONNECTIONS Motor C3Rack INTERNAL I Rack OK EXTERNAL p EXTERNAL SHUNT RESISTOR M AUX Shunt resistor only required for high duty cycle applications as specified by Technical Support at time of motor sizing SIDE VIEW Notes 1 Rack input power 1 1 phase 2 Amps 2 Motor input power in the far left slot SHOWING CONNECTOIR 80 250 VAC 50 440 Hz 180 250 VAC 50 440 Hz phase 14 Amps 3 phase 7 Amps per Servo Modul
42. of this Manual This manual provides installation configuration and troubleshooting information for the TARGET Automation Rack System ARS Related Publications Additional information on Motion Solutions is available at http www ge 1p com support GFK 2200 iv Contents Target ARS Field Service 1 1 Target ARS Troubleshooting nun ann nun nnn 2 1 Target Connector Key Installation 3 1 Installing Backplane Jumpers on the Axis Expansion Module 4 1 GFK 2200A V Section Target ARS Field Service Manual GFK 2200A 1 Product is 1 Rack amp Module Description N OW O NEO RE AA NE 13 9 SEG TIE TEE OE AO EXPANSION e E o Malis on xis OS EE 1o E E 2 Installation and Expansion A Module Installation seenen e a B Mod le Winih aa ee C Raek TnstallatiOtm ooo ee I Module Expansion e ae 3 Diagnostic Tools JS NA Olea e o A B Diasnosiel ommands ee C Controller Communication Software 24644640700 4 How to Replace Parts A Module Replacement u er B han Replacement AAA Men PD Pn mes Ap
43. other This type of control 15 typical in applications such as package wrapping machines Such an application would like the electronic gearing case incorporate an external axis which is monitored by the Target Automation Rack System via an incremental encoder but it would also include added feedback about the location of the package via a device such as a photocell The photocell requires a high speed input know as position capture The controller provides inputs for both the incremental encoder from the external axis and the high speed input for position capture and in this manner can synchronize the phase of one axis with another The Target Automation Rack System provides a very cost effective solution for such applications Product Overview A I SE I ET a SS ES GEAR a SS CS EE IO A STEPENE A Fe A re ea ell Jr Eu Er Digital I O Module 16 in 16 in out expandable System Module up to 32 in 32 in out Includes memory programming port pendant port and user port Power Module Input VAC 230 3 phase Servo Drives 1 per slot rated at 2 KW each Analog 1 0 Module 4 in 4 out expandable 4 Axis Motor Control Module up to 8 in 8 out Note All module interconnections made via the backplane none required by user typically Rack or panel mount fits in 19 rack with 9U height iv Product Overview 1 Rack amp Module Description 1 Rack amp Module Descript
44. pendix A Wiring Diagrams Power Modules EDEMO s II REM Expansion Module gout eases etm sine AXIS INO UNS JE NOE ME A ETER AE MR Expansion AKS Module ae ela a idas Bots 1 2 Servo se ek nanan A 6 A ed A 7 8 Appendix Specifications Appendix C Rack Mounting Dimensions Target Automation Rack System Hardware Manual June 2006 GFK 2200A Up to 8 axes of independent and or coordinated motion per system Complete machine control capabilities including up to 16 analog and 256 digital I O multitasking capabilities allow up to I7 programs to run concurrently plus 1 motion block per axis unique integral motor drives plug directly into the rack motion based on velocity position or time user programmable jerk control M Digital self tuning algorithm or user programmable PIDF Eee ee 5 2 ee TARGET ARS Automation Rack System can be used a wide variety of common motion control applications some examples of which are listed below high speed accurate indexing operations start stop and continuous conveyors part insertion drilling flexible fixturing flying shear amp machining amp pick and place 5 position tracking 5 rotary index tables speed tracking web processes 5 welding wrapping Product O
45. per module status register start time of timer time of day axis at torque limit any axis at torque limit timer timed out flag timer floating point variable allocation floating point variable extended allocation Register and Command List I gt mnemonic description AR amplitude of resolver excitation CMA commutation angle advance CMD position controller command output CMO commutation angle offset CMR motor poles to resolver poles commutation ratio CURC continuous current in percent of maximum CURP peak current in percent of maximum CURS power save current in percent of continuous DIR direction of motor for forward moves FE axis following error FEB following error bound FR axis feedback resolution IPB in position band KA acceleration feedforward KD derivative control gain KI integral control gain KP proportional control gain KT filter time constant OFA axis position offset OFX auxiliary position offset OTF forward software overtravel OTR reverse software overtravel PCA axis position capture PCX auxiliary position capture PFB position feedback deadband PFD position feedback denominator PFE position feedback enable PFL position feedback backlash PFN position feedback numerator PFT position feedback correction time PLA axis position length PLX auxiliary position length POE power output stage enable PSA axis position PSC command position PSO offset position PSR resolver position PSX auxili
46. ram Status Register System Status Axis a Status B23 B24 un c Nin THER dE s Register List Class System mnemonic ADDN AM AME AXE AXIS BAUDP BAUDU BITP BITU CE CIE DATE DM DME FCA FCS HSE IP IPALL KEY MB MBANY PARP PARU PROG SM SME SRA SRAM SRC SRDM SRM SRP SRS SRSM STM TIME TL TLANY TM TMR description address of network port analog I O module rack slot assignment analog module assignment error register axis assignment error register axis assignment baud rate of program port baud rate of user serial port databits of program port databits of user serial port conversion error computer interface format on program port enable date digital I O module rack slot assignment digital module assignment error register axis fault code register system fault code register XON XOFF handshake protocol on program port enable axis in position all axes in position character in user receive buffer axis motion block executing any motion block executing parity of program port parity of user serial port program executing axis servo stepper module assignment servo stepper module assignment error register axis status register analog I O module status register communication status register digital I O module status register motion status register program status register system status register servo step
47. rd is optional The program port see B4 is used to input commands into the system from a terminal For example if you need to enter a diagnostic command when troubleshooting you would enter it on a terminal preferably using terminal emulation software such as CCS described in chapter 2 which has a serial port connection to the program port The user port see 5 is also a serial connection but it is used to connect other serial devices to the system For example a digital display could be connected to the user port DOOR IN OPEN POSITION 1 2 Rack 4 Module Description The system module also contains the control and status I O see B6 This is located at the bottom of the system module The connections are listed below also see Appendix A and C Pin is input common Pin 2 1s not used Pin 3 is not used v v V Pin 5 is the set point input output Pin 6 is output common VVVVVY Pin 4 is the enable input which is used to enable the system Pins 7 and 8 are used together as the system ready output Pins 9 and 10 are used together as the system status OK output Pins 11 and 12 together is the 24 volt power supply output Also the system module has two 25 pin connectors see B7 that can be used to connect other racks to the main rack The connection 1s made from the system module to an expansion module in another rack C Expansion The sole purpose of the expansion module is to link up to two other racks
48. reports value of register DGC assigns diagnostic condition for printing DGE enables diagnostics DGI assigns diagnostic item to be printed DGL prints diagnostic line of items DGO outputs diagnostic register value to program port DGP prints diagnostic message to terminal DGS sets program to single step mode DGT sets program to trace mode REVISION reports firmware revision 3 2 Diagnostic Tools Reporting Register Values When diagnosing the system it will be necessary to check things such as the status of the system any faults or errors that may have occurred position amp velocity of the axes or others All you need to know is which register you need to report and then type this in followed by a question mark This will give you the current value of the register Some examples of registers you may want to check are Fault Status and Assignment Error Registers AXE AME DME SME SRC SRAM SRDM SRSM SRP SRS SRA IOS IOA FCS FCA When you type in one of these registers followed by the system will output a message from the program port to the terminal you are using These messages describe the status and or fault condition of the system or part of the system e g analog I O module servo module or an assignment error for one of the modules When the system is faulted you should type in FCS to check for the specific fault If the axis is faulted use FCAa where a is the number of the axi
49. s Further explanation of the messages that result from entering these commands can be found in Appendix F of GFK 2205 Registers that contain position or velocity data for one of the axes such as PSA PSC PSO PSX PSR PCA PCX VLA and VLX gt Registers that contain information about the phase locked loop such as PHP and PHM gt I O Registers CTR TMI TMP DI DID DIT DIA EG DO DOD DOP DOE AI AIO AIB AIF AO AOP SPA SPS These registers are used to determine the values of the inputs and outputs of the system and to store parameters related to the inputs and outputs of the system For example contains the values of the digital inputs of digital I O module one and DIAI contains information about which digital inputs of digital I O module one are to be filtered For a complete listing and description of the registers see Appendix B Diagnostic Command and Register Summary 2 Diagnostic Conditions and Items DGC DGI DGE DGL Diagnostic conditions and items are used to help distinguish certain events in the system that may be causing problems Diagnostic items are simply expression operands that are used in the context of the diagnostic mode which is enabled by the command The diagnostic mode is enabled by entering DGE on the terminal you are using Up to eight diagnostic items can be defined using the DGI command Diagnostic items for example can be things like the axis
50. s the following Axis one communication is bad 3 4 Diagnostic Tools If you look this up in Appendix Chart 6 Communication Status Messages you will find the following entry 0 Axis one communication is he system module is not gt Replace system module and or bad communicating properly with axis module if fault will not go away axis one with the RSFALL command You would then proceed with the possible solution given C CCS Controller Communication Software CCS 15 a program that can be used to easily interface with the Target system It is a terminal emulation program with added features that make it simple to enter commands into the Target system The purpose of this section 1s to give a general description of CCS and how to use it The part number for CCS 1s 20500008 The software is available only in a Windows format To install CCS 1 Insert diskette in appropriate drive 2 Go to Program Manager 3 Select File 4 Select Run 3 At Command Line specify appropriate drive followed by setup 6 Follow instructions on screen 7 When installation is complete a Program Manager Group will be created for CCS for Windows To run CCS 1 Double click on CCS for Windows icon or hit enter 2 The first time you run the program a message will appear indicating no Com Port has been specified Go to the Options pull down menu and select Settings Under settings select the appropriate Com Port The baud rate
51. serial port outputs string expression to user port puts one character to user serial port reports value of register loads diagnostic condition for printing enables diagnostics loads diagnostic item to print prints diagnostic line of items outputs diagnostic register value to program port prints diagnostic message to program port sets program to single step mode sets program to trace mode reports value of register reports firmware revision Register and Command List 6 Target Memory Uploading to a File Use the following sequence to upload the Target memory to a PC file 1 Connect a PC running CCS to the Target using serial cable CBL HIIC 10 Plug the cable end labeled RS 232 Port into the 9 pin COM port on the PC Plug the cable end labeled IMC or OIP into the Target System Module Program port 2 Set the CCS address to Target Press the PC Enter key several times until the Target signs on 3 Disable the system and kill any executing programs by typing STFALL followed by KLALL 4 On the PC click on Tools From the Tools menu select receive all From the Receive All menu select Registers Programs and Motion Blocks Do not select Variables Click on OK 5 Wait until the upload is complete 6 CCS loads an image of the Target memory into the PC memory and opens the editor on the memory image Click on File and select Save As Enter the file name you wish to save the memory to 7 Close the editor 8 Res
52. tart the system by cycling the power or by typing EXP17 Target Memory Save and Retrieve The Target user programs registers and variables are stored in battery backed up static RAM The user programs and registers can be saved to FLASH memory 1 Connect a PC running CCS to the Target using serial cable CBL HIIC 10 Plug the cable end labeled RS 232 Port into the 9 pin COM port on the PC Plug the cable end labeled IMC or OIP into the Target System Module Program port 2 Set the CCS address to Target Press the PC Enter key several times until the Target signs 3 Disable the system and kill any executing programs by typing STFALL followed by KLALL 4 Type AUTORET to enable the FLASH memory autoretrieve on power cycle 5 Type SAVE to copy the programs and registers into the FLASH memory card 6 Restart the system by cycling the power or by typing EXP17 Target Memory Downloading Files Use the following sequence to download files from a PC to a Target 1 Connect a PC running CCS to the Target using serial cable CBL HIIC 10 Plug the cable end labeled RS 232 Port into the 9 pin COM port on the PC Plug the cable end labeled IMC or OIP into the Target System Module Program port 2 Set the CCS address to Target Press the PC Enter key several times until the Target signs 3 Disable the system and kill any executing programs by typing STFALL followed by KLALL 4 On the PC click on Tools and S
53. te using a Phillips screwdriver Do not remove the three screws in the upper left corner of the plate See Figure 2 for proper orientation of the plate Remove Plate from Module Carefully slide the plate which has the circuit board attached to it out of the module See Figure 3 for plate location Set the housing aside Figure 3 Remove Plate from Module GFK 2200A Figure 2 Disassemble Module 4 1 4 Remove circuit board Remove the four screws and standoffs on the perimeter of the 70005272 circuit board using a flathead screwdriver See Figure 4 Save these screws you will need them later Remove the 70005272 board from the 70005190 board Figure 4 Removing 5 Locate J5 Connector Make Connector Board sure the 70005190 board is facing you so that the logo and the LED bracket are in the upper left corner Notice the gray J5 connector Figure 5 on the lower left corner of the board Figure 5 J5 Connector Location 6 Install Jumpers Install each of the 12 Jumpers on the gold JP2 connector pins located directly above the Grey J5 connector on the lower mmm n left corner of the board Insert each jumper n vertically from left to right on each pair of connector pins located at the JP2 site on the board as shown in Figure 6 pene TTT ET TTT TTT NEL TTT www Figure 6 JP2 Connector and Jumpers 7 Reassemble Module Mount circuit board 70005272 back on
54. to board 70005190 with both the logo and the 25 pin DB connector facing up See Figure 4 Find the row of interconnect pins on the bottom of board 70005272 and insert them into the orange J6 connector located on board 70005190 Finally replace the four standoffs and screws between the two boards at the four corners of board 70005190 8 Reinsert Plate Carefully slide the plate back into the module housing making sure that everything but the plate itself goes inside the housing See Figure 3 9 Reattach Plate Fasten the Phillips screws back into the module Make sure that you put the longest of these screws into the upper right corner of the housing and the rest into the plate 4 2 Target Automation Rack System Hardware Manual June 2006 GFK 2200A
55. to marker phase error bound phase locked loop enable phase gain phase length phase multiplier phase offset phase position phase error phase lockout time phase zero analog input analog input deadband analog input filter frequency analog input offset analog output power up state of analog output counter digital input register digital input filter assignment digital input digit digital input filter time Register and Command List 3 Class Input Output Variable mnemonic DO DOD DOE DOP EG IOA 10s SPA SPIA SPIS SPOA SPOS SPS TMI TMP VB VS description digital output register digital output digit fault on digital output fault enable power up state of digital outputs positive edge sensitive digital input register axis I O register system I O register axis set point axis set point input system set point input axis set point output system set point output system set point interval timer pulse timer boolean variable floating point variable integer variable string variable Register and Command List 4 Command List Class Svstem Program mnemonic AUTORET AUTOTUNE CHANGEPW CLM COPY FLASH COPYRAM FIRMWARE MEMORY MOTORSET PASSWORD RETRIEVE RSFA RSFALL RSFS RTF SAVE SECURE STFA STFALL STFS SVF DEL END EXM EXP EXVS FAULT GOSUB GOTO IF GOSUB IF GOTO KLALL KLP L LABEL LOCK MBA MOTION POP PROGRAM REM
56. verview The TARGET ARS is a complete automation system designed for high performance motion control in conjunction with integrated machine control It incorporates a unique rack mount package design which minimizes panel and or rack space for multiaxis systems The TARGET system communicates over a high speed backplane and incorporates the latest in high performance computing power including a 32 bit CISC microprocessor and DSP based motion control Its multitasking capabilities allow the TARGET to control multiple asynchronous processes for complex automation applications Accurate Velocity Control Servo and stepping motors are necessary in many applications requiring accurate velocity control Unlike conventional variable speed motors GE motion control systems provide long term velocity error of less than a tenth of a percent Tighter process constraints imposed on many system designers make this a mandatory feature in many velocity control applications In addition GE servo and stepping motor systems operate at higher speeds than typical d c motors GE systems are available to operate at speeds in excess of 5000 r p m Finally GE servo and stepping motor systems operate at a constant speed regardless of input line voltage a critical feature in maintaining accurate velocity control Point to Point Positioning Numerous applications require point to point position control where a relative or absolute position destination can be spec
57. xis is at forward overtravel gt Pin 7 is the axis 1 at reverse overtravel input which is used to tell the system that axis is at reverse overtravel gt Pin 8 is the axis enable input which is used to tell the system that axis is enabled Pin 9 is the axis set point input output Pin 10 is the axis 1 OK output Pins 11 through 16 are the same as 5 through 10 but for axis 2 For example Pin 11 is the axis 2 at home input A TE ER NEN Pin 17 is the output common Pins 18 19 used as the axis 1 position capture input gt Pins 20 and 21 are used as the axis 2 position capture input DOOR IN OPEN POSITION 89541859611 6666666996695 m UULULJULTIE LJU v v V v V 1 4 Rack amp Module Description E Expansion Axis Expansion Axis The expansion axis module can be used in two ways OK 1 in the first rack to provide two additional axes that can control external amplifiers not servo stepper modules or 2 in the second or third rack to provide two additional axes that can control servo stepper modules and also used as an expansion module to connect either the second rack to the first rack or the third rack to the second rack The configuration of the expansion axis module 1 basically the same as a two axis axis module see El along with a 25 pin connector see E2 that can connect either the expansion axis module in the second rack to the system module in the
58. y for the accuracy completeness sufficiency or usefulness of the information contained herein No warranties of merchantability or fitness for purpose shall apply indicates a trademark of GE Intelligent Platforms Inc and or its affiliates All other trademarks are the property of their respective owners Copyright 2010 GE Intelligent Platforms Inc All Rights Reserved Contact Information you purchased this product through an Authorized Channel Partner please contact the seller directly General Contact Information Online technical support and http www ge ip com support GlobalCare Additional information http www ge ip com Solution Provider solutionprovider ip 2ge com Technical Support If you have technical problems that cannot be resolved with the information in this guide please contact us by telephone or email or on the web at www ge ip com support Americas WWW ge ip com support 1 780 420 2010 if toll free 800 option is unavailable Europe the Middle East and Africa 352 26 722 780 if toll free 800 option is unavailable or if dialing from a mobile telephone Asia Pacific Phone 86 400 820 8208 86 21 3217 4826 India Indonesia and Pakistan Technical Support Email support cn ip ge com China support jp ip ge com Japan support in ip ge com remaining Asia customers Customer Care Email customercare apo i e com customercare cn ip ge com China Preface Content
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