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CML User's Guide

1. A1 1 A2 1 V2 1 A1 Position Define the value of A2 1 V2 1as A1 1 P1 1 Ex Define target position as P1 P1 1 Add or subtract P1 to or from the current position P1 1 P3 1 V3 1 and set P1 as the next target position Define the value of P3 1 V3 1 as P1 1 Memory range can be changed by allocation R type only Execute next line In Daisy Chain by using Y command instead of P the without in position motors move without waiting for in position of Motor n A1 1 54 1 Y1 1 Ex Motor 2 starts executing the next line without A1 2 54 2 P1 2 waiting for Motor 1 s in position at P1 Perform push motion queuing e Y x Push motion i x Z Execute next line In Daisy Chain by using Z command instead of Q without push motion i the motors move without waiting for completion of completion queuing x l specified motor s push motion e W C x J x Ex Motor 1 performs push motion against P10 Define the max torque in percentage as M of M1 1 Motor n M1 1 V5 1 V6 1 Ex The max torque is set to M1 1 B1 1 Define the beginning of a Program Bank and A1 1 54 1 21 1 Ex Motor 2 starts execution the next line without Torque Limit A1 2 54 2 P1 2 waiting for Motor 1 s completion of push motion Beginning of Program Bank A1 1 54 1 P12 1 specify the Program Bank number Note Program Bank should end with End A1 1 54 1 P12 1 Call the specified Program Bank execute it and C2 1
2. Execute 99 Execute 98 Execute 97 082 Chapter 4 Sample Program 4 2 3 Branch Processing using Logic Operator Using a logic operator more complicated branch processing than the programs in section 4 2 2 is possible Ref Section 6 7 for Mathematical Operator Ref Section 6 8 for Logic Operator When executing branching processing two conditions I or V command mathematical or logic operator between two conditions true condition and false condition dividing by comma shall be described Format Branching Condition 1 Operation Branching Condition 2 True Condition False Condition A CML program example using the I command and its flow is as below B4 1 13 1 amp 814 1 799 1 798 1 Conditional Branching with Logic Operator Program Bank 7971 Merge back to a normal command processing Execute Program Bank 4 Check the status of Input 3 and Input 4 Line 2 Execute 799 Execute 298 Execute 97 The criteria of condition of 2 input status and Logic Operator is as shown in below Logic Operator INPUT 2 Logic Operator INPUT 2 amp 8 AND ON OR TRUE INPUT 1 INPUT 1 FALSE A CML program example using the V command as a condition and its flow is as below B5 1 V1 1 gt V2 1 99 1 98 1 Conditional Branching with Logic Operator Program Bank 97 1 Merge back to normal command processing END Execute Program Bank 5 TRUE FALSE Compare V1 with V2 Line 2
3. Execute 799 Execute 798 Execute 797 083 Chapter 4 Sample Program 4 2 4 Branch Processing with Wait function B6 1 13 1 W1 298 1 Branching with timer function Program Bank 297 1 Merge back to normal command processing The W command can be used for branching with wait function line 2 The motor waits for the time specified by the timer memory to pass and keeps on monitoring the status of the specified input for that duration When the time is up the motor finishes the branch processing and executes the next command line The flow of the CML program above is as below Execute Program Bank 6 Input OFF Check Input 3 Status Line 2 Execute 798 Is the time up Execute 97 084 Chapter 4 Sample Program 4 2 5 Nesting By using C command call Program Bank goes deeper and its depth is called Nesting Depending on how to compose of a program the programming that a hierarchy becomes deeper is possible The maximum nesting level for COOL MUSCLE 2 s programming is up to 10 By combining nesting and branching a specified program bank can be executed according to the specified input status The CML program below shows how one of the 4 program banks is executed according to the status of Input 2 and 3 B1 1 POG Conditional branch Processing J Program Bank 1 B2 1 13 1 C4 1 TO 1 Conditional branch Processing Program Bank 2 2 1 A1 1 P3 1 B3 1 13 1 C5 1 T
4. Unit Pulses N2 1 50 N2 2 30 Unit Pulses R2 1 80 R2 2 80 Chapter 2 Operation by CML Torque Limit Data Definition This command sets Torque Limit using a percentage 0 100 of the maximum motor torque Soon after setting M data the motor torque should be limited by M data Save the value of 50 to Motor 1 s M memory 2 Variable Data Definition l 15 This command is for mathematics operation or conditional branching by the value General Data can be defined up to 4 digit numbers like 4 characters or motor s internal state value Note that double quotation is needed to use characters and Follow Min 1000000000 ollowings are motor internal state values Max 1000000000 Px Current Position motor s internal state value Sx Current Speed Ix Current Iq Ux Current Motor Status Pe Position Error AIN Analog Input PT Target Position ST Target Speed Save 12345678 to Motor 1 s V memory 2 Save abcd to Motor 1 s V memory 3 Save Px to Motor 1 s V memory 4 Center Point Data of Circle Definition Only interpolation type can be used This command defines Center Point of an arc circles Min 1000000000 i Max 1000000000 ovals using 2 axes The setting range depends on K37 It can be defined up to 600 Save the values of 50 for Motor 1 X axis and 30 for Motor 2 Y axis to N memory 2 of each motor Radius Data of Circle Definition 1 200 Only interp
5. CRLF to the delimiter 068 Chapter 3 Setting by Parameter External Encoder Type Set the external encoder type Setcontent ss EI 1 JAphaseindex S 6 A phase pulse measuring B phase rotation direction Index Motor keeps rotating until the numbers of pulses from an external encoder reaches the specified numbers of palses It will not adjust the overrun pulses It will be useful for the motion winds in specified amount in one direction without loosening as used in a winding machine Feedback By the feedback pulses from the external encoder equipped for the control target the whole system can be controlled as a full closed loop system Pulse Counting Input the pulses from an external encoder to Cool Muscle and only count the numbers of pulses This feature is useful for the control according to the amount of movement or speed of the control target Count Timing for the external encoder depends on input type and is shown as the diagram below Note The input logic for the input voltage can be set by the parameter K26 A Phase Index Input encoder pulse to input port 1 Count the pulse when detecting the rising edge Count up when rotating in forward direction and countdown when rotating in reverse direction ON Input Signal 1 Count Value sssr Et in forward direction aisisweiceeteueeesscessies Count up when rotating in forward direction by detecting the rising edges of input signal 1
6. Enter Key input S n Value J Define speed A n Value Define Acceleration P n Value J Define Target Position M n Valued Define Torque Limit An Execute action based on the above values Operation Example Let s operate Cool Muscle First of all define the data by entering numbers as below S 1 100 A 1 100 P 1 10000 M 1 100 Defined data can be confirmed by sending the query 1 2 1 sent command to Cool Muscle P 1 10000 S 1 100 A 1 100 M 1 100 replied data from Cool Muscle Cool Muscle s default setting is Resolution 1000 ppr Speed Unit 100 pps so that the example above should be Speed S 1 value x Speed Unit 100 x 100 pps 10000 pps Acceleration A 1 value 100 kpps2 Target Position P 1 value 10000 pulse Torque Limit M 1 value 100 Then operate Cool Muscle by entering the command as below nd Cool Muscle moves to the target position 10000 pulse with the set speed and acceleration After completion of positioning Cool Muscle replies Ux 1 8 that means in position status Current position can be confirmed by the query command 96 1 296 1 sent command to Cool Muscle Px 1 10000 replied data from Cool Muscle 004 Chapter 2 Operation by CML 2 1 1 Data Commands in Direct Mode Motion commands are explained in the format below Functions Example Description of example Unit pulse P 1 10000 P 1 5000 P 1 100 P 1 200 P 1 1000000000 Unit
7. FFFFFFFFF transmitting F nine times continuously to Cool Muscle after confirming that the communication baud rate is correct In this state the Modbus communication mode will be terminated by the setting of K81 0 Chapter 6 CML List 6 1 K Parameter The communication baud rate between Cool Muscle and a host 20 Baud Rate 5 0 38 4Kbps 1 9 6 Kbps 2 19 2 Kbps 3 57 6 Kbps 4 115 2 Kbps 5 230 4 Kbps Event selection for status report setting for Local Echo confirmation error messages 0 No status report 1 In position and alarm 23 Status Report 31 1 2 Input status change 4 Output status change 8 No Local Echo 16 Confirmation error messages Rotation Pul Output ON OFF at regular intervals with pulses set K34 7 otation Pulse 24 uou 10 32767 1000 pulses When both Output 1 and Output 2 in K34 values are set to 7 utpu j quadurature encoder pulse is output Delay Time for l l _ The delay timel for slow response signal Each digit must 111111 999999 333333 0 1sec a l Sianal be set individually and assigns Input 6 5 4 3 2 1 igna Input Logic and Execution of P type Operation Each digit must be set individually and assigns Input 6 5 4 or D Input Logic 0 or 2 Input signal is ON when Input port is ON P type effective edge rising edge 1 or 3 Input signal is ON when Input port is OFF P type effective edge falling edge Input Logic i 2 Execution of P type operation Apply to
8. B phase signal pulse input When two phase signal of which phase is shifted by 90 degree each other is input to Input 1 and Input 2 pulse counting is performed with automatically discriminating whether counting up or countdown External Encoder ees Cool Muscle ass A phase Output O Lt Input Port 1 oe gt InputSignal1 1 Rotation Direction Om 4m o Input Port 2 Input Signal2 1 i i Conversion e e e e e e e e e e o o e e o e e e e e m m m a a a a a a 00 o o e e o e e e e e e e oe e e e o o e o o e e e e l Refer to Parameter K71 for detail information such as the timing of counting 100 Chapter 5 Setting Examples 5 4 1 External Encoder Index Operation The motor continues to rotate until the count of external encoder pulse reaches the specified number of pulses Then the motor stops to rotate when count value reaching the specified number of pulses Recovering operation for the amount of overrun is not supported This operation is appropriate for the equipment such as winding machine where a fixed amount is required to be wound without slack in a fixed direction In Index Operation the motor operation is not affected by the setting for External Encoder Resolution K72 Example of Use Set the parameter K71 according to the pulse type of external encoder K71 1 1 A phase Index Set the data of position speed and acceleration in the same manner as in normal positioning and execute the operatio
9. K60 K61 B4 1 Beginning of Program Bank 4 3 1 A1 1 P1 1 1 1 Q2 1 Motion data are same as 4 1 1 KO NY Motion Motion before P1 before P2 Using Q command instead of P command it performs Push Motion within the torque limit designed by parameters The CML program above shows the motion that the motor changes the speed to S1 at P1 and start performing Push Motion toward P2 Torque limit and Push Motion duration time need to be defined by Parameter K60 and 61 The following charts show relationship between the motion and torque 079 Chapter 4 Sample Program Time Torque limit set by K60 During the Push Motion Cool Muscle 2 goes into an alarm state Ux 256 being in Push Motion when reaches a target position by the reason that pushing object does not exist or push torque is too high Speed Push Motion Alarm Time Reaches P2 Torque Time 080 Chapter 4 Sample Program 4 2 Various Processing More complex CML program flows are introduced and described in this section 4 2 1 Loop Processing Position Data Data definition Speed Data Acceleration Data B1 1 X0 1 1 1 A1 1 P1 1 X2 1 P3 1 Repeat 2 times P4 1 between X2 1 and X 1 0 1 and X 1 X 1 P2 1 X 1 Infinite Loop between The lines between X loop count Motor ID command and X Motor ID command are repeated the number of times that is specified by Loop Count By using command X between
10. P1 3 1000 Define Motor 3 s P1 as current position 1000 S Speed Data 100pps S n value Define an absolute speed data in Motor n s S Definition memory No 1 15 memory SO direct mode Note The negative value is treated as absolute 0 can be omitted value Ex Define Motor 2 s SO as 100 13 3 150 Define Motor 3 s S13 as 150 Acceleration Data kpps Aff n value Define the absolute acceleration data in Motor n s Definition memory No 1 8 A memory AO direct mode Note The negative value is treated as absolute 0 can be omitted value Ex Define Motor 2 s AO as 10 Define Motor 3 s A6 as 100 Timer Data msec T n value Define Timer data in Motor n s T memory Definition memory No 1 8 12 1 500 Ex Define Motor 1 s T2 as 500 Torque Limit Data M n value Define Torque limit data in Motor n s M memory Definition memory No 1 8 0 100 of Max motor torque can be set MO direct mode l Ex Define Motor 2 s direct mode MO as 50 0 can be omitted Define Motor 3 s M2 as 80 Chapter 6 CML List Variable Datal 1 V n value Define Variable data in Motor n s V memory ft Definition 2 V n Characters Up to 4 digit number or characters can be 3 V n motor s internal used variables Note double quotation is needed to use memory No 1 15 characters and motor s internal variables Internal variables 1 use as a number Px Sx Ix Ux Pe AIN 2 use as character PT ST o
11. Pulse Pulse 8000 4000 1000 042 Chapter 3 Setting by Parameter 2 Speed control Control the speed in CW direction in the range of K40 by changing the analog input voltage Will not be functional unless set to 0 min analog voltage less than 0 2V only for the first time in control K40 1000 K40 8000 3 Revolution Revolution dr min min 8000 Will not be functional unless set to 0 min analog voltage less than 0 2V only for the first time in control K40 1000 K40 8000 4 8V 4 8V l l I 8000 Revolution Revolution min min control Control the speed in CW CCW direction in the range of K40 by changing the analog input voltage for CW CCW 2 5V for 0 min rotate in CW direction by Input Voltage gt 2 5V rotate in CCW direction by Input Voltage lt 2 5V From 2 4V to 2 6V is dead zone Will not be functional unless set to 0 min analog voltage from 2 4V to 2 6V only for the first time in control K40 1000 Revolution min 1000 I 1 2 4V 2 6V P data for Change the Position Data P for Direct Mode in the range of K41 by changing the analog input Direct Mode _ voltage K41 10000 K41 10000 0 2V 4 8V 043 Chapter 3 Setting by Parameter S data for Change the Speed Data S for Direct mode in plus direction in the range of K40 by Direct Mode changing the analog input voltage K40 1000 S Data Data corresponding to 1000 min 7 S data for C
12. The transmission message to the slave is generated automatically through transmitting Output Status Query Command 50 n to Cool Muscle n the final Motor ID 1 indicating the Modbus slave device ID The number of Read Registers is fixed to 16 Example a transmission message to the slave when 50 4 has transmitted to Cool Muscle automatic generation When the starting address is set to 300 Ox2C hex by K80 the 16 output status are read from address 301 in a slave device Set by K81 0x01 Slave Address Function Code Starting Address Hi Starting Address Lo la Number of Registers Hi Fixed Number of Registers Lo Error Check CRC 16 bits Response The response from the slave is interpreted by Cool Muscle automatically 108 Chapter 5 Setting Examples Function Code 02 0x02 Function The output status in the slave can be read This function is supported only in the Modbus slave communication Transmission Message The transmission message to the slave is generated automatically through transmitting Output Status Query Command 50 n to Cool Muscle n the final Motor ID 1 indicating the Modbus slave device ID The number of Read Registers is fixed to 16 Example a transmission message to the slave when 50 4 has transmitted to Cool Muscle automatic generation When the starting address is set to 300 Ox2C hex by K80 the 16 output status are read
13. V2 1 Motor 1 shows the data defined in General Data memory 2 V2 1 End of Ladder Logic Bank This command defines the end of each Ladder Logic Bank L1 1 V2 1 V2 1 V3 1 END End of Ladder Logic Bank No 1 023 Chapter 2 Operation by CML Command Concatenation When multiple commands are listed in a single line each command need to be separated with a comma V2 1 gt V3 1 V2 1 V3 1 Combines commands TO 1 Command Concatenation in Multiple Lines This allows for multiple commands to combine over multiple lines This can be used for combining commands Merge motion V2 1 gt V3 1 Combines commands over several lines V2 1 V3 1 T0 1 Command Concatenation in Branching This command can realize to execute multiple commands in conditional branching V1 1 gt V2 1 99 1 01 1 796 1 If V1 1 gt V2 1 then execute 99 1 and 01 1 If V1 1SV2 1 then execute F1 1 96 1 and F1 1 This command allows you to write comments in Ladder Logic Program files The description between this command and CRLF is not recognized as commands Comments are not stored into Cool Muscle memory Comments here Comments Execute commands within program bank Various commands for Direct Mode are available in Ladder Logic Bank Please refer to 2 1 2 1 L JL gt lt commands can not be used 024 Chapter 3 Parameter Setting The Cool Muscle has initial settings that can be adjusted based on your application
14. except for P type Pulses per rotation and speed unit Resolution Speed speed unit 100pps 20 30 37 speed unit 10pps 4050 speed unit 100pps 60 70 speed unit 10pps 8090 speed unit 1pps JAssign Output Functions Each digit must be set individually and assigns Output 4 3 2 1 0 No function 1 In position 2 Alarm 3 General Use 4 Completion of origin search 5 6 In position signal in merge motion 7 Rotation pulse output When both Output 1 and Output 2 are set to 7 quadrature encoder pulse output In motor free In push motion Target position Target position data magnified by 8 Current position Current position data magnified by 8 Position error data magnified by 8 Current speed Current speed data magnified by 8 8 9 0 1 2 3 4 Position error 5 6 7 8 Current torque 9 0 20 80 200 40 60 300 1 21 81 400 41 61 400 2 22 82 500 42 62 600 3 23 83 1000 43 63 800 4 24 84 2000 44 64 1200 5 25 85 2500 45 65 1500 6 26 86 5000 46 66 3000 7 27 87 10000 47 67 4000 8 28 88 25000 48 68 6000 9 29 89 49 69 8000 10 30 90 50000 50 70 12000 When K37 is set to 40 70 incremental motion is not allowable 119 Chapter 6 CML List Control Target and method for analog input 0 No function 1 Position control 2 Speed control for CW 3 Speed control for CCW 4 Speed contr
15. per Origin Sensor K42 Origin Search Speed K27 Origin Sensor Signal K43 Acceleration for Origin Search K42 Origin Search Speed K45 Origin Search Direction K43 Acceleration for Origin Search K47 Stopper Detection Torque for K45 Origin Search Direction Origin Search Setting Example K46 1 3 Set the origin search by an origin sensor that starts automatically when powered ON for Origin Signal Source 052 Chapter 3 Setting by Parameter Stopper Detecting Torque for Origin Search This parameter sets the torque level to complete the stopper detecting origin search The torque is relative to the rated torque of the motor in percentage When the acceleration is set too high the torque required when starting motion reaches the set torque level and could incorrectly detect the origin Please decrease K43 value Setting Example K47 1 30 Set the 30 of motor s rated torque for stopper detection torque level 053 Chapter 3 Setting by Parameter Unit 100 pulses 1 Offset Distance Between Mechanical and Electrical Origins puses 1 pulse Depends on 2nd digit of K45 This parameter sets the offset distance between the mechanical and electrical origins When it is set to 0 the motor stops at the mechanical origin When it is set to other than 0 the motor automatically goes to the electrical origin set by this parameter The speed moving from the mechanical origin to the electrical origin is
16. 3 Setting by Parameter Origin Signal Source This parameter specifies the method for the rigir I signal oources origin search EEA Stopper Detection Stopper Detection In case of stopper detecting origin search the automatically starts an origin search when powered origin search operation is completed when a on 2 pushing torque to a stopper reaches the set on 4 Z Phase Signal search operation is completed when detecting 5 Z Phase Signal automatically starts an origin search the rising edge of signal from an external when powered on 3 Origin Sensor torque level automatically starts an origin search when powered In case of using an origin sensor the origin mad Origin Sensor amp Z Phase Signal 7 Origin Sensor amp Z Phase Signal automatically starts an origin search when powered on Origin Search that starts automatically when powered ON can be set as well origin sensor Z phase signal is generated by the internal position sensor of Cool Muscle and output once per revolution Usage of Z phase signal to detect an origin makes a precise origin search possible that always detects the same origin without an external origin sensor even in a rotative motion Furthermore it is possible to detect an origin by using AND condition with an origin sensor signal Therefore an origin search with higher repeatability accuracy is realized The following related parameters shall be set separately
17. Bank 1 Pause Program Bank This command stops all motors and pauses Program Bank in operation The re starts Program Bank in pause When this command is entered twice Program Bank is terminated and cannot be resumed Stop all motors and pause Program bank 1 Program bank is terminated Pause Specified Motor This command specifies a motor on a daisy chain network to be paused 1 3 Only Motor 3 pauses on a daisy chain network 008 Chapter 2 Operation by CML Stop after Completing Current Line This command pauses the program bank after completing the current line in Program Bank The command re starts the program bank in pause When this command is entered twice Program Bank is terminated and cannot be resumed 1 Motor 1 stops after completing the current line in Program Bank Emergency Stop This command makes all motors stop with the maximum deceleration This is used when emergency stop is required To re start the motion you have to cancel Emergency Stop using 1 Command The program is resumed with the next executable line Program Bank stops when this command is transmitted twice and Program Bank operates from the beginning with command after canceling the emergency stop by command 1 This command can be assigned to inputs Execute an emergency stop Cancel Emergency Stop This command cancel Emergency Stop and enable the motor 4 Cancel an emergency stop Execute Next
18. Count Value vnnssansn D r r Ir Imm TTT ITT TTT T TTT TTT TTT TT er eee Countdown when rotating in reverse direction by detecting the rising edges of input signal 1 069 Chapter 3 Setting by Parameter oe A Se eth PR IENE etna ieee EE Input encoder pulse to input port 1 and direction pulse to input port 2 Count the pulse by the rising edge of input signal 1 Count up when input signal 2 is ON when detecting the rising edge and countdown when input signal 2 is OFF ON Input Signal 1 OFF aid bd id a a ee rn I I I I I I I ON Input i i i i Signal 2 i i i i i i i I I I I I I l OFF sansan i 22x Count Up i Countdown I I l I I I I I I I I I I I Count Value Count up when Input signal 2 is ON when Countdown when input signal 2 is OFF when detecting the rising edge of input signal 1 detecting the rising edge of Input signal 1 A Phase amp B Phase Phase Index Count the pulse automatically recognizing count up or countdown by input signals that phases are shifted 90 degrees to each input port 1 and input port 2 as the timing shown in the diagram below In this mode sub count value will be 4 for 1 cycle of input signal because the rising and falling edges of 2 phase signals for input are counted Encoder pulse count value will be 1 4 integral part of sub count value ON Input Signal 1 OFF uuunnn I I I I I I I I I I I I 1 I l I ON Mi Mir i I I I I 1 I l I Apul TE a a a Signal 2 rei de dada d
19. Line This command executes the next line of Program Bank in pause After executing the last line of Program Bank the motor executes no motion and reply End gt 1 Execute the next line of Program Bank of Motor 1 in pause Execute Previous Line This command executes the previous line in Program bank in pause When execution is impossible a message Can t back is displayed lt 1 Execute the previous line of Program Bank of Motor 1 in pause Execute Ladder Logic Bank This command executes the specified Ladder Logic Bank in the background Format L n Program Bank No n Motor ID L2 1 Motor 1 executes Ladder Logic Bank 2 in the background Stop Ladder Logic Bank This command stops Ladder Logic Bank running in the background L 1 Motor 1 stops Ladder Logic Bank running in the background 009 Chapter 2 Operation by CML Execute Circular and Linear Interpolation Motion Only Interpolation type can be used The starting point is the current position Motors execute Circular or Linear Interpolation motion toward the set position based on set R or N data Format n modifier lt gt 4 P memory No n Motor ID The modifier should be set to for CW direction and for CCW direction 1 2 Motors execute Circular Interpolation motion for CW direction toward P positions of 3 1 4 2 Motor 1 and Motor 2 Motors execute Circular Interpolation motion for CCW direction toward P3 of Motor
20. Please refer 6 1 Each parameter is identified by a unique number and has a specific function To set a parameter enter a desired value following the sign as below K Parameter No Motor ID value AN Each parameter has individual setting range The value out of the range will not be reflected The changed value is saved automatically 3 1 K parameters The following chart outlines each K Parameter s usage Parameter Description Setting Example The example and explanation about parameters 025 Chapter 3 Setting by Parameter Set the baud rate for the communication between Cool Muscle and a host When changed the host baud rate needs to be changed to match Cool Muscle s a ae TI EN changed baud rate 4 9 6 Kbps 19 2 Kbps Some PCs and host instruments can not be adapt the set baud rate 97 6 Kbps 115 2 Kbps Please enter a proper value that matches their specifications 230 4 Kbps Baud rate for a host Baud rate for daisy chain set by K20 Setting Example K20 1 1 Set 9 6kbps to the baud rate N Cool Muscle s communication buffer could be overflowed by a delay of communication data processing when a lot of data are transferred to Cool Muscle and over written at a time with high communication speed 026 Chapter 3 Setting by Parameter Defines the status report method as an automatic report by each event when status changes Local echo of sent data from a host confirmation messages or er
21. Signal is selected by K46 the status LED shall blinks quickly only during the Z Phase Signal is output Z Phase Signal Internal Status LED Jo sie lt Blinks every 50ms Free Status One Rotation Concurrent Usage with an Origin Sensor Signal J it is possible to detect an origin by a combination with the Z Phase signal and an origin sensor signal Therefore an origin search with better repeat accuracy is possible The sequence of the Origin Search is the same as the Origin Search by sensor but the origin shall be the position where the effective edges of both a Z Phase signal and an origin sensor signal are detected Shall not be detected ON as an Origin Z Phase Signal i OFF ON Origin Sensor Signal OFF j K45 Value Origin Search Direction a Origin Position 099 Chapter 5 Setting Examples 5 4 External Encoder The full closed loop position control is available by using the u output signal of external encoder equipped for the control target Ry W iii S It is possible to be compatible with the compensation for belt slipping or backlash of gears or position control for the stage with linear encoder When applying an external encode the following parameter settings are needed nro I eu eoi c Con ents _K71___ External Encoder Type K72 External Encoder Resolution The outputs of external encoder are connected with Input p
22. by CML Center Point Data of Circle Definition Only interpolation type can be used _ This command defines Center of an arc circles ovals 1000000000 1000000000 arcs with 2 axes Only interpolation type can be used Min 1000000000 This command defines Radius for an arc circles ovals l 1000000000 arcs with 2 axes The setting range depends on K37 When R values for both 2 axes are set to equal then it will draw a circle When they are different it will draw an oval When R is set to a positive number a longer arc will be drawn When it is set to a negative number a shorter arc will be drawn When it is set to 0 line will be drawn Set Radius to 80 pulses for Motor 1 X axis and Motor 2 Y axis 006 Chapter 2 Operation by CML 2 1 2 Execution Commands in Direct Mode Execution commands are explained in the format below Example Explanation of Example Execute the Direct Command Motion This command executes motion using predefined Data Commands S A P M Motor 1 moves to position 10000 with the speed 250 and acceleration 100Kpps2 Origin Search This command makes the motor search an Origin based on Origin Search Parameters K42 43 45 46 This is a bar not the letter 1 Motor 1 starts to search Origin Move to Position 0 This command makes the motor move to an Origin Position 0 Acceleration and deceleration are set by Parameters K42 43 1 Motor 2 mo
23. direction with radius R1 089 Chapter 4 Sample Program 4 4 2 Circular Interpolation by Specifying Center Point By specifying starting point current position end point and center point N circular interpolation is possible with the motors There are 2 different motion trajectories by combining N command specify center point command execute interpolation and or modifier In this case the radius of a circle is automatically calculated Ccw Trajectory EEN E Trajectory en Motor 1 X axis Data definition Definition of center Motor 2 Y axis Data definition Definition of center B1 1 A1 1 1 1 P1 1 A1 2 1 2 P1 2 Move to the starting point of circular arc N1 1 N1 2 2 2 2 1 Move to the end point P2 1 P2 2 END Draw a circular arc in the CCW direction with radius R1 090 Chapter 4 Sample Program The program above draws a circular arc outlined in blue Motor 2 position 1000 Motor 1 position The program below draws a circular arc outlined in red B2 1 ASP AZ Move to the starting point N1 1 N1 2 2 2 2 1 Move to the end point P2 1 P2 2 END Draw a circular arc in the CCW direction with radius R1 091 Chapter 4 Sample Program 4 4 3 Linear Interpolation When R memory radius data is set to 0 zero in circular interpolation by specified radius the motors perform linear interpolation Define the end point and set R
24. from address 301 in a slave device Set by K81 0x02 Slave Address Function Code Starting Address Hi Starting Address Lo la Number of Registers Hi Fixed Number of Registers Lo Error Check CRC 16 bits Response The response from the slave is interpreted by Cool Muscle automatically 109 Chapter 5 Setting Examples Function Code 03 0x03 Function The specified register address the current motor information can be read This function is supported only in the Modbus host communication The number of data bytes is four Position Deviation K78 setting 295 Current Position value of K78 2 296 Current Speed value of K78 4 Current Torque value of K78 6 Motor status value of K78 8 Example a transmission message to Cool Muscle when reading the current position Transmission Message Note that the number of registers is 2 and the starting address is 101 0x65 hex value of K78 1 Function Code 00 4 Starting Address Hi 000 4 Starting Address Lo 06 4 Error Check CRC 16 bits Response Here is an example of a response from Cool Muscle The slave address and the function code are echoed back without modification The number of data bytes is four Slave Address r Function Code mm Number of Data Bytes 0x00 Data1 Lo mn 4 Data2 H 066 4 Data Lo MAD 4 CRC 16 bits o In above example the current position is 0x0001
25. here Comments Execute commands within Program Bank Various commands for Direct Mode are available in Program Bank Please refer to 2 1 2 11 L L gt lt commands can not be used 019 Chapter 2 Operation by CML 2 2 3 Ladder Logic Bank Commands Ladder Logic Bank is independent from Program Bank and can be executed in the background Therefore Cool Muscle can execute PLC functions in standalone mode because they can execute the operations with defined data like Positions Speeds and Accelerations Ladder logic Bank execution cycle time is set by K63 Ladder Logic Bank definition must start with the L1 command and finish with the End command Ladder Logic Bank also finishes with two CRLFs without any command Multiple commands in a single line must be separated by a comma The maximum number of commands per motor is 500 commands in total Basic format for CML Ladder Logic Bank is as below ft Memory No n Motor ID J Enter Key Input L n P n V n V n Transfer the predefined text files to the motor or input data l n amp amp l n V n V n TO directly via COOLWORKS LITE or Hyper Terminal END L n A specified Ladder Logic Bank performs operator processing based on predefined data 020 Chapter 2 Operation by CML Operation Example Let s make a Ladder Logic Bank download to Cool Muscle and execute it First of all define the data as below 51 1 50 2 1 10 V1 1 Px V2
26. in motor1 s acceleration memory position 2 plus the value stored in motor 1 s general memory position 2 to motor 1 s acceleration memory position 3 This command saves the position value in a specified memory Use or after Motor ID to make the value relative This value can be added or subtracted from the current position The specified memory value can be changed by the value from Mathematics Operator 2 1 A2 1 P2 1 Motor moves to P memory 2 with Acceleration memory 2 and Speed memory 2 respectively P21 Motor moves from the current position by the travel distance defined by position memory 2 P3 1 V1 1 V2 1 Save the total values stored general memory 1 and 2 to motor 1 s position memory 3 When executing an relative positioning after rotating a motor shaft in motor free status motor moves to a relative position from the current position before motor free i Execute Counter Reset in this case Execute next line without in position queuing Use this command instead of P to execute motion However execute the next line of Program Bank without the in position of Y command Note that Program Bank may not be resumed after stop command during the operation of several Y commands S2 1 A2 1 Y2 1 Motor 2 starts executing line 2 without waiting for Motor 1 to complete line 1 S3 2 A3 2 P3 2 Push Motion Use this command instead of P to execute push motion toward the target position If the motor reaches the ta
27. loops it performs multiple loops up to 10 classes 081 Chapter 4 Sample Program 4 2 2 Basic Branch Processing By specifying branching condition different processes can be executed by conditions true or false When defining a branching processing as below describe a condition or V command true condition and false condition dividing with comma Format Branching Condition True Condition False Condition When using command execute the conditional branching by the specified input status B2 1 81 799 1 798 1 Conditional branch Processing Program Bank 297 1 Merge back to normal command processing END The flow of above CML program is as shown in below Execute Program Bank 2 Input ON Input OFF Check Input 3 Status Line 2 Execute 799 Execute 298 Execute 97 When using only V command the branch processing depends the specified V data is larger than 0 or not When larger than 0 execute the true condition otherwise false condition V1 1 Sx Data definition Define the current speed to V1 B3 1 V1 1 299 1 298 1 Conditional Branching Processing Program Bank 297 1 Return from Conditional Branching END In the above program bank execute the true condition when the current speed gt 0 and the false condition when the current speed lt 0 The processing shall be shown in below Execute Program Bank 3 gt 0 IA O What is the value of V memory 1
28. memory to 0 The motors perform linear interpolation starting from the starting point current position to the end point or modifier for R command and command do not affect the motion trajectory Motor 1 X axis Data definition Specify Linear interpolation Motor 2 Y axis Data definition specify Linear interpolation B1 1 A1 1 S1 1 P1 1 A1 2 S1 2 P1 2 Move to the starting point R1 1 R1 2 2 2 2 1 Perform linear interpolation to the end point P2 1 P2 2 END The program above draws a line outlined in black Motor 2 position 1000 as i 1000 Motor 1 position 092 Chapter 4 Sample Program 4 5 Ladder Logic Banks In this section Ladder Logic Banks are introduced Execution of commands in a Ladder Logic Bank does not accompany the motion of motor Only mathematical and or logic operations and branch processing are executed in the bank 4 5 1 Basic Operations L1 1 V1 V1 V2 V1 gt V3 V1 V3 TO V1 lt V4 V1 V4 TO V3 V1 P1 1 END Add V2 to V1 Branching without motion Branching without motion Ladder Logic Bank1 Set value of V1 to V3 Display P1 value In describing a Ladder Logic Bank place L Bank No Motor ID at the beginning of bank and describe any command lines after that When P command is used in a Ladder Logic Bank it does not cause any motion It only displays the value of P memory AN As a Ladder Logic Bank is continuously exec
29. of sensor is 0 4 N m set parameters as below K76 1 250 Set the offset voltage for Torque Sensor Input unit 0 01 V K77 1 200 Set the difference between the output voltage of torque sensor at maximum torque command value and the offset voltage unit 0 01 V Torque N m Voltage value of K77 pe 100 F l Setting range 0 of V15 R 4 8V Torque Sensor Output Voltage V Torque Sensor Offset value of K76 100 FTT 103 Chapter 5 Setting Examples At last set the torque command value and operation range for torque feedback control The torque command value is set into the General Variable 15 in the range 0 100 For example Cool Muscle operates at the speed of 60 min 1 from current position to the position of 10000 pulses meanwhile the load torque is required to be controlled with the constant torque of 0 1 N m set as below V15 25 Setting for torque command value 0 1 N m 0 4 N m x 100 SO 100 Speed setting for Cool Muscle at resolution K37 3 PO 10000 Setting for target position After completing every setting input the output voltage of torque sensor to Analog Input of Cool Muscle and start operation Torque feedback control is performed until Cool Muscle reaching the position of 10000 posse External Encoder eee Cool Muscle 1 5V s Torque Sensor Output Om im m o Analog Input Ke OV EE 104 Chapter 5 Setting Examples 5
30. the Max Speed 2000min in each direction when 0 2V or 4 8V is applied When using the position control K38 1 1 Set Position Control as the analog control type K41 1 10000 Set 10000 pulse to the travel range Move 0 to 10000 pulses when changing analog input voltage from 0 2V to 4 8V 045 Chapter 3 Setting by Parameter Cut off frequency of low pass filter for the analog input Low Pass Filter Cut off Frequency Unit x5rad s There is no filter when the value of 1024 is set unit 5S rad sec 5000 times sec 1024 Setting Example K39 1 128 Set 640 rad sec to the analog input cut off frequency 046 Chapter 3 Setting by Parameter This parameter sets motor s maximum speed For the speed control by the analog input this parameter sets the maximum speed when the maximum analog voltage is applied The conversion from the speed unit min 1 to S value is as show in below S value speed min x resolution ppr speed unit 100pps or 10pps 60 Ex K40 2000 K37 3 Resolution 1000ppr Speed Unit 100pps Max S value 2000 x 1000 100 60 333 Mn 1 Depends on motor type Setting Example K40 2000 Set 2000 min to the motor s maximum speed When using the speed control by the analog input through setting parameter K38 the motor s maximum speed reaches to 2000 min 1 when the maximum analog voltage is applied 047 Chapter 3 Setting by Parameter Analog Travel Range Unit pulses Th
31. the count value is over 5000 5000 10000 102 Chapter 5 Setting Examples 5 5 Torque feedback control The torque feedback control is available for applications such as push control common in pneumatic sliders or constant tension control It is needed to specify positions and speeds because the control is performed during the positioning operation When applying torque feedback control the following parameter settings are needed Target controlled by Analog Input Proportional Gain for Torque Control GONENS Torque Sensor Input offset value Example of Setting Set Torque Feedback Control into parameter K38 Target controlled by Analog Input K38 1 10 Setting the target controlled by Analog Input Next set K76 Torque Sensor Input offset value and K77 Input Range for Torque Sensor Signal In the torque feedback control the motor output can be controlled in accordance with K74 Proportional Gain for Torque Control and K75 Integral Gain for Torque Control for the feedback data from external torque sensor to track the torque command value specified in the range 0 100 by using General Variable 15 When using the torque sensor with output of 1 V per 0 2 N m and offset voltage of 2 5 V the controllable range is 0 0 46 N m because the analog input voltage is in the range of 0 2 V 4 8 V For example the torque command value is required to be maximized V15 100 when the detected torque
32. the end of each Program Bank B1 1 S2 1 A2 1 P2 1 END End of Program Bank No 1 Command Concatenation Merge Motion Simultaneous Motion Execution When multiple commands are listed in a single line each command need to be separated by a comma This allows for merge motion instantaneous motion and dimultaneous motion by multiple axes S2 1 A2 1 P2 1 Combining commands move to P2 with Acceleration A2 and Speed S2 A2 1 2 1 P2 1 3 1 P3 1 Merge motion Move to P3 without stopping at P2 Speed changes to S3 when P2 1 P3 2 passing P2 Synchronous motion Motor 1 moves to P2 and Motor 2 moves to P3 at the same time Command Concatenation in Multiple Lines This allows for multiple commands to combine over multiple lines This can be used for combining commands Merge motion and Synchronous motion 52 1 A2 1 P2 1 Merge motion Motor 1 moves to P3 without stopping P2 Speed changes to S3 when 59 1 P3 1 passing P2 same as in a single line with commas Command Concatenation in Branching This command can realize to execute multiple commands in conditional branching If V1 1 gt V2 1 then execute 99 1 and 01 1 If V1 1 lt V2 1 then V1 1 gt V2 1 299 1 01 1 296 1 F1 1 execute 96 1 and F1 1 This command allows you to write comments in Program Bank files The description between this command and CRLF is not recognized as commands Comments are not stored into Cool Muscle memory Comments
33. 0 S Starting Address Lo 068 4 Number of Registers Hi 000 4 Number of Registers Lo 002 4 Error Check ORO 6 bits Chapter 5 Setting Examples 5 6 5 Exception Responses When a message has transmitted from a Modbus host device if a slave device receives the massage normally it returns a normal response However it will return an exception response if abnormal event occurs as below The exception response has the following configuration Exception Code 8 bits A slave address is placed in the slave address field as well as in the normal response A function code the value of function code of transmission message 0x80 hexadecimal is placed in the function code field 03 0x03 04 0x04 16 0x10 The exception code is shown below Illegal Function The relevant function is not supported Illegal Data Address The designated data address is non existent 5 6 6 Termination of Modbus Mode The normal RS 232C communication cannot be performed under the Modbus host communication Cool Muscle can terminate the Modbus communication mode and perform the normal RS 232C communication through the setting of K81 0 by a Modbus compatible device If the Modbus communication mode is required to be terminated by a Modbus incompatible device or the mode has been set accidentally it is possible to terminate the Modbus mode and perform normal RS 232C communication temporally through transmitting
34. 0000000 1000000000 The setting range depends on K37 be defined as relative against set position by using or If the value is set to 1000000000 the motor will l run continuously Unit pulse l l l l It can be defined up to 600 including Data Command N and R Interpolation type When executing an relative positioning after rotating a motor shaft in motor free status motor moves to a relative position from the current position before motor free Execute Counter Reset in this case P2 1 10000 P2 1 5000 P2 1 1000 Save the value of 10000 to Motor 1 s P memory 2 Save the value of 5000 to Motor 1 s P memory 2 Save the value of 1000 as the relative one to Motor 1 s P memory 2 Unit 100pps or 10pps or 1pps Set by K37 S2 1 250 Unit Kpps A2 1 100 Unit msec T2 1 1000 Speed Data Definition This command sets the motor Speed as an absolute value As example value is treated as 100 even if 100 is set Only when the motor is running continuously set Speed to a positive number for CW direction motion and set Speed to a negative number for CCW direction motion Save the value of 250 to Motor 1 s S memory 2 Acceleration Data Definition This command defines Acceleration Save the value of 100 to Motor 1 s A memory 2 Timer Data Definition This command defines Timer Save the value of 1000 to Motor 1 s T memory 2 013 Unit V2 1 12345678 V3 1 abcd V4 1 Px
35. 1 Execute Program Bank 1 7 Start Origin Search Start Origin Search Manual Jog CW Motor rotates to the amount of feed pulses set in parameter K50 in Execute Program Bank 2 CW direction When K36 2 or 3 execute Program Bank 2 Manual Jog CCW Motor rotates to the amount of feed pulses set in parameter K50 in Execute Program Bank 3 CCW direction When K36 2 or 3 execute Program Bank 3 Setting Example K28 1 987612 x INPUT 1 Motor Free INPUT 2 Alarm Reset Program Bank Pause INPUT 3 Execute Program Bank 1 INPUT 4 Start Origin Search INPUT 5 Manual Jog CW INPUT 6 Manual Jog CCW 035 Chapter 3 Setting by Parameter Input Functions at the Quick Response Falling Edge QF Input Functions at the Slow Response Falling Edge SF These parameters assign functions performed at the Quick and Slow falling edges of a signals A Please note that input functions should not be interfered with each other when assinging For example assign Motor Free to a rising edge of Quick Response Signal and Start Origin Search to a falling edge of Slow Response Signal Cool Muscle goes into motor free state before starting the origin search Ref the diagram in K25 description Set each function by the digit in order of Input 6 5 4 3 2 1 I Bs 2 E No Function FE eee Alarm Reset This resets alarms and pauses motion Pause Program Bank being Program Bank Pause executed Re start from paused positio
36. 1 and P4 of Motor 2 Area division of Data Command Only Interpolation type can be used The Data Command of P N and R in total 600 are divided the area The occupancy priority P N R After allocation of P N should be allocated within the rest area The rest area after allocation of N should be allocated for R automatically If the maximum number is allocated for P N and R should be 0 300 pieces are allocated for P as a data definition area 200 pieces are allocated for N as a data definition area The definition area of R becomes 600 Number of P Number of N without specification R area should be 100 pieces in example 010 Chapter 2 Operation by CML 2 2 Program Mode In program mode positions speeds accelerations need to be predefined Using these predefined motion data Program Banks can be created Program Banks are executed by execution commands Please refer to Chapter 4 for program examples for different applications In program mode memory numbers should be specified after command The following shows basic structure of CML in program mode Memory No n Motor ID LJ Enter Key input S n Value A n Value Define each data using P n Value Motion commands V n Value Transfer the predefined text files to the motor B n Define motion order using Bank or input data directly via COOLWORKS LITE P n V n Commanas or Hyper Terminal S n A n P n gt Bank Commands are described af
37. 1 5000 Then define a Ladder Logic Bank L1 1 Start definition of Ladder Logic Bank V1 1 gt V2 1 S 1 1 1 S 1 52 1 END End of definition of Ladder Logic Bank This example shows Cool Muscle 2 moves with S1 50 when V1 current position is bigger than V2 5000 but with S2 10 when V1 is smaller than V2 After the definition enter the command as below and execute the Ladder Logic Bank 1 L1 1 Lets make a motion in Direct Mode as follows A 1 100 P 1 10000 1 This example shows Cool Muscle 2 moves with Speed 10 when the current position is smaller than 5000 and with Speed 50 when the current position is bigger than 5000 by executing Ladder Logic Bank in the background To stop or pause Ladder Logic Bank L command is needed Speed 50 i Position 5000 10000 021 Chapter 2 Operation by CML Ladder logic bank commands are explained in the format below Function Available memory space Example Explanation of Example Beginning of Ladder Logic Bank 1 30 This command defines the beginning of a Ladder Logic Bank Format L n Program Bank No n Motor ID L2 1 Begin the definition of Motor 1 s Ladder Logic Bank 2 Call other Ladder Logic Bank 1 30 This command calls and executes the specific Ladder Logic Bank and back to the original Ladder Logic lass class2 class3 class10 Bank line after completing the called Ladder Logic Bank CL command can not be used to call the other ID s Ladd
38. 100pps or 10pps or 1pps Set by K37 Unit Kpps A 1 100 Position Data Definition This command defines Target Position The value can 1000000000 be defined as relative against current position by using Max 1000000000 or If the value is set to 1000000000 the motor The setting ER depends on K37 will run continuously Set Target Position to 10000 pulses for Motor 1 Set Target Position to 5000 pulses for Motor 1 Add 100 pulses to the current position and set it as Target Position for Motor 1 Deduct 200 pulses from the current position and set it as Target Position for Motor 1 Set endless position as target position for Motor 1 Speed Data Definition This command sets the motor Speed as an absolute value As example value is treated as 100 even if 100 is set Only when the motor is running continuously set Speed to a positive number for CW direction motion and set Speed to a negative number for CCW direction motion Set Motor 1 Speed to 25000 2500 250pps Acceleration Data Definition This command sets Acceleration Set Motor 1 Acceleration to 100 Kpps This command sets Torque Limit using a percentage 0 100 of the maximum motor torque Soon after setting M data the motor torque should be limited by M data Set Motor 1 Torque Limit to 50 of the maximum motor torque 005 Unit pulse N 1 50 N 2 30 Unit pulse R 1 80 R 2 80 Chapter 2 Operation
39. 14 748 36 429 496 72 O 20 4 5 100 200 8 O OJO 8 N NO I 00 00 NO OJo O QIN O N O o gt KOLE NO 3 00 ms NO O O 87 88 25000 NO O N N i O O ia N O o O o 0 6 8 EM 50 When it is set to 40 70 the incremental motion cannot be executed Continuous motion P 1000000000 is still available in any resolution Setting Example K37 1 3 Set 1000ppr to the Motor Resolution 100pps as the Speed Unit 041 Chapter 3 Setting by Parameter Analog Control Type This parameter sets the control type for Analog Input Cool Muscle is equipped with 10 bit A D converter The analog input voltage 0 to 5V is divided into 1024 and utilized as an analog control command from 0 to 1023 Therefore the control command changes per approximately 4 9mV However from 0 to 0 2V and from 4 8 to 5V are the dead zone so that actual control range is from 0 2V to 4 8V Analog Control Command 1023 0 2 4 8 5 0 Appr 4 9 mV Analog Input Voltage V unctions Control the position in the range of K41 by changing the analog input voltage when motor is not rotating K41 10000 K41 10000 Position Position Pulse Pulse The plus minus control range in the set range is different depending on the current position and the applied voltage when the analog control is activated Position Position
40. 6 Modbus Protocol Modbus protocol is the communication protocol which has developed by Modicon Inc for PLC applications Modbus protocol of which specifications have got open worldwide is widely used in the FA or PA field due to its simple transmission structure Cool Muscle supports Modbus protocol and can be directly connected to Modbus compatible devices with not using the communication converter but just setting the following parameters Communication baud rate Modbus host Cool Muscle Slave to slave communication baud rate Cool Muscle Modbus Slave Modbus host communication address set 1 when not used Modbus slave communication input address set 1 when not used Modbus slave communication output address set 1 when not used Slave address K82 Parity In the Modbus protocol there are a host and a slave necessarily and the communication can be established through a response of the slave to a communication request from the host Cool Muscle can communicate either as a host or as a slave Modbus Host Communication Cool Muscle can be used as a Modbus slave by connecting a Modbus host device to the host communication side of Cool Muscle The host device can transmit commands to Cool Muscle and read or write the data of Cool Muscle Modbus Slave Communication Cool Muscle can be used as a Modbus host by connecting a Modbus slave device to the slave communication side of Cool Muscle The I O control
41. 8 1 is set this function is not activated o Output Address for Modbus Slave Communication Set the Modbus output address for the slave communication 1 Set K80 0 for relative address When K80 1 is set this function is not activated Slave Address Set the equipment ID number for Modbus or RS 485 communication Set the value from 255 to 1 in query mode from 1 to 255 in event mode for RS 485 communication For Modbus communication set the value from 1 to 255 in the following way Set Cool Muscle s ID No when Cool Muscle is receiving side and set the equipment ID No of receiving side when Cool Muscle is transmitting side AN This parameter changes the communication method Please change K81 after adjusting K78 K79 and K80 Setting Example Set the parameters as shown in the diagram below 1 1 Query Mode 255 1 Event Mode 1255 Host Communication Slave Communication Slave Communication Input Input Output 1255 0 32767 0 32767 0 32767 CML command communication during RS 232C can not be established under RS 485 communication mode When canceling RS 485 communication temporary CML command communication will be enabled by 2 times transferring equipment ID number absolute value command to Cool Muscle after setting a proper baud rate RS 485 communication will be canceled by setting K81 0 Example of transferring command K81 123 1123 K81 123 1123 075 Chapter 3 Setting by
42. 86A0 hex representing 100000 decimal Chapter 5 Setting Examples Function Code 04 0x04 Function The I O and the status information can be read This function is supported only in the Modbus host communication Input Status K78 setting 70 n ID1 ID15 K78 14 n Motor ID Output Status K78 setting 16 250 n ID1 ID15 K78 30 n Motor ID Motor Status K78 setting 32 299 n ID1 ID15 K78 46 n Motor ID Transmission Message Example The transmission message to read the 3 input status of ID3 ID5 The set value of K78 represents ID1 so that ID3 is the set value of K78 2 Note that the starting address is 102 0x66 hex which indicates ID3 Number of Registers Lo Error Check Response Here is an example of a response from Cool Muscle The slave address and the function code are echoed back without modification Slave Address mm o Function Code 0x04 0x06 Data1 H 1 000 f Data Lo OF 1 Ci Data2 Hi 1 000 CSsCsS Data2 Lo 002 SCSCSCSsS Data3 Hi 1 OT Data3 Lo CE 066 1 Error Check CRC 16 bits CCCid Chapter 5 Setting Examples Function Code 05 0x05 Function Turning ON OFF the single output in the slave can be performed This function is supported only in the Modbus slave communication Transmission Message The transmission message to the slave is generated automatically through transmitting Outp
43. 94 5 1 Manual Jog 21210 GEO 094 52 Rotation Pulse Output SEE EEE 095 5 3 Origin Search ee nnnunununnnnununnunnnnnuuuuunnnnnunuuuunnnunuunuuuNENENENU 096 5 3 1 Origin Search using Stopper ee ee ee ee 096 5 3 2 Origin Search using Sensor te 097 5 3 3 Origin Search with Z Phase Signal ee ee 099 54 External Encoder ttt ee ees 100 5 4 1 External Encoders Index Operation 2 se rtsescrss se comr caine sine 101 5 4 2 External Encoder Feedback Operation gt rsrrarrsrrsrrrrr 101 5 4 3 External Encoder Pulse Counting Operation gt x xxxxs 102 5 5 Torque feedback control lt tc ttt 103 56 Modbus Protoco ttrt rr sr rss 105 5 6 1 Message Transmission Mode ts ts rs eae 106 BED Time interval between Dala ra eee Ter ine 106 5 6 3 Message Framing ee nnnnnnnnnnnnuunununnunuunuununnnnuuuununnnnununEnn 107 5 6 4 Function Code ee n rann 107 5 6 5 Exception Responses tt ttt ttre tte eter reer reese eens 115 5 6 6 Termination of Modbus Mode rar eee 115 IN 002 Chapter 6 CML List samusa uai a aaa ee ee 116 Ker 116 6 2 Data Commands rrxxnnnnarnnnnannnnrnnnnannrnnnnnannrnnnnannnrrnne 124 6 3 Program Bank Commands tt tr tert narr nn rnnnnnrnrnnnrnnnnnnn 126 6 4 Ladder Logic Bank Commands xrrarrennrnennrnnnnrnnnnrnenn 129 5 NS EN i3 6 6 QUErY rrsrrnnrnrn nar annn ttt tnt etter een
44. C R type 26 P type 000000 333333 000000 Set the value 2 or 3 of Input 3 to Input 6 Operation I l When Input Signal is ON P type operation is valid and accept the Pulse signal When Input Signal is OFF P type operation is Invalid and refuse the Pulse signal Set the value 2 or 3 of Input 1 or Input 2 CM2 operates P type operation when setting values are 2 or 3 to two or more input during input signal is ON at either Input 1 or Input 2 116 25 Slow Response Chapter 6 CML List Assign functions at target voltage level of quick response signal Each digit must be set individually and assigns Input 6 5 4 3 2 1 No function General Use Origin sensor signal Manual feed CW Manual feed CCW Stop Ladder Logic Bank Input Functions at the Quick Response Target Voltage O Oo fF W NYO 2 O CW direction limit sensor Dual usage as CW origin sensor 7 Emergency stop 8 Terminate the Program Bank same as CCW direction limit sensor 000000 999999 000000 Dual usage as CCW origin sensor Assign functions at rising edge of quick response signal Each digit must be set individually and assigns Input 6 5 4 3 2 1 0 No function 1 Alarm reset Program Bank Pause l Motor free Input Function at E Position counter reset Rising Edge of l l 000000 999999 000000 Execute next Program Bank line Quick Respo
45. Direct Mode is available in all types of Cool Muscle Program Mode By using Bank commands Cool Muscle executes motion according to the block of predefined motion logic Bank command There are Program Bank and Ladder Logic Bank as a block of motion logic They can be stored in Cool Muscle s memory and executed by execution command or digital signal Program bank is useful for repetitive motion applications The process depending on input or motor status is described in Ladder Logic Bank Ladder Logic Bank is scanned continuously in the background per set time by a parameter It works as a simple sequencer or PLC Program mode is not available with the P type 002 Chapter 1 CMLOverview 1 3 Memory Map By parameter commands specified numbers of pre set value can be stored in the Memory of Cool Muscle Indicate a memory number following parameter commands to read or save the pre set value The following diagram outlines the memory composition Parameters Direct Mode The memory number Ao so mo Po No Ro is not specified Program Mode Motor Data The memory storage for P N and R data can be changed only by R Interporation type total 600 memories Bank Commands 003 Chapter 2 Operation by CML 2 1 Direct Mode In Direct Motion Position Speed and Acceleration need to be predefined Motion based on these predefined data is executed by execution command n Motor ID JJ
46. F OFF OFF OFF o o o 0 0 yfilf1ijofol i ifol 1 0 Er The data is OxCD01 hex so that the data to be set to the output status is 52481 decimal Example The transmission message to the slave when transmitting 0 4 52481 to Cool Muscle automatic generation Field Name Contents Hex Remarks Slave Address Set EG Kat Function Code m 1 4 Starting Address Hi Starting Address Lo Set by K80 a Preset Data Hi mon 4 Preset Data Lo mm 4 Error Check CRC 16 bits S Response The response from the slave is interpreted by Cool Muscle automatically Chapter 5 Setting Examples Function Code 16 0x10 J Function The designated command can be transmitted to Cool Muscle CML Command K78 setting 100 Transmission Transmission Message Example The transmission message of Position Counter Reset Command 2 when K78 100 Note that the starting address is 200 100 100 SlaveAddress ml 4 Function Code OTP Starting Address Hi 00 Starting Address Lo 068 4 Number of Registers Hi 000 4 Number of Registers Lo 002 4 Number of Bytes 004 Datat H me 1 4 Error Check GRO 6 bits S Response When the message is received correctly the response is performed by returning the copy of the transmission message with the number of bytes and data area removed Slave Address gt E Function Code mo 4 Starting Address Hi 0
47. INPUT 5 Emergency Stop INPUT 6 Stop Program Bank 034 Chapter 3 Setting by Parameter Input Functions at the Quick Response Rising Edge QR Input Functions at the Slow Response Rising Edge SR These parameters assign functions performed at the Quick and Slow rising edges of signals A Please note that input functions should not be interfered with each other when assinging For example assign Motor Free to a rising edge of Quick Response Signal and Start Origin Search to a falling edge of Slow Response Signal Cool Muscle goes into motor free state before starting the origin search Ref the diagram in K25 description Set each function by the digit in order of Input 6 5 4 3 2 1 A In ALTAR lue FUNCTION f 0 NoFunction 1 1 Alarm Reset This resets alarms and pauses motion Pause Program Bank being Program Bank Pause executed Re start from paused position is possible by 6 Execute Program Bank 1 2 2 Motor Free Make a motor go into motor free state and servo OFF Position Counter Reset Make the current position to 0 the Origin 4 Execute Next Execute the next line in a Program Bank Program Bank Line B1 1 A1 P3 Line 1 2 A2 P2 Line 2 Rising Edge Execute line 1 Next Rising Edge Execute Line 2 5 Execute Previous Execute a previous line in a Program Bank W Program Bank Line This function could not be performed depending on the content of E Program Bank 7 Execute Program Bank
48. J COOL MUSCLE C M E MDUG CML 09101E 01 User s Guide Motor Encoder ee Fade PLC Power supply CORPORATION En I IN VUINE Sol uto N LO Before use read through this User s Guide to ensure proper use O Keep this User s Guide at an easily accessible place so as to be referred anytime as necessary The contents of this User s Guide are subject to change without notice for the improvement in product specification or usability of this User s Guide This User s Guide is only intended to provide information about the product and dose not guarantee any result from usage of the product Muscle Corporation is not responsible for any damages and or injuries resulting from the implementation in accordance with the contents of this User s Guide Please notify our sales representative if you have some doubts or comments with the contents of this User s Guide The contents of this User s Guide do not guarantee or grant rights to patents copyright or any other rights to the intellectual property of Muscle Corporation or any third party Muscle Corporation is not responsible for any problems that may occur concerning the intellectual property rights of third parties resulting from the application of information provided in this User s Guide Cool Muscle is a registered trademark of Muscle Corporation Microsoft and Windows are registered trademarks of Microsoft Corporation in the United States and other countries Other co
49. O 1 Conditional branch Processing Program Bank 3 ST 1 A3 1 P2 1 B4 1 Program Bank 4 3 1 A1 1 P4 1 B5 1 Program Bank 5 1 1 A1 1 P1 1 Execute Program Bank 1 Input ON Call Program Bank 2 Check Input 3 Status Line 4 Call Program Bank 4 P4 with S3 amp A1 Input OFF Call Program Bank 3 Check Input 3 Status Line 7 Call Program Bank 5 P1 with S1 amp A1 Check Input 2 Status Line 2 Input ON Input OFF Input ON Input OFF P3 with S2 amp A1 P2 with S1 amp A3 End Program Bank 1 085 Chapter 4 Sample Program 4 3 Controlling Multiple Motors The CML program examples introduced in the section 4 1 4 2 use a single motor CML programs using multiple motors are introduced in this section To control multiple motors various data and commands have to be defined for each motor 4 3 1 Synchronized motion in Two Dimensions Motor 1 Data definitions Motor 2 Data definitions B1 1 A1 1 S1 1 P1 1 A1 2 51 2 P1 2 Motor 1 and Motor 2 move to P1 at the same time Program Bank 1 P2 P2 2 Motor 1 and Motor 2 move to P2 at the same time P3 1 Motor 1 moves to P2 Program description Line 2 Motor 1 and Motor 2 start to move at the same time Motor 1 moves to position 2500 with the speed of 200 and acceleration of 100 Motor 2 moves to position 1000 with the speed of 100 and acceleration of 50 Line 3 Once both Motor 1 and Motor 2 complete the motion define
50. Parameter 076 Chapter 4 Sample Program In this section we will show some program examples by CML that is explained in the section 2 This section is comprehensive to learn basic to advanced CML Please use Cool Muscle 2 alone since those are sample programs 4 1 Various PTP motion Using one motor basic single axis point to point motion one point on one straight line to another point is executed 4 1 1 Basic PTP motion P1 1 20000 P2 1 72000 Position Data P3 1 120000 ree Motion Data 2 1 200 Speed Data ne 53 1 300 Definition A1 1 100 AD 1 200 Acceleration Data 11 1 500 Timer Data B1 1 Beginning of Program Bank 1 1 1 A1 1 P1 1 Move to P1 with speed S1 and acceleration A1 71 1 Timer for T1 motor no action P2 1 with the same acceleration and speed as in line 2 Program Bank 11 1 move to P2 S2 P31 Change speed to S2 and move to P3 END End of Program Bank One line represents one motion When speed and acceleration are not specified the previously used speed and acceleration are applied In the example above the same acceleration A1 is used for the entire program and the same speed S1 is applied until the motor reaches P2 line 4 In line 6 the speed changes to S2 and motor moves to P3 Speed 077 Chapter 4 Sample Program 4 1 2 Merge Motion B2 1 Beginning of Program Bank 2 1 1 A1 1 P1 1 2 1 P2 1 3 1 A2 1 P3 1 Motion data are same as 4 1 1 NNN Motion Moti
51. SE if number1 number2 number1 number2 number1 number2 number1 number2 number1 lt number2 Revision History User s Guide No is described in the cover of this manual gt m Ant D AX AS AP ry Vaa Dk JJEC Revis SCU CI revised Date Users Guide No rage May 2007 MDUG CMLIO7525E 01 NewDraft OS Feb 2008 MDUG CML 08215E 01 l i K36 2 change to K36 2 or 3 80 of peak torque change to Rated torque K45 1 change to K45 1 CH 5 96 K46 K47 K45 0 change to K45 0 CH 6 116 Max value and Description are changed K28 K29 CH 6 117 118 K36 2 change to K36 2 or 3 K31 K32 CH 6 119 Max value and Description are changed K41 K51 K60 K63 K68 K72 CH 6 120 K45 Description of 2nd digit and 3rd digit is added K 7 KA5 EE K48 Unit is changed CH 6 121 K60 ipti zl 285 CH 6 120 123 Default value is changed KO Description of when set to odd No is added CH6 133 785 Serial No is added Apr 2008 MDUG CML 08215E 02 CH 6 135 M1 7 change to M1 8 Jan 2009 MDUG CML 09101E 01 CH 2 013 P Caution is added CH 2 016 P Caution is added CH 3 075 Caution is added Description of merge motion during even at the CH 4 088 4 4 i interpolation is added CH 6 120 Default value is changed K48 F CH 6 121 Unit depends on digit of K45 is added K58 K59 140
52. Signal OFF Ks og ee ee 995 1000 1005 Position Target Position 058 Chapter 3 Setting by Parameter Position Error Overflow Threshold Level Unit 100 pulses This parameter sets a threshold value for the position error overflow in the 100 pulse units When the deviation between the current position and command position exceeds the threshold level the motor outputs an alarm and goes into motor free state Setting Example K56 1 50 Set 50K pulses to Position Error Overflow Threshold Level When the deviation between the current position and command position exceeds 5000 pulses Motor goes into Position Error Overflow alarm Ux 1 and stops in motor free state 059 Chapter 3 Setting by Parameter Overload Detection Time When the overload condition for motor continues more than set time msec the overload alarm is detected Then motor outputs overload alarm Ux 4 and stops in motor free state Torque Overload detection level Rated torque Overload Time Overload Alarm Setting Example K57 1 3000 Motor outputs overload alarm when the overload condition continues more than 3000msec and stops in motor free state 060 Chapter 3 Setting by Parameter Unit 100 pulses PO 10 pulses Software Limit P 1 pulse Depends on 3rd digit of K45 K58 sets the software limit in the positive direction to prevent the motion over the set position Value Description There is no software lim
53. a OFF FG I 1 I I i I I I I I I ae EG CountUp i Countdown SETTE Sub count Value Count Value 070 Chapter 3 Setting by Parameter External Encoder Resolution Unit ppr This parameter sets the resolution for the external encoder Setting Example K72 1 1000 Set 1000ppr to the external encoder resolution O71 Chapter 3 Setting by Parameter Output Pulse Width at Passing Point in Merge Motion This parameter sets the pulse width in msecs that is sent out when the motor passes each point in merge motion Pulse signals are sent out only at the passing points but not at the starting and end points Pulse width at each point in merge motion Set by Ni P2 P3 ON OFF Speed T eww p elm Time When the pulse width is set too big the motor can reach the next passing point and the signal arises before the signal falls down This results in one signal covering multiple points When this happen please reset the pulse width smaller Set by K73 Set by K73 ON P2 P3 OFF nn next output signal arises Speed l before the previous output signal falls EEE EE MENER Time Setting Example K73 1 100 Set 100msec to the pulse width at passing point in merge motion 072 Chapter 3 Setting by Parameter Set proportional gain for external torque sensor feedback Set integral gain for external torque
54. bps Less than 3 33msec 106 Chapter 5 Setting Examples 5 6 3 Message Framing The Modbus message is constructed as below Slave Address The slave address is specified in the range of 1 247 decimal by parameter K81 The broadcast mode slave address 0 is not available Function Code The function code is classified in outline as below Refer to section 5 6 4 for detail information Read the status of slave output only in the slave communication Read the status of slave input only in the slave communication Read the motor status only in the host communication Data The data field is constructed differently according to the function code Refer to section 5 6 4 Function Code for detail information Error Check The 16 bit error checking code generated by CRC 16 method is appended as the last field in the message 5 6 4 Function Code In case of using the following parameter settings an example of a response to each function code is shown as below The slave device ID is 4 when in the Modbus slave communication K78 Modbus host communication address K79 Modbus slave communication input address 200 K80 Modbus slave communication output address 300 Slave address 107 Chapter 5 Setting Examples Function Code 01 0x01 Function The output status in the slave can be read This function is supported only in the Modbus slave communication Transmission Message
55. d ON No Ladder Logic Bank will be executed when 0 is set Setting Example K62 1 2 Ladder Logic Bank 2 is executed automatically when powered ON The same as L2 1 Ladder Logic Bank execution cycle time Unit msec Sets the execution cycle time for Ladder Logic Bank When all processing in a Ladder Logic Bank is finished within a set cycle time the execution of processing is forced to wait until the next cycle When all processing is not finished within a set cycle time remaining processing is carried over to the next cycle When K63 0 a Ladder Logic Bank is not executed Setting Example K63 100 Execute Ladder Logic Bank every 100msec L1 1 Execute Ladder Logic Bank 1 END 1 every 100msec Processing waiting time When execution time is longer than execution cycle time L1 1 Set cycle time Repeat execution END 1 waiting time 063 Chapter 3 Setting by Parameter Status LED Setting This parameter sets either the status LED is activated or inactivated The default value is 0 Activated n tatus LED Activated When setting 1 Inactivated the LED will be off all the time including 1 Status LED Inactivated an alarm status CM2 User s Guide shall be referred to for the LED activated pattern 064 Chapter 3 Setting by Parameter Baud Rate Between Slave Motors This parameter sets the baud rate between slave motors in the daisy chain _ i 4 Baud rate operation EN 38 4Kbps W
56. d by line 2 Motor 1 and Motor 2 start to move at the same time Motor 1 moves to position 1000 with the same speed and acceleration as in the previous motion Motor 2 moves to position 2000 with the same speed and acceleration as in the previous motion The line 3 is not executed until both Motor 1 and Motor 2 complete the current motion line 2 One motor waits until the motion of another is completed Line 4 When Motor 1 and Motor 2 complete the motion defined by line 3 in Bank 1 only Motor 1 moves to position 3000 P2 TI P3 P1 Motor 2 position Motor 1 position 086 Chapter 4 Sample Program 4 3 2 Non synchronized motion in Two Dimensions In the previous CML program example either motor does not initiate the next motion until both motors complete the current motion In this CML program both motors independently initiate their own motion without waiting for the completion of motion each other B2 1 Use the same data as in section 4 3 1 A1 1 S1 1 P1 1 A1 2 51 2 P1 2 Motor 1 and Motor 2 move to P2 at the same time Program P2 1 Y2 2 Substitute Y command for P command to Motor 2 Bank 2 P3 1 Motor 1 moves without waiting for Motor 2 Description of the program above Line 3 When Motor 1 and Motor 2 complete the current motion line 2 then Motor 1 moves to P2 with the same speed and acceleration as in the previous line and Motor 2 moves to P2 with the same speed and acceleration as in the previous line L
57. data 1 of Motor 1 Response data example T1 1 1000 Value of specified P Position memory No Example P1 1 Predefined position data 1 of Motor 1 Response data example P1 1 100 Only R type P data up to P600 is available by allocation Value of specified N Center Point of Circle memory No Example N1 1 Predefined center point of circle data 1 of Motor 1 Response data example N1 1 100 Only R type N data up to N600 is available by allocation Chapter 6 CML List Value of specified R Radius of Circle memory No Example R1 1 Specified Radius of R n Predefined radius of circle data 1 of Motor 1 Circle Data memory No Response data example R1 1 100 Only R type R data up to R600 is available by allocation l All acceleration data A All Acceleration Data A n 4 parameters in 1 line each is separated with a comma All speed data 2S All Speed Data S n j 4 parameters in 1 line each is separated with a comma All torque limit data M All Torque Limit Data M n i oo 4 parameters in 1 line each is separated with a comma l All timer data T All Timer Data T n 4 parameters in 1 line each is separated with a comma l All variable data V All Variable Data V n l l l l 4 parameters in 1 line each is separated with a comma All position data P All Position Data P n P l l l l 4 parameters in 1 line each is separated with a comma All Center Point of Circle Da
58. data example ADI0 1 512 represents 2 5V Unit 5 1023V Value of counter for an external encoder External Encoder Example 76 1 76 276 n P Counter Response data example Ecnt 1 100 Version title Example 85 1 Version title of Motor 1 Response data example ID1 CM2v3 10R 1 0802A12345 285 Version Title 285 n No Hardware No Type Firmware Version Series Name ID No Chapter 6 CML List User parameter K20 K89 Example 90 1 User parameter s of Motor 1 290 n Response data example K20 1 0 K21 1 0 K22 1 200 K23 1 1 K88 1 0 K89 1 0 4 parameters in 1 line each is separated with a comma Position error value Example 95 1 295 Position Error 295 n Position error value of Motor 1 Response data example Pe 1 0 Unit pulse Current position Example 96 1 296 Current position 796 n Current position of Motor 1 Response data example Px 1 10000 Unit pulse Current speed Example 97 1 297 Current speed 97 n Current speed of Motor 1 Response data example Sx 1 100 Unit 100pps 10pps 1pps Current torque Example 98 1 98 Current torque 98 n Current torque of Motor 1 Response data example Ix 1 20 Current status Example 99 1 Response data example 290 User Parameter Ux n 0 motor is running Ux n 1 position error over flow Ux n 2 over speed regenerative voltage Ux n 4 overload 299 Motor Status 299 n Seeds Pn Ux n 16 motor free Ux n 32 pus
59. disjunction on two Boolean operands Result is False if and only if both operand and operand2 evaluate to False The following table illustrates how result is determined operand1 operand2 14 1 13 2 Ex If 14 1 FALSE 13 2 FALSE then result is FALSE 12 1 amp amp 11 13 1 amp amp 14 1 01 1 F1 1 The next character following amp amp strings should be in a statement 12 1 amp amp 1113 1 amp amp 14 1 01 1 F1 1 Multiple Not Operators are not permissible in a Not Operator performs a logical negation on a Boolean operand The following table illustrates how result is determined Ex If 13 2 TRUE then result is FALSE ve If 14 1 TRUE 13 2 FALSE then result is TRUE 14 1 88 UUSA Correct example 12 1 amp amp 14 1 amp amp 1 13 1 01 1 F1 1 Negation operand If Input Signal 2 and Input Signal are ON TRUE and Input Signal 3 is OFF FALSE then Output Signal 1 turns ON TRUE Otherwise Output Signal 1 is OFF FALSE Incorrect example statement Chapter 6 CML List 6 9 Comparison Operators These operators compare two numbers to determine whether or not they meet the conditions and return the results of comparison The value representing the result of the comparison is Boolean Any number is required to be integer and defined value in V variable Result is TRUE if number1 is equal to number2 Otherwise FALSE Equal to number1 number2 V1 1 V2 1 E
60. e Operation is valid and accept the Command Input Pulse When multiple inputs are set to 2 or 3 P type Operation is executed as long as the signal of any input of them is ON When Cool Muscle receives commands from the host during P type Operation the processing of the command is given priority and executed C type Operation priority When any Program Bank is not executed the execution of P type Operation is permitted During the execution of Bank Program it can not be switched to P type Operation even if the specified input signal is ON Setting Example K26 1 2XXX00 Input Signal 6 OFF Input Signal 1 ae CW command pulse lt B1 22 Input Signal 2 Pitt CCW command pulse BILLIE TE CCW Rotation Refuse the Pulse Accept the Pulse Refuse the Pulse 032 Chapter 3 Setting by Parameter When the setting value of Input 1 or Input 2 is 2 or 3 P type Operation is executed at all times and the motor rotation is controlled by only the command pulse input to Input 1 and Input 2 Setting Example K26 1 XXXX22 K26 1 XXXXX2 P type Operation Only C R type Operation is not available K26 1 XXXX2X 033 Chapter 3 Setting by Parameter Input Functions at the Quick Response Target Voltage QTV Input Functions at the Slow Response Target Voltage STV These parameters assign functions performed at the target voltage level of quick and slow response signals Please note that input functi
61. e concatenated in multiple lines 4 4 1 Circular Interpolation by Specifying Radius There are 4 different motion trajectories when starting point current position end point and radius are specified in the circular interpolation See diagram below Select one of the trajectories by combining R command specify radius command execute interpolation and or modifier In this case the center of a circle is automatically calculated Trajectory R O Trajectory R Trajectory R Trajectory R Motor 1 X axis Data definition Definition of Radius Motor 2 Y axis Data definition Definition of Radius B1 1 A1 1 51 1 P1 1 A1 2 51 2 P1 2 Move to the starting point of circular arc R1 1 R1 2 2 2 2 1 Move to the end point P2 1 P2 2 END Draw a long arc in the CW direction with Radius R1 088 Chapter 4 Sample Program The Program Bank above draws a circular arc trajectory outlined in blue where the modifier for R command is Long Arc and the modifier for command is CW Motor 2 position 1000 Motor 1 position In contrast the program below draws a circular arc trajectory outlined in red where the modifier for R command is Short Arc and the modifier for command is CCW B2 1 A1 1 S1 1 P1 1 A1 2 51 2 P1 2 Move to the starting point R1 1 R1 2 2 2 2 1 Move to the end point P2 1 P2 2 END Draw a short arc in the CCW
62. e signal Each digit must be set individually and assigns Input 6 5 4 3 2 000000 999999 000000 l iti O 0o No uU eS eh eS SS Chapter 6 CML List 4 3 2 1 No function No function Alarm reset Program Bank Pause Motor free Position counter reset Execute next Program Bank line Execute previous Program Bank line Execute Program Bank 1 Start origin search Manual jog CW K36 2 or 3 execute Program Bank 2 Manual jog CCW K36 2 or 3 execute Program Bank 3 Assign functions at falling edge of quick response signal Each digit must be set individually and assigns Input 6 5 4 3 2 No function Alarm reset Program Bank Pause Enable motor Position counter reset Execute next Program Bank line Execute previous Program Bank line Execute Program Bank 1 Start origin search Manual jog CW K36 2 or 3 execute Program Bank 2 Manual jog CCW K36 2 or 3 execute Program Bank 3 Set output logic Each digit must be set individually and assigns Output 4 3 2 1 0 1 Output port is ON when Output signal is OFF Output port is ON when Output signal is ON Chapter 6 CML List Functions 0000 9999 0000 35 Functions Current torque data magnified by 8 Set P type motor to either CW CCW mode or pulse direction mode ea Bae Or assign functions at rising falling edge of input signal 36 3 0 or 2 CW CCW Format ae 1 or 3 Pulse direction 2 or 3 Enable to execute Program Banks 2 and 3
63. e this command instead of T to wait for the time defined by T command while the specified input status is true If the input status changes while the motor is waiting then it resumes motion If it is set to 0 then the motor waits indefinitely Please specify same Motor ID for W command and L command 12 1 W2 1 799 1 If motor1 s input 2 is on true then the motor waits for the time defined by T memory OLT No 2 If the input status changes during the wait then the motor executes 799 and the next line move to P memory No 2 Capture Position Data This command sets the current position data to a specified memory This function is the same as the position teaching H2 1 Take the position memory No 2 from Motor 1 s current position If then motion calculation and data display using general data 1 Conditional branching can be executed using general data value Arithmetic or Logic operators can realize conditional branching with 2 general data values 2 Arithmetic operator performs data calculations 3 When this command is used alone it means the specified general data value This is used for a message sent to a host Please specify same Motor ID for V command and L command B1 3 vi V2 OS 3 V2 1 799 1 298 1 If V2 1 gt 0 then execute 99 1 If not execute 798 1 V2 1 V3 1 299 1 If V2 1 equals V3 1 then execute 99 1 if not execute 98 1 298 1 Define the value of P3 V2 as Motor 1 s P memory 2 P2 1 P3 1
64. earch CW direction Direction and Reverse Coordinates CCW direction CW direction Reverse Coordinates CCW direction Reverse Coordinates 100 pulse unit 10 pulse unit 1 pulse unit 100 pulse unit 10 pulse unit 1 pulse unit First Digit Setting of Origin search Direction and Reverse Coordinates This parameter sets the direction for the Origin Search and Reverse Coordinates The CW direction usually corresponds to the positive in the coordinate system but the Reverse Coordinates setting make the CCW direction correspond to the positive This feature applies for the symmetric machinery without changing signs of all position date but just setting this parameter CCW Caution for the Origin Search with an origin sensor In case the origin search is executed when the origin sensor is ON the motion to get out of the sensor signal region to the opposite direction set by K45 is performed for a precise origin search Ref Section 5 3 Origin Search for the detailed information Second Digit Unit of offset by K48 To set the offset sensitively set with second digit Third Digit Unit of software limit by K58 K59 To set the software limit sensitively set with third digit Setting Example K45 1 102 Set origin search direction to CW direction and Reverse Coordinates The unit of the offset set with K48 is set to 100 pulses The unit of software limit with K58 and K59 are set to 10 pulses O51 Chapter
65. ection Automatic start when powered ON Origin sensor Origin sensor Automatic start when powered ON Z phase signal Automatic start when powered ON Origin sensor amp Z phase signal 0 1 2 3 4 Z phase signal 5 6 7 Origin sensor amp Z phase signal Automatic start when powered ON The torque where the motor will determine that the stopper detection has been completed It is relative to the rated torque of the motor in percentage Offset between the mechanical and electrical origins When it is not set to 0 the movement to the electrical origin is automatically performed after the detection of mechanical origin The speed is the same as the origin search speed set by K42 When set to 0 electrical origin and mechanical origins are the same Unit depends on 2nd digit of K45 Speed for manual feed Feed pulses for manual jog Speed and acceleration are set automatically and can not be changed Creeping speed S inposon Range i 100 Pulse mposttonrane 32767 pulses Threshold level for position error Over Flow Oc Detection 5000 3000 Overload alarm is recognized after continuation of overload f Time state more than set time am Limit fom Limit Push Motion Torque Level Push Motion N eioldige Time Ladder Logic Bank when Powered ON Torque level for push motion is relative to the rated torque in percentage When set to odd No push motion error will not
66. ed by number2 not Division number1 Number2 including any remainder The decimal fraction part is truncated P1 1 P2 1 V1 1 Ex When P2 1 6000 V1 1 20 then P1 1 300 U1 Operator returns 10000 times value of sine operation result in integer as following expression The decimal fraction part is truncated Sine U1 number U1 0 10000x sin 27 x ai Bis data as V value Unit 0 01degrees P1 1 U1 V1 1 Ex When V1 1 3000 30 degrees P1 1 U1 V1 1 10000 sin 21rx 100 36000 5000 U2 Operator returns 10000 times value of cosine operation result in integer as following expression The decimal fraction part is truncated 0 Cosine 2 number U2 8 10000xcos 27 x 36000 Bis data as V value Unit 0 01degrees P2 1 U2 V1 1 Ex When V1 1 3000 30 degrees P2 1 U2 V1 1 10000 cos 271x100 36000 8660 U3 Operator returns value of square root operation result in integer The decimal fraction part is truncated Square Root 3 number U3 Vx x is data as V value Integer Hi Ex When V1 1 100 P3 1 U3 V1 1 10 Chapter 6 CML List 6 8 Logic Operators And amp amp Operator performs a logical conjunction on two Boolean operands Result is True if and only if both operand1 and operand2 evaluate to True The following table illustrates how result is determined operand1 amp amp operand2 14 1 amp amp 13 2 Ex If 14 1 TRUE 13 2 TRUE then result is TRUE Or Operator performs an inclusive logical
67. elow Output Signal 1 OFF ON Output Signal 2 OFF Set by K24 Setting Example K24 1 1000 The output set by K34 7 turns ON and OFF every 1000 pulses 028 Chapter 3 Setting by Parameter Delay Time for Slow Response Signal Unit 0 1sec Based on the original signal 2 signals of Quick and Slow Responses can be recognized Slow Response is a virtual signal that is generated after a specified delay time This increases the number of input points to which functions can be assigned This parameter sets the offset time for Slow Response Signal to be recognized after Quick Response Signal Each digit must be set individually in order of Input 6 5 4 3 2 1 Quick Slow Response Signals The diagrams below show Quick Response Signal is recognized as ON when the actual input voltage to the input port exceeds the ON recognition level and as OFF when the voltage falls below the OFF recognition level In case of K26 0 The input logic is set by K26 When delay time for Slow Response Signal is set to 0 2sec Slow Response Signal is generated 0 2sec after the Quick Response Signal is recognized Functions can be assigned to the rising edge the target level and the falling edge of each signal N f N ition level Input Port 0 ON recognition leve woes 4 Ge Geer das OFF recognition level Quick Response Signal Slow Response Signal Short signal width When a s
68. er Logic Bank The maximum layer nesting should be under 10 Motor 1 s Ladder Logic Bank No 1 calls Motor 1 s Ladder Logic Bank No 2 and executes it Jump to other Ladder Logic Bank 1 30 This command jumps to and executes specific Ladder Logic Bank But different from CL command it will not go back to the original Ladder Logic Bank JL command can be used to jump out of a looped Ladder Logic Bank JL command can not be used to jump to the other ID s Ladder Logic Bank Motor 1 s Ladder Logic Bank No 1 calls Motor 1 s Ladder Logic Bank No 2 and executes it Conditional Branching on Input Status This command makes conditional branching based on the specified input status Conditional branching is possible based on the status of all Motors ID on daisy chain network Use a logic operator when an action is based on the status of 2 inputs 12 1 CL3 1 CL4 1 If Motor1 s input 2 is on true then execute Ladder Logic Bank No 3 if off false then call execute Ladder Logic Bank No 4 11 2 amp amp 12 3 CL3 1 ilf Motor 1 s input 1 and 2 are on true then execute Ladder Logic Bank No 3 if not then CL4 1 execute Ladder Logic Bank No 4 022 Chapter 2 Operation by CML Timer 0 8 This command sets the timer in timer memory locations TO means no action Please specify same Motor ID for T command and L command T2 1 Motor 1 waits for the time defined by Timer memory No 2 Timer in Conditional Branching Us
69. eration at the rising edge of sensor signal and stop Complete origin search after returning to the point a Origin Sensor Signal ON 1 Start Origin Search 2 Stop with Deceleration Search Origin Signal 3 Over run Correction OFF f Origin Search Direction by K45 a Origin When an origin sensor signal is ON For detecting the rising edge of sensor signal to be possible move in the opposite direction from what is set by K45 to turn off a sensor signal When passing the point a in the figure start to decelerate after detecting a sensor signal off then the same motion as When an origin sensor signal is OFF in the previous paragraph will be executed Origin Sensor Signal ON 4 Avoidance of Origin Sensor 5 Deceleration Stop 2 Stop with Deceleration 1 Search Origin Signal OFF 3 Over run Correction Origin Search Direction by K45 a Origin 097 Chapter 5 Setting Examples Use of Limit Sensor concurrently AA AtArg fMNnAntianta IGTET UOPLEMls on Input Functions at the Quick Response Target Voltage 6 CW Limit Sensor or 9 CCW Limit Sensor It will be operated as below when the Limit Sensor in the same direction as an origin search is assigned to another input Start Origin Search move in the direction set by K45 After detecting the limit sensor signal start to move in the reverse direction Move at the double speed of what is set by K42 and detect the origin sensor si
70. example OUT 1 03 03 means 0011 in binary number and 0 OFF or 1 ON is responded by one column of unit in order of Out4 3 2 1 Current status of output signal 1 by 0 OFF or 1 ON Example 251 251 n 251 1 Response data example OUT1 1 0 Current status of output signal 2 by 0 OFF or 1 ON Example 252 Output Signal 2 252 n 252 1 Response data example OUT2 1 0 Current status of output signal 3 by 0 OFF or 1 ON Example 753 53 1 Response data example OUT3 1 0 Current status of output signal 4 by 0 OFF or 1 ON Example 54 n 54 1 Response data example OUT4 1 0 Chapter 6 CML List Current status of all inputs in hexadecimal Example 70 1 All the input current status of Motor 1 Input Signal 70 n Response data example IN 1 1C 1C means 011100 in binary number and 0 OFF or 1 ON is responded by one column of unit in order of In6 5 4 3 2 1 Temperature inside the driver case Example 71 1 Temperature in l 271 71 n Temperature inside the driver case of Motor 1 Driver Case Response data example mv Unit C Current power supply voltage level Example 72 1 Power Supply 272 Voltage 72 n Current power supply voltage level of Motor 1 Response data example VSEN 1 1400 Unit 0 1V Analog input voltage value 0 5V is divided by 1024 and respond 0 when OV and 1023 when 5V is applied 74 Analog Input 274 n Example 74 1 Analog input voltage value of Motor 1 Response
71. fer to 6 67 6 78 for more detailed information Please use 1 byte character fonts only amp CML does not distinguish between upper case and lower case characters 001 Chapter 1 CMLOverview The following motion can be created by CML PTP motion with different soeeds Ka Example From the origin the motor accelerates decelerates a P j using A1 Move with stops at each point P1 P2 P3 P1 P2 pa changing the speed S1 S2 S3 Merged Motion Speed Example From the origin the motor moves to P3 with the acceleration deceleration A1 changing speeds ANE S1 S2 S3 at each point P1 P2 without stop Motion Control for Multiple motors By specifying the Motor ID up to 15 motors can be controlled on a single network 3 Dimensional motions can be accomplished on a single network for X Y Z applications Circular Linear Interpolation Using the new interpolation commands 2 axis systems can be coordinated and trace arcs and lines Ovals are also possible amp Conditional Branching Using New logic operators branching by multiple input or motor status is possible It supports various branching as motion branching and conditional branching 1 2 Motion Mode There are 2 modes of operation in the Cool Muscle Direct Mode Like chatting online you can control the Cool Muscle directly Direct Mode is useful for an instant control debugging or the interrupt handling in a program ex forced termination
72. gnal After detecting the origin sensor signal then the same motion as When an origin sensor signal is ON in the previous paragraph will be executed Limit Sensor Signal Origin Sensor Signal ON ON 6 Detecting the Limit 1 Start Origin Search Reversed Direction Search Origin Signal d 4 Avoidance of Origin Sensor 5 Deceleration Stop 7 Detecting the Sensor Signal 2 Stop with Deceleration Lo 1 Search Origin Signal OFF Sf OFF 3 Over run Correction Origin Search Direction by K45 a Origin Example Input Functions at the INPUT6 CW Limit Sensor INPUT5 Origin Sensor INPUT4 CCW Limit Sensor INPUT 1 3 No Operation Quick Response Target Voltage K27 629000 Origin Search Direction CW 098 Chapter 5 Setting Examples 5 3 3 Origin Search with Z Phase Signal The following parameter setting is also necessary for the Origin Search with Z Phase Signal Contents Origin Signal Source 4 7 Z Phase Signal Z Phase Signal is the signal generated by an internal position sensor of Cool Muscle 2 and output once per rotation Usage of Z Phase Signal to detect an origin makes a precise origin search possible that always detects the same origin without an external origin sensor even in a rotary motion The sequence for the origin search is the same as the origin search with sensor When the motor free by the command or an input function the status LED shall be on all the time but when the Z Phase
73. h 1 Move to Position 0 2 Assign Current Position to 0 Enable Motor Execute Program Bank Pause Program Bank Pause Specified ae o JES a 2 n 1 2 Execute the specified Program Bank tant Only resumes the execution of the Program Bank paused right before CR pause This command stops all motors and pauses JCR JCR stop Program Bank in operation Send the command twice to terminate the Program Bank x x 1 n 1 2 Pause only specified motor in Daisy Chain connection In direct mode pause only Motor 2 in Daisy Chain connection L Execute Ladder L n L1 1 Execute the specified Ladder Logic Bank Logic Bank Bank Only L restarts the execution of the paused Ladder Logic Bank JL Pause Ladder Logic L 1CR pause Pause specified Ladder Logic Bank Bank L 1CR JL 1CR Send the command once to pause the Ladder x stop Logic Bank Send the command twice to stop the Ladder Logic Bank Emergency Stop Emergency stop of operation with the max deceleration Send the command once to pause the Program Bank Send the command twice to terminate the Program Bank Emergency Stop A al Kea e Execute the Direct Mode Motion all f Pr Signal ON F Output Signal OFF o o Execute Next Line Execute Previous Line xx Stop after Completing x x Current Line L n Execute the motion in Direct Mode O n 02 1 Turn the specified output signal ON Output Output sig
74. h motion Ux n 40 push motion completed Ux n 64 power module over current Ux n 128 temperature alarm Ux n 256 push motion error Ux n 512 emergency stop Multiple status can be responded by addition of above numbers vi Variable V n T Value of specified V Variables memory memory No 134 The commands below can not be used in Program Bank and Ladder Logic Bank Chapter 6 CML List Predefined Ladder Logic Banks Example L1 1 Predefined Ladder Logic Bank 1 of Motor 1 L1 30 Ladder Logic Bank Ladder Logic Response data example 11 18 amp 12 1 01 1 02 1 13 1 14 1 03 1 04 1 Only predefined content after L n A1 8 Specified A n Acceleration Data memory No Specified Speed S n S1 15 PP i Data memory No Specified Torque M n Mi g MPS Limit Data memory No T n T1 8 Specified Timer Data memory No Specified Position P n PENN Data memory No Specified Center N1 200 PT Point of Circle Data memory No Value of specified A Acceleration memory No Example A1 1 Predefined acceleration data 1 of Motor 1 Response data example A1 1 100 Value of specified S Speed memory No Example 1 1 Predefined speed data 1 of Motor 1 Response data example 51 1 500 Value of specified M Torque Limit memory No Example M1 1 Predefined torque limit data 1 of Motor 1 Response data example M1 1 10000 Value of specified T Timer memory No Example 11 1 Predefined timer
75. hange the Speed Data S for Direct mode in minus direction in the range of K40 by Direct Mode changing the analog input voltage K40 1000 0 2V 4 8V Data corresponding to 1000 min S Data S data for Change the Speed Data S for Direct Mode in the range of K40 by changing the analog input Direct Mode _ voltage Change S data in plus direction when Input Voltage gt 2 5V In minus direction when Input Voltage lt 2 5V Between 2 4V and 2 6V is the dead zone K40 1000 S Data Data corresponding to 1000 min 2 4V 2 6V Data corresponding to 1000 min Torque control Control the torque within the range of set value by M command 10 Torque Feedback control by inputting the output analog voltage from an external torque sensor to feedback keep stable torque on the control target that the sensor is equipped with control Ref Section 5 4 Torque Feedback Control Ref Parameters K74 K75 K76 K77 for the Gain proportional and integral gain Torque Sensor Input Offset Value and Torque Sensor Input Range 044 Chapter 3 Setting by Parameter Setting Example When using the speed control for CW CCW direction K38 1 4 Set Speed Control for CW CCW as the analog control type K40 1 2000 Set 2 000min 1 to Max Speed Increase the speed in CW direction by applying analog input voltage from 2 6V to 4 8V and increase the speed in CCW direction when applying analog input voltage from 2 4V to 0 2V Reach
76. he setting value is 2 or 3 in Input 3 4 5 and 6 D plk for au aci E the specified Rising Edge o of Input Port tors Input port is Falling Edge of Oor2 Input signal is ON when input port is ON Effective edge Rising edge of input port Input Port ON recognition Voltage OFF recognition ee NE Quick Response Signal j OFF Pulse effective edge N Input Port ON recognition LET i ee ee ete eee ANE SENER OFF recognition Quick Response Signal Pulse effective edge 031 Chapter 3 Setting by Parameter Setting Example K26 1 000010 _ INPUT 1 Input signal is ON when Input port is ON INPUT 2 Input signal is ON when Input port is OFF INPUT 3 Input signal is ON when Input port is ON INPUT 4 Input signal is ON when Input port is ON INPUT 5 Input signal is ON when Input port is ON INPUT 6 Input signal is ON when Input port is ON 2 Setting for execution of P type Operation Applies to C R type The input to switch either P type Operation is available or unavailable is specified by this setting Set the value 2 or 3 to the input for switching use in Input 3 to Input 6 The execution of P type Operation is available or unavailable by the state of specified input signal P type Operation is executed as long as the input signal is ON and then the command pulse input to Input 1 and Input 2 is effective Ben em T N INES IA AT LI ty lav OT F V JY J ON P typ
77. hen changing the setting of ID1 the settings of other motors will be changed 1 9 6Kbps automatically When changing the setting of slave motors except ID1 the baud ES 19 2Kbps rate between slave motors will not be changed 3 9 6Kbps 4 115 2 Kbps 230 4 Kbps Baud rate for a host Baud rate for daisy chain set by K20 set by K65 When setting a high baud rate the synchronization will be better but the communication will become sensitive against the noise Setting Example K65 1 5 Set 230 4 Kbps to the baud rate between slave motors 065 Chapter 3 Setting by Parameter Motor Free when Powered ON This parameter sets either servo ON or motor free V luel Set conten Nent when powered ON 0 Motor free when powered ON 1 IServo ON when powered ON Setting Example K68 1 1 Servo on when powered on 066 Chapter 3 Setting by Parameter This parameter sets the S curve gain in positioning By setting S curve the form of target speed for acceleration and deceleration periods will be S shaped according to its gain Therefore it may effect a smoother positioning or vibration reduction When 0 motor makes a trapezoidal motion Setting Example K69 1 0 Target Speed Trapezoidal Motion Time K69 1 1024 S curve Motion Target Speed Time 067 Chapter 3 Setting by Parameter This parameter sets the delimiter type at the end of replied data Setting Example K70 1 1 Set
78. ignal disappears within the offset time only a Quick Response Signal is recognized RN N deals Input Port ON ON recognition leve Voltage Le Me OFF recognition level Quick Response EN Signal j OFF Slow Response ON Slow Response Signal is not recognized Signal OFF 029 Chapter 3 Setting by Parameter Setting Example K25 1 976532 i INPUT 1 Set 0 2sec to the delay time for Slow Response Signal INPUT 2 Set 0 3sec to the delay time for Slow Response Signal INPUT 3 Set 0 5sec to the delay time for Slow Response Signal INPUT 4 Set 0 6sec to the delay time for Slow Response Signal INPUT 5 Set 0 7sec to the delay time for Slow Response Signal INPUT 6 Set 0 9sec to the delay time for Slow Response Signal 030 Chapter 3 Setting by Parameter Input Logic P type Operation D Input Logic the logic for input signals and the effective edge for command pulse inputs This parameter sets 2 Execution of P type Operation applied to C R type Set each function by the digit in order of Input 6 5 4 3 2 1 To each Input 1 6 Set 0 or 1 for only setting Input Logic Set 2 or 3 for setting the execution of P type Operation besides Input Logic The setting value of 2 or 3 should be used when the rotation control of motor P type Operation by the command pulse train to Input 1 and Input 2 is needed for C R type Cool Muscle The execution of P type Operation is enabled by the input of which t
79. ill be adjusted finely by changing creeping speed Setting creeping speed too high may cause the motor to vibrate Speed Creeping Speed The value that can be used for this parameter depends on Value Resolution Usable Values K37 motor resolution 8 28 25000 5 and over 48 6s 6000 _2 and over 49 69 8000 2 and over 057 Chapter 3 Setting by Parameter In Position Range Unit pulses This parameter sets the range for In position in the pulse unit Different from motion completion signal in position is detected when the current position is within the set range against the target position When stopping the motor by a stop command the stopped position is recognized as the target position therefore In position is detected within the set range against the current position When recognized as In position In position signal is ON and the motor status goes in Ux n 8 Ref K23 n Motor ID In position signal can be output by assigning an output function Ref K34 When the range is set to small In Position may not be detected and can not execute the next step in a program When the range is set too big the resolution is too small and the speed is too slow In Position may be detected before reaching the target position Setting Example K55 5 In Position signal range is set to 5 pulses In position signals will be sent out between 995 and 1005 when the target position is 1000 ON Position
80. ine 4 Motor 1 starts to move to P3 without waiting for Motor 2 to reach P2 line 3 When Y command is used instead of P command the command in the next line is enabled to execute without waiting for the completion of the motion by Y command For performing Push Motion substitute Z command for Q command to allow the motor to perform the next motion independently Note that the motor completes one motion before executing the next command when Y commands or Z commands is used continuously In series of Y commands or Z commands the last command is effective for non synchronized motion although commands other than the last one complete the positioning motion Motor 2 position P2 P3 P1 Motor 1 position 087 Chapter 4 Sample Program 4 4 Interpolation optional R Type only In this section interpolation programs for two motors are introduced In order to make sure of synchronization the condition that adjacent Motor IDs are assigned to two motors needs to be met Using two motors assign the current position as a starting point and set the end point by P command then circular interpolation is possible with specifying radius or center point of circle Linear interpolation is performed when radius is set to 0 zero Interpolation should be performed by the adjacent motors for ensuring of synchronization D CM2 can operate merge motion during even at the interpolation By using the command multiple commands can b
81. is parameter sets the maximum travel range in the position control by the analog input where the input voltage varies from 0 2V to 4 8V Min 32767 32767 Setting Example K38 1 K41 4000 If the current position is 0 the position of motor will be controlled in the range from 0 to 4000 according to an analog input voltage level 0 2V 4 8V 048 Chapter 3 Setting by Parameter Unit 100pps 10pps 1pps a on K37 Origin Search Speed This parameter sets the speed for Origin Search Setting Example K37 3 K42 1 50 Set 5000pps to Origin Search Speed Acceleration for Origin Search Manual Feed Unit This parameter sets the acceleration for Origin Search This is also used for the acceleration for Manual Feed Setting Example K43 1 100 Set 100 Kpps to Origin Search Acceleration 049 Chapter 3 Setting by Parameter Deceleration Ratio This parameter sets the deceleration ratio relatibe to the acceleration in percentage Acceleration and deceleration are the same when 100 is set This parameter is applied to all motion When individual deceleration is needed use CML command Setting Example K44 1 100 Set 100 to the Deceleration Ratio Deceleration is the same as acceleration 050 Chapter 3 Setting by Parameter Measure of Offset and Software limit Set by using three digits and setting divides by each digit K45 1 000 Value Description Setting of Origin s
82. it available when 0 is set 1 32767 side software limit This function provides the safety stop and cost reduction without an 0 _ No software limit external hardware as limit sensor Unit 100 pulses 10 pul Software Limit 0 pulses 1 pulse Depends on 3rd digit of K45 K59 sets the software limit in negative direction in the 100 pulse Description 32767 1 side software limit There is no software limit available when 0 is set Nesse units to prevent the motion over the set position Setting Example K58 1 200 Set 200 pulse to direction software limit When 3rd digit of K45 2 K59 1 0 Set no software limit in direction 061 Chapter 3 Setting by Parameter Push Motion Torque Level This parameter sets the torque level for the Push Motion that is relative to the motor s rated torque in percentage When the odd number is set the push motion error will not occur This parameter sets the holding time for the Push Motion The endless Push Motion can be applied by setting K61 0 Setting Example K60 1 50 Set 50 of rated torque to Push Motion Torque Level K61 1 5000 Motor keeps pushing an object for 5000msec Speed When there s no object CM2 goes into S Push Motion Error Torque limit set by K60 l l l I Time duration set by K61 l l 062 Chapter 3 Setting by Parameter ON Set a Ladder Logic Bank No that is executed automatically when powere
83. l encoder with using query command 70 276 1 Transmission command to Cool Muscle Ecnt 1 10000 Receiving data from Cool Muscle 101 Chapter 5 Setting Examples 5 4 3 External Encoder Pulse Counting Operation The counting operation of pulses input to Cool Muscle from an external encoder is simply performed The motor operates in the same manner as in normal positioning This operation is used for the control with responding to amount of movement or speed of control target Example of Use In the following example with using the Ladder Logic Bank described in the section 2 2 3 the motor speed can be changed according to the count of pulses from external encoder equipped for the control target Change the setting of General Variable 1 from V1 1 Px current position to V1 1 Ecnt External Encoder Count V1 1 Ecnt Set the current count value of external encoder into General Variable 1 Other settings and the definition of Ladder Logic Bank is the same as in section 2 2 3 After completing all the definitions execute the Ladder Logic Bank 1 through inputting the command as below L1 1 Operate the motor in the Direct Mode as follows A 1 100 P 1 10000 A In this example the motor operates at Speed the speed of 10 when the count value So oon eee of external encoder is less than 5000 External Enco shown in the right Count Value However it operates at the speed of 50 i when
84. mpany names and product names described in this User s Guide are trademarks or registered trademarks of their respective holders The trademark notices TM are not necessarily appended to company system and product names described in this User s Guide eBefore reading CML User s Guide please read CM2 User s Guide for installation or operation of Cool Muscle and CWL Operation Manual for the usage of COOLWORKS LITE Cool Muscle operation software 2007 Muscle Corporation All rights reserved It is prohibited to reprint or copy all or any part of this User s Guide without prior written permission PR 001 Chapter 1 CML Overview ee ee 001 1 1 What is CML ste sr ser sr sr narr nr rn 001 1 2 Motion Mode eeeceeccercssssssesesessseesssesesessscssesssesssessccsscces 002 1 3 Memory Map SPE 003 Chapter 2 Operation by CML SEE EEE 004 21 Direct Mode tt ttt ttt eee 004 2 1 1 Data Commands in Direct Mode ttt ttt ttt 005 2 1 2 Execution Commands in Direct MOdE sete esrc nme censnawe snc wns dens 007 22 Program Mode xxxxxrnnrnnnnnnnrnnnnnnnnnnnnnnnnennnrunnnnnern 011 2 2 1 Data Commands in Program Mode tt transer rn narrer rn 013 222 Program Bank Commands tt tr tr tee rn 015 2 2 3 Ladder Logic Bank Commands tt tr tt ttt tee ne 020 Chapter 3 Parameter Setting ee ee ee 025 3 1 K parameters ee ee 025 Chapter 4 Sample Program ee EEE 077 4 1 Various PTP motion tt ttv
85. n P 1 10000 Set the target position of load for the position data 5 1 10 Set the speed of Cool Muscle A 1 100 Set the acceleration of Cool Muscle 1 The motor continues to rotate at a set speed of S until the count value of external encoder pulse reaches 10000 Then the rotation stops when the count value reaching 10000 Although the actual count could overrun for the target position at this time the motor stops right there without recovering operation for the amount of overrun It is possible to confirm the current count value of external encoder with using query command 70 276 1 Transmission command to Cool Muscle Ecnt 1 10005 Receiving data from Cool Muscle 5 4 2 External Encoder Feedback Operation The whole system can be controlled as a full closed loop system by utilizing the feedback pulse from external encoder equipped for the control target Example of Use Set the pulse type and resolution of external encoder K71 1 4 A amp B phase feedback K72 1 1000 1 000 ppr Set the data of position speed and acceleration in the same manner as in normal positioning and execute the operation P 1 10000 Set the target position of load for the position data 5 1 10 Set the speed of Cool Muscle A 1 100 Set the acceleration of Cool Muscle a With tracking the command value the feedback control for the position of control target is performed It is possible to confirm the current count value of externa
86. n is possible by 6 Execute Program Bank 1 Enable Motor Cancel Motor Free and servo ON Position Counter Reset Make the current position to 0 the Origin Execute Next Execute the next line in a Program Bank Program Bank Line B1 1 A1 P3 Line 1 2 A2 P2 Line 2 Rising Edge Execute line 1 Next Rising Edge Execute Line 2 Execute Previous Execute the previous line in a Program Bank Program Bank Line This function could not be performed depending on the content of Program Bank Execute Program Bank 1 Execute Program Bank 1 Start Origin Search Start Origin Search Manual Jog CW Motor rotates to the amount of feed pulses set in parameter K50 in Execute Program Bank 2 CW direction When K36 2 or 3 execute Program Bank 2 Manual Jog CCW Motor rotates to the amount of feed pulses set in parameter K50 in Execute Program Bank 3 CCW direction When K36 2 or 3 execute Program Bank 3 Setting Example K29 1 987612 z INPUT 1 Enable Motor INPUT 2 Alarm Reset Program Bank Pause INPUT 3 Execute Program Bank 1 INPUT 4 Start Origin Search INPUT 5 Manual Jog CW INPUT 6 Manual Jog CCW 036 Chapter 3 Setting by Parameter This parameter sets the output logic 0 Low Active Command F or when output signal by output function is OFF turn ON the output port 1 High Active Command O or when output signal by output function is ON turn ON the output port Set each function by the digit i
87. n order of Output 4 3 2 1 Low Active Output port is ON when output signal is OFF Output Signa Output Port High Active Output port is ON ignal when output signal is ON Output Signa Output Port Setting Example K33 1 0001 E OUTPUT 1 High Active OUTPUT 2 Low Active OUTPUT 3 Low Active OUTPUT 4 Low Active 037 Chapter 3 Setting by Parameter Output Functions This parameter assigns a function to an output Set each function by the degit in order of Output 4 3 2 1 DACRFINTINN GOGL ID Ol 0 NoFunction pm General Use Completion of Origin Search Output In Position signal only when the origin search is completed Rotation Pulse Output Output a signal at certain intervals Set its interval by parameter K24 When Output 1 and Output 2 are set to 7 they are the quadrature encoder outputs In Motor Free Output a signal during motor free state In Push Motion Output a signal during push motion In position Signal in Merge Output In Position signal at the passing points in merge H Motion motion Set a signal width by parameter K73 8 9 Setting Example K34 1 2177 i OUTPUT 1 Quadrature Encoder Output OUTPUT 2 Quadrature Encoder Output OUTPUT 3 In position OUTPUT 4 Alarm 038 Chapter 3 Setting by Parameter Analog Output Functions This parameter sets a function to Analog Output Value Analog Output Types Unit 0 Target Position 1 41024 pulses 1 67V 6 Cu
88. nal 2 of Motor 1 is turned ON F n F2 1 Turn the specified output signal OFF Output Output signal 2 of Motor 1 is turned OFF gt n Execute the next line of Program Bank in pause i No x xX Sooo pause a Program Bank a Savedata x x Save the data into a specified motor s memory Query JO O O No 1796 Please refer to section 6 6 Capture Position HX N 2 1 Capture the current position value and store it to E Ge a ea apaa amp Execute Circular and n n 1 1 1 2 Motors execute interpolation motion target to the bi Linear Interpolation elofof foe points P1 1 P1 2 Only interpolation type can be used Allocation of Data P numeric P300 The area for 600 data in total is allocated for P N and R vonar mete haszo onymepotton we can bese 131 Chapter 6 CML List 6 6 Query Queries can be used in Direct Mode Program Bank and Ladder Logic Bank The predefined A S and P data for Direct mode Example 1 Direct Mode Data n Predefined data of Direct mode of Motor 1 Response data example 5 1 500 A 1 2000 P 1 100000 Predefined program banks 1 30 Example 1 1 H n Predefined Program Bank 1 of Motor 1 71 30 Program Bank Program Bank Response data example No 130 S1 1 A1 1 P1 1 P2 1 Only the predefined content after B n Current status of all outputs in hexadecimal Example 750 1 All the output current status of Motor 1 250 Output Signal 250 n Response data
89. nse l l Sional Execute previous Program Bank line igna j Execute Program Bank 1 Start origin search Manual jog CW K36 2 or 3 execute Program Bank 2 Manual jog CCW K36 2 or 3 execute Program Bank 3 Input Function at Falling Edge of l 000000 999999 000000 Quick Response Signal Assign functions at falling edge of quick response signal Each digit must be set individually and assigns Input 6 5 4 3 2 1 0 No function Alarm reset Program Bank Pause Enable motor Position counter reset Execute next Program Bank line Execute previous Program Bank line Execute Program Bank 1 Start origin search Manual jog CW K36 2 or 3 execute Program Bank 2 Manual jog CCW K36 2 or 3 execute Program Bank 3 Input Functions at 0 Slow Response 000000 Target Voltage Input Function at a4 Rising Edge of Slow Response Signal 999999 000000 O ON Oa HV ND 2 O Input Function at Falling Edge of oe 000000 Slow Response Signal 999999 000000 1111 0000 1111 ope logic Assign functions at target voltage level of quick response signal Each digit must be set individually and assigns Input 6 9 0 1 General Use Manual feed CW Manual feed CCW Stop Ladder Logic Bank CW direction limit sensor Emergency stop Terminate the Program Bank same as OMAN AAR WD CCW direction limit sensor Assign functions at rising edge of quick respons
90. occur Chapter 6 CML List Ladder Logic Bank Execution cycle time for Ladder Logic Bank 30000 100 msec Ladder Logic Bank will be executed repeatedly with set cycle time 63 execution cycle time Status LED setting either activated or inactivated 0 Status LED activated 1 Status LED inactivated Baud rate between the slave motors on the daisy chain network 0 38 4Kbps 1 9 6 Kbps 2 19 2 Kbps 3 57 6 Kbps 4 115 2 Kbps 5 230 4Kbps When K65 of ID1 motor is changed all K65 values of other motors will be automatically changed If any motor s K65 except for ID1 is changed the other motors K65 values are not changed 64 Status LED Setting Baud Rate between Slave Motors 65 Select either servo ON or motor free when powered ON 0 Motor free when powered ON 1 Servo ON when powered ON S curve gain in positioning When 0 motor makes trapezoidal motion Select the delimiter attached to the end of sent data from Cool Muscle 0 CR 1 CRLF Set the external encoder type 0 No external encoder 1 A phase index 2 A phase index B phase rotation direction 3 A phase amp B phase index 4 A phase amp B phase feedback 5 A phase pulse counting 6 A phase pulse counting B phase rotation direction 7 A phase amp B phase pulse counting 3 Resolution of external encoder Output pulse width at passing point in merge motion val oe torque sensor pesman rr e torque senso
91. ol for CW CCW 5 P data for Direct Mode 6 7 8 9 1 g Analog Control ITE S data for Direct Mode S data for Direct Mode S data for Direct Mode Torque control 0 Torque feedback control ao Pass Filter cutoff Frequency Maximum Speed 1 Analog Travel range 32767 32 67 c Search Speed 32767 Origin search Manual feed Acceleration for 1 32767 100 100 Deceleration ratio is relative to the acceleration in percentage Ql Q O Deceleration Ratio When K44 100 deceleration is the same as acceleration First digit Setting of Origin search Direction and Reverse Coordinates 0 CW direction 1 CCW direction 2 CW direction Reverse Coordinates 3 CCW direction Reverse Coordinates Second digit Unit of offset by K48 0 100 pulses 1 10 pulses Origin Search p reckon 223 001 averse coordinates 2 1 pulse Third digit Unit of software limit by K58 K59 0 100 pulses 1 10 pulses 2 1 pulse Er 120 56 Overflow 62 No Executed Origin Signal Source Stopper Detecting Torque for Origin Search Offset distance between mechanical l 32767 32767 and electrical origins Speed for Manual 1 32767 Feed Feed Pulses for Manual Jog Creeping speed Position Error Threshold Level 100 pulses 10 pulses Chapter 6 CML List Specify the origin signal source Stopper detection Stopper det
92. olation type can be used This commands defines Radius of an arc circles 1000000000 1000000000 ovals using 2 axes The setting range depends on K37 O must be set for Linear Interpolation Only interpolation type can be used It can be defined up to 600 Save the values of 80 for Motor 1 X axis and Motor 2 Y axis to R memory 2 of each motor 014 Chapter 2 Operation by CML 2 2 2 Program Bank Commands Program Bank must start with the B command and end with End command Program Bank is terminated also with the linefeed and without any command Multiple commands in a single line are available and should be separated with commas The maximum number of commands per motor is 500 commands in total Bank Commands are explained in the format below Function Available memory space Example Explanation of Example Beginning of Program Bank 1 30 This command defines the beginning of Program Bank Format B n Program Bank No n Motor ID B2 1 Define the beginning of Motor 1 s Program Bank 2 This command calls and executes the specific Program Bank and back to the original Program Bank class1 class2 class3 line after completing the called Program Bank C command can not be used to call the other ID s vi Program Bank Program Bank where C command C2 1 executes cannot be called again The maximum layer nesting should be under 10 Motor 1 s Program Bank1 calls and executes Motor 1
93. on Motion before P1 before P2 before P3 When multiple P commands are used in a single line the motor does not stop at each position that is called merge motion In Merge Motion A and S commands can be specified changing speeds and accelerations at passing points In the example program above the motor passes P1 and P2 and moves to the final destination Speed Time But when a movement direction is turn over Merge Motion is removed and it performs normal motion Position Data B2 1 Beginning of Program Bank 2 STI AI PIL ST P21531 A21 P31 NOON 4 eee 4 Motion Motion Motion before P1 before P2 before P3 P1 P3 P2 sl Positions OS 1 Merge Motion i Normal Motion The speed becomes 0 at P2 078 Chapter 4 Sample Program 4 1 3 PTP motion with different Accelerations and Decelerations Related parameter B3 1 Beginning of Program Bank 3 K44 1 1 A1 1 P1 1 A2 1 P2 1 Motion data are same in the 4 1 1 No 2 ae 4 Motion Motion before P1 before P2 Acceleration and Speed remain the same unless specified otherwise When multiple A commands are used in a single line you can set accelerations and decelerations independently As the chart below shows the motor reaches the final destination with a slow acceleration and a quick deceleration Another way to set deceleration separately is to use parameter K44 by a percentage of acceleration Speed S1 4 1 4 Push Motion Related parameter
94. ons should not be interfered with each other when assinging Ref the diagram in K25 description Set each function by the digit order of Input 6 5 4 3 2 1 0 No Function pm Used by Command I in program execution IS E De 7 2 Origin Sensor Signal K27 The signal from Origin Sensor K27 K30 K30 LL m TAAL ERR RD ce Sv KER UA yr 3 l Function escription 3 Manual feed CW Motor rotates in CW direction while the input signal is ON with the O E a 4 Manual Feed CCW Motor rotates in CCW direction while the input signal is ON with the E speed and acceleration set by K49 and K43 5 Stop Ladder Logic Bank CW Direction Limit Sensor Usually used for a CW direction limit sensor CW Origin Sensor When an origin sensor signal is not assigned to other inputs this combined use input works as an origin sensor signal for the origin search motion to CW direction 7 Emergency Stop Emergency Stop by an input signal on stop by Max deceleration M Stop Program Bank Stops motion and Program Bank execution Same as command ERE Direction Limit Sensor Usually used for a CCW direction limit sensor CCW Origin Sensor When an origin sensor signal is not assigned to other inputs this combined use input works as an origin sensor signal for the origin search motion to CCW direction Setting Example K27 1 871243 z INPUT 1 Manual Feed CW INPUT 2 Manual Feed CCW INPUT 3 Origin Sensor INPUT 4 General Use
95. or origin using a Stopper Origin Search completes when the torque pushing against the stopper reaches the set level by K47 and the speed goes 1 16 below the set speed by K42 Then the encoder phase value will be displayed For the stable origin search adjust an attachment as a coupling for the encoder phase value indicated in Origin to be between 200 and 800 The encoder phase will straightly changes from 0 to 999 per 1 50 rotation When the completion of Origin Search in position signal will be output and the motor stops at the encoder phase 0 point that is 1 cycle ahead of completion Origin Search Direction CCW K45 1 CCW Origin Encoder Phase i 1 50 rotation i 999 od Origin 420 f Ex Origin 420 Origin Search Direction CW K45 0 CW Origin gt 096 Chapter 5 Setting Examples 5 3 2 Origin Search using Sensor The following parameter setting is also necessary for the Origin Search by sensor Input Functions at the Quick Response Target Voltage 2 Origin Sensor Do not set 2 Origin Sensor to multiple inputs to prevent abnormal detection of the origin sensor signal caused by the conflict between the inputs Moreover depending on the status of origin sensor signal input when origin search starts there are the following differences in the movement of origin search When an origin sensor signal is OFF Start Origin Search move in the direction set by K45 start decel
96. or the status read of a slave device can be performed by Cool Muscle In the Modbus slave communication a slave device can be treated as it exist on the daisy chained network of Cool Muscles through automatically generating a Modbus message from some CML commands related to I O Accessing to a Modbus slave device can be performed by assigning the final Motor ID 1 for the CML command Example When connecting a Modbus slave device onto the daisy chained network of three axes The final Motor ID 1 Accessing to the Modbus slave device is enabled by addressing Motor ID 4 105 Chapter 5 Setting Examples 5 6 1 Message Transmission Mode Modbus protocol equipped in Cool Muscle performs the message transmission in RTU Remote Terminal Unit mode E NI Communication method Half duplex Asynchronous method Communication Protocol Modbus RTU mode 9 6K 19 2K 38 4K 57 6K 115 2K 230 4 Transmission Speed Kbps Set by parameter K20 or K65 Error check Vertical Error detection CRC 16 Start Bit Character Data Length iets None even odd configuration Set by parameter K82 5 6 2 Time Interval between Data When transmitting a message be sure that the time interval between data constructing a message must not exceed 8 byte times If a greater interval than specified time occurs Cool Muscle assumes a transmission has terminated and performs reception of an illegal message 9 6Kbps Less than 6 66msec 19 2K
97. ort 1 and Input port 2 of Cool Muscle Therefore the input functions assigned to Input 1 and Input 2 through parameter settings of K27 K32 are not available Signals connection between external encoder and Cool Muscle Configure the effective edge of input pulse signal by setting of parameter K26 A phase signal pulse input Every rising edge of input pulse pulse counting is performed with either counting up when moving with increasing position or countdown when moving with decreasing position The effectiveness of pulse is determined only at the rising edge of input signal miscounting caused by noise or vibration of load axis could occur External Encoder Pee Cool Muscle arne A phase Output Os aa tt Input Port 1 Dee eee ee ee ee ee ee eee ee ee ee eee A phase signal pulse input B phase signal rotation direction Every rising edge of input pulse either counting up or countdown is performed in accordance with the rotation direction signal of external encoder The effectiveness of pulse is determined only at the rising edge of input signal miscounting caused by noise or vibration of load axis could occur External Encoder Cool M scde 200003 A phase Output Os to Input Port 1 En gt Input Signal 1 8 i Rotation Direction Om Input Port 2 Input Signal 2 meee eee eee eee C 0 00 es ull A phase signal pulse input
98. r feedback control Motor Free when Powered ON 70 Delimiter External Encoder Type ee Encoder Output Pulse Width 73 at Passing Point in Merge Motion 4 torque Control Hp Gain gj OPS Control j Gain gi Pu Offset for ne Sensor ND O N O O O N O O N gt QI O O DA DRR th SE l ajsz z r 2 Chapter 6 CML List input range of the external torque sensor for feedback Yoana Input address of Cool Muscle for the Modbus host communication Input address of Cool Muscle for the Modbus slave communication Output Address for Modbus Slave Communication Output address of Cool Muscle for the Modbus slave communication Chapter 6 CML List 6 2 Data Commands Position Data pulses P n Value Define the position data in Motor n s P memory Definition Note The max values of the position data depends on the resolution setting PO direct mode Ex Motor 2 s PO is set to 9000 0 can be omitted P1 3 9000 Define Motor 3 s P1 is set to 9000 Memory range can be changed by allocation R type only Relative Position pulses P n 1000 The value can be defined as relative to the Data Definition P1 3 1000 current position by using or after Motor ID Note In direct mode using PO it is relative to the current position In program mode it is relative to values defined as P1 P200 Ex P 1 1000 Motor 1 s PO is set to current position 1000
99. r CT 3 use as an internal state values as below Px current position Sx current speed Ix current Iq Ux current motor status Pe position error AIN analog input PT target position ST target speed CT external encoder counter V1 2 1234 Ex Define Motor 2 s V1 as 1234 V1 2 ABCD Define Motor 2 s V1 as ABCD V1 2 Px Define Motor 2 s V1 as Px current position Center Point N n value Define center point data of circle in Motor n s data of Circle memory No 1 200 N memory Definition NO direct mode N 1 100 N 2 100 Ex Define center point of circle to 100 pulses 0 can be omitted N1 1 100 N1 2 100 for X and Y Memory range can be changed by allocation R type only Radius data R n value Define radius data of circle in Motor n s R of Circle memory No 1 200 memory Definition RO direct mode When the two values are set to 0 linear 0 can be omitted interpolation is executed When the two values are different elliptic trajectory will be drawn R 1 100 R 2 100 Ex Define radius of circle to 100 pulses for X R1 1 100 R1 2 100 and Y Memory range can be changed by allocation R type only Chapter 6 CML List 6 3 Program Bank Commands OP It shows if it is possible to use with operators or not Speed 1S1 1 Ex Define the specified motion speed as S1 memory No S1 1 S2 1 V1 1 Define the value of S2 1 V1 1 as S1 1 A1 1 Ex Define the specified motion acceleration as
100. r in timer memory locations TO means no action Please specify same Motor ID for T command and B command T2 1 Motor 1 waits for the time defined by Timer memory No 2 Timer in Conditional Branching Use this command instead of T to wait for the time defined by T command while the specified input status is true If the input status changes while the motor is waiting then it resumes motion If it is set to 0 then the motor waits indefinitely Please specify same Motor ID for W command and B command 12 1 W2 1 799 1 If motor1 s input 2 is on true then the motor waits for the time defined by T memory P2 1 No 2 If the input status changes during the wait then the motor executes 799 and the next line move to P memory No 2 017 Chapter 2 Operation by CML The program lines located between X and X will be looped specified times sae The number of loops is defined between 0 and 255 When it is set art to 0 it loops indefinitely X10 1 gt class10 The repeatable layer nesting is up to 10 N If the layer is over 10 the motion is not guranteed Please specify same Motor ID for X command and B command X3 1 The lines between X and X will be looped three times 2 1 A2 1 P2 1 X 1 Conditional Branching calculation and data display using general data 1 Conditional branching can be executed using general data value Arithmetic or Logic operators can realize conditional branching with 2 general da
101. ration in expression Branching on action 2 if TRUE execute action 1 lable 1 nef eee if FALSE execute action 2 n Branching on V n action 1 action 2 V1 1 799 798 For single Variable the operation of V gt 0 is Condition of n must be the same as applied Single Variable Motor ID of B command If V1 1 gt 0 Motor 1 executes 799 Otherwise Motor 1 executes 798 Branching on V n V n action 1 action 2 V1 1 gt V2 1 799 798 Ex If V1 1 gt V2 1 Motor 1 executes 799 Condition of Operator V1 1 V2 1 799 298 If V1 1SV2 1 Motor 1 executes 798 2 Variables n must be the same as If V1 1 V2 1 Motor 1 executes 799 Motor ID of B command If V1 14V2 1 Motor 1 executes 798 T n Wait for the time defined by T data n must be the same as TO means no action Motor ID of B command W n 14 1 W1 1 799 Wait for event to happen for the time defined Conditional T memory No A1 1 81 1 P1 1 by T data If set to WO then wait continuously n must be the same as Ex While 14 1 is TRUE Motor 1 waits for the Branching x Motor ID of B command time set by T1 After the time is up Motor 1 executes next line If 14 1 turns FALSE during the time set by 11 Motor 1 executes 99 instantly and then next line Set the center point of circle to N1 1 N1 2 multi axis application Center Point of Radius of 127 comma semi colon i colon Comment Command line B1 1 comment Concatena
102. return to the next line of the original Program Bank Note It is impossible to call other motor s Call other Program Bank Program Banks and re call itself Jump to the specified Program Bank execute it Jump to other Program Bank and can not return to the next line of the original Program Bank Note It is impossible to jump to other motor s Program Banks Chapter 6 CML List Ix0 1 Execute the lines between X and X repeatedly A1 1 1 1 P1 1 X2 1 Pi P2 1 X 1 up to loop count 1255 When XO is set it loops infinitely Note When X is not placed lines after X until the end of Program Bank will be looped part of Program Bank can be executed repeatedly Up to 10 nestings of X loop are available Conditional ion i Depending on the result of operation in expression Branching on if TRUE execute action 1 Input Status if FALSE execute action 2 Branching on n acti i 1 C2 1 C3 Execute a specified motion according to Input Condition of l status Ex If Input 1 is ON TRUE Motor 1 calls Program Bank 2 If OFF FALSE Motor 1 calls Program Bank 3 Branching on l n 1 n action 1 action 2 13 2 amp amp 14 1 799 798 Ex If 13 2 amp 14 1 are ON TRUE Motor 1 Condition of Logical Operator executes 99 If FALSE Motor 1 executes 798 2 Inputs Operation Conditional expression action 1 Depending on the result of ope
103. rget position before completing push motion an error occurs message Ux n 256 To avoid this error set the target position well behind the object that the motor pushes Torque value and push time are defined by parameter K60 and K61 S2 1 A2 1 Q2 1 The motor performs push motion from the current position to P memory No 2 016 Chapter 2 Operation by CML Execute next line without push motion completion Use this command instead of Q to execute push motion However execute the next line of Program Bank without the in position of Z command 2 1 A2 1 22 1 Motor 2 starts executing line 2 without waiting for Motor 1 to complete line 1 3 2 A3 2 P3 2 Torque Limit 1 8 This command sets Torque Limit using a percentage 0 100 of the maximum motor torque M1 1 V5 1 V6 1 Set the operated value from V5 1 V6 1 as value for M1 1 Conditional Branching on Input Status This command makes conditional branching based on the specified input status Conditional branching is possible based on the status of all Motors ID on daisy chain network Use a logic operator when an action is based on the status of 2 inputs 12 1 C3 1 C4 1 If Motor 1 s input 2 is on true then execute Program Bank No 3 if off false then call 11 2 amp amp 12 3 C3 1 execute Program Bank No 4 C4 1 if Motor 1 s input 1 and Motor 3 s input 2 are on true then execute Program Bank NO 3 else execute Program Bank No 4 This command sets the time
104. ror massages for mis operation can be set by this parameter as well It can be set by the addition of the function No 1 16 Max value is 31 NAHE 0 Nostatus repot S O 8 Nolocalecho S 16 Various confirmation messages and error messages will be reported to a host Confirmation Messages End of Bank a Program Bank input is finished properly Change Baud Rate Confirmation message when the baud rate XXX kbps Y N is changed by K20 Error message error04 n XX can not be followed by DD XX command can not be defined before DD CCW limit sensor is on Setting Example K23 1 13 1 Automatically report to a host when in position and alarm occur 4 Automatically report to a host when output status changes 8 No local echo When 3 functions are combined the value shall be 1 4 8 13 by addition 027 Chapter 3 Setting by Parameter Rotational Pulse Output Unit pulses When Output Functions Parameter K34 7 the output is turned ON OFF at regular interval of pulses set by this parameter The signal wave is as shown in the diagram below The output is turned ON at the first half of the set pulses then OFF at the last half gt 0 5msec gt 0 5msec Set by K24 Note The ON OFF output pulse width is required to be set more than 0 5 msec as shown in the diagram When K34 77 the outputs are guadrature encoder pulse signals in which the phase between two signals is different by 90 degrees as shown b
105. rrent Speed 1 4 2400min 1 67V 8 Current Torque 100 I 1 67V 9 Current Torque data magnifiedby8 12 5 1 67V The analog output that you select can be monitored by an oscilloscope The output wave is plus minus 1 67V based on the center value of DC 2 5V When the wave goes over the range 2 5V it will be replicated Position Data output example 1024 pulse 0 pulse 1024 pulse Setting Example K35 1 3 Set Current Position data magnified by 8 to Analog Output 039 Chapter 3 Setting by Parameter Command Pulse Format This parameter sets the format of command pulse Input Either CW CCW or Pulse Direction can be chosen according to the command pulse train to Input 1 and Input 2 When K36 is set to 2 or 3 for the other type of Cool Muscle than P type the function of Execute Program Bank 2 and Execute Program Bank 3 can be assigned to the rising edge and or the falling edge of input signals Refer to K28 K29 K31 K32 Input form of Input signal Execute Program Bank 2 and 3 0 owew O 1 PulselDirection o Oor2 ICW CCW Pulse Set Input Signal 1 to CW pulse Input Signal 2 to CCW pulse ON Input Signal 1 Input Signal 2 CW Rotation CCW Rotation When detecting the rising edge of When detecting the rising edge of Input Signal 1 count up in CW direction Input Signal 2 count up in CCW direction 1or3 Pulse Direction Set Input Signal 1 to command p
106. s 132 6 7 Arithmetic Operators lt srt tr terete eter tenet e nett eet e eet e een eens 137 6 8 Logic Operators rrrttet tte r etree etter tenet teeter teen t ete nena 138 6 9 Comparison Operators 1st ttr ttt tert tenet ee teens 139 Revision History EE EE ee ee CP ee eT ee ee PT ee ee EE 140 Explanation of icon Icons used in this User s Guide A Warnings and notices Important points G Supplemental explanations IN 003 Chapter 1 CML Overview 1 1 What is CML CML is a short form of Cool Muscle Language which is a collection of commands used to control the motion of Cool Muscle CML consists of the following commands Parameters Parameters set Cool Muscle s operating conditions Do not change parameters while the motor is in motion Please refer to Section 3 Data Commands Data commands define the data for Cool Muscle s motion and support various kind of motion Please refer to section 2 1 1 2 2 1 Bank Commands Bank Commands define motion logic Program Banks are executed by the Execution commands Please refer to 2 2 2 2 2 3 Execution Commands Execution commands execute or stop motion of Cool Muscle Please refer to 2 1 2 Query Query commands confirm Cool Muscle s current status defined value as position speed etc Please refer to 6 6 Operator Arithmetic Logic Comparison By using both data and bank commands more complex motions are possible Please re
107. s Program Bank 2 Jump to other Program Bank 1 30 This command jumps to and executes specific Program Bank But different from C command it will not go back to the original Program Bank J command can be used to jump out of a looped program bank J command can not be used to jump to the other ID s program bank Motor 1 s Program Bank 1 jumps to and executes Motor 1 s Program Bank 2 015 Chapter 2 Operation by CML This command defines Speed in S memory space This command needs to be defined before motion commands P Q Y Z If S command is not defined the previously used value will be applied The specified memory value can be changed by the value from Arithmetic Operator S2 1 A2 1 P2 1 Use the value defined in Motor 1 s S memory 2 as Speed when Motor 1 moves to P2 3 1 S2 1 V2 1 Save the total value of the value defined in Motor 1 s S memory 2 plus the value defined in Motor 1 s V memory 2 to Motor 1 s S memory 3 Acceleration This command sets the acceleration value in a specified memory space This command needs to be defined before motion commands P Q Y Z If the A command is not defined the previously used acceleration will be applied The specified memory value can be changed by the value from Arithmetic Operator 2 1 A2 1 P2 1 Use the acceleration value stored in Motor 1 s memory 2 the motor moves to position 2 A3 1 A2 1 V2 1 Save the total acceleration value acceleration value stored
108. s Range V 1 5000ppr 10 50000ppr oee Motion in CCW direction Motion in CW direction pg 3 4 1 4 o 1 4 3 4 Dg Parameter Contents 1 Output Functions 7 Rotation Pulse Output In case of Quadrature Encoder Output both Output 1 Function and Output 2 Function should be set to 7 K34 Position interval number of pulses for Rotation Pulse Output Output logic by ON or OFF Depending on the value of parameter K24 and the rotation speed of motor the time interval of output pulse may be less than 0 5 msec In that case the Rotation Pulse could not be output correctly 095 Chapter 5 Setting Examples 5 3 Origin Search Origin Search can be executed by transmitting bar command or by using the input to which Origin Search Start Function is assigned through setting 7 in parameter K28 K29 K31 or K32 Origin Search operates according to the following parameter setting Speed for Origin Search K43 Acceleration for Origin Search K45 Origin Search Direction CW or CCW Origin Signal Source K48 Offset Distance Between Machine Origin and Electrical Origin Besides Origin Signal Source of parameter K46 and related parameter settings are necessary 5 3 1 Origin Search using Stopper The following parameter setting is also necessary for the Origin Search by Stopper K46 Origin Signal Source 0 or 1 Origin Search by Stopper K47 Torque Level when searching f
109. sensor feedback 073 Chapter 3 Setting by Parameter Input Offset for Torque Sensor Unit 0 01V Set the offset value of an external torque sensor input for torque feedback control The offset value is the output voltage of external torque sensor when torque sensor fF is O N m Set the input range of an external torque sensor for torque feedback control In the torque feedback control the motor output can be controlled in accordance with K74 P gain and K75 I gain where the feedback data from external torque sensor equipped for the control target track the torque command value specified in the range of O 100 by Variable 15 This parameter sets the voltage level in the unit of 0 01V The value is the output voltage of torque sensor when the torque command value is 100 Setting Example K76 1 250 K77 1 200 Output 1 V for 0 5 N m connected to a torque sensor with offset voltage 2 5 V Since the offset voltage is 2 5 V set K76 250 When set command torque 100 as 1 0 N m Since the torque sensor output when 10 N m is 2 V set K77 200 074 Chapter 3 Setting by Parameter Input Address for Modbus Host Communication Set the Modbus input address for the host communication 1 Set K78 0 for relative address When K78 1 is set this function is not activated Input Address for Modbus Slave Communication Set the Modbus input address for the slave communication Set K79 0 for relative address When K7
110. ta All center point of circle data Available with R 4 parameters in 1 line each is separated with a comma type only All Radius of Circle oR Data i All radius of circle data Available with R 4 parameters in 1 line each is separated with a comma type only 2999 All Data List 2999 1 AII data of P S A T M N R V 21000 All Banks 21000 n All Program Banks and Ladder Logic Banks Chapter 6 CML List 6 7 Arithmetic Operators These operators perform mathematical calculations Any number is required to be integer and defined value as in P positio data or V variable Operator assigns the value on its right to the l l variable on its left Sets value variable expression V1 1 V2 1 Ex When V2 1 50 V1 1is assigned to 50 P1 1 P2 1 P3 1 When P2 1 1000 P3 1 2000 then P1 1 3000 Operator adds two numbers The result is their Addition number1 number2 arithmetic sum P1 1 P2 1 V1 1 Ex When P2 1 1000 V1 1 300 then P1 1 1300 Operator returns the difference between two numbers The result is calculated by subtracting Subtraction number number2 number2 from number1 P1 1 P2 1 V1 1 Ex When P2 1 1000 V1 1 300 then P1 1 700 Operator multiplies two numbers The result is the Multiplication number1 number2 product of number1 and number2 P1 1 P2 1 V1 1 Ex When P2 1 100 V1 1 30 then P1 1 3000 Operator divides two numbers The result is the quotient of number1 divid
111. ta values 2 Arithmetic operator performs data calculations 3 When this command is used alone it displays the specified general data value This is used for a message sent to a host Please specify same Motor ID for V command and B command B1 Be vi mo TA M oS 5 V2 1 799 1 798 1 If V2 1 gt 0 then execute 799 1 If not execute 798 1 V2 1 V3 1 799 1 798 1 If V2 1 equals V3 1 then execute 99 1 if not execute 98 1 P2 1 P3 1 V2 1 Save the total value of P3 and V2 to Motor 1 s position memory No 2 V2 1 Display motor 1 s general data value 2 Center Point of Circle 1 200 Only interpolation type can be used When this command is described before command it defines the specified N memory values as the center of a circle Set the center values stored in motor 1 and 2 s center memory No 2 as the center position of a circle Radius of Circle 1 200 Only interpolation type can be used When this command is described before command it defines the specified R memory valuea as the radius of a circle The modifier after Motor ID or defines the arc size When R is set to a positive number a major arc will be drawn and when it is set to a negative number a minor arc will be drawn If the values are set to 0 linear interpolation will be executed Set the values stored in Motor 1 and 2 s Radius memory No 2 as the radius for a circle 018 Chapter 2 Operation by CML End of Program Bank This command defines
112. ter P n B command starting with Command B END fn The specified Program Bank B is executed based on the above definition G It is suggested to create edit and save Program Bank data as text files because whole Program Bank data should be transferred even though there is a small change Please save the file as txt 011 Chapter 2 Operation by CML Operation Example Let s make a Program Bank download it to Cool Muscle and execute it First of all define the data that is necessary for Program Bank as below 51 1 100 A1 1 100 P1 1 10000 P2 1 0 T1 1 1000 Then define the Program Bank as below B1 1 Start of Program Bank definition 51 1 A1 1 P1 1 Move to P1 with speed S1 and acceleration A1 T1 1 Timer for T1 P2 1 Move to P2 with the same speed and acceleration END The end of Program Bank definition After defining all data execute the Program Bank 1 by entering a command as below 1 1 The motion in the diagram is executed as defined in Program Bank Speed S1 012 Chapter 2 Operation by CML 2 2 1 Data Commands in Program Mode Data Commands can define multiple motion patterns Each Data Command requires a memory number The capacity of available memory space depends on the command Data Commands are explained in the format below Function Available memory space Example Explanation of Example Position Data Definition This command defines Target Position The value can 100
113. the same as K42 return to origin speed Detecting Origin lt L Mechanical Origin Origin Search Direction by 1st digit of K45 Origin Electrical Origin Offset Distance by K48 Setting Example K48 1 0 The mechanical and electrical origins are the same Detecting Origin Mechanical Origin Origin Search Direction by 1st digit of K45 Origin Electrical Origin 0 K48 1 10 EE een Mechanical Origin Origin Search Direction by 1st digit of K45 Origin Electrical Origin 0 aal Offset 100pulses When 2nd digit of K45 1 054 Chapter 3 Setting by Parameter Unit 100pps 10pps Speed for Manual Feed 1pps Depends on K37 This parameter sets the speed for manual feed Mn 1 Acceleration for manual feed can be set by K43 Setting Example K49 1 100 Set 100 x 100pps 10000pps for the speed for manual feed 055 Chapter 3 Setting by Parameter This parameter sets the numbers of feed pulses for manual jog in the pulse unit Feed Pulses for Manual Jog Unit pulses 14 Setting Example K50 1 10 Set 10 pulses for the numbers of feed pulses in manual jog operation 056 Chapter 3 Setting by Parameter Unit 100pps Creeping Speed TPR 1pps Depends on K37 This parameter sets creeping speed for the initial and terminal speed for a motion Creeping speed is the speed from which motor starts to move and stop The motor response or tact time w
114. tinuously Ex While 14 1 is TRUE Motor 1 waits for the time set by T1 After the time is up Motor 1 executes next line If 14 1 turns FALSE during the time set by T1 Motor 1 executes 799 instantly and then next line Capture the current position value and store it to the specified motor s specified P memory Refer to 6 5 Chapter Refer to 6 5 Chapter Execution commands can be used within Ladder Logic Bank Chapter 6 CML List Comment Command line Comment B1 1 comment Comments can be written after Command Command V2 1 gt V3 1 V2 1 V3 1 T0 1 Command concatenation Multiple Concatenation Command commands can be described in a single line Command 1 By using semicolon instead of Concatenation in Command l l comma multiple commands can be Multiple Lines described in multiple lines Command Command Command V1 gt V2 299 1 01 1 296 1 F1 1 Colon allows the use of multiple Concatenation in commands in branching processing Branching Ex If V1 gt V2 Motor 1 executes 299 and 01 1 If V1 lt V2 motor 1 executes 796 and F1 1 Chapter 6 CML List 6 5 Execution Commands P Program Bank L Ladder Logic Bank D Direct Mode indicate the availability of command xample tion bn A i acceleration set by K42 and K43 Set Motor 3 s current position to 0 1 yt 2 1 Enable motor Servo ON Jn Di NA I Ia gt l Origin Search starts JOrigin Searc
115. tion Command Merge Motion Simultaneous Motion Execution Concatenation Command Command Concatenation in Branching A1 1 81 1 P1 1 A1 1 1 1 P1 1 82 1 P2 1 Chapter 6 CML List Comments can be written after Command concatenation Multiple commands can be described in a single line Merge motion Motor 1 moves to P2 without stopping at P1 smoothly with speed change to 52 when passing P1 Simultaneous motion Motor 1 and 2 will start their motion at the same time By using semicolon instead of comma multiple commands and merge motion can be described in multiple lines Colon allows the use of multiple commands in branching processing Ex If V1 gt V2 Motor 1 executes 799 and 01 1 If V1 lt V2 motor 1 executes 796 and F1 1 6 4 Ladder Logic Bank Commands L n Bank No 1 30 Begging of Ladder Logic Bank Call other Ladder logic Bank Jump to other Ladder Logic Bank Conditional Branching on Input Status Branching on 11 1 CL2 1 CL3 1 Branching on Condition of 2 Inputs Operation Conditional Branching on Branching on Condition of Single Variable Branching on Condition of 2 Variables W l4 1 W1 1 99 CL3 1 Timer in Conditional Branching T memory No n must be the same as Motor ID of L command L L Capture Position Data Execution Refer to 6 5 Command Chapter x moj po 129 OP It shows if it is possible
116. to use with ope IDefine the beginning of a Ladder Logic Bank Chapter 6 CML List rators or not and specify Ladder Logic Bank number Note Ladder Logic Bank should end with End Call the specified Ladder Logic Bank execute it and return to the next line of the original Ladder Logic Bank Note It is impossible to call other motor s Ladder Logic Banks and re call itself Jump to the specified Ladder Logic Bank execute it and can not return to the next line of the original Ladder Logic Bank Note It is impossible to jump to other motor s Ladder Logic Banks Depending on the result of operation in expression if TRUE execute action 1 if FALSE execute action 2 Execute a specified motion according to Input status Ex If Input 1 is ON TRUE Motor 1 calls Ladder Logic Bank 2 If OFF FALSE Motor 1 calls Ladder Logic Bank 3 executes 99 If FALSE Motor 1 executes 298 Depending on the result of operation in expression if TRUE execute action 1 if FALSE execute action 2 For single Variable the operation of V gt 0 is applied Ex If V1 1 gt 0 Motor 1 executes 799 Otherwise Motor 1 executes 798 Ex If V1 1 gt V2 1 Motor 1 executes 799 If V1 1SV2 1 Motor 1 executes 798 If V1 1 V2 1 Motor 1 executes 799 If V1 14 V2 1 Motor 1 executes 798 Wait for the time defined by T data TO means no action Wait for event to happen for the time defined by T data If set to WO then wait cou
117. tsar rar rar rann 077 41 1 Basic PTP motion t t r xrsrrsr raserer 077 4 1 2 Merge Motion xxrrrnnnnnnnnnnnnnnnnnrnnnnnnnnnrusnnnen 078 4 1 3 PTP motion with different Accelerations and Decelerations gt 079 41 4 Push Motion tt tt tt tr ts er sr rs eee eee 079 4 2 Various Processing ssrrrerrnrrrnnrnnnnnnrnnrnnnnnnnrnnnen 081 4 21 Loop Processing tte eteet ttt teen eee e ent eee eee n nents 081 4 2 2 Basic Branch Processing ttttttt ttre rete tenets e nee e es 082 4 2 3 Branch Processing using Logic Operator xx xxxxxrxsr 083 IN 001 4 2 4 Branch Processing with Wait function sxrsrrsrrserrr 084 4 2 5 Nesting 00errnnnrrnnnnnnnnnnnnnnnrunnnnnnnnnnnernnnnnnn 085 4 3 Controlling Multiple Motors DE 086 4 3 1 Synchronized motion in Two Dimensions xxrrarrssrrnrrn 086 4 3 2 Non synchronized motion in Two Dimensions sssssssssessessesrerenn 087 4 4 Interpolation s ssrrrerennnnnnnnnnnannnrnnnnrunnnnnrnnnnnennn 088 4 4 1 Circular Interpolation by Specifying Radius rrsrrssrrsrrn 088 4 4 2 Circular Interpolation by Specifying Center Point x xxx 090 4 4 3 Linear Interpolation xxrrrnnnnnnrrrrrrnnnnnnnnenenn 092 4 5 Ladder Logic SET GOE 093 4 5 1 Basic Operations ee EEE 093 Chapter 5 Setting Examples ee 0
118. ulse Input Signal 2 to direction pulse ON Input Signal 1 l l i I 1 i i i 1 i Input Signal 2 1 1 i 1 1 i CW Rotation CCW Rotation When detecting the rising edge of When detecting the rising edge of Input Signal 1 count up in CW direction Input Signal 2 count up in CCW direction in case Input Signal 2 is ON in case Input Signal 2 is OFF 2or3 Execute Program Bank 2 and Program Bank 3 Can be assigned by K28 K29 K31 K32 Except for P type Setting Example K36 1 0 Set CW CCW Pulse for Command Pulse Format K36 1 3 Set Pulse Direction for Command Pulse Format Execute Program Bank 2 and Program Bank 3 is available by Input Functions 040 Chapter 3 Setting by Parameter Resolution Speed Unit This parameter sets the motor s resolution and the speed unit that is used by S command Each value of 0 10 or 40 50 sets 100pps as the speed unit each value of 20 30 or 60 70 sets 10pps as the speed unit and each value of 80 90 sets 1pps as the speed unit The maximum position data is limited depending on the Motor Resolution RES 2 20 25 2 500 1000 28 25000 999 999 99 N N 0 50000 999 999 99 12 884 90 17 179 86 600 25 769 803 600 25 769 80 6 34 359 73 64 51 539 60 65 1500 64 424 50 128 849 01 67 4000 171 798 69 257 698 037 257 698 03 8000 343 597 38 50 12000 515 396 075 70 12000 515 396 07 8 589 93 17 179 86 21 474 83 42 949 67 85 899 34 107 374 18 2
119. ut ON OFF Command O n or t F n to Cool Muscle n the final Motor ID 1 indicating the Modbus slave device ID Example A transmission message to the slave when transmitting 07 4 to Cool Muscle automatic generation Note that the starting address is 206 OxCE hex which is the 7th since address 200 set value of K80 of a slave mali Radiesse Set t by K Kat Function Code 0058 Starting Address Hi 000 o Starting Address Lo MGE S Preset Data Hi Command O 1 Preset Data Lo xo Command F 0 Error Check CRC 16 bits o Response The response from the slave is interpreted by Cool Muscle automatically Chapter 5 Setting Examples Function Code 15 0x0F Function Turning ON OFF the multiple outputs in a slave device simultaneously This function is supported only in the Modbus slave communication Transmission Message The transmission message to the slave is generated automatically through transmitting Output ON OFF Command O n X to Cool Muscle n the final Motor ID 1 indicating the Modbus slave device ID X output status The number of registers is fixed to 16 and the number of bytes is fixed to2 Here is an example of setting the 16 output status from address 301 in a slave device as below 301 302 303 304 305 306 307 308 309 310 315 316 C 311 312 313 314 ON ON OFF OFF ON ON OFF ON OFF OFF OF
120. uted in the period of time based on parameter K63 X command can not be available in Ladder Logic Bank 093 Chapter 5 i Setting Examples In this section parameter settings or procedures required for realizing various functions are described 5 1 Manual Jog Feed Manual Jog Manual jog makes the motor move incrementally by the number of pulses set by parameter with each input of one shot signal This is useful for fine adjustments The setting of parameters is as below Set to either of followings K29 Quick Response Falling Edge lg Manual Jog in CW direction K32 Slow Response Falling Edge Manual Jog in CCW direction Manual Feed Manual feed makes the motor move in a specified direction continuously while the signal is ON The motor stops when the signal is OFF The setting of parameters is as below K27 at the Quick Response Target Voltage Direction of continuous rotation K30 at the Slow Response Target Voltage 3 CW direction 4 CCW direction K49 Manual Feed Speed 094 Chapter 5 Setting Examples 5 2 Rotation Pulse Output The motor s current position shall be divided by the range of K24 value the output will be ON at the first half of set position by K24 then OFF at the last half However the output timing will be different in CW and CCW direction because the threshold for output signal ON and OFF has plus minus 1 5000ppr plus minus 10 50000ppr hysteresis to the noise Hysteresi
121. ves to Origin Assign Current Position to 0 This command sets the current position to Origin Position 0 No motion 2 Set Motor 3 s current potion to Origin Enable Motor This command enables Motor 1 Enable Motor 1 Motor Free This command makes the motor Motor Free 1 Make Motor 1 Motor Free Output Signal ON This command turns the output on Parameter K34 needs to be set to 4 General Format O n Output No n Motor ID 02 1 Output 2 on Motor 1 is set to on 007 Chapter 2 Operation by CML Output Signal OFF This command turns the output off Parameter K34 needs to be set to 4 General Format F n 4 Output No n Motor ID F2 1 Output 2 on Motor 1 is set to off This command saves Parameters Data Commands Program Banks and Ladder Logic Banks into Cool Muscle s Memory When data is saved a message saved Motor ID is returned Once saved the data is kept after the motor is powered off 1 Save Motor 1 s Data like Program Banks This command shows Parameters Data Commands Program Banks and Ladder Logic Banks stored in Cool Muscle s Memory Display the predefined data of Direct mode of Motor 1 Capture Position Data This command sets the current position data to a specified memory H2 1 Take the position memory No 2 from Motor 17s current position Execute Program Bank This command executes predefined Program Bank 1 Execute Motor 2 s Program
122. x lf V1 1 100 V2 1 100 then TRUE V1 1 V2 1 V3 1 If V1 1 100 V2 1 50 V3 1 50 then TRUE Result is TRUE if number1 is not equal to number2 Otherwise FALSE Not Equal to number1 number2 V1 1 V2 1 Ex If V1 1 100 V2 1 100 then FALSE V1 1 V2 1 V3 1 If V1 1 100 V2 1 50 V3 1 50 then FALSE Result is TRUE if number1 is greater than number2 Otherwise FALSE Greater than number1 gt number2 V1 1 gt V2 1 Ex If V1 1 110 V2 1 100 then TRUE V1 1 gt V2 1 V3 1 If V1 1 100 V2 1 50 V3 1 50 then FALSE Result is TRUE if number 1 is greater than or equal to number2 Greater than gt t number1 gt number2 Otherwise FALSE or equal to q V1 1 gt V2 1 Ex lf V1 1 110 V2 1 100 then TRUE V1 1 gt V2 1 V3 1 If V1 1 100 V2 1 50 V3 1 70 then FALSE Result is TRUE if number 1 is less than number2 Otherwise FALSE lt Smaller than Number1 lt number2 V1 1 lt V2 1 Ex lf V1 1 110 V2 1 100 then FALSE V1 1 lt V2 1 V3 1 If V1 1 100 V2 1 50 V3 1 70 then TRUE Result is TRUE if number is less than or equal to number2 Smaller than lt number1 lt number2 Otherwise FALSE or equal to V1 1 lt V2 1 Ex If V1 1 110 V2 1 100 then FALSE V1 1 lt V2 1 V3 1 If V1 1 100 V2 1 50 V3 1 50 then TRUE The following table contains a list of the relational comparison operators and the conditions that determine whether result is TRUE or FALSE TRUE if FAL

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