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SMI30 / SMI31 Servo/Step Motor Indexer User Manual SMC35A

1. FROM THE POINT WHERE THE MOTOR STARTS RX1 500 SE HE DISTANCE WHERE O6 MUST BE SET HIGH RX2 1000 SE HE DISTANCE WHERE 06 MUST BE SET LOW SR 5000 LE HE MOTOR RUN 5000 PULSES NOW THE MOTOR WILL START RUNNING AND AFTER RUNNING 501 PULSES 06 WILL BE SET HIGH WHEN THE MOTOR HAS MOVED 1001 PULSES FROM THE START 06 WILL BE SET LOW RX3 Delay of High Speed Start For purposes where the high speed start must be delayed until a certain distance is achieved the RX3 register can be used RX3 can have values from 0 to 65535 A 2 channel encoder must be connected to IN7 and IN8 If RX3 is set to a value higher than 0 the encoder pulses will be connected to a counter that increments each time a tran sition happens at IN7 or IN8 When a high speed start is recognized at IN1 according to CB20 the counter is reset and will start counting When the counter reaches the value specified in RX3 the motor is started and is running Note that RX3 can be changed at any time A change of RX3 will not have any effect on the counter Only a stop will reset the counter to zero A stop could be one of following conditions 1 Motor reaches final position 2 The halt H command or the soft halt SH command is executed 3 The stop STOP command is executed Note that the RX3 feature only can be used together with high speed start
2. CB21 1 ENABLE THE HIGH SPEED STOP RISING EDGE START SR 1000 7 SE THE DISTANCE THE MOTOR WILL START MOVING BUT STOP WHEN INPUT 2 IS ACTIVATED OUT1 1 SET 01 WAIT RS 0 WAIT UNTIL MOTOR IS STOPPED THIS WILL HAPPEN IF THE MOTOR IS STOPPED BY ACTIVATING INPUT 2 OR IF ALL 1000 PULSES ARE EXECUTED OUT1 0 RES O1 J START JUMP TO START AND MAKE A NEW RUN CB22 Diverse flag The flag is set to CB22 0 after use CB22 1 deletes the last 15 error messages that can be shown with the ESTG command CB22 2 resets the driver and sets SON as it was before SMC35 only CB22 3 deletes all user registers RO R220 CB22 4 test of user registers RO R220 and the EEPROM where RO R220 are saved with MS2 command Errors are written to RS232 and CB22 is set to 255 if there are errors 114 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 5 Control Flags 3 5 23 3 5 24 3 5 25 3 5 26 CB23 Used for electronic gear If the motor must be completely synchronised with another moving part this feature can be used Inputs I7 and I8 are in encoder format Output is pulse and direction signal The Indexer does not perform gearing on the signal This must be done in the connected servo driver Note that it is possible to activate and deactivate the gearing by use of the com mands CB20 and CB21 Thus the gearing is active when input I1 is active an
3. NSTOP Show the actual stop input condition VM 1000 SET VELOCITY TO 1000 RPM NSTART 5 SET INPUT 5 AS START INPUT NSTOP 2 j SET INPUT 2 AS STOP INPUT START SR 10000 MOVE MAX 10000 PULSES WHEN INPUT 5 IS ACTIVATED WHEN INPUT 2 IS ACTIVED THE MOTOR IS STOPPED WAIT RS 0 WAIT UNTIL MOTOR HAS FINISHED RUNNING OUT1 1 ACTIVATE OUTPUT 1 OUT1 0 DEACTIVATE OUTPUT 1 J START NSTOP 1 j SET INPUT 1 AS STOP INPUT SR 1000 THE MOTOR WILL START IMMEDIATLY AND DECELERATE TO STOP WHEN THE STOP INPUT IS ACTIVATED OUT1 1 NEXT COMMAND IS EXECUTED SET OUTPUT 1 1 Read Set Status of Outputs O1 08 OUT OUT Stand by Programming Run The Indexer has 8 outputs The status of these outputs can be read or set using the follow ing OUT commands When the status of the Outputs O1 O8 is read information is also given about the status of the 8 control LEDs Special function Error output if there is an error in ESO ES1 or ES2 See command CB7 This output is active if the position is within the interval given in RX1 and RX2 0 1 2 3 4 5 6 7 If CB17 is activated then output 8 is active parallel with the Run LED OUT Read status of outputs OUT n Read status of output n n 1 to 8 OUT n x Set output n to x 0 or 1 OUT xxxxxxxx Set all outputs to x where x is 0 or 1 To be used in Standby mode only OUT x Set all 8 outputs to decimal va
4. Sent to Indexer IN Received from Indexer IN 00010100 Note that IN8 is the left most digit MSB Sent to Indexer IN Received from Indexer N 20 Sent to Indexer IN3 Received from Indexer N3 1 IN can also be used in a program If IN 1 OUT 1 If IN 00001100 OUT8 1 If IN xxx101x Where x is immaterial SR 10000 It is also possible to read other inputs than IN1 to IN8 For example the analogue input can be read as a digital value directly Error LED Read data from external module INPUT Only SMI31 and SMC35B INPUT Stand by Programming Running The INPUT command is used to read in data from external modules connected to the JVL bus RS485 interface It can be used to read in data from modules such a Keyboard Dis play thumbwheel BCD data from PLC equipment printer extra inputs digital to ana logue modules etc All of the above mentioned external modules are intelligent and will therefore contain registers whose contents can be read into the Indexer s registers using the INPUT command The size and number of registers in external modules may vary but each module has at least 1 register Remember that all modules should have their own unique address JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 75 3 4 Command Description Format Example 3 4 42 Command Modes Description Format Example Rx Input n1 n2 nl Specifies the address of the ext
5. 2 6 1 Cabling For SMC35A that supply a phase current in the range 0 to 3 A it is recommended that 0 5mm cable minimum is used to connect the motor to the controller For SMC35B that supply a phase current in the range 0 to 6 A it is recommended that 0 75mm cable minimum is used to connect the motor to the controller Cable lengths used to connect the motor to the Driver should not exceed 10 metres be cause of impedance loss It is possible to use longer cables but motor performance will decrease Cables should be securely connected since a poor connection can cause heating and de struction of the connector Similarly tinned conductors should be avoided Important To minimise spurious noise emission from the motor cables and fulfil CE requirements screened cable must be used If screened cable is not used other electronic equipment in the vicinity may be adversely affected The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector Note also that the connector s lifetime is reduced by repeated connecting disconnecting since the contact resistance of the pins is increased Note that P is connected to the chassis and functions as the main ground on the SMC35 See also Motor Connections SMC35 only page 164 which describes how various mod els of motor should be connected to the SMC35 JVL Industri Elektronik A S User Manual
6. Set format at input 7 and 8 1 Normal 2 Encoder Positive Limit Switch 1 2 Encoder pulses per revolution 50 20000 Pulses rev Print data to external module Programming mode User register 32 bit User register 8 bit Reset Indexer Return from subroutine in a program Return from interrupt User register 16 bit Status 0 stop 1 acc 2 max 3 dec Motor program status in text Text High speed interval output at O6 0 2147483647 Pulses Special user register 2147483648 2147483647 Default set up Smooth Halt of motor Serial number 0 65535 Servo on 0 Servo off 1 Servo on Set new absolute position 2147483648 2147483647 Pulses Set new global absolute position 2147483648 2147483647 Units Puls Set relative position 2147483648 2147483647 Pulses Set relative offset distance 16777215 16777215 Mm mM e mL eT KT e a s OK OX mM mm mS KL eS KT mT ST KT TK OK OX Pulses STOP Stop motor immediately X X Only available on indexer type SMI31 or SMC35B Continued on next page 130 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 7 Alphabetical Overview of Commands Description Defaults Limits Min Seek zero point Show firmware version and date
7. Maximum velocity Show supply voltage Start speed Waits for a specified condition Command only available on indexer type SMI31 or SMC35B JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 131 132 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Appendix JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 133 4 1 Technical Data SMI30 31andSMC35 Typical Max _ Units Supply P P SMI30 31 only Supply Voltage VDC Power Consumption unconnected I O 24VDC supply Supply P P SMC35 only Supply Voltage Power Consumption unconnected I O 80VDC supply Motor Connector Current SMC35 only Running and standby current SMC35A Running and standby current SMC35B 6 A Resolution 6 bit levels Driver Control Connector Output level CLK CLK DIR DIR 0 Output level at SON NPN output 50mA Frequency for CLK output Input level SALA Input level COIN SALA COIN logic 0 SALA COIN logic1 PS Only SMI30 31 14V Pin 6 Only SMC35 14V maximum current 5V Pin 8 Only SMC35 5V maximum current User Inputs 11 16 PL NL HM Input Impedance Logic 0 Logic 1 Logic 0 Logic 1 Max frequency on input I7 and 18 Input Impedance Logic 0 Logic 1 Supply Voltage 0 0 Power Consumption unconnected I O 24VDC supply Power Consumpt All ou
8. J WAIT j jump and test again 106 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 83 Command Modes Description Usage Example 3 4 84 Command Modes Description Usage Example 3 4 85 Command Modes Range Description Usage Example Temperature TP SMC35 only TP Stand by running running The TP command shows the actual temperature of the SMC35 Controller TP Show actual temperature Send to controller TP Received from controller TP 37 Indicating that the temperature of the controller is 37 C Firmware Version VE VE Stand by The VE command provides information about the Indexer firmware version and date VE Show version and date Send to Indexer VE Received from Indexer 19 01 1998 V1 45 MCP2 0 Indicating that the firmware is from 19 January 1998 version 1 45 and the motion proc essor firmware is version 2 0 For example RI VE used in a program will transfer the number 19011998 to R1 M aximum Velocity VM VM Stand by Programming Run 0 65535 RPM The VM command is used to set the maximum velocity The speed can be changed at any time regardless of whether the motor is running or not VM x Set maximum velocity in rpm VM Show current max velocity AC 10000 set acc dec to 10000 RPM sec SP 30000 run to absolute position VM 1000 set velocity to 1000 RPM WAIT AP gt 10000 wait until position reach
9. POWER _ _ _ Indicates Indexer is switched on PROGRAM __ Indicates program is running MOTOR _ _ Indicates motor is running ERROR Indicates an error has occurred hej Hm The 8 user inputs are available at HE pr this connector Additionally the fa ne B end of travel limit inputs and the HEN inle Home input are available at this connector fa a g 9 The status of each input is displayed Ssl 9 5 gt 2 7 0 at the corresponding LED S HE 6 gu Fo HH 15 uP ml 8 HE 4 9 HE f HE 2 H o This connector includes power SUB D 9 Pole Female Interface connector input 2 analogue inputs and Ee Connected to PC or terminal 1 analogue output For the SMI31 Eo for set up programming the JVL bus interface is also available HEN of Indexer T Ma ha in I Ho in Ho nn I The 8 user outputs are available kel at this connector The status of ne each output is displayed at the HE SUB D 9 Pole Male Driver connector corresponding LED Additionally HE Connected to servo or step motor the LED OE indicates if one of FE driver Pulse direction and other the outputs has been short circuited a relevant signals are available at HET this connector fe fe hel Mounting plate TT0107GB The indexer can be mounted on a surface in a cabinet etc 8 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 1 4 SMC35 Controller Fro
10. The start is delayed until number of pulses Motor speed at IN7 8 is equal to RX3 Time o High speed startinput IN1 is activated according to register CB20 The encoder counter is reset to zero at the same time TT0155GB RX4 IN high speed start digital filter When IN1 is used as high speed start together with CB21 RX4 is used to specify a de bounce period If RX4 5 the input should be stable for 5x102us 510us before the motor is started RXS5 IN2 high speed stop digital filter When IN2 is used as high speed stop together with CB22 RX5 is used to specify a de bounce period If RX5 10 the input should be stable for 10x102us 1 02ms before the motor is stopped JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 97 3 4 Command Description RXT RX8 RX9 RX10 Monitoring of distance travelled This feature can be used in situations where High speed start and stop is used and the distance travelled by the motor is to be monitored Typical applications include label dis pensing See appendix for a flowchart and program example Note that Input 4 IN4 is used as a secondary start input when the function is active The function monitors 2 parameters 1 How far the motor runs before it sees the stop input IN2 This is determined by the sum of the pulses in RX7 RX8 If this sum is exceeded output 6 is activated for the duration in mS determined by RX10 2 How long the stop signal is active
11. 1 AOUT parameter out of resolution range CO N O1 BR GW P Warning Wrong supply voltage Reserved 70 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description Error status bits Register ES2 Explanation 0 E32 VM specified lower than VS VM value changed to VS ERR32 1 E33 Error in CTM command parameter ERR33 2 E34 Too many GOSUB max 32 ERR34 3 E35 Program end ERR35 4 E36 Too many ELSE after IF ELSE ERR36 5 E37 Too many interrupts INT ERR37 6 E38 Return without jump RET RETI ERR38 7 E39 Warning Motor drive running ERR39 8 E40 Address not allowed Max 255 ERR40 9 E41 Timeout on IN7 IN8 CVI command ERR41 10 E42 Motorprocessor fault ERR42 11 E43 01 08 Output error ERR43 12 E44 RAM EEPROM memory error ERR44 13 E45 Fatal case error Contact JVL ERR45 14 E46 Error Alarm signal from motor drive ERR46 15 E47 Unknown error ERR47 The error indication is cleared after reading the error status For critical vital errors mo tor operation is interrupted and the error information remains in the register The user must then either switch the system off and on again to reset the error status or use the RESET command Note Control bit CB8 will be 1 if there is one or more errors in the three error registers See also Control Flags page 110 and Error Messages page 123
12. 3 4 71 Command Modes Notes Example Report Motor Program Status in text RST RST Stand by Programming Running Description RST Motor Status Motor stopped Stationary Motor accelerates Accelerating Motor running at max speed Running at max speed Motor decelerating Decelerating Servo not in position COIN 1 Motor not in position Servo alarm SALA 1 Fatal error in connected servo step driver SZ command execution Motor zero seek in progress Limit inputs active Motor stationary but NL or PL active RST Program mode Explanation Program not running Keyed in commands will be executed Standby immediately NIOJ il AJ WD MP o Programming The Indexer is in programming mode Running The Indexer is executing a program If RST is included in a program a response will be returned on the RS232 interface when commands are executed in the program Sent to Indexer RST Received from Indexer Motor Status Accelerating Program Mode Running Velocity ore pe pe sre rse Time RS 1 RS 2 RS 3 RS 4 RS 0 RS 5 TT0172GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 95 3 4 Command Description 3 4 72 Command Modes Selection Description Special user registers RX RX Stand by Programming Running 1 16 RX1 RX2 High speed interval output at O6 For purposes where an external signal is required when the motor reaches a cert
13. Command Description 3 4 56 Command Modes Range Default Description Limit switch Transition from logic 1 to logic 0 stops motor NLS 1 CB25 1 Limit switch Transition from logic 0 to logic 1 stops motor NLS 1 CB25 0 Normal input Use NL as normal input NLS 2 Default Normal input Use NL as interrupt input to INT9 NLS 2 INT9 Use NL input as interrupt controlled smooth stop of motor Normal input NLS 2 NSTOP 9 Interrupt controlled start NSTART NSTART Programming Running 0 15 0 disabled This command must be used if timing is very critical for a certain motor start sequence The NSTART command enables an interrupt feature that will detect a start signal at the same moment it occurs All the inputs can be used including the analogue inputs and lim it inputs The advantage of using this command instead of the WAIT command is the fast response time In addition precise repetition timing is obtained with this command The typical response time for this command is 500 to 650 us The WAIT command re quires 0 5 ms To obtain high noise immunity the NSTART command always measures 16 times at the input signal before a start is realized Using the CB18 flag it is possible to select between 4 trigger conditions See CB18 NSTART Trigger level flag page 113 If ultra high speed Start stop is required see CB20 High speed start trigger at INI page 114 and CB21 High speed stop trigger at IN2 page 114 Th
14. Description Usage 3 4 82 Command Modes Description Stop motor STOP STOP Stand by Programming Running This command will cause the motor to stop If the motor was running it will be halted as when using the H command but the program will not be stopped See also the Smooth Halt of Motor SH command page 102 and the Halt of Motor and Program H K com mand page 73 STOP Stops the motor Command Command given in given in Standby Program mode Running Program Running TT0144GB Seek Zero Point SZ SZ or SZ Stand by Programming Running This command is used to reset the motor position to a known zero point The Seek Zero command enables an electrical and mechanical reset of the system to a pre defined reference position As soon as the Indexer receives the Seek Zero command the motor will move in the specified direction either SZ or SZ As soon as the HM End of Travel input becomes low the motor will stop The motor is then at its reference position The speed at which a reset occurs is determined by the VS Start Rate command During and after execution of a Seek Zero command the Position Counter is reset to zero AP 0 See also Home Input page 17 SZ Begin zero point seek in positive direction SZt Begin zero point seek WAIT IF CB4 1 pif limit switch active before hom Switch J ERRORPL jump to error handler IF RS lt gt 0 If motor is running and HM not active
15. JUMP TO THE PROGRAM START INTL THIS INTERRUPT RUTINE IS EXECUTED IF INPUT 1 IS ACTIVATED I1 1 OUT8 1 SET OUTPUT 8 TO LOGIC 1 D 10 DELAY 100ms OUT8 0 SET OUTPUT 8 TO LOGIC 0 RETI RETURN FROM INTERRUPT RUTINE CONTINUE THE MAIN PROGRAM Several inputs can be monitored at the same time If an interrupt is being executed while another interrupt occurs the first interrupt will be finished before the new interrupt routine is executed The interrupt routines can be inserted at any point in the program If an interrupt routine is executed in a program without any interrupt having occurred program execution is halted and an error message will occur when the RETI is executed JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 71 3 4 Command Description 3 4 44 Command Range Modes Description 3 4 45 Command Range Modes Description Example Jump Command J J 0 2000 Programming Run The J command is used to make an unconditional jump to a specified line number in the program The program line number can be specified in the range 0 2000 If MotoWare is used a label can be inserted instead See also Jumping to program lines and the use of labels page 44 Example 0 OUT1 Activate output 1 SR 100 Run motor 100 pulses forward 2 OUT1 Deactivate output 1 3 WAIT RS 0 Wait until motor is finished 4 JO Goto line 0 J ump Su
16. Set speed to calculated speed If motor not running Jump to main If manual mode and manual run in positive direct If manual mode and manual run in negative direct Jump to main and check again Run distance in positive direction Wait for motor stopped dump to main and check again Run distance in negative direction Wait for motor stopped dump to main and check again Set speed to start speed else start motor in positive direction jump jump Key in program here File Edit Main KeyS View Window Applications Setup Help Cafes tal Lee Document Ld status MOTOR R10 R3 R1 Controller IF R10 lt VS SMI3x VH Vvs ELSE Checksum VH R10 r IF RS 0 R 10000000 Address a MAIN b MANUAL IF IN2 1 Run Go J HANPLUS IF IN3 1 Kill Halt J HANHINUS o MAIN Parm s MANPLUS SR 100 Send WAIT RS 0 I MANUAL Get prog MANMINUS R 100 WAIT RS 0 J MANUAL a 4 Once the program is complete it can be saved on the hard disk Save program on hard disk File Edit Main Keys View Window Applications Setup Help 5 Once the program has been saved to hard disk it can be sent to the Controller Select SEND If an error occurs an error message will be displayed See Error messages during programming and program execution page 43 i IF SR Address Tit MANUAL IF Select SEND to send the program _Run Go_ osm Kill Halt Jin JW
17. Usage ESO Show error status register 0 Example Sent to Indexer ESO Received from Indexer ESO 0000000001000101 Note bit 0 is the right most bit JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 71 3 4 Command Description 3 4 34 Command Modes Description 3 4 35 Command Modes Description 3 4 36 Command Modes Description Error Status Text EST EST Stand by Running The EST command has exactly the same function as the ES command described above with the exception that the error status is reported as plain text for all three status regis ters The EST command produces a list in English of the error status If there are no errors the error response is E0 No errors A list of the error messages is given in Error Mes sages page 123 EST Read out error status register 0 1 2 as text Send to indexer EST Received from indexer EO No errors E2 Out of range E46 Error Alarm signal from motor driver Error Status Text ESTG ESTG Standby Running The ESTG command can be used to print out last 15 errors which have occurred The er rors are stored in the permanent memory EEPROM and earlier errors are therefore stored even if the Indexer has been switched off All errors above Error 7 will be stored The command is typically used for example if a machine has periodical errors It is then possible to determine which errors have occurred earlier All the errors messag
18. Error status text Exit programming mode Start program execution Halt of motor and program Read flag from external module Used to control program flow Read input port status n 1 8 00000000 11111111 ANPUT n1 n2 Read data from external module beaa a mK KK mK KL mK KK KL KL KL KL KL mK mK mK mK OK INT n Interrupt control n 1 10 Only available on indexer type SMI31 or SMC35B 10 Continued on next page JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 129 3 7 Alphabetical Overview of Commands Description Defaults Limits Min Max Units Makes an unconditional jump 0 2000 Line no Makes an unconditional jump to subroutine 0 2000 Line no LINE Verify actual program line number 2000 Line no MAKRO Used for custom routines MCHS n Memory checksum n 0 3 2147483647 MEM Show used memory 100 MRI Recall program from EEPROM 3 MR2 Recall registers from EEPROM MS1 Save program in EEPROM MS2 Save registers in EEPROM NLS Negative Limit Switch 2 ee te a a a s a a NSTART Define trigger condition for motor run 15 mM e e e KL KT OK a a Define trigger condition for motor run 10 Show set levels at User Outputs n 1 8 00000000 00000000 11111111
19. PR 8192 Set pulses per revolution START WAIT RS 0 OUT7 0 AP 0 set position AC 20000 set acc dec to 500 RPM sec VM 1000 Set velocity to 1000 RPM SR 100000 run max length 100000 pulses LOOP IF AP gt 20000 when position gt 20000 OUT1 1 7set outputl IF AP gt 30000 when position gt 30000 OUT7 1 OUT7 connected to IN2 IF AP gt 40000 when position gt 40000 OUT1 0 reset outputl IF IN3 1 if IN3 is activated J BREAK jump out of LOOP IF IN2 1 if IN2 is activated shift VM 2000 velocity to 2000 RPM IF AP gt 60000 when position gt 8000 shift Ac 40000 deceleration to 10000 RPM sec IF RS lt gt 0 If motor is still running J LOOP 720000 pulses jump to LOOP WAIT IN1 1 J START IN2 OUT1 Velocity RPM AC 40 000 VM 2000 AC 20 000 VM 1000 f 7 oe AC 40 000 20 000 40 000 60 000 100 000 pulses TT0137GB Time JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 149 4 9 Program examples continued The above illustration shows how the motion profile can be changed according to external events or internal positions The more events are introduced the longer the loop scan time will be It is therefore recommended that the number of IF conditions is kept to a min imum The example above for instance requires that IN2 be activated during the whole loop program in order that the function is reliable as measurement only takes place once within the loop program See Command
20. SMI30 31 and SMC35A B 19 2 6 Connection of Motor SMC35 only Serial ti Foh l Motor erial connection of pnases Torqu e Parallel Z Velocity Current for Serial or Parallel connection Me mn Example settting motor 4 2A Motor 4 phase 1x 1 41 4 2 x 1 41 5 9 parallel Motor I 4 2 4 phase AA qy 7 3A serial Motor 2 phase I 4 2A Nominal current per phase in accordance with manufacturer s specifications TT0161GB 2 6 2 Connection of Step Motor Various types of step motor are available 1 2 phase Bipolar 4 connectors 2 4 phase Bipolar Unipolar 8 connectors 3 4 phase Unipolar 6 connectors Note that Type 3 motors indicated above Unipolar motors produce 40 less torque This motor type can be used with success but is not recommended if a 4 or 8 wire motor is available instead This section will not describe the unipolar type further 2 phase or 4 phase motors can be connected to the Controllers as follows 2 phase Motors 4 wires This type of motor can be directly connected to the Controller s motor terminals The Controller current adjustment must not exceed the manufacturer s specified rated current for the motor 4 phase Motors 8 wires This type of motor can be connected to the Driver in one of the 2 following ways 1 Serial connection of phases 2 Parallel connection of phases Selection of serial or parallel co
21. Supply Voltage Recommended Resistance 5 12VDC 1kOhm 0 25W 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 17 2 5 User Outputs TI vay 7 Industri Elektronik CE procram MOTOR ERROR ke HM g CejHe X JHON 4 Jr E fej 8 Output circult PNP output Ge fo g A Leite g tor BF Sra felH Jw Ce JH n RS232 St lt a BEE oy Hes e Al1 4 salons VU OE is lit if one of a gt Y the outputs has been He AE Spy a short circuited Loe DRIVER HE 03 AN PowerSupply lt meios f PowerSupply T Max 700mA PS os f_2 4_ 06 Load Ooo ejoo Lel o 0 TT0112GB 2 5 1 General The Indexer is equipped with a total of 8 digital outputs Each output can be used for a variety of purposes depending on the Indexer s basic mode of operation The Outputs are optically isolated from other Indexer circuitry The output circuitry must be powered from an external power supply This power supply is connected to the terminals O and O The output circuitry operates with voltages in the range 8 28VDC Each output can supply a continuous current of 700mA The Outputs are all source drivers i e if
22. This duration is determined by the sum of the pulses in RX8 SR2 SR2 run length after stop signal If this sum is exceeded output 7 is activated for the duration in mS determined by RX10 Register description RXT Contains the nominal length of operation RX7 can be specified in the range 0 16000000 RX8 Contains the nominal length that the stop sensor must be active RX8 can be specified in the range 0 16000000 RX9 Specifies whether the monitoring function will be active or not RX9 0 default Monitoring inactive RX7 RX8 and RX10 have no effect RX9 1 Monitoring active RX10 Specifies the duration of the pulse when an error occurs on either output 6 or out output 7 The default duration is 1 msec The value assigned to RX10 is specified in steps of 0 1024 ms For example if a duration of 10 ms is required RX10 is assigned a value of 10 0 1024 98 RX10 can be specified in the interval 0 65000 ca 6 5 seconds Automatic adjustment of RX7 and RX8 If IN4 is activated the motor will start and measure the length of operation until the stop sensor is activated the first time This value is assigned to RX7 The motor will continue to run and begin measurement of the length that the stop sensor is active When the stop sensor is again passive the measured value is assigned to RX8 See appendix for further description time history and program example RX11 Frequency multiplier in CVI command Used in CVI command as frequenc
23. e g commands that display set ups Checksum In situations where long communication lines are used a checksum can be used to ensure that the commands are received correctly If an error occurs the error message E9 is received and the command must be re transmitted See also the RS232 RS485 Interface Checksum CHS command page 56 lt CR gt ASCII value 13 This character terminates the command line 28 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 13 RS232 RS485 Interface 2 13 5 2 13 6 2 13 7 Synchronisation During communication with the Indexer each command string must be terminated by a lt CR gt ASCII 13 or a semi colon to separate the commands These delimiters tell the Indexer that the command string is complete and interpretation can begin When a check sum is used command interpretation will not begin until the entire command line has been received i e the command line is terminated by a lt CR gt A maximum of 120 char acters may be sent in a single command line Checksum In industrial applications electrical noise from motors etc often occurs This noise is quite arbitrary and random and cannot be eliminated 100 even by effective electrical filtering To ensure correct transmission of Indexer commands therefore a checksum can be used A typical command line may be as follows 25VM 2000A2 TT0117GB In this example addressing is used address 25 A c
24. only from version 1 7 case et foson O O O OOOO Normally a motor alarm will not stop the Indexers running LED or program Even the ERROR LED will first be lit when a new motor running command is executed This is because the motor status RS is only read before a motor run command If the CB39 bit 0 is set and CB35 bit 3 is set then the motor status RS will be tested continuously so that a motor alarm will stop the mo tor and program immediately Motor and program will also stop if CB39 bit 0 1 is set and an RS command is executed Note that the motor will stop immediately as if the SH command was execut ed JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 121 3 5 Control Flags 3 5 40 CB40 Software position limits only from version 1 7 Default No test for position limits If the required position AP is calculated to be out of the interval specified in RX14 and RX15 the motor will stop at the position specified in RX14 or RX15 The error bit 13 will be set and the ERROR LED will flash once the run is not executed The error bit 13 is set Same as CB 40 2 but the program will also stop when the software position limit is exceeded When the position is calculated to exceed the limits the program will stop and therefore the last motor run will not be executed Same as CB40 1 but when the position is calculated to exceed the position limit 2 Example 1000 o 2
25. set start velocity using the Start Rate VS command page 108 Set an acceleration using the Acceleration AC command page 49 The motor can now be set to move to various positions using the Set new absolute Posi tion SP command page 103 or the Relative Positioning SR command page 104 Commands of particular interest for operation in this mode are Pulses per revolution PR page 89 Set new absolute Position SP page 103 Relative Positioning SR page 104 Start Rate VS page 108 Maximum Velocity VM page 107 Acceleration AC page 49 Read Status of Inputs IN page 75 Read Set Status of Outputs O1 O8 OUT page 86 Halt of Motor and Program H K page 73 Smooth Halt of Motor SH page 102 Velocity VM RPM AC RPMS B g _VS RPM Position TT0116GB Figure 1 Velocity profile JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 35 3 3 Program Execution 3 3 1 3 3 2 3 3 3 General Description The Indexer and Controller provide the feature that they can be programmed using a sim ple and flexible programming language which is built up around the interface command set Thus all commands can be used for developing or executing programs During pro gram execution all parameters in the Controller can be read or changed All values that can be set and read using the same single command are called registers and can be used in arithmetic expressions Prog
26. 1500 RPM START WAIT IN1 1 WAIT FOR A START SIGNAL AT INPUT 1 SP AI1 6 READ THE ANALOGUE INPUT AND MULTIPLY THE VALUE WITH 6 LET THE MOTOR MOVE TO THE RESULTING POSITION WAIT RS 0 WAIT UNTIL MOTOR HAS STOPPED J START JUMP TO START AND REPEAT SR 10000 Start VM AI1 10 200 IF RS gt O J Start 52 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 9 Command Modes Range Description Format Example 1 Example 2 Activate flag in external module AO Only SM1I31 AO Standby Programming Run Address 0 31 Flag 0 65535 The Activate command is used to activate a flag in an external module whose address is specified by a The Flag number is specified by o For example the flag may refer to an output on a JVL IOM11 module Input Output module When the flag is activated an output will be activated A flag in a different module may refer to a completely different function For example if flag 3 in a JVL Keyboard Display KDM10 module is activated the cursor on the module s LCD display will blink Flags with the same number in different modules can have different functions Remember that all modules should have their own unique address See the instruction manual for the individual module for a description of the function of the module s flags AO 1 lt a lt 31 1 lt 0 lt 255 A Keyboard Display Module has address 4 The module display is
27. 25 Signal Flag 113 Save Program MS1 command 81 Save User Registers MS2 command 83 Screened cable 19 140 142 144 145 148 161 162 164 165 SD System Default command 101 Seek Zero Point SZ command 106 Zero Search Flag CB27 116 Semi colon Command Delimiter 29 34 Serial connection of motor phases 20 21 Serial Number SN command 102 Servo Alarm Signal SALA Flag CB15 113 Servo On SON command 102 159 Set New Absolute Position SP command 103 Set New Global Absolute Position SPT command 103 Set Read Interrupt status 117 Set Read Status of Outputs OUT com mand 86 87 159 Set up Show set up command 48 SH Smooth Halt of Motor command 102 159 Show set up command 48 Show user memory MEM command 80 Smooth Halt of Motor SH command 102 159 SN Serial Number command 102 Software 33 SON Output 24 25 Servo On SON command 102 159 SP Set New Absolute Position command 103 Special User Registers RX command 96 100 159 Specifications 134 135 SPT Set New Global Absolute Position command 103 SR Relative Positioning command 104 159 SR2 Relative Offset Positioning command 104 105 Standby Mode 35 Motor Current at Standby CS command 61 Start program execution GO command 73 Start Rate VS command 108 159 Status and Error Indication 138 Motor Status RS when limit is activated flag CB38 121 Status Flags 110 111 113 115 116 STOP Stop Motor command 106 Stop Moto
28. 3 PR 1600 Ministep mode 1600 puls rev selected RX12 4800 Gear of 3 is used START If IN 1 SP 0 WAIT RS 0 IF IN2 1 SP 2400 WAIT RS 0 IF IN3 1 SP 1200 WAIT RS 0 J START 154 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 9 Program examples 4 9 6 1 axis mode This program shows how 1 stepmotor and 1 servo motor can be controlled from a single SMC35B Using program it is possible to control 2 motors but not at the same time 2 motors can be run at the same time but synchronously and with the same step pulse rate The step motor is controlled from the internal driver and the servomotor and driver are controlled via step pulse and direction signals on the connector setup SINIT MAIN STEP ON v ERVO_ON STEP ON INIT STEP CS 1000 CT 2000 VS 100 AC 800 VM 300 SON 1 R1 0 R2 0 R3 1000 AP 0 JS STEP_ON VM 400 SR 3000 WAIT RS 0 R1 AP D 10 JS SERVO_ON VM 3000 SR 20000 WAIT RS 0 R2 AP D 10 JS STEP_ON VM 40 AC 800 SR R3 WAIT RS 0 R1 R1 R3 R2 R2 R3 D 100 J MAIN PR 1600 AC 800 AP R1 CB36 1 R P A ET R 8192 C 10000 AP R2 CB36 2 RE PR 1600 AC 800 CB36 3 PR 1600 Pulses rev X axis motor current at standstill X axis motor current when accelera tion and running Start speed in RPM Acceleration in RPM s Top speed in RPM Activate internal driver X axis position for x axis Step motor position for y axis
29. 64 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 26 Command Modes Range Description Usage Counter mode CTM 2 CTM2 Standby Programming Run 1 10 The Indexer provides facilities for solving advanced applications using 2 counters timers denoted CN1 and CN2 These counter timer registers have a resolution of 16 bit 0 65535 The registers can be configured for different purposes by setting the CTM1 and CTM2 registers The counter timers can be set as ordinary incremental counters timer gated timer timer with divider slow speed etc Note that both counters are set in encoder mode if CTM2 is set to 10 This makes counter 1 disabled for normal use Different counter timer modes Counter 2 CN2 is not active Incremental counter 0 65535 Input 8 is counter input Timer The timer frequency is 460800 Hz If overflow timer starts from 0 Gated timer Input 8 must be high to keep the counter running CTM2 5 Timer with divided frequency Division ratio is setup by the CND2 command CTM2 6 Similar to CTM2 5 but as gated timer Input 8 is gate CTM2 7 Analogue output is enabled see also the AOUT command 7 Encoder mode Inputs 7 and 8 are encoder inputs CN2 contains the number of CTM2 10 pulses in 32 bit O CTM2 1 CTM2 7 CTM2 10 Oscillator 460800 Hz GTM2 gt CTM2 6 Interrupt to Counter INT8 one PE if specified in program C
30. A RS485 B Terminal B Output Supply O 5 30VDC 01 Output 1 02 Output 2 03 Output 3 04 Output 4 05 Output 5 06 Output 6 07 Output 7 08 Output 8 O Gnd for Outputs JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 161 4 11 Connection tables Connection of SMI30 RS232 RS485 SUB D Connector female Desig nation Description Application Common Chassis RS232 Rx Receive RS232 Tx Transmit A A RS485 Gnd Signal Gnd Not used Not used Tx Pull Tx PD Down Term RS485 Term B B RS485 Connection of SMI30 Driver SUB D Connector male Description Application Clock pulse Clock pulse Direction signal Direction signal Signal Gnd Voltage out put Alarm input Servo in po sition input Servo on off output 162 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 12 Calculation of motor movement ACP Pulses used for acceleration ACT Time in sec used for acceleration AC Slope in rpm sec VM Top velocity in rpm Velocity rpm VS Start velocity in rpm t Time in sec VM et eee S Moved distance in pulses PR Pulses per revolution encoder VS ACT t Time sec VM VS ACT PR AGPS 120 Pulses VM VS PR 120 AC ACP Pulses RPM sec AC t PR Pulses gg Muises 60 Valid if VS 0 Valid if velo
31. B 4 5 Connection to Yaskawa servo drives 4 5 4 Velocity and Angle In both the Yaskawa servo drivers and in the Indexer SMI30 there are parameters which influence the velocity of the motor and the angle it moves 1 Yaskawa In all Yaskawa drives 3 registers influence the velocity and the angle Cn 11 Cn 24 and Cn 25 The number of encoder pulses from the motor encoder is multiplied by a factor of 4 in the Yaskawa driver so that a motor encoder with for instance 2048 pulses will indicate 8192 pulses rev in the driver If parameters 24 and 25 are both 1 the motor will require 8192 pulses to turn 1 revolution At low velocities this gives the best angular resolution but it will cause problems at high speeds as the Yaskawa driver has a built in 450 kHz filter which corresponds to a velocity of max 3295 rev min with 8192 pulses per rev If the velocity must be higher Cn 24 can be set e g to 2 2 SMI3x In the SMI Indexer there are also some parameters which influence the velocity and ac celeration of the motor and the angle it turns The PR command defines the number of pulses required to make the motor turn revo lution CON is a scaling factor which is used for example to rescale a given length e g in mm to a number of pulses Example SM a SGD A B Motor with 8192 p rev Pr vm fsa penjon EJE Combinations 1 and 3 should be preferred as in these cases the motor will run w
32. Indexer s receiver s calculated checksum is not the same as the transmitted check sum Example 25VM 2000Q3 Correction Send the command as 25 VM 2000A2 124 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 6 Error Messages E10 Value out of range for CS and CT command Correction Select a value within the specified range E11 Limit switch activated If the negative NL limit switch is activated motor movement in the negative direction is stopped Only positive movement is now possible If the positive PL limit switch is activated motor movement in the positive direction is stopped Only negative movement is now possible This error message will not be written to the RS232 interface It will be placed in the error register only E12 Limit switch active Motor run command ignored If a limit switch is activated when a motor run command is executed the motor command will be ignored and the program will continue to the next command E13 Position limit exceeded Position truncated E14 Odd parity error A command with wrong parity has been received because of noise on the RS232 inter face Send the command again Can also arise because the baud rate is not set correctly E15 Reserved E16 Command not allowed in standby mode The command is an illegal command in standby mode and can only be used in a program Example The PX command is used to change mode from programming mode to standby
33. It is often necessary to use the SZ Home command before starting a new execution of a program since the motor position will be arbitrary owing to the instantaneous stop result ing from the Halt command To stop the motor without stopping the program execution the STOP command can be used See Stop motor STOP page 106 and Smooth Halt of Motor SH page 102 Note also that the halt command will disable the high speed start input CB20 0 perma nently in the same manner as RESET or SD set default See also CB20 High speed start trigger at INI page 114 H Halt motor and disable high speed start Command Command given in given in Standby Program mode Running Motor Program Stopped Stopped TT0130GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 73 3 4 Command Description 3 4 39 Command Modes Description Control of program flow IF IF Programming Run The IF command is used for comparison of 2 numeric values These values may be the contents of registers such as RI INI VM etc or simply integer values such as 10500 420 etc All registers described in Arithmetic expressions page 40 can be used in IF ex pressions The comparison operator may be one of the following gt lt lt gt It is also possible to use all the input designations IN1 IN8 NL PL HM AI1 and AI2 directly in the expressions If the condition specified by the IF expression is f
34. Ja START JUMP BACK TO START Interrupt INT INT Stand by Programming Running The Indexer can monitor different inputs while the program is being executed When a specified input condition is fulfilled the Indexer finishes the command line that is under execution Program execution is then continued from the program line where the corresponding INT command is inserted The following interrupts are available Trigger condition Transition from logic 1 to 0 CB12 0 Default NT Input 1 11 Logic 0 CB12 1 Transition from logic 1 to 0 CB13 0 Default Logic 0 CB13 1 INT2 Input 2 12 Transition from logic 1 to 0 CB14 0 Transition from logic 0 to 1 CB14 1 Default INT3 Input 3 13 INT7 Counter 1 CN1 Overflow in counter 1 from 65535 to 65536 INT8 Counter 2 CN2 Overflow in counter 2 from 65535 to 65536 Transition from 0 to 1 CB25 0 Default Transition from 1 to 0 CB25 1 Transition from 0 to 1 CB26 0 Default Transition from 1 to 0 CB26 1 INT100 147 ERR1 47 Error E1 to E47 INT9 Input NL INT10 Input PL An application is written so that user output O8 will be activated for 100 ms if input 1 is activated The program is as follows START SR 100000 RUN THE MOTOR 100 000 PULSES WAIT RS 0 WAIT HERE UNTIL THE MOTOR HAS STOPPED D 10 DELAY 100ms J START
35. Provision should therefore be made to en sure that the supply voltage is always maintained at a minimum of 20V even in the event of a mains voltage drop Power Supply Faults SMC35 only The Controller is protected against incorrect polarity connection and voltage overload If a voltage overload of the Controller supply occurs or the supply is connected with in correct polarity the Controller s internal fuse will be blown The fuse can only be replaced by an authorised service centre JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 23 2 9 Driver Connection SM130 only 5V SON ike 4 7kQ Tum Ce COIN Har SALA 2 7kQ Poe E SV 1000 2 1 _lI7 og ie Fu Ha s BE reo g f_2 _113 E JH ie aren Rs232 j pA melse f eA SL nn DRIVER 5V oo CLK DIR m n ps Gy r CLK Ha A SALA gt Ze fyr v CLK rH p COIN lle o gt DIR CLK DIR Ee SON 411 Sr 7 gt DIR EH 07 GND Eoo SN 75176 0 TT01146B LO 2 9 1 General All the necessary input and outputs for the connected servo or step motor driver are avail able at this connector The following signals can be used CLK CLK This is the main pulse signal output for the connected driver The 5V output is bal anced which means that CLK is the inverted signal of CLK If the driver connect ed to the Indexer has an unbalan
36. RUN IS 7290 14 654 4249 THE PULSE REMAINDER IS 0 66 D100 DELAY OF 1 SECOND SR 18 DOSE 18 ml THE NUMBER OF PULSES IS 318 14 654 PULSE_REMAINDER 264 THE NEW PULSE REMAINDER IS 0 432 Note that after a Home operation using the SZ command or after anew CON command is executed the pulse remainder is reset to 0 since the motor is set to its absolute reference point An extra pulse will be executed if the remainder in the positive direction is gt 0 5 or if the remainder in the negative direction is gt 0 5 Note The length or the number below the decimal point multiplied by the conversion factor must give a number of maximum 2 147 483 647 If CON is used in arithmetic expressions only the whole numbers are included in the cal culation CON x Sets the conversion factor to x CON Show the actual conversion factor 60 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 23 Command Modes Range Description 3 4 24 Command Modes Range Description Motor current at standby CS Only SMC35 CS Standby Programming Running SMC35B 0 6000 mA SMC35A 0 3000mA The current supplied to the step motor can be adjusted to specified values for standby us ing the CS command Set the current at top speed acceleration and deceleration VM us ing the CT command See the CT command for further description examples et
37. SMC3S OHY ea ERR MES ae aara EEEa R OA e ea aa Een Aan Paat EIEEE riS ai 23 Driver Cornection SMBO only sis riia oanien enedes ee e aeaa EE aana aaaeaii ea sa b ESS 24 Control Connection SMC35 Only ri ees ccceeeecsecsceeesessecececsecsesscsscsecsessceecssssesseecssssesseessessseaseeesesaeeasees 25 Analogue Input rr arne E rar U ANENE OTEN IAES 26 Analogue Output sic SSR SKARE E NESS SU REESE RE ESKESEN SEERE SEERE AE SE EIGENE ENA ERE ER SENERE TE 27 RS232 RS485 Interface zo ead ans anand Ansaid Gad ania Kann al aner tr A E TES 28 SOLWAY K scssccsseiiecctacecendecsceceesocesecseccsiicosttsscrecsssesscecdeccesstesocesdcenessducscissecdoosdseeosstcednesteveousbesesssseass 33 Usesof RS232 RS485 Command sses aneen in eE cous cu ERE adacecuavenaganseecacevenca tagatccauanvervas shaseeeatanvee 34 Standby Mod winsa a E ne area E E E E E OO a aE 35 Program Execution s posre seoa oar eap a AKESA E AEEA D AVAE ENE NEEDS R 36 Command Description sss iae Ei e egna E E aA A E R AE a oe ie AEE ae 47 Control FA ss oea a R a a A A A E oes 110 Error Messages poean nen SEE er i EaR EP E PATEE ASAE ERER AEAEE RE A ER R SEa s 123 Alphabetical Overview Of Command serenon nere A O E E a 129 Appendix saorta asad es deed snn ea SSU SEEREN SEERE SS REAR A EA SKRA EERE KAATE KERAS KASA aaa REAA SEERE RSS ES ia 133 Technical Data SMI30 31 and SMC35 a a aa a ere AEE EEN EA ESE naa EE TEES 134 Physical Dimen si s s 6 45 5e riesseessesdosedessessadetoesagsdantodion
38. Servo motor relative length X and Y should move Zero position counter activate X axis Change speed Run X axis relativ Wait until position Set R2 Actual position wait 100mS activate Y axis change speed Run Y axis relativ Wait until position Set R2 Actual position wait 100mS activate X axis and Y axis Change speed for X and Y axes change acceleration for both axes Run X and Y axes at the same time wait until position reached update position counter for X axis update position counter for Y axis wait 100mS jump to main Pulses rev for step motor axis General acceleration for Y axis step motor Preset position with last value for X axis Switch to X axis active Return Pulses rev for servo axis general acceleration for Y axis servo motor step motor Preset position with last value for Y axis Switch to Y axis active Return position forward position forward Pulses rev for step motor axis acc for servo axis will not be valid Acceleration for X axis stepmotor Enable X and Y axes to run at the same time Speed and JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 155 4 9 Program examples 4 9 7 Use of KDM 10 and registers This program shows the use of absolute registers with an SMI31 SMC35 at address 1 and a KDM10 at address 3 The program uses the registers 100 199 The register pointer calculation is done at the REG POINT label At the first menu the us
39. a Ministep Driver SMD41 The above illustration shows how a typical connection is made between JVL Indexer SMI30 or SMI31 and a Ministep Step Motor Driver SMD41 It is recommended that screened cable is used for connecting the motor and the logic signals to the SMI3x in or der to avoid spurious noise problems and to fulfil the requirements of CE conformity for the complete system It is recommended that the cable length between the SMI3x and SMD41 does not exceed 2m The following SMI3x registers must be set PR Pulses per motor revolution This register must be set according to the number of steps per revolution selected on the SMD41 CB15 Control flag for SALA servo alarm This flag is set to CB15 1 so that the SMI3x accepts logic 0 as the active level for the SALA input This means that the SMI3x detects any error from the SMD41 when the Error Output goes to logic 0 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 7 Connection to other selected drivers Driver connection socket DRIVER CONTROL 1 PSs am CLK SALA pl lag 21 DIR SON lt lla ey DIR 7 GND LO Optocoupler output SALA 7 or COIN 8 Servo alarm or servo In posltlon signal Transistor NPN output SALA 7 or COIN 8 GND 5 TT0156GB Optocoupler input CLK DIR with separate ground CLK 2 CLK 1 Line Driver input CLK DIR CLK 2 CLK 1 GND Optocoupler input CLK DIR w
40. an error message Error messages consist of an E followed by a number followed by an explanatory text See Error Messages page 123 Example Sent to Indexer VM lt CR gt Received from Indexer VM 500 lt CR gt Sent to Indexer VM 600 lt CR gt Received from Indexer Y lt CR gt Sent to Indexer VM 5 lt CR gt Received from Indexer E2 Out of range lt CR gt Any errors in communication will be stored in the error status register 1 This register can be read using the Read out of Error Status ES command page 69 See also the Error Status Text EST command page 72 Commands may be sent as both upper case and lower case characters With the exception of error messages replies from the Indexer are always upper case The following sections described all of the RS232 RS485 commands As mentioned above all commands must be terminated by a carriage return character lt CR gt or semi colon before they will be interpreted by the Indexer These characters are not included in the description of the individual commands 34 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 2 Standby M ode 3 2 1 Standby M ode In this mode of operation the Indexer will position the motor via commands transmitted over the RS232 RS485 interface Various operating parameters can be continuously ad justed via the interface while the motor is running This mode is primarily used in systems in which the Indexer is perma
41. and Input2 is high and OUT2 1 the rest ar ither high or low Out 2 is j activated JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 41 3 3 Program Execution 3 3 8 3 3 9 Logic operations It is possible to perform bit operations using the ANDL and ORL or and INV invert commands Thus it is possible to set or remove single bits in a number INV invert changes all 1 s to 0 s and 0 s to 1 s Example R1 01001111 Assign R1 the value 79 R2 00110110 Assign R2 the value 54 R3 R1 ORL R2 Logic OR between R1 and R2 R3 R3 01111111 or 127 R3 R1 ANDL R2 Logic AND between R1 and R2 R3 R3 00000110 or 6 R3 0 INV R1 R3 11111111111111111111111110110000 or 80 IF statement Logical expressions can be evaluated using an IF statement Together with ELSE the IF statement can be used to express decisions within the programming sequence Formally the syntax for the IF statement is as follows IF expression action ELSE action2 in which the ELSE clause is optional The conditional test is performed by evaluating ex pression If it is true action is carried out If expression is false and if an ELSE clause is included then action2 is carried out The IF statement is line based action must be specified on the lines following the IF statement and if an ELSE clause is used ELSE and action2 must be specified on the subsequent lines 42 JVL Industri Elektro
42. be erased and set to default factory settings MR1 0 Baud 2 Addr 0 CHS 0 The Indexer will reply to this command regardless of whether addressing or checksum are used The command can also be used in extreme cases where the Indexer is functioning im properly because of noise has been programmed incorrectly or includes a fault Acceleration AC AC Stand by Programming Running 1 2000000 RPM sec This command is used to specify the acceleration deceleration profile AC can be changed while the motor is running This gives for instance the possibility to accelerate very softly and to decelerate very fastly in the same run If AC is changed during an ac celeration deceleration the new value will not be active until the next acceleration decel eration Remember that if AC is changed while the motor is running this must be done so that the motor has time to decelerate with the new slope If AC is set to a value higher than 16777215 5455 PR AC is set to 16777215 5455 PR Speed New AC given here TT0127GB Time AC x _ Set acceleration in RPM sec AC Show the current acceleration value Acceleration pulses ACP ACP Stand by Programming Running 1 1000000 Pulses This command is used to specify the acceleration profile expressed in pulses Using this command it is possible to make the acceleration and deceleration with a fixed length If the motor is running when ACP is changed the acceleration will be ch
43. com mand 76 Read Status of Inputs IN command 75 Read Set Status of Outputs OUT com mand 86 87 159 Recall Program MR1 command 81 Registers 36 Recall Registers MR2 command 81 Save User Registers MS2 command 83 Special User Registers RX command 96 100 159 User Register R command 91 User Register RB command 92 User Register RI command 93 159 Registers SMI3x 145 Relative Offset Positioning SR2 command 104 105 Relative Positioning SR command 104 159 Report Motor Status RS command 94 Report Motor Program Status in Text RST command 95 Reset factory default settings com mand 49 174 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Index Reset Indexer RESET command 92 Resonances 89 RET See Subroutines 44 92 RETI Return from Interrupt command 93 Return from Interrupt RETI command 93 RI User Register command 93 159 RS Report Motor Status command 94 Motor status RS when limit is activated flag CB38 121 RS232 RS485 Interface 28 30 Address 28 Checksum 28 29 56 80 Command 28 Command Syntax 28 Communication Baud Rate 28 56 Communication Protocol 28 Connection 28 Errors see ESO command 69 71 RS232 Activity Flag CB29 116 RS232 Communication Flag CB9 111 Synchronisation 29 Use of commands 34 RST Report Motor Program Status in Text command 95 Runtime errors 43 RX Special User Registers command 96 100 159 S SALA servo alarm 145 SALA Output 24
44. command 55 159 Actual Position Pulses APP command 55 Addition operator 41 ADDR Address command 51 Address 28 Address ADDR command 51 All AI Analogue Input commands 52 Analogue Inputs 26 161 AI1 AI2 commands 52 Analogue Conversion Flags CB2 CB3 110 159 Program Examples 151 152 Analogue Output 27 161 AOUT command 54 Program Examples 152 AND operator 41 ANDL 42 AO Activate flag in external module com mand 53 159 AOUT Analogue Output command 54 AP Acutal Position command 55 159 APP Actual Position Pulses command 55 Argument Command argument 28 Arithmetic Expressions 40 Array functions 45 B Baud Rate 28 Baud Rate BAUD command 56 Binary Notation 41 Bipolar motors 20 Bit operations 42 C Cabling 19 140 142 144 145 148 161 162 164 165 Capacitor 22 23 Carriage Return Command Delimiter 29 CB 1 Direction Level Flag 110 CB 10 Default Direction Flag 111 CB 11 Disable Error E43 E47 Flag 111 CB 12 Trigger Level Flag for INT1 112 CB 13 Trigger Level Flag for INT2 112 CB 14 Trigger Level Flag for INT3 113 CB15 register SMI3x Indexer 145 CB15 Servo Alarm Signal Flag 113 CB16 Motor in Position Flag 113 CB 17 Enable Running Output 08 Flag 113 CB18 NSTART Trigger Level Flag 113 CB 19 Disable Input Averaging Flag 113 CB2 CB3 Analogue Conversion Flags 110 159 CB20 High speed start trigger at IN1 114 CB21 High speed start trigger at IN2 114 CB22 Diverse Flag 114 CB23 Electronic Gearing Flag 115 CB24
45. driver connector Ensure that the supply voltage at P is within a range that is permitted in the actual application where PS is used TT01136B SEES ii FH 2 7 1 2 7 2 2 7 3 General Aspects of Power Supply SM130 only Powering of the Indexer is relatively simple Indexer types SMI30 31 require a supply voltage in the range 10 30VDC Power Supply of Indexer SM130 only To ensure that powering of the Indexer is as simple as possible only a single supply voltage is connected to the Indexer Internal supply circuitry ensures the correct supply voltages for the driver control circuits etc For optimum performance it is recommended that a capacitance of minimum 1000uF is connected to the supply Similarly it is recommended that 0 75mm cable is used to connect the power supply to the Indexer If the Indexer supply voltage falls below 8V the internal reset circuitry will reset the driver Provision should therefore be made to en sure that the supply voltage is always maintained at a minimum of 10 15V even in the event of a mains voltage drop Power Supply Faults SM130 only The Indexer is protected against incorrect polarity connection and voltage overload If a voltage overload of the Indexer supply occurs or the supply is connected with incor rect polarity the Indexer s internal fuse will be blown The fuse can only be
46. executed if it is implemented in the actual program When the counter 2 is set to mode 5 or 6 the interrupt will first be accessed after the in terrupt has occurred the number of times specified in CND2 If the counter 2 CN2 is driven by the internal counter frequency of 460800 Hz the in terrupt will occur 7 times per second This also means that if an interrupt is requested each second the command CND2 7 must be executed If CTM2 is set to mode 7 analogue output the CND2 command is used to specify the number of bits used to produce the analogue output voltage 58 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 20 Command Modes Range Description Format Example 1 Example 2 3 4 21 Command Modes Range Description Clear flag in external module CO Only SMI31 and SMC35B CO Standby Programming Run Address 0 31 Flag 0 65535 The Clear command is used to clear a flag in an external module The number of flags which can be cleared in different external modules varies but each module has at least 1 flag For the JVL KDM10 module Keyboard Display Module for example the Clear command can be used to clear the LCD display in the IOM10 module I O module the Clear command can be used to deactivate one of the Module s outputs etc See page 79 CO 1 lt a lt 31 1 lt 0 lt 255 The Indexer and a KDM10 Module are connected in a system via
47. lengths and with up to 7 leads See Accessories in Ap pendix To make your own cable use a male 9 pin D Sub connector at the SMI30 and a female 9 pin D Sub connector at the PC JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 31 32 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Software JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 33 3 1 Use of RS232 RS485 Commands 3 1 1 Use of RS232 RS485 Commands The Indexer can be controlled via its RS232 RS485 interface Indexer commands are sent as ASCII characters terminated by lt CR gt ASCII 13 decimal or delimited by a semico lon See also RS232 RS485 Interface page 28 Some of the Indexer commands have associated command parameters others do not For those commands which use parameters transmitting the command alone without speci fying the parameter will provoke the Indexer to respond with the command and the cur rently set value of the parameter If no addressing is used the Indexer always responds when a command has been received If the purpose of the command is to display a value or set up the required information will be sent as a reply or a Y will be transmitted to indicate that the command has been received In the event that incorrect information has been sent to the Indexer for example a command that does not exist or a value that is out of range the Indexer will respond with
48. on previous page When the phases of a 4 phase motor are connected in parallel the specified rated current of the motor must be multiplied by a factor of 1 41 For example if the rated current is 4 2 A the maximum setting of the Controller phase current must not exceed 5 9 A when the phases are connected in parallel It should be noted that the lower the self induction of the motor the better since this in fluences the torque at high speeds The torque is proportional to the current supplied to the motor The applied voltage is regulated by the Controller so that the phase current is adjusted to the selected value In practice this means that if a motor with a large self inductance e g 100mH is used the Controller cannot supply the required phase current at high speeds high rotational frequencies since the output voltage is limited JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 21 2 7 Power Supply SM130 only SMI3x Power Supply TYPE SMI30 T a SERVO STEP MOTOR INDEXER AS ee Pea eee Soe eee Power Supply in a Reese NS mM p 2D P ZA AM e Power Supply ne e 10 30VDC EE Frk 24VNom Bae Y SEMA Warning Note that the P terminal is connected directly to the PS terminal at the
49. on the master controller registers R1 R99 are reserved on the master If a register value is to be retrieved from a slave controller it must be from a register greater than R99 Communication is carried out via the standard RS232 interface and it is there fore possible to monitor communication between the master and slave controllers via MotoWare s on line window To use the master controllers own 8 user outputs and a motor RX13 must be set to 0 which is the factory default setting Any slave controller can be addressed by using the corresponding address and RX13 1 to 31 RX13 1 Select slave with address 1 Addr 1 R1 R110 Transfer the value of R110 from the slave with address 1 to master register R1 RX13 3 Select slave with address 3 Addr 3 SR R1 The value of master register Rl is sent to slave with address 3 and the slave runs length R1 OUT 255 The value 255 is transferred from the master to the 8 user outputs on the slave with address 3 All user outputs are set to 1 255 An x y z table is controlled using a master SMI30 with master address 0 and 2 servo con trollers with slave addresses 1 and 2 that are connected via the RS232 interface Operat ing commands are sent to slaves 1 and 2 so that they operate simultaneously When these operations are complete the master indexer runs RX13 1 Select axis 1 Address VM 500 Send velocity value to axis 1 SR 1000 Send relative
50. operating pulse generation will first cease when an attempt is made to start the motor again This is due to the face that RS is updated when RS is read or just before execution of a motor command If it is required that RS is updated once for each line the CB35 8 command is used CB16 Motor in position COIN flag Active level for COIN motor in position signal Pin 8 at driver connector CB16 0 COIN signal disabled RS register can never be 4 CB16 1 COIN input active high CB16 2 COIN input active low default CB17 Enable running output 08 flag Running status at user output 8 08 The CB17 flag can enable a status function at output 8 indicating when the motor is mov ing When enabling this feature O8 will be set reset synchronously with the MOTOR LED at the front of the Indexer CB17 0 Function is disabled O8 works as normal default CB17 1 Function enabled O8 is high when the motor is running CB17 2 Function enabled O8 is low when the motor is running CB18 NSTART Trigger level flag Trigger level when NSTART command is used CB18 0 Transition from logic 0 to 1 CB18 1 High logic 1 default CB18 2 Low logic 0 CB18 3 Transition from logic 1 to 0 CB19 Digital filtering on user inputs from version 1 7 Disable average measurement on inputs I1 I8 PL NL and HM Normally the input is measured 16 times to detect and verify a valid level If CB19 1 the input is only meas ured once This can be done if th
51. operation length to axis 1 The motor operates immediately RX13 2 Select axis 2 Address 2 VM 2000 Send velocity value to axis 2 SR 1000 Send relative operation length to axis 2 Wait RS 0 Wait until axis 2 operation is completed RX13 1 Select axis 1 Address 1 Wait RS 0 Wait until axis 1 operation is completed RX13 0 Select master indexer Address 0 SR 1000 Move relative 1000 in reverse Wait RS 0 Wait until master motor operation is complete Care must be taken in transmitting data from a PC to a master or slave controller since communication errors may arise If a PC attempts to transmit to a master indexer and for example RX13 1 the master will send the transmission to the slave address 1 which will reply to the master which in turn will reply to the PC This should normally be avoid ed since there is a lot of communication on the RS232 and a risk of simultaneous trans mission and reception A new program can be transmitted to the master since MotoWare stops a program with repeated H Halt commands If during transmission of data an error arises or unexpected commands are returned JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 99 3 4 Command Description re transmission is attempted up to a maximum of 4 times If incorrect data is received by all 4 attempts error E22 is reported the ERROR light is lit constantly and program ex ecution stops The error can be a parity error no rec
52. output is connected HEHE hl BR Bae i an mie PowerSupply or similar 3 KH 01 45 30VDC i Be me be BER i p Output i Eo gst g 2 4 1 General The Input HM Home is used during the zero point seek function A zero point seek oc curs after one of the following conditions 1 The Indexer receives the seek zero command SZ reset See the Seek Zero Point SZ command page 106 2 The Indexer is switched on and is set to automatically execute a program containing a SZ command only if MRI I The Home Input is primarily used if the Indexer is used for positioning purposes The Input is optically isolated from other Indexer circuitry with the exceptions of II I8 and NL and PL End of travel Limit Inputs All these inputs have a common ground denoted IN The Home Input can operate with voltages in the range 5 to 30VDC Note that the Input is designed to receive a signal from a PNP output since a positive current must be applied for the Input to be activated The HM input can also be used as a normal input which means it can be included for ex ample in an IF statement 2 4 2 Connection of NPN Output To connect the Input to an NPN output a Pull Up resistor must be connected between the Input and the supply See above illustration The size of the resistance depends on the supply voltage used The following resistances are recommended
53. potentiometers is generated by the internal 5V output which is set to supply 5V constantly Input 1 and 2 are mounted with 2 switches that de termine whether the motor runs in one direction or the other INIT START GOPOS WAIT1 GONEG WAIT2 OUT3 1 OUT4 1 CND2 7 CTM2 7 AOUT 255 AC 1000 VS 100 SON 1 IF IN1 1 J GOPOS IF IN2 J GONEG J START VM AI1 R1 R 10000000 M AI1 R1 F IN1 1 WAIT1 WAIT RS 0 NUHGn J START VM AI2 R2 R 10000000 M AT2 R2 F IN2 1 WAIT2 WAIT RS 0 NUHGn J START Use R1 to scale the analogue Input AI1 Use R2 to scale the analogue input AI2 Possibly use OUT3 to control INI1 Possibly use OUT4 to control IN2 Set analogue output to 8 bit Set TIMER2 as analogue output Set 5V out Set ACC DEC slope to 1000RPM SEC Set Min Speed to 100 RPM Servo On If GO Positive switch is activated then Jump to subroutine If Go negative switch is activated then jump to subroutine Test inputs again Set Velocity to value of Analogue input1 Move max distance while changing the speed Move until STOP is signalled on input 1 If STOP Decelerate motor speed Wait until motor has reached its destination point Test inputs again Set Velocity to value of Analogue input 2 Move max distance while changing the speed Move until STOP is signalled on input 2 If STOP Decelerate motor s
54. replaced by an authorised service centre 22 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 8 Power Supply SMC35 only SMC35 Power Supply CE WE Industri Elektronik Y NNN Step Motor Controller SMC3x C POWER C PROGRAM MOTOR ERROR Power Supply In gt Power Supply 20 80VDC ga Nominal Warning Higher voltages than 95VDC will damage the controller HESS ESS TTO164GB 2 8 1 2 8 2 2 8 3 General Aspects of Power Supply SMC35 only Powering of the Controller is relatively simple The Controller types SMC35A and SMC35B require a supply voltage in the range 20 80VDC nominal It is strongly recom mended to use a voltage as high as possible since it will give the best torque performance of the motor at high speeds Power Supply SMC35 only To ensure that powering of the Controller is as simple as possible only a single supply voltage is connected to the Controller Internal supply circuitry ensures the correct supply voltages for the driver control circuits etc For optimum performance it is recommended that a capacitance of minimum 1000mF is connected to the supply Similarly it is recommended that 0 75mm cable is used to con nect the power supply to the Controller If the Controller supply voltage falls below 15V the internal reset circuitry will reset the driver
55. these inputs This can be done as a part of a program or when the Indexer is in standby mode For example an analogue input can be used to adjust the speed as a function of an analogue voltage applied to the input Another application is the adjust ment of motor position or length according to the analogue voltage applied to these in puts The analogue inputs are fed to an A D converter with 8 bit resolution Internally the Indexer uses an oversampling technique which makes the actual resolution much higher By use of oversampling it is possible to achieve resolutions of 8 10 12 or 14 bit To set the resolution control bit CB2 and CB3 can be used See the CB2 CB3 Analogue conversion flags command page 110 The default resolution is 8 bit Regardless of the resolution the value returned will always be in the range 0 16383 This makes it possible to adjust the resolution without making any further conversion of the measured values Notice that higher resolution also makes the execution time longer All Shows actual level at analogue input 1 AI1 Al2 Shows actual level at analogue input 2 AI2 High resolution is required therefore 14 bit resolution is set The motor must move to an absolute position determined by the analogue input voltage This movement must start be updated every time input 1 is activated The example code is as follows INIT CB2 1 SELECT 14 BIT RESOLUTION CB3 1 VM 1500 SET THE SPEED TO
56. to be erased so that new text can be displayed The following command will erase the display and position the cursor at the top left hand corner of the display AO4 1 Erase LCD display An IOM11 module and the Indexer are connected together in a system The IOM11 mod ule address is 10 Output 4 is to be activated The following command is used AO10 4 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 53 3 4 Command Description 3 4 10 Command Modes Range Description Example Analogue output AOUT AOUT Standby Programming Run 0 65535 The AOUT command is used to set the analogue output of the Indexer The value speci fied by the AOUT command is converted into an analogue voltage between 0 00 and 5 00 VDC Note that the analogue output uses a PWM technique and is not recommended for use in very precise applications Normally the output can be used for temperature control or for speed control of second ary motors etc The resolution can be set in the range from 1 16 bit which corresponds to a dynamic range from 1 to 65535 The resolution is set by the CND2 register see page 58 The CND2 register must be set in the range 1 to 16 which corresponds to the number of bits To enable the analogue output CTM2 must be set to 7 see page 65 It is recommended that the resolution is set in the range 5 to 9 Note that if the output value is specified outside the allowable range the output volt
57. typically 24 VDC E31 Warning SMI3x SMC35 conflict solved E32 VM specified lower than VS VM value changed to VS The Indexer have received a VM value lower than VS Correction Change the VM value to a value higher than VS E33 Error in CTM parameter The number of parameters specified with the command is incorrect 126 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 6 Error Messages Example CTM1 86 Correction Use a parameter within the limits E34 Too many gosub max 32 A maximum of 32 GOSUB or JS levels are allowed in a program This error message will be given if the program detects more than 32 JS levels The error will be given when the Indexer is in running mode and detects the error Correction Simplify the program with less GOSUB or JS commands E35 Program end This error message will be given if the program ends without a jump command The Indexer will be in standby mode if this happens The error will be given when the Indexer is in running mode and detects the error Correction Place a jump command to a label above in the end of the program E36 Too many else after if ELSE This error message will be given if there is a greater number of ELSE statements than IF statements in the program The error will be given when the indexer is in running mode and detects the error This error can also be given if there are over 300 IF statements in the program Correction Use less th
58. 0 step rev 0 6Nm 5 4Amp MST231B01 High torque step motor 200 step rev 1 06Nm 5 5Amp MST232B01 High torque step motor 200 step rev 1 87Nm 6 7Amp MST340B01 High torque step motor 200 step rev 3 2Nm 6 0Amp MST341B01 High torque step motor 200 step rev 4 6Nm 6 5Amp MST342B01 High torque step motor 200 step rev 85Nm 6 3Amp External Drivers for SMIx or SMC35 1 axis operation SMD4 1xx series Ministep Drivers Connectors CS0107 7 pole connector CS0110 10 pole output connector CS0002 14 pole input connector CS0205 5 pole connector to motor only SMC35 148 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 9 Program examples 4 9 1 M ulti tasking The Indexer has a built in signal processor to handle the actual motor run Thus the In dexer has the capability for operating the motor while the main program continues exe cution in the background This takes place without decreasing the speed of program execution When a run command is executed SR SZ SP the length is transferred from the main processor to the signal processor which then handles the entire motor run The main processor continues execution of its program and can continuously change the velocity acceleration ramps lengths and for instance set outputs etc This gives the possibility for performing very advanced motion profiles and thus solving all kinds of tasks OUT 0 OUT4 1 SON 1
59. 000 AP RX14 1000 RX15 2000 TT0170GB CB40 01 Activate software position lim RX14 1000 its check lower position limit RX15 2000 Higher position limit Start SR 100 Wait RS 0 J Start INT 113 If software limits exceeded SP 0 run back to position 0 Wait RS 0 Wait until motor stopped RET Return to start loop 122 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 6 Error Messages 3 6 1 When an error occurs in communication with the Indexer or when an internal error oc curs the Indexer transmits an error message The error message consists of an E fol lowed by an error number followed by a colon followed by a descriptive English text The following illustrates an example of an error message Example E2 Out of range If error E43 to E47 occurs a fatal error has occurred and motor and program execution stop immediately The ERROR LED will light constantly as an indication of a fatal error The LED will switch off after a program is started or an EST command or a motor com mand is executed If required the error can be handled by setting CB11 to 1 thus ena bling one s own error routine to be run to handle the fatal error When an error occurs the corresponding ERR flag will be set and by introducing some special interrupt routines using the INT command provision can be made for determining how an error should be handled The INT routine that should be introduced in the p
60. 09 Command Overview 129 131 Command Timing 159 Delimiter 28 29 34 Line max no of characters 29 Syntax 28 Common Errors 139 Communication 28 30 Address 28 Checksum 28 29 56 80 Command 28 Command syntax 28 Errors see ESO command 69 71 Protocol 28 Rate 28 56 RS232 Activity Flag CB29 116 RS232 Communication Flag CB9 111 Synchronisation 29 Use of RS232 485 Interface Commands 34 COMP Compare Memory command 59 Compare Memory COMP command 59 CON Conversion Factor command 60 Connection Analogue Inputs 26 Analogue Output 27 Connection Tables 161 162 Driver Outputs 24 End of travel Limit Inputs 16 Home Input 17 Indexer Front Panel Overview 8 of Indexer to a PC 30 Overview 14 Power Supply 22 RS232 RS485 Interface connection 28 30 User Inputs 15 User Outputs 18 Connection of motor 20 21 164 165 Connection of motor phases 21 Control Flags 110 122 Control of program flow 42 44 68 74 78 92 93 Conversion Factor CON command 60 Counter Mode CTM1 command 63 Counter Mode CTM2 command 65 Counter Timer 1 CN1 command 57 Counter Timer 1 Divider CND1 command 58 Counter Timer 2 CN2 command 57 Counter Timer 2 Divider CND2 command 58 CR Command Delimiter 28 29 Critical Errors 69 128 170 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Index CS Motor Current at Standby Command 61 CT Motor Current when Running com mand 61 62 CTM1 Counter
61. 1 yes As described in Checksum page 29 a checksum can be used for communication via the interface CHS 0 Do not use checksum CHS 1 Use checksum CHS Show checksum status 56 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 16 Command Modes Range Description Usage 3 4 17 Command Modes Range Description Usage Counter 1 Timer 1 CN1 CN1 Standby Programming Running 0 65535 The contents of the counter timer 1 are available and can be set using this command CNI can be verified reset or preset at any time under standby or program control See also the CTM1 page 63 and CND1 page 58 commands CN1 Shows the contents of Counter Timer 1 CN1 100 Set the Counter Timer 1 equal to 100 Counter 2 Timer 2 Encoder CN2 CN2 Standby Programming Run 0 65535 2 mia to 2 mia if CTM2 10 The contents of the counter timer 2 are available and can be set using this command CN2 can be verified reset or preset at any time under standby or program control See also the CTM2 page 65 and CND2 page 58 commands If CTM2 10 then CN2 is used to show encoder pulses on IN7 and IN8 See CTML page 56 CN2 Shows the contents of Counter Timer 2 CN2 100 Sets the Counter Timer 2 equal 100 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 57 3 4 Command Description 3 4 18 Command Modes Range Desc
62. 1 5 JS TEST set acceleration to 500 R1 6 JS TEST set acceleration to 1000 J END TEST AC R R1 RET END 44 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 3 Program Execution 3 3 13 Example Example Array and pointer functions R Rx Pointer for 32 bit signed numbers RI Rx Pointer for 16 bit signed number RB Rx Pointer for 8 bit signed numbers With these registers it is possible to point at a register using the contents of another reg ister This is often required when the Indexer is used for prescribed repetitive tasks oper ating with many subjects and associated variables 100 1 TT0140GB R4 contains the value 1 R1 contains the value 100 RO R R4 will transfer the value 100 which is in register R1 to register RO Location of registers in the memory Note that RB RI and R are placed on top of each other TT0141GB The example below shows how a register can be used to point to the content of another register R10 to R15 contain velocity lengths etc for subject 1 R20 to R25 contains the variables for subject 2 To access these R1 would be set to 20 INIT R10 1000 Velocity1 R11 500 Acceleration R12 20000 Position1 R13 2000 Velocity2 R14 100000 Position2 R15 00001111 Out 1 4 1 START R1 10 Pointer to one subject VM R R1 Transfer R10 to VM R1 R1 1 Pointer 11 AC R RI Transfer R11 to AC R1I R1 1 Pointer 12 SP R R1 Run to
63. 32 RS485 interface Register ESO provides information about RS232 RS485 communication and set up er rors This register accumulates and stores all errors that have occurred since the register was last read When the register is read the information is automatically erased JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 69 3 4 Command Description Error status bits Register ESO Explanation No error Error Out of range Number of parameters is wrong Instruction does not exist It is not an instruction Parameter error or out of range Register number error or out of range Data cannot be saved in EEPROM Checksum error Parameter will be truncated Limit switch activated Limit switch active Motor run command ignored Reserved Odd parity error in RS232 receive Reserved Error status bits Register ES1 Explanation Command not allowed in standby mode Memory full EEPROM Command not allowed Program is running Command not allowed in programming mode Command not allowed Motor is running No program in RAM Command ignored Communication error on JVL BUS Command ignored Timeout error on JVL BUS Command ignored Unknown register flag on JVL BUS Command ignored A and B connected wrong on JVL BUS AC lower than 1 AC value changed to 1 AC higher than 1250000 AC value changed to 1250000 Internal AC 0 PIC value
64. 35A B 165 4 14 Declaration of conformity Manufacturer s declaration of conformity The undersigned hereby declares that the following equipment has been designed and manufactured in accordance with the protection requirements in EU directive 89 336 EEC concerning electromagnetic compability EMC Identification af equipment Category Motor Controller Manufacturer JVL Industri Elektronik A S Type SMISO SMI31 Serva Step Motor Indexer Manufacturer data JVL Industri Elektronik A S Blokken 42 DK 3460 Birker d Denmark Tel 45 45 82 44 40 Fax 45 45 82 55 50 E mail jvl jvl dk Internet http www jvl dk The following standards are used as the basis for this declaration Emission EN50081 2 1993 Immunity EN50082 2 1994 Remarks The CE mark only indicates conformity with the EMC directive 89 336 EEC Date 1 January 1996 Bo V Jessen Head of Development TT0153GB LX0007 01GB Revised 14 2 1996 166 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 14 Declaration of conformity EU Declaration of Conformity The undersigned hereby declare that the following unit fulfils the protection requirements of EU directive 89 336 EEC concerning electromagnetic compatibility EMC Identification of the product Category Motor Controller Manufacturer JVL Industri Elektronik A S Type SMC35A and SMC35B Step Motor Controller Manufacturer s na
65. 50 Haaa Position 1 2 Full steps TT0171GB CS CT CS TT0165GB Example CS 400 Sets motor Standby Current to 400mA 0 4A CT 5000 Sets motor Current during acceleration de celeration and running to 6000mA 6A AC 1000 Sets acceleration deceleration to 1000 rpm s VM 1000 Set max velocity to 1000 rpm SR 10000 Run the motor 10000 steps forward WAIT RS 0 Wait until motion completes 62 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 25 Command Modes Range Description Usage Counter mode CTM 1 CTM1 Standby Programming Run 1 10 The Indexer provides facilities for solving advanced applications using 2 counters timers denoted CN1 and CN2 These counter timer registers have a resolution of 16 bit 0 65535 The registers can be configured for different purposes by setting the CTM1 and CTM2 registers The counter timers can be set as an ordinary incremental counter timer gated timer timer with divider slow speed etc Note that both counters are set in encoder mode if CTM2 see page 65 is set to 10 This makes counter 1 disabled for normal use Different counter timer modes Counter 1 CN1 is not active Incremental counter 0 65535 Input 7 is counter input Timer The timer frequency is 921600 Hz If overflow timer starts from 0 CTM1 4 Gated timer Input 1 must be high to keep the counter running CTM1 5 Timer with divided frequenc
66. 5Q special version JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 5 1 1 Features SMI30 31 Block diagram of SM130 31 Servo step Motor Indexer Eee gt Pulse output Filter and Voltage el balanced 10 32VDC fuse Power Supply gt monitoring vre 7 gt Direction output balanced Reset and temperature monitoring RS232 5R 5485 Transceiver cubes Controlsignals Programming e a d H huerface logi gt for taie interface a 8 Basis inputs gt Opto coupler 8 Basis outputs lt t gt Program Processor 2 End of travel inputs Opto coupler gt Analogue output 1 Zero point seek input Y ob 0 5V F TPF i JVL module bus 0 5V Analogue input N D Converter oes OE Ee To Keyboard 8 Bit y as gt ana display 0 5V Analogue input extra I O etc TT0100GB C Extended functions in SM131 SMI30 and SMI31 are compact programmable ser vo or step motor indexers The Indexers are characterised by their ability to be controlled either via the RS232 RS485 interface or via the general inputs in conjunction with a down loaded program The Indexer generates a pulse train which is output to the connected servo or step motor driver This pulse train controls the speed and position of the connected mot
67. B 2 12 1 General The 0 5V Analogue Output is used for example when the Indexer must control second ary functions such as a small DC motor driver or a temperature controller The voltage at the Analogue Output is set using a single command either inserted in a pro gram or sent directly to the Indexer The Analogue Output shares a common internal supply with the P and P terminal and also the signals at the Driver connector but is optically isolated from all other input and outputs The Analogue Output is not protected against long duration short circuits although the Output can withstand short lt 100ms short circuit or capacitive loads up to 10 nF Always use screened cable when connecting the Analogue Output to external units since the motor etc can easily interfere with the analogue signal and cause instability The Analogue Output can be set to a resolution between 1 and 16 bit The output voltage however is always from 0 00 to 5 00 VDC See also Analogue output AOUT page 54 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 27 2 13 RS232 RS485 Interface 2 13 1 2 13 2 2 13 3 2 13 4 Interface Connection The Indexer Interface uses the widespread RS232 RS485 standard offering the advan tage that all Personal Computers and standard terminals can be connected via the inter face The 3 interface signals Rx Tx and ground are used The interface cable length should not exce
68. B 4 2 Physical Dimensions 4 2 2 Physical Dimensions of SMC35A and SMC35B TA O 160 L __ All measurements in mm 0 2mm QU0DU000000000000 D0000000000000000 TTO168GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 137 4 3 Status and error indication 4 3 1 4 3 2 4 3 3 4 3 4 In addition to their normal function the Indexer LEDs are also used to indicate vital error conditions The following describes the normal functions of the LEDs and their addition al functions See also Error Status Text EST page 72 concerning Indexer error messag es The 4 LED s on the front of the Indexer can show different status and error conditions Power LED Green The Power LED is lit when there the power is on and supplied to the Indexer The LED is controlled by the internal microprocessor If the power is applied to the P and P ter minal and the LED is not lit there may be a defect fuse inside the Indexer or a malfunc tion in the Indexer s switch mode or processor circuit Check the internal 5x20 fuse Program LED Green The Program LED is lit when the Indexer executes a program If a program is transferred to the Indexer and the LED not is lit check the MotoWare setup and select Run Pro gram It is also possible to start a p
69. B23 115 General Error Flag CB8 111 Global Execute E command 68 GND Output 24 25 GO Start Program Execution command 73 Grammatical errors 43 Greater than operator gt 41 Greater than or equal to operator gt 41 Ground 15 17 161 H H Halt command 73 Halt H command 73 Hardware 13 18 22 24 26 30 High speed Start Trigger at IN1 Flag CB20 114 High speed Start Trigger at IN2 Flag CB21 114 Home Input 17 161 Disable Input Averaging Flag CB19 113 I I Read Flag from External Module com mand 76 IBM AT IBM XT PS2 30 IF statement 42 74 159 IN Read Status of Inputs command 75 Indexer type command 48 51 INPUT Read Data from External Module command 75 Inputs Analogue Inputs 26 52 151 152 161 Disable Input Averaging Flag CB19 113 Encoder inputs see PIF command 88 End of travel Limit Inputs 16 161 High speed Start Trigger at IN1 Flag CB20 114 High speed Start Trigger at IN2 Flag CB21 114 Home Input 17 161 Monitoring inputs and errors 46 Read Status of User Inputs IN com mand 75 User Inputs 15 17 161 INT Interrupt command 77 Trigger Level Flag for NL Input CB25 115 Trigger Level Flag for PL Input CB26 115 Interface see RS232 RS485 Interface Interrupt Return from Interrupt RETI command 93 Interrupt INT command 77 Trigger Level Flag for NL Input CB25 115 Trigger Level Flag for PL Input CB26 115 Interrupt Controlled Start NSTART com mand 84 85 NSTART Trigger Level F
70. CON specifies the number of pulses per well known unit length volume mm ml cm dl etc The conversion factor can be specified as a real number in the range 0 0001 to 9999 9999 with up to 4 decimal points The CON command is inserted at the beginning of a program and stays in effect until any subsequent conversion factor is specified at run time When a motor operation is per formed the number of units specified by the motor command is multiplied by the con version factor and the motor moves the resulting number of pulses If for example a motor must move 2 3456 steps to dose a volume of 1 millilitre the con version factor is set to a value of 2 3456 using the command CON 2 3456 To dose a volume of 450 ml in a subsequent motor command the value 450 is specified The conversion results in 450 2 3456 1055 52 pulses The motor will then move 1055 pulses and the remainder 0 52 pulses will be stored The remainder is used in the next motor operation to correct for the 0 52 dosage pulses A system requires motor operation of 14 654 pulses to dose a volume of 1 ml The following program is send to the indexer CON 14 654 THE CONVERSION FACTOR IS SET TO 14 654 PULSES PER MILLILITRE R1 290 A VALUE OF 290 IS ASSIGNED TO REGISTER R1 SR R1 THE MOTOR IS MOVED TO PROVIDE A DOSE OF 290 ml THE NUMBER OF PULSES
71. E ET O1 AS AN ERROR INDICATION ERROR OUT1 1 CB25 Trigger level flag for NL input CB25 1 Transition from logic 1 to 0 CB25 0 Transition from logic 0 to 1 Default This flag works when NSTOP INT and limit switch NL is used CB26 Trigger level flag for PL input CB26 1 Transition from logic 1 to 0 CB26 0 Transition from logic 0 to 1 Default This flag works when NSTOP INT and limit switch input PL are used JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 115 3 5 Control Flags 3 5 27 CB27 Zero search flag Status flag CB27 0 default CB27 1 CB27 is set high as soon as the SZ or SZ command is executed If zero seek is inter rupted by a HALT command while the program is being executed the flag will still be 1 CB27 can then be set manually to 0 by CB27 0 3 5 28 CB28 CVIx Frequency range CB28 0 Used when measurement at low frequencies is desired in the CV x command typically 1Hz to 7kHz Default CB28 1 Used when measurement at high frequencies is desired in the CVIx com mand typically 14 to 60kHz Note that timer 1 CN1 cannot be used if CB28 1 3 5 29 CB29 RS232 activity If CB29 1 then the Power LED will blink concurrently with the reception and transmis sion of data on the RS232 RS485 interface The LED will have reduced light intensity and blink to indicate activity This is used when one is in doubt whether the Indexer is receiving data correctly for
72. ED J MENU THEN JUMP TO MENU J DATA_MENUKB JUMP TO DATA _MENUKB CHANGE_LENGTH R3 R2 SET R3 R2 AO3 1 CLEAR DISPLAY PRINT3 1 ACTUAL LENGTH PRINT3 0 R R3 PRINT REGISTER R R3 PRINT3 41 NEW LENGTH R99 INPUT3 255 READ INPUT FROM KEYBOARD IF R99 0 IF NOTHING ENTERED J CHANGE DATA THEN JUMP CHANGE DATA R R3 R99 SET REGISTER R R3 TO ENTERED VALUE MS2 SAVE ALL REGISTERS TO EEPROM J CHANGE_DATA JUMP TO CHANGE_DATA CHANGE_SPEED R3 R2 1 SET R3 R2 1 AO3 1 CLEAR DISPLAY PRINT3 1 ACTUAL SPEED PRINT3 0 R R3 PRINT REGISTER R R3 PRINT3 41 NEW SPEED R99 INPUT3 255 READ INPUT FROM KEYBOARD IF R99 0 IF NOTHING ENTERED J CHANGE_DATA THEN JUMP CHANGE DATA R R3 R99 SET REGISTER R R3 TO ENTERED VALUE S2 SAVE ALL REGISTERS TO EEPRO J SKIFT_DATA JUMP TO CHANGE_DATA ACT_DATA JS REG POINT JUMP TO SUBROUTINE REG POINT A03 1 CLEAR DISPLAY PRINT3 1 ACTUAL LENGTH PRINT3 0 R R3 PRINT REGISTER R R3 R3 R2 1 SET R3 R2 1 PRINT3 41 ACTUAL SPEED PRINT3 0 R R3 PRINT REGISTER R R3 D 200 WAIT 2 SECONDS RET RETURN JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 157 4 9 Program examples REG POINT R2 R1 1 SET R2 R1 1 R2 R2 10 EVERY RECIPE CONTAINS 10 RE
73. GIS TERS R2 R2 100 THE RECIPE STARTS AT REGISTER 100 R3 R2 SET R3 R2 RET RETURN MOVE_MOTOR JS REG_POINT JUMP TO SUBROUTINE REG POINT AO3 1 CLEAR DISPLAY PRINT3 1 MOVING PRINT3 0 R R3 PRINT REGISTER R R3 PRINT3 0 STEP WITH R3 R2 1 SET R3 R2 4 1 PRINT3 41 R R3 PRINT REGISTER R R3 PRINT3 0 RPM VM R R3 SET VM TO REGISTER R R3 SR R R2 SET SR TO REGISTER R R2 WAIT RS 0 WAIT UNTIL MOTOR HAS STOPPED PRINT3 0 OK PRINT OK D 200 WAIT 2 SECONDS J MENU JUMP TO MENU 158 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 10 Command timing In critical timing applications it can be important to know the time for each command Execution time is the time a command will use in a program Interpretation time is the time a command will use if it was sent to the Indexer Controller via the RS232 RS485 The time is from receipt of lt CR gt until lt CR gt is sent again to acknowledge command re ceived ok All measurements are based on 9600 bit sec The table below shows the execution time for the most typical Indexer commands Execution Interpre Bytes in time tation msec i Command Description typical Send actual position to RS232 9600 baud ATR Statement ae el GE INT1 RETI Interrupt Return INT 2 1 at Jump to subroutine and PRINT 1 1 AB Print text on display 110 R1 Send R1 to RS232 7 9600 baud Mathematic Read ana
74. HOW VELOCITY ON IN7 J START REPEAT Delay D D 1 32000 0 01 320 sec Stand by Programming Running The Delay command pauses program execution The command character must be fol lowed by a parameter value between 1 and 32 000 which specifies the Delay duration in 1 100 second D 27 results in a delay of 0 27 seconds Global Execute E E Standby Programming Running The motor runs to the absolute position given by the SPT register The E command is al ways received by the Indexer independent of the address This enables many motors to be started precisely at the same time This makes it possible to make linear interpolation between many axes with a high degree of precision See also Set new global absolute position SPT page 103 The Indexer will respond to the E command regardless of whether addressing or check sum is used Else ELSE ELSE Programming Running See Control of program flow IF page 74 and IF statement page 42 68 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 32 Command Modes Selection Description 3 4 33 Command Modes Selection Description Error bit ERR ERR Stand by Programming Running 0 47 The ERR 0 47 command can be used to test if an error bit has been set in the program For example a test can be made to determine whether there is an alarm from the servo driver Flag ERR46 If t
75. L Industri Elektronik A S User Manual SMI30 31 and SMC35A B 29 2 13 RS232 RS485 Interface 2 13 8 2 13 9 Connection to a PC For communication from a PC the following connection diagrams can be used These show the connections between the Indexer and an IBM AT or IBM XT PS2 PC XT PS2 Indexer Indexer TT0104GB Connection of Several Indexers to a PC For connection of more than 1 Indexer to a PC i e using addressing the connection dia grams given below can be used Note that Tx pin 3 must be connected to TX PD pin 7 on one of the Indexers included in the system It is possible to combine SMI30 and 31 and other JVL products on the same interface bus The diagrams show the connections between Indexers and an IBM AT or IBM XT PS2 PC XT PS2 EN Indexer Indexer Address 1 Address 2 Gnd FN Gnd Rx Tx dl Tx lI7 2l I ERJ eo a To other Indexers Addresses 3 4 5 Connect as address 2 Tx Rx Rx A NSG Indexer Indexer Address 1 Address 2 AN Gnd FN To other Indexers Tx s Tx Ta Addresses 3 4 5 na gt Se Le ezl je zit Connect as address 2 Rx Rx Rx Le Le Le Gnd Gnd O 30 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 10 RS232 RS485 Interface JVL can deliver cables in different
76. LE WITH ADDRESS 2 When external modules DIS10 or KDM10 are used in a system it is often necessary to print out the contents of register on the displays of the modules As illustrated in the above example this is best accomplished using the PRINT command to print the contents of a register either to a cursor position or directly to the LED display of the DIS10 module Note that the figure printed must be within the interval 0 to 65 535 Set the Indexer in programming mode PROGRAM PROGRAM Stand by The PROGRAM command sets the Indexer to Programming Mode i e so that the Indexer is ready to receive programming instructions Each time the program command is used the content of the Indexer s working memory are reset erasing any existing instructions It is recommended that the command RESET is used before the PROGRAM command If the MotoWare software is used for programming this command should not be included in the program as MotoWare sends it automatically 90 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 64 Register Modes Selection Range Description Usage Examples User Register R R Standby Programming 0 220 2147483648 to 2147483647 The Indexer includes 220 32 bit registers which can be used freely in a program A reg ister can be assigned a value be in
77. Mathematic Read ana RI R TAS Mathematic Bss J 7 Ri R2 100 000 000 Mathematic pe A CR Ar R2 100 000 000 Wathemaic as fe R12 100 000 000 Mathemate aa fe Ce ia dP Sd play Fo faar Ta TT C 55 A 13 Set relative distance JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 159 4 10 Command timing Example If the Indexer Controller is controlled from a PC or PLC that sends commands to be ex ecuted immediately if is often desirable to know how much time will elapse The total time can be divided into 4 separate stages 1 Transmission time from the PC PLC to the Indexer controller via the RS232 2 Interpretation time of the command This is the time the Indexer Controller uses to check whether the commando is valid and any values are within allowable ranges The command interpretation time is given in the table on the previous page 3 Execution of the command This is time taken for the command itself to execute in the same way as if it were part of a program The execution time is given in the table on the previous page 4 Transmission time of the response from the Indexer Controller to the PLC PLC via the RS232 SR 10000 is to be sent to indexer controller with address 1 The baud rate is 9600 bit s The command to be sent is therefore 1SR 10000 lt CR gt in all a total of 10 characters Each character comprises approximately 10 bits so the transmission rate is 960 chara
78. Mode command 63 CTM2 Counter Mode command 65 Current Frequency CVI command 67 CVIx Frequency Range Flag CB28 116 Current Velocity CV command 66 CV Current Velocity command 66 CVI Current Frequency command 67 CVI Frequency Range Flag CB28 116 D D Delay command 46 68 Deceleration 49 50 Default Default Direction Flag CB10 111 System Default SD command 101 Delay D command 46 68 Delete EEPROM command 49 Digital Inputs 15 17 161 Disable Input Averaging Flag CB19 113 Encoder inputs see PIF command 88 High speed Start Trigger at IN1 Flag CB20 114 High speed Start Trigger at IN2 Flag CB21 114 Read Status of Inputs IN command 75 Digital Outputs 18 Enable Running Output 08 Flag CB17 113 Error at User Output Flag CB6 110 Read Set Status of Outputs OUT com mand 86 87 Dimensions 136 137 DIR Outputs 24 25 Direction Default Direction Flag CB10 111 Direction Level Flag CB1 110 Disable Error E43 E47 Flag CB11 111 Disable Input Averaging Flag CB19 113 Diverse Flag CB22 114 Division operator 41 Driver Outputs 24 Yaskawa Servo Drivers 140 143 E E Global Execute command 68 EEPROM Delete EEPROM command 49 Electronic Gearing Flag CB23 115 ELSE 42 68 Enable Running Output 08 Flag CB17 113 Encoder inputs see PIF command 88 Encoder Pulses PR command 89 End of travel Limit Inputs 16 161 Disable Input Averaging Flag CB19 113 End of travel Flag CB4 110 Negative Limit Switch NLS command 83 Positi
79. Pam s HANPLUS SR Send WAT a Get prog HANHINUS spe Wat 38 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 3 Program Execution 6 Once the program has been sent to the Controller the dialogue box shown below is displayed This provides several options For example you can choose to start the pro gram automatically when the Controller is powered up In this case No is selected fol lowed by Save The six command buttons have the following function Save Online Editor Saves the program in non volatile memory and opens the On Line Editor When this option is selected the MS1 command is sent to the Controller Then the OnLine Editor is started The program can then be executed using the GO command It is important to use the OnLine Editor during tests In the event of program errors the Controller sends error messages which are automatically displayed in the OnLine Editor Save and run Program Saves the program in non volatile memory and starts program execution When this option is selected the MSI command is sent to the Controller followed by the GO command The program is saved and then executed Run Program Starts the program When this option is selected the GO com mand is sent to the Controller and program execution begins Save Saves the program in non volatile memory OnLine Editor Starts the OnLine Editor directly The OnLine Editor is opened and the program can be
80. Pia 17 m Ly m Ly aa m m a m il 16 15 14 SERVO STEP MOTOR INDEXER TYPE SMI30 HO r PC card or Note screen only IL RS232 Potentiometer cee to slanel source Analogue inputs inputs Do S485 2 0 5VDC Input C r Q N m P e L jean 9 ea e s E A0 T D e a Hms OE HEN o m o1 DRIVER uE 2 TT0115GB 2 11 1 General The 0 5V Analogue Inputs are used for example when the Indexer is operated as a stand alone unit In this kind of application it can be an advantage to use a potentiometer joy stick or other device for adjusting speed position acceleration etc In these modes of operation the motor is controlled to produce a velocity or position etc which is determined by and proportional to the voltage applied to the Analogue Input The Analogue Inputs share a common internal supply with the P and P terminal and also the signals at the Driver connector but are optically isolated from all other input and outputs The Analogue Inputs are protected against voltage overload up to 50V peak and have a built in filter which removes input signal noise Always use screened cable to connect the source used to control an Analogue Input sinc
81. Position Reached Flag 115 Status Flags 115 CB25 Trigger Level Flag for NL Input 115 CB26 Trigger Level Flag for PL Input 115 CB27 Zero Search Flag 116 CB28 CVIx Frequency Range Flag 116 CB29 RS232 Activity Flag 116 CB30 Turntable Mode 116 CB31 Reserved for internal use 117 CB32 Set Read Interrupt status 117 CB33 User Output Error Mode 118 CB34 Reserved 118 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 169 Index CB35 Command acknowledge flag 118 119 CB36 1 2 axis control chopper frequency flag 120 CB37 Digital filtering on interrupt inputs flag 121 CB38 Motor status RS when limit activat ed flag 121 CB39 Diverse flag 121 CB4 End of travel flag 110 CB40 Software position limits flag 122 CBS 110 CB6 Error at User Output Flag 110 CB7 Output Error Flag 111 CB8 General Error Flag 111 CB9 RS232 Communication Flag 111 CE requirements 19 Checksum 28 29 CHS Checksum command 56 Memory Checksum MCHS command 80 CHS Interface Checksum command 56 Clear Flag in external module CO com mand 59 CLK Outputs 24 25 CN1 Counter Timer 1 command 57 CN2 Counter Timer 2 command 57 CND1 Counter Timer 1 Divider command 58 CND2 Counter Timer 2 Divider command 58 CO Clear Flag in external module com mand 59 COIN Output 24 25 Motor in Position Flag CB16 113 Command 28 Argument 28 Checksum 28 29 56 Command acknowledge flag CB35 118 119 Command Description 47 1
82. Programming 0 440 32768 to 32767 The Indexer include 440 16 bit registers which can be used freely in a program The reg isters can be assigned a value be included in an equation etc The registers use the same memory space as the R registers TT0147GB RIx v Set register x to the value v RIx Show the value of register x R1 65535 results in RI2 has the value 65536 and RI3 has the value 0 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 93 3 4 Command Description 3 4 70 Command Modes Range Description Report Motor Status RS RS Stand by 0 7 During operation the system can report information about the status of the motor sta tionary running etc using the RS command The command can be used to ensure that a new positioning command is not executed while a motor movement is in progress Usage RS Motor Status O stationary 1 accelerating 2 Running at max speed 3 decelerating 4 Motor not in position COIN 1 5 Fatal error in connected servo step driver SALA 1 6 Motor zero searching 7 Motor stationary but NL or PL active See CB 38 Example START VM 1000 SET TOPSPEED TO 1000 RPM WAIT RS 0 WAIT HERE UNTIL LAST POSITIONING IS FINISHED SP 10000 RUN MOTOR TO POSITION 10000 J START RETURN TO START Notes If RS 4 or RS 5 occurs while the motor is runn
83. Running 1 xx In cases where the Indexer is used for very special applications the macro functions can be used Macro functions are made upon customer request Please contact JVL Industri Elektronik regarding this feature MAKRO x Start macro function x JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 79 3 4 Command Description 3 4 48 Memory Checksum MCHS Command MCHS Modes Stand by Programming Running Range 0 2 147 483 648 Selection 0 4 Description All bytes received on the RS232 interface are added in this check sum register This makes it possible to check if the Indexer has re ceived the data correctly MCHSO Bg The checksum register is only reset under power up or after the command Program start programming has been received The MCHSO register can be set to 0 by sending the command MCHS0 0 or simply by reading the MCHSO register Temporary Here the checksum of the program which is in the temporary mem MCHS1 memory ory RAM is shown It is only the checksum of the program itself RAM which is calculated Calculates the checksum of the entire EEPROM independent of the size of the program This number will be an expression for the Permanent content of the program which is in EEPROM This register can for MCHS2 memory instance be used in the beginning of a program to check if the con EEPROM tent of the EEPROM is ok or contains errors Special parameters such as address che
84. Running 1 enabled or 2 disabled 2 disabled The PL and NL Inputs function as end of travel limits If the motor is moving in a nega tive direction and NL is activated the motor is stopped at once The PL Input is the pos itive end of travel input The NL input can be set to active high NLS 1 and CB25 1 to active low NLS 1 and CB25 0 or be disabled NLS 2 For connection of the end of travel inputs see End of travel Limit Inputs page 16 Please note following limitation when using the limit switch NLS 1 If NLS 1 it is not possible to use the NL input as a stop input in connection with the NSTOP command Neither is it possible to use the input as an interrupt input If one of these 2 modes is chosen the limit function will have the highest priority If the limit input is activated when a motor run command is about to be executed the command will be ignored and a bit will be set in the error status register Control bit 4 CB4 will go high when the limit input is activated The bit will first go low when a new motor run command is executed without the limit activated If the user wants to make a controlled limit with proper acceleration it should be done with CB5 1 or with an interrupt program and the INT command See Interrupt INT page 77 NLS x Set Negative Limit Switch to level 1 high or 2 disabled NLS Show Negative Limit Switch level JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 83 3 4
85. SM1I30O SMI31 Servo Step Motor Indexer SMC35A SMC35B Step Motor Controller User M anual i POWER POWER F PROGRAM PROGRAM E MOTOR amp MOTOR ERROR ERROR Pe a i l J VL Industri Elektronik A S April 2001 LB0040 09GB Revised 26 6 2002 Contents 2 10 2 11 2 12 2 13 3 1 3 2 3 3 3 4 3 5 3 6 3 7 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 4 13 4 14 Introduction sccccsssossscesscssscssscssscnssesssesssesesessscessnessesssssssessssnessesssensssessnessnesenssesescsesooesee 5 FeaturessS MIS 0 31 AEEA E E EE EEE EEE toners stave seahadeseouths ceedyntovassers E EAE 6 TIALE LOE oE ETEA E EEE E A EAT A E TEA ETEA 7 SMI30 31 Indexer Front Panelin eaa a a R ar a a vies bee todd A a RS 8 SMC35 Controller Front Panel 5 sainn a o a a E A O a aa eae ate eee ae 9 Q ick Star SMS OA rr E a En a E E NE E AR i 10 QuickStart SMCII E E aes en es eee en ee 11 PH ALA WALE E E EE 13 Connections oia erea cee teascaente ves easnete E EEE sata EEE ei E RE ORR 14 User Inputs seieren e a A A E E S E A EE A A EE S 15 End of travel imit Inputs moais na aan a O E O EE AAEE AAE E aT 16 Home LAP UT srereen a eenane genres ee TE E E R ee hare E R E R E RAER 17 User Out puts mra aR R A A AO A henad 18 Connection of Motor SMC3 S only nasienne a aa a e a R Ee 19 Power Supply SMIB Only Jx seitei senideren a aanne e Ria iera aaa nao eR Raar A EAEE R Ea aa ARRS 22 Power Supply
86. THING ENTERED J NO_PRG_CHANGE THEN JUMP NO PRG CHANGE IF R99 lt 1 IF ENTERED VALUE IS BELOW 1 J PRGNO MINMAX THEN JUMP PRGNO_MINMAX IF R99 gt 10 IF ENTERED VALUE IS ABOVE 10 J PRGNO_MINMAX THEN JUMP PRGNO_MINMAX R1 R99 SET R1 R99 S2 SAVE ALL REGISTERS IN EEPROM NO PRG CHANGEJS ACT DATA JUMP TO SUBROUTINE ACT DATA J MENU JUMP TO MENU PRGNO MINMAXPRINT3 1 ONLY DIGITS BETWEEN 1 AND 10 D 400 WAIT 4 SECONDS J CHANGE PRGNO 156 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Program examples CHANGE DATA JS ACT_DATA JUMP TO SUBROUTINE ACT DATA AO3 1 CLEAR DISPLAY PRINT3 1 lt F1 gt CHANGE LENGTH lt F6 gt RETURN PRINT3 41 lt F2 gt CHANGE SPEED DATA_MENUKB R99 INPUT3 222 READ KEYBOARDINPUT IF R99 0 IF Fl IS PRESSED J CHANGE_LENGTH THEN JUMP TO CHANGE LENGTH IF R99 1 IF F2 IS PRESSED J CHANGE_SPEED THEN JUMP TO CHANGE SPEED IF R99 5 IF F6 IS PRESS
87. TM2 4 IN8 Counter input Gate CTM2 2 TT0143GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 65 3 4 Command Description Example Example 3 4 27 Command Modes Description Usage In an actual application there is a requirement to count an external event For every 10 counts program execution must be interrupted and an unconditional jump be made to an interrupt routine that drives the motor 10000 pulses The program is as follows START CN2 65535 10 SET COUNTER REGISTER EQUAL 65525 CTM2 2 ACTIVATE COUNTER MODE more program INT8 BEGINNING OF INTERRUPT 8 ROUTINE CN2 65535 10 SET COUNTER REGISTER EQUAL 65525 SR 10000 DRIVE MOTOR 10000 PULSES WAIT RS 0 WAIT HERE UNTIL MOTOR SPEED IS ZERO RETI RETURN TO MAIN ROUTINE Note When the counter CN2 overflows from 65535 to 0 the interrupt routine INT8 is exe cuted if this routine is included in the program memory If the command NSTOP 8 is included in a program at the same time as the counter over flows the motor will be stopped If it is required to monitor if a step motor runs the required number of steps an encoder can be connected to I7 and I8 CN2 shows the number of pulses received multiplied by a factor of 4 CN2 can show numbers in 32 bit An encoder giving 100 pulses rev is con nected This gives 400 p
88. a given Output is activated contact is made between the supply O and the respective output terminal See above illustration To indicate the level of each output the Indexer front panel is equipped with LEDs denoted IO1 I02 108 These LEDs are lit when the respective Output is activated 2 5 2 Overload of User Outputs All of the Outputs are short circuit protected which means that the program and the mo tor is stopped and the output is automatically disconnected in the event of a short circuit The Output will first function normally again when the short circuit has been removed The Out Error OE LED on the Indexer s front panel is lit when one or more of the Outputs has been short circuited The LED also indicates if the output circuitry has been overheated due to an overload It is possible via software control to detect an overload using the command EST or ES2 The error message E43 01 08 Output error page 127 will appear Note Do not connect a voltage greater than 30VDC to the O terminal as the output cir cuitry may be seriously damaged and the unit will require factory repair 18 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 6 Connection of Motor SMC35 only N CL Industri Elektronik Y Step Motor Controller SMC3x C_ POWER L PROGRAM C_ MOTOR C_ ERROR HLC HM FA H Step Motor a 12 Terminate screen only at SMC35 T7101 606B
89. absolute position in R12 Wait RS 0 Wait until motor has finished running R1I R1 1 Pointer 13 VM R R1 Transfer R13 to VM R1I R1 1 Pointer 14 SR R R1 Run to relative position R14 WAIT RS 0 Wait until motor stands still R1I R1 1 Pointer 15 OUT R R1 Set outputs J START JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 45 3 3 Program Execution 3 3 14 M onitoring of inputs and errors The program below illustrates how external events can be handled with simple com mands and interrupt routines while a main program is being executed CB7 1 sIf any error bit active in ES register output O5 will be activated MAIN SR 10000 Run relative 10000 pulses WAIT RS 0 Wait until motor has stopped J MAIN Jump to Main and loop INT 146 If error 46 Alarm signal from motor drive occurs while in OUT4 1 Main routine activate output O4 RETI Return to main routine INT1 If IN1 is activated SH Stop the motor and OUT6 1 Activate output O6 OUT6 0 Deactivate output O6 again RETI Return to main routine 3 3 15 Pause in program execution Delay The D command pauses program execution The resulting break in program execution is specified in units of 10 msec by writing D pause For example R1 20 Set R1 to 20 D R1 Wait for 200 msec 46 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description This section gives a brief description of the SMI30 31 Indexer comman
90. age will not be valid and an error message will occur SR Re ER a for frem ST 1 Joe 0 TS Cr fem KS Cs fa TS TT 1 or fe KS Co fo TS Coon fe KS 0 bas o o SS wooo born fo KT wo bos s S Bo be e o wo s s ST woo bow en O pooo o eo bes e SEE In this example the analogue output is set to 2 5 volt START CND2 8 SET ANALOGUE OUTPUT TO 8 BIT RESOLUTION CTM2 7 7 SE TIMER 2 AS PWM GENERATOR AOUT 127 SET ANALOGUE OUTPUT TO 2 5 VOLT 54 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 11 Command Modes Range Description Usage 3 4 12 Command Modes Range Description Actual Position AP AP Stand by Programming Running 2147483648 2147483647 units or pulses The motor position can be read at any given time The position is given in terms of units relative to the zero point The motor s position can also be reset by specifying an argu ment to the AP command If the conversion factor is set to 1 CON 1 0000 the units will be expressed in pulses AP is the desired position and not necessarily the motor position There can be a difference if a servo motor is used and it has a positioning error during running and standstill The position can be changed only when the motor is stationary AP x Sets motor s current position to x AP Show motor s position in units Actual p
91. ain dis tance these 2 registers can be used The RX1 register specifies when user output 6 O6 is set high and RX2 specifies when the output is set low The function is only enabled when RX2 is higher than RX1 The delay time from the internal position counter to the output is less than 100us RX1 RX2 Status RX1 RX2 High speed output disabled O6 used as normal output RX1 gt RX2 High speed output disabled O6 used as normal output RX1 lt RX2 High speed output enabled Active when RX1 lt APP lt RX2 Timing of user output 6 when used as position output Time Motor movement Speed Logic level O6 Is deactivated after the position AP has exeeded RX2 User output O6 Time TT0136GB O6 Is activated after the position AP has exeeded RX1 Note that the specified positions in RX1 and RX2 refer to where the motor started and not the AP register Example 1 An application requires that user output 6 must be activated after 500 pulses and deacti vated after 1000 pulses Therefore the following program is made SET POSITIONCOUNTER EQUAL TO 12345 NOTE THAT THE POSITIONCOUNTER AP IS NOT START AP 12345 r r 96 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description USED BY THE RX1 RX2 FEATURE IT IS ONLY THE PULSE COUNT
92. al application Each of the inputs can be detected from the actual program that has been downloaded to the Indexer The Inputs are optically isolated from other Indexer circuitry All of the Inputs have a common ground terminal denoted J Note that this terminal is also used for the End of Travel Limit Inputs Section 2 3 page 16 and Home Input Section 2 4 page 17 Each Input can operate with voltages in the range 5 to 30VDC Note that the Inputs should nor mally be connected to a PNP output since a positive current must be applied for an input to be activated Connection of NPN Output If an Input is connected to an NPN output a Pull Up resistor must be connected between the Input and the supply See the illustration above The value of the resistance used depends on the supply voltage The following resistances are recommended Supply Voltage Recommended Resistance 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W Indication of Input Status To indicate the status of each Input the Indexer s front panel is equipped with LEDs denoted I1 I2 18 These LEDs are lit when the respective Input is activated JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 15 2 3 End of travel Limit Inputs PNP Output ar yeg W I End of travel Inputs al VV l j ke industri GektronikW PowerSupply STE Cc C POWER 5 30VDC a Inductive 5 PROGRAM s
93. alanced which means that DIR is the inverted signal of DIR If the driver connected to the Con troller has an unbalanced input DIR must be left unconnected GND The ground terminal must be connected to the driver to ensure proper operation The GND is also reference for the 5V SALA 14V and SON terminals 14V This terminal is a voltage output for the input or output circuitry in the connected driver Note that this output voltage can only withstand shortcircuit for 5 10 seconds The max imum allowable current drawn from this terminal is 5 0mA SALA Servo Alarm input This terminal ensures that all activity in the Controller is stopped if the terminal is left open The terminal must under normal operation be kept logic low which means at the same level as GND The input is active high See CB 5 Servo alarm signal SALA flag page 113 to change active level 5V This terminal is a voltage output for the input or output circuitry in the connected driver Note that this output voltage can only withstand shortcircuit for 5 10 seconds The max imum allowable current drawn from this terminal is 5 0mA SON This output is low active NPN if the command SON is executed JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 25 2 11 Analogue Inputs Cc POWER PROGRAM MOTOR ERROR H HM a PL NL l 18 m La m Ly m La ms LE m La m
94. an 300 IF statements in the program E37 Too many interrupts INT A maximum of 32 interrupt programs running at the same time is allowed If the Indexer is servicing an interrupt routine and another interrupt appears it jumps to the new inter rupt routine It will first continue with the first interrupt routine when the last is finished This error message will be given if the program detects more than 32 interrupt levels The error will be given when the Indexer is in running mode and detects the error Correction Simplify the program with less interrupt routines E38 Return without jump RET RETI This error message will be given if the program detects a RET or RETI command without a J or JS command first When a return command is executed it jumps to a line number and if the Jump command is missing the Indexer does not know which line to return to E39 Warning Motor drive running This error message will be given if a motor command SR SP SZ is under execution and the motor driver is still running or busy after a deceleration Note that this error is given if the motor in position signal COIN is active Correction This signal must be tied if not used or disabled by the CB16 flag see CB 6 Motor in position COIN flag page 113 E40 Address not allowed Max 255 E41 Timeout on IN7 IN8 CVI command E42 Motor processor fault E43 01 08 Output error One of the outputs O1 O8 has been short circuited Correction T
95. and smooth stop the motor WAIT RS 0 Wait until motor stands still J MAIN Jump to main test again MOTOR R10 R1 R2 Adjust analog value IF R10 lt VS If calculated speed lt start speed VM VS set speed to start speed ELSE j else VM R10 Set speed to calculated speed IF RS 0 If motor not running SR 10000000 Start motor in positive direction J MAIN Jump to main MOTOR R10 R3 R1 Adjust analogue value IF R10 lt VS If calculated speed lt start speed VM VS set speed to start speed ELSE j else VM R10 Set speed to calculated speed IF RS 0 If motor not running SR 10000000 Start motor in positive direction J MAIN Jump to main MANUAL IF IN2 1 If manual mode and manual run in posi tive direction J MANPLUS Jump IF IN3 1 If manual mode and manual run in nega tive direction J MANMINUS i SUMP J MAIN Jump to main and check again MANPLUS SR 100 Run distance in positive direction WAIT RS 0 Wait for motor stopped J MANUAL Jump to main and check again MANMINUS SR 100 Run distance in negative direction WAIT RS 0 Wait for motor stopped J MANUAL Jump to main and check again JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 151 4 9 Program examples 4 9 3 Use of analog output and input This program shows how it is possible to control the speed in both directions using two potentiometers 5 volts for the supply of two 5kOhm
96. anged only when the motor has stopped If the acceleration is to be changed on the fly use the AC command ACP x Set acceleration in fixed number of pulses ACP Show the actual acceleration in number of pulses JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 49 3 4 Command Description 3 4 6 Command Modes Range Description Usage Acceleration Time ACT ACT Stand by Programming Running 1 10000 ms This command is used to specify the acceleration profile expressed in time Using this command it is possible to make the acceleration and deceleration with a fixed time during If the motor is running when the acceleration time is changed the accelera tion will be changed only when the motor has stopped If the acceleration is to be changed on the fly use the AC command ACT x Set acceleration in fixed time ACT Show the current acceleration time in msec 50 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 7 Command Modes Range Description Usage Example Address ADDR Only SMI31 and SMC35B ADDR Stand by Programming Running 0 255 The Indexer can be configured to react to all communication via the interface bus Point to Point communication In this case the Indexer address must be set to 0 which is the factory default When the address is set to 0 the address must not be transmitted together w
97. ave been activated The flag will be 1 until the motor has been running without any of the end of travel inputs activated Note that the function is active only if NLS and PLS is different from 2 CB5 End of travel deceleration Using this flag it is possible to select whether the motor should decelerate in H or SH mode when a limit switch is activated i e if NL or PL is activated 0 Deceleration as if a halt H command is used Default 1 Deceleration as if a smooth stop SH command according to AC is used CB6 Error at user output flag This flag is set CB6 1 if a fault occurs at the user outputs O O8 The default for this flag is 0 The program and motor are stopped if the output is short circuited The CB6 flag will be set to 0 again if the EST or GO command is executed or a motor command SR and SP is executed 110 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 5 Control Flags 3 5 7 3 5 8 3 5 9 3 5 10 3 5 11 CB7 Output error flag A message in the error register EST will cause activation of output 5 05 This feature can be used to give for example a PLC a message that something has failed Default for this flag is 0 function is disabled CB7 0 O 5 is used normally Nothing can set the output 5 except the OUT command CB7 1 O 5 is set by error also the ERROR LED lights CB8 General error flag Status flag This flag is set to 1 if an error message appears in the e
98. b command J S JS 0 2000 Programming Run In contrast to the J command which jumps to a specified program line number the JS command makes a jump to a program sub routine When a JS command is executed the Indexer first stores the number of the next line after the JS command and then goes to the line number specified by the JS command When the RET Return command is encountered in the sub routine the program returns to the main program at the line immediately after the JS command and continues from there The JS command can be used up to 32 times corresponding to 32 nested sub routines Note that a sub routine in the program always must be placed after the corresponding JS command See also Call of sub routine page 44 JS SetoOutl SetOutlOUT1 1 1ACTIVATE OUTPUT 1 D 10 WAIT 100MS OUT1 0 DEACTIVATE OUTPUT1 RET RETURN TO MAIN PROGRAM 78 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 46 Command Modes Description Usage 3 4 47 Command Modes Range Description Usage Verify line number LINE LINE Stand by Programming Running The LINE command returns the line number of the program in the controller not in the document If the command is used in standby mode it will return the line number for the last command executed LINE Show line number Macro functions M AKRO MAKRO Standby Programming
99. c CS 1000 Sets the motor current when the motor is stationary to 1000mA CS Show the motor current at standstill M otor current when running CT Only SMC35 CT Standby Programming Running SMC35B 0 6000 mA SMC35A 0 3000mA The current supplied to the step motor can be adjusted to specified values for standby us ing the CS command Set the current at top speed acceleration and deceleration VM us ing the CT command Normally only a small current is required when the motor is stationary since the static inertia of a typical step motor is much less than the inertia while the motor is rotating depending on the speed range of the motor The torque of a step motor is directly proportional to the applied current up to the spec ified phase current see the specifications for a given motor If a 4 phase motor with 8 leads is used the current should be set to the value specified for the motor multiplied by a factor of 1 4 See motor connections section for further information In the nominal current is exceeded the motor will overheat and only very little increase in torque will result The commands can be used at any point in a program and can be specified and changed continuously throughout a program The current supplied to each of the step motor s phases can be adjusted for standby and operating currents using software commands CS and CT The Driver automatically switches between the two currents by detecting the presence of step pulse
100. c ters s 10 characters therefore take 10 4 ms to transmit The Indexer responds with the re ply Y lt CR gt i e 2 characters This takes 2 08 ms In accordance with the table on the previous page the total calculation is as follows Total time 10 4ms 5 9ms 7ms 2 08ms 25 38ms If a baud rate of 19200 bit sec was selected the transmission time would be halved cor responding to a total time for transmission interpretation and execution of 19 14ms 160 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 11 Connection tables The connection tables below make it easier to see the connections to PLCs other connec tors etc so that fault finding will be easier For example the tables can be used to indi cate the numbers of the individual connectors on a PLC in the Connector no column and to specify what the connection is used for under the Application column e g Start signal from PLC Vacuum on Air cylinder up etc Con nector Desig no nation Description Application HM Home Input PL Positive limit NL Negative limit l Gnd for Input 18 Input 8 I7 Input 7 16 Input 6 I5 Input 5 l Gnd for Input 14 Input 4 13 Input 3 12 Input 2 1 Input 1 l Gnd for Input Supply P 10 35V DC P Supply Ground Alt Analog Input1 Al2 Analog Input2 Analog Output AO 0 5VDC RS485 A Terminal
101. ced input CLK must be left unconnected DIR DIR This is the direction output for the connected driver The 5V output is balanced which means that DIR is the inverted signal of DIR If the driver connected to the Indexer has an unbalanced input DIR must be left unconnected GND The ground terminal must be connected to the driver to ensure proper operation The GND is also reference for the PS SALA COIN and SON terminals PS This terminal is a voltage output for the input or output circuitry in the connected driver Note that the voltage at this terminal is the same as at the Supply terminal P Inside the indexer it is protected by the main fuse so that any short circuit results in limited damage SALA Servo Alarm input This terminal ensures that all activity in the Indexer is stopped if the terminal is left open The terminal must under normal operation be kept logic low which means at the same level as GND The input is active high See CB 5 Servo alarm signal SALA flag page 113 to change active level COIN Servo in position input This terminal ensures that the Indexer waits for the servo motor until it has reached its final position If the terminal is left open the Indexer will keep waiting The terminal must under normal operation be kept logic low which means at the same level as GND See CB16 Motor in position COIN flag page 113 flag to change active level SON This output is low active NPN if the command SON is ex
102. city is constant S YM EER Pulses TT0151GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 163 4 13 M otor Connections SMC35 only Forbindelse af JVL motor serie Type MST230 31 32 og MST340 41 42 Forbindelse af JVL motor parallel Type MST230 31 32 og MST340 41 42 Type HY200 xxxx xxx x8 Type HN200 xxxx xxx x8 Sort A Sort Hvid 17xx A Orange Gul 17xx B Red Red al gt B B Forbindelse af MAE motor unipol Type HY200 1xxx xxxxx6 Motor i unipolar udf rsel 6 leder Gul Bl 17xx Forbindelse af MAE motor serie Type HY200 xxxx xxx x8 Orange Hvid Sort Hvid J Orange TT0162GB Bem rk Omdrejningsretningen kan vendes ved at ombytte A og A 164 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 13 Motor Connections SMC35 only Forbindelse af Zebotronics motor Forbindelse af Zebotronics motor Type SMXxxx x xx x 4 terminaler Type SMxxx x xx x 8 terminaler SM87 SM107 168 x xx SM56 x xx Forbindelse af Vexta motor Type PH2xx xxx PK2xx xxx Forbindelse af Phytron motor Type ZSx xxx x x Motor i unipolar udf rsel 6 leder Forbindelse af Vexta stepmotor Type PH2xx xxx TT0163GB Bem rk Omdrejningsretningen kan vendes ved at ombytte A og A JVL Industri Elektronik A S User Manual SMI30 31 and SMC
103. cksum Baud rate etc are part of the check sum calculation Program MCHS3 memory EPROM MCHS4 Total RAM The checksum is calculated for the entire RAM 32Kbyte Calculates the checksum for the program memory EPROM Note The checksum is calculated by adding all bytes in a 32 bit number Calculations of the checksum can take up to 15 sec During this period it is not possible to communicate with the Indexer 3 4 49 Show used memory MEM Command MEM Modes Standby Programming Running Range 0 100 Description Use this command to verify how much memory has been used When the MEM command is used the Indexer will return a number indicating the used memory in bytes and the percentage free memory Example Sent to Indexer MEM Received from Indexer MEM 292 byte used 95 free This indicates that 292 bytes of the memory is used and 95 is still free 80 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 50 Command Modes Range Description Usage 3 4 51 Command Modes Description Usage 3 4 52 Command Modes Description 3 4 53 Command Modes Description Recall Program MR1 MRI Stand by 0 3 An Indexer program can be permanently stored in non volatile EEPROM memory i e without the need for current to retain the data The Memory Recall command MRI is used to recall data from the EEPROM memory and set up the Indexer a
104. cluded in an equation etc Rx v Set register x to the value v Rx Show the value of register x R1 VM 100 R67 show the value of register 67 on the RS232 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 91 3 4 Command Description 3 4 65 Register Modes Selection Range Description Example 3 4 66 Command Modes Description Reset 3 4 67 Command Modes Description Usage User Register RB RB Standby Programming 0 880 127 to 128 The Indexer include 880 8 bit registers which can be used freely in a program The reg isters can be assigned a value included in an equation etc The RB register uses the same memory space as the R register RO 32bit R1 32bit TT0146GB R1 65535 results in RB4 and RB5 each has the value 127 RB6 and RB7 each has the value 0 Reset Indexer RESET RESET Stand by If a system overload occurs the system must be reset before motor control is possible again The RESET command has the same effect as turning the Indexer off and then on again No communication with the Indexer until 2 sec after the Reset command has been sent is allowed RESET Reset Indexer Return from subroutine RET RET Programming Running If the JS jump subroutine command has been used the program will jump to a sub rou tine When this routine is finished the RET command must be executed so that program execution can continue at t
105. d inactive when input I2 is active CB23 0 Disable the gear function default CB23 1 Enable the gear function all the time CB23 2 Enable the gear function except when decelerating before target Deceleration will start on VM follow ACP and stop at VS CB24 Position reached Status flag The CB24 flag indicates if a positioning is completed without any stop CB24 0 The last positioning was finished with a SH or highspeed stop CB24 1 Last positioning was finished without any stop The flag will be cleared if there has been a soft halt command SH or high speed stop see CB21 High speed stop trigger at IN2 page 114 The basic idea behind this command is to prevent the motor from keeping running if e g a stop sensor is faulty or similar Example CB20 1 ENABLE HIGH SPEED START CB21 1 ENABLE HIGH SPEED STOP SR 1000 SET MAXIMUM POSITIONING LENGTH FROM NOW ON THE MOTOR WILL START AND STOP ACCORDING TO T HE HIGH SPEED START AND STOP INPUTS ERY TIME A START IS APPLIED MAX 1000 PULSES WILL BE ECUTED V X START IF CB24 1 HECK IF THE TOTAL LENGTH HAS BEEN EXECUTED J ERROR F YES THE TOTAL LENGTH HAS BEEN EXECUTED JUMP TO HE ERROR ROUTINE SINCE NO STOP SIGNAL WAS RECEIVED J START F NO CHECK AGAI NDHHHAM
106. d set including the following main points Command Name Mode Range Usage and Examples All the commands are listed in alphabetical order Command name Modes Range Selection Default Description Usage Example The name of the command In which mode the command is available Standby mode Programming mode or Running mode The valid numerical range of the command For example 0 100000 RPM sec The valid prefix to the command The default value of the command or register content after Power up and SD command A brief explanation of the command Describes the syntax of the command An example how the command could be used JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 47 3 4 Command Description 3 4 1 Command Modes Description Usage Example 3 4 2 Command Modes Description Usage Example Show set up Stand by The most important details of the Indexer status and set up can be displayed using this single command Display values Sent to Indexer Received from Indexer JVL Industri Elektronik A S SMI30 27 01 1998 1 5 Addr 0 Max Velocity RPM VM 100 Acceleration RPM S AC 100 Start Velocity RPM VS 10 Actual Pos Unit Pulses AP 0 APP 0 Puls rev Motor PR 8192 Acc S curve RPM S S ACS 0 Conversion fac pulse unit CON 1 0000 Counter 1 Pulses CN1 0 Counter 2 Pul
107. dition see the INT command The register can be read to examine if an input has been active even if only for a short duration Inputs NL PL IN3 I2 I1 can in this way be used as a form of flip flop inputs since a bit is set when the input is activated Note that the bit is only reset when a corresponding INT routine is executed or if INT is not used by manual reset via the software command cB32 Reserved on2 ONT PL NL INS ma Jm ae ie ee ee CB26 cB25 CB14 cBi3 cB12 mern ELSE n KO NTE LEE L LIGE Example 1 CB32 0 Reset any interrupt bit IF CB32 XXXXXXX1 If IN1 has been activ ated JS RUN 7 Jump to RUN routine RUN CB32 CB32 ANDL 254 Reset bit so input is not doubly detected SR 1000 WAIT RS 0 RET Example 2 CB32 0 Reset any Interrupt bit CB32 XXXXXXX1 Activate bit 0 corresponding to interrupt INT1 will be executed INT1 When bitl in CB32 activated program jumps here OUT 255 and outputs set active RETI Jump back to line after CB32 XXXXXXX1 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 117 3 5 Control Flags 3 5 33 3 5 34 3 5 35 CB33 User output Error mode from version 1 7 This flag can be used to determine what happens when an error occurs at user outputs 01 08 When a user output is shorted to ground or overloaded the output will close down automatically after a few seconds and the Error LED and O
108. dustri Elektronik A S User Manual SMI30 31 and SMC35A B 3 3 Program Execution The user registers can also be used for indirect addressing by the use of square brackets and R 3 and R3 will give the same result and give the possibility of using another register or an equation as the index for the register The following illustrate examples of indirect addressing VM R RS R15 R R5 1 3 3 4 Programming the SMI3x or SMC35 using MotoWare Using MotoWare programs can be easily developed and saved in the Controller Proceed as follows to create a new program 1 First open a new program document either by selecting FILE and then New or by clicking the new document icon Open a new program document im MotoWare Motol Window Applications Setup 2 2 El 2 Select the correct Controller type and if required whether addressing and checksum are to be used SMI3x must be selected here otherwise the selected Controller status ns HOTOR type is incorrect Controller Checksum If necessary change checksum _ _____ f and address Address MANUAL Run Go Kill Halt Parm s MANPLUS Se bea Get prog MANNINUS JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 37 3 3 Program Execution 3 Key in the program in the program document editor window Adjust analoge value If calculated speed lt start speed
109. e flags control some basic parameters in the Indexer For example a flag can control whether a certain input should be activated at logic 1 or logic 0 Also the resolution at the analogue inputs can be set using control flags Some of the flags can only be read These flags show the status of different conditions during program execution for example in which direction the motor is moving or whether errors have been signalled in the error registers The following Control Flags are available CB1 Direction level flag Status flag By reading this flag the actual level of the direction output can be verified CB1 1 Positive direction signal to driver is logic 1 SV nominal CB1 0 Negative direction signal to driver is logic 0 OV nominal CB2 CB3 Analogue conversion flags Using these two flags it is possible to change the resolution of the two analogue inputs AIl and AI2 The A D converter of the analogue inputs is 8 bit but by using an integra tion technique the resolution can be much higher It is possible to select up to 14 bit res olution Note that at high resolution the execution time is much longer for commands that use the analogue inputs The default is 0 for both flags c83 CB2_ Resolution Measurements interval Time ms fo fo emaema 016383 oo p fom o fe foes eo o fo em foes fr aar 02 ota 650 CB4 End of travel flag Status flag This flag is set to 1 if the end of travel inputs NL or PL h
110. e the motor etc can easily interfere with the analogue signal and cause instability The Indexer is equipped with an analog to digital converter ADC which converts the detected analogue signal level The ADC has a resolution of 8 bit Via software the A D converter can be adjusted to 10 12 or 14 bit resolution using a special integration technique See Analogue input AII Al2 page 52 for further details In order to use the Analogue Inputs as 0 20 mA inputs a 250 Q 1 resistor must be connected between AI and P All or Al2 TT0126GB 26 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 12 Analogue Output CO VW Co Industri Elektronik Y POWER PROGRAM MOTOR ERROR LOOM fa Haor X m wW Loe NL a Saal z a Es eH 8 lHo 65 HJ 16 u p ros HE li 8 ana g war S Ma Fa Oo e g DC Driver Note screenonly poy H connected to signal receiver Analogue output a FA bw 0 5VDC Output Po meP Ground PTER N ma P creen mt 0 5V Input Screen l p ean jea 1 gt AO 2 mA o 44 B OE ae O HI 01 DRIVER Po gt M 2 3 03 HE o4 fee fs 05 FE 06 HE 07 X j T os nel o TT0118G
111. e LL1 command is executed the speed will be changed faster than if VM x is executed 100 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 73 System Default SD Command SD Modes Stand by Description Usage The SD command is used to recall the Indexer s factory default set up All user registers will be set to 0 Note that address checksum memory recall and Baud rate registers will not be changed These can only be reset using of the command The factory default set up is as follows AC 100 CB9 CB14 CB18 1 CTM2 1 ACS 0 CB15 CB16 2 ESO ES1 ES2 0 AP 0 CN1 0 NLS 2 CB2 CB3 CB6 CB7 CN2 0 OUT 00000000 CB8 CB10 CB11 CB12 CND1 1 PIF 1 CB13 CB17 CB19 CB20 CND2 8 PLS 2 CB21 CB23 CB24 CB25 CON 1 0000 PR 8192 CB26 CB27 CB28 CB29 CTM1 1 R1 R220 0 CB30 CB31 CB32 CB33 CB36 1 RX1 RX2 0 CB34 CB35 CB37 CB38 RX11 921600 CB39 CB40 0 RX12 8192 SD Recall factory default set up SR 0 SR2 0 VS 10 VM 100 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 101 3 4 Command Description 3 4 74 Command Modes Description Usage 3 4 75 Command Modes Range Description 3 4 76 Command Modes Range Description Smooth Halt of Motor SH SH Stand by Programming Running This command is used to perform a controlled halt of the system The motor is stopped in accordance with the pre programmed decelerat
112. e at klos this connector to be used for mn aces an external slave axis f_2 1_los fo o In TT0108GB 14 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 2 User Inputs a 11 8 and HM share a common ground l VA Industri Bektronik Note that End of travel inputs H POWER All the three ground terminals l CE POWER S PNP Output TE connected together MOTOR ERROR fe HM FE PL rd SPEER FE NL a v H A HE 18 E o HE 7 oz o H 8 Power Supply gt HE 16 eu 5 30VDC Inductive oo 5 6 a sensor Po f 6 or similar A i S User Inputs Ham B Fa ro 12 un Hs JN RS232 Eo Po HEN k re oP e This diagram is used if an NPN output is connected a Shoo SSeS eS Sis 2h Sees SSS a p a ees 12 All o ra na p Aal2 je 15 1401 o Ly J mr A Sand io mel O Inductive sensor or similar o o1 DRIVER PN 92 0 m PowerSupply 45 30VDC mm TT0109GB 2 2 1 2 2 2 2 2 3 General The Indexer is equipped with a total of 8 digital inputs Each input can be used for a va riety of purposes depending on the actu
113. e first 8000 pulses 108 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description the motor should accelerate up to 2000 RPM After the motor has reached the final po sition 100000 it must return to zero position VM 1000 Velocity 1000 RPM AP 0 START WAIT IN1 1 SP 100000 Wait Zero positionscounter here for input 1 run motor to position 100000 position 8000 is passed then change velocity to locity 2000 RPM motor is stopped zero position motor is stopped LA LA LA r WAIT AP gt 8000 Wait here until 7 2000 RPM VM 2000 Accelerate to v WAIT RS 0 Wait here until SP 0 Return motor to WAIT RS 0 Wait here until J START Jump to label START The WAIT command cannot be recommended for time critical tasks such as a rapid stop of a motor using WAIT IN1 1 followed by the SH command Instead use NSTOP or CB21 The WAIT command functions in the way that the condition is checked first time and thereafter the program line is executed again and again until the condition is fulfilled Up to 1ms to 4ms may therefore elapse before the next line e g the SH command is ex ecuted JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 109 3 5 Control Flags 3 5 1 3 5 2 3 5 3 3 5 4 3 5 5 3 5 6 Control flags in general In addition to the 221 user registers the Indexer contains a number of control flags Thes
114. e following inputs can be used The following start conditions are available Input Commana Trigger level Disabled NSTART 0 default 11 Input 1 NSTART 1 NSTART 5 See CB18 CB18 0 logic 0 to1 CB18 1 logict 18 Input 8 CB18 2 logic 0 CB18 3 logic 1 to 0 84 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description Usage Example 3 4 57 Command Modes Range Default Description NSTART 1 Set input 1 as start input NSTART Show the actual start input condition R1 10000 Register 1 equal to 10000 NSTART 6 Set input 6 as start input LOOP SR R1 The program will stop here until the start input is activated WAIT RS 0 Wait until motor has stopped R1 0 R1 Registerl Registerl J LOOP Jump to loop The program will always stop at the loop line because of the SR statement and will only continue if input IN6 is activated i e goes from inactive to active Interrupt controlled stop NSTOP NSTOP Programming Running 0 10 0 disabled This command must be used if the timing is very critical for a certain motor stop se quence The NSTOP command enables an interrupt feature that will detect a stop signal at the same moment it occurs The command makes it possible to stop the motor as a function of an input condition Note that only Input 1 3 and NL and PL can be used in a stop condition The advantage of using this command instead of
115. e made SON can also be set to 0 if for example the motor is to be rotated by some external force and therefore should not yield stationary torque SON 1 Set servo on activate driver SON 0 Set servo off deactivate driver motor is without current Set new absolute Position SP SP Stand by Programming Run 2147483648 to 2147483647 units or pulses In Standby Mode and Programming Mode the motor can be set to move to a new abso lute position specified in terms of pulses or units if a conversion factor is used See also the Conversion factor CON Only SMI31 and SMC35B command page 60 SP x Move to new Position SP Show new position Sent to Indexer SP 1000 Move to absolute position 1000 Received from Indexer Y Sent to indexer SP 0 R1 Move to absolute position R1 Set new global absolute position SPT SPT Standby Programming Run 2147483648 to 2147483647 units or pulses When it is required to start several motors at the same time the SPT is set to the absolute position When the E command is received via the RS232 interface all the motors will run to the position given by the SPT command As the E command is received independ ently of address several motors can thus be started simultaneously JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 103 3 4 Command Description 3 4 79 Command Modes Range Description 3 4 80 Command Modes Range Description Relati
116. e problems when programs are modified When MotoWare is used however labels can be used MotoWare interprets and translates the individual labels and sends the correct command to the Controller Label names may in principle consist of all displayable characters but it is recommended that only numerals and letters a z are used since problems may occur if programs are moved between computers with different set ups Labels are case sensitive The following program segment START IFINI 1 If IN1 is equal to 1 next line is executed J OK Jump to label OK ELSE If IN1 is 0 execute line after ELSE J ERROR Jump to label ERROR OK OUTS5S 1 Set OUTS J START Jump to label START Begin again ERROR OUT5 0 Clear OUTS J START Jump to label START Begin again is translated to IF IN1 1 Call of sub routine If the same sequence of commands is used often it is a good idea to specify a sub routine A sub routine is started with a label and terminated by the RET command A sub routine is called by the JS Jump Subroutine command When the JS command is executed pro gram execution will continue from the line number specified by the JS command in the form of a number or a label When the RET Return command is encountered in the sub routine the program returns to the main program at the line immediately after the JS com mand and continues from there The following is an example of the use of a sub routine R5 500 R6 1000 R
117. e program is executing some time critical operation CB19 1 1 time measuremeS6nt CB19 0 16 times measurement Default If CB19 is preset to a value between 1 and 255 this will be the number of times the input is measured Each measurement takes 5 4 microseconds which means that the time cycle can be improved by 86 microseconds by choosing CB19 1 instead of CB19 0 This can be significant when using NSTART for example JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 113 3 5 Control Flags 3 5 20 Example 3 5 21 Example 3 5 22 CB20 High speed start trigger at IN1 This flag can be used in applications where the motor must be started extremely fast no delay time when an external event happens e g when a sensor is activated The high speed start offers a reaction time of less than 100 us regardless of other activities in the Indexer The distance must be specified by the SR set relative distance command before the start input will react The distance only need to be specified once to be remembered by the high speed function but it can be changed at any time CB20 0 High speed start disabled default at power up CB20 1 High speed start enabled triggering at the rising edge at IN1 CB20 2 High speed start enabled triggering at the falling edge at IN1 Note Ifthe CB20 flag is enabled the motor will not react on any movement com mands SR SP SR etc Only a valid signal at input 1 will sta
118. e same function as SR but will first be executed after a Soft halt has occurred This soft halt SH can occur by sending the command SH via the RS232 RS485 interface or if it is implemented in a program A soft halt can also be executed if the NSTOP command is used in a program which means the motor is soft halted when a certain input is activated When the soft halt has been detected the motor continue run ning at the same speed no deceleration and moves the distance specified by SR2 Once the distance has been reached the motor decelerates and stop SR2 x Set relative offset distance Sent to Indexer SR2 5000 Move 5000 pulses in positive direction Received from Indexer Y 104 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description Example 1 Example 2 Velocity RPM VM 1000 AC 1000 SR2 10000 SR 1000000 WAIT IN1 1 SH WAIT RS 0 CB21 1 SR2 1000 SR 10000 WAIT RS 0 Stop Condition SR2 Distance in pulses TT0124GB Time Velocity 1000 RPM Acceleration 1000 RPM sec Relative offset distance Run maximum distance Wait for stop input on IN1 Run relative distance before stop Wait for motor to stop Enable the high speed stop on IN2 Relative offset distance Run maximum distance Wait for motor to stop JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 105 3 4 Command Description 3 4 81 Command Modes
119. ector The connector is intended for an external slave axis which can be controlled from the SMC35 Pulse direction and other relevant signals are available at this connector Mounting plate The Controller can be mounted on a surface in a cabinet etc JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 1 5 Quick Start SM1I30 31 DVI OW Co Industri Elektronik Y CE POWER PROGRAM MOTOR 24V DC ERROR o r i g HM O i PL 5 o _L_ NE NL SERVO STEP MOTOR INDEXER TYPE SMI30 Seaseacacsasecacaca offoffolfoffoffolfolfoljolfofio Driver Pulse input Direction input TT0123GB 1 5 1 How to get started with the SMI30 and MotoWare 1 2 Switch on the SMI30 The Power lamp should be lit Start MotoWare and set it to SMI30 mode by selecting SMI30 in the Set up menu Controller specs Select OnLine Editor in the Applications Menu or from the Toolbox Key in SON 1 servo on This will enable the servo driver Key in OUTI 1 The green LED O1 on the front panel of the Indexer will be lit if 24 volts are connected to O and 0 volts connected to O In the OnLine Editor key in This will display stat
120. ecuted 24 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 10 Control Connection SMC35 only HM SALA 100Q vo w gt gt ene iter Ju rs232 RS485 FN 1 Gelert Er ra All o 4 Al2 SIS Es CONTROL 5v ulea Jm CLK DIR r OE 2 o HE ei aay C e r gt CLK kel de 14V ee ell pci ks tele se SALA PT iee e2 gt DIR CLK DIR o5 Le EVT ell DIR ke 06 SON TES GND beter e SN 75176 i o O TT0166GB Nicene 2 10 1 General The Control connector is intended to be used if an external step or servo driver has to be controlled The control signals are shared with the internal driver and therefore it is not possible to operate both motors at the same time unless it with the same speed and target position The following signals can be used CLK CLK This is the main pulse signal output for the connected driver The 5V output is bal anced which means that CLK is the inverted signal of CLK If the driver connect ed to the controller has an unbalanced input CLK must be left unconnected DIR DIR This is the direction output for the connected driver The 5V output is b
121. ed VM 2000 change velocity to 2000 RPM WAIT RS 0 wait until motor has stopped JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 107 3 4 Command Description 3 4 86 Command Modes Range Description Usage 3 4 87 Command Range Modes Description 3 4 88 Command Modes Description Example Velocity RPM 2000 1000 TT0145GB 10000 30000 AP position Supply Voltage VOL VOL Stand by 8 100 The VOL command is used to check the voltage applied to the Indexer Note that the sup ply should be in the range 10 32VDC for the SMI3x and 10 85VDC for the SMC35 VOL Show voltage in Volts Start Rate VS VS 1 10000 RPM Stand by Programming Running The Start Rate is the speed at which the motor is started The command is intended for use in step motor systems In servo systems the start speed should normally be set to 10 RPM In astep motor system the motor will simply stop at an arbitrary position if the start speed is set too high The default Start Rate is 10 RPM Wait for condition WAIT WAIT Programming Running Using this command is it possible to wait at a specific program line until a condition is fulfilled It is possible to use all user registers predefined registers and control bits Program execution is halted until input 1 is activated Then the motor must run 100000 pulses with the velocity of 1000 RPM When the position has passed th
122. ed 10 meters in the case of RS232 or 100 meters in the case of RS485 Indexer Interface RS232 RS485 Signal ground B RS485 TI Se Re lse Fr A RS485 Tx PD lz Ti Tx RS232 Transmit 2 Rx RS232 Receive Chassis ground not isolated Communication Protocol The Indexer uses the following format 1 startbit 7 databits Odd parity 1 Stop bit Note that a startbit is always used in the RS232 V24 RS485 protocol It is also possible to use 8 databit no parity See the Baud Rate on RS232 RS485 Baud command page 56 Communication Rate The Indexer operates at a fixed communication rate Baud rate of 9600 or 19200 Baud The Baud Rate must be set accordingly on the terminal or PC used to communicate with the Indexer See the Baud Rate on RS232 RS485 Baud command page 56 Command Syntax Communication with the Indexer must follow a specific command syntax Address Command Argument Checksum lt CR gt Text in square brackets may be included or omitted depending on the set up Address This address must be used when more than one Indexer is connected to the same interface See also the Address ADDR Only SMI31 and SMC35B command page 51 Command The command itself See Command Description page 47 for an overview of commands Argument The subsequent numeric argument for the command An argument always begins with the equal to sign Certain commands do not use argu ments
123. eipt of Y confirmation or a time out error If the master controller tries to transmit to a slave and the slave does not respond the mas ter controller will timeout after approximately 1 sec Error E23 is reported the ERROR lamp is lit constantly and program execution stops Note that the following commands cannot be used when RX13 is not 0 i e when in mul ticontrol mode RX Makro CON all JVL bus commands SPT MS etc Master Slave Address 0 Address 1 To other slaves Addresses 2 3 4 5 Connect as slave address 1 TT0154GB RX14 Lower limit for position check See CB40 Default value is 2 147 483 648 RX15 Upper limit for position check See CB40 Default value is 2 147 483 648 RX16 Selection of step revolution on the motor SMC35 only Since all velocities and acceleration are specified in terms of r p m it is important to specify the step revolution of the motor Normally this is 200 step revolution but 400 or 24 step revolution for example are also very common Specify RX16 in accordance with the following table RX16 Degrees Steps rev Steps rev Steps rev Steps rev Steps rev step in 1 1 step instep in Va step in 1 8 step The default setting is RX16 200 and PR 1600 corresponding to 1 8 step Example A HWI motor with 24 step revolution is connected and step operation is required RX16 24 PR 48 RX17 Diverse register If RX17 is preset with a velocity and th
124. ensor MOTOR or similar C ERROR Po Note that end of travel inputs 11 8 and HM share a common ground I All the three ground terminals l are connected together SERVO STEP MOTOR INDEXER TYPE SMI30 This diagram is used if an NPN output is connected 1 1 1 S Inductive i sensor i or similar I O 1 1 fe 1 A N f 1 1 4 I 5 30VDC NPN Output 1 i I i I 1 I Pi S I PowerSupply i 1 i i j 1 I i EE TT0110GB 2 3 1 2 3 2 General The Indexer is equipped with end of travel limit inputs denoted NL negative limit and PL positive limit The Inputs are together with I8 and HM Home input optically isolated from other Indexer circuitry All of these inputs have a common ground denoted I The End of travel Limit Inputs operate with voltages in the range 5 to 30VDC Note that the Inputs must normally receive a signal from a PNP output since a positive current must be applied for the Inputs to be activated Activation of the PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Activation of the NL Input will halt motor ope
125. er has the possibility to change program number change data or run the motor using the specified data If lt F1 gt is pressed the change program routine is run and the corresponding menu displayed if lt F2 gt is pressed the data change menu is shown and if lt F6 gt is pressed the motor runs the specified length and speed R1 CHOOSEN PROGRAMNUMBER R2 ABSOLUTE REGISTERPOINTER R3 ABSOLUTE REGISTERPOINTER WORK MR2 READ ALL REGISTERS SON 1 SET SERVO SIGNAL ON R1 1 SET PROGRAMNUMBER MENU AO3 1 CLEAR DISPLAY PRINT3 1 PRGNO PRINT MENU AND ACTUAL PRGNO PRINT3 0 R1 PRINT3 10 lt F1 gt CHANGE PRG PRINT3 41 lt F2 gt CHANGE DATA lt F6 gt MOVE READ_MENUKB R99 INPUT3 222 READ KEYBOARDINPUT IF R99 0 IF Fl IS PRESSED J CHANGE_PRGNO THEN JUMP TO CHANGE PRGNO IF R99 1 IF F2 IS PRESSED J CHANGE DATA THEN JUMP TO CHANGE DATA IF R99 5 IF F6 IS PRESSED J MOVE MOTOR THEN JUMP TO MOVE MOTOR J READ_MENUKB JUMP TO READ _MENUKB CHANGE_PRGNOAO3 1 CLEAR DISPLAY PRINT3 1 ACTUAL PRGNO PRINT3 0 R1 PRINT3 41 NEW PRGNO R99 INPUT3 255 READ INPUT FROM KEYBOARD IF R99 0 IF NO
126. ernal module from which input is required The ad dress parameter must be specified as a value between 0 and 31 The RS485 interface enables up to 32 modules to be connected to the interface The address of each mod ule must be set via DIP switches on the individual module n2 Specifies the register in the external module from which input is to be read n2 must be specified in the range 0 255 A JVL Input Output Module IOM11 that has 16 inputs and 8 outputs is used The Module address is 5 All 16 inputs are to be read and tested to determine if the value is 255 If this is the case the module Counter is read and the program continues In the instruction man ual for the IOM11 module the Counter register is specified as register 2 and the register for all 16 inputs is 3 READINP RLO INPUT5 2 READ ALL 16 INPUTS AND TRANSFER CONTENTS TO R10 IF R10 255 IF INPUTS NOT EQUAL TO 255 READ AGAIN J READ_COUNT J READINP SE READ COUNTER VALUE AND CONTINUE r PROGRA R30 INPUT5 3 READ COUNTER AND TRANSFER TO R30 T R READ COUNT R R1 R30 RANSFER COUNTER VALUE TO AN ARRAY R1 AS ARRAY POINTER EGISTER USING Read flag from external module I Only SMI31 and SMC35B I Stand by Programming Running The I command is used to read in data flags from external modules connected to the JVL bus RS485 interface It can be used to read in data from modul
127. es can be deleted using the CB22 1 command see CB22 Diverse flag page 114 Exit Programming M ode EXIT EXIT or PX Programming The EXIT or PX command is used to exit Programming Mode and set the Indexer to Stand by Mode A program can then be executed or a new program keyed in If JVL s MotoWare software is used for programming the Indexer this command should not be included in the program as MotoWare sends it automatically 72 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 37 Command Modes Description 3 4 38 Command Modes Description Usage Start Program execution GO GO Stand by Starts Program execution The GO command can also be used to complete a program ming sequence The command can be used when the Indexer is in Stand by Mode After the program has been started the only way to stop it is by sending the H Halt SH Soft Halt or STOP command Halt of Motor and Program H K H K Stand by Program Running This command is used to stop the motor at once regardless of velocity deceleration etc The Halt command has the highest priority since it stops program execution regardless of motor movement The Halt command is effective immediately i e as soon as the com mand is issued the Indexer is set to Standby Mode To begin program execution once more anew Execute command must be used The program will start from the beginning
128. es such a Keyboard Dis play thumbwheel BCD data from PLC equipment printer extra inputs digital to ana logue modules etc All of the above mentioned external modules are intelligent and will therefore contain flags whose contents can be read into the Indexer s registers using the Z command The size and number of flags in external modules may vary but each module has at least 1 flag Remember that all modules should have their own unique address Rx I nl n2 nl Specifies the address of the external module from which input is required The ad dress parameter must be specified as a value between 0 and 31 The RS485 interface enables up to 32 modules to be connected to the interface The address of each mod ule must be set via DIP switches on the individual module n2 Specifies the flag in the external module from which input is to be read n2 must be specified in the range 0 255 A JVL Input Output Module IOM11 is used and has address 2 START IF 12 3 1 IF INPUT3 ON IOM11 J RUN 7IS HIGH JUMP TO RUN IF 12 4 1 IF INPUT4 ON IOM11 J RUN 7IS HIGH JUMP TO RUN RUN SR 100 RUN MOTOR 100 PULSES WAIT RS 0 WAIT UNTIL MOTOR STOPPED 76 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 43 Command Modes Description Example J START JUMP BACK TO START RUN SR 0 100 RUN MOTOR 100 PULSES WAIT RS 0 WAIT UNTIL MOTOR STOPPED
129. executed using the GO com mand It is important to use the OnLine Editor during tests In the event of program errors the Controller sends error mes sages which are automatically displayed in the OnLine Editor Cancel Closes the dialogue box without any further action The program is sent WW The Program can be saved in non voilatile Memory for later use To debug the program open the On Line editor and type GO If the program is ready just run the program Run program at controller power up No Yes Save OnLine Editor Run Program OnLine Editor Save and run Program Cancel JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 39 3 3 Program Execution 3 3 5 Arithmetic expressions All registers can be assigned a value by following the register name with an equal to sign followed by an absolute value a register name or an arithmetic expression Ab solute values register values and the following four operators can be used in arithmetic expressions Arithmetic operators used in expressions addition subtraction ji multiplication division All calculations are performed as 32 bit integers 2 147 483 647 to 2 147 483 647 In tegers are signed and have approximately 10 significant digits The Indexer is equipped with 221 User Storage Registers which can be used for storing intermediate results etc These are designated RO R220 These registers can also be used a
130. f the command for details of the required command syntax ES It is not an instruction The Indexer has not received a proper command Example 4R If the Indexer is not using addressing this example will result in error ES Correction Use a proper command E6 Parameter error or out of range There is an error in the specified parameter or the parameter value is out of the allowable range Example SP 111111111111 or VM 8G7 Correction The Indexer cannot handle values as great as 7771711111111 in the first example Use a value within the allowable range In the second example parameter values must not contain alphabetic characters E6 Parameter error or out of range The Indexer has received a parameter value which must be an integer Example VM 1000 8 Correction Send the command specifying an integer value VM 1000 E7 Register number error or out of range Error in register number Example XP7777 or XP4F Correction In the first example use a register number in the allowable range In the second example register numbers must not contain alphabetic characters E8 Data can not be saved in EEPROM The data cannot be saved in the EEPROM the data read from the EEPROM are illegal a hardware or software error has occurred that prevents the CPU from communicating with the EEPROM or an illegal value is stored in the EEPROM caused by the ESTG com mand Correction Try to use the delete EEPROM command E9 Checksum error The
131. from logic 1 to 0 CB12 1 Interrupt level logic 0 Pulse interrupt If the level remains 0 the system will remain interrupted CB12 2 Interrupt level logic 0 Interrupt is disabled by the first measurement of 0 on Input 1 Interrupt enables at the next NSTOP command CB13 Trigger level flag for INT2 Trigger level at input 2 I2 when interrupt routine 2 INT2 is used Default for this flag 0 CB13 0 Interrupt at the falling edge when input 2 goes from logic 1 to 0 CB13 1 Interrupt level logic 0 Pulse interrupt If the level remains 0 the system will remain interrupted CB13 2 Interrupt level logic 0 Interrupt is disabled by the first measurement of 0 on Input 1 Interrupt enables at the next NSTOP command 112 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 5 Control Flags 3 5 14 3 5 15 3 5 16 3 5 17 3 5 18 3 5 19 CB14 Trigger level flag for INT3 Trigger level at input 3 13 when interrupt routine 3 INT3 is used Default for this flag 1 CB14 1 Interrupt at the rising edge when input 3 goes from logic 0 to 1 CB14 0 Interrupt at the falling edge when input 3 goes from logic 1 to 0 CB15 Servo alarm signal SALA flag Active level for servo alarm SALA Pin 7 SALA at driver control connector CB15 0 SALA signal disabled RS register can never be 5 CB15 1 SALA active high CB15 2 SALA active low default If the servo alarm is activated while the motor is
132. he line just after the JS command See also the Jump Sub command JS command page 78 RET Return from subroutine 92 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 68 Command Modes Description Usage Example 3 4 69 Register Modes Selection Range Description Return from interrupt RETI RETI Programming Running If the INT command has been used the program will jump to the INT routine when a specified input is activated When this routine is finished the RET7 command must be executed so that program execution can continue at the line just after it was interrupted See also the Interrupt INT command page 77 RETI Return from interrupt routine VM 1000 SET VELOCITY TO 1000 RPM START WAIT I8 1 WAL HERE FOR START SIGNAL AT INPUT 8 SR 100000 RUN A RELATIVE DISTANCE OF 100000 PULSES WAIT RS 0 WAI HERE UNTIL MOTOR HAS STOPPED J START JUMP TO START AND REPEAT PROGRA INT2 THIS INTERRUPT ROUTINE IS EXECUTED IF INPUT 2 IS ACTIVATED WAIT RS 0 WAIT HERE UNTIL MOTOR HAS STOPPED VM 2000 SET SPEED TO 2000 RP RETI TERMINATE INTERRUPT ROUTINE AND CONTINUE FROM THE PROGRAM LINE WHERE THE INTERRUPT 720 E User Register RI RI Standby
133. his is the case the program will stop The ERR command can also be used to change the Flag value by writing to the ERR reg ister Writing for instance ERR46 1 will cause bit 14 in error register ES2 to be setto 1 Thus a possible error routine can be tested for proper functioning without the error actu ally being present When an ERR command is activated it is possible to use it as an in terrupt function by use of the INT 100 147 command See the INT command Read out of Error Status ES ES Stand by Programming Running 0 1 and 2 During operation of a system various error conditions can arise Some errors can be at tributed to communication and set up error status register 0 and others attributed to hardware and motor control errors The error status can be read using the ES Error Sta tus command The command invokes the Indexer to transmit a series of zeroes 0 and ones 1 A quick overview of error messages is thus obtained and can also be interpreted by other software programs The separate EST command can be used to give an overview of text responses There are three error status registers ESO General errors caused by communication RS232 RS485 or commands that have bad syntax ES1 This register contains errors that have occurred while motor was running ES2 This register contains errors that have been discovered under program execution Bit 11 15 are critical errors that always are directly transmitted at the RS2
134. igger commands CB20 and CB21 because the input is connected directly to the signal processor and cannot be filtered by the microprocessor It is possible to perform digital filtering on inputs IN1 IN2 IN3 NL and PL CB38 Motor status RS when limit is activated only from version 1 7 Using this flag it is possible to determine whether the RS value is set to 0 or 7 when the limit input is activated Often a program is built up with the motor being started by an SR command and execution waits for the motor to finish with WAIT RS 0 If the limit in put is activated the motor has not completed its run but RS becomes 0 This can be prop erly regarded as an error condition and therefore RS should have a value other than 0 Using CB38 this can be changed so that RS is assigned the value 7 and it is thus possible to control program execution in this case Regardless of which mode is selected the mo tor will always stop when the limit inputs are activated Note that E11 is erased when the EST command is executed or when a new run command is executed RS will thus be set to 0 again 0 Default When NL or PL is activated the motor will stop and RS is 0 RS is 7 when error flag E11 limit switch activated is set RS is 7 when E12 limit switch active is set RS is 7 when E11 or E12 is set RS is 7 if operating in a positive direction and PL is activated or if operating in a negative direction and NL is activated CB39 Diverse flag
135. ing the Indexer will continue to generate pulses as if nothing has happened These pulses will be lost as the driver returns an error message If the RS 4 or RS 5 error lasts repeatedly up to 500 times the Indexer will give an E39 or E46 error message respectively If RS 4 or RS 5 occurs before a motor command is executed the Indexer will give an E39 or E46 error message respectively If RS 5 the program will also stop If the servo alarm is activated while the motor is running pulse generation will cease first when an attempt to start the motor again is made This is due to the fact that RS is updated when RS is read or prior to executing a motor command If it is required that RS is up dated once for each line the CB35 8 command is used Example Execution of a special program is required when error conditions occur The program be low can be used START VM 1000 SET VELOCITY TO 1000 RPM SR 10000 RUN A RELATIVE DISTANCE OF 1000 pulses WAIT IF RS 4 IF SERVODRIVE NOT IN POSITION J ERR39 7 JUMP TO ERROR ROUTINE IF RS 5 IF FATAL ERROR IN DRIVER J ERR47 JUMP TO ERROR ROUTINE IF RS gt 1 IF MOTOR ERROR OR RUNNING J WAIT JUMP TO TRY AGAIN D 200 NO ERROR PROGRAM CONTINUE HERE J START JUMP BACK TO START ERR39 PRINT255 1 ERROR 4 Print ERROR4 on RS232 J WAIT ERR47 PRINT255 1 ERROR 5 Print ERRORS on RS232 J WAIT 94 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description
136. instance if problems arise with the cable or port set up Note that the data transmission rate will be reduced 3 5 30 CB30 Modula Mode Turntable mode This flag is used for example when a turntable is used and it is desired to move to a fixed positive position angle and not a certain number of pulses The position counter will al ways contain a number between 0 and RX12 RX12 indicates how many pulses are need ed for one revolution If a servomotor with 8192 pulses is used a gear has a ratio of 10 1 and CON 1 0000 RX12 must be set to 81920 The position range is between 0 and 81919 Positioning must take place using the SP command If SP is set to SP 81920 and AP 0 the motor will not run as it is already at the desired position Using the CB30 flag it is possible to select whether operation should be clockwise coun ter clockwise or the shortest possible distance to the desired position CB30 0 Function disabled default CB30 1 Counter clockwise CB30 2 Clockwise CB30 3 Shortest possible distance See section 4 9 for program example 116 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 5 Control Flags 3 5 31 CB31 For internal use reserved 3 5 32 CB32 Set Read Interrupt status Flip Flop from version 1 7 Using this register it is possible to activate simulate an interrupt even though it has not occurred This can be used to test programs or to initiate an interrupt routine from a pro gram dependent con
137. ion acceleration If SH is used in a program it will only stop the motor and not the program execution Use the H command if the program must be stopped See also the Halt of Motor and Program H K command page 73 and the Stop motor STOP command page 106 SH Smooth halt of motor Command Command given in given in Standby Program mode Running Program Stopped TT0131GB Serial Number SN SN Standby Programming Running 0 65536 The serial number of the Indexer is shown using this command The number cannot be changed Available from version 2 0 of the firmware only Servo on SON SON Stand by Programming Running 0 1 This command is used to enable or disable the connected servo or step motor driver The command activates or deactivates the SON output placed at the 9 pole D SUB con nector called Driver The SON output is a NPN output and is set low if the command SON I is executed ON the SMC35 SON 1 must be set in order to make the internal driver active When the SMC35 is switched on the motor will be completely without current and no voltage will be applied If sensitive measuring equipment is located close to the motor SON 102 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description Usage 3 4 77 Command Modes Range Description Usage Example 3 4 78 Command Modes Range Description can be set to 0 while measurements ar
138. it Switch command 88 Trigger Level Flag for PL Input CB26 115 PNP output 15 17 Pointer functions 45 Position Reached Flag CB24 115 Positive Limit Switch PLS command 88 Trigger Level Flag for PL Input CB26 115 Power Supply 22 Capacitor 22 23 Supply Voltage VOL command 108 PR Encoder Pulses command 89 Prefix 47 PRINT Print to External Module com mand 89 90 159 Print to External Module PRINT com mand 89 90 159 Programming amp Programs 36 46 Command Description 28 29 47 109 Alphabetical Overview of Commands 129 131 Control Flags 110 122 Error Messages 124 127 Execution time of commands 159 PROGRAM Set Indexer to Program ming Mode command 90 Program Examples 149 158 Multi tasking 149 150 Test program quick start 10 153 Use of analogue input 151 152 Use of analogue output 152 Program execution GO command 73 Program Exit PX command 72 Program flow 42 44 68 74 78 92 93 Programming the Indexer using Moto ware 37 39 Recall Program MR1 command 81 Save Program MS1 command 81 Set Indexer to Programming Mode PROGRAM command 90 PS Output 24 25 Pull up resistor 15 17 Pulse Input Format PIF command 88 PX Program EXIT command 72 Q Question mark See Show set up command 48 Quick Start Test program 10 153 R R User Register command 91 RO R220 See User Registers Range 47 RB User Register command 92 Read data from external module INPUT command 75 Read Flag from external module I
139. ith any command during communication with the Indexer It is also possible to connect several Indexers to the same interface bus In this case each Indexer must be assigned its own unique address in the range 1 255 This is done by writing an address command to each Indexer and connecting all Indexers in parallel to the same RS232 RS485 port When the address is changed it will be effective immediately and be stored in the EEP ROM so that the address is remembered also at power down Commands can then be sent to each individual Indexer by preceding each command with the respective address be tween 1 and 255 The number of Indexers that can be simultaneously controlled is how ever dependent on the system hardware Note If the address of an Indexer has been forgotten the Indexer Type command page 48 can be used ADDR x Set address to x ADDR Show address 5SR 1000 Send command SR 1000 to Indexer with address 5 Y Y is received in return as an indication that the command is received 5R1 Ask Indexer with address 5 for the value of R1 R1 1000 Indexer returns R1 1000 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 51 3 4 Command Description 3 4 8 Command Modes Range Description Usage Example 1 Example 2 Analogue input All Al2 AIl or AI2 Stand by Programming Running 0 16383 The AIl and AI2 commands refer to the two analogue inputs These commands make it possible to read
140. ith common ground CLK 2 DIR 4 GND 5 146 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 147 4 8 Accessories Accessories etc for SM130 31 and SMC35A B Software MotoWare Cables RS232 9 1 RS232 9 a b Programming and setup SoftWare for Windows 95 98 2000 NT Standard 3m RS232 programming cable RS232 cable for multipoint a number of units b length of cable 3 or 5 meter Yask SMI30 SGDA Cable for Yaskawa SGDE SGDA Yask SMI30 SGDB Cable for Yaskawa SGDB SGDH SMI30CON D Sub connector for driver or controller connection Extension Modules KDM10T KDM10D Keyboard Display module for 19 rack D version or panel mounting T version IOM11 Input Output module 16 extra inputs and 8 extra outputs for mounting in 19 rack DIS11 Panel Mounting LED display Power Supplies PSU24 1 24VDC 100W Power Supply for Indexer controller and In and Outputs PSU80 2 80VDC 200W power supply for SMC35x controller 115 or 230 VAC input KITPSU80 2 Transformer capacitor diodes for low cost 80VDC power sup ply Step motors for SMC35x SMC35B is used if the motor is connected in parallel 3Amp controller SMC35A can be used if the motor is connected in series MST171A01 High torque step motor 200 step rev 0 3Nm 1 9Amp MST172A01 High torque step motor 200 step rev 0 56Nm 1 9Amp MST230B01 High torque step motor 20
141. ith the velocity and run the distance corresponding to VM and SR SMI30 31 Yaskawa SGDx xxVP X selectable TT0125GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 143 4 6 Connection to J VL step motor driver Step Motor Driver Type SMD10 11 15 30 Oo Oo O JVL INDUSTRI ELEKTRONIK Ho o H A Note screen only R oF A connectedto signal receiver P4H o B oF B meg ogl ele cko MIs Smeg oF DIO gt INT R o STA CaA gt IN2 Wo o ERR PS sei CLK Saare se DiRe ss Ha y AG SON l log ej i DiR STH o 55 GND ay cso ie S10 cwwH 2 a CA CW He B 5V CON15 OF OC Oo TT0122GB 4 6 1 Connecting a J VL step motor driver SM D10 11 15 30 The illustration above shows how to connect a JVL step motor driver SMD10 11 15 30 to the Indexer It is recommended that shielded cable is used with the shield connected to GND Pin 5 on the SMI30 31 Do not use cable lengths lo
142. k A S User Manual SMI30 31 and SMC35A B 4 5 Connection to Yaskawa servo drives eo Yaskawa sapea Pin 7 e Pin 11 Pin 1 8 12 26 32 Pin 47 Q OF Pin 31 OO Pin 25 O Pin 40 5 O onoo DRIVER OPL FA SALA l7 e of e SONZ Tine ep DRs ao LY 4 5 2 Connecting a Yaskawa SGDB SGDH driver The illustration above shows how to connect a Yaskawa sigma driver type SGDB SGDH to the Indexer It is recommended that shielded cable is used with the shield connected to GND Pin 5 on the SMI30 31 Do not use cable lengths longer than 2 meters Cable order no YASK SMI30 SGDB H JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 141 4 5 Connection to Yaskawa servo drives O Smi3o YaskawaDR2 Pin 7 is PA Pin 47 ae Pin 40 XO DRIVER e o PS Ge saa AT Suk Gh Sony tes gi oir 5 ND Co 4 5 3 Connecting a Yaskawa DR2 driver The illustration shows how to connect a Yaskawa driver type DR2 to the Indexer It is recommended that shielded cable is used with the shield connected to GND Pin 5 on the SMI30 31 Do not use cable lengths longer than 2 meters Cable order no YASK SMI30 DR2 142 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A
143. l SMI30 31 and SMC35A B 81 3 4 Command Description Usage without the need for current to retain the data The Memory Save program MSI command is used to store the Indexer program in the permanent memory Only one program can be stored in permanent memory at a time If the MRI register is set to 1 the program stored in permanent memory is automatically recalled and executed when the Indexer is switched on Note Storage should not be made more than 100 000 times to the EEP ROM See also Save user registers MS2 page 83 MS1 Save program in EEPROM 82 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 54 Command Modes Description Usage 3 4 55 Command Modes Range Default Description Usage Save user registers MS2 MS2 Stand by Programming Running The user registers RO to R220 can be permanently stored in non volatile EEPROM mem ory i e without the need for current to retain the data The Memory Save register MS2 command is used to store the registers in the permanent memory The predefined regis ters for example VM cannot be saved in permanent memory MS2 Save all registers RO to R220 in EEPROM Note The MS2 command must not be used in a program in such a way that a register is repeatedly being stored Writing more than 100 000 times to the EEPROM must be avoided Negative Limit Switch NLS NLS Stand by Programming
144. lag CB18 113 Interrupt Controlled Stop NSTOP com mand 85 86 Trigger Level Flag for NL Input CB25 115 Trigger Level Flag for PL Input CB26 115 Interrupt status 117 INV 42 J J Jump command 44 78 159 JS Jump Subroutine command 44 78 159 Jump command 44 78 159 172 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Index Jump Subroutine command 44 78 159 JVL Step Motor Driver 144 L Labels See the J and JS commands and Moto ware LEDs Status and Error Indication 138 Less than ooperator lt 41 Less than or equal to operator lt 41 Limit Inputs 16 161 LINE Verify Line Number command 79 Line Number Verify Line Number LINE command 79 Logic Operations 42 Logical Operators 41 M Macro Functions MAKRO command 79 MAKRO Macro Functions command 79 Maximum Velocity VM command 107 159 MCHS Memory Checksum command 80 MEM Show Used Memory command 80 Memory Checksum MCHS command 80 Memory Show Used Memory MEM com mand 80 Ministeps 89 Mode 47 Motor Connection 20 21 164 165 Motor Current at Standby CS commands 61 Motor Current when Running CT com mand 61 62 Motor in Position COIN Flag CB16 113 Motor Phases 20 MotoWare 37 39 MRI Recall Program command 81 MR2 Recall Registers command 81 MS1 Save Program command 81 MS2 Save User Registers command 83 Multiplication operator 41 Multi tasking 149 150 N Negative Limit Switch NLS co
145. le to control 2 motors using the same program Both motors are controlled independent of one another but not simultaneously In addition it is possible to operate both motors fully synchronously The advantage of this method over 2 individual 1 axis controllers is the cost saving in having only 1 program Since a 1 axis controller is used in this case the motors cannot be controlled inter de pendently For example linear or circular interpolation is not possible By changing CB36 throughout a program an internal axis external axis or both axes be selected If only the internal axis is selected the built in step motor driver is used No pulse direc tion signals will be output to the CONTROL connector external axis Conversely if the external axis is selected pulse direction signal will only appear at the CONTROL con nector In this way an external step or servo driver can be controlled With both axes ac tive simultaneously it is possible to operate 2 motor synchronously Chopper frequency from version 1 8 Motors with very little inertia e g disc motors can operate more smoothly if the chopper frequency is doubled Doubling the chopper frequency means that the current is regulated more precisely and thus results in better regulation of the motor Noise levels can also be reduced slightly by operating at double chopper frequency The disadvantage is that the motor and controller become warmer so normally a chopper frequency of 20Khz m
146. lue x x 0 255 86 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description Examples Sent to Indexer Ou Received from Indexer Y Sent to Indexer OU Received from Indexer OU Sent to Indexer OU Received from Indexer OU Sent to Indexer OUT Received from Indexer Y Sent to Indexer OUT Received from Indexer Y t 1010 p m T T 00001010 Sets outputs to 00001010 All digits to the left of msb will be set to 0 Read outputs Note bit 0 is the rightmost digit LSB Sets all outputs to 1 Sets O3 to 1 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 87 3 4 Command Description 3 4 59 Command Modes Range Default Description 3 4 60 Command Modes Range Default Description Pulse Input Format PIF PIF Stand by Programming Running 1 Normal or 2 Encoder 1 normal This command determines the input format of inputs 7 and 8 If the format is set to 1 PIF 1 inputs 7 and 8 function as normal inputs If the format is set to 2 PIF 2 inputs 7 and 8 are dedicated as encoder inputs See also Counter mode CTM2 page 65 Positive Limit Switch PLS PLS Stand by Programming Running 1 enabled or 2 disabled 2 disabled The PL and NL Inputs function as end of travel limits If the motor is moving in a posi tive direction and PL is activated the motor is stopped at once The NL Inp
147. me and address JVL Industri Elektronik A S Blokken 42 DK 3460 Birker d Tif 45 45 82 44 40 Fax 45 45 82 55 50 E mail jvl jvl dk Internet http www jvl dk Conformance to the following standards Emission EN50081 2 1993 Immunity EN50082 2 1994 Supplementary Information The product complies only with the requirements of the EWC Directive 89 336 EEC July 2000 Bo V Jessen Head of Development LB0169GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 167 168 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Index Subtraction operator 41 Symbols Indexer type command 48 51 Binary notation 41 Delete EEPROM command 49 Multiplication operator 41 Addition operator 41 Division operator 41 Semi Colon Command Delimiter 29 34 lt Less than operator 41 lt Less than or equal to operator 41 lt gt Not equal to operator 41 Equal to value assignment operator 41 gt Great than operator 41 gt Greater than or equal to operator 41 Show set up command 48 Numerics 1 axis mode program example 155 1 axis Control Flag CB36 120 A AC Acceleration command 49 159 Acceleration AC command 49 159 Acceleration pulses ACP command 49 Acceleration time ACT command 50 ACP Acceleration pulses command 49 ACT Acceleration time command 50 Activate flag in external module AO com mand 53 159 Actual Position AP
148. mmand 83 Trigger Level Flag for NL Input CB25 115 NLS Negative Limit Switch command 83 Trigger Level Flag for NL Input CB25 115 Noise 19 Noise emission 19 Not equal to operator lt gt 41 NPN output 15 17 NSTART Interrupt Controlled Start com mand 84 85 NSTART Trigger Level Flag CB18 113 NSTOP Interrupt Controlled Stop com mand 85 86 Trigger Level Flag for NL Input CB25 115 Trigger Level Flag for PL Input CB26 115 O Operators Arithmetic Operators 40 Logical Operators 41 Precedence 41 Optical isolation 15 18 26 27 OR operator 41 ORL 42 OUT Read Set Status of Outputs com mand 86 87 159 Outputs Analogue Output 27 54 152 161 CLK 24 25 COIN 24 25 COIN Motor in Position Flag CB16 113 DIR 24 25 Driver Outputs 24 Enable Running Output 08 Flag CB17 113 Error at User Output Flag CB6 110 GND 24 25 Output Error Flag CB7 111 PS 24 25 Read Set Status of User Outputs OUT command 86 87 SALA 24 25 SALA Signal Flag CB15 113 SON 24 25 User Outputs 18 Overload Voltage 22 23 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 173 Index Overview of Commands 129 131 P P terminal 22 23 161 P terminal 22 23 161 Parallel connection of motor phases 20 21 Pausing program execution See the Delay D command PC 28 30 31 35 81 89 90 99 118 119 160 Connection of Indexer to a PC 30 Phases 20 PIF Pulse Input Format command 88 PLC 7 75 76 111 119 160 161 PLS Positive Lim
149. mode Correction Do not use the command in standby mode E17 Memory full EEPROM The memory is full and cannot contain any more commands Correction Reduce the size of the program erase blank lines and try to use commands that use little memory See Alphabetical Overview of Commands page 129 for command list E18 Command not allowed Program is running A command has been used which is not allowed because the program is running Example WAIT INI 1 Correction Use a valid command See Alphabetical Overview of Commands page 129 for a com plete list of valid commands E19 Command not allowed in programming mode A command has been used which is not allowed because the indexer is in programming mode Example PE Correction Use a valid command The PE command changes mode from standby mode to pro gramming mode It is not allowed to change from programming mode to program ming mode See Alphabetical Overview of Commands page 129 for a complete list of valid commands JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 125 3 6 Error Messages E20 Command not allowed Motor is running A command has been used which is not allowed because the motor is running Example SR 4000 Correction Use a valid command The SR command runs the motor and is not allowed when the motor is already running See Alphabetical Overview of Commands page 129 for complete list of which commands can be used E21 No
150. nd system using these values It is also possible to recall the program automatically at power up Note that each time the MRI command is used to load a program from permanent memory into working memory any instructions in the Indexer s working memory will be erased Restore status Do not recall program at power up Recall program and execute at power up Recall program now but not at power up Recall program now and at power up After power up the program is executed Recall program now and send it in a special format via RS232 to PC Moto Ware MotoWare will then receive the program and save it on disk if required The program can also be transferred to another unit using the special CB41 and PROGRAM command from version 1 7 ieee ss ll Pal MRI Show restore status Recall Registers MR2 MR2 Stand by Programming Running The user registers RO R220 can be permanently stored in non volatile EEPROM mem ory i e without the need for current to retain the data The Memory Recall Register com mand MR2 is used to recall all 220 registers from the EEPROM memory MR2 Recall all user registers RO to R220 Save Program and user registers MS MS Stand by Saves program and user registers Performs the same operation as if MS1 and MS2 were used simultaneously Save Program MS1 MSI Stand by An Indexer program can be permanently stored in non volatile EEPROM memory i e JVL Industri Elektronik A S User Manua
151. nently connected to a PC via the RS232 RS485 interface The Program must be aborted by use of the Halt of Motor and Program H K command page 73 or the Smooth Halt of Motor SH command page 102 The position is specified in terms of pulses The motor s instantaneous position can be read regardless of whether it is running or stationary When a new position is set up the motor moves to the new position using the pre programmed velocity profile See the fol lowing commands Acceleration AC page 49 Start Rate VS page 108 and Maximum Velocity VM page 107 Motor operation can use a programmed velocity profile by programming a maximum ve locity and acceleration In this mode when the motor is operated to move to a new posi tion it will operate using the programmed velocity profile and the profile will always follow the acceleration deceleration values This means that the motor may not always attain maximum velocity if the distance is short Motor status can be read using the Re port Motor Status RS command page 94 At any time the motor can be stopped using either the Halt of Motor and Program H K command page 73 or the Smooth Halt of Motor SH command page 102 Note In order to achieve the correct velocity and acceleration the number of encoder pulses per revolution must be set up using the Pulses per revolution PR command page 89 Set a maximum velocity using the Maximum Velocity VM command page 107 If necessary
152. nger than 2 meters Remember to set the Pulses rev command PR according to the driver s pulses rev settings Step Motor Driver Type SMD10 11 15 30 Qo Q O JVL INDUSTRI ELEKTRONIK foyod At 10k 0 5W Notet soreenoniy Pris e Hi r BC547B STRAN S Pe EE 4 B 3 9k 0 5W of B l0 Ha jE Driver et B i 50 of IN R sf STA IN2 ie of An ist e To Spore a SS EH ALES cCwWw H 2 o H CA cw ho A 5V CON15 GO O If it is required that the ERR Error output is used so that the SMI30 can report if the driver produces an error special cable WI0020 2m must be used The Error signal is inverted to that it matches the level at the SALA input When using the W10020 cable remember to set CB15 0 144 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 6 Connection to J VL step motor driver A power dump resistor may be mounted 33 50 Ohm 50W 3 i E Resolution ame 15 50kHz Filter ON OFF Screen connected to digital GND as close to SMD41 as possible AN Ti SMI30 31 DRIVER 11 gt G6ND 9 1 2 gt 20V 80VDC CO 3 Motor A I 7 Screen gt i 604 Motori T SO 5 Motor B lt O 6 Motor B I Power Dump 4 Direction TT0017 Resistor values selected in accordance with table in section Adjustment of Motor Current in SMD41 manual 4 6 2 Connecting
153. nik A S User Manual SMI30 31 and SMC35A B 3 3 Program Execution 3 3 10 Error messages during programming and program execution Three types of error message can occur during programming and program execution grammatical errors syntactic errors and errors during execution runtime errors A check for grammatical errors is carried out immediately during transfer of a program to the Indexer A check is made to ensure that the individual commands and operators exist that absolute values are not too large etc A check is also made to ensure that commands are used in the correct context For example the following program line AC H will result in the error message E6 Parameter error or out of range The H command is not of the register type When a program is transferred via the MotoWare program editor and an error occurs transfer is interrupted and the line containing the error is highlighted When a program is interpreted during execution any syntax errors are found while the program is in use During testing therefore it is important to use MotoWare with the On Line editor window open During execution the Controller will automatically transmit any error messages The following is an example START VM 500 JS CALC J START CALC VM VM 5 J START This line has incorrect syntax Use RET in this line The above program segment will result in the error message E34 Too many gosub max 32 The Indexer has detec
154. nnection of the motor phases is typically determined by the speed requirements of the actual system If slow speeds are required typically less than 1 kHz the motor phases can be connected in serial For operation at higher speeds greater than 1 kHz the motor phases can be connected in parallel 20 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 6 Connection of Motor SMC35 only 2 6 3 2 6 4 Serial Connection Using serial connection of the phases a motor provides the same performance up to 1kHz as parallel connection but using only approximately half the current This can in fluence the selection of Controller model and enables a Controller rated for a lower motor current to be used See illustration on previous page If the phases of a 4 phase step motor are connected in series the motor s rated phase cur rent should be divided by 1 41 For example if the rated current is 4 2A the maximum setting of the Controller phase current must not exceed 3 A when the motor phases are connected in series Parallel Connection With parallel connection of motor phases a motor will provide better performance at fre quencies greater than 1kHz compared to serially connected phases but requires approx imately twice the current This can influence the choice of Controller since it is necessary to select a Controller that can supply twice the current used for serial phase connection See illustration
155. nnections SMI30 31 Connectors Home Input End of travel Inputs User Inputs Power Supply in Analogue Inputs Analogue Output JVL bus interface Only available on Indexer type SMI31 User Outputs SMC35 Connectors Home Input End of travel Inputs User Inputs Power Supply in Analogue Inputs Analogue Output JVL bus interface Only available onSMC35B User Outputs tronik Y C POWER PROGRAM MOTOR ERROR Industri El Gagaga all ajo TYPE SMI30 SERVO STEP MOTOR INDEXER RS232 Interface RS485 Interface For programming etc Driver ojja jjo Pulse direction status etc Connected to the servo or step motor driver ecacecg o i aea alfa it 2 S a o Industri BektronikY Step Motor Controller SMC3x Cc POWER C_I PROGRAM CI MOTOR _JERROR Motor Output A2or 4 phase step motor can be connected to this connector RS232 Interface RS485 Interface For programming etc Jor L_Jo2 HJH o Control connector kelo Pulse direction and other Rel 105 relevant signals are availabl
156. nsing labelling e 2 models SMC35A 3A 20 80VDC or SMC35B 6A e Extremely fast start stop reaction times 20 80VDC with JVL bus e Programmed via the well known Windows e Program stored in EEPROM based MotoWare program e Large velocity range 0 to 2 000 000 pulses sec e Can operate with all 2 or 4 phase step motors Connection of up to 32 indexers on the same RS232 e Selection of ministep resolution via software 485 interface bus e Advanced all digital with built in u PLC e Absolute Relative positioning e Encoder inputs for monitoring of position 11 inputs 8 outputs end of travel inputs high speed and stall of motor counter encoder inputs e Stores up to 15 errors e All generally used I O monitored by light emitting e CE approved Low EMI diodes e 2 analogue inputs and 1 analogue output 0 e Small physical dimensions SVDC e Plugable screw connector e User outputs can deliver up to0 7Amp per Can be mounted on a surface channel i e external relays can be avoided Electronic gear can be coupled in out JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 1 3 SM130 31 Indexer Front Panel S A A Industri Elektronik Y aN C
157. nt Panel The 8 user inputs are available at this connector Additionally the HE end of travel limit inputs and the to Home input are available at this connector os The status of each input is displayed SFs ir at the corresponding LED ae K o HE ik o k o F o This connector includes power input 2 analogue inputs and 1 analogue output For the SMC35B the JVL bus interface is also available XT The 8 user outputs are available at this connector The status of each output is displayed at the corresponding LED Additionally cE WE Industri BektronikY Step Motor Controller SMC3x POWER PROGRAM MOTOR ERROR the LED OE indicates if one of the outputs has been short circuited Etiket HEHEHHE G TT0159GB Indicates Controller is switched on Indicates program is running Indicates motor is running Indicates an error has occurred Motor Output A 2 or 4 phase step motor can be connected to this connector Please notice that up to 90V can be present at these terminals SUB D 9 Pole Female Interface connector Connected to PC or terminal for set up programming of Controller SUB D 9 Pole Male Control conn
158. ntroller NE Pulse output Filter and Voltage F balanced 10 85VDC fuse 3 Power Supply gt monitoring ve Direction output 4 balanced Reset and temperature gt RISCprocessor Step Motor monitoring SMC35A 3A phase SMC35B 6A phase RS232 RS485 Transceiver Opto coupler Controlsignals i e i Programming 4 6 for motordriver interface a Y 8 Basis inputs Opto coupler 8 Basis outputs lt a ee GD Program Processor 2 End of travel inputs Opto coupler 1 Zero point seek input Analogue output q 0 5V J VL module bus To Keyboard display extra I O etc 0 5V Analogue input NV D Converter 8 Bit 0 5V Analogue input 17015868 E Btended functions in SMC35B Type overview Motor Current JVL Module bus SMC35A 3 A RMS per phase No SMC35B 6 A RMS per phase Yes e Ultra compact Step Motor Controller up to Positioning range from 2 1 billion to 2 1billion 6A 80VDC e Multipoint control so that 1 master SMC35 can send e Indexer and driver in one unit data to up to 31 slaves e g SMI30 SMC35 DMC10 e 14 axis controller for control of 2 motors and AMC10 12 from the same program e Multitasking system with possibility for changing e Special modes for solving tasks involving vel acc outputs etc with motor running dispe
159. ommand is transmitted followed by a checksum The checksum consists of two characters The checksum is a simple check sum and is calculated in the following way First the ASCII value of each of the charac ters in the command line is determined These values are summed and the two least significant characters the least significant byte of the result s hexadecimal value are used The two least significant digits are converted to ASCII values and transmitted along with the command line The actual calculation in this example is as follow 50453 86 77 614 50 48 48 48 418 decimal 1A2 hexadecimal The checksum is thus A2 only the 2 least significant characters which is sent as ASCII 65 decimal and 50 decimal The hexadecimal characters a f can also be sent as capi tals i e can also be sent as ASCII 65 70 decimal In the event that the command string is corrupted during transmission the checksum will not correspond and the Indexer will report an error message E9 indicating that a check sum error has occurred The command string must then be re transmitted See the RS232 RS485 Interface Checksum CHS command page 56 for activation of the checksum function Parity Bit Error In the event that one byte is corrupted during transmission there will be a parity bit error and the indexer will report an error message E14 after the entire command has been re ceived The command string must be re transmitted JV
160. or The speed acceleration decelera tion and distance travelled can be controlled by sin gle commands received via the RS232 RS485 interface or by the program that has been download ed All general purpose inputs and outputs are optically isolated and protected against voltage overloads The Indexer is equipped with 8 general purpose outputs These can be configured for example to give a ready signal when the motor has reached its desired position or to give an error signal if an ob struction occurs that prevents motor operation The Indexer can be mounted on a surface M ain Features e Simple programming e Large speed range 1 2 000 000 pulses sec e Exact speed resolution 0 5 pulse sec e Small physical dimensions e Connection of up to 255 controllers on the same RS232 RS485 interface bus e Thermal protection e Absolute Relative positioning e EMC compliant construction CE approved e Analogue output 0 5V 1 16Bit e 2 Analogue inputs 0 5V 10Bit e End of travel limit inputs e 8 general purpose inputs optically isolated e 8 general purpose outputs optically isolated e Program stored in EEPROM e Handshake signals to the servo step driver e All general purpose I Os monitored by LEDs e Plugable screw connectors e Balanced pulse and direction outputs 6 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 1 2 Features SMC35 Block diagram of SMC35 Step Motor Co
161. or position to be printed to in the external module n3 Specifies the register numeric value or text string in the Indexer to be printed PRINT1 0 R23 Prints the contents of register R23 to the module whose interface address is 1 Since trans mission via the RS485 interface is balanced it is possible to locate external modules up to 500 metres from the Indexer PRINT255 0 TEST Prints the text TEST to a PC via the RS232 interface Address 255 is reserved as the address for PCs Note that the PRINT command can be used to print out register contents at run time It is especially well suited for debugging a program If JVL s MotoWare pro gram is used once the Indexer program has been transferred the online feature can be used to display when a PRINT command is executed at run time PRINT3 41 Key in Value When a Keyboard Display Module KDM10 is incorporated in a system it is often desir able to display information to the user The above example illustrates how text can be written to the module s LCD display In the example the address of the module is 3 The second parameter value is cursor position 41 which is the first character on line 2 of the display R1 5555 ASSIGN A VALUE OF 5555 TO REGISTER R1 R30 333 ASSIGN A VALUE OF 333 TO REGISTER R30 PRINT5 41 R1 PRIN HE CONTENTS OF REGISTER R1 TO CURSOR POSITION 41 OF A KDM10 MODULE WITH ADDRESS 5 PRINT2 0 R30 PRIN HE CONTENTS OF REGISTER R30 TO THE DISPLAY OF A DIS10 MODU
162. osition expressed in number of pulses APP APP Stand by Programming Running 2147483648 2147483647 pulses The motor position can be read at any given time The position is given in terms of pulses relative to the zero point APP is the desired position and not necessarily the motor posi tion There can be a difference if a servo motor is used and it has a positioning error dur ing running and standstill The position can be changed only when the motor is stationary JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 55 3 4 Command Description 3 4 13 Command Modes Range Description 3 4 14 3 4 15 Command Modes Selection Description Usage Baud Rate on RS232 RS485 Baud BAUD Stand by 1 8 This command is used to select the baud rate of the serial interface The table below shows the selectable values Baud Rate bits sec Databits 1200 9600 default 19200 reserved 1200 9600 19200 reserved 1 2 3 4 5 6 7 8 When the baud rate is changed the new baud rate is valid immediately The value is not stored in the Indexer EEPROM and will not be remembered after power has been switched off or Reset has been activated The default value is Baud 2 9600 bits sec odd parity 7 databits Control Bit CB1 CB31 See Control Flags page 110 RS232 RS485 Interface Checksum CHS CHS Standby Programming Running 0 no
163. peed Wait until the motor has reached its destination point Test inputs again Indexer SMI30 TT0148GB 152 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 9 Program examples 4 9 4 Test program quick start R1 0 Set register 1 to Zero START OUT 00000000 Reset all outputs OUT1 1 Turn on OUTIL D 30 Wait 0 3 sec OUT1 0 Turn off OUT1 OUT2 Turn on OUT2 D 30 Wait 0 3 sec OUT2 0 Turn off OUT2 OUT 3 Turn on OUT3 D 30 Wait 0 3 sec OUT 3 0 Turn off OUT3 OUT 4 Turn on OUT4 D 30 Wait 0 3 sec OUT 4 0 Turn off OUT4 OUT 5 Turn on OUTS D 30 Wait 0 3 sec OUT 5 0 Turn off OUTS OUT 6 Turn on OUT6 D 30 Wait 0 3 sec OUT 6 0 Turn off OUT6 OUT 7 Turn on OUT7 D 30 Wait 0 3 sec OUT 7 0 Turn off OUT7 OUT 8 1 Turn on OUTS D 30 Wait 0 3 sec SR 8000 Move 8000 pulses forward WAIT RS 0 Wait until motor has stopped SR 8000 7 Move 8000 pulses backward Wait RS 0 Wait until motor has stopped R1 R1 4 1 Inc Registerl IF R1 lt 5 If register R1 is less than 5 J START Jump to START ELSE J STOP STOP JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 153 4 9 Program examples 4 9 5 TurnM aster M ode Example VM 100 AC 100 SON CB30 1 Can also be 2 or
164. program in RAM If the temporary memory does not contain a program and the GO command is executed this error will occur Correction Load program and remember to store it permanently in the EEPROM Set MR 1 so that the program is started at power up or check the run at power up item in the program flow dialogue AMCxx or SMIxx E22 Command ignored Multicontrol or JVL bus communication error An error in the communication between the SMI Indexer and a connected module on the JVL bus has occurred or an error occurred between 2 SMI Indexers in multicontrol mode Correction Check cable and make it shorter if possible Use a screened cable Check that all units have their own unique address E23 Command ignored Multicontrol or JVL bus timeout The SMI Indexer has tried to send a command but has not received a reply Correction Check if the module is connected correctly and has been given the correct address corresponding to the command sent Check that all units have their own unique address E24 Unknown register flag on JVL Bus E25 Reserved E26 AC lower than 1 AC value changed to 1 E27 AC higher than 1250000 AC value changed to 1250000 E28 Reserved E29 AOUT parameter out of resolution range E30 Warning wrong supply voltage If the supply voltage is less than 10 VDC or higher than 32 VDC for the SMI3x or higher than 85 VDC for the SMC35 this error message will be given Correction Change the supply voltage to
165. put to INT10 PLS 2 INT10 Use PL input as normal interrupt controlled 7 a Normal input smooth stop of motor PLS 2 NSTOP 10 88 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 61 Command Modes Range Description Usage 3 4 62 Command Modes Range Description Pulses per revolution PR PR Stand by Programming Running 50 20000 see text SMI30 and SMC31 To achieve correct velocity of the motor the number of encoder pulses per revolution must be programmed The value specified must be the resolution specified for the encoder Note that many drivers internally multiply the number of encoder pulses by a factor 4 so that for example an encoder motor with a resolution of 500 pulses per revolution effec tively has a resolution of 2000 pulses per revolution If the motor is to rotate 1 revolution the positioning command must be based on the effective resolution of 2000 pulses Note that in a typical step motor system PR must be set to 200 for fullstep and 400 for halfstep operation See also Connection to Yaskawa servo drives page 140 Default val ue is PR 8192 SMC35 The following table shows the step resolutions that are available The values per revolution are based on a standard motor with 200 steps per revolution If motors different from 200 steps per revolution are used see RX 16 Mini steps revolution when 200 steps rev mo Type Mini steps full
166. r STOP command 106 Subroutines 44 92 Subtraction operator 41 Supply Voltage VOL command 108 Synchronisation 29 Syntactic errors 43 Syntax Command Syntax 28 System Default SD command 101 SZ Seek Zero Point command 106 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 175 Index Zero Search Flag CB27 116 VM Maximum Velocity command 107 T 159 Technical Data 134 135 VOL Supply Voltage command 108 Temperature TP command 107 Voltage Overload 22 23 26 Test program Quick Start 10 153 VS Start Rate command 108 159 Testing error routines using the ERR com WwW mand 69 Wait for Condition WAIT command 108 Timing Command Timing 159 159 Torque 21 Y TP Temperature command 107 Yaskawa Servo Drivers 140 143 Trigger Level Flag for INT1 CB12 112 Z Trigger Level Flag for INT2 CB13 112 Zero Search Flag CB27 116 Trigger Level Flag for INT3 CB14 113 Trigger Level Flag for NL Input CB25 115 Trigger Level Flag for PL Input CB26 115 Turntable Mode CB30 116 U Unipolar Motors 20 User Inputs 15 17 161 Disable Input Averaging Flag CB19 113 Encoder inputs See PIF command 88 High speed Start Trigger at IN1 Flag CB20 114 High speed Start Trigger at IN2 Flag CB21 114 Read Status of User Inputs IN com mand 75 User Outputs 18 Enable Running Output 08 Flag CB17 113 Error at User Output Flag CB6 110 Read Set Status of Outputs OUT com mand 86 87 User Output Error Mode Flag CB33 118 U
167. ram execution is line based A program can consist of up to 2000 program lines be ginning with line number 0 A program line is executed every 0 8 7 milliseconds The Indexer can thus take care of all the functions required in a step or servo system For ex ample it is possible to communicate via the RS232 interface when a program is executed The programming language itself is very simple and resembles BASIC The program is not compiled but is interpreted during execution This gives the advantage that in prin ciple only a terminal is required to program the Controller Use of Commands in a Program The inclusion of a command such as one of the show value commands will result in the returned value being sent over the RS232 interface For example if the current accel eration is 100 the command AC alone will result in the following string on the interface AC 100 The command AC 200 however will change the acceleration to 200 When a command is included in an arithmetic expression the value of the register is substituted into the expression For example the program line VM AC 00 will set the maximum velocity to the value of the acceleration plus 100 When register values are included in expressions in this way no account is taken of the implied units velocity and accelera tion in this case When for example velocity is changed using the VM command the effect on motor operation occurs instantaneously Changes in motor parameters m
168. ration if the motor is moving in a negative direction The motor can however operate in a positive direction even if the NL Input is activated An error message will be set in the Indexer s error register if either the NL or PL Inputs has been activated See Error Messages page 123 The NL and PL inputs can also be used as general inputs i e the same as IN1 8 See also the Positive Limit Switch PLS command page 88 and the Negative Limit Switch NLS command page 83 Connection of NPN Output To connect an end of travel input to an NPN output a Pull Up resistor must be connected between the Input and the supply See above illustration The size of the resistance de pends on the supply voltage used The following resistances are recommended Supply Voltage Recommended Resistance 5 12VDC 1kOhm 0 25W 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W 16 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 2 4 Home Input PNP Output Home Input cs CE Spessu Power Supply 5 30VDC Inductive sensor or similar C MOTOR C ERROR E HM OPL INL m 18 17 HOI 15 Note that end of travel inputs 11 8 and HM share a common ground I All the three ground terminals are connected together SERVO STEP MOTOR INDEXER TYPE SMI30 This diagram is used if an NPN
169. res that AP 1000 bit no 3 is also set Once for each program line execution in puts IN1 IN8 are read and if changes have Active occurred transmission is made via the level on RS232 IN 1 3 Note that level changes must be active for a period greater than the time taken to exe cute a line When interrupt trigger level for IN 1 3 CB12 14 is fulfilled the output level IN1 8 is transmitted on the RS232 Data are writ ten even though only a short pulse is ap plied to the input This function is often used when a PC or PLC is used in a system The function avoids having to spend time continuously querying the Indexer whether a task is complete or an input is set for example The Indexer automatically responds as soon as an event occurs CB35 can be used both when a program is executed and if commands are sent directly via the RS232 RS485 interface If addressing is used the command response will be pre fixed by the corresponding device address For example 1 AP 1000 for the device with ADDR 1 Several monitoring function can be used in parallel and are selected by writing the summed value to CB35 For example if bit 1 and 3 are required 2 8 are summed and the command is thus CB35 10 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 119 3 5 Control Flags 3 5 36 CB36 1 axis control and selection of chopper frequency SMC35B only Internal or external axis Using a 1 axis controller it is possib
170. ription Example 3 4 19 Command Modes Range Description Counter 1 Timer 1 divider CND1 CND1 Standby Programming Running 1 2 147 483 648 This command can only be used when counter 1 CN1 is set to mode 5 or 6 timer with divided frequency See the Counter mode CTM1 command page 63 An overrun in the counter will normally cause an interrupt and the routine INT7 will be executed if it is implemented in the actual program When the counter 1 is set to mode 5 or 6 the interrupt will first be accessed after the in terrupt has occurred the number of times specified by CND1 If the counter 1 CN1 is driven by the internal counter frequency of 921600 Hz the in terrupt will occur 14 times per second This also means that if an interrupt is requested each second the command CND1 14 must be executed In this example the INT7 routine will be called every 10 second START CTM1 5 SET TIMER TO DIVIDED FREQUENCY CND1 140 921600 65536 10 SECOND INT7 INT7 ROUTINE OUT8 1 D 100 OUT8 0 RETI RETURN TO MAIN PROGRAM Counter 2 timer 2 divider CND2 CND2 Standby Programming Running 1 2 147 483 648 This command can only be used when counter 2 CN2 is set to mode 5 or 6 timer with divided frequency or mode 7 analogue output See the Counter mode CTM2 com mand page 65 An overrun in the counter will normally cause an interrupt and the routine JNTS will be
171. ro gram is given by 100 the error number For example INT139 for E39 Warning Motor drive running Description of Error Messages E0 No errors No errors have occurred since the last request E1 Error The command string is not understandable or not allowed in the controller Example VXUSADF Results in error E1 Correction Carefully check the command sent to Indexer and compare with the description of the command given in this manual E2 Out of range The parameter value specified with the command is out of the allowable range Example VM 999999 The above command attempts to set the velocity to 999999 rpm which is outside the allowable range The Indexer therefore reports an E2 error Correction Specify a parameter value within the allowable range for the actual command E3 Number of parameters is wrong The number of parameters specified with the command is incorrect Example EST66 or SH9 Both of the above command examples will produce an E3 error Correction The EST command has only 1 register associated with it and can therefore only be called by specifying EST The SH command is only used to make the motor decelerate and therefore specifying a parameter has no meaning JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 123 3 6 Error Messages E4 Instruction does not exist The command given does not exist Example ABCDEF Correction Use a valid Indexer command See the description o
172. rogram from the On line editor using the GO com mand Motor LED Green The Motor LED is lit when the motor is running This is done if a motor command SR SP or SZ command is executed in run or standby mode Error LED Red The Error LED is lit when there is an error in the user output circuit an error in the ex ternal driver or an error in the program LED flashing once This indicates an error in a program when this was transferred to the Indexer When using the MotoWare software this will normally give an error message to the screen If no error message is shown on the screen look at the internal SMI30 31 error handling systems by typing EST in the Online editor See Error Messages page 123 for an error list and correction possibilities LED continuously lit The LED can be lit continuously if a fatal error has occurred See Error Messages page 123 for an error list 1 Ifa user output O1 O8 is short circuited Correction Remove power from the Indexer and fix the problem Turn power on again 2 Ifa servo driver reports an error to the Indexer This is done via the SALA pin in the driver control connector If the SALA is active when a motor command is ex ecuted the SMI30 will stop the motor program and turn the LED on Correction Turn power off and fix the problem in the servo driver 3 Fatal software error in the firmware A command has been transferred to the In dexer and the Indexer has not been able to understand
173. rror registers EST ESO ES1 and ES2 If the error message s is read using the EST command the flag is cleared after the register is empty No errors The flag is intended to be used as a quick reference to see if an error has occurred Default for this flag is 0 no errors CB9 RS232 communication flag CB9 1 Enable RS232 communication transmit when using address addr gt 0 de fault CB9 0 Disable RS232 communication transmit CB10 Default direction flag CB10 1 The direction output is inverted The motor will run in reverse direction CB10 0 Direction output is high if SR and low if SR default CB11 Disable error E43 E47 flag Disable fatal error E43 to E47 RS232 Error Message i Description E43 to E47 will stop program execution and motor Default Error message will be sent to the RS232 and Error LED will be lit Yes E43 to E47 are treated as common er rors Motor and program will not stop Er ror LED will flash once Error message will be sent to the RS232 E43 to E47 are treated as common er rors Error message will not be sent to RS232 and Error LED will flash once JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 111 3 5 Control Flags 3 5 12 3 5 13 CB12 Trigger level flag for INT1 Trigger level at input 1 I1 when interrupt routine 1 INT1 is used Default for this flag 0 CB12 0 Interrupt at the falling edge when input 1 goes
174. rt the motor Note also that the only commands that disable the high speed start input are H halt RE SET SD set default or simply setting CB20 0 The H halt and STOP instruction will disable the high speed start CB20 0 permanently in the same manner as RESET or SD set default CB20 1 ENABLE THE HIGH SPEED START RISING EDGE SR 1000 7 SE THE MAXIMUM DISTANCE THE MOTOR WILL NOT MOVE BY THIS COMMAND ITSELF ONLY WHEN THE INPUT i 1 IS ACTIVATED START OUT1 1 SET O1 THE MAIN PROGRAM STARTS HERE THE PROGRAM IS NOW EXECUTED AND THE HIGH SPEED START IS WORKING IN THE BACKGROUND CB21 High speed stop trigger at IN2 This flag can be used in applications where the motor must be stopped extremely fast no delay time when an external event happens e g when a sensor is activated Note that a stop is performed with the specified deceleration The high speed stop offers a reaction time of less than 100 us regardless of other activities in the Indexer The high speed stop functions exactly as the SH soft halt command CB21 0 High speed stop disabled default at power up CB21 1 High speed stop enabled triggering at the rising edge at IN2 CB21 2 High speed stop enabled triggering at the falling edge at IN2
175. s Values for the two currents are typically adjusted so that the Operating Current is significantly high er than the Standby Current since the motor must be supplied with more power to drive its load during acceleration and constant operation than when it is stationary The only overriding consideration that must be made in the adjustment of motor phase currents is that the thermal output of the motor must not exceed the maximum operating temperature of the step motor see the manufacturer s product data for the motor in question Inde pendent of which model of SMC35 is used the current will always be divisible by 64 6 bit resolution CT 4000 Sets the current at acceleration deceleration and at VM velocity to 4000mA CT Show the motor current when running JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 61 3 4 Command Description When mini step resolution is changed using the PR command the motor current is sinusoidal and the peak current will be greater than the specified CT current by a factor of 1 41 This is done to maintain the correct RMS current so that the motor is utilised 100 When the current in one phase is at the peak value 1 41 times the specified CT current current in the other phase will be zero Comparison between ministep and full step Current 150 FE Ministep 18r Pale E 7 Full step 504 Mim i 50 I I 100 be s r Sd 1
176. s 8 bit or 16 bit registers by using the RBO RB880 or the RIO RI440 command In addition the Indexer is equipped with predefined registers which can only be used for spe cific purposes Register VM for example is used to determine the motor top speed The user and predefined registers enable parameters such as lengths speeds acceleration delay times etc to be continuously changed and controlled during program execution In addition the User Register contents can be stored permanently in the Indexer s EEP ROM memory Example 1 R2 3000 Sets the value of register R2 to 3000 VM R2 100 Sets the Top Rate to 3100 pulses seconds for the next motor Operation Example 2 R34 400 Sets the value of register R34 to 400 D R34 AT1 Waits 400 A D conversion of Analogue input 1 Level x 10ms Example 3 R1 AP R2 Sets the value of R1 to value of the Position Counter in pulses R2 40 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 3 Program Execution 3 3 6 3 3 7 Example 4 R1 350 750 Sets the value of R1 to 1050 Example 5 R30 100 Sets the value of R30 to 100 R31 200 Sets the value of R31 to 200 R34 R30 R31 Sets the value of R34 to value of R30 R31 Note If the sign is used the number will be interpreted as a binary number consisting of zeros and ones For example OUT 00001111 or R1 10101010 or if the value should be read out as a binary number the following
177. s Units page a sp x x 48 Alphabetical Overview of Commands Show set up Show Indexer type and address X Delete EEPROM Acceleration 100000 Acceleration defined in pulses 100 000 Acceleration defined in time 10000 Address 255 Analogue input 1 16383 5 16383 V Analogue input 2 16383 AO n1 n2 Activate flag in external module AOUT Analogue output 65535 5 65535 V Motor s Actual Position in units 2 147 483 648 2 147 483 647 mK mK mK LK KL KL a e XK aaie e e a a a s a Units Actual position in pulses 2 147 483 648 2 147 483 647 Pulses Baud rate on RS232 RS485 8 bit sec Control Flag 40 Use checksum at RS232 RS485 1 Yes Counter timer 1 2 147 483 647 Pulses Counter timer 2 2 147 483 647 Pulses CND1 Divider for CN1 2 147 483 647 CND2 Divider for CN2 2 147 483 647 CO n1 n2 Clear flag in external module COMP Compare memory 1000 CON Conversion factor for distance 9999 9999 CTM1 Counter timer 1 mode 7 CTM2 Counter timer 2 mode 10 CV Show current Velocity CVI n Show velocity a DO a a a a s a a s a a Delay Global execute gt Used together with IF command Error bit n 0 47 Error status n 0 2 Error status in text
178. s manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing er rors or other omissions or discrepancies in this user manual MotoWare is a registered trademark of JVL Industri Elektronik A S JVL Industri Elektronik A S Blokken 42 DK 3460 Birkergd Denmark TIf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 1 Introduction This User Manual deals with the SMI30 31 Servo Step Motor In dexer and the SMC35A and SMC35B Step Motor Controller The 2 products are fundamentally the same The SMI3x Servo Step Motor Indexer series is a processor unit which requires an external driver to control the motor The SMC35 Step Motor Controller series includes a step motor driver which makes it a complete controller unit for step motors Allmost everything in this user manual is identical for the SMI3x and the SMC35 Very few additional commands are included in the SMC35 in order to control for example the motor current In hardware sections some specific pages describe the motor con nections Pages that differ between the SMI3x and the SMC35 are clearly marked Note This manual can only be used for firmware versions higher than V1 59a Type Controller JVL bus Conversion 1 axis factor SMC35A SMC35B SMC3
179. sbnedasaceenestedebosscesdenoossneobso loess uronasedotonsancalegrdscondbegansed ed 136 Status and Error iMG Catone s acsleeles E E A dedneghe anesensbsanderdehene desea sansaatsnnabeesessadesdusueleda cess 138 Common EIrors cnet teactecc E E E ania aden ia a naay T nicer antes 139 Connection to Yaskawa Servo rive aar Es EE E TE eE A EETA EIEEE dyd 140 Connection to JVL step motor driver asarin ra E AA AA OE ETE E A NEEE 144 Connection to other selected Arivers iensen ane e e O a E e ER E ria E AAE A T RE Ear ain 146 ACCESSORIES eien or E EE E betes ORE EEE EEE AE E EEO EEA EENE EEES 148 Program examples innen nnii aiei ee E AAE AAEE A SEAE E E E EEE E AS 149 Command Ng 53 2 serene or E E EE RO REN E A eee see N E 159 Connect oN tables 5 5 a E O E aE Raae soup tesa O E a n e a a AERE 161 Calculation Of motor MOVEMENE seses ana a e a r A e a Aer E E TERNES 163 Motor Connections SM C35 omy a E E E a nue A a aaa 164 Declaration Of C nformity osregi rrr E E A E erne E EE E EGE 166 WOR ATENEA AE E E E E E EEA EEEE EEA 169 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 1 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Copyright 1996 2002 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in thi
180. ser Registers 36 Recall Registers MR2 command 36 81 Save User Registers MS2 command 36 83 Special User Registers RX command 96 100 159 User Register R command 91 User Register RB command 92 User Register RI command 93 159 V Value assignment equal to operator 41 VE Firmware Version command 107 176 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B
181. ses CN2 0 Counter 1 mode divider CTM1 1 CND1 1 Counter 2 mode divider CTM2 1 CND2 8 Input HM PL NL I8 I1 IN 0 0 00000000 Output 08 01 OUT 00000000 Analogue input 1 Volt AIl 0 00 Analogue input 2 Volt AI2 0 00 Analogue output Volt AOUT 0 00 Input voltage P Volt VOL 25 05 Indexer Type Stand by This command an exclamation mark can be used to obtain information about the Index er type and its address The Indexer will reply to this command regardless of whether ad dressing or checksum is used Thus only 1 Indexer may be connected to the interface if this command is used without an address The command can be used alone or together with an address Show Indexer type and address Sent to Indexer Received from Indexer SMI30 ADDR 0 Note that the above is only an example If the Indexer is a type SMI31 the response would be SMI31 Similarly the address 0 in the above example will also depend on the actual address of the Indexer in question 48 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 3 Command Modes Description 3 4 4 Command Modes Range Description Usage 3 4 5 Command Modes Range Description Usage Delete EEPROM Ht Standby This command can be used to reset the content of the Indexer s permanent memory EEPROM Program error messages address and checksum data will
182. should be written OUT or R1 Operator precedence and order of evaluation The following table gives the rules of operator precedence and order of evaluation for op erators that can be used in arithmetic and or logical expressions Operators on the same line of the table have the same rank i e multiplication and division are ranked equal ly and an expression is evaluated from left to right For example 2 35 3 results in a value of 23 and 35 3 2 gives a value of 22 Operators that can be used in arithmetic and logical expressions Operator Order of evaluation me of left to right left to right lt gt lt gt lt gt left to right AND left to right OR left to right value assignment right to left Binary notation using the operator Using the operator it is possible to express a number in binary notation using zeroes or ones For example it can be practical to set the outputs in this way In addition it is pos sible to express an arbitrary number or register in binary notation by setting a after the register name Note R1 xxxx1111 is not allowed Examples Sent to Indexer Out 00001010 Outputs 2 and 4 set active Received from Indexer R1 10101010 Register R1 is assigned the value 170 Sent to Indexer Rl Received from Indexer R1 10101010 If IN 0001010 If Input 2 and 4 are high and the rest OUT1 1 jare low output 1 is activated If IN xxxxxx10 If input 1 is low
183. step tor is used SMC35x 1 2 4 8 200 400 800 1600 Use of higher step resolution minimises mechanical resonances and thus provides opti mum motor torque throughout the entire range of velocity Note that the motor s reso nances torque are also heavily determined by the supply voltage At high supply voltages optimum torque is achieved at high rates of revolution It is not recommended to change step resolution when the motor is running Default value is 8 ministeps full step or PR 1600 Contact JVL if a different step resolution is required PR x Set pulses per revolution PR Show pulses per revolution Print to external module PRINT Only SMI31 and SMC35B PRINT Stand by Programming Running Address 0 31 Register 0 65535 Value 0 65535 or text The Print command is used to print out the contents of registers to external modules At present print out to 4 external modules is possible to a PC via the RS232 interface and to JVL DIS10 KDM10 and IOM11 Modules via the JVL bus RS485 interface Remem ber that all modules should have their own unique address Command Format PRINTn1 n2 n3 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 89 3 4 Command Description Example I Example 2 Example 3 Example 4 3 4 63 Command Modes Description nl Specifies the address of the module to be printed to 1 31 Address 255 is re served for a PC n2 Specifies the register or curs
184. ted 32 JS commands without RET command The third type of error is those that occur during normal operation of a program that func tions These are not program errors as such but errors for example in the use of registers Assigning a value which is too great or too small to a register during online control will normally result in the error message E2 Out of range During program execution how ever this type of error will not generate error messages on the RS232 interface Instead information about previous errors is stored in a register which can be read using the EST command These types of error can thus be handled during program execution and there fore do not require the program to be stopped The following example illustrates how such errors can be avoided ESO 0 Clear any error messages AC 100000 Set acceleration to 100000 IF ESO gt 0 If error ESO is greater than 0 AC 50000 Set acceleration to 50000 resulting in the acceleration being set to 50000 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 43 3 3 Program Execution 3 3 11 3 3 12 J umping to program lines and the use of labels The Jump command J provides a facility for program control by jumping to a specified program line number The Jump command can only be understood correctly by the In dexer when it is used together with an absolute value for example J50 jump to line number 50 Using absolute line number values can giv
185. ted with the SMC35 and MotoWare Switch on the SMC35 The Power lamp should be lit Start MotoWare and set it to SMC35 mode by selecting SMC35 in the Set Up menu Controller specs Select OnLine Editor in the Applications Menu or from the Toolbox Key in SON 1 servo on This will enable the motor output Key in OUTI1 1 The green LED O1 on the front panel of the Indexer will be lit if 24 volts are connected to O and 0 volts connected to O In the OnLine Editor key in This will display status information giving all the current register values Inthe OnLine editor key in SR 1000 This will cause the motor to move 1000 puls es forward If this does not happen check the cable connection to the motor or adjust the current to the motor with the CS and CT commands When the motor runs return to the main menu Select Open from the File menu From the MotoWare directory select the test program Test_SMI mep and press OK Send the program by activating the Send button This test program activates the outputs in succession and moves the motor 8000 pulses forwards and backwards When this has taken place 5 times it will stop See Test program quick start page 153 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 11 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Hardware JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 13 2 1 Co
186. the RS485 interface The address of the Indexer is 1 and the KDM10 module address is 3 The Cursor on the KDM10 s LCD display is to be switched off If the cursor is active while text is being printed using the PRINT command the display may flicker This is avoided by switching off the cursor as follows CO3 3 Deactivate cursor The Indexer and an IOM10 module are connected in a system via the RS485 interface The IOM11 module s address is 5 The IOM11 s output 7 is to be de activated The com mand is as follows CO5 7 Deactivate output 7 on IOM11 module with address 5 Compare Memory COMP COMP Stand by 0 1000 The program which is in the permanent EEPROM memory is compared byte by byte with the program in the temporary memory If the two programs are identical a Y is returned If there is an error the response indicates in which line e g COMP 12 error in line 12 If there is no program in temporary memory the response E21 No program in RAM is given JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 59 3 4 Command Description 3 4 22 Command Modes Range Description Example Usage Conversion factor CON Only SMI31 and SMC35B CON Stand by Programming Running 0 0001 9999 9999 The CON command makes it possible to specify a conversion ratio between the number of pulses a motor moves and a unit of measurement such as length volume position etc The command
187. the WAIT or the IF command is the fast response time In addition precise repetition timing is obtained with the NSTOP com mand The typical response time for this command is 500 to 650 us The WAIT or IF command requires 0 5 ms If ultra high speed Start stop is required see CB20 High speed start trig ger at INI page 114 and CB2 High speed stop trigger at IN2 page 114 The following stop conditions are available input J Command Trigger condition disabled NSTOP 0 none Transition from logic 1 to 0 CB12 0 Default Logic 0 CB12 1 Logic 0 CB13 1 Transition from logic 1 to 0 CB13 0 Default Input 1 11 NSTOP 1 Input 2 12 NSTOP 2 Transition from logic 0 to 1 CB14 1 Default Transition from logic 1 to 0 CB14 0 Counter 1 CN1 NSTOP 7 Overflow in counter 1 from 65535 to 65536 Counter 2 CN2 NSTOP 8 Overflow in counter 2 from 65535 to 65536 Input 3 13 NSTOP 3 Transition from logic 0 to 1 CB25 0 Default Transition from logic 1 to 0 CB25 1 Transition from logic 0 to 1 CB26 0 Default Transition from logic 1 to 0 CB26 1 Input NL NSTOP 9 Input PL NSTOP 10 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 85 Command Description Example 2 3 4 58 Command Modes Description Usage NSTOP 1 Set input 1 as stop input
188. the command Correction Use the RESET command to restart the Indexer or turn power off and on Check the program carefully for syntax errors etc and send it again Please fax or e mail a description of the error to JVL 138 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 4 Common Errors During installation and use of the Indexer various errors may occur Information about many of these can be obtained from the Indexer itself using the EST command see Error Status Text EST page 72 Some error conditions are similar to other errors The fol lowing describes some of the most common errors and possible solutions JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 139 4 5 Connection to Yaskawa servo drives Connection table smi3o Yaskawa SGDE SGDA xxVP Pin 1 Pin 3 l Pin 2 4 10 19 35 Pin 13 O Pin 34 OXA Pin 8 amp Pin 14 OZS OPED DRIVER 3 G amp PS e G5 SALA 1 7 j Eis COIN I ll e SON rh of pDIR 4 5 1 Connecting a Yaskawa SGDE SGDA driver The illustration above shows how to connect a Yaskawa sigma driver type SGDE SGDA xxVP to the Indexer It is recommended that shielded cable is used with the shield con nected to GND Pin 5 on the SMI30 31 Do not use cable lengths longer than 2 meters Cable order no YASK SMI30 SGDA 140 JVL Industri Elektroni
189. timing page 159 See also Monitoring of inputs and errors page 46 and the Interrupt INT command page 77 for information on how to control program flow using interrupts 150 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 9 Program examples 4 9 2 Use of analogue input This program shows how to use the analogue inputs for variable speed in direction via a joystick 0 5 Volt connected to All Automatic mode via joystick and manual mode via inputs and preset distance Components used SMI30 SMD41 ministep driver step motor analogue joystick 5kOhm INIT PR 1600 Ministep resolution 1600 pulses rev R6 3 Use R6 to scale the analogue input AIl VM AI1 R6 OUT 0 Clear all 8 outputs VS 10 Start speed VM 300 Maximum velocity AC 1000 Acc deceleration in RPM s R4 2200 Analogue value where motor stands still R5 300 Dead band where motor must stand still R2 2700 Upper limit value R3 1700 Lower limit value CB2 0 8 BIT resolution with oversampling CB3 0 Value 0 16360 MAIN IF IN1 1 If manual mode selected J MANUAL Jump to MANUAL R1 AI1 R6 Read DA converter and divide by 3 IF R1 gt R2 If analogue value gt upper limit J MOTOR j run the motor in direction IF R1 lt R3 If analogue value lt upper limit J MOTOR run the motor in direction SH If in dead b
190. tputs activated 24VDC supply mA DC A Continued next page Loaded Current per Output User Outputs 01 O8 Overload Current 134 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 4 1 Technical Data SMI30 31 and SMC35 Description Min Typical Max Units Analogue Output AOUT Output voltage i 5 00 VDC Output current 5 0 mA Output resistance at 5V out Input Voltage nominal Input Impedance Time constant Precision Operating Temperature Range Storage Temperature Humidity non condensing Weight SMI30 Weight SMC35 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 135 4 2 Physical Dimensions 4 2 1 Physical Dimensions of SMI30 31 I 1 I I i EN FT TA I gt co l i SS i OD cm i ca SE i SS SS a a I 1100 co cs l oa oO ej ie mmm mmm mmm i I ae es ko Eaa Industri Elektronik W CI POWER C PROGRAM TO 4 2 C MOTOR TERROR 80 SERVO STEP MOTOR INDEXER TYPE SMI30 aaa Er 160 CEE EEE CL ESEEE gt fR u4 Je 144 o A Di CAHEN O 4 2 fear o FEER mn All measurements in mm 0 2 mm D0000000000000000 D0000000000000000 TT0101GB 136 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A
191. ulfilled the next line of the program is executed If the condition is not fulfilled the next line is omitted and execution continues from there The ELSE command can be combined with the ZF expression to provide more flexible possibilities Example 1 START IF R10 lt 9800 If the content of register R10 is less than OUTI 1 9800 activate output 1 J PROG2 Jump to label PROG2 Example 2 IF IN2 1 If Input2 is active J START Jump to label START SP 100 Set position to 100 START SP AP 50 Increase position by 50 IF AP 4000 If position has reached 4000 SP 100 Move to absolute position 100 ELSE Else SR 100 Move 100 pulses relative clockwise WAIT RS 0 J START Jump to label START where the position is increased The above program moves the motor 100 pulses and increases the motor position 50 puls es for each cycle until position 4000 is reached Then the motor is moved back to position 100 and the cycle is repeated 74 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 40 Command Modes Description Usage Example Example 3 4 41 Command Modes Description Read Status of Inputs IN IN Stand by Programming Running The Indexer has 8 inputs The status of these inputs can be read using the IN command as a single bit IN1 to IN8 or as an 8 bit value with a value from 0 255 IN IN Read inputs
192. ulses in CN2 for each revolution INIT CTM2 10 Encoder Mode CN2 0 Zero set encoder counter AP 0 START SR 400 Run one motor revolution Wait RS 0 Wait until motor is stopped If CN2 lt SR 5 J Error If CN2 2 SR 5 J Error J Start ERROR OUT1 1 Set output showing that motor is posi tioned wrongly SR SR CN2 Run the missing steps Wait RS 0 AP CN2 Correct position counter so it corresponds to the number of pulses run Current Velocity CV CV Stand by Programming Running The motor velocity in RPM can be read at any time using this command CV Show current velocity in RPM 66 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description 3 4 28 Command Modes Selection Description Current Frequency CVI CVI Stand by Programming Running 1 2 3 4 7 8 With this command it is possible to determine the frequency of a signal at digital inputs IN1 IN2 IN3 IN4 IN7 and IN8 When the command is executed a high to low transi tion on the input is awaited whereafter a timer is started which measures the following period time CVI is calculated according to the following formula Max waiting period Start of measurement cvix BX Hz 921600x t TT0128GB Measurement period t Using CB28 it is possible to select whether measurement should take place on fast fre quencies CB28 1 or on slow frequencies CB28 0 Note that timer 1 CN1 is
193. urn power off and fix the problem JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 127 3 6 Error Messages E45 Fatal case error Contact JVL This error will be given if there is a problem in the Indexer s firmware or a problem with the hardware Correction Check program or use the delete EEPROM command E46 ERROR Alarm signal from motor drive This error message will be given if the motor driver reports an error by activating the SALA input Correction Turn power off and fix the problem in the motor driver Check the cable Check if the SALA signal is connected properly or if not used disable the signal using the CB15 flag see CBI5 Servo alarm signal SALA flag page 113 E47 Unknown error Contact JVL This error will be given if there is a problem in the Indexer s firmware or a problem with the hardware Correction Check program or use the delete EEPROM command Note E43 E47 are fatal errors If they occur motor and program execution will stop immedi ately and the ERROR LED will light continuously If CB11 1 the ERROR LED will be switched off and program execution will continue This can be used when it is required to handle errors which occur in the motor driver for instance The error routine can for instance activate the output connected to the driver re set input 128 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 7 Com Description Default
194. us information giving all the current register values Inthe OnLine editor key in SR 1000 This will cause the motor to move 1000 puls es forward If this does not happen the Indexer will probably display errors E46 or E39 To solve the problem check the cable connection to the motor controller and the servo parameters When the motor runs return to the main menu Select Open from the File menu From the MotoWare directory select the test program Test SMI mcep and press OK Send the program by activating the Send button This test program activates the out puts in succession and moves the motor 8000 pulses forwards and backwards When this has taken place 5 times it will stop See Test program quick start page 153 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 1 6 Quick Start SMC35 a D0 Industri Elektronik Y Step Motor Controller SMC3x C POWER PROGRAM MOTOR ERROR O E HM O0 e NL 18 17 I6 fe H H HE Ee 15 HEN KG lH H 4 13 E le Oh n Pulse input Direction input felelelelelelelel 110167GB 1 6 1 H 1 2 ow to get star
195. used for measurement of time if CB28 0 See CB28 CVIx Frequency range page 116 Note CVI 7 and CVI 8 does not work in encoder mode PIF 2 or CTM2 10 o 1Hzto 7kHz cyx _RX11 cyix 221600 _ 1 RA 14Hz to 60kHz 921600 xt 921600 xt CVI expressed in Hz TT0149GB RX11 is set to 921600 in order to get CVI to be expressed in pulses sec RX11 can be changed if it is desired to have CVI expressed in another unit Pulses sec 921600 Rev min 27648 Rev sec 1843 Units in Rev min Units in Rev sec RX11 pane PIRTS x 60 RX11 KE TT0150GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 67 3 4 Command Description Example 3 4 29 Command Range Modes Description Example 3 4 30 Command Modes Description 3 4 31 Command Modes Description CVIis best suited for measurement of frequencies below 50kHz Measurement above this frequency will cause measurement errors The measurement period will have a tolerance of 8ms Note that as the frequency is measured for one period only the value shown will differ much if the frequency differs much from one period to the next This is for in stance the case if an encoder signal from a servo motor is measured If the frequency is too low an error bit 41 will be set CVI is then set to the VS value 1 RX11 921600 CVI CONTAINS VELOCITY IN PULSES SEC START CVI7 S
196. ust be used Operating with double chopper frequency is not recommended is the current is set higher than 2 5 3 Amp PF Chopper frequency internal External axis Internal axis CB36 0 Normal 20kHz CB36 1 Default CB36 2 Normal 20 kHz Normal 20kHz CB36 3 Normal 20kHz CB36 128 Double 40kHz CB36 129 Double 40kHz CB36 130 Double 40kHz CB36 131 Double 40kHz See section 4 9 6 for program example SMC35B step motor controller SMD41xx or other pulse direction driver i Pulse direction Control TT0173GB 120 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 5 Control Flags 3 5 37 3 5 38 3 5 39 CB37 Digital filtering on interrupt inputs only from version 1 7 Normally inputs are digitally filtered see CB19 but when an input is used as an interrupt input where fast response is expected only a pulse or a level shift is sufficient to activate the input When using interrupt input the input is only measured once and a noise pulse can unwantedly trigger the input Therefore it is possible to perform digital filtering on the interrupt input using this CB flag If CB37 0 the interrupt routine is directly execut ed If CB37 is preset to a value between 1 and 255 this value specifies the number of times the input is measured Each measurement takes approximately 5 4 us Note that digital filtering will not work together with high speed start stop tr
197. ust therefore be made with great care Examples of the use of commands in a program AC 330 Set acceleration to 330 RPM s VM 500 Set max velocity to 500 RPM SR 100000 Advance the motor 100000 pulses AP Show actual position via the RS232 interface User Registers All registers can be used for temporary storage of values Since some registers have direct effect on motor movement as mentioned above the Controller is equipped with 221 user definable 32 bit registers denoted RO R220 The memory space can also be used as 440 user definable 16 bit registers called RI or 880 user definable 8 bit registers called RB see RI and RB description All registers are signed integer These can be used freely to store intermediate value or can be used and included in arithmetic expressions in the same way as any other parameter such as the velocity VM or acceleration AC The user reg isters can store values in the range 2 147 483 647 to 2 147 483 647 and can be saved in the Controller s non volatile memory using the command MS2 When the contents of the user registers are saved in non volatile memory they must be recalled using the MR2 command before they can be used Examples of the use of user registers R1 R2 Set register 1 R1 equal to register 2 R2 R1 R1 R2 Divide R1 with R2 and save the result in R1 R3 R1 R2 Multiply R2 by R1 and save result in R3 R1 VM 10 Multiply VM by 10 and save the result in R1 36 JVL In
198. ut is the neg ative end of travel input The PL input can be set to active high PLS 1 and CB26 1 active low PLS 1 and CB26 0 or disabled PLS 2 For connection of the end of travel inputs see End of travel Limit Inputs page 16 Please note the following limitations when using the limit switch PLS 1 If PLS 1 it is not possible to use the PL input as a stop input in connection with the NSTOP command Neither is it possible to use the input as an interrupt input If one of these 2 modes is chosen the limit function will have the highest priority If the limit input is activated when a motor run command is being executed the command will be ignored and a bit will be set in the error status register Control bit 4 CB4 will go high when the limit input is activated The bit will first go low when a new motor run command is executed without the limit switch being activated If the user wants to make a controlled limit with proper deceleration this should be done with CB5 1 or with an interrupt program and the INT command See Interrupt INT page 77 Usage PLS x Set Positive Limit Switch to level 1 high or 2 disabled PLS Show Positive Limit Switch level Desired function Command Limit switch Transition from logic 1 to logic 0 stops motor PLS 1 CB26 1 Limit switch Transition from logic 0 to logic 1 stops motor PLS 1 CB26 0 Normal input Use PL as normal input PLS 2 Default Normal input Use PL as interrupt in
199. utput Error LED will be lit CB33 can be used to determine what happens to program execution and the outputs when this happens Output Error Output RS232 Motorand Outputs 1 8 LED Error OE Error 43 Program after LED text short cir cuit is re move Value as CB33 0 Flashing a before short circuit CB33 1 Value as Nochange Lit Flashing Yes Running before short Default circuit All outputs CB33 2 00000000 Lit Flashing Yes Stopped will be logic once SH 0 OUT 0 Value as CB34 3 No change Lit Flashing No Running before short circuit CB34 Reserved CB35 Acknowledge from the indexer to a PC that a command has been executed and that RS is updated continuously available from version 1 7 Using this flag it is possible for response commands to be automatically sent via the RS232 dependent on a change of user inputs or the motor has completed a reset or has moved to the required position The following is based on a program is being executed and the check will only be carried out once per line execution If the Indexer is in stand by mode and the program is there not being executed the function will be executed ap proximately 1000 times sec 118 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B Control Flags Examples of re Trigger sponse commands Position transferred when the motor is stopped AP transferred when RS goes from a value greater than 0 to 0 Normally requi
200. ve Limit Switch PLS command 88 Trigger Level Flag for NL Input CB25 115 Trigger Level Flag for PL Input CB26 115 Equal to value assignment operator 41 ERR Error Bit command 69 Error Output Error Flag CB7 111 Error Messages 43 124 127 Errors Common Errors 139 Communication errors see ESO com mand 69 71 Critical Errors 69 128 Disable Error E43 E47 Flag CB11 111 Diverse Flag CB22 114 Error at User Output Flag CB6 110 Error Bit ERR command 69 Error Messages 124 127 Error Status Text EST command 72 Error Status Text ESTG command 72 General Error Flag CB8 111 Monitoring inputs and errors 46 Read out of Error Status ES command 69 71 Status and Error Indication 138 Testing error routines using the ERR command 69 ES Read out of Error Status command 69 71 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 171 Index EST Error Status Text command 72 ESTG Error Status Text command 72 Diverse Flag CB22 114 Exclamation mark See Indexer type command 48 51 Execute Global Execute command E 68 Execution time of commands 159 EXIT Exit Programming Mode command 72 Exit Programming Mode EXIT command T External modules 53 59 75 76 89 90 159 F Factory default settings command 49 Factory Default Set up SD command 101 Firmware Version VE command 107 Flags Control Flags 110 122 Front Panel Overview 8 G Galvanic isolation 15 18 26 27 Gearing Flag C
201. ve Positioning SR SR SR SR n SR n Stand by Programming Running 2147483648 to 2147483647 units or pulses In Standby Mode and Programming Mode the motor can be set to move a specified number of pulses in a positive or negative direction For movement in a negative direc tion the parameter value is specified with a minus sign The SR command is also used to move the motor continuously in a specified direction The command is then followed by a or parameter which specifies the direction of the movement To stop the motor once the SR command has been issued a SH Smooth Stop or H Halt command must be used If the NSTOP input set up command is used before the SR command the conditions specified by the NSTOP or CB21 command can also stop the motor See the description of the Input Setup commands NSTOP page 85 and NSTART page 84 for further de tails The Position Counter AP is updated while the SR command is executed If an SP com mand is executed the SR will hold the value that is calculated for the run SR x Set relative position Sent to Indexer SR 5000 Move 5000 pulses in positive direction Received from Indexer Y Sent to Indexer SR 5000 Move 5000 pulses in negative direction Received from Indexer Y Sent to Indexer SR Move continuously in negative direction Received from Indexer Y Relative Offset Positioning SR2 SR2 Stand by Programming Run 0 to 16 777 215 pulses The SR2 command has th
202. y Division ratio is set up by the CND1 command CTM1 6 Similar to CTM1 5 but as gated timer CTM1 7 Gated counter Gate is input 1 and count input is input 7 CTM1 10 Encoder Mode See CTM2 command O CTM1 1 CTM1 10 Oscillator 921600 Hz GTM1SS CTM1 6 Interrupt to is Counter INT7 cies if specified in program IN1 Gate CTM1 4 CTM1 7 IN7 Counter input CTM1 2 TT0142GB JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 63 3 4 Command Description Example In an actual application there is a requirement to count an external event For every 10 counts program execution must be interrupted and an unconditional jump be made to an interrupt routine that drives the motor 10000 pulses The program is as follows START CN1 65535 10 SET COUNTER REGISTER EQUAL 65525 CTM1 2 ACTIVATE COUNTER MODE more program INT7 BEGINNING OF INTERRUPT 7 ROUTINE CN1 65535 10 SET COUNTER REGISTER TO 65525 SR 10000 DRIVE MOTOR 10000 PULSES WAIT RS 0 WAIT HERE UNTIL MOTOR HAS STOPPED RETI RETURN TO MAIN ROUTINE Note When the counter CN1 overflows from 65535 to 0 the interrupt routine INT7 is exe cuted if this routine is included in the program memory If the command NSTOP 7 is included in a program at the same time as the counter over flows the motor will be stopped
203. y multiplier See CB28 flag in Current Frequency CVI page 67 RX12 Max pulses rev in turntable mode Used in turntable mode as max number of pulses per revolution See CB30 flag in CB30 Modula Mode Turntable mode page 116 RX13 Multicontrol only applicable from version1 8 Using this mode it is possible to perform advanced multicontrol of up to 32 axes via a single program The MotoWare program is transferred to the master SMI31 and when ex ecuted commands are sent via the RS485 interface to other JVL slave controllers e g SMI3x DMC10 AMCxx etc The slave controller addressed is selected via the RX13 x command Slave controllers must be able to interpret JVL language e g SR 100 VM and RS commands 98 JVL Industri Elektronik A S User Manual SMI30 31 and SMC35A B 3 4 Command Description Example 1 Example 2 Example 3 In multicontrol mode the master must always have address 0 and each slave must be as signed its own unique address in the range 1 31 The master is set in multicontrol mode by specifying RX13 address of the slave In this way a selected number of registers and commands on the slave controller become ac cessible to the master controller with the same names as on the slave controller The var ious slave controllers are selected by changing the slave address e g RX13 4 to select slave controller with address 4 In order to transfer registers from the slave and perform calculations

SMI30 / SMI31 Servo/Step Motor Indexer User Manual SMC35A

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