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ViX250IM & ViX500IM Microstepper RS232 Indexer Drive User Guide

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1. 0 Current sink Figure 3 15 User Output Circuit User outputs are compatible with high level 24V logic only Each output can source or sink 50mA Note The easiest way of configuring the drive s inputs and outputs is to use the Easi V graphic user interface Input Output Configuration To set up the input and output configuration without using the EASI V graphic interface you will need to write configuration patterns to the two byte IC parameter as shown aW IC 4 digit decimal number equivalent to a two byte number Bits 8 to 12 control the switching threshold of inputs 1 to 5 SWC setting Setting a bit to a 1 gives a 24V switching threshold a 0 gives a 5V switching threshold Bit 15 14 13 12 11 10 9 8 IC not not not in_5 in_4 in_3 in_2 in_1 content used used used 38 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Bits 0 to 4 control the input resistor pull down pull up of inputs 1 to 5 SWA setting Setting a bit to a 1 sets the input resistor to be a pull up to 24V a 0 sets the resistor to be a pull down Bits 5 to 7 controls the source sink operation of outputs 1 to 3 Setting a bit to a 1 sources current from the 24V rail via the upper half of the output while setting a bit to a 0 sinks current from a connected input through the lower output transistor to OV Bit 7 6 5 4
2. STOP Syntax Description Properties Example Note 6 COMMAND REFERENCE _ 169 STOP Input aSTOPon off mode The STOP Input command determines the stop input functionality of input 1 When input 1 is active IS 1XXXX The on off parameter enables disables the stop input taking the values 1 for ON and 0 for OFF and has a default value of OFF The mode can be set as follows 0 Stop motion when input 1 is active IS 1XXXX and abort the user program default setting 1 Stop motion when input 1 is active IS 1XXXX but continue the user program which is able to execute further commands If stop input 1 is active IS 1XXXX then status flag 28 ST4 4 will be a 1 Immediate or buffered can be used in labelled block saved by SV 1RUN start the move 1MC 1STOP1 1 enable the stop input amp program continue 1G input 1 goes active during motion 1TR IP 1 wait for input 1 amp in position settle time 1 STOPPED STOPPED transmitted when motion has halted 11F ST4 XXX1XXXX 1 INPUT 1 1END The stop input only stops indexed motion It has no effect on following or step amp direction MP modes 170 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE SV Save configuration Syntax Units Rangeof n Default Seealso Description When the SV command is issued the current controller system variables and user programs are stored in non volatile memory Any data saved will b
3. BitNo 1 45 8 32 Where a bit is set displayed as a 1 its bit number can be determined and compared with the bit number value given in Table 4 5 to determine the Status Information being reported Use the Read command to display the ST word pattern that is aR ST 66 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Bit Bit Status Information Number Tested 6 STe Waitingfordelay timeout lt 8 _ ST18 _ Lasttrigger command timed out 9 ST21 Motorenergised o Z o o O ST2 8 ST3 2 23 ST3 7 ST4 2 Table 4 5 Status Bits Description Status Variable Byte Reporting A convenient and more compact way of interrogating the status variable is to test it a byte at a time using the STn within a read command where n is used to select the byte to be tested For example to read or test the first 8 bits first byte of the ST variable status word use ST1 Since the status word consists of 4 bytes the relevant part of the word can be read using ST1 bits 1 to 8 ST2 bits 9 to 16 ST3 bits 17 to 24 or ST4 bits 25 to 32 4 CONTROL OF VIX DRIVES 67 Fault Status Reporting Faults are classified into two groups Drive Faults DF hardware faults present in the drive or User Faults UF user program faults Drive Faults Hardware drive faults will cause the drive output stage to be turned OFF de energised This will cause the Drive LED to turn RED Once the fault has been corrected the drive may be re energ
4. Immediate may be included in a labelled block saved by SV The drive must be de energised before issuing the command you will receive E if issued when the motor is energised LOOP Syntax Description Properties Example Note 6 COMMAND REFERENCE 145 Repeat user code aLOOP label cycles The LOOP command repeatedly calls a labelled block of code a number of times specified by the cycles parameter the range being 0 to 65000 Note If the number of cycles is set to 0 the loop will continue indefinitely Nesting of loops up to 5 levels is permitted Immediate or buffered can be used in labelled block not saved by SV Run the grip code for a mechanical elasticity tester 6 times and delay for 1 second between each grip cycle to allows a sensor to measure deflection 2START signifies this is the power on sequence 2DECLARE GRIP 2PROFILE2 150 200 4800 45 2USE 2 Use motion parameters from profile 2 2LOOP GRIP 6 repeat the grip ungrip code 6 times 2END 2GRIP 2G do the move on axis 2 20 XX1 signal grip cycle 2T1 delay for one second 2H change to ungrip grip 2G do the move again 2H change direction 20 XX0 Signal end grip cycle 2END Also see the EXIT KILL and GOSUB command If you use a GOTO command within a LOOP it will stop program execution of the loop and the number of nesting levels will be set to zero If you exceed the number of nesting levels the program will h
5. Refer to CANopen user guide _ _ _ Refer to CANopen user guide velocity Range 0 001 to 5 0 rps default 0 1 Configuration 0 to 8191 default 8160 IP__ In Position flag Y N _ 1 In position or O not yet in positon 1 to 500mS default 10mS Motor Standby Range 10 to 100 of programmed current default 50 Moving Flag 1 moving or 0 not moving Position Actual 2 147 483 648 to 0 to 2 147 483 647 65535 Position Following 2 147 483 648 to 0 to 2 147 483 647 E lei Incremental PM sets the modulus m Position The primary X2 feedback position PA on the last Registration active transition on input 2 start of valid REG move Range 2 147 483 648 to 0 to 2 147 483 647 Position The PM count position on the last active transition on Secondary input 1 falling edge viewed using IS Range 2 147 483 648 to 0 to 2 147 483 647 generator open loop target position RB Ready Busy flag Y N_ Flag 0 ready or 1 busy RM N Flag 1 reg move in progress 0 not doing reg move RV ReVision of Y IN xXyy major minor software SC S Curve 0 S curve accel decel disabled default configuration 1 S curve accel decel enabled 6 COMMAND REFERENCE 179 ar Name R ST1 Status of indexing i First byte of 32 bit ST variable Status of indexing Second byte of 32 bit ST variable ST3 Status of indexing Third byte of 32 bit ST variable Z Z Range default value Z lt Ea ol cine N T
6. 150 Summary of microstepper modes Mode Source Enable Energise Limits MA TG Enable Local MB ANA I P Enable Local MC TG Enable Local MI TG Enable Local MP ENC I P Energise Shutdown Remote Key TG Trajectory Generator internal command reference ANA I P ANA1 ANA1 analogue input on X4 See also AO and AB ENC I P The encoder inputs on X4 Enable Energise describes the function of X4 pin 11 Fora ViX indexer drive this pin is used for the enable function and its active sense is programmed using ES Disabling the drive causes a drive fault In mode position the drive acts as a base drive non indexer mode and X4 pin 11 can be used to energise shutdown the drive without generating a drive fault The MP mode provides base drive functionality that is step direction energise input and fault output In this mode X4 pin 11 is used to energise de energise the drive and the ON OFF commands are prohibited Local limits must be disabled by the user and monitored instead by the system controller providing the step direction and energise signals hence the reference to remote limits in the above table Example of step and direction configuration 1LIMITS 3 0 0 do not use local limits 1W ES 0 X4 11 low energise high open circuit shutdown 1W EI 0 step and direction input mode 1MP mode position Note Status bit 25 indicates motion direction 1 negative CCW O positive C
7. Baud Rate Use system variable BR to alter the baud rate of serial communications Any change made to the baud rate will only take effect following a save SV and system reset or power cycle Reset to RS232 Mode To reset the drive to RS232 mode and to return to factory settings remove power from the drive connect X3 pin 2 to GND and restore power CAUTION This will erase ALL of your user settings and programs in volatile memory The non volatile memory will not be overwritten until a save command is issued Terminal PC Drive QD ZX x w Back of Back of enak mating plug X3 Socket Serial connector Back of 3 mating plug X3 Socket Back of mating socket Serial connector plug Figure 3 11 X3 D type Connector RS232 Connections Inter drive RS232 Connections Use the RJ45 connectors X6 and X7 to inter connect drives see RS232 Daisy Chain later in this section Always make the primary connection via D type X3 32 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RS232 Connecting Leads RS232 cables can be ordered from Parker EMD Various lengths are available as listed in Table 3 9 Part Number Length RS232 EASI 0250 2 5m RS232 EASI 0500 5 0m RS232 EASI 0750 7 5m RS232 EASI 1000 10 0m RS232 EASI 1250 12 5m RS232 EASI 1500 15 0m Table 3 9 RS232 Connection Lead Types X4 Connector Connector X4 gives access to the following encoder input and out
8. Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run Tracking limit exceeded Position Error For the ViXIM this drive fault indicates a stall condition assuming stall detection is enabled 7 MAINTENANCE amp TROUBLESHOOTING 193 A note about Controlled stop A controlled stop will be attempted if the trajectory generator was commanding motion at the time of the fault If the commanded motion was due to following then the indexer will disable following that is there will be no ramp down of velocity If the drive was following and doing a superimposed move then the superimposed move will be subject to the ramp down of velocity and once that has stopped following will be disabled On base drives there is never any controlled deceleration of the motor A fault will de energise the drive On a ViXIM in MB mode the trajectory generator is used to control the velocity so those faults that lead to a controlled stop will act in a similar way to other indexed moves 194 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Returning the System If a drive module is found to be faulty you should contact your Parker Automation Technology Centre or the machinery manufacturer who supplied the product Equipment for repair should NOT be returned directly to Parker without prior authorisation Repairs will be carried out by Parker but will
9. Motor phase A 19 T OV GND 24v DC 5_ Motor Gnd 4 3 2 Motor phase B Motor phase B Feedback Digital encoder Function Feedback enc Z Motor Earth ME Feedback enc Z GND Reserved 5 5V output GND Feedback enc A Reserved p Feedback enc A Motor overtemp Feedback enc B Feedback enc B Reserved 3 ELECTRICAL INSTALLATION 27 A range of mating connectors are supplied depending upon the type of fit kit ordered RS232 9 way socket Power amp motor 10 way connector Control Aux I O 15 way socket Primary encoder 15 way User I O socket 15 way plug 2 pme 3 RS232 GND 4 RS232 Rx 5 RS232 Tx Rx Tx RS485 RS232 Tx D loop requires CAN option ontrol Aux I O 1 JANA1 IN Energise Shutdown Enc A Step IN Enc B Dir IN 14 Enc A OUT 15 Enc B OUT Active high low mode configurable using system variable ES User I O 2 3 6 7 8 9 j T2 13 14 Reserved 15 Reserved Fixing position for motor lead earth clip included in fit kit X7 OUT X6 IN 1 High speed comm Interface Figure 3 10 ViX Connector Pin Layout Input 4 limit Input 3 Home Input 2 Reg 28 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Description X1 Connector X1 is the
10. At the end of the registration move the user program GOSUBs to the code immediately following the REG label If no registration mark is detected the standard move profile completes and the user program GOSUBs to the code immediately following the NOREG label Registration will always occur in the current move direction If the direction in the defined profile is different to the current move direction the direction information in the defined profile is ignored An optional output can be programmed to indicate that a move that has been armed is ready for registration This would normally be after the move has started or after the hold off distance if defined The output chosen must be within the range of allowable outputs 1 to 3 The default value is no output Once registration has been setup it can be applied turned ON using the simplified form of command aREG1 or turned OFF using aREGO Properties Immediate or buffered can be used in labelled block saved by SV Parameter __ Range Units Comments On Off tor default 1 ON OOFF Edge tor O defaut 1 rising 0 falling Profile number 1to8 Must be user defined Hold off distance 0 to 2147483647 steps default 0 Registration window 0 to 2147483647 default 0 Output 0 to 3 Default is no output 0 Example 6 COMMAND REFERENCE _ 161 OSTART 2PROFILE1 10 10 40000 5 2PROFILE2 20 20 20000 10 2REG1 1 1 10000 2USE 2 2G 2END 2RE
11. CE ViX250IM amp ViX500IM Microstepper RS232 Indexer Drive User Guide Part No 1600 324 01 July 2003 For software revision 2 0 onwards IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them failure to do so may result in damage to equipment and personal injury In particular you should study the contents of this user guide carefully before installing or operating the equipment The installation set up test and maintenance procedures given in this User Guide should only be carried out by competent personnel trained in the installation of electronic equipment Such personnel should be aware of the potential electrical and mechanical hazards associated with mains powered motion control equipment please see the safety warning below The individual or group having overall responsibility for this equipment must ensure that operators are adequately trained Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide N SAFETY WARNING Hig
12. In Mode Continuous the use of H and H are recommended for setting direction If H is entered whilst the motor is moving the direction will not change until the motor comes to a stop and another G command is given Immediate or buffered can be used in labelled block saved by SV 3MI mode incremental 3A20 accel and decel to 20 3V15 max speed of 15 rps 3D 8000 2 revs ccw 3G move 3H go cw next time 3G 2 revs cw 3START 3PROFILE1 360 360 40000 20 define profile 1 3MI mode incremental 3GOTO MAIN 3END 3MAIN 3USE 1 use profile 1 parameters 3G do the move CW 3H change direction CCW 3G go back 3END end of user program 136 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Note CAUTION The USE command or the D command will re define the move direction each time it is executed To set up a loop to go CW clockwise then CCW counter clockwise make sure the D or USE command is outside of the LOOP otherwise the direction will be the same each time around the loop HOME Syntax Description 6 COMMAND REFERENCE _ 137 Configure Homing aHOMEon off reference_edge home_type direction_ amp velocity acceleration deceleration mode The Configure Homing command is used to setup homing prior to the use of the GH Go Home command See also system variable HF Use on off to arm and disarm homing The reference edge parameter is used to select the required edge of the home switch
13. K Performs motion kill quick stop Possible instant de energise depending on fault source R Recoverable without power cycle SLEEP Drive shuts down completely no comms requires power cycle to recover T Terminal requires power cycle or repair before drive will energise operate once again Table 4 6 Drive Fault Bit Description See Maintenance amp Troubleshooting for a more detailed explanation of Drive Faults 4 CONTROL OF VIX DRIVES 69 Drive Fault Byte Reporting In exactly the same way as the status variable the drive fault status can be reported a byte at a time using DFn within a read command User Faults User faults can be caused by programming errors such as issuing a GO command when the drive is de energised They are reported in a 32 bit word format the same as Drive Faults Performing a read UF command will report the current state of any User Faults listed in Table 4 7 6 UF1 6 Homing failed no signal detected 8 UFi8 Drive de energised 9 UF21 Cannotrelate END statementtoalabel UF 3 6 UF 3 8 UF 4 2 UF 4 5 8 Table 4 7 User Fault Bit Description sends an ASCII bell character to indicate a buffer overflow condition 70 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Fault Byte Reporting In exactly the same way as the status variable the user fault status can be reported a byte at a time using UFn within a read command For example to read or test the
14. Use and programming of the DIN rail H amp L series drives PDFX training Using the 6K controller EASI Tools programming Mechanical product training for ET ER XR and HPLA 2 MECHANICAL INSTALLATION 5 2 Mechanical Installation Installation Requirements Environment ViX drives operate in a temperature range of 0 to 40 C with natural convection or 50 C Max with forced air cooling see Hardware Reference at normal levels of humidity 5 95 non condensing The drives can tolerate atmospheric pollution degree 2 which means only dry non conductive pollution is acceptable Drive Cooling Cooling of all drive types is by natural convection up to 40 C To assist cooling drives should be installed vertically in an area where there is at least a 50mm minimum air gap above and below the package and a 10mm minimum gap either side Avoid mounting heat producing equipment directly below a drive Installers must ensure that the air temperature entering the drive or rising up to the drive is within the ambient temperature restrictions Under normal use the air temperature leaving the drive and heatsink may be 25 C above ambient In the final installation check that the ambient temperature specification of 40 C Max without forced air cooling is not exceeded directly below the top most drives and that any circulating air flow is not being blocked from reaching the drives For cabinet cooling calculations allow 20W per drive F
15. 0 Stop motion when a limit is hit and abort the program then go to a predefined fault sequence otherwise stop default setting 1 Stop motion when a limit is hit but continue the program In certain applications this allows the limit switch to define a home position The optional LD parameter sets the required deceleration rate after hitting a limit the default deceleration is 200 rps2 Changing this value will alter the KILL deceleration rate Immediate or buffered can be used in labelled block saved by SV 3LIMITS 0 1 0 100 both limits enabled normally closed switch stop motion when hit deceleration 100rps 3LIMITS 1 1 0 100 ve limit disabled normally closed switch stop motion when hit deceleration 100rps2 6 COMMAND REFERENCE 143 See also Notes LIST To report the current configuration of the limits DY OG ined eterna E E a Neate T E 3LIMITS The response using the above example LM1 TP1 MO LD100 0 IS AD KILL The default value of LIMITS type field is 1 that is normally closed Hitting a limit stops motion which cannot be re started until you drive the load back off the limit switch An exception to this occurs while following When following is enabled the indexer only checks to determine if the load is on a limit or not List user program aLIST label Syntax Description Properties Example Note The LIST command is used to view a user subroutine program in memory sp
16. 10 000 set all outputs low 1END 1L1 slabel 1 code 10 1 set output 1 high 1D1000 set distance to 1000 steps 1G move 1000 steps 1T1 wait for 1 second 10 0 set output 1 low 1END 1L2 slabel 2 code 10 01 set output 2 high 1D 2000 set distance to 2000 steps 1G move 2000 steps 1T1 wait for 1 second 10 00 set output 2 low 1END 1L3 slabel 3 code 10 001 set output 3 high 1D3000 set distance to 3000 steps 1G move 3000 steps 1T1 wait for 1 second 10 000 set output 3 low 1END Note The routine will only run when it receives a valid input pattern corresponding to the numbered label names 4 CONTROL OF VIX DRIVES 55 Upon receipt of a valid numeric input pattern the controller runs the associated routine For example binary pattern 3 causes routine L3 to run This routine must finish reach the END command before the inputs can be automatically scanned again The state of the inputs is presented to the controller as a parallel bit pattern Invalid binary patterns for non existent labels are ignored When using the label selection function you must be aware that altering any basic operating parameters such as velocity in a routine will change the value used in subsequent routines Consequently you will need to define fully the move required in each subroutine block This can be arranged by the USE command System Variables System variables are named variables held within the drive s contr
17. MOTION Negative limit input Figure 4 11 Limit and Stop Switch Configuration If a faulty limit switch or some other fault caused the indexer to sense both limits becoming active at the same time all motion would be stopped 4 CONTROL OF VIX DRIVES 87 Using Closed Loop Operation Closed loop refers to the operation of a stepper motor drive where the position of the stepper motor shaft is measured and compared with the commanded position This is normally arranged using an encoder attached to the motor s shaft and electrically connected to the stepper drive s encoder input as shown in Figure 4 12 Stepper drive Position demand Stepper motor Encoder Coupling Figure 4 12 Closed Loop Operation Closed loop operation is normally used in applications where a motor stall must be detected stall detect or where a known position of the motor shaft must be maintained within known limits position maintenance Encoder Setup To operate in closed loop mode a motor or load mounted encoder must be connected to the primary encoder input X2 and firmly attached to the motor shaft When using a motor mounted encoder set motor resolution in the MOTOR command equal to the post quadrature encoder counts per rev See Scaling at the end of this section When using a load mounted encoder set the system variable EM equal to the post quadrature encoder counts per rev See Scaling at the end of this section With LOADENC on load mounte
18. continuously monitor the state of a drive s indexer and are able to report such things as status of indexing or moving not moving as listed in Table 4 2 Certain system variables are capable of being tested by the TR wait for trigger or IF test condition commands This allows the value of a system variable to be tested in the following ways Equals lt gt Does not equal gt Greater than lt Less than The TR command pauses program execution until the required trigger condition is met while the IF command tests the value of a system variable and executes the next line of code if it is true otherwise it skips the next line of code Use of these commands allows synchronisation with external events and program branching System variables which may be used in conjunction with the IF command are listed in Table 4 8 Where the variable can also be used with the TR command a Y appears in the TR column Variable Name gt lt T a e e E NT DFn Drive fault status N N Y Y IN__ inputs arive __ N_ NY Y INn Inputs N binary expansion _IP___ Inpositionflag N N Y Y ving NTN yi PA Position absolute Y Y Yt Y Y decimal PE _ Positionerror__ Y y y Y Y decima PF Positontolowng Y Y Y Y Position i decimal incremental PM Positionmaster_ Y y Y Y Y decimai i PT Position target pvt yt eS RM Registration x Y move Status
19. every drive 3 ELECTRICAL INSTALLATION 15 XL PSU Mounting Information Mount the supply vertically near the drives it will supply Both the top 4 5mm diameter fixing hole and the bottom two 4 5mm width fixing slots should be used Allow a minimum free space of 50mm both below and above its case and 10mm free space on both sides Do not mount the supply above or close to other products that generate a significant amount of heat by radiation or convection 16 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W 80V 14A for use with ViX and XL series drives The supply requires a suitably rated transformer supplying 50V AC RMS for the HV and 20V AC RMS for the 24V DC The use of the PL1100 offers the following benefits Provides 80V HV and 24V DC output Single or three phase operation e Built in power dump switch e Integral fusing Figure 3 4 shows the PL1100 output wiring for two ViX drives This illustrates how to route the main HV supply separately to each drive The lower current requirements of the 24V logic brake supply can allow the wiring to be linked between drives For full installation instructions see the PL1100 Power Supply leaflet 1600 323 XX O fa CAUTION O MOTOR HV OU MOTOR DV EXT BRAKING RE PL1100 aven Power
20. 131 Go Units Range of n Default See also PSSKM Issuing a G command starts motion using the parameters specified by the V A or AA AD and D commands or via the PROFILE and USE commands The mode of motion must have been previously set as this determines which parameters are used and which are ignored For example mode continuous will ignore the distance parameter Immediate or buffered can be used in labelled block not saved by SV 1PROFILE3 150 200 1500 25 define profile 3 1USE 3 suse profile 3 1G perform profile 3 If no motion occurs after G is issued the cause can be determined by using the R UF command Refer to the section on system parameters for more information 132 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE GH Go Home See also HOME S K Syntax Units Range of n Default aGH Description The go home command instructs the controller to search for the home position as defined by the home input switch For this command to function correctly the home function must define the homing parameters Properties Immediate or buffered can be used in labelled block not saved by SV Example 1START START label definition 1HOME1 1 15 100 0 define home 1GH go to datum position 1END Note If no motion occurs after GH is issued the cause can be determined by using the R UF command to report faults Refer to the section on system parameters for more information Whilst going home regis
21. 3 2 1 0 IC out_3 out_2 out_1 in_5 in_4 in_3 in_2 in_1 content Note 1 SWB is automatically set to ensure that the software will report 0 for a closed input switch and 1 for an open input switch 2 sourcing outputs can only be used with 24V high level logic 3 5V tolerant input connections must only be used with pull down sink configuration as the input pull up always pulls up to 24V 4 Invalid combinations will report an error E and the User Fault UF bit 1 is set value out of range User inputs are high logic level and low level logic compatible but must be configured as pull down inputs when used with low level 5V logic since the pull up always pulls up to 24V Example Configure a drive with inputs in_1 and in_2 arranged as pull down 5V threshold logic In_3 In_4 and In_5 as pull up high threshold level logic and all outputs as current sources The binary pattern required is MSB LSB 00011100 11111100 In hex this becomes 1CFC which in decimal is 7420 So the required command to say axis 3 is 3W IC 7420 IC default setting The default setting for the drive is all inputs set to 24V threshold all inputs pulled down and all outputs sourcing which gives a binary pattern of 00011111 11100000 which in hex gives 1FEO resulting in the decimal equivalent of 8160 3 ELECTRICAL INSTALLATION 39 Fault Output The fault output is an independent NPN open collector output which is nor
22. CAN H White Green 4 RS232 sense Blue 5 RS232 Gnd White Blue 6 CAN L Green 7 RS232 Rx White Brown 8 RS232 Tx Brown Table 3 12 X6 X7 Input Output Connections CAN Bus Termination Systems using CANopen will need to terminate the final X7 output with a 120 ohms quarter watt resistor connected between X7 pins 3 and 6 A ready made CAN bus RJ45 terminator is available as shown in Figure 3 19 Parker part number ViX RJ45 G pin 1 Figure 3 19 CAN Bus Terminator 42 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Communication Daisy Chain Drives can be daisy chained for RS232 RS485 operation as shown below Using this arrangement the drive connected to the controlling PC via its front panel D type connector becomes axis 1 To automatically assign addresses connect all power motor feedback and communication cables then power up all the drives see command for more details At the controlling PC type the following commands 1 cause the 1 drive to establish the daisy chain in a 3 axis system the response willbe 4 OSV save the address configuration 0Z sreset response should be a single check sum from axis 1 more than one check sum indicates a problem possibly no save command Final drive terminates X7 front Figure 3 20 RJ45 RS232 Daisy Chain Connections Note for RS485 operation the drive will need to be fitted with a FEM CAN amp RS485 interface Using the command 1 485 will swit
23. DRIVE USER GUIDE POSMAIN Position maintenance PS Pause Rs Report system parameter REG Registrationmove RFS Return to factory settings So w o o i Stop input SV Save configuration T Timedelay S TR Waiitfortrigger use JUs o z Rest Set comms address remotely eC Quote command 7 MAINTENANCE amp TROUBLESHOOTING 185 7 ViX Maintenance and Troubleshooting Maintenance ViX drive systems do not require any routine maintenance but occasional checking of the following points is recommended Motor inspection Periodically check the motor to ensure that the mounting bolts and couplings are tight Check that the motor cables are not being damaged by moving parts and are not being pulled or forced into tight bends during machine operation Check all cable connectors and particularly the safety earth connection Drive inspection Check that the drives are clear of loose material and that there is adequate clearance to allow a free flow of air through the ventilation slots Check that drive fixings are tight and that the motor screen connection is secure Troubleshooting IMPORTANT NOTE ensure that power is turned off before any connections are removed or changed Removing a drive with power applied can turn a recoverable fault situation into a major problem WARNING Risk of damage and or personal injury The ViX drives described in this user guide contain no user serviceable parts Attempting t
24. Default unit 1 motor rev rotary 1 pole pitch linear Default PEU 4000 Properties Note 6 COMMAND REFERENCE 165 Example Suppose we have a motor attached to a linear table The motor resolution has been set to 4000 steps per rev The linear table has a load mounted 10um encoder and is 0 5m long It takes 80 motor revs to move the table its complete length The motor has to position the table in 100 distinct linear positions at a speed range of 0 02ms to0 2ms e 50000 80 625 load encoder counts per motor revolution Set variable EM to 625 Enable LOADENC e 0 5m at 10um 50000 load counts complete table length Set PEU to 50000 e Table to move to 100 distinct locations Set SCLD to 100 D1 one hundredth of the table length e 0 5m 0 01ms 50 Set SCLV to 50 Then V2 0 02ms and V20 0 2ms The scaling is applied to the next move made upon issue of the GO command A AA AD D and V always report user units In any application the SCALE command should be issued once only Its purpose is to allow for a fixed user unit to motor steps scaling It is not designed to be changed on the fly and unpredictable results may occur if the command is used in this manner Immediate may be included in a labelled block saved by SV e If SCALE is enabled and PEU SCLD is a non integer value then the drive will return a E e Stall and Posmain deadbands work in user units when SCALE is enabled e When scale is enabled the v
25. Example VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Write system variable aW system_variable value The W command allows you to set a specified system variable to a particular value Refer to the table of system variables for more information Immediate or buffered can be used in labelled block saved by SV Set system variable DC to 1 2W DC 1 Report the current value of system variable DC 2R DC The controller responds with seceeeeeeeeeeeeeeeeeees 4 See also R command Reset Units Range of n Default See also a SV The Z command resets the drive s controller This is similar to power cycling the controller Upon restart the user program following the START label will execute only if the ARM command 1X Wait 1 2 seconds before sending any other command following a Z Any commands pending before the Z is issued will be terminated and any buffers and user stacks cleared Immediate or buffered can t be used in labelled block not saved by SV To reset all drives type wivecssessdcicveaiessevendeecteadivastenteeaciuene 0Z Syntax a n Description Properties Example 6 COMMAND REFERENCE 175 Set comms address remotely Units Range of n Default See also 1 to 255 0 This command allows you to set the unit address via software It allows addresses up to 255 to be used Upon receipt of the command the controller will send a n 1 command along the daisy chain provi
26. Mode Incremental only For example 1Ml mode incremental 1D4000 set distance to 4000 steps 1D sreport distance 4000 value reported 1H change direction 1D report distance 4000 value reported 6 COMMAND REFERENCE 125 Declare Declare Syntax Units Range of n Default See also aDeclare label CLEAR Description Properties Example All labels apart from START REG NOREG amp FAULT need to be declared at the beginning of the program using a DECLARE command Labels consist of up to 5 upper case alphanumeric characters terminated with a colon but a label must begin with an alpha character Choose a name that is relevant to the operation being performed or a system label name To terminate a code block use END no colon You can use up to 20 labels although four of these have already been allocated to START REG NOREG and FAULT leaving sixteen for general use Only declare labels in the command line or inside the START label If you wish to upload your program all declarations must be made within the START label If a label has been declared but not defined a run time error will be signalled when it is called by a GOTO GOSUB or LOOP command When a label has been declared and defined clearing it will only get rid of the definition the declaration will remain Declarations can only be cleared using a CLEAR ALL Typing aDECLARE by itself will list the percentage of memory used
27. Output not set 1 Position maintenance is performed at the end of a move to correct any overall position error 2 If encoder resolution is different to the motor resolution then you must set system variable EM and enable LOADENC The deadband range will work in EM steps If setting EM ve the encoder expects A to lead B for ve commanded motion 3 The error window is measured in motor steps with LOADENC and SCALE disabled load steps with LOADENC enabled and user steps with SCALE enabled 4 If scaling is enabled the value given in the deadband will remain the same but will now be in user units 5 Use encoder port X2 primary encoder 6 With POSMAIN enabled DO NOT USE FOLLOWING 7 Position maintenance parameters can only operate correctly after MOTOR LOADENC SCALE and the EM variable have been correctly configured 8 POSMAIN velocity is fixed as V1 The acceleration rate is the one used in the last GO command 9 Position maintenance mode can be selected and de selected during the execution of a program EM encoder counts per rev 4 X line count 6 COMMAND REFERENCE _ 157 PROFILE Define move profile Syntax Description Properties Example aPROFILEnumber AA AD D V The PROFILE command sets up a table of move profiles in the controller memory These profiles can be recalled at any time by the USE command The PROFILE command parameters are Acceleration AA Deceleration AD Distance D Ve
28. REG registration move 160 Registration 76 problems 77 Registration example 78 Registration output 77 Report commands that can be saved 71 Reset to RS232 mode 31 Returning the system 194 RFS return to factory settings 162 RJ45 connecting leads 43 RJ45 patch cables 43 RM system variable 64 RS232 cables 32 RS232 connecting leads 32 RS232 mode forced reset 31 RS485 connections 40 RV system variable 64 S S curve correction 64 S stop 163 Save properties 118 Saved by SV 118 SC system variable 64 SCALE settings 164 Scaling 92 SCLA 92 SCLD 92 SCLV 92 Search menu 99 Serial communications configuration 102 Serial link lead 95 Series connections 22 Setup file 96 Short circuit protection 26 SN system variable 65 Software controlled switches 36 Software installation 95 Software requirements 95 ST bit order 65 ST word 65 Stall error window 91 output 91 stop on 91 Stall detection 91 Star point 9 START 50 START label 53 Starting a program 45 STATUS 168 Status Bit description 66 INDEX 205 Status bits list 181 Status report example 111 Status reporting immediate 71 Status variable byte reporting 66 Status variable reporting 65 Step direction inputs 60 Step direction outputs 59 Step up step down inputs 60 Step up step down outputs 59 STOP input 169 Supply connections 10 current 11 volts 10 Supply 24V 17 SV save configuration 170 SY moto
29. Structure Example 1START Start label definition 1DECLARE MAIN declare labels 1DECLARE MOVE2 declare move 2 1LIMITS 3 0 0 configure limits 1GOTO MAIN goto main program 1END Use the MAIN part of the program to define profiles and to control the order of moves 1MAIN main label definition 1PROFILE2 40 10 48000 25 define move parameters 1GOSUB MOVE2 jump to label move 2 1END end of label definition 48 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Finally call individual moves from the main part of the program 1MOVE2 define program label move2 1W PA 0 zero position absolute 1MA absolute positioning move 1USE 2 use motion profile 2 1G execute move 1END end of program move 2 definition Note PROFILE2 defined in the main part of the program has the following characteristics ACCELERATION 40rps DECELERATION 10rps DISTANCE 48000 steps 12 REVS MOVE NEGATIVE DIRECTION VELOCITY 25 rps In small programs the start code can be combined with the main part of the program For experienced X code users the shorter blocks of code in the example above accessed via subroutines is the equivalent of a sequence A second example illustrates the code required for an incremental move Here the START and MAIN code blocks have been combined within the START block 1START start label definition 1DECLARE MOVE1 declare move label 1LIMITS 3 0 0 configure limits disable n c
30. Trigger Timeout Optional timeout for trigger command 0 65 seconds in 0 01 increments User status bit 8 is set to indicate clear if trigger condition met before timeout The default time is 0 00 no timeout Fault status UF2 N N N timeout occurred before trigger condition met Bit is User Fault Status N First byte of 32 bit User Fault status word Can be set to 0 only 180 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faults Bit Type DF Information Tested 1 forim Compositefault 3 fDF13 K R____ Motor HV under voltage trip point reached _ 4 fDF14 K _ R___ Motor HV over voltage trip point reached cae e E 6e DF16 cD__ R___ Vio over voltage trip point reached 7 foFi7z k T Encoder Auxiliary 5V under voltage tip ree 24V logic supply 9 foF21 Reserved to pF22 Reseved S 11 DF23 CD R___ Motorovertemperature 12 DF24 CD__ R___ Ambient over temperature 13 DF25 CD R__ Driveovertemperature 17 DF31 k R___ Outputstage overcurrent 18 DF32 CD__ R___ Outputdriver over curret 19 fJDF33 c R___ Tracking limit exceeded Stall condition prsa Reseed Reserved DF 3 5 Drive disabled check enable input and state moa ES variable 22 24 DF 3 6 8 Reseved S O 25 DF41 kK _ T_ Watchdogt S O Watchdog 3 28 31 pF447 Reseed o 32 DF48 CANVOeros Key C Performs controlled stop CD Controlled stop then de
31. be processed via your supplier Parker may at their discretion authorise direct shipment to and from Poole Offenburg or Rohnert Park but only by prior arrangement with your supplier Existing UK European and USA customers who purchase equipment directly from Parker should contact Poole Offenburg or Rohnert Park for further information contact numbers are at the front of this User Guide 8 HARDWARE REFERENCE 195 8 Hardware Reference Drive Specification ViX250IM ViX500IM Functional Specification Amplifier type MOSFET chopper User resolution Freely programmable between 200 and 51 200 ie See Nominal chopping frequency fi6kHz o Protection circuits Short circuit pbhase to phase across phases and phase to ground motor overcurrent over under voltage logic supply fault over temperature ext 24V reversed encoder fault ViX250 2 8A rms 4A peak current 10 to 100 of programmed current software selectable ViX500 48 80V DC 5 15 ViX250 24 80V DC 5 15 24V DC 250mA no outputs loaded no encoder fitted Fieldbus expansion module requires additional 50mA LED status indicators tri colour HV fault drive fault and comms status Motor inductance range 0 5 10mH recommended Table 8 1 Functional Specification 196 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Indexer Specification Command Interface S O Velocity range 0 001 to 50 revs sec Acceleration deceleration range 0 1 to 99999 99 rev
32. by each label type Immediate or buffered can be used in labelled block but only within the START label saved by SV 1DECLARE CUT2 declare label CUT2 1DECLARE START 0 8 REG 0 0 NOREG 0 0 FAULT 0 0 CUT2 0 0 126 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE E Syntax aEn Description Properties Example Enable Disable Communications Units Range of n Default See also Qor1 1 The E command disables or re enables serial communications E1 turns command communications ON whilst EO turns it OFF In EO mode the only command seen by the controller is E1 Immediate or buffered can t be used in labelled block E1 saved by SV An example of when to use this command is if global commands are being sent but one axis needs to ignore them whilst all others action them To enable axis 6 to accept commands over the RS232 serial link type acta iced teeacaiade adhered cetdeadmedan cide acne dhadiadd ends 6E1 To disables communications using the RS232 serial INK YDE Rete eee rarer eneerer Petre re Senrnrrtnrt pete oaan adka 6E0 EXIT Syntax aEXIT Description Properties Example Note 6 COMMAND REFERENCE 127 Exit from loop Units Range of n Default See also LOOP The EXIT command will terminate a loop function at the end of a label Immediate or buffered can be used in labelled block not saved by SV A4START signifies this is the power on sequence 4DE
33. by the drive Once defined using the SCALE settings command an application can be simply programmed in user units without needing to calculate what units the drive requires 4 CONTROL OF VIX DRIVES 93 You can use SCALE in combination with other commands such as LOADENC STALL or POSMAIN The exact mix of commands together with the source of the feedback and the type of programming steps used are presented in Table 4 9 In the command columns 0 disabled and 1 enabled In the feedback source column Motor motor mounted encoder steps Load load mounted encoder steps and X invalid combination In the command steps column the steps used to program the application e g distance D Motor motor steps 1 rev motor resolution Load load steps 1 rev load resolution EM and User user steps with X representing an invalid combination SCALE LOADENC STALL POSMAIN Feedback Command source steps 0 0 0 0 Motor Motor 0 0 0 1 Motor Motor 0 0 1 0 Motor Motor 0 0 1 1 Motor Motor 0 1 0 0 X X 0 1 0 1 Load Load 0 1 1 0 X X 0 1 1 1 Load Load 1 0 0 0 Motor User 1 0 0 1 Motor User 1 0 1 0 Motor User 1 0 1 1 Motor User 1 1 0 0 X X 1 1 0 1 Load User 1 1 1 0 X X 1 1 1 1 Load User Table 4 9 Distance Units for Enabled Commands 94 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 5 EASI V SOFTWARE 95 5 Easi V Software Computer Requirements To be a
34. connector type 35 X6 amp X7 connections 41 X6 amp X7 position 40 XL connect kit 14 XL PSU product description 13 XL PSU drive wiring diagram 14 XL PSU mounting information 15 Z Z reset 174 CUSTOMER FEEDBACK 207 Customer Feedback If you have spotted any errors omissions or inconsistent information within this user guide please let us know Either use this page or a photocopy to describe the error and Fax it to the number given below Alternatively you may phone or email the correction Name of user guide Partnumber 1600 __ __ Found on the title page in the bottom left corner Your name Contact number or email address Description of the error Please include page number Errors can be reported By phone via a technical Or by email by Fax support engineer 44 0 1202 695750 44 0 1202 699000 support digiplan parker com Protective Earth PE 10 24 80V DC HV e 9 0V GND HV 8 Earth PE 7_ 24V DC Power amp motor 6 OV GND 24v DC 10 way 5 Motor Gnd connector 4 Motor phase A 3 Motor phase A 2 Motor phase B 1 Motor Earth ME Feedback Digital encoder Feedback enc Z Feedback enc Z Primary encoder 15 way socket Feedback enc A Feedback enc A Reserved Motor overtemp Feedback enc B Feedback enc B Reserved Reserved Reserved Fixing position for motor lead earth clip
35. energise K Performs motion kill quick stop Possible instant de energise depending on fault source R Recoverable without power cycle SLEEP Drive shuts down completely no comms requires power cycle to recover T Terminal requires power cycle or repair before drive will energise operate once again 6 COMMAND REFERENCE _ 181 Status Bits Bit Bit Status Information Number Tested Wait for trigger input 4 Running program 6 ST1 6 Waitingfordelaytimeout_ 8 ST1 8 Lasttrigger commandtimedout ST2 8 ST3 2 ST3 7 ST4 2 182 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE User Faults uri _ vee is out of range 6 UF1 6 Homing failed nosignaldetected 8 UF18 Drivede energised _ 9 UF2 1 Cannot relate END statement to a label Program memory buffer full UF2 5 End of travel limit hit UF3 8 UF4 2 8 sends an ASCII bell character to indicate a buffer overflow condition 6 COMMAND REFERENCE 183 Command List As Acceleration Deceleration AA Acceleration AD Deceleration ARM Enable event triggered code Distance o O E Enable disable communications _ G S e o O Go GH Gohome GOSUB_ Go to subroutine GOTO Go to routine H Changedirection _ HOME Configure homing IFR Test condition aS Input status Koo O Label select mM M Output OFF _ Shutdown motor power Turn on motor power 184 VIX IMMICROSTEPPER INDEXER
36. fault 15V Supply rail failure This fault is detected by the drive hardware which de energises the power stage at the same time as informing the microprocessor of the fault Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run The firmware will not allow an energise whilst this fault is present Motor HV under voltage amp over voltage The software monitors the HV every 500uS and compares the value to the under and over voltage trip values If the HV is gt 98V or lt 16V the following actions will be taken Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run The drive HV supply is measured when the MOTOR command is executed If no HV is present reading of 0 volts then 80 volts is assumed to be the operating level The reset threshold is then calculated as follows IF HV gt 30 Volts THEN if supply is normally greater than 30 volts reset_threshold 30 volts HV must be gt 30 volts for ON command to work ELSE IF HV gt 24 volts THEN reset_threshold HV 0 85 HV must be greater than current supply voltage 15 for ON command to be successful ELSE IF HV gt 20 4 THEN supply is below nominal min but within tolerance reset_threshold 20 4 volts HV must be greater than absolute mi
37. menu Following the usual communication checks the program will download to the drive s internal memory Function key F4 provides a shortcut download Parker Hannifin EMD Easi Beta BEE File Edit Search Terminal Utilities Window Help anple setup program Generated by Easi U 3 Notes Prefix ALL commands with an axis address number Spaces are not allowed in any command e g 2GOSUB FRED gt is a syntax error A semi colon lt gt denotes the start of a comment Comments are not stored in the drive CLEAR all routines before re defining them DECLARE user defined labels before use Define a PROFILE before USEing it 1s 3 Stop any program that is running 1CLEARCALL Erase all routines etc 1START Define power up START routine 1DECLARE lt INIT gt laro ceoet tet Aa 1DECLARECMOVE gt 3Decla RG 1ARM 1L 10 10 lt 000 gt 1PROFILE1 16 16 4696 1 gt 1LOOP lt MOVE 1 gt END Downloading program to indexer 3Cal jEnd of routin Define routin A FAULT Defi 1 FAULT 3Error message ND End of routine 3Define INIT routine Parker Hannifin EASIV TOOLS Beta Press F1 forhep MI NUM Mstart 43 BS LL E Parker Hannifin QNWE 1603 Figure 5 9 Download a program to the drive 5 EASI V SOFTWARE 113 A program may also be uploaded from a drive a useful facility if a drive needs to be swapped between axes To upload a program select Upload from the Utilities menu An upload dialogue box wi
38. mm per second mms and acceleration in mm per second per second mms 2 This is made possible by measuring one user unit in terms of the number of positional feedback encoder steps This measure of Position Encoder Motor steps per user Unit is termed the PEU parameter For example a linear table with base units of 1mm and having an encoder that gives 1 count every 5um of travel results in a PEU of mm 5um 200 PEU must be gt 1 The PEU value is used with the SCALE command and once a PEU value is set this will determine the units in which acceleration distance and velocity are measured In this case a base unit of 1mm was chosen consequently acceleration is measured as 1mm s velocity as 1mm s 1 and distance in mm Individual scaled values of acceleration distance and velocity can be set using SCLA SCaLe Acceleration factor SCLD SCaLe Distance factor SCLV SCaLe Velocity factor For example to work with distance set in increments of 0 1mm set SCLD as base unit desired unit 1 mm 0 1 mm 10 This will require the SCALE command to take the form SCALE1 1 10 1 200 For more information see the SCALE command A D and V do not have to be in the same units any combination of units is possible but PEU divided by SCLD must result in an integer This is because the distance moved requires the following calculation D PEU SCLD steps which could result in a fractional number of encoder steps that cannot be resolved
39. on the last Registration active transition on input 2 start of valid REG move Range 2 147 483 648 to 0 to 2 147 483 647 Position The PM count position on the last active transition on Secondary input 1 falling edge viewed using IS Range 2 147 483 648 to 0 to 2 147 483 647 generator open loop target position Flag 0 ready or 1 busy Registration Move Y N Flag 1 reg move in progress 0 not doing reg move software 0 S curve accel decel disabled default configuration 1 S curve accel decel enabled Table 4 2 List of System Variables Continued Mm gt v v n P Var FB FC FN F IN Nn IP PB T RM 58 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Var Name R W sRange defaultvalue ST3 T Trigger Timeout Optional timeout for trigger command 0 65 seconds in 0 01 increments User status bit 8 is set to indicate timeout occurred before trigger condition met Bit is clear if trigger condition met before timeout The default time is 0 00 no timeout Fault status UF2 fee ee ee eae eens Can be set to 0 only Table 4 2 List of System Variables Continued AB Al and AO Description AB controls the dead band and AO the offset of the differential analogue speed control input See Differential Analogue Input in the Electrical Installation section BR Description This sets the Baud rate of serial communications Enter the required Baud rate directly for examp
40. only aud rate no e i Control FC and control setting The node i d FN isthe communications address for this drive The control setting FC determines the feature set for CAN operation Only the setting for FC takes effect immediately aa He 110 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Drive settings Setup This facility gives easy access to setting system variables in a more direct manner than Guided Drive Setup Figure 5 6 shows a sample screen Address Click Upload to retrieve current settings for this axis Serial number Click Download to update the axis with your changes Product description Unable to talk to axis Product software type Software revision i Download Open Save Print Done Help Figure 5 6 Axis Setup Tab The buttons displayed along the base of this screen can be used as follows Upload retrieves the current settings for the selected axis Download updates the current axis with your latest changes Open opens a stored cfg file Save save the file to disk as a cfg file Print prints the value of all the settings of all the tabs Done closes the set up window Help accesses the help file 5 EASI V SOFTWARE 111 Status The Utilities menu axis Status provides a convenient method of examining the double word status bits The tool gives access to the status of User Faults Status bits and Drive Faults using a series of tabs as shown in
41. position absolute becomes greater than 10000 10 1 output 1 1W CQ 1 enable command queuing again 1END 74 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motion Control Using the EASI Command Set Move Types Mechanical movement results from the motion of a motor shaft By controlling the velocity acceleration distance and direction of the motor different move profiles can be created for particular applications Move types can be preset meaning a move is made in a controlled way over a specified distance or continuous where only acceleration velocity and direction are defined distance being ignored Various move types can be selected using the mode M command Preset Moves Preset moves allow you to position a target or work piece in relation to the motor s previous stopped position incremental moves or in relation to a defined zero reference position absolute moves Absolute Preset Moves MA An absolute preset move will move the shaft of the motor a specified distance from the absolute zero position MA Incremental Preset Moves MI When the MODE command is used to select indexed move with incremental positioning Ml the motor shaft can be moved a specified distance from its starting position in either a clockwise CW or counter clockwise CCW direction Note a positive direction is defined as one resulting in clockwise CW rotation of the motor shaft when viewed from the flange Continuous Moves MC T
42. program will continue in a normal manner Immediate or buffered can be used in labelled block saved by SV 122 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Example The code following the START label will be run at power up 1START start label 1T0 5 delay 10N 1LIMITS 3 0 0 disable limits 1PROFILE1 100 100 4000 25 define profile 1 1USE 1 suse profile 1 1G execute profile 1 1END 1ARM1 arm the start label 1SV save the code Note If you save the controller with ARMO then the start up sequence will fail to run and the controller will wait for serial commands Using EASI V software certain commands become armed when their on off parameter is set to on Requesting an ARM status will report the state of the START and FAULT labels for example aARM START 0 FAULT 1 6 COMMAND REFERENCE 123 C Continue Syntax Units Range of n Default See also aC PS Description The C continue command causes a user command to resume execution following a pause command Properties Immediate only can t be used in labelled block not saved by SV Example 1PS pause commands 1A100 acceleration 100rps2 1V20 velocity 20rps 1G go 1 TEST add TEST comment 1C continue TEST message TEST is displayed CLEAR Clear user code Syntax Units Range of n Default See also aCLEAR label DECLARE Description The CLEAR command deletes user program instructions from the label specified until
43. pulled down for 5 Yde operation Input 2 Reg 3 Home 4 Limit 5 Limit The following encoder inputs El and simulated encoder outputs EO can be configured to these options 5 EASI V SOFTWARE 107 Guided i X M initialisation 6 of 9 m Enabled Switch reference edge Negative Positive r Switch is normally Closed Open Acceleration Direction velocity 1 00 10 0 Mode 0 stop in active region 1 stop on reference edge C 3 switch and index pulse 4 find index pulse lt Back Cancel Guided i X M initialisation 7 of 9 Operation 24 Vde 5 Vde i Min Mind Mins M Ind Help m Inputs internally pulled up pulled down Tint T in f in FInd T Ind Outputs source sink M Out2 Iv Outs N Outi Value of IC is 8160 El Step Dim C Cw CCW ABZ EO C Step Dimn C OWCCW GABZ ere 108 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE This screen allows Guided Y i X M initialisation 8 of 9 the setup of all the drive s controls not You can specify all general 3 ing Command Vv available on other settings here E queuing COQ screens Auto run of the START routine on peach E power up is enabled by ARMing This command also enables a FAULT routine if programmed Enable input Vv M Communications style sense ES Speak whenever IV E
44. required to be positioned on the motor cable using heat shrink sleeving or cable ties The position of the absorber should be within 150mm of the drive Always secure the cable using the P clip as shown Do not rely upon the connector alone holding the motor cable in place Avoid stress on the X1 connector by hanging cables as this may lead to connector over heating Make a 360 connection to the screen using one of the stainless steel or brass P clips supplied within the fit kit Size Parker part number 9mm ID 4216 101 10 7mm ID 4216 102 12 3mm ID 4216 103 Table 3 3 P Clip sizes Three different size P clips allow the use of a variety of motor power cables from different manufactures There must be no break in the 360 coverage that the screen provides around the cable conductors If a connector must be used it should retain the 360 coverage possibly by the use of an additional metallic casing where it passes through the bulkhead of the enclosure The cable screen must not be bonded to the cabinet at the point of entry Its function is to return high frequency chopping current back to the drive This may require mounting the connector on a sub panel insulated from the main cabinet or using a connector having an internal screen which is insulated from the connector housing Within the cabinet itself all the motor cables should lie in the same trunking as far as possible They must be kept separate from any
45. set that is not equal to AA then the value of AA will be used for all acceleration and deceleration settings Asymmetric move profiles are not possible when using S curve correction Since the peak acceleration will be twice that of AA this needs taking account of when performing any torque calculations 4 CONTROL OF VIX DRIVES 65 SN Description reserved ST Description See reporting of status bits in Reporting the Status of Variables TT Description The trigger timeout can be set or read using TT If a timeout occurs status bit 8 is set high Note Setting a value of 0 00 results in NO trigger timeout Example 1W TT 1 5 timeout after 1 5 seconds 1G do the move 1TR IN 1 wait for input 1 to activate or timeout 1IF ST1 XXXXXXX1 check for timeout 1GOTO TOUT jump to TOUT routine 1 IN1 ON else display message over comms link continue code Reporting the Status of Variables By examining Table 4 2 you can see that most system variables take a numerical value or record a simple ON OFF state 0 or 1 Flags Certain variables perform a reporting function which provides you with information on the status of the indexer and any drive faults present in the hardware or user program code Status Variable Reporting Variable ST is a 32 bit double word that contains status information When read ST reports a 32 bit double word pattern of the form 0000_0000_0000_ 32 bit wide double word _0000 LTT
46. to 3 Trailing X characters are not required Properties Immediate or buffered can be used in labelled block not saved by SV Example 20 110 sets outputs 1 2 ON and 3 OFF 20 X0X leaves outputs 1 3 as they were and turns output 2 OFF 20 101 sets outputs 1 amp 3 ON and turns output 2 OFF OFF Syntax aOFF Description Properties Example 6 COMMAND REFERENCE 153 Shutdown motor power Units Range of n Default See also OFF ON Issuing an OFF command de energises the drive to shutdown the motor power The controller responds to move commands that are issued after an OFF with E If you check the fault variable UF you will see the Drive disabled bit set to indicate that the drive was de energised when a move was attempted OFF reduces motor heating and allows manual positioning of the load assuming the system mechanics allow this and it is safe to do so Immediate or buffered can be used in labelled block saved by SV 1OFF shut down motor power on axis 1 154 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE ON Syntax aON Description Properties Example Note Turn ON motor power Units Range of n Default See also OFF Issuing an ON command energises the drive and clears the current state of the drive fault registers The command allows execution of moves provided the motor is not ona limit ON will clear the User Fault and Drive Fault variable to all zeros but
47. 1POSMAIN1 enable position maintenance 1POSMAIN check status of command 1W PA 0 set absolute position to zero 1G start the move motor turns 10 revs 1R PA read position 1END Following the G command the system will attempt to correct any final position error at the end of the move Note When the command is armed output 3 will come on with the motor in position and stationary When the G command is given output 3 will turn off until the motor is back in position within the dead band 4 CONTROL OF VIX DRIVES 91 Stall Detection Stall detection is only possible if an encoder is fitted to the motor or load A stall is reported when the error between the commanded position and the actual position determined by the encoder exceeds the value set in the error window of the STALL command Stall Detection Set up A stall condition is signalled when the number of expected stall encoder steps does not match the number of steps received During a move the indexer constantly monitors any build up of stall error and once the difference exceeds a programmed error window a stall condition is reported Note the stall error count is reset following an ON STALL GH or G command Set system variable EM to equal the number of stall encoder counts per rev This allows the use of a low resolution stall detect encoder without effecting the motor positioning resolution as set in the motor command However if LOADENC is enabled the positio
48. 1PROFILE1 80 20 24000 20 define move parameters 1GOTO MOVE1 transfer to label move 1 1END end of label definition 1MOVE1 define program label 1MI incremental positioning move 1USE 1 use motion profile 1 1G execute move 1END end of program move 1 definition Note 1 DEVICE ADDRESSING IS REQUIRED FOR ALL COMMANDS 2 PROFILE1 has the following characteristics ACCELERATION 80rps DECELERATION 20rps DISTANCE 24000 steps 6 REVS MOVE POSITIVE DIRECTION VELOCITY 20 rps 4 CONTROL OF VIX DRIVES 49 LOOP Command The block structure of the code lends itself to performing repetitive operations using the LOOP command The command can be used to call a particular labelled block of code for either a specified number of times or continuously An example using the LOOP command is given below again the START and MAIN code blocks have been combined within the START block 1START start label definition 1DECLARE LOAD declare label 1LIMITS 3 0 0 disable limits 1PROFILE3 100 50 4000 35 define move parameters 1Ml set mode to incremental 1LOOP LOAD 6 repeat the load unload 6 times 1END end of label definition 1LOAD define program label load 1USE 3 use motion profile 3 10 XX0 ensure o p 3 is off 1T1 wait for 1 sec delay 1G execute move 10 XX1 turn on o p 3 1T1 wait for 1 sec delay 1END end of label definition 50 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Reserved S
49. 4V supply connections 17 24V supply lead length restrictions 17 A A acceleration deceleration 119 A to D converter 33 AA acceleration 119 AB Al amp AO system variables 58 Absolute preset moves 74 Absorber ferrite 20 AD deceleration 120 Al system variable 33 ANA1 inputs 33 Analogue input 33 AO system variable 33 ARM code 121 ARM command 50 B Baud rate changing 31 Baud rate selection 103 Bipolar rating 21 BR system variable 58 C C continue 123 Cabinet installation 9 Cable lengths for motor 20 Cable screening 20 CAN bus connector 40 CAN bus terminator 41 Capacitance of supply 11 Chop frequency 195 Clean earth 9 CLEAR user code 123 Clockwise motion 74 Closed loop applications 87 Closed loop operation 87 Code structure 45 Command Index address requirements 115 label amp multi parameter syntax 116 presentation 115 reference 115 simple syntax 115 Command checking 118 Command defaults 162 Command list 183 Command properties 116 Command queuing 59 73 Commands sent waiting on a trigger 71 Communication daisy chain 42 Communication problems 186 Communications specification 196 Conditional code 72 Confirming drive operation 114 Continuous moves 74 Cooling 197 Cooling requirements 5 Counts per rev 87 CQ system variable 59 D D distance 124 DC supply amps 11 DC supply capacitance 11 DC supply volts 10 Dead band 89 Declarati
50. A signals on the encoder connections Position Maintenance Position Maintenance is a method of correcting occasional position errors by adding or subtracting motor steps once a move has been completed It is not like a servo loop in which position error corrections are made throughout the entire move To be able to make use of Position Maintenance a drive system needs to be fitted with a load or motor mounted encoder The drive s controller will detect the difference between the number of steps the motor was commanded to move and the number of steps actually being reported by the encoder This resultant position error is used at the end of a move to further command the motor in a direction to give the correct target encoder position as shown in Figure 4 13 Settle Settle IT time IT time Velocity Position revs sec maintenance move a a 0 Time Target m 0 1 IP 0 1 OUTPUT 0 Figure 4 13 Position Maintenance Move Profile 4 CONTROL OF VIX DRIVES 89 At the end of the main move the controller waits until the in position time delay and the settle time if programmed have timed out at this point the encoder count is read A calculation is performed which compares the encoder count with the target position if the difference between these two readings is less than the defined dead band then the move is complete and the next user program command is executed If the two readings differ by an
51. C and LVD compliant installation we recommend that drives are mounted within a steel equipment cabinet This form of enclosure is not essential to achieving EMC compliance but does offer the benefits of operator protection and reduces the contamination of the equipment from industrial processes A steel equipment cabinet will screen radiated emissions provided all panels are bonded to a central earth point Separate earth circuits are commonly used within equipment cabinets to minimise the interaction between independent circuits A circuit switching large currents and sharing a common earth return with another low level signal circuit could conduct electrical noise into the low level circuit thereby possibly interfering with its operation For this reason so Called dirty earth and clean earth circuits may be formed within the same cabinet but all such circuits will eventually need to be returned to the cabinet s main star earth point Mount the individual drives and EMC filter on a metal earth plane The earth plane will have its own individual star point earth which should be hard wired using an insulated copper conductor back to the cabinet s clean earth connection point LVD Low voltage directive EMC Electro Magnetic Compatibility directive 10 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Power Supply Connections Power drives from a DC supply derived from an isolating transformer or a DC power supply See Powe
52. CD code restricts the number of input codes detected 1 to 9 and 11 to 19 inputs Code type Execution label__ 1 2 3 4 5 BCDcode Binarycode Fe eg HE a a ee ee Fae a Oe A a a Pa Se ARE a Re ee ee eee Ese n an Ee a a a ae OP Te e OR ae a a a a ee pe Se Oe SO eh a 148 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Example The main code configures the label select command to detect a binary code on 5 inputs all high gives decimal 31 and if detected to continuously run the code at label L31 Use binary mode for PLC control and BCD for control via a thumwheel 1START 1DECLARE L31 1LSEL1 1 5 0 1ARM1 1L31 1A10 1V10 1G 1END To check the current mode type 1LSEL The response will be ee AR1 B D1 IN5 C RO Note If the inputs remain high the code following label 31 will run continuously If the inactive execution mode was selected all inputs would need to go to 00000 and then 11111 before running the code at label 31 The selected routine will only run if no other routine is already executing The number of inputs available for use by LSEL depends upon the use of limits home or registration within an application Syntax aMn Description Properties Example 1 6 COMMAND REFERENCE 149 Mode Units Range of n Default See also see below FRATE The mode command sets up the mode of operation of the controller The values of n are A indexed move
53. CLARE GRIP 4PROFILE2 100 100 4000 25 define profile 2 4LOOP GRIP 0 repeat the grip ungrip code forever 40 XX1 set output 3 4T5 If we exit the loop then we pulse output 40 XX0 3 to indicate gripper tension out of tolerance 4END 4GRIP 4USE 2 Use motion parameters from profile 2 4 do the move 40 1XX trigger the measurement 4H change to ungrip grip 4T1 delay for 1 sec 4IF IN X0X gripper tension out of tolerance 4EXIT abort loop 4IF IN X1X else continue the loop 4G 4END In the example shown above once the EXIT command is encountered the cycle in progress will be completed then the code will be returned to the line immediately following the LOOP command That is output 3 is pulsed for 5 seconds to indicate the gripper tension is out of tolerance 128 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE FOLLOW Configure following Syntax Description Properties aFOLLOWon off source mode scale The Configure Following command is used to setup following allowing an axis to copy movement from another drive The source parameter specifies the device to follow The only option is E encoder input The mode parameter determines the type of following move that takes place mode 1 The position of the motor follows the following source All other mode values are reserved at present The scale parameter specifies the scaling applied to the following source This can range from 0 1 to 500
54. E USER GUIDE Terminal Terminal on line operations Settings Configure the serial communications Connect Open close the terminal after testing the connection Configure test buttons Edit buffer Create an editor file window or terminal buffer Log to file Open close file logging terminal buffer actions Configure terminal buttons F2 Bait putter Iisa tof le Utilities Specific tools Product Displays Product Selection screen Guided drive setup Help screens guide you through drive setup Drive settings setup Similar to above but uses tabbed text boxes Axis status Display status bits or messages Download procrenntodive Fa Download program to drive F4 Download program Upload program from drive F5 Upload program Drive LEDs Displays LED diagnostics sheet colour amp flash rate Options This provides a variety of tools documented below Windows Window controls Tile FG Share program desktop space between open windows Cascade F7 Cascade all open windows on program desktop Next FS Select activate the next window Arrange Icons Arrange all minimised windows on program desktop Close All Close all active windows on program desktop v 1 Editor EXAMPLE5 PRG Help Program help facilities Contents FI Open help file at the main contents start Search for Prompt for topic string and search help file Indexer commands Open help for individual EASI V commands Visit Parker EMD online Visit Parker web site Tec
55. Figure 5 7 Status report Address Status 0000_0000_0000_0000_0000_0000_0000_0000 ae Close Figure 5 7 Status Reporting The Status Report can be permanently displayed during program development or testing to monitor the operation of the drive The double word status bits are decoded and displayed as text messages within the Status Report window as shown in Figure 5 8 This eliminates manual decoding errors and gives an immediate update of the drive s status Status report Address Status Drive ta Bits 0111_0000_1000 0000 0000 0000 0000 0000 looping command executing waiting for trigger input Previous program is running motor is energised Close Figure 5 8 Reporting Status of Drive Read The Read button is used to update all of the Status Reports and is a useful aid when debugging an application Previous Selecting Previous allows the previous status to be re displayed useful for comparing the results of programming actions The Previous reading is only stored to a depth of one that is you cannot trace the history of status bits by continually selecting the button Close Selecting Close will exit the Status Report window 112 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Downloading and Uploading Programs A drive program that exists within an active edit window can be downloaded to the drive by selecting Download from the Utilities
56. G 20 XX1 Turn output 3 on increment batch counter 270 5 Delay execution for 500mS 20 XX0 Turn off output 3 2END 2NOREG if we come here we didn t have a valid reg mark 20 X1X Turn op2 on push unlabelled product off conveyor 270 25 Delay execution for 250mS 20 X0X Turn off output 2 2END 162 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE RFS Return to factory settings Syntax Units Range of n Default See also aRFS SV Description Issuing an RFS command initialises the controller to factory default settings The drive must be de energised OFF for RFS to be executed Factory settings must be saved using the SV command before they take effect The default settings are All labels cleared all outputs set to logic low Note the RFS state of ARM is start disabled fault enabled ARM01 Properties Immediate can t be used in labelled block saved by SV Example 1LIMITS 3 0 0 900 define limits 1RFS return to factory settings 1SV save factory settings 1LIMITS sreport limits LMO TP1 MO AD 200 S Syntax aS Description Properties Example 6 COMMAND REFERENCE 163 Stop Units Range of n Default See also PS K Use the S command to bring motion to a controlled stop The command will use the current value of deceleration as specified by either the immediate A or AD commands or the current profile being used This command also aborts label execution when used f
57. G 189 Forcing a Hardware RFS Pin 2 of serial communications D type connector X3 is for use as a hardware method of forcing a return to factory settings It may be used when it is not possible to perform an OFF or RFS command Such a situation may be switching to RS485 mode but having no RS485 interface on the controlling PC forcing an RFS command will allow you to return to RS232 operation To force a hardware RFS follow the procedure detailed below note you will loose any program in memory and system variables will return to their default values 1 Turn off drive HV and 24V 2 Connect X3 pin 2 MODE input to X3 pin 3 OV 3 Turn drive 24V on and HV if required On power up any program present in memory is cleared and ALL system variables are set to their initial factory default value 4 Establish RS232 communications using Easi V and type in 1SV and press Enter to store the changes 190 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faults The following notes give you a better understanding of what is happening within the drive when a particular drive fault is reported The explanations assume a ViX drive indexer firmware revision of V2 0 Composite fault This flag indicates that a drive fault has occurred and that the fault is still present The original fault may have been registered by the FPGA power card hardware or by the drive s microprocessor See the remaining fault status bits for the source s of the
58. GUIDE Homing Configuration Command The command allows you to define the mechanical edge of the home switch at which you wish home to be The command also allows you a choice of home switch type that is normally closed or normally open however if you change the switch type this does not change the edge you are homing to Remember the positive edge is the mechanical edge of the home switch closest to the positive limit Other features of the HOME configuration command allow adjustment of the search speed and direction the acceleration or deceleration rate to be used and mode selection When setting the deceleration rate you must ensure sufficient distance is left between the home switch and any limit to make sure motion is brought to a halt after the home switch is detected and before a limit is reached If not the system will be brought to an immediate halt as soon as the limit is detected Mode Selection Mode selection allows you the choice of how and where motion is brought to a stop within the home switch operating range The choices are e Mode 0 the indexer will detect the first edge positive or negative and will then decelerate to rest within the home switch operating range e Mode 1 will cause motion to stop at the mechanical edge of your choice positive or negative e Mode 2 reserved e Mode 3 If an encoder with a Z channel is used then the controller will seek the Z position after detecting the specified home swit
59. INDEXER DRIVE USER GUIDE If the negative edge of the home switch is selected in the homing configuration command a similar motion path would be followed but finishing on the other side of the home switch as shown in Figure 4 9 i LEHIN i l HOME SWITCH i Negative OPERATING Positive Giso edge l RANGE ledge 77 positive POSITIVE GH negative LIMIT aiaa aA shins 5 Paa pippa ea w J Sy l GH r ai F GH a4 A Leh foes ANITA i 3 Finish Start from positive l l side of home Figure 4 9 Go Home to Negative Edge Motion starting on the negative side of the home switch will behave in a similar way the only difference being the direction of travel If the drive was started up already within the boundaries of the home switch and a go home command was given for a particular edge the motion would follow the path shown in Figure 4 10 depending upon which edge was requested In this situation the home position is known so the indexer knows in which direction to travel to seek the appropriate edge In Figure 4 10 acceleration and deceleration are set to the same value HOME SWITCH OPERATING Positive edge Negative mit Figure 4 10 Go Home Starting from Home Note If the home configuration command is set to mode 0 and the home switch is already in its active range no movement will take place 4 CON
60. INDEXER DRIVE USER GUIDE Properties Example Note In mode 0 when the home position is reached the absolute position of the controller is set to 0 The incremental position reports the distance moved to reach the home position system variable Pl Typing AHOME on its own will return the current parameter values for the nominated axis For example The command 3HOME will return AR1 E TP1 V 10 00 A10 0 MO Meaning the command is armed reference edge is negative home type is 1 velocity is 10 rps positive acceleration is 10 rev s and mode is 0 Once configure homing has been setup it can be applied turned ON or armed using the simplified form of command aHOME1 Or turned OFF using aHOMEO Immediate or buffered can be used in labelled block saved by SV On axis 3 search for home in the negative direction at a velocity of 15 rps and acceleration deceleration of 100 rps The motor is to stop on the negative edge of the home switch and then seek zero phase 3HOME1 1 15 100 1 position on edge of switch acceleration deceleration of 100 15rps and search negative home switch normally closed stop on the v e edge turn homing ON The go home final velocity of 0 1 rps is used to complete the last part of the move Also see GH command IF Syntax Description Properties Example Note 6 COMMAND REFERENCE 139 Test condition alF system_variable relation value The IF command compares
61. N when a corrective move is made The output will be turned OFF when the next G go GH go home any ON command or Z reset command is received and status bit 17 will be reset The optional parameter settletime specifies how long in milliseconds that the indexer will wait after motion has ceased before checking the feedback encoder Motion has ceased when the motor has been commanded to stop and the in position timer has timed out The in position signal will only be set high after the in position time and the settle times have lapsed and the motor shaft has been positioned within the deadband For more information on POSMAIN refer to the Position maintenance section in Control of ViX Drives Parameter ranges are Parameter Range Units Defaults On off 1 ON 0 OFF refer to table eadband Range 0 to 32767 of distance units 10 for enabled Output 0 to 3 commands in 0 no output section 4 Settle time 0 to 65535 Note dead band range is measured in encoder count units as a band consequently a dead band of 10 will be equivalent to 10 or 20 units wide 156 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Properties Example Note Immediate or buffered can be used in labelled block saved by SV 1POSMAIN1 10 3 Enable position maintenance Allow a 10 step dead band window and set o p 3 when within the desired range 1POSMAIN1 20 Enable position maintenance Allow a 20 step dead band window
62. NDEXER DRIVE USER GUIDE STATUS STATUS of Drive Syntax aSTATUS Description Properties Example Units Range of n Default See also Use this command to check the state of a drive It is intended for set up purposes rather than for use when a program is running Immediate or buffered can t be used in a labelled block not saved by SV 1STATUS checking the configuration and state of a drive 1STATUS ViX500IM Stepper Copyright 2003 Parker Hannifin Firmware REV 2 1bD Serial number 541935 00 1 1 CcD VixX500IM Control card revision 2 Stepper drive Power card revision 3 Power stage E500 FPGA ID read 20b0 FPGA ID file 20b0 MOTOR TYPE 255 RESOLUTION 4000 CONT STALL CURRENT 4 5 Amps Ed MOTOR SUPPLY 79 V AUX SUPPLY 5 1 V 770 SUPPIV oep ranp 23 V I O CONFIGURATION 8160 INTERNAL TEMPERATURE 49 C HEATSINK TEMPERATURE 47 C INCREMENTAL INDEXING MI POS MAIN WINDOW 10 STALL WINDOW 4000 VETOCETY Veir ona 09s a 1 00 DISTANCE D 4000 ACCELERATION AA 10 0 DECELERATION AD 10 0 CURRENT POSITION PT 0 ERROR PE 0 POSITION MODULUS PM 0 k AXIS READY DRIVE FAULTS DF 0000 0000 0000 0000 0000 0000 0000 0000 DRIVE STATUS ST 0000 0000 1000 0000 0001 0000 0000 0010 USER FAULTS UF 0000 0000 0000 0000 0000 0000 0000 0000
63. NG Clamp the motor in a secure position before testing the drive Upon execution of this code the motor should perform 4000 steps and stop The successful operation of this code confirms the drive is working correctly If this does not happen refer to the Troubleshooting Section 6 COMMAND REFERENCE 115 6 Command Reference Command Description Each command has a simple 1 to 7 character name usually an abbreviation of its full descriptive title Listed commands are in alphabetic order with any non alphabetic symbols appearing last Each individual description will include a one line header giving the abbreviated name followed by its full name The following lines give the command syntax units of measurement range of values any default value and a reference to other related commands Where commands contain a list of parameters a simple layout displays only the syntax of the command Every command requires an address Where several drives need to respond to a common set of global commands prefix each command with the address 0 To prevent spurious feedback any report or read command using address 0 will be ignored Note a drive will ignore a command missing an address prefix Where commands such as IF R TR and W include a system variable it is treated as a command parameter System variables store internal drive values and settings Each variable is capable of being read and tested and some may be written to but they are all
64. RIPA 1R PE Shift F6 Perasa drive 1 i DECLARE Shift F fLimits 1 0 drive 1 1LIMITS 115 10 Shift F8 List program drive 1 ILISTIALL Note i Legends text can be up to 25 characters long i Commands text can be up to 40 characters long and must be separated by a fii Spaces are NOT allowed in the commands Figure 5 5 Configure Terminal Buttons Window Defines the function of the buttons at the base of the Terminal window and assigns a keyboard shortcut to each button depending upon where it appears in the list order This facility enables a group of commonly used commands to be sent to a drive s by clicking a single button in the Terminal window or pressing a Shift Function key combination from the keyboard 104 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Utilities Menu Selections Utilities menu selections control the way drives are setup and configured for use with a particular motor type The menu offers two levels of setup depending upon the skill and experience of the operator e Guided drive setup guides you through setup for a particular motor type quick and simple e Drive setup allows text entry of motor parameters for experienced users From the Utilities menu select Guided drive setup Select the axis Guided i X M initialisation 1 of 9 address of the drive to be initialised Please select the axis address that you wish to initialise Note the current settings are NOT upload
65. Supply unk L3 FOR 55V SINGLE AC IN PHASE to 1 3 PH D D D D wW D D 20V AC IN cD cy cy ay ee Smal Wie a or ee SLID PEA g 83 5 2 8 Ba g v O m e i 10 mm MIN ke Figure 3 4 PL1100 Power Supply and Drive Connections 3 ELECTRICAL INSTALLATION 17 EMC Installation These EMC installation recommendations are based on the expertise acquired during the development of compliant applications which Parker believes are typical of the way a drive or drives may be used Provided you have no special installation requirements or untypical operating environment requirements ViX drives will conform to current EMC Directives as defined at the front of this user guide General Requirements ViX mounted drives unless used with an XL PSU will require an EMC supply filter to meet EMC installation compliance requirements Mount the drive on a conductive panel which is shared with the EMC filters If the panel has a paint finish it will be necessary to remove the paint in certain areas to ensure filters and drive make a good large area metal to metal contact between filter case and panel Mount filters close to the drive and keep the supply wiring as short as practical Attempt to layout the wiring in a way that minimises cross coupling between filtered and non filtered conducto
66. Syntax Units Range of n Default See also aUSE profile 1to8 PROFILE Description The USE command copies the pre defined profile to the current move parameters Properties Immediate or buffered can be used in labelled block not saved by SV Example 1PROFILE1 200 20 1500 25 define profile 1 1PROFILE2 150 200 4800 45 define profile 2 1USE 2 suse motion profile 2 WARNING If you attempt to use an undefined PROFILE PROFILEO is used with no error indication V Velocity Syntax Units Range of n Default See also aVn see SCALE 0 001 to 50 000 1 PROFILE SCALE Description Velocity command V sets or reports the programmed velocity of the motor Properties Immediate or buffered can be used in labelled block saved by SV Example To set the velocity of axis 3 to 25 rps tye 3V25 To report the current velocity of axis 3 type 3V The controller responds WItN ccceeeeeeeeeeeseeeeeeeeeees 25 0 No units are reported Note 1 A programmed value of velocity can be overwritten by a PROFILE command once the USE command has been issued but subsequent values of velocity can be programmed to override the value in use 2 With SCALE enabled a maximum value of 5000 user units is permitted 3 If a value is entered that requests a velocity greater than the maximum velocity set in the MOTOR command E will be returned 174 Syntax Description Properties Example Note Z Syntax aZ Description Properties
67. TROL OF VIX DRIVES 83 Final Direction of Travel Note that no matter where motion starts from that is from positive side of the home switch in the home switch region or from the negative side of the home switch or in which direction it goes from its starting point positive or negative its final direction of travel towards a nominated home switch edge is always the same Direction of travel towards the positive edge of the home switch is always negative and the direction towards the negative edge of the home switch is always positive This minimises variations in the home switch operating point between separate homing moves Example of Homing Datum Routine 1START start label definition 1DECLARE MOVE3 declare label 1LIMITS 0 1 0 configure limits enabled normally closed stop when hit 1HOME1 1 15 100 1 configure the home parameters 1GOTO MOVE3 transfer to label move 3 1END end of label definition 1MOVE3 define program label move 3 10 0 turn off o p 1 1GH execute the go home move 10 1 turn on o p 1 after go home complete 1A100 set acceleration to 100rps 1V25 set velocity to 25 rps 1D4000 distance to 1 motor rev 1G execute move 1END end of program move 3 definition Interaction Between Homing and Limits In certain applications a limit switch may be used to define the home position in which case one switch can be used for both a limit and the home position This requires the c
68. VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Overtemperature Sensor Standard Parker stepper motors do not use an over temperature sensor however when using custom motors provision is made for the connection of either a thermal switch or thermistor device The following devices are supported e Thermik SNM130ES e Cantherm F11 110 2 5 U106 Other ptc thermistors with a switch like characteristic are supported to DIN44081 44082 The input requires a normally closed switch to be connected to GND on X2 pin 3 or 6 If you use a custom motor with no overtemperature sensor fitted make sure you leave the Thermal sensor fitted check box un checked in the Custom Motor Set Up screen within Easi V to prevent an overtemperature fault being reported This is the default setting in Easi V X3 Connector X3 is the RS232 RS485 communications connector RJ45 connectors X6 and X7 may also be used for inter drive communications where multi axis systems are used RS485 Operation RS485 operation is only possible on drives fitted with the appropriate FEM Fieldbus Expansion Module If you require this feature please order the ViX CM drive type Connector Type Connector type is a 9 way D type socket Connector Pin Out Connector Pin X3 Function 1 Rx Tx RS485 drive reset 3 RS232 GND 4 RS232 Rx 7 RS232 Tx D loop Do not connect 5V output Table 3 8 X3 RS232 RS485 Connections 3 ELECTRICAL INSTALLATION 31
69. W In MA the command H is ignored You should not use following in mode MA Applying a step waveform to the analogue input will cause the velocity to ramp with acceleration A to avoid stalling the stepper Do not use Go Home in MB mode Hitting a limit in MB or MC mode gives the same response 6 COMMAND REFERENCE 151 MOTOR Motor Settings Syntax Description aMOTOR Type Current Resolution Max_vel thirdharmonic Resistance Inductance This command describes the characteristics of the motor being used to the rest of the drive The parameters used are Type 0 to 1023 number code Current RMS continuous motor current 0 1 to 5 6 A in 0 1 A increments for ViX500 Resolution Any value from 200 to 51200 steps per rev Max_vel 1 to 3 000 rpm Third Harmonic of third harmonic applied to current sine wave Used to increase slow speed smoothness Range 15 Resistance Winding resistance in Ohms Inductance Winding inductance in mH Measured line to line across the motor terminals The command sets all of the motor parameters and then calculates the optimum settings for the digital torque amplifier If there is no HV present when the motor command is issued the HV is assumed to be 80V and this figure is used for the calculation of the digital torque amplifier optimum settings When operating the drive at a voltage other than 80V DC make sure the HV is present when issuing the motor command Othe
70. X250 ViX500IM is optimised for the following motor types listed in Table 3 5 Motor Type Motor Rated Motor Currentin Inductance ViX500IM ViX250IM p parallel connection rae ll Ls Table 3 5 SY Optimum Motor Types Motor Voltage Ratings Motors with a withstand voltage rating from phase to earth of 1000V AC should be used An insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed screen is used to power the system and OV input is earthed as specified 22 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Large Motors The largest recommended motor size is a 34 frame 3 stack Please contact Parker EMD if you wish to use a larger frame motor Motor Connections at the Motor Motor connections should be made directly between the drive and motor the use of any switching devices such as contactors is not recommended In the majority of applications the drive will be used with an eight lead motor with the windings connected in parallel or series as shown in Figure 3 6 Motor connections will need to be determined from the motors data sheet These are normally identified by wire colour or terminal markings depending upon the make of the motor MOTOR CONNECTOR x1 2 Gnd 4 A 3 A SAFETY 2 ae EARTH 1 B PARALLEL CONNECTIONS MOTOR CONNECTOR x1 5 4 3 SAFETY 2 EARTH 1 Motor case SERIES CONNECTIONS Figure 3 6 8 Lead Motor Connection Options WARNING Hig
71. a FAULT label can be executed certain conditions must be met these are FAULT must be defined e ARM must be set to enable a FAULT label This means FAULT label code must be present and the ARMX1 command exists at the beginning of the code 4 CONTROL OF VIX DRIVES 51 The conditions under which the FAULT label is called will vary depending upon the fault itself and the condition of various other commands and command parameters An exact description is presented in Table 4 1 However in general a FAULT label will be called given any one of the following conditions e An attempt to go home further onto a limit is made and the limit is enabled e An attempt to go further onto a limit is made with no fault label currently running the limit configuration is stop on limit and the limit is enabled e A limit is hit during motion and the move is not a go home a fault label is not being run the limit configuration is stop on limit and the limit is enabled e A drive fault has occurred but no drive programming is taking place e When it is called from a GOTO GOSUB or LOOP command Note in this case a FAULT has not actually occurred consequently the FAULT label will be called irrespective of the state of the ARM command Table 4 1 summarises the conditions necessary for the FAULT label to be called The FAULT label will not be called when any one of the following conditions occur e There is an error whilst sending a command e T
72. alt and return a E R UF will return a Program nesting overflow message 146 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE LSEL Label Select Syntax aLSELon off code inputs execution type Description The label select command allows the code following a label having the name Lnn where nn is the detected input code to be performed when a certain user input pattern is detected on a number of inputs in the range 1 to 5 The code can be continuously repeated or may be re triggered depending upon the command s execution parameter setting The optional parameter type specifies which inputs are to be tested internal or fieldbus inputs The controller supports up to 16 user defined subroutine labels requiring 5 inputs to be able to select any 1 of the 16 You must declare each label before you use it For example 1DECLARE L1 1L1 code goes here 1END 16 subroutine labels may be numbered in the range L1 to L31 if they are to be executed using the LSEL command IMPORTANT The drive will need to use all of its inputs to select from the complete range of 16 labels unless a field bus input module is used Properties Immediate or buffered can be used in labelled block saved by SV O default setting 0 BCD binary default setting 1 to 5 default of 5 Execution continuously repeated default setting re triggered 6 COMMAND REFERENCE _ 147 The range of input code patterns is given below Selecting a B
73. alue for deadband is not adjusted but it is now in user units and may need to be changed to maintain the same displacement e Enabling scale does not change the values of A D and V but they are now measured in user units e f scale is turned OFF remember to set A D and V to appropriate values before issuing a GO command Values of V may be out of range unless re issued in motor or load units 166 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE STALL Stall detect Syntax aSTALLon off error_window mode output Description The STALL command is used to enable stall detect To use this command an encoder must be connected to X2 to monitor the system s actual position The on off parameter takes the values of 1 for ON and 0 for OFF and has a default value of OFF If the error between demanded position and encoder position exceeds the error window then the drive will generate a stall fault A stall fault will cause the ST LED on the front panel to go from green to red and the optional output if specified to switch to a 1 Motion is stopped status bit 18 is set possible stall drive fault bit 1 is set composite fault and drive fault bit 19 is set stall condition The drive will remove any pending commands from its input buffer and abort any program that is running Setting the mode parameter to 1 will run a fault routine if one is defined once the motor has stopped No further action is taken if the mode parameter is
74. alue of ES is zero ES 0 therefore to enable the drive connect X4 pin 11 to X4 pin 4 OV With ES 1 X4 pin11 may be left open circuit to enable the drive To energise the drive the drive must be enabled and the ON command issued The function of this input differs when in mode MP please refer to the Command Reference section for more details EX Description System variable EX controls the style and protocol of the drive s serial communications link IP IT and MV Description System flag variables IP In Position and MV Moving together with variable IT In position Time interact with one another as shown in Figure 4 2 The MV flag is only high whilst commanded motion is taking place The IP flag can only go high once movement has stopped and the IT timer value has timed out Consequently you need to set IT to a time long enough to ensure velocity variations ringing has ceased Velocity revs sec APPROACHING POSITION RINGING Figure 4 2 Interaction of MV IP amp IT 62 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE You do not have to wait for the IP flag to be set at the end of every move but its use improves positioning accuracy Example Use this code after each G command to improve positioning 1Ml mode incemental 1W CQ 0 turn off command queuing 1G start the move 1T0 1 wait 100ms 1IF MV 1 1 Moving 1TR IP 1 1 Stopped 1W CQ 1 re enable com
75. amount greater than the dead band then position maintenance is used to correct the move error Assuming the motor has not quite reached the target position and that position maintenance is required the difference between the target position and the encoder count will be the number of steps yet to be moved The indexer will automatically apply a correction move based upon the number of steps yet to be moved and will then after the appropriate delays re read the encoder count Once again a comparison is made between the encoder count and target position and the whole process is repeated depending upon the result of the comparison Dead Band Range With Position Maintenance enabled if you command the motor to move one revolution at the end of the move you would expect the encoder count to read the encoder resolution In practice mechanical alignment errors and lost motion within the system will usually result in a small offset existing between commanded motor steps and the encoder reading To take account of this offset an error band is defined known as the Dead Band Range It has a range of 0 to 32767 encoder counts and a default value of 10 The number of counts entered must be positive but the range will check the number of counts on both positive and negative sides of the target position Position maintenance will have deemed to be successful if the final correction move positions the motor within the dead band range Note the value entere
76. amping circuit can lead to an increase in the audible noise of operation However we recommend the use of DC for highly dynamic operations DF Description See drive fault bit description in Reporting the Status of Variables EO Description When an encoder is connected to the primary feedback input on X2 you may use the encoder outputs connector X4 to supply a step direction or step up step down signal for use by another drive System parameter EO determines the output as defined in Table 4 3 Note The source of these pulses is X2 primary encoder they are not generated from within the drive s indexer Before changing the system variable EO it is necessary to de energise the drive X4 EO 0 EO 1 EO 2 STEP o n STEP _ 10 joR Ss fcow B Table 4 3 Encoder Output Configuration 60 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE EI Description System parameter El controls encoder inputs connector X4 as defined in Table 4 4 X4 Eo Em1 E2 STEP STEP _ 8 jor fcow B Table 4 4 Encoder Input Configuration CAUTION De energise the drive before changing El and EO EQ Description Echo queuing EQ is a system variable that can be useful for multi axis control programs where you need to send and receive messages from individual drives controlled from a PC The variable controls the way messages are echoed and its use prevents corruption of commands by system response messages In a no
77. ance Winding inductance of a single phase winding measured line to line in mH inductance 24 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE The Other Parameters Tab Selecting the Other parameters tab gives you access to the screen shown in Figure 3 8 Update motors list Figure 3 8 EASI V Custom Motor Other Parameters In position time IT Digital I O The decimal number required by the IC system variable to configure the input output state of the drive 3 ELECTRICAL INSTALLATION Update motors list x Custom STEPPER motor Limitshome The limits and homing settings can be preset for your motor here This can be particularly useful for linear motor systems 4A HOME command is only added to the configuration program if homing is enabled and the drive supports the command Limit inputs Home enabled Enable both No Yes Disable limit Disable limit m Home reference edge C Disable both Negative Positive m Limit switches are m Home switch is Normally closed C Normally closed Normally open Normally open Direction velocity Continue to run program on Acceleration 10 0 imit hit mode E E r Homing mode Deceleration rps s 0 stop in active region C 1 stop on reference edge C 3 switch and index pulse C 4 find index pulse Add new motor Eind motor Modify Figure 3 9 EASI V Custom Motor Limits home Parame
78. ance in Europe Parker Hannifin plc Electromechanical Division Digiplan 21 Balena Close Poole Dorset England BH17 7DX Tel 44 0 1202 699000 Fax 44 0 1202 695750 e mail sales digiplan parker com e mail support digiplan parker com Website www parker emd com For engineering assistance in Italy Parker Hannifin SpA Divisione SBC 20092 Cinisello Balsamo Milan Italy Via Gounod 1 Tel 39 02 6601 2478 Fax 39 02 6601 2808 e mail sales soc parker com Website www parker emd com For engineering assistance in Germany Parker Hannifin GmbH Electromechanical Division Hauser P O Box 77607 1720 Robert Bosch Str 22 D 77656 Offenburg Germany Tel 49 0 781 509 0 Fax 49 0 781 509 176 e mail sales hauser parker com e mail techhelp_emd_OG parker com Website www parker emd com For engineering assistance in the U S Parker Hannifin Corporation Compumotor Division 5500 Business Park Drive Suite D Rohnert Park CA 94928 USA Tel 800 358 9070 Fax 707 584 3793 FaxBack System 800 936 6939 e mail CMR_help parker com Website www compumotor com Symbols used have the following meanings Caution Refer to the accompanying documentation Protective conductor terminal CONTENTS i Contents GAL HEI CAUTION Ves sich tee te thle EE AEAEE AEEA TEENETE AS ETE AEI E EEEE AEE ETES 1 2 Mechanical Installation siccsincasnctietcanwidndaias ouoeinedwecsduvainbaieed ievalntelcr
79. be made to run once a limit is hit subject to the following conditions e No fault label is already running e ARM command is armed and has the fault label enabled ARMX1 e Within the LIMIT command the mode is set to Stop motion when a limit is hit and abort program e A fault label has been defined If no fault label is defined or fault is not armed within the main ARM the program will be aborted that is motion will be stopped at limit deceleration the program is halted and all 4 CONTROL OF VIX DRIVES 85 associated flags are cleared The program will also be aborted if you are already on a limit and you request motion in a direction which takes you further on to that limit If the LIMIT command has been set to stop motion when a limit is hit but continue the program and you hit a limit or request motion in a direction which takes you further on to a limit no response will be given apart from a possible E depending upon the setting of the EX variable In this situation program execution will continue and no fault label will be run This allows the limit switch to be used as both a limit and home switch Hitting Both Limits If both limits are hit motion will be stopped and the drive will respond as if a single limit has been hit but no further motion will be possible until both limits have been cleared The status will report which limit was seen first positive or negative but if both were hit in the same millisec
80. belled block not saved by SV 4T6 delay for 6 seconds 4T0 38 delay 0 35 seconds rounded down 172 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE TR Wait for trigger Syntax aTR system_variable relation value Description The TRcommand pauses command execution until the trigger condition is met The trigger condition is met if the relation between system_variable and value is true Valid relations for the comparison are Equals lt gt Does not equal gt Greater than lt Less than Value is a number generated by the system_variable being tested Refer to the system variables table for more information Also see system variable Trigger Timeout TT Refer to the table of system variables that can be used for conditional control Properties Immediate or buffered can be used in labelled block not saved by SV Example 3TR PA gt 2000 wait for position absolute to be gt 2000 steps 3TR IN X11XX wait for user inputs 2 and 3 to be high Notes If you wish to use the TR command during motion command queuing system variable CQ must be set for continuous execution CQ 0 Issuing a K or S from the command line will clear a trigger condition If the input command buffer is filled whilst waiting for a trigger E will be reported assuming EX is set to speak whenever and the status LED will continually flash red then green To clear this condition cycle the power 6 COMMAND REFERENCE _ 173 USE Use
81. ble to run Easi V software necessary for the control and programming of the Vix you will require an IBM compatible PC running Windows 95 98 2000 XP NT4 or ME The PC needs to be specified to run Windows with at least 16MB of RAM a VGA monitor Windows compatible mouse CDROM drive The installed program size is approximately 1 3MB Easi V is supplied on a CD or may be downloaded free of charge from our Website www parker emd com Serial Link Lead You will need a 2 wire plus ground lead which has the Rx and Tx wires crossed over Wiring details are given in the Electrical Installation section Note The information contained within this section applies to Easi V software version 2 0 or greater If you have an earlier version of Easi V software please request the latest version from Parker EMD using the contact numbers given at the beginning of this user guide or download a copy from our web site www parker emd com Establish Communications Before attempting communication with the drive the supplied software needs to be installed on to the PC s internal hard disk drive Once software installation is complete commands can be downloaded from the PC to the drive to confirm its operation If Easi V has already been loaded you may skip the following Installation and Operation sections up to Confirming Drive Operation Compatibility of EASIV Always use the latest version of Easi V available from our web site or supplied w
82. can t be used in labelled block not saved by SV 1G set drive in motion 1K stop everything The K command does require a device address or OK to kill all axes It will stop a time delay T command and will abort a program CAUTION KILL uses the LIMITS command optional deceleration rate LD if this is not set a default value of 200 rps is used BEWARE THAT A LOW SETTING OF LD COULD RESULT IN THE MOTOR TAKING LONGER TO STOP AFTER A K THAN AFTER AN S This command does not replace the requirement for an additional hardware device to cut power to the motor in an emergency 142 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE LIMITS Configure limit inputs Syntax Description Properties Example aLIMITS mask type mode LD The LIMITS command allows the user to define whether the LIM inputs are used as limit inputs or user inputs via the LIM_MASK The mask field takes the following values 0 Enable limits default setting 1 Disable limit 2 Disable limit 3 Disable limit amp The ve limit switch is the switch that is reached when the motor reaches the end of travel for a move with ve distance velocity CW The ve limit switch is the switch that is reached when the motor reaches the end of travel for a move with ve distance velocity CCW type field takes the following values 1 Limits normally closed default setting 0 Limits normally open mode field takes the following values
83. cess being performed by the drive to be controlled by a single external analogue signal The signal is sampled at the start of each move and is used to scale the target velocity The resolution of the control is 1 0 1V of the analogue input voltage range 10V 100 If the analogue voltage drops below a level equivalent to 1 of the target peak velocity the velocity being requested by the analogue input voltage the value used will be taken as 1 of the user set peak velocity velocity set by the V command This is applied to values as low as 0 01rps the minimum velocity allowed Properties Immediate or buffered can be used in labelled block saved by SV Example 10N energise the drive 1V30 set the user peak velocity as 30rps 1FRATE1 enable feed rate override At this stage apply an analogue voltage say 1 85V to the differential analogue input 1G The actual velocity used is given by rounded down analogue input X 10 X user set peak velocity 100 1 85 X 10 X 30 1 8 X 10 X 30 5 40rps 100 100 Note If the calculated result is less than 1 the value used is held at 1 Note In the example shown above because of the rounding down an input voltage of 1 89V would also give a speed of 5 40rps A unipolar input signal is required 0 to 10V any voltage with a negative polarity will be regarded as 1 of full scale value G Syntax aG Description Properties Example Note 6 COMMAND REFERENCE _
84. ch all drives to 485 operation which is automatically saved Using the X6 X7 connections on the underside of the drive will allow the last drive in the chain to detect that there are no more connections made to X7 which will close the daisy chain loop back internally 3 ELECTRICAL INSTALLATION 43 To maintain the integrity of the EMC screening all RS232 and RS485 connections must be made via the drive s X3 D type connector RJ45 Connecting Leads RJ45 link cables can be ordered from Parker EMD Various lengths are available as listed in Table 3 13 Part Number Length VIX RJ45 0025 0 25m VIX RJ45 0050 0 5m VIX RJ45 0075 0 75m VIX RJ45 0100 1 0m VIX RJ45 0200 2 0m Table 3 13 RJ45 Connection Lead Types Note Individual cables that are within the RJ45 daisy chain system must not exceed a length of 2m Where a cable length greater than 2m is required between axes a fully screened connection should be made via connector X3 44 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 4 CONTROL OF VIX DRIVES 45 4 Control of ViX Drives Overview This section introduces you to the operation of the ViX stepper drive the implementation of motion control moves and the way commands are used Basic controller operation is described together with the code structure How system information is signalled via system variables and the use of various flag registers for status and fault reporting are described Both bas
85. ch edge e Mode 4 If an encoder with a Z channel is used then the controller will seek the Z position without the need for a home switch Mode 0 operation simply returns the motor to its home position at some point between the negative edge and positive edge of the home switch Apart from knowing which edge of the switch was used the exact position within the home switch range is undefined A more precise home position can be obtained by using mode 1 Mode 1 allows the home position to be defined as either the positive or negative edge of the home switch Note although mode 1 fixes the home position at one of two edges the precise position is still subject to the repeatability of the home switch itself Practical applications will exhibit variations in switch performance and consequently the home position will still be subject to variation by a small number of motor steps Mode 2 Reserved Modes 3 amp 4 for use with Z channel encoders 4 CONTROL OF VIX DRIVES 81 Go Home Command The go home command GH is used to return to the reference home position Issuing a GH command will cause motion in a direction defined by the HOME configuration command Figure 4 8 shows the path taken if motion was started between the positive edge of the home switch and the positive limit positive side of home The dotted line represents positive movement and the solid line negative although once past the positive edge of the home switch both merge to fo
86. cho back on M Note serial communication BAUD rate 9600 BAUD requires a power cycle to effect the change Echo queuing or r Analogue Offset 04 Deadband 04 Press Next to complete the setup process and to enerate a setu Soca j lt Back Cancel Hep This screen signals MERETE AREER the end of the guided setup process You ve done it Now you can create a new setup program which you can then edit Alternatively you can immediately download all these settings directly to the axis Append a test routine to make the motor move Download immediately lt Back Next Cancel Help Checking the Append a test routine box will include a simple routine that turns the motor shaft to verify drive operation To alter any configuration set up step backwards using the Back button 5 EASI V SOFTWARE 109 NOTE ANY CHANGES TO THE MOTOR TYPE NUMBER MUST BE FOLLOWED BY A SAVE SV AND RESET Z OR CYCLING POWER TO THE DRIVE TIP Create a setup program first rather than download immediately because if changes are required it s easier to edit a saved program CANopen Drives If you are setting uD ERENT eee a CANopen drive an extra screen is Setup the CAN open interface CAN baud rate FB 0000 3 included 8 of 10 here that allows The baud rate FB determines Node id FN adjustment of the the communications speed for the baud de ID CAN port
87. d encoder distance is commanded in load encoder steps With LOADENC off motor mounted encoder distance is commanded in motor encoder steps Note Post quadrature resolution is a hardware technique for increasing encoder resolution by a factor of 4 consequently an encoder with a 250 line count will have 1000 counts per revolution For a correctly connected system entering a positive distance value should cause the motor shaft to rotate in a CW Clock Wise direction when viewed from the shaft end and should cause the encoder count to increase in a positive direction The encoder can be checked by entering a positive distance value D and noting the direction travelled by the motor shaft Then de energise the motor using the OFF command and read the current encoder 88 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE position using the 1R PA command Now rotate the encoder shaft in the same positive direction by about half a turn Again read the encoder position which should be greater than the first reading indicating that the encoder count is increasing for positive motion If the second count is less than the first cross over the A and A signals on the encoder connector and repeat the test until an increasing count is obtained Encoder signal A should lead B for positive motion Note for a load mounted encoder that is with LOADENC enabled the system variable EM may be set to a negative value as an alternative to crossing over A and
88. d must be in load mounted encoder steps if LOADENC is enabled otherwise it is entered in motor mounted encoder steps Output An optional output can be used to signal when position maintenance is enabled and the motor is in position In position is defined as not moving whilst positioned within the dead band range See the note at the end of the example 90 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Settle Time When Position Maintenance is enabled all moves will track actual position against commanded position Position Maintenance allows the in position signal to be held off for a settle time the value of which can be programmed in the command parameters Speed Of Correction Once a move has been completed and the controller decides position maintenance correction is required it will move the motor at a fixed speed of irps Example of Position Maintenance The following code illustrates how position maintenance is implemented The example is based upon a motor resolution of 4000 steps per rev and a 1000 line encoder giving 4000 counts per rev 1DECLARE TRIAL 1MOTOR X X 4000 X X X X X is set depending upon the application 1TRIAL 10N 1R El check encoder is set to quadrature operation 1POSMAINO 20 3 0 set up position maintenance dead band of 20 encoder steps output 3 to be used no programmed settle time 1D40000 program distance 10 revs 1V5 set velocity to 5 rev s 1A10 set acceleration to 10 rev s s
89. ded the echo mode is set Once received you must send a SV command to save the address configuration To address a specific axis place the current address a before the symbol 0 0 is not supported on this product Auto addressing can be used for example sending 1 to axis 1 of a3 axis system will echo back 4 meaning the axes have been given addresses 1 2 amp 3 Save the address configuration of all axes using the command OSV The command can be used to specify the style of communications required for example 1 4 232 will set axis 1 to address 4 and specifies the use of RS232 Note this form of command is immediate and is auto saved as soon as you hit return consequently take care If you have no RS485 interface fitted to your PC and you issued 1 4 485 the drive will switch to RS485 and will auto save the change leaving you without any means of communicating with the drive See Forcing a Hardware RFS in the Maintenance amp Troubleshooting section Auto addressing can be used with style of communications type commands allowing such commands as n 232 or n 485 where n is the primary axis you wish addressing to start from You must have a RS485 drive module fitted for the drive to recognise the command Immediate or buffered can t be used in labelled block saved by SV If a system with axes 1 3 7 2 in that order is sent the command 10 the axes will become 10 11 12 13 Note that the 10 will not be disp
90. dedicated for a particular use by the system and cannot be used for storing user data within a program Command Syntax Generally a command s syntax consists of an address a followed by the command name Parenthesis containing the commands parameters or simply the range parameter n follows this Within the parenthesis form of command a comma separates each parameter and italics indicate any optional parameters Commands not requiring any parameter string have the syntax shown in Figure 6 1 aARMn Range parameter Command name Address prefix Figure 6 1 Simple Command Syntax Commands which include a parameter string can be simple one parameter commands such as GOSUB or CLEAR where the single parameter is a label or multi parameter commands containing a string of parameter values Figure 6 2 shows both styles of parameter commands 116 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE aGOSUB label L Label parameter Command name Address prefix F aLIMITS parameter1 2 3 oarameter4 E Parameters 1 2 3 amp optional parameter 4 Command name Address prefix Figure 6 2 Parameter Commands Attention 1 Terminate all commands with a carriage return A space is not valid 2 A command must not contain any space characters 3 All commands are device specific that is they always need an address 4 For reasons of clarity program examples appear as if being downloaded via Easi V that is the
91. e but options available within Terminal and Utilities are specific to drive control and will be fully described Menu Overview File New Cr Open Ctrl 0 Save Ctrl 5 Save Ag Print Ctrl F Close Window Exit Alt F4 Edit Undo Ctrl Z Cut Ctra Copy Ctrl C Paste Ctrl Clear Del Select All Ctrl G Go to line Search Eind Find Hest Fa Replace Selecting Go to line from the edit menu will generate the following dialogue box which allows the required line number to be entered This is useful for locating errors Linc number when loading a program 5 EASI V SOFTWARE 99 Filing Operations Creates a new editor file or prg program file Opens an existing editor file or program Save an editor file Save an editor file specifing the file name Print the editor file or contents of terminal buffer Close current active window Exit Easi V Editing Operations Undo a previous edit 1 level of undo only Remove highlighted text to clipboard Copy highlighted text to clipboard Paste contents of clipboard to current cursor location Delete highlighted text Highlight all text in active editor file window Go to a particular line within a file Editor search amp replace operations Find specified text top down from cursor position Repeat search again Find and replace text top down from cursor position Cancel 100 VIX IMMICROSTEPPER INDEXER DRIV
92. e restored following the next power ON cycle The number of write save cycles is 1 million Normally there will be a delay of approximately one second before a command following a save configuration is executed If a program is running or is being downloaded when the SV command is issued a delay of 10 seconds is allowed for the program to terminate or to finish downloading After 10 seconds if the program is still running or downloading a user fault is generated cannot execute command drive not ready bit 19 Wait 1 2 seconds before sending any other command following an SV Properties Immediate can t be used in labelled block Example 1RFS return drive to factory settings 1A150 1 acceleration set to 150 1rps 1SV save current settings 1Z reset drive 1A report current value of acceleration T Syntax aTn Description Properties Example 6 COMMAND REFERENCE 171 Time delay Units Range of n Default See also seconds 0 05 to 10 none IF The T command pauses program execution for the time specified by the delay parameter Timing resolution is to within 50ms increments Any time value specified within the range 0 05 to 10 seconds will be rounded down to the nearest 0 05 second increment Any value programmed outside of this range will generate an error E out of range The receipt of an immediate command whilst executing a time delay causes the delay to end Immediate or buffered can be used in la
93. e output current 5 6 50000 3000 15 m Phases are connected in Parallel C Series Resolution Rated speed 3rd harmonic if this setting is al Drive curent etc will change Amps RMS Ohms mH Amps RMS steps rey 1pm ltered Motor I D 19 Motor type MT 19 lt Back Cancel Guided i X M initialisation 3 of 9 Motor standby current MS Valid range between 10 100 In position settling time IT Notes 10 ms 1 When commanded motion ceases MV flag 0 the settle timer will start to count down 2 The IP flag is set to 1 after the settle time period Set Mode Position issue MP I Note if selected you will skip irrelevant set up screens lt Back Cancel Selecting Set Mode Position jumps forward to guided screen 8 Help 106 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Encoder feedback Guided i X M initialisation 4 of 9 must be selected to allow stall detection If your stepper motor is to be used IV Using encoder feedback or position with a feedback encoder for stall maintenance Parra dance hake Piar M Enable STALL options up here Error window 50000 Peya execution C Continue on stall Stalled output None Stop on stall In position A REO EEE 20 In position output None x F Settle time Press Next to f oo select the required limits Cancel Help This screen allows Guided i X M ini
94. ecified by the label parameter Immediate or buffered can t be used in labelled block not saved by SV Providing a program has been entered typing 1LIST ALL would produce the following 1START PROFILE 1 360 360 400000 20 1PROFILE2 360 360 400000 45 1GOTO MOVE1 Typing 1LIST MOVE1 will only produce the code following label MOVE1 as far as END Thatis 1MOVE1 1USE 1 144 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE LOADENC LoadEnc settings Syntax Description Properties Note aLOADENCon off This command allows a user to specify distances in load movement steps when used with a load mounted encoder connected to X2 It can be used in combination with position maintenance or any application where you need to specify distance in load mounted encoder steps such as feed to length The parameters used are on off enables disables load mounted encoder as the position loop feedback device 1 ON 0 OFF When LOADENC is off distance velocity and acceleration are in motor steps When LOADENC is on distance velocity and acceleration are in load feedback steps set by the system variable EM Hence D1 1 load encoder step V1 EM counts per sec A1 EM counts per sec EM is defined as the number of load mounted encoder steps per motor revolution The sign of EM dictates the direction of the LOADENC count If ve then drive expects A leads B when motor rotates Clock Wise CW ve demanded motion
95. ed l as a count Note both inputs must j be connected cannot be used as a single ended input Software offset controlled GND by system variable AO Figure 3 12 Analogue Differential Input 34 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Figure 3 13 shows the input characteristic Commanded velocity Dead band Volts gt Figure 3 13 Analogue Differential Input Characteristic An analogue deadband can be set using system variable AB Energise Shutdown Enable the drive by allowing the input pin to float high 1 or by linking the pin to zero volts depending upon the input s polarity System variable ES controls the polarity of this input The default state of ES Energise Sense requires X4 input pin 11 to be connected to OV to enable the drive The function of this input differs when in mode MP please refer to the Command Reference section for more details 3 ELECTRICAL INSTALLATION 35 X5 Connector X5 is the user Input Output connector Connector Type Connector type is a high density 15 way D type plug Connector Pin Out Output 1 6 Input 5 limite 8 input 3 home 9 Input 2 registration 24V Reserved Table 3 11 X5 User Input Output Connections 36 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE User Inputs Inputs can be configured using the Easi V graphic interface or by writing directly to the IC system variable By adjusting the
96. ed from the drive Address bi Product gt ix2501M Specification 5 1 44 to 2 84 rms cont Motor supply 24 80 Ydc Integral indexer Digital micro stepper 200 51200 steps rev Press Next to select the required motor type From the drop down menu select your motor type or perform a custom set up Press Next to select Motor Standby current and In position settling Time values This screen allows the selection of the motor standby current MS and the In position settling time IT Press Next to allow selection of stall detection and or position maintenance Select the motor to be connected to this axis from the list If the motor is not listed then click the button below to add it as a special Setup custom Note changing the motor updates the default limits homing etc Adjust these settings to suit your application requirements 30 mS after the last step signal the drive reduces the output current to the MS setting helps cooling and efficiency Motor settle time allowed can be adjusted here Use TA IP 1 in your programs to wait for this time period To operate solely from external step direction input signals set mode position issue an MP command Note the ENABLE input becomes ENERGISE 5 EASI V SOFTWARE 105 Guided i X M initialisation 2 of 9 STT STL106 140P Phase current 7 0 Phase resistance 0 26 Phase inductance 2 80 Driv
97. ehevphaiea tusitventumbirens 5 3 Electical MSA atO e a a aaa a aaea 9 4 Control of ViX Drives iccciaicaditncd cntacedncindetadtendadeanandideitumandniaendatearanineadnembatnetaniatnitundots 45 Pi EAE OAE AE E NASENNE SEAE AEE hehe EET 95 FE OAEI o M BEEE e S AE AE AA 115 7 ViX Maintenance and Troubleshooting siiccccccisecsiniteccctectenes ine scctancannes ieeeieinidigaecetess 185 E m eeN EA TEIE A A E E E E A E A hrs eta berber ccberedret i oebt cei 195 APPENA A Sidran arera ro tas are mie ra Eaa AEAEE ues Anant EE Ann cel cen as Ab uth lea ees cet 199 UV Oretachi E AAEE EA cee sed AEAEE EENAA E EATE eee EATE 201 The ViX250IM 500IM Microstepper Indexer Drive is UL Recognised under file E194158 This means it may be incorporated into end user products that may be eligible for UL Listing Classification or Certification CAS US User Guide Issue Change Summary This user guide version 1600 324 01 is the first version of the ViX250IM ViX500IM Microstepper Indexer Drive When a user guide is updated the new or changed text is differentiated with a change bar in the outside margin this paragraph is an example If an entire section is changed the change bar is located on the outside margin of the section title For the latest most up to date changes required by this issue of user guide see the Latest Changes Sheet over the page ii VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Latest Changes Sheet This page lists important changes occ
98. el 77 Not saved by SV 118 O O output 152 OFF shutdown motor 153 ON turn on motor 154 Output circuit 37 configuration 37 current rating 37 Outputs 37 Overload of outputs 26 Overtemperature sensor 30 Overtemperature switch connection 30 P P clip part numbers 19 P clip sizes 19 PA system variable 63 80 Parallel connections 22 Parameter checking 118 Parameter value checking 118 Part numbers for motor cables 20 PC requirements 95 PE system variable 63 PEU 92 PF system variable 63 PI system variable 63 PL1100 product description 16 PM system variable 63 Pollution degree 197 Port configuration 102 Position flags 61 Position maintenance 88 Position Maintenance correction velocity 90 output 89 settle time 90 Position time IT 61 POSMAIN position maintenance 155 Post quadrature resolution 87 Power input cable size 199 Power wiring precautions 199 PR system variable 63 Preset moves 74 Product description 1 features 2 variants 2 PROFILE of a move 157 Program examples 47 Program structure 47 Programmed mode 45 Properties immediate 117 labelled block 117 save 118 Properties of commands 116 Protection circuits 2 Protection class 197 PS pause 159 PS system variable 63 PSU connecting links 14 PSU discrete design 199 PT system variable 63 Q Quote command 176 R R report system parameter 159 RB system variable 63 REG 50 REG label 77
99. elopment Whilst developing a program using EASI Tools it is likely that certain blocks of code when downloaded to the drive will return an E error code To analyse the cause of the error you can make use of EASI Tools Status report window which when read will report back the cause of the error For example selecting status report User following a E may report back Label of this name not defined Within EASI Tools a system variable can be read using the status report window or using the report command directly from the terminal window For example 3R ST Using this style of report an immediate response will be returned which will not be saved within the program code If you wish to save the response use the single byte version of the report command that is 3R ST1 3R ST2 3R ST3 or 3R ST4 depending upon which byte of the variable you wish to capture If the indexer is waiting on a trigger command you can still send an interrogation command such as 1R RB 1R DF1 1R ST1 1R UF1 11S 10 1A and a report will be returned However if a buffered command is sent such as G or 1A10 then all future interrogation commands are buffered apart from 1R RB 1R DF 1R ST and 1R UF 72 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Conditional Code The flow of a motion control program will depend upon the position of the motor in combination with the value of particular inputs and commands System variables are used to
100. en defined Upon entry this will cause a E cannot use an undefined profile type error report However using the same command within a label 1DECLARE TST create a label 1TST begin the label code 1USE 2 attempt to use undefined profile no error reported 1END terminate label 1GOTO TST run label code TST E error reported at run time In this case the same error report message is given Note in both cases the program will ignore the USE 2 command but will continue execution using values taken from PROFILE 0 A Syntax aAn Description Properties Example Note AA Syntax aAAn Description Properties Example 6 COMMAND REFERENCE 119 Acceleration Deceleration Units Range of n Default See also see SCALE 0 01 to 10 AA AD SCALE 99999 99 This command will set both the acceleration and deceleration rates of the motor to the same value Values set for the AA and AD commands are over written if previously set Immediate or buffered can be used in labelled block saved by SV To set the acceleration and deceleration rates of axis 1 to 120 TS Oe fate cece E E SNe a hechences 1A120 To determine the acceleration of axis 1 type 0 1A TMG TESDONGE IS 2ccitac chiles tries ea TEA EETA 120 0 120 0 Overrange value is ce rieice haa hetee ai ake erent 1A100000 Will be reported AS ec cceeceeeeeeeeseeeeeeneeeeeeeeeeeeeeeeeneeeeeeees E meaning error For all error r
101. eports refer to Section 4 Reporting System Information During Code Development Acceleration Units Range of n Default See also see SCALE 0 01 to 10 A AD SCALE 99999 99 The AA command will set or report the programmed linear acceleration rate of the motor The acceleration value assigned to the AA command is over written if previously set Immediate or buffered can be used in labelled block saved by SV To set the acceleration rate of axis 1 to 120 rps type 1AA120 To determine the acceleration of axis 1 type 1AA The FES ONSO Sia ai clan setnle lo asc sareletc decade Neral fac alets arate 120 0 Overrange value o oo eee eeeeeeeeeeeceeeeeeeeeeeeeneeeeeeeeeeeeeeeeneeee 1AA100000 Will be reported aS i oe cade E meaning error 120 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE AD Syntax aADn Description Properties Example Deceleration Units Range of n Default See also See SCALE 0 01 to 10 A AA SCALE 99999 99 The AD command will set or report the programmed linear deceleration rate of the motor The deceleration value assigned to the AD command is over written if previously set Immediate or buffered can be used in labelled block saved by SV To set the deceleration rate of axis 4 to 320 rps2 type 4AD320 To report the current deceleration rate of axis 4 type 4AD HGIESDONSEIS 02 26 tw teioienee so a anes 320 VST PAIN GV et eo Set sta Ne ees et i 1AD100000 W
102. equent moves will then be relative to this reference position The home position is usually determined by an optical or proximity switch though a mechanical switch can also be used Definition Of Terms To aid the description of homing operations the following terms are defined Positive motion is motion towards the positive limit Home switch positive edge is the edge of the home switch on the positive limit side Home switch negative edge is the edge of the home switch on the negative limit side Home switch operating range is the distance moved whilst the switch is operated Four of these terms are illustrated in Figure 4 7 NEGATIVE POSITIVE LIMIT LIMIT at HOME SWITCH 4 OPERATING RANGE Negative Positive positive edge edge MOTION CCW CW DISTANCE Figure 4 7 Home Switch Operation Switch Considerations Any type of switch will have an operating range that may correspond with a significant motion of the motor shaft depending upon the gear ratio between motor and load Consequently just detecting the home switch voltage level will not give a well defined home position To improve the accuracy it is possible to stop on either the positive or negative edge of the home switch Switches generally exhibit a hysteresis characteristic when operated from opposite directions therefore homing moves always make the final approach to the home switch from the same direction 80 VIX IMMICROSTEPPER INDEXER DRIVE USER
103. etal backplane S h Transformer R E RE A Located in had the base of AC Supply the cabinet CORCOM Power wiring conduit Figure 3 5 ViX EMC Installation 3 ELECTRICAL INSTALLATION 19 Motor Connections to the Drive The recommended wire size for ViX250IM 500IM motor cables of length less than 20m is 1mm2 For motor cable lengths greater than 20m up to a maximum of 50m use a wire size of 2 5mm2 Use a cable containing five conductors plus the braided screen such as Lapp 34805 the green wire being used to provide an earth return to the drive Termination at the motor must be made using a 360 bond to the motor body and this may be achieved by using a Suitable clamp Many stepper motors are designed to accommodate an appropriate terminal gland which can be used for this purpose At the drive end of the cable a 360 connection to the screen should be made using the P clip provided beneath the motor connector The P clip needs to be firmly clamped to the copper braid If the connection appears loose fold the braid back on itself to increase the amount of braid under the clip and re tighten Custom cables will require the cable insulation to be removed to expose the braided screen If you are using a motor cable with 2 5mm conductors the size of the P clip will need to be 9mm to accommodate the increased cable diameter A ferrite absorber with a specification matching that of the Chomerics H8FE 1115 NC is also
104. fety requirements 9 Installation setup program 96 Installation time for S W 96 Interrogation commands 71 IP flag 62 IP system variable 61 IS input status 140 IT system variable 61 K KILL 141 L Label definition 46 INDEX 203 execution 46 naming 48 number available 46 predefined list 46 select command 46 specification 48 system 50 Labelled block properties 117 Large motors 22 Limit switch wiring 39 86 Limit switches 39 86 LIMITS 142 Limits amp following 85 Line count 87 Line fuse type 200 Line fuse values 200 LIST user program 143 Loop command 49 LOOP user code 145 LSEL command 46 LSEL example 54 LVD requirements 9 Maintenance 185 Mode absolute 149 bidirectional 149 continuous 149 incremental 149 position 149 Mode command 74 Motion profiles 75 Motor cable lengths 19 connections 19 22 default settings 22 26 inductance values 21 largest size 22 minimum inductance values 21 phase contactors 20 safety earth connection 22 26 selection 21 system variables 22 26 wire size 19 Motor cable part numbers 20 Motor direction note 75 Motor inspection 185 204 INDEX Motor mounting precautions 8 MOTOR settings 151 Motors 4 lead 21 6 lead 21 8 lead 21 voltage rating 21 26 Move types 74 Moves absolute preset 74 continuous 74 incremental preset 74 preset 74 MS system variable 62 MV system variable 61 N NOREG 50 NOREG lab
105. first 8 bits first byte of the UF variable status word use UF1 Since the status word consists of 4 bytes the relevant part of the word can be read using UF1 bits 1 to 8 UF2 bits 9 to 16 UF3 bits 17 to 24 or UF4 bits 25 to 32 Resetting User Fault Bits The User Fault variable UF is cleared to all zeroes once it has been read by issuing a R UF command Reading individual bytes of the User Faults variable will not clear any particular byte so issuing a R UF2 command will keep byte 2 bits intact Also testing a particular byte using the IF or TR command will keep bits intact Note sending the drive an ON command will immediately clear the User Fault variable all bytes will be set to 00000000 Byte Testing Remember the code can be used to test a particular byte of the User Fault word For example 11F UF2 lt gt 10X10X10 if contents of UF2 does not equal 10X10X10 execute the next line of code otherwise skip the next line 1A500 acceleration and deceleration changed to 500rps2 if previous test was true 1R UF2 read the value of byte 2 of the user fault status word 01010101 contents of byte 2 Note When UF2 is tested or read it is not cleared to all zeroes This example uses a conditional test to compare UF2 with 10X10X10 The use of conditional tests within IF and TR commands is described in the Conditional Code sub section 4 CONTROL OF VIX DRIVES 71 Reporting System Information During Code Dev
106. following the START label 1K Kill or stop any program currently running 1CLEAR ALL Erase all programs 1START 1DECLARE MAIN Declare labels 1DECLARE MOVE1 1DECLARE MOVE2 1END Labels Labels consist of up to 5 upper case alphanumeric characters terminated with a colon but a label must begin with an alpha character Choose a name that is relevant to the operation being performed or a system label name To terminate a code block use END no colon You can use up to 20 labels although four of these have already been allocated to START REG NOREG and FAULT leaving sixteen for general use Label Execution By using the label select command LSEL labelled code blocks can be triggered by a digital pattern appearing on certain user inputs The command defines the user inputs to be used the style of code detected BCD or binary and the manner in which the code is executed continuous or re trigger Enable the LSEL command using its on off parameter to allow input selection of labels 4 CONTROL OF VIX DRIVES 47 Structure The code example of an absolute positioning move shown in Figure 4 1 demonstrates how to write code that follows the block structure Use the start code to initialise the drive 1START Start code and 1 DECLARE MAIN Initialisation 1DECLARE MOVE2 1LIMITS 3 0 0 1GOTO MAIN 1END 1MAIN 1PROFILE2 40 10 48000 25 1GOSUB MOVE2 1END 1MOVE2 Main Program Figure 4 1 Program
107. for edge nearest the CW positive movement limit or for edge nearest the CWW negative movement limit see Homing section The home_type parameter is used to select the type of switch to be used for homing the choice is Home switch normally open O default Home switch normally closed 1 Direction and velocity determines the direction in which home is initially searched for and the velocity at which homing is performed Acceleration deceleration sets the acceleration and deceleration rates used The mode parameter determines what happens when the specified edge of the home switch is encountered emode 0 The controller positions the motor in the active window of the switch default setting emode 1 The motor is positioned to the required edge of the switch or emode 2 Reserved emode 3 If an encoder with a Z channel is used then the controller will seek the Z position after detecting the specified home switch edge emode 4 If an encoder with a Z channel is used then the controller will seek the Z position without the need for a home switch For linear encoder applications there is normally only one index Z position Mode 4 should be used to save the use of a home switch For rotary applications where the maximum distance required is one revolution the index mark may be used as a unique home position For all other applications mode 3 should be used as the index position will not be unique 138 VIX IMMICROSTEPPER
108. gistration move itself often needs to be performed quickly faster than the current move to prevent queuing in serial batch processes Figure 4 6 illustrates a typical registration move Note A registration move is always performed in mode incremental even if the drive is configured for mode absolute The REG command once turned ON 1REG1 defines a registration move which can be superimposed upon a standard move profile The registration move will only be performed if a specified input edge is detected on the registration input If an optional hold off distance has been defined the registration command will only respond to a registration input occurring beyond the hold off distance Otherwise once the basic move had started any valid registration input or mark would trigger a registration move immediately Also if an optional registration window has been defined a registration move can only be triggered if the registration mark occurs within the registration window 4 CONTROL OF VIX DRIVES 77 Once a valid registration mark has been detected the registration move is performed using the move parameters taken from the previously defined profile profile_number in the command parameters At the end of the registration move the user program GOSUBs to the code immediately following the REG label If no registration mark is detected the standard move profile completes and the user program GOSUBs to the code immediately following the NOREG labe
109. h Temperature The motor case temperature may exceed 70 C and should be guarded from operator contact Motor Safety Earth Ground Connection It is recommended that the motor is independently bonded to a local safety earth point The safety earth lead should be at least 2 5mm in area 3 ELECTRICAL INSTALLATION 23 Custom Motor Set Up Within screen 2 of Guided stepper initialisation clicking upon the Setup custom button will open the window shown in Figure 3 7 Update motors list x Custom STEPPER mot Please enter ALL the information below and review the data on the other tabs Then click Add to add this stepper motor to the database Finish aborts this action Alternatively use Find to locate the motor record you wish to modify Motor part number Phase current parallel aay Amps RMS m Phases connected in Resolution 200 5120 50000 Paralel Series Rated speed 3000 rpm 3rd harmonic content Thermal sensor fitted 7 H Winding resistance Ohms Winding inductance az m Add new motor Find motor Modify Figure 3 7 EASI V Custom Motor Configuration Window Motor the general name number for the motor Phase continuous Current rating of the motor in Amps RMS current parallel Resolution number of steps per revolution Rated speed shaft speed in rpm for a rotary stepper Winding resistance of a single phase winding measured line to line in Ohms resist
110. h performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP WELL CLEAR of any machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be enclosed such that no part is accessible while power may be applied This and other information from Parker Hannifin Corporation its subsidiaries and authorised distributors provides product or system options for further investigation by users having technical expertise Before you select or use any product or system it is important that you analyse all aspects of your application and review the information concerning the product in the current product catalogue The user through its own analysis and testing is solely responsible for making the final selection of the system and components and assuring that all performance safety and warning requirements of the application are met If the equipment is used in any manner that does not conform to the instructions given in this user guide then the protection provided by the equipment may be impaired T
111. have adequate cooling 6K8 2 5W HV bleed resistor WARNING this will run hot X1 10 X1 9 Capacitor 3300HF for Vix250 Isolating 6600uUF for Vix500 eu cx lt p 1metre max from capacitor to drive Figure A 1 Drive Power Supply Note The saftey earth must be reliably earthed at X1 8 The DC input should also be connected to earth at a convenient point Supply Wiring Use approved mains cable at least 0 75mm2 for primary wiring and route it away from secondary and signal wiring Power input wiring must have a voltage withstanding rating of at least 1000V AC RMS Note this figure is a test voltage not the rated working voltage of the cable Power input and motor wiring must be kept separate from signal wiring and insulated from operator access Note secondary wiring must have a current rating in excess of the AC fuse rating Transformer Sizing for the DC Supply A DC input is required by the drive which can be generated by rectifying and smoothing the secondary voltage of a transformer This is an unregulated supply so do not select a secondary voltage which generates a DC output greater than 80V 200 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The size of transformer required for a stepper drive installation depends very much on the application and on the maximum shaft power delivered by individual motors It is worth noting that in a one off or low volume application it is usually preferable to be slightly gener
112. he information in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker Electromechanical Division or its licensors and may not be copied disclosed or used for any purpose not expressly authorised by the owner thereof Since Parker Electromechanical constantly strives to improve all of its products we reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without the prior consent of Parker Electromechanical Division Electromechanical Division of Parker Hannifin plc 2003 All Rights Reserved Product Type ViX250IM ViX500IM The above product is in compliance with the requirements of directives e 73 23 EEC Low Voltage Directive e 93 68 EEC CE Marking Directive e 89 336 EEC Electromagnetic Compatibility Directive Provided the installation requirements described in this user guide are met and there are no special requirements of the installation and operating environment so that the application may be considered typical the ViX servo drive series installation will conform to the protection requirements of Council Directive 89 336 EEC as amended by Directive 92 31 EEC on the approximation of the laws of the Member States relating to Electromagnetic Compatibility when operated and maintained as intended In assessing the overall compliance of an installation consideration mu
113. here is a general run time error with the program e The program memory area becomes full e A label is attempted to be run when it does not exist e The transmit buffer or receive buffer suffer an overflow Command amp parameter conditions Fault FAULT Not Fault Limit is Not Limit Not Condition abe GH ARM running decision program defined i fault is stop ming program the drive execution Sowat YO tN Y Y o y a Y Table 4 1 Conditions Required to Call a Fault Label 52 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The following example shows the use of a FAULT label within a program 1ARM11 enable auto run on power up amp enable fault routine 1SV save the settings 1START start of program 1ARM11 re enable auto run amp fault in case K command sent lt initialisation commands gt 10 1XX turn on output 1 drive OK lt main process commands gt 1END 1FAULT fault routine 10 0XX turn off output 1 drive fault lt diagnostic code if required gt 4 TR IN 1XXXX wait for input 1 to become active RESET 10N clear fault 1GOTO START run from start of program again 1END Note An example of diagnostic code is given in the sub section entitled Conditional Code later within this section 4 CONTROL OF VIX DRIVES 53 Start Label The system label START introduces the drive s setup and initialisation code With ARM enabled the code is automatically executed at syste
114. his mode is useful for applications which require constant travel of the load when the motor must stop after a period of time has elapsed rather than after a fixed distance or when the motor must be synchronised to external events such as trigger input signals MC 4 CONTROL OF VIX DRIVES 75 Motor Direction amp Positive Motion A positive direction command usually produces clockwise CW rotation of the motor shaft when viewed from the shaft end However when limit switches are used it is important that the positive direction produces motion towards the positive limit switch See sub section on HOMING If this is not the case interchange the motor connections to A and A to reverse motor direction In practice this depends on internal motor wiring which varies between motor manufacturers Motion Profiles In any motion control application the most important requirement is precise controlled shaft rotation whether it be with respect to position time or velocity This pattern of movement is called a Motion Profile Generally such a profile can be represented graphically in the form of a diagram of time or distance moved plotted against velocity For example the triangular shaped profile shown in Figure 4 4 would be obtained if you programmed either a very low acceleration or a very high velocity or both over a relatively short distance Triangular Profile Velocity revs sec Vmax Vavg 0 5 Vmax ta Acce
115. hnical support E mail Parker technical support Sales support E mail Parker sales support About EASI V version number and copyright 5 EASI V SOFTWARE 101 Utilities Menu Options Selecting Options displays a single screen with three tabs e General e Drive settings e Country Use General to select the following set up options e Prompt to save terminal emulator contents on closure e Test communications before upload download of programs e Display 3 rows of buttons in terminal window Use Drive settings allows the following selection e Automatically upload parameters on address change Use Country to select your preferred Parker contact Germany Italy United Kingdom USA 102 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Menu Selections Terminal menu selections control the setup and configuration of communication between a PC and drive Communicating with a Drive The default settings of a new drive from power up are RS232 communications with an address setting of 1 Wire the RS232 communication lead as described in the Electrical Installation section WARNING To avoid causing damage to a PC serial port the drive must be earthed before making any serial connections Connect the RS232 lead between the drive s X3 socket and the controlling PC s RS232 connector Configure the serial communications From the Terminal menu choose Settings to display the following Communications port c
116. ic and advanced motion control functions are covered including elements of event driven code used for fault reporting and registration Controller Operation ViX intelligent drives have an integrated controller which can be driven directly by a PC over a serial link or programmed to respond to code selected by event triggers or user instructions Direct Mode Direct operation of the controller over a serial link can be used for program development downloading purposes or direct on line control from an industrial PC or PLC When used directly the controller will accept commands prefixed with the drive s address and will action the commands as they are received In direct mode any controlling application program is stored in a remote location and is only downloaded to the drive when required Programmed Mode This mode allows a program stored within the drive to control operations The program can be written off line on a PC and then downloaded to the drive via a serial link The application program is stored within the drive and is automatically invoked at power up provided it is enabled by the lt a gt ARM1X command and the program has a START label Alternatively you could directly issue a lt a gt GOTO START command Code Structure You write program code as a series of blocks Each code block has a unique label at the beginning and is terminated with an END label block delimiter The use of labels allows the code structure of the fo
117. if a fault is still present the motor will not energise and the fault variables will be updated once again Immediate or buffered can be used in labelled block saved by SV 1START program start up routine 10N energise motor attempts to clear any faults 1END 1FAULT fault handling routine 1 FLT send warning over comms 1TR IN XX1 wait for reset input 3 1GOTO START re run start routine 1END This small section of program shows the use of the ON command at the start of the code and the use of a fault routine to attempt a program re start if a fault occurs Issuing an ON command will clear all user status flags 6 COMMAND REFERENCE 155 POSMAIN Position maintenance Syntax aPOSMAINon off dead_band_range output settletime Description POSMAIN must use an encoder connected to X2 to monitor the system s actual position The command enables position maintenance The on off parameter takes the values of 1 for ON and 0 for OFF With position maintenance enabled if the motor shaft stops within the dead band range for the optionally specified settle time then the indexer will regard the move as having been completed If the motor shaft is stationary outside of the dead band range position maintenance will attempt to move the motor shaft to its target position Status bit 17 will be set while executing a position maintenance move The optional parameter output specifies a user output that will be latched O
118. ill be reported AS eeeeeceeeeeeeeee eee eeeeeeeeeeeeeeeeeeeeeeeenees E meaning error ARM Syntax aARMnm Properties 6 COMMAND REFERENCE 121 Enable label triggered code Units Range of Default See also n amp m Oor1 01 START label FAULT label The ARM command allows you to enable arm or disable the START label It also enables disables the FAULT label n 1 start label is enabled n 0 start label is disabled default condition The second parameter m is a fault switch that enables disables the fault label from being run See Fault Label in Control of ViX Drives m 1 fault label is enabled default condition m 0 fault label is disabled At power on when saved and armed the controller will execute the code following the START label if defined The fault label parameter fault switch when enabled will call the FAULT label when any one of the following conditions occur 1 When driving further onto a limit whilst the limit mode is set as stop on limit and the fault switch is enabled 2 When hitting a limit during a move whilst the limit mode is set as stop on limit and the fault switch is enabled 3 Having a hardware drive fault with the fault switch enabled Note If within the LIMIT command the mode is set to 1 stop when a limit is hit but continue the program motion will be stopped at the programmed limit deceleration No FAULT label will be called and the
119. included in fit kit HV STF eHHHEHHEHHHS Vix OOO A range of mating connectors are supplied depending upon the type of fit kit ordered 1 Rx Tx RS485 2_ Drive reset 3 4 RS232 GND RS232 Rx RS232 Tx Rx Tx RS485 RS232 Tx D loop Do not connect 9 5V output requires CAN option B RS232 9 way ontrol Aux I O socket Function JANAT IN NA1 IN OVE ault output Enc A Step IN Enc B Dir IN nc A OUT c B OUT nergise Shutdown nc A Step IN nc B Dir IN nc A OUT 15 jEnc B OUT Active high low mode configurable using system variable ES 4 Of O S gt min Control Aux I O 15 way socket AMERA ola x mim m Enc B OUT Energise Shutdown Enc A Step IN_ Enc B Dir IN_ Enc A OUT Enc B OUT User I O 15 way plug User I O OV Input 2 Reg Input 1 stop Sa 24V 24V RJ45 connectors 24V Output 3 Reserved X6 IN ct T High speed Interface
120. ised using the ON command When read DF reports a 32 bit double word pattern of the form 0000_0000_0000_ 32 bit wide double word _0000 LTT BitNo 1 45 8 32 Where a bit is set displayed as a 1 its bit number can be determined and compared with the bit number value given in Table 4 6 to determine the Drive Fault being reported Use the Read command to display the DF word pattern that is aR DF 68 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Bit Type DF Information Tested 1 bF11 Compositefaut _ 3 DF13 K R___ Motor HV under voltage trip point reached 4 DF14 kK R____ Motor HV over voltage trip point reached ee ae a ee eee 6 DF16 CD R_ Vioover voltage trip pointreached _ _ ae eee eee Impending power loss V I O under voltage 24V logic supply _ 9 for21 Reserved S 10 for22 Reseved S 11 fDF23 cD__ R___ Motorovertemperature 12 DF24 cD R Ambient over temperature 13 DF25 cD R Drive over temperature 17 DF31 k R___ Outputstage overcurrent 18 DF32 cD R Output driver over current 19 DF33 c R___ Tracking limit exceeded Stall condition 20 DF34 Reseved S 21 DF 3 5 CD Drive disabled check enable input and state of ES variable 22 24 DF 3 6 8 Reseved S O 26 31 DF447 Reseved o O 32 DF48 CANVOeros Key C Performs controlled stop CD Controlled stop then de energise
121. istration move required in terms of distance velocity acceleration and deceleration Once a registration move has been defined registration can be enabled disabled using aREGt1 to turn it ON or aREGO to turn it OFF where a defines the axis address When registration is enabled any valid input edge will activate the registration move whilst moving however once activated any subsequent edge will have no effect Consequently once the registration signal has been accepted for the current move all other registration signals will be ignored until a new move has been started An example of registration code is given below 1START start label definition 1PROFILE4 10 10 40000 5 define move parameters 1PROFILE5 20 20 10000 10 define move parameters 1REG1 1 5 5000 define registration move parameters amp arm registration 1USE 4 use motion profile 4 1G execute move 1END end of start label 1REG on reg mark valid turn on o p 3 batch counter 10 XX1 1T0 5 wait for 500ms delay 10 XX0 sturn off o p 3 1END end of label definition 1NOREG if reg mark not valid seen 10 X1X turn on o p 2 1T0 25 wait for 250ms delay 10 X0X sturn off o p 2 1END end of label definition Run the above by typing 1GOTO START 4 CONTROL OF VIX DRIVES 79 Homing The term homing refers to an automatic return to a mechanical reference position which is usually performed when the system is first powered up All subs
122. ith the product Software Installation Before attempting to install the EASI V software supplied with your drive check that your PC meets the requirements previously defined under Computer Requirements Easi V software is supplied on a CDROM or can be downloaded from the Parker website and installs in the usual manner common to Window applications 96 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Installation Procedure This procedure takes you quickly through the steps necessary to install Easi V on your PC The entire installation process takes less than 10 minutes Before starting the installation terminate all applications currently running A step by step installation of Easi V software follows 1 Place the Easi V CD in your PC s CDROM drive 2 Once loaded the CD should auto start If this does not happen open the CD s folder and double click the EMD exe icon 3 Follow the on screen instructions to load Easi V 4 The screen will display the Easi V program banner and will prepare an installation setup program 5 The banner screen is automatically replaced by a Welcome dialogue box advising you of the need to exit any programs currently running To abandon setup in order to exit other programs select CANCEL This in turn displays an Exit Setup dialogue box giving you the options of Exit Setup which returns you to Windows or Resume which takes you back to the Welcome box 6 Selecting NEXT gt displays a Choo
123. l Registration will always occur in the current move direction If the direction in the defined profile is different to the current move direction the direction information in the defined profile is ignored An optional output can be programmed to indicate that a move that has been armed is ready for registration This would normally be after the move has started or after the hold off distance if defined The output chosen must be within the range of allowable outputs 0 to 3 The default value is 0 no output If the REG move must immediately begin to decelerate to achieve the distance programmed the REG profile is not configured correctly and the deceleration rate used will not be the requested rate In this case the registration move may appear to be performed but the NOREG label is executed REGISTRATION MARK go ENCOUNTERED Fast status input REGISTRATION MOVE PROFILE NUMBER HOLD OFF DISTANCE i e VELOCITY START Ro REGISTRATION D NOREG WINDOW REGISTRATION REG DISTANCE HOLD OFF COMPLETE Figure 4 6 Registration Move Profile 78 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE A successful registration will cause the code following the registration move to jump to the REG label from which normal program operation can continue Before you can perform a registration move the following code elements must be in place 1 Enable the registration function 2 Completely specify the reg
124. l td Decel 0 2 4 1 3 Time seconds Figure 4 4 Triangular Profile Setting the acceleration to 1 rev sec2 with the velocity set to 5 revs sec over a distance of 16000 steps 4 revs a triangular motion profile will result This is because by the time the motor shaft has reached a velocity of 2 revs sec it will also have travelled half of the defined distance due to the acceleration setting of 1 rev sec 76 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Trapezoidal Profile A trapezoidal move profile results when the defined velocity you have programmed is attained before the motor shaft has moved half of the specified distance This is due toa defined velocity that is low a defined acceleration that is high a move distance that is long or a combination of all three For example if the acceleration is set to 10 revs sec2 velocity is set to 1 rev sec and distance is specified as 20000 steps 5 revs the resulting motion profile would look like this Velocity revs sec accelerate constant velocity decelerate 0 0 1 5 5 1 Time seconds Figure 4 5 Trapezoidal Profile Registration One of the major uses of registration is for packaging and labelling applications where a registration mark or label edge is used to sense the position or orientation of an object Once detected a registration move can be triggered which is a separate independent move that for example may position a jar for a labelling operation The re
125. layed on your PC screen but you will receive the response 14 after pressing the enter key For multi axis systems using RS232 auto addressing can be used when the drives are interconnected via the RJ45 connectors X6 amp X7 Primary communication needs to be via the front panel D type X3 connector 176 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE GG GG Quote command Syntax Units Range of n Default See also a GG i a Description Use QUOTE to send messages to other drives or displays Using the RS232 link up to 20 ASCII characters are available to transmit the required command or message in exactly the way in which it was entered Only ASCII characters between decimal 32 space character and decimal 126 tilde character inclusive are allowed Properties Immediate or buffered can be used in labelled block not saved by SV Example 1DECLARE EXAMP declare label 1EXAMP label EXAMP 1 TEST quote TEST 1END send label 1GOTO EXAMP goto label EXAMP TEST output message Note To speed up communications when addressing a number of drives precede the quoted text with an asterisk All other axes apart from the one being addressed will ignore the quoted text and this will save processing time The command can be used to debug routines that do not appear to run Add a quote command to the suspect portion of code and see if it appears when the code is executed Use quote commands sparingly as the
126. ld hardware with the latest FPGA firmware which may require specific hardware to function The firmware will not allow an energise whilst this fault is present Unrecognised power stage The power stage fitted to the drive is not recognised by this revision of firmware In this case a customer may have down graded their firmware The required action is to update the drive firmware to a version that supports the fitted power stage The firmware will not allow an energise whilst this fault is present Controller diagnostic failure This is set if the controller fails one of its self test routines Further diagnostic information is available from the test commands The firmware will not allow an energise whilst this fault is present Output stage over current This is monitored in hardware The power stage will be de energised by hardware and report the fault condition to the drive firmware Indexed motion will be stopped instantly and the drive firmware will then set the de energise state in order to match the condition of the hardware If there is a user program running and the fault label is armed it will be run What might cause this fault The most common cause is poor or incorrect motor wiring Other possibilities are a damaged motor winding or damaged power stage Output driver over current The output stages are monitored in hardware and this bit will indicate that a fault has occurred e g the output has been short circuited
127. le aW BR 19200 to set the rate to 19200 You will need to save this setting and then reset the drive Z command or cycle the power before the change will take effect BU Description Gives the total percentage of program buffer usage unlike an aDECLARE that gives the percentage of buffer room for each label subroutine 4 CONTROL OF VIX DRIVES 59 CQ Command Queuing Enable command queuing in mode incremental absolute to buffer each command waiting for the previous command to complete before issuing the next In certain circumstances disable this sequential operation for example if you need to generate a trigger pulse part way through a move Normally the move would complete before trigger command execution but by disabling command queuing the trigger command becomes immediate and will operate upon meeting the required trigger conditions For example the following code would allow output 1 to signal PA is greater than 10000 before finishing the move 1MAIN define label 1Ml mode incremental 1W CQ 0 enable continuous execution of commands 1G go 1TR PA gt 10000 trigger when position actual becomes greater than 10000 10 1 output 1 1TR IP 1 wait for move to finish 1W CQ 1 enable command queuing again 1END DC Damping Configuration Selecting DC gives a faster settling time by damping oscillations ringing of the motor shaft Under certain conditions such as use with low current motors the activation of the d
128. ll be displayed allowing you to specify the name and address of the program to be uploaded A shortcut upload is provided by function key F5 Upload x Enter the name of the program or blank for all Ok Cancel Figure 5 10 Upload Dialogue Box If you receive an error message during program upload refer to the Troubleshooting Section Help EASI TOOLS has extensive on line help facilities which allows you to search for help ona particular topic either within the main contents or by entering a topic string All the commands listed within this user guide are available on line by selecting Controller Commands from the Help menu 114 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Confirming Drive Operation With the drive and motor correctly wired and the serial connection made to a PC running Easi V software the operation of a drive may be confirmed by creating and downloading the following code Before running this code return the drive to its factory settings and save those settings see returning a drive to its factory settings in Maintenance amp Troubleshooting section Define motor using MOTOR command 1START define start label code 10N enable the drive 1LIMITS 3 0 0 disable limits 1D4000 set distance to 4000 steps 1V1 set velocity to 1rev s 1A10 set acceleration to 10rev s2 1G start motion 1END end definition of start block 1GOTO START execute start code block WARNI
129. llow one common path Positive movement results in motion towards the positive limit once the limit is hit motion is reversed and finally heads for the home switch Negative motion will immediately head for the home switch Note Limit inputs must be enabled to allow a move to bounce off a limit Assuming home is the positive edge of the home switch as soon as the edge is detected motion is decelerated to a stop Direction of travel is reversed and a distance is calculated to move just outside the positive edge of the home switch This new move is performed in a positive direction Again motion is stopped and the direction of travel is reversed and a negative approach is made at a fixed velocity determined by system variable HF As soon as the positive edge is again detected the motor is stopped Note If the deceleration rate is set too low the home switch operating range could be travelled through before motion is brought to a stop If this happens a warning home switch too narrow will be reported but homing will continue from the other side of the home switch operating range HOME SWITCH I OPERATING Positive RANGE ledge GH positive i j GH negative Sania l l l l l l l PEE eee SSSss a e a A ee se l l l l l l l HME i 2 Finish Start from positive l HITT side of home Figure 4 8 Go Home to Positive Edge 82 VIX IMMICROSTEPPER
130. locity V Ranges for the AA AD D and V commands are as stated for each individual command The range of PROFILE number is 0 to 8 but PROFILEO cannot be defined Use PROFILEO to read the current profile settings The format of the returned message will be 0 AA10 0 AD10 0 D4000 V1 00 Immediate or buffered can be used in labelled block saved by SV Profile 1 is to represent a move of 1500 steps on axis 3 at a velocity of 25 rps and acceleration deceleration of 200 rps2 3PROFILE1 200 200 1500 25 Profile 2 is to represent a move of 4800 steps on axis 3 at a velocity of 45 rps acceleration of 150 rps deceleration of 200 rps2 3PROFILE2 150 200 4800 45 The following move profiles will now be available in memory on axis 3 158 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Profile number 1500 Velocity The move parameters specified by Profile 2 may be used that is copied to profile 0 with the statement 4USE 2 Note A profile command will overwrite any individually programmed values of acceleration deceleration distance and velocity once the USE command is issued 6 COMMAND REFERENCE _ 159 PS Pause Syntax Units Range of n Default See also aPS C Description The PS pause command causes immediate command execution to cease until a C continue command is issued The command is useful as a debug aid when testing small trial code blocks The PS command cannot be used whilst running a
131. low level control signal cables This applies particularly where the control cables are unscreened and run close to the drive 20 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Note that the motor cable routing within the equipment cabinet should be kept at least 300mm away from I O cables carrying control signals All motor connections must be made using a high quality braided screen cable Cables using a metallised plastic bandage for an earth screen are unsuitable and in fact provide very little screening Care must be taken when terminating the cable screen the screen itself is comparatively fragile bending it round a tight radius can seriously affect the screening performance The selected cable must have a temperature rating which is adequate for the expected operating temperature of the motor case Motor Cables Motor cables may be ordered using the part numbers listed in Table 3 4 Product code Part Length metres number STC20 0300 3 STC20 0500 5 STC20 1500 15 Table 3 4 Motor Cables Motor Phase Contactors We recommend that motor phase contactors are not used within the motor power cables As an alternative make use of the drive s power stage enable control signal Ferrite absorber specifications The absorbers described in these installation instructions use a low grade ferrite material that has high losses at radio frequencies They therefore act like a high impedance in this waveband Pr
132. ly Designed for direct operation from world wide single phase AC input voltages the supply is capable of powering up to two ViX250 drives see note 1 without the need for an EMC mains input filter see note 2 The use of the XL PSU offers the following benefits Auto adapts to supplies between 95 and 264V AC e No external EMC filter required e Compact size e Built in 24V DC supply Note 1 Check the application s power requirements from the torque speed curve of the motor used Note 2 For drives with up to 30 metre motor leads For full installation instructions see the XL Power Supply leaflet 1600 300 XX 14 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE XL PSU Supply Drive Connections When used to supply up to two drives the power supply can be wired as shown in Figure 3 3 Mininum spacing 10 mm between drives amp PSU N H EAA m 1 Jes 80V DC m I EXT BRAKING RES 4 AN If the supply is positioned Jew this side of the drive avoid blocking access to D type X3 m10 Jero D P1 P2 mating socket Sh GH n J L The XL_PSU must Sorote j securely earthed 250VA P2 L N EARTH GND XL Power Supply Unit HV STATUS BRAKING RES m 24V STATUS f Figure 3 3 XL Power Supply and Drive Connections Note A kit of five connecting links is available called XL connect You will need one kit for
133. ly it will accept the value 0 to be written to it for resetting purposes If you perform a W PA O system variables PF PE and PT will also be set to 0 PE Description PE reports the position error that is the difference between PT and PA PF Description PF reports the position fed back by a remotely mounted encoder for following applications This is the position demanded by the following input Counts are only recorded when following is enabled and at the scaled rate this means if the scale is 50 and 4000 counts are received by the drive PF will read 2000 PI Description PI reports the distance moved by the last move G command PM Description PM reports the number of counts received from power on by the following input No scaling is applied and PM counts regardless of following being on or off Writing a number to PM sets the modulus for count wrapping That is writing a specific number of counts to PM sets the count required before the drive re starts counting from zero again This is useful if you wish to know the position of the motor shaft as an arbitrary count For example writing a count of 4000 to PM means that for every shaft rotation a new count of 0 to 3999 is started until the absolute count limit is reached By reading PM a count will be returned that is somewhere between 0 and 3999 the exact value being an indication of the instantaneous shaft position PR Position Registration Description PR always repo
134. ly may also be required for an encoder and a Fieldbus Expansion Module FEM Absolute voltage range 20 to 27V Nominal drive current 250mA excluding encoder amp FEM Encoder supply loading 150mA if required FEM current 50mA Safety Earth Requirements Earth the drive using the earth pin on X1 pin 8 Power Supply Options A set of torque curves Figure 3 2 for various motor drive combinations can be used for calculating an applications likely power requirements Higher torque current requirements will need to use the ViX500 drive and a high current linear supply such as the PL1100 Further power supply information is given in Appendix A 12 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Nm ViX250 with SY561 0 4 0 3 0 2 0 1 0 0 10 20 30 40 50 Speed revs sec Nm ViX500 with SY563 1 5 1 0 0 5 0 0 10 20 30 40 50 Speed revs sec ViX500 with SY872 Nm 3 0 2 0 1 0 0 0 10 20 30 40 50 Speed revs sec Nm 0 8 0 6 0 4 0 2 0 5 Nm 4 0 3 0 2 0 1 0 oO oO ViX250 with SY562 oO 10 20 30 40 50 Speed revs sec ViX250 with SY871 10 20 30 40 50 Speed revs sec ViX500 with SY873 10 20 30 40 50 Speed revs sec Figure 3 2 Stepper Drive Torque Speed Data 3 ELECTRICAL INSTALLATION 13 XL PSU Power Supply The XL PSU is a 250W power factor corrected switched mode power supp
135. m start up Consequently the code needs to be saved with ARM1X set If you save a program with ARMOX set the start up code will not run and the controller will only respond to serial input commands Unless a drive fault is pending and a fault routine is defined and armed Start Label Example 1START 1 RUNNING 1END 1 FAULT 1 FAULT 1 TR IN 1XXXX 1GOTO START 1END 1ARMO01 enable fault routine only 1SV save all settings If you cycle the power to the drive the START routine will not automatically run To start it you would have to type in 1GOTO START However the FAULT routine will run if a fault occurs Entering the following code 1ARM11 enable auto run on START 1SV save all settings The START routine should automatically run on the next power up 54 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Use of the LSEL Command You can let user inputs call programmed routines by the use of special label names and associated user input numbers By including the code you wish to action following a pre defined input label will enable your code to be run when the defined user input is activated For example to select one of three labels using two user inputs the code would be 1START 1CLEAR ALL clear memory 1DECLARE L1 declare label 1 1DECLARE L2 declare label 2 1DECLARE L3 declare label 3 1LSEL1 0 2 1 define inputs and code 1A20 set acceleration 1V5 set velocity
136. main power and motor connector Both HV 24V and the motor phase connections are made to X1 Connector Type The mating connector for X1 is a Wieland 8213B 10F part number 25 323 4053 0 Parker part number 0405 811 An approval marked version of this connector has the part number 25 323 1053 0 Connector Pin Out 9 J OWGND HV O 8 arthPE _ _ 6 OV GND for24V DC p68 Motor Earth 4 Motorphase A 3 Motorphase A Eoo a Motor phase B t Motor phase B Table 3 6 X1 Power and Motor Connections Motor Connections at the Drive Refer to the EMC installation information earlier in this section 3 ELECTRICAL INSTALLATION 29 X2 Connector X2 provides the primary input connections for the motor feedback device This is the input that should be used for position maintenance and stall detection functions Connector Type Connector type is a high density 15 way D type socket Connector Primary Encoder Pin X2 1 Feedback enc Z 3 GND _ 6 GND k 8 Feedback enc A 9 reserved 13 reserved 14 reserved 15 reserved Connector Pin Out Table 3 7 X2 Primary Feedback Connections Encoder Compatibility for X2 amp X4 Incremental channels Input specification Signal format quadrature 5V differential signals A A B B index mark Z Z Maximum digital encoder input frequency 2 0MHz pre quad 8 0 MHz post quadrature Maximum encoder supply current 350mA 30
137. mally low active high The output ratings are 30V maximum in the OFF condition and 15mA maximum in the ON condition Figure 3 16 shows the output circuit Drive circuit Fault Output Figure 3 16 Fault Output Circuit Limit Switches The drive has two limit inputs the positive limit input and the negative limit input When wiring the limit switches it is essential to check that a positive direction command produces motion towards the positive limit switch 24V NC NEGATIVE LIMIT NC POSITIVE LIMIT Positive limit input POSITIVE MOTION Negative limit input Figure 3 17 Limit and Stop Switch Configuration 40 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE RJ45 Interfaces Positioned beneath the drive are two RJ45 communication interfaces X6 and X7 The two interfaces provide support for Canbus RS485 using the Field Expansion Module and daisy chain ports for multi axis RS232 connections between drives X7 RS232 daisy chain output X6 RS232 daisy chain input Figure 3 18 Position of Connectors X6 and X7 3 ELECTRICAL INSTALLATION 41 FEM1 CAT5 cable colours X6 CANopen RS485 1 RX TX RS485 White Orange 2 RX TX RS485 Orange 3 CAN H White Green 4 RS232 Gnd Blue 5 RS232 Gnd White Blue 6 CAN L Green 7 RS232 Tx White Brown 8 RS232 Rx Brown X7 1 RX TX RS485 White Orange 2 RX TX RS485 Orange 3
138. mand queuing HF Description HF sets the final home velocity when you perform a GH command IC Description See IC System Variable in the Electrical Installation section IN Description The IN system variable is equivalent to the IS command but allows individual inputs to be tested using IF and TR commands during conditional coding For example The following test looks for input 1 low and input 3 high IF IN 0X1 XX Where X don t care INn Description The INn system variable is used to define a particular bank of inputs when used with Fieldbus input expansion modules MS Description When the motor is stationary reduce its current to minimise heating or to conserve power MS sets the reduction in current as a percentage of the programmed current the value set in the MOTOR command When selected the drive will switch to standby 25mS after the last motor step Motor standby current reduction is capped at a value of 70 of the drive s maximum output current Consequently if you attempt to set an MS value greater than 70 the current reduction value will always be equal to 70 of the drive s maximum output current For example using a ViX500 max output current of 5 6A and setting MS to 90 will give a current reduction value of 4A 70 of 5 6A 4 CONTROL OF VIX DRIVES 63 PA Description PA reports the actual position of the motor shaft assuming a primary encoder is fitted Although PA is marked as being read on
139. nd feedback fault Feedback fault with no HV Red_ Green _ Ready energised Orange Drive OK but de energised Red Drive fault Red_ Comms fault Figure 7 2 Drive LED Indicators 187 188 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Complete LED Diagnostics An EASI V version of this table is available for quick on line viewing LED Colour s Flash rate Functional description HV green none motor supply OK HV orange none motor supply under voltage lt 16V HV red none motor supply over voltage gt 98V HV off no motor supply ST green none drive OK and motor is energised ST orange none drive OK but motor is de energised ST red none drive fault see DF report for more information ST red green 1 second ST red green 0 25 second communications receive buffer over flow Only a power cycle clears this condition ST red off 0 5 second only on power up following a flash upgrade Indicates bad truncated FPGA file ST red off 1 second only on power up following a flash upgrade Indicates a CRC error ST off no logic supply All other LEDs will also be off FB green none fieldbus communications OK Operational state FB green 1 second fieldbus communications OK Pre operational state FB red none fieldbus communications fault FB off no fieldbus option Table 7 1 Status Bits Description continued 7 MAINTENANCE amp TROUBLESHOOTIN
140. nimum specification 24Vdc 15 for ON to work ELSE reset_threshold 16 volts set to trip out threshold ENDIF This means that a drive fed from a gt 30 volts HV supply will not be able to be energised via the brake supply Drives fed from a 24 Vdc HV supply need to have the brake supplied from a separate non switched feed 7 MAINTENANCE amp TROUBLESHOOTING 191 Vio over voltage Over voltage will mean that the 24V supply is out of tolerance Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run Encoder Auxiliary 5V under voltage This 5V supply is read every 500uS This fault is set if it dips below 4 5V Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run The firmware will not allow an energise whilst this fault is present Impending Power loss 24v Logic supply This input is triggered when the 24V supply is removed The indexer will shut down when the 24V input drops below approximately 17 5V and will require a power cycle to recover At the moment that the impending power loss is detected the following actions are taken Turn off interrupts Drive will no longer communicate Turns off the power stage Indicate indexer fault STATUS LED RED Loop forever until logic supply can no longer keep the micro ali
141. ning resolution is now determined by EM as distance is commanded in stall encoder steps The error window size needs to be large enough to detect a single de synchronisation of the motor which is the equivalent of one rotor tooth or 4 full steps 7 2 degrees Allowing for the normal lag and lead occurring during acceleration and deceleration of up to 3 6 degrees an overall error window of 5 degrees should be set 14 steps with a 250 line encoder The error window is measured in motor steps with LOADENC and SCALE disabled load steps with LOADENC enabled and user steps with SCALE enabled Fault on Stall When STALL is enabled on off parameter set to a 1 and mode is set to 1 run fault motion is stopped if the error between the commanded position and the actual position exceeds the error window value If a fault label is defined for this condition a fault will be reported and can be identified by reading the status bits Output Any one of the drive s outputs 1 to 3 can be turned ON when a stall condition is detected This command option allows a stall to be signalled externally by lighting a lamp or LED 92 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Scaling Using scale allows user friendly settings of distance velocity and acceleration to be defined in user units rather than units required by the drive For example using a ViXIM to control a linear table it is possible to program distance units directly in mm velocity in
142. o open the case of any unit or to replace any internal component may result in damage to the unit and or personal injury This may also void the warranty 186 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Communication Problems When attempting a Connect from the Terminal menu if the connection fails with the following error message An eror has occurred whilst testing the serial port connection Please check your wiring the BAUD rate and the indexer echo back settings You can now select Yes to re test the connection No to ignore and connect anyway Cancel to abort this command Figure 7 1 Communications Failure Error Message Check the following 1 Ensure the serial port configuration is set correctly in EASI V and you select the correct serial COM port 2 An RS232 communications link can be loop tested by removing the communications D type plug where it connects to the drive and placing a short between pins 4 and 5 In this condition any command sent from the terminal window should be echoed back confirming the integrity of the overall RS232 link If this does not happen check the RS232 lead connections and the PC serial port Note wiring of the RS232 lead must conform to that recommended in the Hardware Installation section a null modem cable cannot be used Drive LED Indicators eHHHEHHHHHEHe 7 MAINTENANCE amp TROUBLESHOOTING HV OK HV OK a
143. o uninstall Easi V software use Windows uninstall software facilities available within the Control Panel All components are removed Software Operation Once installed Easi V can be started from the start menu or by double clicking its application icon At startup Easi V displays the product selection screen shown in Figure 5 3 Select the micro stepping drive either with or without CANopen 98 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Product selection Ea Please select the type of drive s you wish to configure from the list below This determines which motor database is to be used ase servo drive rotary motor ViX5001H or iX2501H intelligent servo drive linear motor C ViX5004H or ViX2504H base servo drive linear motor ViX500CE or VX250CE servo drive CAN Open rotary motor ViX500CH or iX250CH servo drive CAN Open linear motor ViX5001M or ViX2501M micro stepping drive C V iX500CM or iX250CM micro stepping drive CAN Open cancel _ Figure 5 3 Easi V Product Selection Selecting Product from the Utilities menu will also display the product selection screen Selecting OK will display the main application window entitled Parker Hannifin EMD Easi V and seven pull down menus become available File Edit Search Terminal Utilities Windows Help The majority of options available within each menu are familiar to Window users and will not be fully described her
144. oduced by Parker Chomerics the recommended component is suitable for use with cable having an outside diameter up to 10mm The specification is as follows Chomerics part number H8FE 1115 NC Parker part number 0313 020 Outside diameter 17 5mm Inside diameter 10 7mm Length 28 5mm Impedance at 25MHz 80 ohm Impedance at 100MHz 1200hm Curie temperature 130 C the device should not be operated near this temperature 3 ELECTRICAL INSTALLATION 21 Motor Selection Usually optimum performance will be obtained when the current rating of the motor is between 1 and 1 5 times the drive rating Drives can be de rated to accommodate motors with lower current ratings using variable MC within the MOTOR command however the high speed torque will be reduced Do not use a drive setting which gives an output current greater than the motor rating With 4 lead motors the bipolar rating is quoted and this should match the criteria stated above With 8 lead motors the bipolar rating of the motor which is normally quoted refers to a parallel winding connection With the windings connected in series the current rating of the motor connection will be 50 that of the bipolar rating and the motor will give improved low speed torque but reduced high speed torque The ViX250IM ViX500IM will drive motors having an inductance as low as 0 5mH and as high as 20mH but the recommended motor inductance range is between 0 8mH and 10mH Performance of the Vi
145. of Y Y binary indexing User program Y N binary fault status Not recommended during motion Table 4 8 System Variables that can be used for Conditional Control 4 CONTROL OF VIX DRIVES 73 Conditional Code Example The following code is a good example of how the conditional IF statement can be used for fault diagnosis within the FAULT label 1FAULT define check label 1IF UF2 XXXXXX1X deceleration error 1 Decel_ Err 1IF DF1 lt gt 00000000 warning of a drive fault 1 Drive_Fit 11F ST1 XXXXX1XX waiting for a delay timeout 1 Delay_tout 11F ST2 1XXXXXXX motor is energised 1 Motor_On 1T1 wait 1 second 1END send of definition Command Queuing Command queuing in mode incremental is normally enabled this means commands are buffered each command waiting for the previous command to complete before the next one is issued In certain circumstances this sequential operation needs to be disabled for example if you need to generate a trigger pulse part way through a move Normally the move would complete before the trigger command is executed but by disabling command queuing the trigger command becomes immediate and will operate when the required trigger conditions are met For example the following code would allow output 1 to signal PA is greater than 10000 before finishing the move 1MAIN define label 1W CQ 0 enable continuous execution of commands 1G gO 1TR PA gt 10000 trigger when
146. oller that are used for storing a variety of system values and settings Read system variables using the Report system parameter R command but note you can only write to certain variables using the Write W command Certain system variable values may be tested using the IF command This allows conditional branching within the program code enabling equal to not equal to greater than or less than decisions to be made Wait for trigger TR commana can also test certain system variables by delaying code execution until the value of a system variable matches some stored number or string within the program Refer to the later section on conditional code 56 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Table of System Variables Table 4 2 lists system variables in alphabetic order together with their read write status and range of values stored Var Name R w Pange detault value value a ee PREA Analogue Input Y N 2047 to 2047 oS O o e E eure a eo Oe BAUD rate 9600 or 19200 bits per E 9600 default Buffer usage O to 100 of program buffer used fie ea queuing Y Y 1 Pauses until move complete default 0 continuous execution TE settling time damping OFF default comiauiatoy 1 settling time damping ON DF _ Drive Fault status_ Y N See below DF1 Drive Fault status Y N First byte of 32 bit DF variable _DF2 Drive Fault status_ Y N Second byte of 32 bit DF variable 3 D
147. ond period the positive limit will be reported as being seen first Clearing a Limit A limit is cleared as soon as a motion command is given that moves the load away from the limit that is in the opposite direction to which the limit was originally hit Once a limit has been cleared and the limit switch has returned to its normal state closed or open contacts movement can be commanded in either direction Following and Limits The way the drive reacts to hitting a limit while following depends upon the setting of the FOLLOW mode parameter In encoder following mode E it is possible to re enable following on a limit and reverse off the limit The drive will prevent motion further onto the limit while allowing motion off the limit In all cases the recommended action when a limit is hit during following is for the application to perform an indexed move to a position between the ve and ve end of travel limits before re enabling following 86 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Limit Switches The drive has two limit inputs the positive limit input and the negative limit input When wiring the limit switches it is essential to check that a positive direction command produces motion towards the positive limit switch If this is not the case interchange the motor connections to A and A to reverse the motor direction 24V NC NEGATIVE LIMIT NC POSITIVE LIMIT Positive limit input POSITIVE
148. onfiguration dialogue box Fee Vi feasts COM C COM2 9600 The default settings used are C COM3 COM4 C1920 Options Port COM1 F duto Wrap BAUD rate 9600 i Options Auto wrap nea p I Local Echo recommended for R9485 OK Cancel Figure 5 4 Comms Port Configuration 5 EASI V SOFTWARE 103 Select the required configuration and click OK Then again from the Terminal menu select Connect to start communications Every time Connect is issued the communications link is tested to establish it is working correctly and the message box Testing communications integrity is flashed on the screen followed by Now on line to controller if the Connect is successfully made If the link fails refer to the Troubleshooting Section Note The baud rate selected must agree with the drive s hardware selected value You are now ready to start creating and editing program prg files to control the operation of a connected drive A number of example files are included within the Easi V installation package to give you a start with drive programming Configure Terminal Buttons The Terminal menu has a Configure terminal buttons F2 command which generates the window shown in Figure 5 5 Terminal buttons set up x Button Legend Command OK Shift F1 Stop all drives Jos ShifttF2 Turn off all drives OOFF pee Shift F3 ar on all drives i Shift F4 Status drive 1 STATUS Shift F5 E drive 1 i RIPTI1
149. ons 51 conditions of execution 50 example 52 non call conditions 51 table 51 Fault output 39 Fault status reporting 67 Ferrite absorber Curie temperature 20 impedance 20 part number 20 size 20 Ferrite absorber specification 20 Fielbus expansion module 62 Fieldbus Expansion Module 30 File menu 99 FOLLOW 129 Following amp limits 85 Forcing a hardware RFS 189 Function indicators 2 Fuse for 24V supply 17 G GH go home 132 GO 131 Go home command 81 Go home while in the home switch 82 GOSUB go to subroutine 132 Goto line number box 99 GOTO routine 134 Guided drive setup 104 H H change direction 135 Help menu 100 High speed interfaces 40 Home approach speed 81 configuration 80 direction of travel 83 mode 0 80 mode 1 80 mode selection 80 modes 80 switch considerations 79 HOME 137 definition of terms 79 Home switch too narrow 81 Homing operations 79 Housing material 197 Humidity 197 I O command 37 I O configuration limitations 38 IC default setting 38 example 38 system variable 37 IF command 72 IF test 139 Immediate commands 117 Immediate or buffered commands 117 Immediate properties 117 IN system variable 62 Incremental preset moves 74 Indexer specification 196 INn system variable 62 Input circuit 36 configuration 36 Input events 54 Input individual configuration 36 Inputs amp outputs 2 Installation 9 Installation sa
150. ons position within the code 46 Declare command 45 examples 46 DECLARE 125 Default directory 96 Device addressing 48 DF bit order 67 DF word 67 Differential input 33 Digital inputs specification 196 Digital outputs specification 196 Dimensions 6 DIN rail mount 7 Direct mode 45 Disconnecting device 9 Downloading programs 112 202 INDEX Drive cooling 5 dissipation 5 fault reporting 68 Drive fault byte reporting 69 Drive faults 67 190 Drive inspection 185 Drive settings setup 110 Drive types 2 E E enable disable comms 126 Earth arrangements 9 Easi V communicating with drive 102 downloading 112 help 113 installation directory 97 menu overview 99 prg files 103 running 97 software file size 95 startup 98 status reporting 111 uninstall 97 uploading 113 Echo queuing 60 Echo queuing mode selection 60 Edit menu 99 El system variable 60 Electrostatic precautions 9 EMC filter spacing 17 Installation 17 Installation general requirements 17 typical installation 18 wiring recommendations 17 Enable input 34 Encoder input configuration 60 output configuration 59 Encoder compatibility 29 Encoder setup 88 END label 45 Environment specification for drive 197 EO system variable 59 ES system variable 61 Event code example 54 EW system variable 61 EX system variable 61 EXIT from loop 127 F FAULT 50 Fault label 50 call conditi
151. onsideration of two possible situations 1 Where home and limit switches are wired separately 2 Where home and one of the limit switches are shared In the first case where home and limit are wired separately the following interactions are possible When the load is already on a limit and it is commanded to go home the initial direction of motion will be away from the limit and this may not be the direction set in the HOME command If a limit is enabled and hit whilst going home direction of travel will be reversed bounce off a limit and motion will continue until the home position is reached If a second limit is hit or the first limit is hit for the second time the user fault homing failed will be set and the 84 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE system will respond as if a limit has been hit in the normal manner that is whilst not performing a homing move In the second case where home and limit are wired together the following interaction is possible If the load is commanded to go home in a direction away from the home switch and hits a limit then the move will be automatically started in the opposite direction When the load reaches the combined limit nome switch the home function will terminate in the normal manner Limits End of travel limits are used to restrict the movement of the load to a safe operating distance The placement of limit switches defines the direction of motion since posi
152. or 0 1 to 500 in steps of 0 1 Negative values reverse the sense of the following input With the following source set to E encoder the command following position indicator system variable PF increments when pulses are received by the following encoder input port according to the relationship PF number of pulses received since following enabled scale PF accumulates in value at a rate proportional to the incoming pulses In this mode turning following OFF resets PF to zero Immediate or buffered can be used in labelled block saved by SV Note 6 COMMAND REFERENCE 129 Only mode 1 is implemented at present Do not use mode absolute MA while following Do not perform a go home GH while following If you hit a limit whilst following movement is immediately stopped and following disabled Do not use POSMAIN while following Refer to X4 Connector in Electrical Installation section Driving through a limit disables following In this situation perform an indexed move back to a known reference point and investigate why the limit was passed before re enabling following 130 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE FRATE Feed Rate Override Syntax Units Range of n Default See also aFRATEn Oor1 0 M Description Feed Rate Override the FRATE command is used together with the analogue input to scale the peak velocity of the drive V The purpose of the command is to allow the speed of the pro
153. or DIN rail mounting see the thermal limitations statement in Drive Mounting Options 6 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 drives share the same dimensions shown in Figure 2 1 98 5 with connector 5 To a i A 28 gt ee Ore A D LO D r 88 1 Figure 2 1 ViX250 amp ViX500 Dimensions 2 MECHANICAL INSTALLATION 7 Drive Mounting Options If you require a DIN Rail mounting ViX drive use the optional DIN Rail clip adapter bracket shown in Figure 2 2 Viewed from the back of the DIN rail 131 2mm i Allow 10mm Eai release Figure 2 2 DIN Rail Adapter Bracket Remove the panel mounting plate from the back of the drive and attach the bracket to the back of the drive using the screws provided The drive and bracket can now be fixed to a DIN rail by hooking the top of the bracket over the top of the DIN rail and gently pushing the drive forward to engage the lower section of the bracket Remove the bracket by inserting a flat bladed screwdriver into the release slot to pull down the bottom of the bracket releasing it from the DIN rail 8 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Mounting Mechanical Considerations Keep motors securely fixed in position at all times Do not test a motor drive combination without first securing the motor see the Safety Wa
154. ous in sizing the transformer rather than spend a great deal of engineering effort trying to calculate the minimum possible rating In low power systems the potential savings in transformer cost are not large although size and weight may also be a consideration In a higher volume application the same principles apply to the prototype installation but measurements of the supply current drawn under working conditions will give a useful guide to the final specification required Fuses Fuses should be time delay high breaking capacity and should be rated for the number of drives and expected in rush current AC Fuse The secondary AC fuse is intended to protect power supply wiring Calculate the value of fuse required using 1 5 X secondary VA in amps secondary voltage Line Fuse Fit line fuses to protect the transformer primary and associated wiring If you cannot identify the live wire fuse both phase conductors Calculate the fuse value using _15xVA_ in amps but needs to be a minimum of 2A to cope with the in supply volts rush current Fuse types should be anti surge HBC High Breaking Capacity Note If the application requires a power dump use a Digiplan power supply such as the PL1100 CAUTION Ensure that all power supply components are mounted away from operator access as high voltages and hot surfaces are present in normal operation INDEX 201 set address remotely 175 24V fuse rating 17 2
155. ow delayed until the trigger 11S command is complete 1R RB an exception R RB is always immediate 1 pusy Trigger becomes true 1A50 actioned 2 report commands completed EO 2 00001 new input status reported Can be used in labelled block Means it is possible to include the command within a labelled program block Running the labelled block code will execute the command Note if power is removed from the controller without sending a save SV command the program and its labelled block will be lost 118 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Can t be used in labelled block Means it is not possible to include the command within a labelled program block Saved by SV A command that has the property of being saved by SV means data associated with that command is capable of being stored in non volatile memory The saved value will become the default value on power up or following a Z command Not Saved by SV If the command does not change data such as GO or STOP the commands properties are listed as not saved by SV Automatic Checking of Valid Commands and Parameters All commands and parameters are checked for syntax and parameter limits at data entry Certain commands will only report an error on execution for example commands defined within a label If a fault is detected that command or parameter will be ignored during execution of the program For example 1USE 2 where profile 2 has not be
156. program Properties Immediate or buffered can t be used in labelled block not saved by SV Example OPS global pause 1D4000 setup axis 1 1V5 Tog 1A50 a 2D8000 setup axis 2 2V10 ae 2A100 amp 0G global GO oc global continue Note If the input command buffer is filled during a pause E will be reported assuming EX is set to speak whenever and the status LED will continually flash red then green To clear this condition cycle the power R Report system parameter Syntax Units Range of n Default See also aR system_variable WwW Description The Rcommand allows the user to read the specified system variable Properties Immediate or buffered can be used in labelled block not saved by SV Note aR RB is immediate only Example 2R AO report the current value of variable AO The response could be ccccccceeeeeeeeeeeeeeeeneeeeeeeees 1500 160 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE REG Registration move Syntax aREGon off edge profile_number hold_off_distance registration window output Description The REG command once turned ON defines a registration move After a number of steps determined by the optional hold off distance the controller will begin to search for a valid registration signal Once a valid registration mark has been detected the registration move is performed using the move parameters taken from the previously defined profile profile_number in the command parameters
157. put signals and the differential analogue inputs Certain input and output connections are dependent upon the state of system variables EO Encoder Output and El Encoder Input Encoder output signals are not generated internally by the drive they mirror the state of the feedback encoder inputs if present Use encoder connection X2 for position maintenance and stall detection feedback Connector Type Connector type is a high density 15 way D type socket Connector Pin Out Connector Pin X4 Encoder I O ANA1 input ANA1 input Fault Energise Shutdown_bar input See system variable ES Table 3 10 X4 Encoder I O Connections 3 ELECTRICAL INSTALLATION 33 Inputs Depending Upon the State of System Variable El Connector Pin X4 STEP STEP _ 8 jor cow B Outputs Depending Upon the State of System Variable EO Connector Pin X4 STEP 9 STER 10 _ oR cow B Requires encoder feedback input on X2 Differential Analogue Input The ViX stepper drive can accept a differential analogue input for use with the FRATE command The input circuit shown in Figure 3 12 can interface to an external 10V differential signal Analogue to digital conversion 12 bit resolution converts the analogue input to a digital value for use within the drive Read the value of the analogue input as a count via system variable Al Drive Input ANA1 impedance AtoD Al analogue 200K ANAT input express
158. r Supply Options later in this section Note Pin 10 is at the top of the connector X1 and pin 1 at the bottom Power amp motor X1 10 way 0 HV connector 9 HV 8 PE e 7 24V DC 6 OV GND 24v DC 5 GND 4 3 MOTOR 2 CONNECTIONS Figure 3 1 X1 Power Connections WARNING Possible drive damage If you use Parker XL Series stepper drives do not attempt to use any power wiring harness taken from an XL drive Although the same mating connector is used for both an XL and a ViX the ViX wiring is the reverse of the XL and the wrong wiring connection will damage the drive Mating connector type is Wieland 8213B 10 F OB Part number 25 323 4053 0 Parker part number 0405 811 Supply Requirements Power the ViX drives from DC supplies as specified below Drive Type DC Supply Voltage between HV and HV Volts VixX500 48V to 80V recommended ViX250 Table 3 1 Drive Supply Voltages 3 ELECTRICAL INSTALLATION 11 WARNING The drive HV supply input is not reverse polarity protected Reverse polarity connections will damage the drive Current and Capacitance A supply must have a minimum amount of capacitance to support a drive at peak power draw Drive Type DC Supply Current Supply Capacitance ViX500 5 6A RMS 6600uF ViX250 2 8A RMS 3300uF Table 3 2 Drive Supply Currents 24V Requirements Both drive types require a 24V controller and logic supply The supp
159. rive Fault status _ Y N Third byte of 32 bit DF variable Drive Fault status _ Y N Fourth byte of 32 bit DF variable Encoder Input Y Y O step dir 1 cw ccw 2 quad ABZ de energise drive to change M fiare eee Y 1 to 4200000 default 4000 ea signal AREEN 1 cw ccw 2 quad ABZ de energise drive Output ae change Echo Queuing ly Y O normal 1 wait for lt CR gt 2 cmd response only Control amp Physical Interface RS232 2 speak when spoken to echo on 3 speak whenever echo on default for RS232 i Energise Sense Y Y Sets the sense of the external enable shutdown_bar signal O low signal to enable 1 high signal to enable Comms Response Y Y 0 speak when spoken to echo off default for R8485 Style amp Echo 1 speak whenever echo off Table 4 2 List of System Variables 4 CONTROL OF VIX DRIVES 57 Name RL Fieldbus Baud Fieldbus Control Fieldbus Node ID_ _ H Fieldbus Protocol Refer to CANopen user guide HF Home Final Sets the final velocity of the home move Var FB FC FN FP Y velocity Range 0 001 to 5 0 rps default 0 1 Y Configuration 0 to 8191 default 8160 INn N N IC IN a S Motor Standby Y Y Range 10 to 100 of programmed current default 50 vV Moving Y N Flag 1 movingorO notmoving Position Error Y N 65535 _ oo O fe RMD ill ed Incremental PM sets the modulus Position The primary X2 feedback position PA
160. rm illustrated in Figure 4 1 which shows the block nature together with an example of code Declare Declare every label used in a program apart from START REG NOREG and FAULT that have been pre declared If alabel is declared but not defined a runtime error will be signalled when it is called Note START REG NOREG and FAULT are all reserved labels You can only declare labels in the command line at the start of a program or within the START code The choice is between memory efficiency and the retention of declared labels 46 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE during up loading down loading of programs Declaring labels in the command line before any START code makes the most efficient use of the available memory If you then up load the program to a PC and later down load the same program the declarations will have been lost To retain declared labels you must declare them in the START code this allows a program to be up loaded and down loaded without loss of declared labels although more memory will be used Despite the greater amount of memory being used it is safer to make the declarations within the START label as there is less chance of forgetting to declare parts of the code Example of DECLARE being used in the command line 1K Kill or stop any program currently running 1CLEAR ALL Erase all existing programs 1DECLARE MAIN Declare labels 1DECLARE MOVE1 1DECLARE MOVE2 Example of DECLARE being used
161. rmal multi axis system commands from the main controller are in turn echoed from drive to drive throughout the system and can be finally returned to the main controller If a command is transmitted whilst a drive is supplying a response the two messages will interact effectively destroying one another Setting EQ to mode 1 prevents a drive from issuing a response until it receives a carriage return thereby delaying its response until it finishes receiving This stops the corruption of messages which can now be read back in a complete form EQ can only be used with a report or write command as follows R EQ reads the current setting of the system variable W EQ 0 2 sets the EQ system variable to operate in mode 0 1 or 2 Mode 0 sets the standard operating mode where characters are echoed as they are sent Mode 1 does not allow any characters to be echoed until a carriage return is sent This prevents complete messages from being split if a data collision occurs Mode 2 allows only the response from a command to be sent not the command itself This minimises the amount of data being transferred and therefore helps to reduce the chance of a transmit buffer overflow Note The set address command will be echoed irrespective of the state of the echo queuing variable 4 CONTROL OF VIX DRIVES 61 ES Description System variable ES controls the required polarity of signal on the enable shutdown_bar input X4 pin 11 The default v
162. rning at the front of this user guide CAUTION risk of equipment damage Do not back drive the motor that is use the motor in an application that causes mechanical rotation of the motor shaft in a manner uncontrolled by the drive Back driving the motor at high speed may damage the drive 3 ELECTRICAL INSTALLATION 9 3 Electrical Installation Installation Safety Requirements ViX stepper drives meet the requirements of both the European LVD amp EMC directives when installed according to the instructions given within this section It is recommended the drive be installed in an enclosure to protect it from atmospheric contaminants and to prevent operator access while it has power applied Metal equipment cabinets are ideally suited for housing the equipment since they can provide operator protection EMC screening and can be fitted with interlocks arranged to remove all hazardous motor and drive power when the cabinet door is opened Do not arrange interlocks to open circuit the motor phase connections while the system is still powered as this could cause damage to the drive Precautions During installation take the normal precautions against damage caused by electrostatic discharges Wear earth wrist straps A switch or circuit breaker must be included in the installation which must be clearly marked as the disconnecting device and should be within easy reach of the machine operator Cabinet Installation To produce an EM
163. rom the command line Use the command from the command line or within a label Immediate or buffered can be used in labelled block not saved by SV 1G start the move 1S stop the move 164 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE SCALE Scale settings aSCALEon off SCLA SCLD SCLV PEU Syntax Description This command allows a user to specify Acceleration Distance and Velocity in their own chosen units The drive firmware needs to know how many commanded position steps there are in a user unit and then how many fractions of a unit there are for an A Dor V of 1 The parameters used are SCLA 1 to 100 000 000 Used to scale A A of 1 unit s PEU encoder counts per sec If SCLA lt gt 1 all acceleration values entered are internally divided by the SCLA parameter value Default 1 SCLD 1 to 100 000 000 Used to scale D D of 1 unit PEU encoder counts If SCLD lt gt 1 all distance values entered are internally divided by the SCLD parameter value Default 4000 SCLV 1 to 100 000 000 Used to scale V V of 1 unit s PEU encoder counts per sec If SCLV lt gt 1 all velocity values entered are internally divided by the SCLV parameter value Default 1 PEU 1 to 100 000 000 Position Encoder steps per Unit defines the number of position feedback encoder steps in a user unit The steps referred to are motor steps if LOADENC is disabled or load mounted encoder steps if LOADENC is enabled
164. rs optimum types 21 Syntax checking 118 System labels 50 System variables 55 115 reading 55 reporting status 65 table of 56 testing 55 writing 55 System variables default settings 162 System variables list 177 T T time delay 171 Table of distance units for commands 93 Temperature ambient 197 storage 197 Terminal menu 100 Test code 114 Torque speed curves 12 TR command 72 TR wait for trigger 172 Transformer sizing for applications 200 Transformer selection guide 200 Trapezoidal profile 76 Triangular profile 75 TT system variable 65 206 INDEX U UF byte 69 Uploading programs 112 USE 173 USE command 55 User fault byte reporting 70 clear conditions 70 test example 70 User fault descriptions 69 User fault reporting 69 User faults 67 User faults list 182 User outputs 37 Utilities menu 100 V V velocity 173 ViX supply current 11 supply volts 10 ViX250 500 drive dimensions 6 W W write system variable 174 Weight 197 Welcome box 96 Windows menu 100 Windows 95 Wire size of motor earth 22 26 Withstanding voltage rating 199 X X1 connector 28 X1 connector pin out 28 X1 mating connector type 28 X2 connector 29 X2 connector pin out 29 X2 connector type 29 X3 connector 30 X3 connector pin out 30 X3 connector type 30 X4 connector 32 X4 connector pin out 32 X4 connector type 32 X5 connector 35 X5 connector pin out 35 X5
165. rs This means avoiding running wires from the output of a filter close to those connected to its input Where you wish to minimise the cross coupling between wires avoid running them side by side one another if they must cross cross them at 90 to each other Keep wiring supported and close to cabinet metalwork Recommended EMC filter types are CORCOM 6FC10 for loads up to 6A and 3VK1 for the 24V supply up to 3A Multi axis systems may require higher current rated filters 24V Supply Connections ViX drives not using an XL PSU will require a logic supply of 24V DC at 250mA nominal per drive The 24V powers the controller and I O circuits Keeping the 24V independent of the drive s internal high voltage bus supply allows the option of keeping the I O and controller active when no main supply is present Connect the 24V supply to X1 pin7 and the return to X1 pin6 the total wire length from supply to drive must not exceed 10m Connect the 24V supply OV line to system earth OV at some convenient point before the EMC filter input as shown in the recommended EMC layout diagram Figure 3 5 The 24V supply to each drive should be fitted with a time delay fuse rated at 3A Note The 24V supply used must meet the voltage requirement specification of 24V DC 10 15 ripple lt 1V p p 18 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Lead length restriction less than 1 metre DC Supply Star earth point to the m
166. rts the position of the motor from the primary feedback X2 connector signal on the last active transition on user input 2 The signal is only active at the start of a valid REG move PS Position Secondary Description PS reports the position of the following input from the secondary feedback X4 connector signal on the last active transition on user input 1 PT Description PT reports the open loop target position of the motor that is where you have commanded the motor to move to RB Description Reports the state of the controller as being ready or busy While executing a program or subroutine the controller is busy 64 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE RM Description Reports a 1 if a registration move is being actioned RV Description Reports the revision of software being used by the controller SC S Curve configuration To reduce the amount of jerk rate of change of acceleration or deceleration within a move enable SC When enabled this variable smoothes out rapid changes of acceleration as shown in Figure 4 3 Trapezoidal S Curve Velocity Velocity Time Time Time Time Decel Accel Decel Accel Maximum Jerk Less Jerk Figure 4 3 S Curve Correction of Moves To achieve this type of S curve correction an average acceleration value is used which is set at half the value of the maximum acceleration In all cases the value of AA will be used for acceleration and deceleration If a value of AD is
167. rwise the settings of the digital torque amplifier will not be optimised IT IS IMPORTANT TO RE ISSUE THE MOTOR COMMAND IF YOU CHANGE THE HV ANY CHANGES TO THE MOTOR TYPE MUST BE FOLLOWED BY A SAVE SV AND RESET Z OR CYCLING POWER TO THE DRIVE The motor type is stored as 10 binary digits as follows bits Oto 7 motor identification code bit 8 temperature sensor fitted bit 9 parallel or series connection 1 series 0 parallel 152 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered can be used in labelled block saved by SV Note 1 The motor command can take up to 12 seconds to finish execution 2 When changing motor type the fault and status information may not be valid until the motor has been defined saved and the drive re initialised 3 For less than 30 drive rating the motor current resolution is degraded For 25 drive rating the maximum resolution is 50800 For 10 drive rating the maximum resolution is 26450 Whilst operating at these degraded current levels the drive and controller can still be commanded to a resolution of 51200 steps per rev O Output Syntax Units pattern Default See also aO pattern see below 000 IS Description The Ocommand applies the specified binary pattern to the user outputs Pattern takes the bit values 0 1 X where 0 is output off 1 is output on and X represents an unchanged state Pattern is 3 bits in length in the order of outputs 1
168. s Protection Circuits Function Indicators Motor short circuits phase to phase Drive Status Feedback Fault HV FB phase to ground Drive Fault DF Over voltage trip Comms Status CS Under voltage trip Drive motor Over temperature 24V reverse supply protection Outputs and Inputs 3 digital outputs 5 digital inputs 1 analogue input Fit Kits A fit kit is available for ViXIM drives VIX KIT Part Number Quantity Description 1650 937 01 1 Information sheet 5004 023 1 Plastic bag 5006 21 1 1 Product label 0405 811 1 10 way Flange plug strip 0405 961 1 9 way D type plug 0405 962 2 15 way HD D type plug 0405 963 1 15 way HD D type socket 0409 530 4 9 way D type cover 0313 020 1 H8FE1115NC ferrite sleeve 4005 218 1 3 1 heatshrink 19mm diam 4216 101 1 Closed P clip 9mm ID 4216 102 1 Closed P clip 10 7mm ID 4216 103 1 Closed P clip 12 3mm ID 1 INTRODUCTION 3 4 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Further Information This user guide contains all the necessary information for the effective use of this drive However to gain a more in depth understanding of drive applications and motion control consider attending one of our world wide Customer Specific Training Workshops details of which are on our web site www parker emd com under Sales amp Services Training Examples of previous courses that have proved to be of benefit include
169. se Destination Location dialogue selection box that provides the option of installing Easi TOOLS in the directory of your choice The default directory is c program files parker easi v in the UK but the exact path name is country dependent other buttons are described within the dialogue box see Figure 5 1 Choose Destination Location Setup will install Easi V in the following folder To install to this folder click Next To install to a different folder click Browse and select another folder You can choose not to install E asi by clicking Cancel to exit Setup Destination Folder C Parker Easi Browse lt Back Next gt Cancel Figure 5 1 Choosing Where to Install Easi V 5 EASI V SOFTWARE 97 6 Once you have selected a destination for Easi V or have decided to use the default directory select NEXT to begin file transfer 7 Once Easi V has been loaded the screen will display a message dialogue box stating Setup is complete You may run the installed program by double clicking on the program icon When you click the OK button the window shown in Figure 5 2 will appear Note Easi V may also be run from the Start menu amp Easi Application Ea File Edt View Ge gt EBM ee gt B fies Foner Address plication hil Links On Line Help 3 object s Figure 5 2 Easi V Application Window Uninstalling Easi V T
170. sec Positioning modes Incremental absolute registration continuous run Communication S o O optional echoback Xon Xoff supported Baud rate Digital Inputs ooo G OSO Input impedance Digital Outputs ooo d OSO Output levels output high 22V 10 15 of supply output low 0 5V max saturation of lower NPN transistor Output current rating 50mA maximum per output source 50mA per output sink Table 8 2 Indexer Specification 8 HARDWARE REFERENCE 197 Drive Environment Specification All drive types Pollution degree 2 Installation category I Operating temperature range 0 to 50 C ambient 0 to 40 C natural convection 40 C to 50 C airflow is required through the drive at better than 0 5m s air velocity entering the drive Protection class PRD Weight oo o Protection class IP20 Weight 0 55kg Table 8 3 Drive Environment Specification 198 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE APPENDIX A__ 199 Appendix A Discrete Power Supply Recommendations If the XL_PSU is not being used individual ViX drives can be powered from transformer bridge rectifier power supplies of the type shown in Figure A 1 This design suggests suitable component values for powering particular drive types but can be adapted to power more than one drive provided component power ratings are not exceeded Bridge rectifier rated at 4A min for ViX250 drive line F s AC Fuse 8A min for ViX500 drive TD HBC Bridge rectifier must
171. set to 0 The fault condition will clear when the next G go GH go home any ON command or Z reset command is received The output if specified will revert to 0 and the ST LED will change back to green All status and drive bits will be reset When stalled the optional output can be reset using the O command but this will not reset any status or drive faults Because distance units can be changed using scaling you must set the value of the EM system variable If EM is positive the encoder port X2 expects to see A leading B when the motor shaft rotates clockwise Properties Immediate or buffered can be used in labelled block saved by SV Parameter Range Units 1 ON 0 OFF 0 to 65535 Mode on stall 1 run fault O no fault 0 to 3 0 no output Example 1STALL1 100 1 3 Stall detect on Use 100 step error window Run fault if stall detected and turn ON o p 3 Note 6 COMMAND REFERENCE _ 167 1 The error window is measured in motor steps with LOADENC and SCALE disabled load steps with LOADENC enabled and user steps with SCALE enabled 2 If scaling is enabled the value given in the error window will remain the same but is now in user units 3 Drive status LED will turn red after a stall occurs reset as for optional output 4 Position maintenance parameters can only operate correctly after MOTOR LOADENC SCALE and the EM variable have been correctly configured 168 VIX IMMICROSTEPPER I
172. st also be given to the effects of mains harmonics and flicker when interfacing the total supply system to the public low voltage supply system In accordance with IEC 61800 3 1997 Adjustable speed electrical power drive systems this product is of the restricted sales distribution class which meets the needs of an industrial environment when installed as directed However further measures may need to be taken for use of the product in a domestic environment Compliance is demonstrated by the application of the following standards BS EN 61800 3 Adjustable speed electrical power drive systems 1997 including Part 3 EMC product standard including specific test methods Amendment A11 BS EN 61000 6 2 Electromagnetic compatibility Part 6 2 Generic standards 2001 Immunity for industrial environments BS EN 61000 6 4 Electromagnetic compatibility Part 6 4 Generic standards 2001 Emission standard for industrial environments BS EN 61010 1 Safety requirements for electrical equipment for measurement 1993 including control and laboratory use Part 1 General requirements Amendment A2 WARNING Risk of damage and or personal injury The ViX drives described in this user guide contain no user serviceable parts Attempting to open the case of any unit or to replace any internal component may result in damage to the unit and or personal injury This may also void the warranty Contact Addresses For engineering assist
173. t to zero 134 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE GOTO GO TO routine Syntax Units Range of n Default See also aGOTO label GOSUB Description The GOTO command continues user program execution from the label specified Program execution does not return to the original place in the program use GOSUB if command execution is required to return Properties Immediate or buffered can be used in labelled block not saved by SV Example 2DECLARE MOVE1 declare move 1 2DECLARE MOVE2 declare move 2 2START code run after power on 2PROFILE1 360 360 400000 20 define some move profiles 2PROFILE2 360 360 400000 45 2GOTO MOVE1 perform move 1 2END 2MOVE1 2USE 1 use the move profile 1 2G 2GOTO MOVE2 2END 2MOVE2 2USE 2 use the move profile 2 2G 2GOTO MOVE1 2END Note If a sequence that is being looped executes a GOTO commana the loop is terminated The example shown above will give endless motion only a FAULT condition or an immediate KILL or STOP command via comms would stop this program H Syntax aHn Description Properties Example 1 Refer to LOOP 6 COMMAND REFERENCE 135 Change direction Units Range of n Default See also or blank D LOOP The H command changes the direction of motion Specifying H sets the direction to clockwise H counter clockwise and H alone reverses the current direction This command has no effect in Mode Absolute
174. ters Limit inputs Four radio buttons used to configure the limit inputs Limit Selection of normally closed or normally open limit switches switches Home Enable disable the HOME command enabled Home Select the required edge of the home switch where you wish the home reference position to be edge Home switch Defines the type of home switch used normally open or closed Direction Required direction and velocity Positive direction commands must velocity produce movement towards the positive limit Acceleration Acceleration of the motor in revs s s Homing Homing mode selection see sub section on homing for an explanation mode of these modes 25 26 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Motor Voltage Ratings Motors with a withstand voltage rating from phase to earth of 1000V AC should be used An insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed screen is used to power the system and X1 pin9 OV GND input is earthed as specified Motor Safety Earth Ground Connection It is recommended that the motor is independently bonded to a local safety earth point The safety earth lead should be at least 2 5mm in area Short Circuit Protection The motor outputs are protected against overload and short circuits Power amp Motor 24 80V DC HV OV GND HV arth PE Protective Earth 4V DC Motor phase A
175. the END statement associated with that label If a subroutine has been cleared but its associated GOSUB command still exists at run time the code will halt motion will stop and E will be reported Specifying the ALL keyword as the label will delete all user programs within the drive addressed Properties Immediate or buffered can t be used in labelled block saved by SV Example OCLEAR ALL Clear memory of anything defined so far all drives 5CLEAR START _ delete the power on code but nothing else in axis 5 Note You can only clear declarations by using CLEAR ALL 124 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE D Syntax Distance Units Range of n Default See also See SCALE 2 147 483 647 M SCALE aDn to 2 147 483 647 Description Properties Example The D command will set or report the programmed move distance The value programmed is only used for preset moves In MC Move Continuous the direction is observed Immediate or buffered can be used in labelled block saved by SV To set the move distance of axis 2 to 15000 steps type 2D15000 To report the current programmed move distance of GNIS FINDS teehee cern Cece eee ee eee emai 2D The controller responds with ceeeeeeeeeeeeeeeeeeeeeeeeeeeees 15000 If a value entered is out of range E will be reported and the current value will not be altered Distance reports the current direction as influenced by the H command in MI
176. the specified system variable with the specified value using the specified relation If the condition is met the next line of code is executed otherwise it is skipped Refer to the table of system variables that can be used for conditional control Valid relations for the comparison are Equals lt gt Does not equal gt Greater than lt Less than Immediate or buffered can be used in labelled block not saved by SV 2IF PA gt 450 if absolute controller position gt 450 steps on axis 2 20 1XX set output 1 2IF PA gt 500 if absolute controller position gt 500 steps 20 X1X set output 2 Using inputs 2IF IN lt gt 1X00X if input does not match the pattern 20 XX1 set output 3 If you wish to use the IF command during motion command queuing system variable CQ must be set for continuous execution CQ 0 140 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE IS Syntax alS Description Properties Example Input Status Units Range of n Default See also O The IS command reports the status of the configurable user inputs when configured as pull down non inverting inputs When used to report the state of any input switch regardless of how the switch is wired that is as a pull up or as a pull down 0 represents an open contact switch input 1 represents a closed contact switch input The response is five 0 or 1 digits corresponding to the following input bits X3 Pin N
177. tialisation 5 of 9 the selection of the amp limits and the Be End of travel limit signals are type of limit switch used to prevent accidental used You may over travel of the mechanical CO ie gt Disable limit also control the limit easel Configure these signals Disable limit mode and the C Disable both deceleration value Tene r Switches are normaly used to bring G Cosed C Open movement to a eee ahs Weis stop Limit mode if ticked program continues to execute when limit hit Deceleration rate 200 0 Press Next to Switch setting S eBox ew cea _ This screen allows the configuration of the home switch Press Next to configure the drive s user inputs and outputs Configure the drive s user inputs and outputs and setup the following encoder inputs or the simulated encoder outputs Press Next to configure the drive s general settings The home signal allows the axis to find a datum position Configure this input here If homing is enabled and the START routine enabled ARM11 then homing to datum i e motion can occur when the drive is reset Configure the digital inputs and outputs IC system variable Input operating thresholds can be 5 or 24 Ydc Outputs can source or sink Inputs can internally be pulled up or down The source pull up supply is 24 Vde only so inputs amp outputs should NOT be checked set to sink
178. tive motion is always regarded as moving towards the positive limit Two of the drive s user inputs I O 4 amp 5 can become dedicated limit inputs negative and positive when enabled by the LIMITS command From start up both limits are enabled default setting and can only be disabled by issuing a disable limits command For fail safe operation the limit switches must be normally closed although this can be re configured within the LIMITS command Limit Switch Placement Limit switches need to be placed such that when a limit switch is hit sufficient travel is still left for the load to be decelerated to a stop before hitting the hardware limit or end stop Hitting a limit is defined as changing the state of a limit switch when that limit is enabled and the direction of motion is appropriate that is you would only expect to hit the positive limit switch when travelling in the positive direction Hitting a Limit When a limit is hit an error signal is generated E the user fault bit end of travel limit hit is set and the status bit limit or limit seen during last move is set Motion decelerates at the rate set in the LIMIT command which needs to bring motion to a stop before any hardware limit is reached If motion is requested whilst the load is already on the limit no motion will take place and the drive will respond as if the limit had just been hit although no deceleration will take place A fault label can
179. tration if armed will be disarmed and on successful completion of the GH routine the registration armed state will be restored System variable HF sets the home final velocity GOSUB GO to SUBroutine Syntax Units Range of n Default See also aGOSUB label GOTO Description The GOSUB command continues user program execution from the label specified and once the END statement is reached in the called code program execution returns to the calling routine GOSUBs can be nested to a maximum of 16 times although the number of nestings will be decreased if used in combination with a LOOP command Properties Immediate or buffered can be used in labelled block not saved by SV Example 1DECLARE MOVE1 1DECLARE MOVE2 1START code run after power on 1PROFILE1 360 360 400000 20 1PROFILE2 360 360 400000 45 1GOSUB MOVE1 1GOSUB MOVE2 10 1XX define some move profiles go do move 1 and come back go do move 2 and come back set output 1 Note 6 COMMAND REFERENCE _ 133 1END 1MOVE1 1USE 1 use the move profile 1 1G 10 XX1 turn output 3 on 1T0 1 wait for 100mS 10 XX0 turn output 3 off 1END 1MOVE2 1USE 2 use the move profile 2 1G 171 pause for settle time 1TR IP 1 1END If you exceed the number of nesting levels the program will halt and return a E R UF will return a Program nesting overflow message If a GOTO command is used the number of nesting levels is se
180. umber Bit Function 9 2 Userinput2Reg 3 User input 3 Home__ 2 a ae 6 5 User input S LIM 0 represents a low condition on the input configured as a pull down input 1 represents a high condition on the input configured as a pull down input Immediate or buffered can be used in labelled block not saved by SV To check the input status of axis 1 type eee 11S The response 1S ae cetetene tated eee ceec neice tetas testes 01100 User inputs 2 and home input 3 are high All other inputs are low K Syntax aK Description Properties Example Note 6 COMMAND REFERENCE 141 Kill Units Range of n Default See also S PS KILL Issuing a KILL will command motion to stop at limit deceleration rate The command will then zero the position error to remove torque from a stalled load Carefully consider the use of this command in applications where a load with a large inertia may be required to stop quickly By commanding K the motor could stall and lose torque For this reason a load with large inertia should be stopped mechanically to avoid overshoot of limit switches Power dumping may be required to protect the drive from over voltage trips For a controlled stop use the S stop command The KILL command cannot be used in a label its use is primarily for emergency situations K will also terminate any program execution and will disable a FOLLOW command Immediate only
181. urring immediately before publication or between issue updates 1 INTRODUCTION 1 Introduction Product Description Available in two current ratings these microstepper indexer drives employ an optimised digital field oriented current loop to provide low speed smoothness coupled with high speed torque Advanced digital techniques result in reduced settling time and reduced mid speed instability when compared with similar competitive drive types The common use of EASI V programming language and similar supply requirements make this drive ideal for mixed technology applications when used with the ViX digital servo Figure 1 1 ViX250 ViX500 Microstepper Indexer Drive 1 2 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Product Variants Digital microstepper indexer drives are available in two current ratings with two interface options Table 1 1 lists the possible combinations Product Code Description ViX500IM 5 6A RMS 8A peak microstepper indexer drive with an RS232 control interface ViX250IM 2 8A RMS 4A peak microstepper indexer drive with an RS232 control interface ViX500CM 5 6A RMS 8A peak microstepper indexer drive with Canbus RS485 interface ViX250CM 2 8A RMS 4A peak microstepper indexer drive with Canbus RS485 interface Table 1 1 ViX250 ViX500 Microstepper Indexer Drive Options Note RS485 serial communication is only included in the CANopen version of the drive Product Feature
182. user input configuration you can set the input switching level threshold and you can set the internal input resistor to be a pull up or a pull down Figure 3 14 shows the position of software switches SWA 24V oo 1 Pull up 0 Pull down default SWB 1 invert O non invert Logic inverting network depending Logic level as upon input pull up reported by IS pull down state Input i o c 0 4 24V threshold default 1 0 5V threshold OV Figure 3 14 User Input Circuit User inputs are high logic level and low level logic compatible but must be configured as pull down inputs when used with low level 5V logic since the pull up mode always pulls up to 24V Only one input is shown above individual inputs can be set up on a one to one basis allowing different inputs to have different threshold switching levels or different pull up pull down arrangements CAUTION Unexpected motor movement De energise the drive before making any changes to the I O configuration 3 ELECTRICAL INSTALLATION 37 User Outputs User outputs can be configured using the Easi V graphic interface or by writing directly to the IC system variable By adjusting the user output configuration you can set the output to source or sink current Figure 3 15 shows the output circuit aoe oe SSS a y Common IC 24V housing all top switches i for all outputs 1 Current source Output
183. ve If the logic supply is experiencing dips then this may manifest itself as locked up comms A common mistake when running off 24V HV is to wire HV and logic to the same power supply If an end stop is driven into then the current drawn may be sufficient to collapse the HV and hence the logic supply The drive faults with impending power loss and de energises the power stage so the load is removed and the voltage recovers The indexer however appears to have locked up but has actually gone into a sleep mode Motor Over Temperature Indexed motion will be stopped in a controlled manner and the drive will then de energise If there is a user program running and the fault label is armed it will be run Ambient over temperature When the temperature trip point is reached Indexed motion will be stopped in a controlled manner and the drive will then de energise If there is a user program running and the fault label is armed it will be run Drive over temperature When the temperature trip point is reached Indexed motion will be stopped in a controlled manner and the drive will then de energise If there is a user program running and the fault label is armed it will be run 192 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Incompatible firmware revision The FPGA firmware code contained in FLASH memory is not compatible with the controller hardware and the drive cannot be used This message is likely if in future customers update o
184. with absolute positioning B continuous move with velocity controlled from the analogue input C continuous move indexed move with incremental positioning P step and direction base drive mode Mode absolute all move distances are referenced to absolute distance Mode bidirectional the motor moves continuously at the velocity determined by the analogue input level 10V gives maximum ve velocity determined by V 10V gives maximum ve velocity determined by V OV gives nominal zero velocity see also AB variable to set analogue deadband AO to set analogue offset Mode continuous the motor moves continuously at the programmed velocity until stopped Mode incremental all move distances are referenced to the starting position of each move Mode Position Like 1 1 following except that the enable input becomes a true energise input Acts like a base drive No preset motion is allowed but user programs will run Immediate or buffered can be used in labelled block saved by SV The code below sets up an absolute move 3W PA 0 sset PA PT PF amp PE to zero 3MA mode absolute 3D1000 set distance 3G move to absolute position 1000 3D100 set distance 3G move to absolute position 100 3R PT sreport target position 100 To check the current mode type eeeeeeeeeeeeeeeeeeeeeeees 3M The response WIG ict e ih eck tie te ile ee eee he MA VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE
185. y can use a lot of available program memory 6 COMMAND REFERENCE 177 System Variables Var Name R W _sRange default value 0 to 255 default 0 Deadband BR BAUDrate Y Y 9600 or 19200 bits per second 9600 default 0 to 100 of program buffer used CQ Command queuing Y Y 1 Pauses until move complete default 0 continuous execution 0 settling time damping OFF default Configuration 1 settling time damping ON See below DF2 DF3 DF4 i DF4 Drive Fault status Fourth byte of 32 bit DF variable Y El Encoder Input Y O step dir 1 cw ccw 2 quad ABZ de energise drive to change EM 1 to 4200000 default 4000 rev EO Encoder signal Y Y O step dir 1 cw ccw 2 quad ABZ de energise drive Output to change EQ ES EQ Echo Queuing O normal 1 wait for lt CR gt 2 cmd response only Energise Sense Y Y Sets the sense of the external enable enable_bar signal O low signal to enable 1 high signal to enable Comms Response Y Y 0 speak when spoken to echo off default for R8485 Style amp Echo 1 speak whenever echo off Control amp Physical 2 speak when spoken to echo on Interface RS232 3 speak whenever echo on default for RS232 178 VIX IMMICROSTEPPER INDEXER DRIVE USER GUIDE Var Name R W sRange defaultvalue FB FieldbusBaud Referto CANopen user guide __ _ FC _ Fieldbus Control Refer to CANopen user guide __ FN _ Fieldbus Node ID
186. y contain comments and line feeds etc Command Properties Each command has a particular set of properties that govern the way the command can be used Commands can have the following properties Immediate only Immediate or buffered Can be used in labelled block Can t be used in labelled block Saved by SV Not saved by SV 6 COMMAND REFERENCE 117 Immediate Only Immediate only commands are C K S R RB R UF R DF and R ST The controller acts upon these commands as soon as they are received Immediate or Buffered Immediate or buffered commands are immediate unless command execution is being delayed or command queuing is enabled whilst moving in which case the command is buffered When command execution is being delayed that is awaiting the results of a trigger command or waiting for a pause or time delay to finish interrogation commands can be sent and get executed immediately Consequently the report of such commands as 11S 1R ST 1R UF 1A etc is correct However if a buffered type of command is sent such as G or 1A10 the buffered command just sent and any other interrogation commands get buffered and will not report back until the trigger time delay or pause is finished In this situation Immediate only commands can be executed Example 1R El read encoder input 2 11S read input status 01111 1TR IN X0X01 sinput trigger false 1A50 send buffered command 1R El report commands are n
187. ystem Labels Certain pre defined labels are recognised by the controller as containing code used for common operations If event triggered code is enabled ARM1 the code entered for these common operations will be automatically run when the event occurs System labels have the following names START specifies the power on code run using the ARM1 command FAULT specifies the code that is to be run when a fault occurs REG specifies the code to be run when a registration mark is detected within the registration window NOREG specifies the code to be run when a registration mark is not detected within the registration window Note If necessary these labels can be used for other purposes but cannot be re named Fault Label Use the pre declared label named FAULT to identify a block of code that is executed when a particular problem fault has been detected The code following the FAULT label needs to change the state of an output to indicate a fault has occurred and then go on to possibly diagnose the problem Once the problem has been corrected the FAULT code will need to detect an external reset by monitoring a designated input and then execute an ON command to clear the FAULT At the end of the FAULT code a GOTO START can be issued to restart the program This style of programming will always ensure that once a fault is detected the drive will stop and will not start again until commanded to do so Before the code following

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