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Stepper Dr
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Section 10
Stepper Drive
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2
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1
ENGINEERING CHANGES
2
Revision Date Description
2
Table of Contents
3
SECTION & TITLE
6
Table of Contents v
7
Table of Contents vii
9
8 – FOLLOWING
10
List of Illustrations
13
Section 1
17
Important
17
Safety Information
17
1.1 – Cautions and Warnings
18
Section 2
19
Introduction
19
How To Use This Manual
20
Section 3
21
Quick Start
21
Installation Guide
21
3.2.1 - Bench Set Up
23
System
24
3.3 - Installation
25
3.4 - WIRING THE CONTROLLER
25
FOR OPERATION
25
SECTION 4
27
OVERVIEW OF
27
SYSTEM OPERATION
27
4.1 – Features and Functions
28
Overview 15
31
16 Overview
32
Section 5
33
Specifications
33
Equivalent Circuits
33
5.3 – Input Power
34
5.4 – MX2000 System
34
MX 2000 System
35
5.5 -Dual Axis Interface Card
36
5.5.3 –Encoder Connectors
37
5.5.4 – Axis I/O Connectors
38
Dual Axis Interface
39
Analog Drive Connector
40
Board ID Board ID
41
Axis Labels
41
5.6.1 – Auxiliary Serial Port
42
5.6.2 – Host Serial Port
43
28 Specifications
44
5.6.3 – DSP Card Inputs
45
30 Specifications
46
5.7 – Expansion I/O Board
47
32 Specifications
48
BCD assignments
49
34 Specifications
50
I/O POINT
51
5.8 – Digital I/O Board
52
5.8.1 – Input Connector
52
5.8.2 – Output Connector
53
5.8.3 – Internal Power Supply
54
Digital I/O
55
5.9.1 – AC Input
56
5.9.3 – BCD assignments
56
5.10.1 – AC Input
57
5.10.2 – Input Connector
57
5.10.3 – Output Connector
57
5.11 – MX8 Power Supply Board
58
5.11.1 – AC Input
58
5.12 – MX2 Outline
59
5.13 – MX6 Outline
60
5.14 – MX8 Outline
60
Specifications 45
61
46 Specifications
62
SECTION 6
63
Motion Controller
63
Programming Interface
63
6.1.4 - References
65
Motion Controller Programming
66
Interface
66
6.3.5 – The Task Editor
67
Edit Menu
68
6.3.5.1 – Document settings
68
6.3.5.2 - Editor Tool Box
69
6.3.6 – Terminal Emulation
69
6.3.6.1 – Configuring Buttons
69
6.3.7.2 – System Folder
70
Mechanical home
72
Mark registration
72
Download
73
Download Project
73
Upload Source
73
Download Operating System
73
6.3.10.2 – Utility Menu
74
6.3.10.3 – Window Menu
74
6.3.10.4 – Help Menu
74
Section 7.0
75
Software Reference
75
Axis Related Command Syntax
77
Example: COMMAND(x+2)
77
COMMAND(n [,m] )
78
Programming Commands 63
79
64 Programming Commands
80
Programming Commands 65
81
66 Programming Commands
82
Programming Commands 67
83
68 Programming Commands
84
Programming Commands 69
85
70 Programming Commands
86
Programming Commands 71
87
88
^ Bitwise Operator
88
>> Bitwise Operator
89
ABS Mathematics Function
89
74 Programming Commands
90
Programming Commands 75
91
Programming Commands 77
93
ARC Motion Parameter
94
ATN Mathematics Function
95
BOOST Motion Parameter
96
Programming Commands 81
97
82 Programming Commands
98
COMMON Miscellaneous Command
99
COS Mathematics Function
99
84 Programming Commands
100
Programming Commands 85
101
86 Programming Commands
102
88 Programming Commands
104
Programming Commands 89
105
90 Programming Commands
106
Programming Commands 91
107
92 Programming Commands
108
Programming Commands 93
109
94 Programming Commands
110
Programming Commands 95
111
96 Programming Commands
112
Programming Commands 97
113
98 Programming Commands
114
Programming Commands 99
115
100 Programming Commands
116
Programming Commands 101
117
102 Programming Commands
118
FOLMOVE Following Parameter
119
FOLOFFSET Following Parameter
120
Programming Commands 105
121
106 Programming Commands
122
Programming Commands 107
123
108 Programming Commands
124
Programming Commands 109
125
110 Programming Commands
126
Programming Commands 111
127
112 Programming Commands
128
Programming Commands 113
129
ELSE...END IF
130
IN I/O Function
131
116 Programming Commands
132
Programming Commands 117
133
118 Programming Commands
134
Programming Commands 119
135
120 Programming Commands
136
LCASE$ String Manipulation
137
LINE COMMAND CYCLE
138
Programming Commands 123
139
MID$ String Manipulation
140
Programming Commands 125
141
MOVE CYCLE
142
Programming Commands 127
143
128 Programming Commands
144
Programming Commands 129
145
130 Programming Commands
146
Programming Commands 131
147
132 Programming Commands
148
Programming Commands 133
149
134 Programming Commands
150
Programming Commands 135
151
136 Programming Commands
152
Programming Commands 137
153
138 Programming Commands
154
Programming Commands 139
155
140 Programming Commands
156
Programming Commands 141
157
142 Programming Commands
158
Programming Commands 143
159
144 Programming Commands
160
Programming Commands 145
161
146 Programming Commands
162
Programming Commands 147
163
148 Programming Commands
164
Programming Commands 149
165
150 Programming Commands
166
Programming Commands 151
167
152 Programming Commands
168
SPEED Change During Motion
169
154 Programming Commands
170
Programming Commands 155
171
TIMER Time Function
172
Programming Commands 157
173
158 Programming Commands
174
Programming Commands 159
175
160 Programming Commands
176
Programming Commands 161
177
162 Programming Commands
178
Programming Commands 163
179
164 Programming Commands
180
Programming Commands 165
181
166 Programming Commands
182
Programming Commands 167
183
168 Programming Commands
184
Programming Commands 169
185
170 Programming Commands
186
Programming Commands 171
187
172 Programming Commands
188
Programming Commands 173
189
174 Programming Commands
190
Programming Commands 175
191
176 Programming Commands
192
Programming Commands 177
193
178 Programming Commands
194
Programming Commands 179
195
180 Programming Commands
196
Programming Commands 181
197
182 Programming Commands
198
Programming Commands 183
199
184 Programming Commands
200
Programming Commands 185
201
186 Programming Commands
202
Programming Commands 187
203
188 Programming Commands
204
Programming Commands 189
205
190 Programming Commands
206
Programming Commands 191
207
192 Programming Commands
208
Programming Commands 193
209
194 Programming Commands
210
Programming Commands 195
211
196 Programming Commands
212
Programming Commands 197
213
198 Programming Commands
214
Programming Commands 199
215
200 Programming Commands
216
Programming Commands 201
217
202 Programming Commands
218
Section 8
219
Following
219
8.1.2 - Following Ratio
221
8.1.3 - Follower Motions
221
8.1.5 - Advance/Recede cycle
223
8.1.5.3 - Offset Distances
223
Command Syntax:
224
8.1.7 – Distance Measurements
225
8.1.8 - Cut to length Example
226
8.1.9.1 Rotating Knife Cycle
228
Rotary Knife Cycle
229
FOLOFFSETDIST
230
Program Example
233
ACTSPD Trajectory Parameter
234
ENCSPD Trajectory Parameter
234
FOLINPUT Following Parameter
235
FOLDCCDIST
239
Master Velocity100%
239
If the FOLRATIO is changed
241
FOLJOG Following Motion
242
FOLMOVE Following Motion
243
FOLMOVEREG Following Motion
244
STOP Motion Parameter
245
FOLSYNC Following Motion
245
FOLMINRATIO=.1,,0
249
8.1.11 - Follower Exercise
254
Section 9
259
Servo Drive
259
9.1 - Servo Control
260
Servo Block Diagram
260
9.1.1 - Servo Tuning
260
9.1.1.1 - System folder
260
9.1.1.2 - Encoder Folder
261
9.1.1.3 - Servo Drive Folder
261
Servo Tuning environment
262
9.1.1.5 - Auto Tuning
263
Response with Kvff = 0%
265
Note reduction in error
265
SHUTDOWN
266
tune calculation
267
View Logged Data
268
Response with low Ki and
269
Servo Drive 255
271
PEAK CURRENT vs TIMEOUT
271
FOLERR Motion Parameter
272
INTLIM Servo Parameter
273
IXT Servo Parameter
274
KAFF Servo Parameter
275
KD Servo Parameter
275
KI Servo Parameter
276
KP Servo Parameter
277
KVFF Servo Parameter
278
OUTLIMIT Servo Parameter
278
STOPERR Motion Parameter
279
WNDGS Motion Parameter
280
Section 10
281
Stepper Drive
281
266 Stepper Drive
282
10.4 - Encoder Folder
283
268 Stepper Drive
284
BOOST Stepper Parameter
285
270 Stepper Drive
286
LOWSPD Stepper Parameter
287
REDUCE Stepper Parameter
288
COMMAND SYNTAX:
289
EXAMPLES:
289
WNDGS Stepper Parameter
290
Section 11
291
Data Logging
291
11.1 - Data Logging
292
11.1.2 - Data Transfer
293
11.1.3 - View Data
293
Section 12
295
Environment
295
12.2 - Task Debugging
296
12.2.3 - Terminal Window
297
12.2.4 - Watch variables
297
282 Debug Environment
298
Section 13
299
Application Examples
299
MX2000 Axis Card
300
Analog inputs
300
13.1.2 - Example Description
301
13.1.3 - Main Section
301
13.1.4 - Teach section
301
286 Application Examples
302
Application Examples 287
303
288 Application Examples
304
Application Examples 289
305
Arbitrary Continuous Motion
306
13.2.1 – E
307
13.3.1 – Example Program
308
13.4.1 –Example Program
309
294 Application Examples
310
13.5.1 – Example Program
312
SECTION 14
313
TROUBLESHOOTING
313
SECTION 15
315
GLOSSARY
315
316
Glossary 301
317
302 Glossary
318
ASCII Table
319
304 Glossary
320
ECN# 84626
322
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