Fics-III System Setup
Contents
1. n an gbons fea dolabinen geketbagadeebasebebstandoucenes 23 6 3 2 Setting Bit Mask for General Inputs and Sensor Inputs Fics Atoms only 23 6 3 3 Setting Continuous Monitoring for Emergency Stop and Motor Error 23 6 3 4 Setting Manual Input and Output n na sce ealiteadadd aesiauenetebas 24 6 4 Setting Parameters for RS232C Communication sssi 24 6 5 AA a uD u iwa a uama ai De s auqa u erode 24 6 9 1 2 Iiitializing POSTA Ate a L Tuan a huwa id 25 6 5 2 Iitializing Parameters a ka a a ara 26 6 5 3 Setting Number of Axes and Unused Axes n anasssssssssssssssssssssa 26 6 3 4 Setting Ut Information ee O 27 6 5 3 Versi n Informati n see e uu aa 28 7 Loading and Saving of Data to EEPROM ananas 29 8 Communication With WinFics a aannnsnsnssssnsnsnsssasasss 29 Appendix 1 More Information About Homing of Fics Atoms Series asas 30 Appendix 1 1 Error Messages for Homing n anssnssssssssssssssssssssssssssea 31 Appendix 1 2 Axes Subject to Software LimMit oooooonoonnnnnnnnnninccnnncnnnccnococconccono conocio ncnnnccn cocino 31 Appendix 1 3 Switching to Automatic Mode nono nonnnccono nono conn roca nccnncnnno 31 Appendix 1 4 Home Co2. If the SYS IOM menu is selected the screen shown on the right is displayed and channel No for each Fics IOM can be assigned MDL00 implies module number 00 Use DI DO menu to select the type of Fics IOM as either input type Fics 10M 16 etc or input and output type Fics IOM 16 16CN etc The Fics II automatically displays the channel number of the first available channel for the module in xx field 8 bits DI DO comprises one channel SYS 14 ERROR N N RESET lt Ol gt O XXXXXXXXXXXXXX _ Checking Error History PGM 001 STEPS xxxx REMAIN STEPS xxxx Listing Program Steps MODUL NEXT F Ltast SYS NEXT LAST DI DO YO MDLOO 1610 xx xx VO MDLO1 DI xx YO MDLO2 DO xx Assigning I O Module Fics IOM Characters on Screen Do Module with 8 DO Module with 8 DI and 8 DO 1610 Module with 16DI and 16DO 16DO Module with 16DO Module with 16D1 5 1 Fics On Board I O If there are on board DI DO on the Fics series controller board the on board DI DO are assigned channel No first The channel No assignment for DI DO of Fics IOM comes next In this case the DI of Fics IOM is assigned from channel No 5 and DO is assigned from channel No 3 The DI channel No 1 4 and DO channel No 1 2 are assigned to the on board DI DO If there are no on board DI DO the channel numbers assigned to Fics IOM starts from 01 Channel numbers are directly accessed in Fics III application
3. Coordinates are expressed in degrees but how many degrees to move is determined from both the target position and the current position For instance if the current position is 45 degrees and the target position is specified as 30 degrees pulses corresponding to 75 degrees are outputted in the minus direction There are more examples to illustrate this concept Conversion to output pulses is made by Fics III automatically by utilizing system parameters RATIO R1 R2 and GEAR G1 G2 The coordinates X on screen and the output pulse number P are related as follows P X R2 G1 R1 G2 The result of division is rounded off SYS 17 lt lt Examples of Rotational Coordinates gt gt In the following example it is assumed that RATIO 3600 1000 GEAR 1 1 1000pulse per rotation 0 1 degree Absolute PTP Command The sign of coordinates indicates the rotation direction of motor shaft and the value represents the target position expressed in an absolute coordinate In other words the rotation range of motor is 360 degree one rotation and the coordinates can take possible values between 360 degrees 360 degrees To rotate to 0 degree in minus direction specify W 360 0 To rotate to 0 degree in the plus direction specify W 0 0 or W 360 0 For instance if 45 is specified motor rotates 45 degrees from current position in the minus direction 90 o oc gt 225 W 0 W 360 W 225 W 45 TA Relative PTP Command The s
4. for longer than the time specified in this field jog operation continues one shot Set moving distance if jog key is released within the time period specified by jog key timer This must be specified as a pulse number SYS jog AXIS SYS AXIS PTP MAX ACCEL X xxxxmsec DECEL X xxxxmsec PARTE ss a Speed Parameter Accel Parameter Note If the coordinate system is set as pulse the speed must also be specified by pulse rate in kpps 2 1 2 Parameters for Acceleration and Deceleration The PARAM SLOPE menu Setting acceleration time deceleration time and starting pulse frequency on PTP operation These parameters are used for both trapezoidal and S curve velocity profiles The startup frequency START F applies only to Atom PS PDS and Fics PDS 3 SYS AXIS The acceleration and deceleration times in jog operation and homing process ACCEL X xxxxmsec are both fixed at 100msec s In systems with more than 1 axis select AXIS menu to switch to other axes DECEL X xxxxmsec 2 1 3 PTP Control with S Curve Velocity Profile Accel Parameter By default Fics III uses S curve as velocity profile because this usually generates Fics Atom less mechanical vibration KIND Selecting trapezoidal LINEAR or S curve RATIO A ACCEL Specifying acceleration rate of S curve lt CURVE gt KIND 0 RATIO D DECEL Specifying deceleration rate of S curve O LINEAR 1 S CURVE For Fics Atoms the ratio parameter in the forth row i
5. SNSR menu the states of the home sensor ORG and overrun sensors OV and OV can be inverted by properly setting their bit masks Press lt F2 gt to select specific axis In most applications OV and OV sensors are of normally closed type so the bit mask for these sensors should be set as 1 This way under normal conditions OV and OV Setting Bit Mask for Atoms General DI INPUT IO AXIS lt CLR gt MOTOR gt ORG 0 lt X gt OV 0 Setting Bit Mask for Sensors are OFF the logic state of overrun sensors in Fics III is 0 1 XOR 1 If this is not set jog error occurs when trying to jog because Fics III sees that both overrun sensors are ON at the same time 6 3 3 Setting Continuous Monitoring for Emergency Stop and Motor Error The INPUT EMG menu Setting bit mask for emergency stop switch and conditions for continuous monitoring of emergency stop and motor error To reverse the logic state of emergency switch set the 0 in the second line of the screen on the right as 1 or 0 When TIMER and INPUT are set as 0 the emergency stop and motor error are unconditionally and continuously monitored When the TIMER is not 0 the emergency stop and motor error are not monitored for the set time period beginning from the moment of power on When the INPUT is not set to 0 the system does not monitor while DI nn m is 0 OFF TIMER Delay time for starting moni
6. SYS23 SYS24 Demo operation channeVbit C SYS25SYS26 Cycle operation channelfit SYS27 SYS28 Step operation channel bit gt gt gt gt ASA O ST O NASA O SAA o o ESA O SYS39 SYS40 J O A j sss s SS l SYS43 SYS44 Manual I O ignore channelbit U SYS4SSYS4i6 DO output channelbit in automatic ranning mode SYS57 SYS58 CPUstatusouputchammel bit SySol_ Emergency stop of the same unit when error occurs SYS2 j SYS63 TreateCAN gt as emergency stop when homing f Load parameter from EEPROM at power on pe SYS69 Use 1 or do not use 0 on board I O as general input output A A KE kaa SYS71 SYS72 Channel Bit of JOG by external DI SYS95 SYS96 Error reset channel bit SYS 10 2 3 3 Setting Checking FLAGs In the PARAM VAR FLAG menu FLAGs can be set or checked SYS NEXT lt 0 1 gt lt CLR gt FLAG is a variable with values of O or 1 only There are 96 FLAGs lt FLAGS gt 1 FLAGs are expressed in programs as FLAGnn where nn denotes a FLAG 12345678 90123456 number ranging from 01 to 96 FLAGOO is used by the system to indicate the PTP is completed 0 or not 1 FLAGO1 08 are reserved for system use in multi tasking Power on check and EEPROM save are the same as variables Setting Checking FLAGs 2 3 4 Setting Checking Monitor Variables In the MON menu Monitor Variables can be set o
7. with the WinFics is carried out through RS232C or SRing LAN using DYNASERVO CBIC MFC card For details refer to WinFics user s manual SYS 29 Appendix 1 More Information About Homing of Fics Atoms Series Home positioning homing is a procedure performed to set motor reference position If using incremental encoders precise positioning becomes possible in an automatic operation only after homing has been completed The following supplementary information should help better understand the issues related to homing Homing Forces axes movement to the mechanical home All axes in a system can go home at the same time or the homing sequence can be determined by program PGM 999 Program PGM 999 usually contains homing commands for each axis but it could also be a program consisting of a NOP command only The start of homing is triggered in following ways 1 DI 01 3 external homing DI bit is ON 2 The lt ORG gt key on Fics RT1 was pressed 3 In the host communication a CSOG command has been received Mechanical Home Home using sensors attached to machines This is accomplished by sending a homing command to each axis Home Needed Not Needed Choose whether to use the mechanical home or not It is specified for each axis In the case of ABS encoder NEEDLESS should be chosen Home Completed Indicates that the homing has been completed successfully Determination of Coordinates This indicates that coordin
8. e 100 125 150 160 200 250 400 6 2 Setting Homing Moving Direction and Coordinate System 6 2 1 Home Mechanism F AXIS ORG T Enc z Homing process differs for different systems Fics III allows INP i a user to select one of the following homing mechanism by J KEY KEY 4 selecting Enc z menu PULSE T I D Ki TYPE TYPE Use encoder Z phase Do not use encoder Z phase Enc SENSOR Use encoder Z phase but do not make a U turn at sensor position turn at sensor position the home sensor sensor as the home sensor The menu Selecting rotation direction of homing lt ORIGIN gt X Enc SYS Enc Z NEED The NEED menu Selecting whether homing is needed before APA automatic operation If home offset is set all axes move to the offset position after returning to the mechanical home If for example homing is not needed select NEEDLESS for home Special care must be taken during operation since home is automatically set to the position when power was turned on The SEQ menu Selecting starting homing simultaneously for all axes or following the homing sequence as specified in program 999 PGM 999 Program 999 is executed by homing command or lt ORG gt switch on Fics RTI etc 6 2 1 1 Home Mechanism for Step Motor If no Z phase signal is available as in step motor the arising edge of the home sensor is taken as the home position Y 1 jj D TEE __
9. minus overrun sensor home sensor plus overrun sensor home position There are three ways for returning to home depending on the starting point 1 Starting point is between the minus overrun and home sensor 2 Starting point is on home sensor SYS 20 M nus Ho me 3 Starting point is between home and plus overrun sensors Overrun Sensor Case 1 Move towards the minus direction When the minus overrun sensor turns ON move in the plus direction When home sensor turns Q ON OFF move in the minus direction When home sensor turns ON stop PAIN Case 2 Move towards the plus direction When home sensor turns OFF move in the minus direction When home sensor turns ON stop Q Case 3 Move towards the minus direction When home sensor turns ON move in the plus direction When home sensor turns OFF move in the minus direction When home sensor turns ON stop G 6 2 1 2 Home Mechanism for Motor with Encoder When Z phase zero phase signal is available the home position is determined by the first Zphase signal after the first time home sensor is ON as described in the previous section E 1 f L 1 _ minus overrun sensor home sensor plus overrun sensor zero phase signal 6 2 1 3 Home Mechanism with no Sensor U Turn If Enc Z is set to No SENSOR in case 3 the first sensor ON position is the home If Enc Z is set to Enc SENSOR in case 3 the detected encoder Z phase position after the first time sens
10. program Fics Atoms SB Ver 3 5 Fics Atoms PCI IMC 1X 24D1 8DO 16DI 16DO DI 76543210 76543210 DI 76543210 76543210 DI 76543210 76543210 DI 76543210 76543210 Ol ceccecce cccccccc 01 cccccccc ceccecce Ol XXXXXXXC XXXXXXXX Ol ceccecce cccccccc DO76543210 76543210 DO 76543210 76543210 DO 76543210 76543210 DO 76543210 76543210 01 cccccccc XXXXXXXX 01 cccccccc cccccccc Ol XXXXXXXX XXXXXXXX Ol ceccecce cccccccc 03 mmmmmm mmmmmm 03 mmmmmm mmmmmmmm 03 mmmmmmm mmmmmm 03 mmmmmm mmmmm cccccccc Valid bit for on board DI DO mmmmm Valid bit Fics IOM XXXXXXXX Invalid bit 5 2 Configuring DI DO of Fics Atoms SB Fics Atoms SB has 8 bits of digital inputs outputs which can be used either as digital inputs or as digital outputs Selecting the SYS SETUP DI DO menu allows user to configure the DI DO of Fics Atoms SB as 24DI O8DO or 16DI 16DO 6 Setting Environmental Parameters SETUP MC AXIS The Fics III is extremely flexible software adaptable to different F AXIS ORG motion control applications through the setting of specific application ei MOTOS parameters Selecting the SYS SETUP menu allows user to set INIT PGM environmental parameters SYS 15 6 1 Setting Coordinate Systems and Mechanical Parameters SYS AXIS lt CLR gt 6 1 1 Setting Coordinate Systems Fics III supports the following four types of coordinate systems Each axis can be NCODER xxxxxxp t assigned a different coordinate s
11. 3 1 Checking Drive Status In this menu the status of STOP ALARM READY and SERVO CHECK DRV AXIS READY is displayed 1 means yes and 0 means no lt MOTOR gt ORG 0 3 3 2 Checking Sensor Status The SNSR screen shows the status of home sensor overrun and Checking Home amp Limit Sensors overrun sensors of each axis 1 means ON and 0 means OFF i i CHECK SNSR AXIS DO 3 3 3 Checking General DI DO of Atom series Drives The status of the general I O of Atom series drives can be checked by lt MOTOR gt 76543210 selecting the I O menu To check an output port move the cursor to the desired DO bit and enter 0 or 1 The logical state of each DI can easily be inverted by appropriately setting the bit mask See 6 3 for details Checking Atom General I O 3 3 4 List of General DI DO of Atom series drives General DI 7 DI 5 DI 3 DI 2 DI 1 Input Atom SLIM DI 2 DI 1 Atom mini DI 1 Atom PS Ver 2 Heat TIM DI 3 DI 2 DI 1 tempos pam Aono OS Dra os Dr foa S S Others DI 8 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 fou O POS PO PO pee pe Output LA L E rss n Wisa DO 1 Green LED 1 n Atom PS Ver 2 Current Hold DO 1 Atom PDS OFF Atom PDS 3 IO 1 Valid only when IO TYPE parameter 1 2 Valid only for the 3 axis of PDS 3 3 Does not exist for the 3 axis of PDS 3 SYS 13 3 4 Checking Error History In the CHK ERR menu the err
12. OS AXIS lt CLR gt lt POS OFFSET gt X XXXx xxmm Setting PTP Offset SYS NEXT LAST SYS lt VAR gt 01 xXXXXXXXXXX 03 XXXXXXXXXX Setting Checking Variables SYS NEXT LAST VAR lt SY S gt 01 xxxx02 xxxx Setting Checking System Variables There are 96 system variables named SYS01 SYS96 System variables provide flexibility to add custom features to the system Each system variable has special purpose For example SYS21 SYS22 are used to specify the channel number and bit number of Auto Manual control selector switch of the system For details refer to the following table of system variables In the SYS menu system variables are set or checked System variables are updated and saved in EEPROM different from VARnn which are saved in RAM This feature together with the aid of System Variables 65 and 66 makes it possible to always use program parameters saved in EEPROM instead of using the program parameters in RAM which is on battery backup when the power is off If program parameters are stored in EEPROM it is necessary to save program parameters to EEPROM every time they have been changed SYS 9 SYSO1 SYS02 DO output channel bit when running task 998 _ __ SYSO3SYSOa Atom ready input chanet O TEE J ATA AS AMS O TESTI O EA A A SYS17 SYS18_ HExecutionsuspendchammelfbit gt gt gt NASA O SYS21 SYS22___ Automatic Manu mode switching channel bit__________ __
13. Part 2 Fics IHI System Setup Table of Contents 1 Overview of Fics MI System Setup a anasnnssassaassassssas 3 2 Setting System Parameters NN 5 2 1 Position Control PACMAN 5 2 1 1 Speed A SD Sima qua AEEA SA E AA A A AE AS 5 2 1 2 Parameters for Acceleration and Decelerati0N oonconncccnnccnnncnnonoconccnoncnnnncnnoconccnnncnnn nono nano 6 2 1 3 PTP Control with S Curve Velocity Profile vrai 6 2 2 Setting Soft Limit and Offsets n asas coo no coronan ncanccnnnnns 7 2 2 Settine Software LAMI t eeraa a aaa aE RAE AE E E E a 8 2 2 24 Setting Home Offset u Lu eE A 8 2 2 3 Settna PTP de ua Russ 9 2 3 Setting Checking Variables and FLAGS n anssssssssssssssssssase 9 Zor Le S ettime Che ecKine Vales anu unusapa ayasa asa 9 2 3 2 Setting Checking System Val nn snnssasuassas 9 2 3 3 CU CAM FLAGS a aa sa mee 11 2 3 4 Setting Checking Monitor Variables oonnccnnniinccnnccconcoonncnnononncconaccnnncnnononncc nn ano nn cancnrnanoos 11 co SAA 12 Sl Checking DI Status ua a reed 12 3 2 Checkins DO Status a Aroca 12 3 3 Checking Drive Status General I O and Sensors oooooooooooccccocoooccccconononoconononccononononnoonnnnnccnnos 12 3 3 1 Checkine NE US dd ai uyata tal da uay 13 3 3 2 Checking a AA O Ee E ead Aan W ya ck i tak ott 13 3 3 3 Checking General DI DO of Atom series Drives an ncco
14. Use Unused Axes When a system is still under construction it might be necessary to test part of the system In that case it is possible to specify the uninstalled axes as unused axes Moving the cursor to each axis and pressing AXIS menu enables the setting of in use with axes No displayed axes unused axes with displayed 6 5 4 5 Setting Program Number for Each Unit By selecting the INIT AXES U PGM menu the range of program numbers for each unit can be set The programs for each unit use the program number specified here If there is a PTP command in programs specified by the program number it is only valid within the unit Any program number not included in the specified range is s considered as a program of Unit 1 6 5 5 Version Information Program No Setting for Each Unit By selecting the INIT Ver menu the software version of Fics MI as well as the installed options can be confirmed Make sure to check this information for your software package SOFT 2 30 R01 MASK V01 03 DBGR Name of System Loader Version Check Menu SOFT Software Version Revision No MASK ROM Version MASK ROM Version and Revision No are for software management In the version menu pressing USER menu switches to user information menu USER OPT lt CLR gt Select OPT menu to confirm what kind of optional software is installed USER DYNAX001 USER System ID for user identification i DATE Date of production
15. alized qee a OK DEL Initializing Program 6 5 1 3 Protecting program SYS NG lt PROGRAM gt This function enables user to protect programs from being accidentally PROTECT sss gt eee erased The INIT PGM SAFE menu Setting protection for programs from COPY OK being changed and from being copied Program changing protection is set by Protecting Program specifying the range of program numbers Copy protection is set by selecting OK NG menu Initial values are 000 gt 000 and OK SYS INIT ON PROTECT 000 gt 000 No programs are protected lt PROGRAM gt PROTECT 100 gt 999 Programs from PGM 100 to PGM 999 are protected PROTECT OFF PROTECT 900 gt 100 Programs from PGM 900 to PGM 999 and from Po PGM 001 to PGM 100 are protected 6 5 1 4 Setting Startup and Emergency Programs In the INIT PGM NEXT menu the user can set the startup program to be executed at the time of power on and the program to be executed in SYS NG o lo lt PROGRAM gt If the value is set as 000 the last current program is executed at the a time when power on and the emergency stop error occurs in an emergency POWER ON 000 EMERGENCY 000 Setting Startup Program POWER ON The program to be executed as current program at the time of power on EMERGENCY The program to be executed in an emergency The emergency program is special program and has several restrictions SYS 25 1 In an emergency t
16. ates are determined If homing is needed for an axis then before the completion of homing the coordinates are not determined If homing is not needed for an axis the position at power on is taken as the home position Home Offset Sets the software home position for axes with determined coordinates Software Limit The moving range of the axis can be limited by software to axes with determined coordinates Automatic Operation Mode Mode for automatic execution of programs Jog mode Mode for jog operation SYS 30 Appendix 1 1 Error Messages for Homing For axes whose coordinates have not yet been determined if PTP commands interpolation commands or coil winding commands are executed ORIGIN ERROR X X denotes axis name will occur In the following cases the coordinates are determined so there is no error 1 When homing is set as NEEDLESS home position determined at power on 2 When homing is set as NEED but homing has been successfully completed Appendix 1 2 Axes Subject to Software Limit The following axes whose coordinates are determined are subject to software limits If the coordinates are not determined software limit will not be checked In old versions even in the homing program software limit were checked unconditionally for each axis In the future software limits will not be checked for those axes whose coordinates are not yet determined 1 Axes in jog operation including teachin
17. ates system as mm pulse angular or tilt The displayed coordinate system on screen is changed cyclically by clicking TYPE lt F1 gt menu mm gt lt F1 gt gt PULSE gt lt F1 gt gt ANGLE gt lt F1 gt TILT Setting PULSE Parameter SYS TYPE AXIS lt CLR gt Aea for All coordinates are expressed and displayed in mm lt COORD gt X mm coordinate Pulse unit All coordinates are expressed and displayed in number of x O pulses Setting Coordinates System Degree unit for All coordinates are expressed and displayed in degrees angular Notice that coordinate 1 Coordinates are displayed with value from 0 to 360 and the sign indicates the direction of rotation 2 Coordinates greater than 360 are displayed with the remainder after divided by the number of pulses per revolution 3 In PTP operation up to one revolution can be specified in both absolute and relative coordinates Degree unit for All coordinates are expressed and displayed in degrees but tilt coordinate the movement measure depends on the current and target coordinates For details refer to the programming guide part 3 of this manual 6 2 5 Setting Encoder Type By selecting ABS INC menu the encoder type absolute or incremental can be specified for each axis In a multi axis system it is possible that some axes are using ABS motors while others ENC motors In such case it is necessary to home before any automatic opera
18. ed NEXT Z LAST CHK IN ENG OUT NEXT MOTOR 1 0 SNSR BRK DRV CH AXIS CH 00 ERROR N WARN N RESET 3 1 Checking DI Status By selecting the CHK IN menu the logical state of each input port can be checked ON OFF state of sensors connected to the input port can be displayed and checked since the display is CHECK NEXT LAST o The NEXT LAST menu can be used to display the states of other input H 76543210 76543210 ports if available The relationship between a digital input and its logical state can be inverted by the INPUT DI menu to be stated in section 6 3 Checking DI 3 2 Checking DO Status In the CHK OUT menu the logical state of each output port is displayed Each bit can be set as 0 or l by entering the digit and then pressing the lt ENT gt key This operation turns ON OFF each corresponding DO port which makes it easy to check the output port The NEXT and LAST menus can be used to display the states of other Checking DO remaining output ports if available Using the CH CH menus cursor can be moved to the next or the preceding channel CHECK I O AXIS lt CLR gt lt MOTOR gt STOP x 3 3 Checking Drive Status General I O and Sensors ALARM x READY x In the CHK MOTOR menu drive states general DI DO lt X gt SERVO READY x sensor status can be checked menu may differ for Fics Atoms and Fics Checking Drive Status PDS 3 SYS 12 3
19. en value is 0 1 deg if the ratio is set as 3600 1000 or 36 10 The Pulse Coordinate System minimum unit of the on screen value is 1 0 deg if the ratio is set as 360 1000 or 36 100 The coordinates X on screen and the output pulse number P are related as follows P X R2 Rl The result of division is rounded off SYS 16 Angle Coordinates are displayed in degrees The sign of the coordinates indicates the rotation direction of the motor shaft dl SYS AXIS lt CLR gt and the value represents the target position expressed in absolute coordinate In y other words the rotation range of the motor is 360 degree one rotation and the coordinates can take possible values between 360 360 degree For instance if 45 is specified motor rotates 45 degrees from current position in the minus direction There are more examples to illustrate this concept Angle amp Tilt Coordinate System Assume one revolution of the motor generates 1000 pulses Then the minimum unit of the on screen value is 0 1 deg if the ratio is set as 3600 1000 or 36 10 Conversion to output pulses is made by Fics II automatically by making use of system parameters RATIO R1 R2 and GEAR G1 G2 If using mechanical gear with gear reduction ratio equal to 40 GEAR should be set as GEAR 40 1 The coordinates X on screen and the output pulse number P are related as follows P X R2 G1 R1 G2 The result of division is rounded off Tilt
20. f host communication refer to DYNASER VO host communication user s manual 6 5 Initialization The SETUP INIT menu allows user to initialize the program and parameter areas in memory and to set the number of axes etc SYS 24 6 5 1 Initializing Program Area INIT PGM L INIT SAFE TT OK NG Fics III allows the use of up to 999 programs By default NEXT PGM 001 100 are designated as main programs and the PARAM Ae remaining are designated as sub programs MOTOR AXIS AXES AXES Ver USER OPT 6 5 1 1 Setting Range of Sub Program Number Set the specified program numbers as sub program numbers Other numbers are used in the main program The relationship between the first and last program numbers is as follows SUB PGM 000 gt 000 Sub program does not exist SYS INIT SAFE NEXT SUB PGM 001 gt 099 Sub program are from PGM 002 to lt PROGRAM gt PGM 099 SUB PGM 900 gt 099 Sub program are from PGM 900 to PGM 999 and PGM 002 to PGM 099 PGM 001 is always a main program Setting Range of Sub Program Numbers 6 5 1 2 Initializing Program The INIT PGM INIT menu is used to initialize the program area When this SYS INIT SAFE menu is selected the screen on the right is shown to confirm the initialization To lt PROGRAM gt initialize press lt DEL gt key To cancel the initialization press any other key initialize OK When a program is PROTECTED the program area cannot be initi
21. files it is necessary to specify maximum speed acceleration deceleration time and starting frequency applies only to stepper motors Pulse rate Maxi mum speed tarting frequenc m Decelaration time Time Accelaration time These parameters should be independently set for each axis and for the following different motion Jog manual Homing PTP control the maximum speed of each axis can be set independently Interpolation circular arc and linear interpolations etc O O O O 2 1 1 Speed Parameters The PARAM SPEED menu Setting the maximum speed and other parameters related to jog homing and PTP control etc There are six parameters to be set for each axis The axis is chosen by selecting AXIS menu For item No 5 of the following table selection of individual axis is meaningless since this item applies to all axis SYS PTP AXIS PTP j og SPEED Ley 0042 FAST xxxxmm sec AXIS SLOPE AXIS CURVE PARAM SYS jog AXIS jog key timer xxxms Speed Parameter in mm coordinate SYS 5 1 Setting maximum speed for jog operation O a jg 2 og Setting maximum speed forhoming held for longer than 1 5 seconds Setting maximum speed for PTP The SPEED command in program overwrites this parameter Notice that the speed here refers to the speed of the gear reducer output shaft jog key Set one shot time to keep the jog operation If jog key is pressed and held
22. for each unit O PGN ie Once all this information is set Fics III assigns each axis a Ver unique station number 6 5 4 1 Setting Checking Unit Information By selecting INIT AXES menu the information for each unit can be set or checked AXES Setting the number of axes for the displayed unit UNIT Changing unit numbers x x stands for Unit Number Total Number of Units STN Displaying station number for confirmation U PGM Displaying program number for use by the unit No of AXIS is n Setting No of Axes for Each Unit 6 5 4 2 Checking Station Number for Each Unit Selecting the INIT AXES STN menu enables user to confirm the SYS UNIT U MAX USE station number of each axis in each unit The station number is UNIT No 1 1 automatically assigned by Fics III according to the total number of axes in lt STN X01 Y Z 03 each unit A station number will be displayed for axis in use is di o TL ae No gt W U Ves isplayed for axes not in use Axes not assigned to the system are Station No Confirmation displayed with SYS UMAX lt CLR gt UNIT UMAX Setting Unit Number SYS 27 6 5 4 3 Setting Unit Number Set the total number of units to be used in a specific system A maximum of 5 units can be set A maximum of 6 axes can be set in each unit SYS AXIS UNIT No x x USE AXIS X Z 6 5 4 4 Setting In Use Unused Axes Setting In
23. g 2 Axes in PTP operation 3 Transverse axes in coil winding Appendix 1 3 Switching to Automatic Mode Setting Switching to Automatic Mode Home NEED OK if homing process is completed Home NEEDLESS OK if all axes are set to NEEDLESS regardless of ALL PGM 999 Appendix 1 4 Home Completion Indicator Home Power on completed Parameter initialization Servo drive adjustment Parameter loading EEPROM WinFics Changing homing Parameters The following errors occurred MOTOR ERROR 08 MOTOR ERROR 14 COMM ERR STNxx SYS 31
24. he emergency program is started after turning on the error stop indicator output bit 2 The commands which can be used in the emergency program are restricted to the same class of commands that can be used in task programs except PTP commands 3 While emergency program is being executed the emergency stop switch is not monitored 4 When the emergency program is registered nothing is done for DO after the error reset The DO can be processed in the emergency program 5 When no emergency program is registered all outputs of DO are turned OFF when error is reset 6 5 2 Initializing Parameters The INIT PARAM menu allows the user to protect and initialize parameters 6 5 2 1 Protecting Parameters This function enables the user to protect parameters from being accidentally erased If PROTECT is set to ON parameters can be viewed but cannot be changed 6 5 2 2 Initializing Parameters The INIT PARAM INIT menu is used to initialize the parameter area When this menu is selected the screen on the right is displayed to confirm the initialization To initialize press lt DEL gt key To cancel the initialization press any other key When parameters are protected the parameter area cannot be initialized Once initialized the message is displayed as shown on the screen Press any key to return to the initial screen 6 5 3 Setting Number of Axes and Unused Axes The INIT AXIS menu is used to set the total nu
25. igned coordinates taking values between 360 0 and 360 0 denote the relative value with respect to the current position 90 OS W 135 225 360 SYS 18 lt lt Examples of Tilt Coordinate gt gt Coordinates are expressed in degrees but how many degrees to move is determined from both the target position and current position For instance if current position is 45 degrees and target position is specified as 30 degrees pulses corresponding to 75 degrees are output in the minus direction Coordinates take values between 999 9 and 999 9 Current Target Angle Coordinate Tilt Coordinate Position Position 30 Amountto Amountto Move Move 30 30 0 l ae 0 30 90 0 90 0 Re 6 1 2 Automatic update of program data Once mechanical parameters have been changed programs in memory should be changed correspondingly When being asked whether program data should be automatically converted press lt ENT gt key for yes If unnecessary press any other key SYS 19 6 1 3 Setting Micro Step For Fics PDS 3 micro steps can be set Selectable micro steps are shown below By default micro step is set as 50 which means the number of pulses generated by step motor per one revolution equals the basic number of pulses e g 200 pulses times 50 Therefore one revolution will generate 10000 pulses pis 2 25 3 4 5 Je 8 10 12 125 16 20 24 30 32 40 as so oo
26. in Fics III are referred to software home o To set coordinates by teaching homing must be completed first 2 2 1 Setting Software Limit The POS S LMT menu is used to set the software limit Software limit enhances safety by comparing target coordinates with the software limit before starting any move If the target coordinates in the program are out of the software limit motion does not start If the software limit coordinates are set to 0 the software limit will not be checked 2 2 2 Setting Home Offset The POS OFF menu Setting the home offset It is set to the coordinate values of the software home 2 2 2 1 Example of Setting Home Offset When you want to set the software home as follows the home offset reads as X 10 00mm Y 8 00mm Software Home X 10 00mm Y 8 00mm 8 00mm 10 00mm Mechanical Home POS AXIS lt CLR gt lt SOFT LIMIT gt mm unit system POS AXIS lt CLR gt lt ORIGIN OFFSET gt mm unit system o Ifthe home offset is set as above the homing triggered by lt ORG gt key on handheld terminal or by external DI will move the axis first to the mechanical home then move by the distance of home offset and set that position as home The current position after homing becomes X 0 00mm Y 0 00mm However the homing command ORIGIN in the Fics III program only moves the axis to its mechanical home but does not move to the software home The coordinates after retu
27. mber of axes in the system configuration and to specify unused axes When the number of axes is changed and the lt ENT gt key is pressed the message is displayed as shown on the screen on the right In Fics III once the number of axes has been changed the system returns to the initial screen by pressing lt ENT gt key 6 5 3 1 Setting In Use and Unused Axes When a system is still under construction it might be necessary to test only the running part of the system In that case it is possible to specify the unused axes After moving the cursor to the axis you want to set pressing the AXIS key enables you to set the in use axes with axis names displayed and unused axes with displayed The screen on the right shows that currently X axis and Z axis are used others are not used even if connected they are not recognized by Fics controllers SYS 26 Initializing Parameter Parameter is changed Enter key to reset Setting Number of Axis SYS AXIS pe epee eee USE AXIS X Z Setting In Use and Unused Axes 6 5 4 Setting Unit Information In Fics MI a system comprised of up to 16 axes can be divided into 5 units with a maximum of 6 axes in each unit By selecting the INIT AXES menu the following unit information can be set INIT PGM o Number of unit PARAM o Number of axes in each unit AXES AXES UNIT o Setting in use unused axes for each unit UNIT E U MAX U MAX o Program number
28. mpletion Indicator oooooonoonnnnninccinncnioccnonononcncnonccnncconcconn cono nono ncnnncnnno 31 SYS 2 1 Overview of Fics III System Setup This chapter explains the system setup of Fics series controllers by using the Fics RT1 DYNASERVO universal motion control terminal DYNASERVO other handheld terminals e g Fics RT3 PT3 touch screen controllers terminals e g Fics TPC1 programming software tool WinFics etc can also be used for system setup Since the screen size of each terminal is different the menu arrangement may be different but the parameters which have to be set are the same Before you begin Fics III programming it is strongly recommended that you read through this chapter to fully understand system setup requirements In the initial screen cf 2 1 Initial Screen part 1 select SYS menu by pressing lt F3 gt key to enter the system setup mode SYS mode In SYS mode various electrical mechanical and control parameters can be set and their values can be checked The status of variables FLAGs and I O can also be set or checked The available commands for system setup are arranged in a tree structure as shown on the next page The main sub menus and their functions are listed below PARAM Setting various parameters Setting maximum speed Setting acceleration and deceleration time Setting software limit Setting OFFSET ing variables and FLAGs ee Checking drive status TOM SETUP Setti
29. n PO 0 2 PN 1 PO 3 PE controllers such as Fics Atoms SB there are two RS232C channels connectors HOST and RT1 HOST is used for host communication and RTI is used for connecting to Fics RT1 handheld terminal Parameters for RS232C The HOST channel can also be used for Fics RT1 connection if selecting CH on the screen to change HOST WinFics RT1 the screen on the right shows the default setting HOST is used for host pO communication Parameters can only be changed for HOST channel But when the HOST channel is es for Fies RTI connection and if the baud rate etc are changed it is necessary to change correspondingly the setting in Fics Setting HOST WinFics CH RTI to match the speed etc When the setting does not match unrecognizable characters will appear on the screen of Fics RT1 Once the communication settings are changed reset the power to Fics RT1 To change the baud rate etc of Fics RT1 press SHIFT CLR MODE switches on Fics RT1 keypad at the same time For Fics RT1 channel parameters 9600bps PN No Parity DATA 8bit Stop 1bit are fixed and cannot be changed For multi unit option the COMMAND WAIT parameter can be set This command is designed for host communication of Fics Atoms Specifically if the ENQ command is sent out and no ACK command is received after waiting for a period of COMMAND WAIT time the ENQ command is resent If specified as 0 0sec the ENQ command will not be resent For details o
30. nccnncnnnos 13 3 3 4 List of General DI DO of Atom series Drives na non ncnonccn nora 13 3 4 Checking Error ist AOS 14 3 5 Checking Communication Error ia ia 14 o A A A 14 5 Assigning I O Module Channel Number Fics IOM o o oo 14 5 1 Fics On Board I O di ainda 15 5 2 Configuring DI DO of Fics Atoms S B nn au 15 6 Setting Environmental Parameters nn tesesteseeeeeeeenenenees 15 6 1 Setting Coordinate Systems and Mechanical Parameters 16 6 1 T Setting Coordinate Systems u l sa D a a Nie eines 16 6 1 2 Automatic update of program data n n conca non cr anno nn naci ncann rca 19 ES AAA A A A A 20 6 2 Setting Homing Moving Direction and Coordinate Unilt 20 6 2 1 Home Mechas ita Didi iiaee orale 20 6 2 2 Setting JOG KEY Parameter iris ces 21 6 2 3 Setting PULSE Paramet r ierehe sissen snide sieniniai seesinane ei enbe tie 22 6 2 4 Setting Coordinates Systemi sonrisa A TETE A 22 6 2 5 Setting Encoder Type a il E p oraa 22 6 3 Setting Bit Mask for Digital Inputs cee ce ee ceenseceeeeeeeeeaeeeaeenteeetseeeses 22 6 3 1 Setting Bit Mask for Dl
31. ng environment Setting mechanical parameters gear ratio lead Setting moving direction homing mechanism etc Setting bit mask of DI Initializing program area Initializing parameters SYS 3 AUTO MANU PTP 0G SYS PARAM SPD AXIS SLOPE AXIS CURVE S LMT AXIS POS OFF AXIS P OFF AXIS NEXT VAR VAR LAST SYS VAR FLAG NEXT MON l NEXT LAST NEXT CHK IN te OUT EXT MOTOR 1 0 SNSR BRK DRV CHE AXIS CH DO zs ce pi P Fics Atoms sB RESET Fics Atoms SB A 1308 1 fheB LIST DI 100 91190 NEXT TE ha LOM NEXT LAST ve Ao 00 1 F LAST DI DO DI DO Enc 2 SETUP wc AXIS DIV NEED AXIS ORG SEQ mT AXI EEPROM T PRM PGM J KEY KEY Fow aa AXIS SAVE PULSE PD CW TYPE TYPE fem L AXIS AXIS ABS I NC INPUT DI NEXT Z 2320 CH MOTOR SNSR 1 0 L CH EMG aE AXIS CH 1 0 EXT E TYPE INIT PGM NIT DARIA E l SAFE OKING ON OFF EAI AXES AXES UNIT UNIT F u wax u max STN USE AXIS U PGM EXT Ver USER OPT ATOM STN SYS 4 2 Setting System Parameters The SYS PARAM menu is designed to set maximum speed for PTP jog accelerating and decelerating time etc 2 1 Position Control Parameters Position control requires velocity profiles to be specified Fics III supports S curve as well as trapezoidal velocity profile as shown below To uniquely define these velocity pro
32. of loaded ROM DATE 2000 2 08 By repeatedly pressing OPT menu the installed option software names are OPT XXXXXXXXXXXX displayed sequentially User Info Menu SYS 28 eee Pi 6 5 5 1 Atom Version Info In the version menu selecting ATOM menu displays the version information of Atom By selecting the STN menu the version information of the next Atom Atom STN lt CLR gt station is displayed If Atom does not have any version information NO STN 01 VER 3 30 VERSION is displayed NAME SADDA02B DATE 2000 02 10 Atom Version Menu 7 Loading and Saving of Data to EEPROM Program and parameter data produced in Fics III can be saved in EEPROM flash memory and the saved data can be re used Selecting the EEPROM menu in the initial screen switches to EEPROM processing mode In the PAR PGM menu modes are selected so as to load save program lt PGM gt or parameter lt PARAM gt By selecting LOAD menu the message below is displayed SYS PAR LOAD SAVE lt LD SV gt By selecting SAVE menu the message below is displayed Save to EEPROM Select the process In either case action will take place by pressing lt ENT gt key z z 3 r E Selecting Load Save 8 Communication with WinFics Program and parameter data can be transferred between Fics controllers and the programming tool WinFics Using this function data can be stored in PC or a program written on PC can be loaded to Fics Communication
33. or history information can be confirmed Up to 16 error messages are saved The latest error message is assigned WARN N N RESET the smallest number ranging from 01 to 16 By selecting this menu it is possible to po display the error history or to reset the history The context displayed on the error STN nn COUNT 99999 history screen is exactly the same error message that appeared on Fics RT1 when an error occurs N Display previous error message RESET 3 5 Checking Communication Error In this menu it is possible to check up to 65535 communication errors of Atom drives This feature is extremely useful for troubleshooting system problems related to noise To reset the error of all drives select station number by pressing lt F1 gt N lt F2 gt N and then pressing the lt RESET gt key 4 Listing In the SYS LIST menu the program name and number of steps in memory can be checked As shown in the figure on the right the program name the number of steps and the number of available steps are displayed To see more press lt ENT gt key STEPS indicates the total number of program steps in the selected program REMAIN STEPS shows how many program steps are available 5 Assigning I O Module Channel Number Fics 1IOM To activate DYNASERVO I O modules for I O control it is necessary to correctly set each module number by the DIP switch on module and assign the channel number to each module
34. or is ON is the home 6 2 1 4 Home Mechanism Using Limit Sensors If Enc Z is set to No Limit or Enc Limit it is possible to search for home using limit sensor as home sensor In this case since the limit sensor is ON after homing is completed it is necessary to move away from the limit sensor at the beginning of application program 6 2 2 Setting JOG KEY Parameter When pressing jog keys on Fics RT1 motor rotates clockwise or counterclockwise If for example when X gt is pressed motor rotates clockwise but if the movement in the opposite direction is desired change the sign by selecting KEY Notice that this operation only changes the correspondence between the JOG label and the moving direction but does not change pulse direction PTP move direction itself ee aa SYS KEY AXIS lt COORD gt X O lt MAT un mu m lt o gt s s Po JOG KEY JOG KEY Menu HUA m lt om 4 SYS 21 6 2 3 Setting PULSE Parameter The menu Changing the sign of output pulse of each axis This operation will change the JOG and PTP move direction If for example the coordinate value SYS AXIS displayed on Fics RT1 is negative when motor is rotating clockwise which is lt PULSE gt X opposite to the desired direction change the sign by selecting 6 2 4 Setting Coordinates System The TYPE menu Setting coordin
35. r checked Monitor variables are used mainly for various production management purposes 2 3 4 1 Production Management Information Production management information is stored in the monitor file only in WinFics There are 96 monitor variables named MONO1 MON96 for production management These variables can also be used for purposes other than production management but they are different from VARnn variables as far as the arithmetic operation is concerned 1 Capable of being uploaded or downloaded by WinFics 2 No checksum for monitor files 3 Cannot be saved to EEPROM 4 MON80 MON 96 are used by Fics III system MON83 systemuse Unused CT MON90 system reserved Unused MON i system reserved Unused 3 MON92 system reserved Unused MON3 system reserved Unused MON system use for I O Waitcommand MON95 system use for I O Wait command system use for I O Wait command SYS 11 2 3 4 2 Commands Related to Production Management The following commands are related to production management 1 Timer control commands 2 Monitor variable addition commands 3 Monitor variable substitution commands 4 Variable substitution commands 5 Monitor variable branch commands 6 VO wait branch commands 3 VO Check In the SYS CHK menu the logic al state of input output port the status of motor drive error history and the number of communication errors can be check
36. rning to the mechanical home become X 10 00mm Y 8 00mm To move the axis to the software home use the PTP command to move to the position 0 0 SYS 8 To set the software home by teaching set the home offset as 0 0 at first Then start homing and move to the position to be specified as the software home by pressing jog keys and then press lt ENT gt key 2 2 3 Settine PTP Offset The POS P OFF menu allows user to set PTP offset The PTP OFFSET can be used to shift coordinates of absolute PTP command Because these values are in terms of relative coordinates they can be set by entering numeric data but cannot be set by teaching o In host control mode specified absolute coordinates can be changed to other points by changing this parameter PARAM T POS NEXT VAR T VAR feast SYS FLAG NEXT 2 3 Setting Checking Variables and FLAGs In the PARAM VAR menu the values of variables and FLAGs can be set or checked 2 3 1 Setting Checking Variables There are 96 variables named VARO1 VAR96 These variables can be used for arithmetic operation in application programs In the VAR VAR menu the value of variables can be set or checked Shown in the figure at the right are three variables The display is scrolled up by the NEXT menu and scrolled down by the LAST menu Do not use VAR96 This variable is reserved for internal use by the PALLET MATRIX program 2 3 2 Setting Checking System Variables P
37. s not displayed on the screen RATIO A xxx because the acceleration rate and the deceleration rate are fixed at 50 D xxx S Curve Parameter SYS 6 Pulse rate Pulse rate Maximum speed Maximum speed Starting frequency Unit msec Tj me Accel aration Cl e Decel aration aT Fig 1 Trapezoidal Curve Fig 2 S Curve 2 1 3 1 Acceleration Rate ACCEL aaa and Deceleration Rate DECEL ddd in S Curve The acceleration and deceleration rates in S curve velocity profile are specified by percentage cceleration rapid starting and slow stopping eceleration cceleration eceleration cceleration eceleration Pulse rate f lt Accelaration time 2 2 Setting Soft Limit and Offsets Fics II allows user to set software limit for safeguards and home offset and PTP offset for convenience Use PARAM POS menu to set these parameters 1 SOFT LIMIT software limit PARA SPEED 2 HOME OFFSET A 3 PTP OFFSET CURVE S LMT AXIS POS OFFSET AXIS PTP OFF AXIS Parameters 1 and 2 have the relation shown in the figure below and can be set by entering numeric data or by teaching SYS 7 OV Y Software Home Mechanical Home OV Y OV X OV X o Mechanical home refers to the home position set by the homing process incorporating home sensor Home offset allows you to change the home position to the software home without changing the mechanical home position All coordinates
38. tion For how to reset ABS encoder etc refer to DYNASERVO Atom series drive manual 6 3 Setting Bit Mask for Digital Inputs In Fics MI sensor ON is represented by 1 and OFF by F SETUP MC NEXT 0 The relationship between an input signal and its logical AXIS E CH NPUT DI CH state can be changed by setting the corresponding bit mask 2320 CH MOTOR AXIS with INPUT DI menu INIT EMG 1 0 SYS 22 6 3 1 Setting Bit Mask for DI INPUT DI Setting bit mask as 0 or 1 By default all bit masks are 0 NEXT Selecting other channels if available CH CH Moving cursor to the next or preceding channel The actual DI status is determined by XORing the sensor status and the INPUT NEXT CH CH DI 76543210 76543210 O1 XXXXXXXX XXXXXXXX Setting Bit Mask for DI bit mask For example if some DI is of normally closed type then Fics III sees the DI is ON if the corresponding bit mask is set as 0 If however the corresponding bit mask is set as 1 then in Fics MI the status of the DI is OFF because the status is determined by 1 XOR 1 which is 0 6 3 2 Setting Bit Mask for General Inputs and Sensor Inputs Fics Atoms only By selecting the INPUT MOTOR menu it is possible to invert the general inputs outputs of Atom series drives by setting the bit mask for these inputs If the ON OFF is opposite to the desired state it can be inverted In
39. toring after power on INPUT External DI for monitoring SYS 23 INPUT lt CLR gt lt EMERGENCY gt 0 TIMER 000sec INPUT 00 0 Setting Continuous Monitoring for Emergency Stop and Motor Error 6 3 4 Settine Manual Input and Output It is possible to control DO output by DI input in manual and programming T O 1 NEXT TYPE modes Inn m O nn m ON OFF The maximum number of assignable points is 15 On each screen 3 points can be assigned Inside the parenthesis of IO 1 the group number of the 3 points is displayed as shown on the screen on the right where nn and m represents Enn m O nn m ON OFF channel and bit numbers respectively Enn m O nn m ON OFF Setting Input and In the TYPE menu output mode can be selected Output Signals if DI is ON ON OFF The state of DI is directly outputted to DO DO is enabled ON if DI is ON DO is enabled OFF if DI is For example if 1 01 3 0 01 5 ON OFF is set the ON OFF of the DI bit 3 channel 01 is directly outputted to DO bit 5 This is like software wiring allowing for some specific DO to be directly controlled by some specific DI 6 4 Setting Parameters for RS232C Communication Fics communicates with WinFics and HOST option for PC based control via RS232C The initial parameters such as baud rate etc in Fics SYS III are shown in the figure on the right lt RS232C gt 9600bps Available baud rates 19200 9600 4800 2400 1200 600 300 I
40. ystem By default all axes are set as mm E y y gt TIMES mm X EXXXXXXMM mm Coordinate System sue E mm All coordinates are displayed in mm Fics III converts the coordinates on screen to output pulses automatically The following system parameters are needed for conversion Moving distance per revolution of motor ENCODER Encoder pulse number per revolution of motor Magnification ratio of encoder 1 2 or 4 In mm unit system set LEAD equal to the pitch if ballscrew is used or equal to circumference of the pulley for a belt drive axis ENCODER is automatically set by Fics III and cannot be changed once motor is selected TIMES specifies the magnification rate multiplied to the encoder pulse number For example if using an incremental encoder which generates 2500 pulses per revolution and if TIMES is by default set as 4 then 10000 pulses correspond to one revolution of motor The coordinates X on screen and the output pulse number P are related as follows P X ENCODER TIMES LEAD The result of divison is rounded off Pulse All displayed values on screen are results of multiplying the number of pulses by the system parameter RATIO Conversion to output pulses is made by Fics III SYS AXIS lt CLR gt automatically by making use of the system parameter o To display the actual pulse number set RATIO as 1 1 Assume one revolution of motor generates 1000 pulses Then the minimum unit of the on scre
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