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GML ULTRA User Manual, 1398-5.11(297)

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1. Program number 0 Get Program Number Frint to Display be If Program number 255 END m z Mew Module The resulting view is exactly like the diagram window except that you are looking at a different level The Module List shows the module level in the Diagram Editor The module name appears under the START and END blocks Only the blocks encapsulated in the module appear New Module showing details RUN ULT Ultra Control Family New Module v Clear Display Use the Show Overview option to show the module level above the current level in the Diagram Editor pane For example if there is a module in the diagram view the module level above the current module level is the diagram Publication 1398 5 11 February 1997 6 8 Working With Modules Publication 1398 5 11 February 1997 To view a higher module level select Module from the menu bar The information in the Diagram Editor shows the next higher level of information Diagram1 Level 0 New Diagram Ultra Control Family Mew Diagram 73 mt al n Output Diagram1 Level 1 STRRT New Module 2 START New Module 1 Diagram1 Level 3 New Diagram Ultra Control Family TS Mew Module 2 Mew Diagram New Module 2 v v New Module 2 New Diagram New Module 2 New Module 1 v y i New Module w Module 1 New Module 2 New Diagram wv i 4 E hange Dynamics New Module 1 v
2. STARTS New Diagram Lio Feed Publication 1398 5 11 February 1997 4 4 Working With Blocks Moving Blocks Showing the Connection Lines Disconnecting Blocks Publication 1398 5 11 February 1997 You can drag blocks including the START and END blocks anywhere in the diagram Their connections remain no matter where you move them gt Disable Gearing New Diagram New Diagram Show Axis Status Use the Diagram Drawing option select Preferences from the File menu to show connection lines e On top of blocks to help keep track of connections in the foreground e Underneath blocks to show blocks in the foreground To cut a connection 1 Move the pointer to a connecting line The cursor changes to a wire cutter Note You can only cut horizontal connecting lines New Diagram 2 Click your left mouse button The connection is cut In some cases when you have a connection that loops back to an earlier block in the diagram you could want to move a vertical connection to avoid other blocks To move lines 1 Place the pointer on the vertical connecting line A double arrow replaces the pointer MP LE F SML Making Changes to Your Diagram 4 5 2 Press the left mouse button drag the connection to the desired position and release Making Changes to Your Diagram Selecting All Duplicating a Block Adding a Block All Edit menu options pertain to the Diagram Editor wi
3. 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Terminal Monitor The Terminal Monitor block allows you to display monitor variable values on the top line of the operator terminal screen To select the variable that you want to appear 1 Double click on the Terminal Monitor block A dialog box similar to the following appears Terminal Monitor TERMINAL MONITOR Br Clear The Top Line Command Position _ Feedback Position Following Error Profile Generator Position screen Selectthe desired variable fram the scrolling list Select the variable that you want to monitor on the operator terminal A check mark appears in front of the variable Wait For Axis 9 45 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Wait For Axis The Wait For Axis block allows you to pause program flow until the status that you specify for the axis is true To define the status condition you want the axis to wait for 1 Double click on the Wait For Axis block A dialog box similar to the following appears Wat For Axis D WAIT FOR AXIS Status Pauses program flow until the Specified status atthe axis is true Choose the Status condition to check far from the pop up menu Status conditions include In Pasition the program pauses until 2 Cancel 2 Make an entry in
4. 9 29 OUMU O Messrs 9 30 OUTPUT OT erc a 9 31 PCAS EMEN ere S 9 32 FUSS MOVO aa ERE EREE 9 33 EAN nidxci Meee E M tte etree eet tte eee ene et tn eee ere ree trees 9 33 PINRO DISDA V aia eve auia ane dedi Id 9 34 Redefine Position cccceeccsecceeeeceeeceeeceueeceeeceeeceueceueeaeeeseeesaass 9 35 Ba GIS UN AUN OMe Rem MTM MM M MN PUNTO T 9 36 Fe Se tdi cU tet 9 37 MeSCl DIVO tm 9 38 Resume MOVe xa tastatas gute nortan ntat atid nemetst etc oa mig EAT ETE 9 38 SCAN BEventbElandlel da ees ea tua agas auge ata iu NEUES RN 9 38 SOCOM e We APERTE TE TETTE TOTO 9 39 S75 Ge 072 gal B eee Meee II III ILI I I DIUID IMS 9 41 SW SA aa a tates aaa ete ati ntet tats 9 42 SOW ENA gt uc EREEREER EAEN 9 42 SOP MOUGN sonaires EEE 9 43 Terminal MONIO ecc 9 44 WAE FOAKI S aaae ai AEE EAE A AE n A E ME ME 9 45 Walt E OTEN TE PEO 9 46 Wall FOL EXPOS SION ciami EIEEE N T RN ess 9 46 Wait hor Inpilt Olcsssdxituitsi tient Meni aaa eu ae uote 9 47 Wat OM IN OUU Of EET 9 48 Walt For Hegisif allOliucunus s dtu idus quada dq aqua daa ea dd ad adt 9 49 PAARE TETTE 9 50 AKOV PaNNa 9 51 Publication 1398 5 11 February 1997 vi Table of Contents Publication 1398 5 11 February 1997 Preface Preface Read this preface to familiar yourself with this manual This preface covers the following topics Who should use this manual The purpose of this manual The contents of this manual Re
5. Beta Exit Online ESTOP Using the Online Manager Window 8 3 How the Window is Organized The Online Manager window has three areas upper center and lower The organization of the window is summarized below Window Purpose For More Information Area Refer to this section Upper Command Watch To select the primary function of the window Selecting a Communication button Function at top right e To execute a direct motion command to the ULTRA Plus Command Executing a Direct Motion e To display Watch Item variables Watch CO7 mana Monitoring Watch Items Execute button To execute the command function block you Executing a Direct Motion selected in the large box to the left Command Large box If you select Command as the primary N A function of the window this box contains function blocks If you select Watch as the primary function of the window you can monitor what your controller and motor are doing and how your program is running Center Group of Buttons Use to control online functions Controlling Online Functions Variable List Box List of variables you can examine Examining Variable Values Examine Button After selecting a variable press this button to Examining Variable Values display the contents of the variable View Mode Select a format for the information in the box in Choosing the Information View the lower portion of the window Mode Select the Servo or Master Axis N A Lower Large
6. Cancel Command Window Script Editor Window Understanding Your Work Area 2 7 When you are working online use the Command window to e View the command and or response links with the controller e Execute block functions Online Manager for JOGREY ULT Feedback ResetAxis Redefine Motion if Position Settings Jogs moves continuously the axis in aspecified Direction ata EE specified Speed Choose Move Axis RSG Gear Axes penance manome the Direction Forward Enter Setups Go Pause Step Acceleration Acceleration Feedforward Gain Upload Options Trace Resume Auto Analog To Digital Converter Diagram Abort Available Program Spaces i Examine xis SERVO View mode Installed Firmware u Exit Online 3 88 Download Complete Command Jog Axis ESTOP Command Jog Axis Some of you are comfortable identifying problems from the script version of the diagram Use the Script Editor to view and edit text files including script documents generated from GML diagram documents Note Your computer must be online to download a script AY ATTENTION If you make changes to the script they are not converted back to the graphical diagram Once you make a change to a program s script you cannot go back to working in GML mode We suggest that you use script only for viewing not editing To access the Script Editor window 1 Make sure the diagram you want to translate is active 2 Fro
7. On To activate the condition handler for a single event Off To deactivate the condition handler Continue To allow for continuous monitoring of the condition handler 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 Set Scan Timer 9 41 Set Scan Timer The Set Scan Timer block allows you to set the value of one of two count down timers to the time To set a Scan Event timer 1 Double click on the Set Scan Timer block A dialog box similar to the following appears Set Scan Timer SET SCAN TIMER Timer 1 v Set Time seconds Set Scan Event 1 v Wait for Timeout Sets one of twn countdown timers to the desired time Select in the desired Timer device from the pop up menu and enter a Cancel 2 Make entries in the following fields Field Description Timer Select the number that represents the timer device that you use 1 or 2 Set Time Type the value or expression in seconds to seconds indicate the amount of time before the timer expires Set Scan Type the number that represents the event Event that is scanned for Select one of the following On To activate the scan event for a single event Continuous To allow for continuous monitoring of the scan event handler Publication 1398 5 11 February 1997 9 42 Understanding Blocks Publication 1398 5 11
8. The Disable Gearing block allows you to stop the electronic gearing motion axis immediately If gearing 1s the only motion in progress on the axis the axis stops The Disable Gearing block does not require you to enter any information Edit Value The Edit Value block allows you to create a data entry environment for an operator interface This block allows you to enter a value on the operator interface stored in a user variable To define the Edit Value block 1 Double click on the Edit Value block A dialog box similar to the following appears Edit FT Edit Value Es Set Row ji Column C Force to Port B D Message enter message text here Variable G User Variables Y C Show Current Value Range Format Min je Field M Max Precision o Fraction Used to create a data entry environment far an Operator Interface Enter the optional Row and Column where printing will begin The tap raw is 1 and the left hand column is 1 Enter an optional prompt message Selectthe Type af C ancel 2 Make entries in the following fields Field Description Set Select this check box to define row column Row If you selected the Set check box type the number of the row in which the display begins Field Column Force to Port Message Variable Show Current Value Range Min Max Format Field Precision Edit Value 9 11 Description If you selected the Set check box type the number of t
9. February 1997 Field Description Wait for Select this field to pause the program flow Timeout until the timer you selected in the Timer field times out 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Slew Disable The Slew Disable red block allows you to disable the rate of change accel decel limit for the electronic gearing function The Slew Disable block does not require you to enter information Slew Enable The Slew Enable green block allows you to set and enable the rate of change acceleration deceleration limit for the electronic gearing function Slew is the maximum acceleration permitted as a result of a signal received from the master axis The slew limit is frequently used when the follower starts following a master that is already moving If the master is moving and a gear is enabled with no slew limit set the follower uses maximum acceleration to come up to speed This can cause excessive wear on most machines and potentially damage equipment If you set a slew limit the follower uses this acceleration rate to match the speed of the master Note The slew rate can be set in either the Slew Enable block or the Enable Gear block To enter a slew limit 1 Double click on the Slew Enable block A dialog box similar to the following appears Stop Motion 9 43 Slew Enable SLEY ENABLE D Slew 1000 0000 Set and e
10. cccsecccseeeeeeeeeaeeeeaeeeeaeeesaaees 8 11 Stopping a Progra Msosi ii de iried reditus itur dbeid tierce c lc incidi 8 11 Stopping a Program and Killing Motion 8 11 Monitoring PEOSESITIEIQWO d iita as adaadad usadas odas aac auta 8 11 USMO Trace m Td 8 12 NSTC AUO esa 8 12 USINO TED RETE D 8 13 Setting a BreakKPOl Wat stella cbe dece lededed elei bet eee id sus 8 13 Deming WACON uncus aq da aqq gata uu qud 8 14 Monitoring vValohMelllS xsssnus acamivadsses Su ax cda andan ada 8 15 Examining variable Values ME 8 15 Selecting Axis Setups Options eseeeeseeeeeeeeeeeenrennn 8 16 Viewing Verslo m INONMA OLI sau auae atti dag dug qug da aaa qaa aa 8 16 Initializing the Personality Modules ccccececeeeeeeeneeeseeeseeeeeeeenes 8 17 Selecting and Running Diagnostic Tests cccseceecseeeeseeeeeseeeesaees 8 18 Testing the Encoder cccccccseeceeeeceeeceeeceeeeeeeeseeesueseueeaeeeseeens 8 18 Resting tie DAG OUMU ariran a tu unie tu esie age 8 19 Testing the Monitor Output ccccccceeceseeeeceeeeseeeeseeeeseeeeseeeeeees 8 20 Testing the Digital Outputs 3 3 mE eine tee D MM RU A LU 8 21 Testing the Operator Terminal cccccceeceseeeeceeeeseeeeseeeeseeeesees 8 22 Testing the Nonvolatile Memory eeeeeeeeeeeeeee 8 22 Tuning Motors and NIN CS convenio ebat a atraer alea a
11. Blocks Contents This chapter contains step by step procedures you use to create and edit diagrams and scripts This chapter covers the physical aspect of blocks such as selecting moving and using blocks to define functions for your diagram It also describes how to use the Expression Builder feature This chapter provides procedures for creating testing and documenting your diagram This chapter includes procedures for creating viewing and documenting modules This chapter provides procedures for using the Script Editor translating a diagram to script and printing the script This chapter includes procedures for downloading a diagram debugging and fine tuning and uploading controller options This chapter gives a brief explanation of each block s function and directions for using each block For detailed information about blocks refer to the GML Ultra Reference Manual GML Ultra provides two types of help A set of user manuals Online help This manual is part of a documentation set for GML Ultra GML Ultra Getting Started publication 1398 5 10 GML Ultra User Manual publication 1398 5 11 GML Ultra Reference Manual publication 1398 5 12 Using Online Help Use this manual GML Ultra Getting Started GML Ultra User Manual GML Ultra Reference Manual Where to Find Help P 3 To find information on this topic e Installing the software e Starting the software e Set
12. February 1997 New Module 9 29 Field Description Override If you selected Segment in the Move field Profiles select one of the following S Curve S curve acceleration and deceleration controlled jerk Trapezoidal Linear acceleration and deceleration 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set New Module The New Module block allows you to place a new blank module on the Diagram Editor window Double click on the New Module block A dialog box similar to the following appears GML File Edit Definitions Module Diagram Windows Help New Diagram Ultra Control Family New Module v H B New Module New Module Publication 1398 5 11 February 1997 9 30 Understanding Blocks Output On The Output On block allows you to turn ON a single output or to set a group of outputs to the binary state of an expression To define a single output as ON 1 Double click on the Output On block A dialog box similar to the following appears Output On Xej OUTPUT ON Output Directly and immediately turns ON all general purpose outputs ar turns a single General Purpose Cancel output OM orto the state of a flag Lancel 2 Make entries in the following fields Field Output Start Bit Set To Number of Bits Pulse Time sec Description Select one of the following General Purpose To specify a g
13. If GML Ultra finds an error a window appears describing the error and identifying the block where the error occurred Note Testing diagrams is not the same as testing programs To test your diagram for valid translation to script 1 From the Diagram menu select Test Diagram If one or more errors is present the first of the warning messages appears similar to the following gmi x Warning Black has no Input Connection Block Miultitzk carmi 2 Select OK GML Ultra automatically highlights the offending block If the error is a parameter within a block GML Ultra also automatically opens the block and presents the dialog box with the parameter fields 3 Fix the error 4 Retest by repeating steps 1 through 4 When no more error messages appear you have completed a successful test Accessing the Online Manager 5 5 IMPORTANT A successful test indicates that the diagram translates to a valid program not that the motion controller operates your machine flawlessly Accessing the Online Manager Inserting a Breakpoint Select the Online option to access the Online Manager For more information about the Online Manager refer to the Going Online chapter Use the Breakpoint option on the Diagram menu to set or clear breakpoints Breakpoints are set and cleared from the Diagram menu but you must be online to set a breakpoint Breakpoints can only be set after the diagram is downloaded The diagram must be d
14. Understanding Your Tools Title Bar Main Menu Block Palettes and Libraries Understanding Your Tools 2 9 The GML Ultra title bar shows the name of your diagram along with the size and close controls Use the Title Bar to locate a diagram in the window If you have not yet named or saved your diagram the diagram is temporarily named New Diagram Subsequent unnamed diagrams are also named New Diagram For example when you open a new diagram you see the following Hew Diagram B X Refer to Naming Your Diagram in the Working With Diagrams section After you save a diagram the name changes similar to the following RUN ULT DIXI Note GML Ultra automatically adds the ULT suffix to the name of your diagram The main menu is at the top of the window It provides access to the primary GML Ultra functions File Edit Detinitions Module Diagram Windows Help Refer to Using the Diagram Menu for a description of each menu option The colored building blocks are the graphical elements you use to create a diagram For instructions on selecting and placing blocks in a diagram refer to the Working with Blocks chapter For a brief description of each block refer to the Understanding Blocks chapter For detailed information on blocks refer to the GML Ultra Reference manual Publication 1398 5 11 February 1997 2 10 Before you Begin This specialized module Mew Module Scan Event Handler
15. go to step 4 The Monitor Output test exercises the Monitor Output The Monitor Output is an 8 bit Digital to Analog Converter DAC that can be used to monitor a variable The range of the output is 10 volts The test outputs either a triangular waveform between 10 volts or a fixed voltage on the Monitor output To test the Monitor Output 1 Connect a meter or oscilloscope to the Monitor output P3 7 and to analog common P3 4 2 Inthe Axis Setups dialog box select Monitor Output 3 Select Execute 4 To Do this Output a triangular 1 Select Triangular Waveform waveform with a range 2 Select Start FS of 10 volts 3 Select Start A Voltage Set message appears 1 Select Set DAC Voltage 2 Type the desired voltage between 10 volts 3 Select Start Output a fixed voltage Testing the Digital Outputs Selecting and Running Diagnostic Tests 8 21 5 Check the voltage signal on the meter or oscilloscope 6 To Do this Stop the waveform or 1 Select Set DAC Voltage the fixed voltage signal 5 Type a value of 0 volts Stop the waveform or Select Close the fixed voltage signal and close the dialog box 7 Once the test is running to change from one type of waveform to the other select the corresponding radio button 8 To perform more monitor output tests go to step 4 The Digital Outputs test allows digital outputs to be forced on or off to test the outputs and system wirin
16. 1997 7 8 Working with Scripts Printing Your Script Publication 1398 5 11 February 1997 6 Complete the check boxes for the following fields Field match case from beginning replace text global replace confirm replace Description Select the box to match upper and lower case to exactly what you typed in the Find and Replace with fields Select the box to search the entire file from the beginning instead of starting where the cursor rests Select the box to search and replace one find at a time Select the box to search and replace all the finds in the file at one time Select the box to perform a global search but to confirm each occurrence before you replace it with the new text 7 Select Find The search begins When the text in the Find field is identified the new text automatically replaces the old text the new text is highlighted and the search stops Find Replace Again Use Find Again to find in the current file the next occurrence of the text you searched with Find Replace Note The Find Replace dialog box does not change even when you activate a new diagram or a new script Therefore you can search for the same text in different files without typing new text in the Find and Replace With fields To find previously defined text 1 Make sure the script file you want to search is active 2 From the Script Main Menu select Script The Script menu appears 3 Select Find
17. 3 allen 71 C3 ultdemo Ey ultdemo di Hetwork Save file as type Drives Files F GHL E c motion c 4 Inthe File name field type a new file name Save As Ed ES Folders Location c Wwindows programs ultra ea cA Cancel c C3 windows Network C3 programs C3 allen 1 C3 ultdemo Ey ultra Save file as type Drives Files F GHL amp J c motion c 5 Confirm the path where the file is saved Exiting GML Ultra 3 19 6 Select OK The file is named saved and closed The GML Ultra window appears with the new name in four places the diagram Title Bar the module list and beneath the START and END blocks GHL p TEST B GHL ee le Ex Definitions Module Diagram Windows Help TEST B GML v gt If other files are open in GML Ultra they appear when the current file closes Closing a File Already Saved and Named Exiting GML Ultra Normally you have named your diagram and saved it periodically during the diagram development process To close a file 1 From the menu bar select File The File menu appears 2 Select Close The file closes If other GML Ultra files are Open Not open This happens They appear when the current file is closed The window is blank 1 From the menu bar select File The File Menu appears 2 Select Exit GML Ultra checks all open documents for changes and asks if each changed documen
18. Adjust the Gain field in the Position Loop area Type a value in the zone field in the Position Loop area about twice the In Position Window is a reasonable value Slowly increase the value in the Gain field in the Position Loop area from 0 while watching the Feedback_Velocity signal on the oscilloscope As Position Loop Gain is increased the system begins to overshoot Adjust the Gain field in the Position Loop area to achieve the fastest possible time to come into position with minimum overshoot When you are satisfied that the gains have been set to give the correct system response select OK The information is saved and the window closes Use an Equation block to set the Following_Error_Limit and Following_Error_Time parameters back down to reasonable values To restore Do this Gains to the previous values Select Reset Gains Gains to the previous values and Select Cancel close the dialog box Publication 1398 5 11 February 1997 8 36 Going Online Monitoring I O Status Publication 1398 5 11 February 1997 The Status and I O Monitor is used to continuously monitor machine status and the status of the digital inputs and outputs at any time even if a program is running To get machine status 1 In the Online Manager window select Enter Setup The Axis Setups dialog box appears 2 Select Status and I O Monitor 3 Select Execute The Status and I O Monitor dialog box appears The box contains
19. C Print Details T Print Definitions C Print Index Cancel Setup 2 From the Print Diagram dialog box select Setup A dialog box similar to the one below appears Complete the fields based on your printer your version of Windows and other criteria Print 5etup i Ix Cancel currently HP LaserJet 4MV on XXAb meq 1Xpq meq mkt hp4v2 C Specific printer Options HP Lasewet 4HY on XAb meq T pg meq mkt hp4Asv Onentation Portrait C Landscape dis Network Paper Size Letter 6 1 2 x 11 in Source Auto Select is 3 Select OK The Print Diagram dialog box appears 4 Select Print The diagram and or parts of the diagram print Printing a Diagram Printing Files 3 15 For a printed record of all or parts of your diagram you can print Only the diagram The diagram and all the modules The diagram and some of the modules Only the modules Only some of the modules For each selection you can choose to print Details Descriptions An index Publication 1398 5 11 February 1997 3 16 General Procedures Publication 1398 5 11 February 1997 To print your diagram 1 From the menu bar select File The File menu appears 2 Select Print The Print Diagram dialog box appears Print Diagram C All Modules HOME STD UL Selected Modules Diagram module Information Type Modules M Print Details Iv Print Definitions M Print Index Cancel Setu
20. Checks for fault conditions an the drive If the selected fault condition is active then the program flow branches to the 1 true node If the selected fault condition is nat active then program flow continues ta the 0 false nada Choose the desired Condition fram the pop up menu Conditions include Error Active program flow branches to the 1 true ave Cancel 2 Make an entry in the following field Field Condition Description Select one of the following To detect a condition where program flow branches to the 1 true node if an error has occurred Error Active To detect a condition where program flow branches to the 1 true node if a warning has occurred Warning Active 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 E If Input 9 21 If Input The If Input block allows you to read the specified general purpose input If the input you selected matches the specified state program flow branches to the 1 true node If the input you selected does not match the specified state program flow continues to the O false node To read a general purpose input 1 Double click on the If Input block A dialog box similar to the following appears a IF INPUT Input NENNEN Feads the specified General Purpose input Ifthe chosen input matches the Specified state then
21. Fault Setpoint Insert Predefined expression for the selected variable function Operators Building an Expression Using Mathematical Expressions as Values 4 13 Use the procedures below to select appropriate items from the lists to build an expression Adding System Variables and Flags 1 Select System Variables and Flags The radio button is highlighted and the predefined elements for that category appear in the list Select the expression Scroll to see all the variables Select Insert The variable is inserted into the expression Adding User Variables and Flags 1 2 3 Select User Variables and Flags The radio button is highlighted and the predefined elements for that category appear in the list Select the expression Scroll to see all the variables Select Insert The variable is inserted into the expression Note User Variables and Flags must be predefined Refer to the GML Ultra Getting Started manual Publication 1398 5 10 Adding System Functions 1 Select System Functions The radio button is highlighted and the predefined elements for that category appear in the list Select the expression Scroll to see all the variables Select Insert The variable is inserted into the expression Adding Inputs Outputs L Select Inputs Outputs The radio button is highlighted and the predefined elements for that category appear in the list Select the expression Scroll to see all th
22. History from the ULTRA Plus to the PC 1 Transferring an Executable File In the Online Manager window select Upload Options The Transfer Control dialog box appears Select Fault History Select Start The Save As file dialog box appears Select a destination PC file name Select OK The transfer begins From the ULTRA Plus to the PC To transfer an executable file from the ULTRA Plus to the PC 1 In the Online Manager window select Upload Options The Transfer Control dialog box appears Select Executable Select Receive from ULTRA Plus Select Start In the Save As file dialog select a destination PC file name Select OK The transfer begins From the PC to the ULTRA Plus To transfer an executable file from the PC to the ULTRA Plus 1 In the Online Manager window select Upload Options The Transfer Control dialog box appears Select Executable Select Send to ULTRA Plus Select Start In the Open file dialog box Select the file source Select OK The transfer begins Publication 1398 5 11 February 1997 8 40 Going Online Publication 1398 5 11 February 1997 Chapter 9 Understanding Blocks This section gives a brief explanation of each block s function and directions for using each block The blocks names are arranged in alphabetic order You can find more information about function blocks in the GML Ultra Reference Manual Publication 1398 5 12 Change Gain The Chang
23. Mew Module New Module 1 New Module 2 New Diagram New Module You can easily identify the current module because it is always highlighted in the Module List at the top center of the diagram You can also check the name of the START and END blocks in the Module Editor window Displaying Module Information 6 9 Displaying Module Information Documenting a Module To determine the number of blocks and modules at any level 1 Select the level that you want details about The level 1s highlighted 2 From the menu bar select Module The Module menu appears 3 Select Module Info The GML Info dialog box appears showing the number of blocks and the number of modules in the selected diagram MILI 2 ULT is used 0 times It contains 1 modules and 5 function blacks In a special dialog box you can enter information about the module that might be helpful to you and future users To document a module 1 From the Diagram Editor window select the module you want to document 2 From the menu bar select Module The Module menu appears 3 Select Show Details or double click the module to open the module 4 Select Documentation The Module Documentation dialog box appears Publication 1398 5 11 February 1997 6 10 Working With Modules Module Documentation YOU can type anything you warnt in this space Development history Names of developers Purpose and use 5 Type new information or change the e
24. New Module 3 Note The first module New Module is counted as zero To make your diagram easier to identify give the module a more descriptive name 1 Select the box below the icon that contains the name The box is highlighted 2 Type a descriptive name reflecting the combined functions represented by the module eet Type a Unique Identifier Add upto 4 additional lines o describe the function af phy hl T d Ll z E A Bg H E k i ATTENTION Because GML Ultra uses the first line to identify modules it must contain a unique identifier For modules the first line can be up to 32 characters long For blocks the first line can be up to 64 characters long 3 To document the functionality of the module within the diagram type up to four lines of additional information in this box Note Press ENTER after each line 4 Click on an area outside the module to deselect the module Publication 1398 5 11 February 1997 3 14 General Procedures Printing Files Setting Up Your Printer Publication 1398 5 11 February 1997 Use the following procedures for printing e Setting up the printer e Printing a diagram e Printing a picture of all diagram modules e Printing a picture of select diagram modules e Printing a script To set up your printer 1 From the File menu select Print A Print Diagram dialog box like the following appears Print Diagram All Modules New Diagram Selected Modules
25. PC file name Select the program number to be transferred from the ULTRA Plus Directory dialog box Select OK to start the transfer Publication 1398 5 11 February 1997 8 38 Going Online Transferring a NVRam Image Transferring the Fault History Publication 1398 5 11 February 1997 From the ULTRA Plus to the PC To transfer an entire NVRam image all of the memory in the ULTRA Plus from the ULTRA Plus to the PC 1 In the Online Manager window select Upload Options The Transfer Control dialog box appears 2 Select NVRam 3 Select Receive from ULTRA Plus 4 Select Start The Save As file dialog box appears 5 Select a destination PC file name 6 Select OK The transfer begins From the PC to the ULTRA Plus To transfer an entire NVRam image all of the memory in the ULTRA Plus from the PC to the ULTRA Plus 1 In the Online Manager window select Upload Options The Transfer Control dialog box appears 2 Select NVRam 3 Select Send to ULTRA Plus 4 Select Start The Open file dialog box appears 5 Select the file source 6 Select OK The transfer begins From the ULTRA Plus to the PC The ULTRA Plus stores the last 46 faults and the running time when the fault occurred The running time is based on the first time the ULTRA Plus was powered up The Fault History is saved in NVRam so it is not lost when power is removed from the ULTRA Plus Upload Options 8 39 To transfer the Fault
26. STD ULT v Resume Ultra Control Family MJG RRGAZ GR AREGINATjTNAR nare seuraat s a araneta Diagram Editor window Feedback Change ResetAxis Redefine Motion Gain Fault Position Settings Jogs moves continuously the axis in aspecified Direction ata i specified Speed Choose a Move Axis g Gear Axes ATIA Resume the Direction Forward Online Manager window Enter Setups Go Pause Step Single Step Enable Flag Slew Limit Enabled Fla Upload Options Trace Resume Auto Soft Enable Allowed Flag Download Diagram Abort Velocity Loop Filter Enable Flag i Examine Axis SERVO v View mode Exit Online ESTOP HYOS A Start PE NARun for Windows IC Camile UIta U Doc For information on using the Online Manager to communicate with your controller refer to the Going Online chapter Trace Window Understanding Your Work Area 2 5 The Trace window looks similar to the Diagram Editor window which it replaces when you are online In the Trace window however each block or module is highlighted as the program partial or total in the motion controller executes that block allowing you to visually follow program execution Tools such as breakpoints are provided for graphical debugging The following graphic shows the Trace window as The first block executes JOGREV ULT Initiate Jog motion Wait for release of key Stop Jog motion JOGREV ULT The second block executes JOGREV LILT J
27. appears in user units as defined in the Transducer Counts Unit field The system sets proportional zone Pzone 0 Integral zone is the region around the commanded position where the integral gain is active The integral zone value appears in user units as defined in the Transducer Counts Unit field The system sets integral zone Izone 0 11 Select Enable The ULTRA Plus is enabled 12 Select Start The Auto Tune process begins The motor shaft oscillates back and forth Note Enable and Start are toggle buttons When you select Enable for example it changes to Disable and when you select Start it changes to Stop Publication 1398 5 11 February 1997 Understanding Manual Tune 13 14 15 Tuning Motors and Drives 8 27 After about 5 seconds the motion ceases and the calculated load inertia to motor inertia ratio and the new calculated gains appear Under certain conditions an incorrect value can be computed for the system inertia that results in high gain settings This could cause instability when returned to the closed loop mode of operation The conditions are Max Distance or Either of these conditions Increase Max Max Velocity is can cause very rapid Distance or set too low reversal of the servo Max Velocity motor and audible vibration Step current is set The servo motor does not Increase Step too low move Current The maximum gain values are position loop e Position Loop PG
28. area make entries in the following fields Field Description Point to Point Select this option if your application is point to point Contourin Select this option if your application is g p y pp contouring 6 In the Direction area make entries in the following fields Field Description Bi directional Select this option to rotate the motor shaft in both directions Positive Select this option to rotate the motor shaft in a clockwise direction when looking at the motor shaft end Negative Select this option to rotate the motor shaft in a counter clockwise direction when looking at the motor shaft end Note Max Distance is the maximum distance moved during each acceleration and deceleration cycle of the Auto Tune process 7 Inthe Response area make entries in the following fields Field Description High Select this option if And if you selected the bandwidth 1s 10 Hz Position loop 30 Hz Velocity loop Medium Select this option if And if you selected the bandwidth 1s 2 Hz Position loop 15 Hz Velocity loop Select this option if you are not sure which response suits your application Low Select this option if And if you selected the bandwidth 1s 2 Hz Position loop 7 Hz Velocity loop Publication 1398 5 11 February 1997 Tuning Motors and Drives 8 25 8 In the Velocity Loop area the system makes entries in the following fields Field Filter P Gain I Gain AFF Description Select
29. back into the diagram Only blocks relevant to this module are available in the block library Set Condition 9 39 GML File Edit Definitions Module Diagram Windows Help New Diagram Ultra Control Family Scan Event Handler v ff Scan Event Handler New Diagram START Scan Event Handler Scan Event Handler Set Condition The Set Condition block allows you to set the state of a condition handler To set the state of a condition handler 1 Double click on the Set Condition block A dialog box similar to the following appears Set Condition Set Condition Handler Number 3 Y State Sets the state af a condition handler Choose the Condition and State On Off or Continue from the pop up menus Conditions include Scan Event are events executed before each Cancel Publication 1398 5 11 February 1997 9 40 Understanding Blocks 2 Make entries in the following fields Field Description Handler Select one of the following Scan Event To activate a scan event Note You need to use a Define Scan Event Handler block to create a condition handler for a Scan Event routine Xkey To activate an Xkey routine Note You need to use a Define Xkey block and an Xkey Handler block to create a condition handler for a Xkey routine Number Select a number between 1 and 8 1 and 4 for Xkey to define the handler that you selected in the Handler field State Select one of the following
30. box Display the status of the online operation in N A progress Exit Online button Select to exit online mode N A ESTOP button Select to kill motion stop feedback execution Stopping a Program and Killing and turn off Feedback Motion Publication 1398 5 11 February 1997 8 4 Going Online Choosing the Information View Mode In the View mode To view information in field select Normal English Information is independent of the controller language Use this view for full graphical tracing of program execution in the Diagram Editor window Full Size terminal iCODE Information is shown in the native language of the ULTRA Plus 2 x 40 terminal A smaller display window Selecting a Communication Function The Online Manager window can function as a command window or as a watch window The Command window allows you to communicate with your controller The Watch window allows you to monitor what your controller and the motor are doing and how your program 1s running Sending Commands Directly to an ULTRA Plus Publication 1398 5 11 February 1997 To send commands directly to an ULTRA Plus 1 In the Command Watch field in the Online Manager window select Command The Command window appears Online Manager for RUN ULT Execute Feedback er Function Blocks Motion Resumes motion Usu Settings previously halted by the commands m F Block Description ridi F Jog Axis Gear Axes change Dynami
31. cl a el aam 8 22 Understanding AVO TUNS uio io e M EEA 8 22 Bon NCO RNG MN LL LL 8 23 Understanding Manual TUNne cccccscccseeceeeceeeeceeeseeeseeeseeeeaes 8 28 WISING Manual TUNG e eR 8 28 M mtonng VO Status sanana MEM EM DH LE 8 36 Ypload OPUONS asaina aa deett 8 37 Transterung e SCD FIE eragi aaa 8 37 Transferring a NVRam IMA QE ccccccseeceeeceeeseeeeeeceeeneeeaeeeeeenees 8 38 Transiemno Ne Faut PISTO aoi ea na a eda a Rh actas 8 38 Transferring an Executable File ccccsscceccceecseeseeeceeeeeeseeenees 8 39 Understanding Blocks Table of Contents V Chapter 9 Change Gai mn 9 1 Change Jog DYNAMICS ccccecceseeceseeeeseeeeseeeeseeeeseeeeseeeeseeeeseeeess 9 3 dear B kJ ry AEE mm 9 5 Deine Scam EVEN sec ci Dic oni pORN OE ennai aces 9 6 DEMME A KO y venim tiie yin nadia iii ian inated 9 8 Bc EM E E E A E E E E EEA 9 9 BE EEE AAAA 9 10 SAE O E E E E E E 9 10 EQUANON rara aa 9 12 ee COO AC Kas aerate ae LU E n ee ae te 9 13 E OV EI EET 9 14 OAC e 9 15 INITIUM 9 17 A MNOS SIO Mesa eta RITE TTE 9 19 apes epee neon nn enna en er anova me an wi 9 20 ODU EE 9 21 Me MOVE ccc 9 22 If Registration ratte tate nent nem c DNI LS DI NL LIII EI EIDEM 9 23 IIIS OUT rr n 9 24 demise 9 26 MObOLioellgs ce a 9 27 MOVO UNIS ces hid A An Ap E ME 9 28 New MOUIS MR
32. functions such as open save print and close that apply to GML Ultra diagrams and files In addition it has one important GML Ultra function Preferences Use Preferences to set general program parameters that remain constant in your application environment These parameters do not change unless you elect to change them You need not address this option if the settings for your current diagram are no different from your previous diagram Edit Options that pertain to the Diagram Editor and the development of your diagram Use this menu to make normal editing changes such as cut copy paste to your diagram as you develop it You can also make other types of edits such as moving blocks Creating a New Script Creating New Files 3 3 This menu Gives you access to Definitions Dialog boxes that you use to tell your computer about your motion controller The GML Ultra menus are customized based on the information provided Module Options for encapsulating blocks into modules and accessing module details Diagram Statistical information such as number of modules and blocks in the diagram Access to diagram functionality such as testing online connection translating to script and the find function Windows All open GML Ultra windows from which you can select the one you want to view Help GML Ultra s online help functions A script is the text equivalent of a graphic based diagram Use the New Script option to write a
33. next mode with defined Fkeys 2 Press the MODE key The Fkey labels appear on the screen To clear the labels from the terminal screen Press either the CLEAR key or the STATUS key which displays one of the status displays Gear Axes The Gear Axes blocks allows you to enable electronic gearing between the servo and master axes at a specified ratio Electronic gearing remains active through any subsequent Jog Axis or Move Axis This allows electronic gearing motions to be superimposed on the jog or move motions to create complex motions and synchronization Publication 1398 5 11 February 1997 9 16 Understanding Blocks To define the gear ratio Double click on the Gear Axes block A dialog box similar to the following appears Gear Anes gp CFR AMES V Set Ratio as Heal Number Follower Master Ratio C Slew 1000 0000 Enables electronic gearing between two axes ata specified ratio Electronic gearing allows vnu to tie the motor to the motion of encoder 2 so that when encoder 2 moves a given distance the motor moves a proportional distance The Cancel 1 Make entries in the following fields Field Description Set Ratio Select one of the following as a Real Number To allow the gear ratio to be specified as a real number or expression representing the ratio of follower axis counts to master axis counts asa Fraction To allow the gear ratio to be specified as a pair of integer numbers
34. output is a 12 bit Digital to Analog Converter DAC that is used to provide an analog voltage signal The range of the output is 10 volts which provides a resolution of about 5 mV The DAC Output test exercises the DACI output The test outputs either a triangular waveform between 10 volts or a fixed voltage on the DACI output To test the DAC output 1 Connect a meter or oscilloscope to the DACI output P3 6 and to analog common P3 4 2 Inthe Axis Setups dialog box select DAC Output 3 Select Execute To Output a triangular waveform with a range of 10 volts Output a fixed voltage Do this 1 2 1 Select Triangular Waveform Select Start A Waveform Running message appears Select Set DAC Voltage Type the desired voltage between 10 volts Select Start A Voltage Set message appears Publication 1398 5 11 February 1997 8 20 Going Online Testing the Monitor Output Publication 1398 5 11 February 1997 5 Check the voltage signal on the meter or oscilloscope 6 To Do this Stop a waveform or 1 Select Set DAC Voltage the fixed voltage signal 5 Type a value of 0 volts 3 Select Start A Voltage Set message appears Stop a waveform or Select Close the fixed voltage signal and close the dialog box 7 Once the test is running to change from one type of waveform to the other select the corresponding radio button 8 To perform more DAC output tests
35. program flow branches to the 1 true node Ifthe Cancel 2 Make an entry in the following field Field Description Input Select the input that you want to read State Select one of the following On To have the program flow branch to the 1 true node if the input is ON Off To have the program flow branch to the O false node if the input is OFF Flag To have the program flow branch to the 1 true node if the state of the input matches the state of the specified flag variable 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 22 Understanding Blocks Publication 1398 5 11 February 1997 If Move The If Move block allows you to move a specified distance unless the condition is satisfied during the move The velocity for the move is that of the previous Segment Move Axis block This block evaluates the condition and makes a logical decision based on its value If the condition is met then program flow branches to the 1 true node If the condition is not met then program flow continues to the 0 False node IMPORTANT This block must follow a Segment Move Axis block Also the final block of a complex If Move profile must be a Segment Move Axis block To define a move condition 1 Double click on the If Move block A dialog box similar to the following appears Move the distance specifi
36. sker Handler Publication 1398 5 11 February 1997 Block Palette The on screen palette shows the most recently used blocks Block Libraries The Block Library varies depending on the type of diagram you are building There are three block libraries Contains this set of blocks Places a new blank module on the diagram All GML Ultra blocks You can use this module in two ways When you use this module once it acts as the container for the entire diagram The control code it produces is placed in the main program if you do not define modules in the call table For example a new diagram is really a New Module block When you encapsulate or add a New Module block to your diagram a sub routine is created and a call to that sub routine occurs with each use Places a new blank Scan Event Handler module in Blocks that are the diagram relevant to scan events Scan Event Handlers monitor the condition of scan events If the condition is true and the scan event is enabled when scanned the actions are performed in parallel with program execution You can enable and disable scan events in the application Places a new blank Xkey Handler module in the Blocks that are diagram relevant to Xkey functions Xkey Handlers perform their actions in parallel with program execution The keys on the Operator Terminal marked X1 through X4 are special purpose keys that when pressed cause the execution of an Xkey Hand
37. terminal on or off is also shown in the dialog box Testing the Nonvolatile Memory Tuning Motors and Drives Understanding Auto Tune Publication 1398 5 11 February 1997 The Nonvolatile Memory test does a non destructive test of the ULTRA Plus nonvolatile RAM NVRam The number of passes completed and the current block being tested are shown If there is a failure a message box appears showing the address where the failure occurred As long as there are no failures the test continues until you select Close To test the NVRam 1 In the Axis Setups dialog box select Nonvolatile Memory 2 Select Execute The Nonvolatile Memory dialog box appears and the test starts immediately 3 Select Close The test stops Two tune modes are available e Auto Tune e Manual Tune Auto Tune mode provides a method for tuning the servo amplifier connected to a machine without any special equipment other than the serial terminal It allows a reasonable set of tuning parameters to be Tuning Motors and Drives 8 23 developed quickly for a particular machine For many applications running Auto Tune generates tuning parameters that are adequate for machine performance However if you require very high performance or special conditions exist such as changing loads or large inertia mismatches you can use Manual Tune to fine tune the tuning parameters after you run Auto Tune Auto Tune implements a simple self tuning algorithm that
38. the next block that has not been used starting after the New Module block To select a block from the toolbar and position it using pick and place 1 Hold the pointer over the desired block 2 Select the block Manipulating Blocks Using the Cursor Connecting Blocks Manipulating Blocks 4 3 Note Do not hold down the mouse button 3 Place the cursor into position in the Diagram Editor window 4 Click and release the mouse button The block appears in the diagram Most blocks and modules including the START and END blocks have input and output nodes The diagram must start at the START block It also must have connections drawn from an output node of one block to the input node of another The diagram usually ends at the END block but does not need to When you build a diagram the cursor acts as three separate tools e A pointer allows you to select and move blocks e A soldering iron allows you to connect blocks e A Wire cutter allows you to remove connections To connect blocks and modules 1 Move the cursor to the desired output node The cursor changes from a pointer to a soldering iron New Diagram Do Feed 2 Press and hold the mouse button 3 Drag the soldering iron to the desired input node or anywhere inside the icon As you drag a green line representing the connection is drawn 4 When the soldering iron is in the appropriate location release the mouse button The connection is complete
39. to consult a manual or understand any specialized syntax After you complete the diagram you download it to a controller where it is translated into a program or script in the native language of the motion controller You need a PC for program development but you do not need it for the final turn key application Encapsulating which combines two or more blocks into a module is a unique function of the GML Ultra graphical interface You can duplicate the module use it again in the same diagram use it in another program or save it as a diagram file in a library folder for use in subsequent diagrams Motion Controllers that Use GML Ultra GML Ultra is designed for the Allen Bradley ULTRA Plus series of controllers a family of 11 axis digital servo and positioning servo drives designed for a wide range of applications Publication 1398 5 11 February 1997 1 2 GML Ultra Overview The ULTRA Plus series Positioning Drive Module PDM combines a drive and a controller to create a powerful self contained axis programmable motion controller Personality Module for ULTRA Plus Controllers The Personality Module PM is a nonvolatile memory device that stores the information necessary to customize an ULTRA Plus controller for a specific application The PM holds parameters to match the motor and the controller as well as user programs and parameters A Personality Module can be physically removed and transferred to another U
40. when placed in the diagram Below is an example of a diagram aligned with horizontal grid snap Note that functions and operations can flow to an additional row or rows of blocks if required Accessing Block Information You can access information specific to a block in two ways To access block information from a menu 1 Select a block 2 From the menu bar select Edit The Edit menu appears 3 Select Block Information The dialog box for that block appears 4 Examine or change the parameters that have been set for that function block To access block information from the diagram 1 Place your cursor over a block 2 Double click your left mouse button The dialog box pertaining to that block appears 3 Examine or change the parameters for that function block Setting Block Function Parameters Publication 1398 5 11 February 1997 Most block parameters are defined during the setup procedure Once a block has been added to a diagram you can enter or change parameters specific to that block function and that diagram through the block s dialog box For example you often access a block s dialog box during the tuning and testing procedures To define function parameters in a block 1 Double click on a block A dialog box appears Using Mathematical Expressions as Values 4 11 2 Select or define the parameters that apply to your diagram 3 Select OK The defined parameters are saved The dialog box close
41. 0 E B 4420 B 45 0 B 4820 B 2320 B 5 320 0 ip 1150 4 p 1151 0 Of 2926 D11303 FPH inches FPS inches You can easily switch between the script window and the diagram window to make changes in the diagram because they are both open Creating a New Module Using the Block Palette Chapter 6 Working With Modules A module is one block made up of several related blocks These blocks together comprise either a larger function or related functions Using modules allows you to hide detail and save space You can duplicate copy move connect and encapsulate a module just like other blocks in the diagram There are four ways to create a module Select the New Module block from the main Block Palette Add a module from the Block Library Add a module from the Edit menu Encapsulate several blocks Use this method when you want to create a diagram by starting with a high level idea For example each module might be a major program function such as startup or setup A new module is empty when selected from the palette You can add blocks block parameters and connections later To create a new module 1 From the Block Palette select click and release the New Module block The block attaches itself to the cursor until you place it in the Diagram Editor GHL File Edit Definitions Module Diagram Windows Help Hew Diagram Hew Diagram Ultra Coptcol Family CON w Module START Mew Diagram M
42. Again The next occurrence of the search text is highlighted For information about printing a script see Printing Files in the General Procedures chapter Chapter 8 Going Online You can build and edit your diagram create variables and test connections without connecting to your ULTRA Plus controller but you must go online to communicate with the controller 1 Turn on your ULTRA Plus 2 From the menu bar select Diagram The Diagram menu appears 3 Select Online The Online Manager window appears in the lower right corner of the screen and communication with your ULTRA Plus is enabled SB New Diagram MLLDIAGM ULT Ultra Control Family MLLDIAGM ULT v Online Manager for MLLDIAGM_ULT Feedback Change Reset Axis Reset Redefine Gain Fault Drive Position MLLDIAGM ULT Motion Move Axis Jog Axis Gear Axes Change Jog Settings Dynamics Enter Setups Go Pause Step Acceleration Acceleration Feedforward Gain Upload Options Trace Resume Auto Active Scan Event i Download Diagram Delete Abort BENE i Examine Axis SERVO v View mode Installed Firmware 3 18 Beta Exit Online ESTOP Publication 1398 5 11 February 1997 8 2 Going Online Using the Online Manager Window Publication 1398 5 11 February 1997 The Online Manager window provides direct communication to the ULTRA Plus This window has two primary functions to execute a direct mo
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44. F1 Verify IF iF12 ON JUMP LAB If FE32ON LAB3 CLR Clear Display JMP LABZ LAB1 PGMNMLI V1 Set Program Number BTARTPZON Start ON JMP LABS L ABD FPGhMNLINm Program number 0 JMF LAB4 LABZ END END MAIN MODULE RUMN ULT In the above example both the diagram file xxx ULT and the script file xxx QPS are open but only the script file is active The menu bar changes to reflects the script file Translating a Diagram to Script 7 3 File Edit Script B JOGFWD LULT Initiate jog mation WWaitfor release af key TITLE GMLPROG BEGIN MAIN MODULE JOGFVVD ULT JVEL 100 JOGR OFF JOGFZONM Initiate jag motion WAIT FNACTIVEZOFF Wait far release af key JOGF OFF JOGRZQOFF Stop Jog mation END END MAIN MODULE JOGFWVD ULT Script Edit Window Handling Unsuccessful Translations The GML Ultra translator checks for errors or potential errors If the translation is not successful a dialog box similar to the following appears identifying the problem and its location GHL Error Block Missing Output Connection Block New Diagram To correct a problem in the diagram Publication 1398 5 11 February 1997 7 4 Working with Scripts 1 From the GML Error dialog box select OK GML Ultra automatically takes you to the part of the diagram or the block that has a problem as shown below Fix the problem From the menu bar select Diagram The Diagram menu appears S
45. L Ultra overview 1 1 Grid Snapping to grouping blocks help types of online help Help option Diagram menu Script menu iCODE 7 1 If Axis function block If Expression function block If Fault function block If Input function block If Move function block If Registration function block If Timeout function block inputs outputs adding 4 13 Insert Between option File menu inserting a block between blocks 4 6 Publication 1398 5 11 February 1997 I 4 Index Jog Axis function block L libraries block Library Browser Main Menu purpose manual as part of manual set content overview P 1 conventions help purpose P 1 who should use P 1 Module Documentation dialog box Module Info option Module menu Module menu Documentation option Encapsulate option Module Info option 6 9 Show Details option Show Overview option Unencapsulate option Module option Diagram menu modules combining See modules encapsulating definition 6 1 documenting 6 9 encapsulating separating See modules unencapsulating show information window unencapsulating viewing details viewing Overview modules creating using an existing module using Diagram Library 6 2 using the block palette 6 1 using the Edit menu Motion Settings function block Move Axis function block moving blocks multi drop mode communicatio
46. LTRA Plus controller if the replacement of a controller is necessary to simplify servicing the machine The Personality Module data can also be saved in a computer file and loaded into the ULTRA Plus controller using the upload options in Online Manager Communications for ULTRA Plus Controllers RS 232 RS 422 Multi drop mode Publication 1398 5 11 February 1997 The following basic communication links are pre installed in all ULTRA Plus controllers e RS 232 e RS 422 e Multi drop RS 232 is an industry defined electrical interface standard for serial communication RS 422 is a hardware standard that defines a method for transmitting high speed serial data over very long distances using a balanced twisted pair transmission line All ULTRA Plus controllers can be configured to operate in multi drop mode This mode allows up to ten controls to share a single RS 422 communication link by using two special non echoed commands to activate individual units The individual units then respond to commands issued by the operator interface device or by the host computer Chapter 2 Before you Begin Before you begin using GML Ultra read this chapter to become familiar with e Your work area e Your tools Understanding Your Work Area GML Ultra provides several work areas made up of windows Some windows are active only when you are online Sometimes a window or a portion of a window changes function depending on other opt
47. OGREV ULT aq JOGREV ULT Initiate Jog motion Wait for release of key Stop Jog motion JOGREV ULT Publication 1398 5 11 February 1997 2 6 Before you Begin Watch Window Publication 1398 5 11 February 1997 When working online you use the Watch window to monitor a variable as it executes in the program nhrz manage for JOGREY ULT if Acceleration 500 0000 25 0000 500 0000 Sms tags identified in the Watch Items dialog box Watch Window Enter Setups Gu Pause step Acceleration Acceleration Feedforward Gain Upload Options Trace Resume Auto Analog To Digital Converter TEE Diagram Abort Available Program Spaces i Examine Axis SERVO w View made Installed Firmware Exit Online 3 00 Download Complete Command Jog fixis ESTOP Command Jog Axis If you have not already identified the items you want to watch a dialog box alerts you to do so The following Watch Items dialog box is similar to the one you use to select the tags you want to monitor Watch Items Defined Items Items to Yatch Filtered Feedback Velocity Following Errar Following Error Limit Following Error Time Gear Position Remove Gear Hatio Hard Heset Input Yord D Acceleration 1 Home Velocity E Acceleration Home_ Offset Home Velocity Host Axis ldentifier Defines the data items which are i available for realtime monitoring via the Axis SERVO nd Online Manager Watch Option Data may
48. SOMO jM id aaedelacideheeieuces 3 3 Publication 1398 5 11 February 1997 ji Table of Contents Working With Blocks Publication 1398 5 11 February 1997 Penno EISi O a 3 4 Opening a Daga eissii aiii 3 4 Opening a Script a edt dde dede etl etesdudecelutetuleted etu odds 3 5 Editing GME Ultra Files oae dtt eee uade bates but edge qd 3 6 Making Changes to Your Diagram cccccceseeeseeeseeeceeeeneeeseeeeeees 3 7 Edito do id credo MEE T 3 10 Saving and Naming a New File cccccccceeceseeeeseeeeseeeeseeeeseeeeseeeens 3 10 Saving and Naming a New Diagram eese 3 11 Saving Changes to a DidQram cccccsecccseeceseeeeseeeseeeeseeeseeeees 3 1 1 Changing a Diagram s Name and Location 3 11 Namn A ol alc Gs bett herr re c editi rer renter Merrett reer ee hot tut 3 11 n zisnilafe mlors D EN 3 12 ISTIETHTIO FIO S Cni orererondi trib ELO ER idi ob INC I cnt cr EPOR RE EE 3 12 Setting Up Y or Pref eee tote b ex tete be Pen endis 3 13 Printing a Diagram radodo tton nt Cem C Cr TEE df 3 13 PHANG do OTID E 3 15 Closing A Fie EET TTE 3 15 Closing a File Before Saving It ccccccccssseeseseeseeeeseeeeseeeeseeeees 3 16 Closing a File Already Saved and Named 3 17 EID GME Oc eae ee etie deett eade etude ata aa aede 3 17 Chapter 4 Selecting and Positioning Blocks on the Diagra
49. Settings 5 Note If you want to view the blocks in the module without unencapsulating refer to the Viewing Module Details section Publication 1398 5 11 February 1997 6 6 Working With Modules Viewing Modules Viewing Module Details Publication 1398 5 11 February 1997 When designing a very complex diagram you can find it easier to work with if you can simplify it visually GML Ultra lets you do this without actually changing the structure of the diagram as you do when you encapsulate a module You use the Show Overview option to visually simplify a module Alternately you can view module detail by using the Show Details option You can access individual blocks and their details within the module while preserving the module To access individual blocks while preserving the module 1 Select the module The module is highlighted 2 From the menu bar select Module The Module menu appears 3 Select Show Details Diagram with blocks highlighted a RURN LILT Clear Display Prompt Operator w 8 START Clear Display If FE3ZON Get Program Humber Prin play Fi Current Program is default w i intto Dis p END RUN ULT Viewing a Module Overview Viewing Modules 6 7 Diagram with highlighted blocks encapsulated into New Module 0 m m RUN ULT Clear Display Prompt Operator Current Program is default v m 9 START gt
50. Start The Manual Tune process begins The motor shaft oscillates back and forth If the Step Velocity Do this and or Cycle Period Need to be changed 1 Select Stop Do not need to be changed 2 Adjust the values as necessary 3 Select Start Go to step 15 Publication 1398 5 11 February 1997 8 32 Going Online Publication 1398 5 11 February 1997 15 16 17 18 19 20 In the Velocity Loop area set the Integral Gain IGain to a low value no noticeable overshoot If you haven t already done so set the Monitor Output to Feedback Velocity for Encoder 1 While watching the Feedback Velocity signal on the Monitor Output with the oscilloscope in the Velocity Loop area increase Proportional Gain PGain until the desired rise time is reached In the Velocity Loop area increase Integral Gain IGain until the acceptable limit for the amount of overshoot is reached Select the Filter field Reduce the value in the Filter field until the overshoot begins to increase Tuning the Position Loop To tune the position loop using Manual Tune 1 In the Online Manager window use an Equation block to set the Following Error Limit and Following Error Time parameters from the System Variable Flags list to the maximum allowed to avoid excess following error faults while tuning In the Online Manager window select Enter Setups The Axis Setups dialog box appears Select Tune Select Execute
51. T Before you delete an executable diagram or script file make sure you have a backup of it 2 Select the radio button for the type of file you want to delete the executable diagram or both script and executable diagram Publication 1398 5 11 February 1997 8 8 Going Online Controlling Online Functions You can control most online functions by using the buttons that appear in the center of the Online Manager window These functions are of two types e for managing program files e for managing program execution Functions for Managing Program Files Use this button Delete Download Diagram Enter Setups Upload Options Publication 1398 5 11 February 1997 To do this Delete a diagram and script residing in an ULTRA Plus Translate and send the current diagram to the ULTRA Plus The program type and program selected in Control Options on the Definitions menu determine what type of program is downloaded and where it is stored in the ULTRA Plus If you change the program you must download it before trying to run it Display the Axis Setups dialog box From here you can Select and run diagnostic tests Tune motors and drives Monitor I O status Initialize the Personality Module Display version information of the ULTRA Plus firmware Display the Transfer Control dialog box From here you can Transfer a script file from the ULTRA Plus to the PC Send or receive an entire NVRam image fro
52. The Auto Tune dialog box appears Select Manual Tune The Manual Tune dialog box appears Manual Tune x Command Type 4 r elocity Loop r Position Loop Velocity Step Filter 7 P 6 0000 FF 100 0000 Position Step P 180 0000 PI 0 0000 P Zone 0 0000 Direction I 60 0000 I 0 0000 I Zone 0 0000 Bi directional FF 0 0000 Positive Start C Negative r Limits I Disable Response Step Velocity Reset Gains C High Cycle Period Medium f imi 7 9939 i doe Wa 39 m Status OK Inactive Cancel 6 7 8 9 Tuning Motors and Drives 8 33 In the Command Type area select Position Step In the Direction area make entries in the following fields Field Bi directional Positive Negative Description Select this option to rotate the motor shaft in both directions Select this option to rotate the motor shaft in a clockwise direction when looking at the motor shaft end Select this option to rotate the motor shaft in a counter clockwise direction when looking at the motor shaft end In the Limits area make entries in the following fields Field Step Position Cycle Period mit Description Type the step of the desired position change A good value is 0 25 Type the time in seconds to complete one cycle of the command If the Direction is set to Bi directional one cy
53. Tune procedure to provide a near optimal tuning starting point Refer to Using Auto Tune 2 Disable the ULTRA Plus 3 Set the Monitor Output to Feedback Velocity for Encoder 1 default setting 4 Connect an oscilloscope to the Monitor output P3 7 and to analog common P3 4 5 In the Online Manager window select Enter Setups The Axis Setups dialog box appears 6 Select Tune 7 Select Execute The Auto Tune dialog box appears Publication 1398 5 11 February 1997 8 30 Going Online 8 Select Manual Tune The Manual Tune dialog box appears Manual Tune x Command Type Yelocity Loop Position Loop Velocity Step C Position Step Filler P Gain P in one P Zone Gain 0 0000 I Zone 0 0000 Bi directional AFF 0 0000 C Positive Start C Negative Direction Limits Disable Step Yelocity 179 8856 Reset Gains Cycle Period 1 0000 Response High Medium Low limit 7 3333 k Inactive Cancel 9 Inthe Command Type area select Velocity Step IMPORTANT You should always tune the velocity loop before tuning the position loop as the velocity tuning affects the position loop response 10 In the Direction area make entries in the following fields Field Description Bi directional Select this option to rotate the motor shaft in both directions Positive Select this option to rotate the motor shaft in
54. Variable system function The pointer or index to an array or indirect variable reference can be any valid expression Publication 1398 5 11 February 1997 4 12 Working With Blocks Using the Expression Builder Publication 1398 5 11 February 1997 The Expression Builder is a specialized calculator for constructing mathematical expressions function value parameters in GML Ultra blocks You create your value or calculation in the Expression Builder dialog box and then automatically fill in a data entry field with that value by selecting OK The Expression Builder consists of Constants System functions A calculator key pad A list of expression operators Internal system variables User defined variables An edit box for building the expression To use the Expression Builder 1 In any field requiring a numeric value highlight the value or click in the field From the menu bar select Edit The Edit menu appears Select Build Expression The Expression Builder dialog box appears If the Expression Builder dialog box does not appear you cannot build an expression in the field you selected Block for which expression is being built Expression Calculator Average Current Edit Window Ex oression Builder Radio butte on 7 8 449 C n Functions orr 4 5 s nj C Inputs Outputs Bd Ed End Ed Acele aion Ferdina Oaln E pod pai p nalog To Digital Converter Average Current Average Current
55. a clockwise direction when looking at the motor shaft end Negative Select this option to rotate the motor shaft in a counter clockwise direction when looking at the motor shaft end Publication 1398 5 11 February 1997 Tuning Motors and Drives 8 31 11 In the Limits area make entries in the following fields Field Step Velocity Cycle Period Ilimit 12 Clear the Filter field Description Type the step velocity of the internal square wave generator that you want A good value is between 100 and 500 RPM Note An excessive Step Velocity or a low peak current limit setting can cause the servo amplifier to enter current limit which should be avoided while tuning the ULTRA Plus If the ULTRA Plus reaches current limit The message n Peak Current appears Type the time in seconds to complete one cycle of the command If the Direction is set to Bi directional one cycle is a move forward and back If the Direction is either Positive or Negative one cycle is the move in one direction only Do not set the cycle period to a high value one that would allow the system to reach the end of travel or to a value less than 0 02 seconds Type the current limit to be used during manual tuning When you first select Manual Tune this is equal to the Peak Current Limit parameter You can change Ilimit without changing the Peak Current Limit parameter 13 Select Enable The ULTRA Plus is enabled 14 Select
56. adjusts the tuning parameters by computing the total inertia consisting of the motor inertia plus the load inertia at the motor shaft Auto Tune operates by commanding a constant current to the motor producing a constant motor torque The acceleration of the motor is measured and used to compute the inertia of the system Once the actual inertia of the system is measured the values of the tuning parameters are automatically adjusted to achieve the desired performance Using Auto Tune To tune the system using Auto Tune 1 Disable the ULTRA Plus 2 In the Online Manager window select Enter Setups Axis Setups dialog box appears 3 Select Tune 4 Select Execute The Auto Tune dialog box appears Application Type Position Loop P Gain 6 0000 VFF 100 0000 P in one 0 0000 P zone 0 0000 Gain 0 0000 I Zone 0 0000 Yelocity Loop Filter P Gain Gain Point to Point C Contouring Direction Bi directional C Positive C Negative Limits Step Current 2 5000 Max Distance 4 0000 Disable Response Reset Gains C High Medium C Low Manual Tune Max Velocity 375 0000 Inactive Eee E DK uu Cancel Note The fields in the Application Type and Response areas are used to calculate the system tuning gains after the system inertia estimation is complete Publication 1398 5 11 February 1997 8 24 Going Online 5 Inthe Application Type
57. ain 14 9 inches minute mil e Velocity Loop PGain 32 767 e Velocity Loop IGain 32 767 If the gains are set to the maximum value repeat the Auto Tune process with higher values for Step Current Max Distance and Max Velocity After the Auto Tune process is complete If Do this You are satisfied Select OK Your information is saved with the new gain settings You are not Select Reset Gains The gains are restored satisfied with the to the previous settings new gain settings Further fine Go to Understanding Manual Tune tuning of the gains is required Select Cancel The Auto Tune dialog box closes If you require very high performance or special conditions exist such as changing loads or large inertia mismatches you can use Manual Tune to fine tune the tuning parameters after you run Auto Tune Publication 1398 5 11 February 1997 8 28 Going Online Using Manual Tune Publication 1398 5 11 February 1997 Manual Tune provides a means of tuning the velocity and position control loops independently In Manual Tune mode the tuning parameters are manually adjusted Use Manual Tune to tune the velocity and position control loops independently The inner velocity loop must be tuned first as this tuning affects the position loop response This procedure assumes that the system including the machine the motor is connected to can tolerate small signal step velocity changes To tune the velocity loop you ch
58. alog box closes The diagram appears with the block checked to indicate that the parameters are set 4 Create an Xkey routine using the Xkey Handler block Refer to the Xkey Handler section for more information Delay Delay 9 9 The Delay block allows you to pause the program for the specified time or until the count down timer you specify times out To define the type of timeout you want 1 Double click on the Delay block A dialog box similar to the following appears X DELAY Type Set Time seconds Pauses the program far the specified time or until the specified countdown timer has timed aut Choose the Type Delay Dwell Timer from the pop up menu 2 Make entries in the following fields Field Type Set Time seconds Timer Description Select one of the following Dwell To pause the program for a specified time that is affected by the feedrate Delay To pause the program for a specified time that 1s not affected by the feedrate Timer To wait for a timer to expire If you selected Dwell or Delay in the Type field type the amount of delay in seconds If you selected Timer in the Type field type the number of the timer 1 or 2 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 10 Understanding Blocks Publication 1398 5 11 February 1997 Disable Gearing
59. alue should provide good results for most systems Type the maximum velocity in user units per the Timebase for Max Velocity field The default value should provide good results for most systems 10 In the Position Loop area the system makes entries in the following fields Publication 1398 5 11 February 1997 8 26 Going Online Field P Gain P in Zone I Gain VFF PZone IZone Description Proportional gain adjusts the bandwidth of the position loop The higher the value of the proportional gain the stiffer the system response Proportional gain appears in inches per minute per mil 1 e meters per minute per millimeter Position loop proportional gain in zone is used when the system is within the region of the commanded position defined by the PZone field Position loop Integral gain is used to bring the system into the desired position more quickly and increase the stiffness of the positioner The Zone field determines the region around the commanded position where integral gain is active The system sets position loop integral gain I Gain 0 Velocity feedforward gain adjusts the following error of the position loop Velocity feedforward gain is entered in percent The system sets velocity feedforward gain 100 Proportional zone is the region around the commanded position where the position loop proportional gain is changed to the gain set by the P in Zone field The proportional zone value
60. am you are required to e Name the diagram e Place the diagram in a specific folder in a specific location Saving Changes to a Diagram We recommend that you save any changes to the diagram new blocks new modules new connections new parameter settings To save changes to a diagram 1 From the menu bar select File 2 Select Save All changes since the last save are saved Changing a Diagram s Name and Location You can save the current diagram under a different name and or in a different location Naming a Block When you first create a block the description below it is generic You probably want to rename it using a descriptive name reflecting the block s function within this program When you place the block the description below it is highlighted To name a block 1 With the left mouse button click in the name area below the block 30nd Feed 1 Tou can also type up toH lines of text in addition to the name 2 Type a descriptive block name Publication 1398 5 11 February 1997 Naming a Module 3 13 Note You can type a name and up to four additional lines describing the block There is no word wrap so press ENTER after each line 3 When you are finished click any blank area in the diagram The block is released and the new name appears Naming a Module When you create a module GML Ultra assigns it the name New CA A Module x i New Module Mew Module 1 Mew Module 7
61. ange the proportional gain integral gain and filter Proportional Gain is the proportional gain of the velocity loop Increasing Proportional Gain reduces the time required to reach the commanded velocity Integral gain is the integral gain of the velocity loop Integration in the velocity loop forces the motor velocity to precisely follow the commanded velocity with no error under steady state conditions no changes in velocity command or load Increasing integral gain increases the stiffness or the ability to reject load disturbances Increasing integral gain also however increases the amount of velocity overshoot when responding to a step change in velocity Too much integral gain can cause the system to go unstable To reduce stress on the mechanical parts of the machine you should set proportional gain and integral gain as low as possible while still maintaining the desired performance The table below shows some general rules for tuning To Do This Increase bandwidth Increase Velocity Loop Proportional Gain PGain Increase stiffness Increase Velocity Loop Proportional Gain PGain or Velocity Loop Integral Gain IGain Reduce overshoot increase Velocity Loop Proportional Gain PGain or reduce Velocity Loop Integral Gain IGain Reduce rise time Increase Velocity Loop Proportional Gain PGain or Velocity Loop Integral Gain IGain Reduce resonance Reduce the Filter value Reduce motor rattle Reduce Velocity L
62. ant to monitor Note Refer to Watch Items in The Definitions Menu section of this manual for more information on defining the items to watch Monitoring Watch Items To monitor pre defined watch items in real time 1l In the Command Watch field in the upper right corner of the Online Manager window select Watch The Watch window appears 2 Scroll the Watch window to the find the variable s you want to monitor Analog o Digital vailable Program Spaces Average Current Fault Setpoint Command Current Command Position Command Position External Analog To Digital Converter Available Program Spaces Examining Variable Values To display a description of a variable and its value 1 From the Variable List in the Online Manager window select a variable A checkmark appears in front of the variable 2 Select Examine An English description of the variable and its value appear in the View window Publication 1398 5 11 February 1997 8 16 Going Online Selecting Axis Setups Options Use the Axis Setups dialog box for several tasks To view version information Refer to Viewing Version Information To initialize the Personality Module Refer to Initializing the Personality Module To select and run diagnostic tests Refer to Selecting and Running Diagnostic Tests To tune motors and drives Refer to Tuning Motors and Drives To monitor I O status Refer to Monitoring I O Status To display the Axis Setups dialog b
63. aria Canada Chile China PRC Colombia Costa Rica Croatia e Cyprus Czech Republic Denmark Ecuador Egypt El Salvador Finland France Germany Greece Guatemala Honduras Hong Kong Hungary Iceland India Indonesia Ireland Israel Italy Jamaica Japan Jordan Korea Kuwait Lebanon Malaysia Mexico Netherlands New Zealand Norway Pakistan Peru Philippines Poland Portugal Puerto Rico Qatar Romania Russia CIS Saudi Arabia Singapore Slovakia Slovenia South Africa Republic Spain Sweden Switzerland Taiwan Thailand Turkey United Arab Emirates United Kingdom United States Uruguay Venezuela Yugoslavia Allen Bradley Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Publication 1398 5 11 February 1997 P N74102 245 01 Copyright 1997 Rockwell International Corporation Printed in USA
64. ation refer to the Watch Window section in this chapter Accessing the Online Manager To communicate with your motion controller 1 From the menu bar select Diagram The Diagram menu appears 2 Select Online The Online Manager window similar to the following appears communication with the motion controller is enabled HOME STO ULT lel x Ultra Control ae TE i jango Rosel Ans Redefine odon Gain Faull Position Se2ngs Ovropa Move 3 Jog Gear J a Resume Omm s Mowe Trace Resume Auto one HomeVel Publication 1398 5 11 February 1997 2 4 Before you Begin Publication 1398 5 11 February 1997 Moving the Online Manager Window You can move the Online Manager window to a more convenient place on your screen To move the Online Manager window 1 Click in the title bar and hold the mouse button down as you drag the window to a new position 2 Release the mouse button Note You cannot resize the Online Manager window Viewing Both Diagram Editor and Online Manager You can move easily between the Diagram Editor window and the Online Manager window If you click on your diagram while the Online Manager window is open the diagram moves to the front and the Online Manager window moves to the back We recommend that you resize your diagram window so both windows are visible at the same time similar to the following ile Edit Definitions Module Diagram Windows Help HOME_STD ULT DI X HOME
65. axieiactatate 7 9 Chapter 8 Using the Online Manager WiNdOW cccccseeceseeceeeeeeaeeeeaeeesaeeesaaees 8 2 How the Window is Organized cccsccccsececeeeeeeeeesaeeesaeeesaeeesaaees 8 3 Publication 1398 5 11 February 1997 iV Table of Contents Publication 1398 5 11 February 1997 Choosing the Information View Mode seeesseeeeeeeese 8 4 Selecting a Communication FUNCTION ccccceeecceeeeceeeeeeeeeeeeeeseeeeeees 8 4 Sending Commands Directly to an ULTRA Plus 8 4 SHOWING W atM MOTIS ee eai eate eee dass 8 5 Downloading Your BIadgrPatfizsneinsacn ss acida naiiam cwam cacao da t e 8 6 Downloading Axis and Drive Setup Data sssussse 8 6 Executing a Direct Motion COMMANGA ccccceeeeceeeeseeeeseeeeseeeeseeeees 8 7 Deleg w Brel i la MEE aai A AT 8 7 Controlling Online Functions esses 8 8 Functions for Managing Program Files cccccseccsseeeeeseeeneeeeeenes 8 8 Functions for Managing Program Execution 8 9 Staning and Stopping PrOQKaInS yigini aiaa eq at qe que apap ade 8 10 Starting a Downloaded Program cccsccccseeeeseeeeeeeeeseeeeseeeeseeeees 8 10 ausirig a FrOgra Miescie aaa 8 10 Suspending a PrOGrAM cccsecccsececseeeeeeeeeseeeeaeeeeseeeeseeeseeeseeeees 8 11 Resuming a Suspended Program
66. beam cursor at the desired location When the Script Editor window is active the text insert position is indicated by a blinking vertical bar Characters typed from the Publication 1398 5 11 February 1997 7 6 Working with Scripts Publication 1398 5 11 February 1997 keyboard appear at this location While the cursor is inside the Script Editor window it appears as an I beam Deleting One Character of Text To delete one character to the right of the text insertion point 1 Delete the character to the left of the text insert location 2 Place the cursor to the immediate left of the character to be removed 3 Press the Delete key The character is deleted Deleting a Section of Text To delete a section of text 1 Cut or delete a section of text 2 Click and hold the mouse button at the beginning of the text to be removed 3 Drag the cursor to the end of the text to be removed 4 Release the mouse button The text is highlighted 5 From the menu bar select Edit The Edit menu appears 6 Select Cut The selection is deleted without being copied to the clipboard Copying a Section of Text To copy a section of text 1 Click and hold the mouse button at the beginning of the text to be copied 2 Drag the cursor to the end of the text to be copied 3 Release the mouse button The text is highlighted 4 From the menu bar select Edit The Edit menu appears 5 Select Copy The selection is copied to
67. brary of generic diagrams modules that are designed for use in your diagrams You can create a new file in two ways e Select New Diagram or New Script from the File menu e Save an existing diagram or script with a new name using Save As from the File menu When you have a diagram open you can start to work on another Your application is already active you just need a new Diagram Editor window to build a new diagram Use this option to open a new GML Ultra Diagram Editor window in which you build a new diagram 1 From the menu bar select File The File Menu appears Publication 1398 5 11 February 1997 3 2 General Procedures Publication 1398 5 11 February 1997 2 Select New Diagram A new GML Ultra diagram window similar to the following appears GMLULTIA lf Ele Edt Delphos Module Dingam Wedow Help Use Preterences menu to choose Lo user interlace features Low j Use Delinitions menu to define amy necessary hardware options variables and VO for the Diagram Ki g r Msta Manu ke Windows AY Meo Word G 3G G GmL4 EITAS oM M 366 GMa Ma S GMLULTRA anam For a detailed explanation of this window refer to the Before You Begin chapter Using the Diagram Menu The diagram menu located at the top of the window provides access to the primary GML Ultra functions Eie Edt Definitions Module Diagram Windows Help This menu Gives you access to File Standard Windows
68. cations for the ULTRA family An article on wire sizes and types for grounding electrical equipment A complete listing of current Allen Bradley documentation including ordering instructions Also indicates whether the documents are available on CD ROM or in multi languages A glossary of industrial automation terms and abbreviations Rockwell Automation Support Read this Document ULTRA Plus Installation and Setup Manual ULTRA Series Digital Servo Drives ULTRA Plus Positioning Servo Drives ULTRA Series Product Data National Electrical Code Allen Bradley Publication Index Allen Bradley Industrial Automation Glossary Publication Number 1398 5 1 1398 1 0 1398 1 1 1398 2 0 Published by the National Fire Protection Association of Boston MA SD499 AG 7 1 Rockwell Automation offers support services worldwide Local Product Support Contact your local Allen Bradley representative for e Sales and order support e Product technical training e Warranty support e Support service agreements Publication 1398 5 11 February 1997 Technical Product Assistance Common Techniques Used in this Manual P 5 If you need technical assistance first review the information in the Troubleshooting chapter of the GML Ultra User Manual If you need more information call your local Allen Bradley representative For the quickest possible response we recommend that you have the catalog
69. cify the condition that pauses your program 1 Double click on the Wait For Input Off block A dialog box similar to the following appears Wait for Input Off WAIT FOR a INPUT OFF Input State Off w f Flag Pauses the program until the specified General Purpose input Occurs Choose the desired State Off or Flag from the pap up menu and Cancel 2 Make entries in the following fields Field Description Input Select the input that you want to use to pause the program State Select one of the following Off To wait for the input to be OFF Flag To wait for the state of the input to equal the state of the specified flag variable 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 5 Wait For Registration 9 49 Wait For Registration The Wait For Registration block allows you to pause the program until the registration event set up by a previous Registration block occurs IMPORTANT If you selected Wait For Tripped in the Registration block do not use a Wait For Registration block If you do the program waits for the same event twice To specify the condition that pauses your program 1 Double click on the Wait For Registration block A dialog box similar to the following appears Wait for Registration WAIT FOR REGISTRATION Source Pauses the program until the reg
70. cks 4 8 Allen Bradley representative local Application window purpose 2 1 audience for this manual P 1 B block naming a 3 11 Block Information option Edit menu block palette using the blocks adding aligning clearing colors of combining connecting E 3 8 disconnecting display information about duplicating encapsulating finding specific grouping 4 6 guidelines for use 4 1 inserting a block between libraries of moving palette of replacing selecting 4 1 2 10 Index spacing 4 9 swapping 4 7 Build Expression option Edit menu 4 12 C calculator Change Block option File menu Change Gain function block 9 1 Change Jog Dynamics function block Clear Display function block Clear option compare with Cut and Delete Edit menu clearing blocks clipboard contents pasting 3 8 Close option File menu 3 16 3 17 closing saved files 3 17 closing a file after saving without saving colors of blocks Command window purpose 2 7 communication link multi drop mode RS 232 1 2 RS 422 1 2 connecting blocks 4 3 connection lines moving showing Copy option Edit menu copying blocks 3 8 creating new diagram 3 1 scripts cursor functions Cut option compare with Clear and Delete cutting blocks Publication 1398 5 11 February 1997 I 2 Index D
71. cle is a move forward and back If the Direction is either Positive or Negative one cycle is the move in one direction only Do not set the cycle period to a high value one that would allow the system to reach the end of travel or to a value less than 0 02 seconds Type the current limit to be used during manual tuning When you first select Manual Tune this is equal to the Peak Current Limit parameter You can change limit without changing the Peak Current Limit parameter In the Position Loop area make entries in the following fields Field PGain P in Zone Description Proportional gain adjusts the bandwidth of the position loop The higher the value of the proportional gain the stiffer the system response Proportional gain appears in inches per minute per mil 1 e meters per minute per millimeter Type 0 Publication 1398 5 11 February 1997 8 34 Going Online Field Description Position loop proportional gain in zone 1s used when the system is within the region of the commanded position defined by the PZone field IGain Position loop Integral gain is used to bring the system into the desired position more quickly and increase the stiffness of the positioner The Zone field determines the region around the commanded position where integral gain is active The system sets position loop integral gain IGain 0 VFF Type 0 Velocity feedforward gain adjusts the following error of the position loo
72. comments the author made You can also add your comments To view or document information about this diagram 1 From the menu bar select Windows The Window menu appears listing the open diagrams The active diagram is checked GHL File Edit Detinitions Module Diagram RR LES Help Mew Diagram Hew Diagram JOGFYWD ULT Ultra Control Family rer RUM ULT AUTOLULT 2 Select the diagram you want to access That diagram is active From the Definitions menu select Documentation The Diagram Documentation dialog box appears 4 Change add delete or copy the text in the dialog box 5 Select Save The information is saved and the Dialog Editor window appears Using Preexisting Modules to Create Diagrams 5 7 Using Preexisting Modules to Create Diagrams Using a Preexisting Module Sometimes a diagram or part of a diagram 1s very similar to one already created You can recycle part of a diagram usually a module for use in your new diagram IMPORTANT In GML Ultra you can use files with the ULT extension However you cannot use files with the GML extension Modules are especially convenient tools to recycle commonly used configurations Modules can be very complex and their creation can be time consuming The process for using preexisting modules or parts of diagrams involves copying and pasting To find copy and paste a preexisting module 1 From the menu bar select Fi
73. cript are permanent that script becomes the program for the download This option automatically includes a testing function The translation process is very similar to the testing process When a problem is identified a dialog box informs you of the problem and its location It automatically goes to that block and opens the block s dialog box so you have ready access to fix the problem To translate a graphical GML Ultra diagram to a native language script 1 Make sure the diagram you want to translate 1s active 2 From the menu bar select Diagram The Diagram menu appears Publication 1398 5 11 February 1997 7 2 Working with Scripts 3 Select Translate to Script As GML Ultra translates the diagram into a script a dialog box appears to inform you of the translation progress Successful Translation to Script Publication 1398 5 11 February 1997 When the process completes successfully the Diagram Editor window changes to a Script Edit window The script document appears similar to the example below GHL File Edit Script Windows Help RUN ULT RUH PS TITLE GMLPROG FNVART1 V1 FB3 Fl1 BEGIN MAIN MODULE RUPMN ULT CLR Clear Display PRINT 1 4 Run Program Prompt Operator WI PGMNUM Current Program is default IF POMMUM 255 JUMP LABO If Program number 255 LAB4 READ 3 1 Program 3 SHOW v1 2 0 0 31 Get Program Mumber PRINT 3 1 Run Pam v1 2 0 Printta Display READ Yi
74. cs Enter Setups o Pause Step iie E Upload Options Trace Resume Auto poc iagram Acceleration Feedforward Gain v Examine Axis SERYO Exit Online Acceleration 566 6666 View Command window ESTOP Command Redefine Position Move Axis set by clearing the Pause Showing Watch Items Selecting a Communication Function 8 5 Select the block command from the graphical block command browser In the Online Manager window select Execute The command is sent to your controller Note The Online Manager window opens in Command mode GML Ultra allows you to watch your program as it executes by using a watch window To show the watch items 1 In the Command Watch field in the Online Manager window select Watch The Watch window appears Online Manager for RUN_ ULT Acceleration Command_ Current Current_Limit atch mode Watch Window Enter Setups Go Pause Step FNVAR1 n F63 Upload Options _Trace Resume _ Auto Acceleration Hsu Diagram TRI Acceleration Feedforward Gain v i Examine Axis SERYO v View mode Installed Firmware 3 66 Exit Online Running E8 Acceleration 566 6666 ESTOP Command Redefine Position Select what you want to watch from the Watch window Closing the Watch Window To close the Watch Items window select Command from the Command Watch list box Note The Watch window must be closed before you can download upl
75. der reie ee n a nt Eu tuns 4 12 Building an Expression acai mutations tani Oa a ec ea 4 13 Using Variables Constants and I O User Variables 4 14 Working with Diagrams Working With Modules Working with Scripts Going Online Table of Contents lil Chapter 5 Creating New Diagrams qutdem ne nee eee eu Gunn 5 1 Editing Your Diagram as you Build lt seeeeesessssssss 5 1 Working with Finished DiaQrams cccssccsseecseeceeeeeeseceeeeeeeeeeeeseeens 5 2 Accessing the Diagram Menu ccccseccseeceeeseeeeeceeeneeeeueeeeenees 5 2 Finding a Specific Block or Parameter esssssse 5 2 Finding the Same Block or Parameter Again 5 3 vagtam IMLOuMaliO Mwai are eee ee 5 3 Testing DiAQrAMS cccceccsecceeeceeeseeceeeceeeneeeeueseeeseeeeeeseeeseeeeeeseeeseeeneees 5 4 Accessing the Online Managet cccccsssceccseeecceeeeecseeeeeeeeeesaeeeesaees 5 5 Inserting a Breakpoint eeseesssssssssssseeeenemene eene 5 5 Documenting vour Diagrames dna ata a a ENAN N 5 5 Accessing Previous Documentation eeeeeessssusss 5 6 Using Preexisting Modules to Create Diagrams 5 7 Using a Preexisting Module cccccccseeeceeeeeeeeeeeeneeeeeeeseueeaeeenes 5 7 Usina a Preexisting Diagram usui doi e oO es 5 8
76. der to create the mathematical expression which when true allows the program to continue 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 Wait For Input On 9 47 Watt For Input On The Wait For Input On block allows you to pause program flow until a condition is met for a general purpose input that you specify To specify the condition that pauses your program 1 Double click on the Wait For Input On block A dialog box similar to the following appears Wait for Input On WAIT FOR r INPUT ON Input BEEN 7 Pauses the program until the specified General Purpose input Occurs Choose the desired State On or Flag from the pop up menu and Cancel 2 Make entries in the following fields Field Description Input Select the input that you want to use to pause the program State Select one of the following On To wait for the input to be ON Flag To wait for the state of the input to be equal to the specified flag variable 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 48 Understanding Blocks Ny Wait For Input Off The Wait For Input Off block allows you to pause program flow until a condition is met for the general purpose input that you specify occurs To spe
77. diagram e Undo the delete action to restore the selected parts Copying Blocks You can copy any block or group of blocks along with their associated parameters Copying has no effect on the original diagram leaving the selected blocks exactly as they were When you copy a module the copied information includes all the blocks connections parameters and other modules contained in the module The primary purpose of Copy and Paste is to allow you to repeat information in another location easily AN ATTENTION Not all the information is transferred e Axis name is not transferred e Use of variables is not transferred You can copy information from one diagram and paste it into another e Diagram e Location in the same diagram To copy 1 Select the information you want to copy 2 From the menu bar select Edit The Edit menu appears 3 Select Copy The information is stored on a clipboard Note The information remains on the clipboard until you perform another Copy or Cut Editing GML Ultra Files 3 9 Pasting Information into Your Diagram The information that you want to paste can originate from either a Cut or a Copy GML Ultra allows you to paste the information multiple times Publication 1398 5 11 February 1997 3 10 General Procedures Publication 1398 5 11 February 1997 To paste the contents of the clipboard in the same diagram window that you cut or copied from 1 Place your cursor at the locati
78. diagram appears with the block checked to indicate that the parameters are set Redefine Position The Redefine Position block allows you to set the actual or command position of the axis to a specific absolute or relative position You can use the Redefine Position block when the axis is moving or at rest This block does not cause motion it simply redefines the current axis position In addition the master axis position is set to zero To redefine the position of the axis 1 Double click on the Redefine Position block A dialog box similar to the following appears Hedefine Position zm REDEFINE POSITION Redefine the present commanded position as a new position The present commanded pasitian will become the specified position the encoder position that is nat the Publication 1398 5 11 February 1997 9 36 Understanding Blocks 2 Make an entry in the following field Field Description New Position Type the value or expression that defines the new command position of the axis 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set la Registration The Registration block allows you to set up a registration event to store the actual positions of the servo and master axes Also use this block to cancel a registration event set up by a Registration block that has not been executed To set up a registration event 1 Double click on th
79. e 1 1 Personality Module for ULTRA Plus Controllers 1 2 Communications for ULTRA Plus Controllers 1 2 Repo T eee eee EE E E E E E E 1 2 AS 422 iiie ID ID ID ola DN INI ID ENDE 1 2 M lt dop MOOG ttti td hee attt t d dtd tens 1 2 Chapter 2 Understanding Your Work Area ccccsececcseeeeeneeeseneeeneneeeseaeeeseeeenes 2 1 GML Ultra Application Window eese 2 1 GML Ultra Diagram Window eeeeeeeeneeernn 2 2 Diagram Editor VWVINGOW siid aiden d ILI DII ID ID ILI LUE 2 2 Online Manager Window cccccccceececeececeeeeseeeeseeeesaeeeseeeeseeeesaes 2 3 MACEWAN e 2 5 Watch WINndoW m 2 6 Command WINGOW e tendientes ie iu bu Hu usada Moa ANDE 2 7 Script Editor Window seesseesssessseeeeneeennenen nnne 2 7 Quick Reference to GML Ultra Windows sss 2 8 Understanding Your TOOlS uceadon emit oca hit Cha Rea xeu OO ORC aces 2 9 RIE B ET 2 9 MIMMO NU rere canta a eee ee te eee ee ae eg Pec ee AREEN 2 9 BIOCK P aletes ANG bIDEEIe Sad aia eia dai qa diate dada deant 2 9 Color Code for BIOCKS cccccccceececeeeeeeeeeeeeeesaeeeeaeeesaeeesaeeesaaess 2 11 Chapter 3 EOI UN MESI rd 3 1 Creating New RIles o d i MERIDIEM MEI 3 1 Creating a New Diagram sesessesssseeeeneeennnnen nnn 3 1 oreating A NEW
80. e Gain block allows you to change on the fly the working values of the gain setting of the servo axis Note You can use this block to change this setting at any time It has no effect on the stored power up values To change a gain setting 1 Double click on the Change Gain block A dialog box similar to the following appears Change Gain Ga CHANGE GAIN Change Gain Proportional Directly changes the working values of the velocity loop proportional integral ar acceleration feedfareard gains or Cancel Publication 1398 5 11 February 1997 9 2 Understanding Blocks 2 Make entries in the following fields Field Description Change Select one of the following Position Loop Gain To adjust a position loop gain Velocity Loop Gain To adjust a velocity loop gain Gain Select one of the following Proportional To set a proportional gain If the Change field is Velocity Loop Gain increase the value to reduce dynamic velocity error and to increase the velocity loop bandwidth Excessive proportional gain could cause instability Proportional in zone Use this when the system is in the proportional zone If the Change field is Position Loop Gain increase the bandwidth of the position loop The higher the value the stiffer the system response Feedforward To set a feedforward gain If the Change field is Position Loop Gain use this field to adjust the following error of the p
81. e Registration block A dialog box similar to the following appears Registration REGISTRATION ERA Hardware T Input TT interrupt F Wait For Tripped Tvpe State Source Auto Rearm Registration Input Cancel Sets up a registration event to stare the actual position ar cancels a registration event set up by a previous Registration black which has nat yet occurred Choose the desired Registration Type Hardware or Software To setup Hardware la 2 Make entries in the following fields Field Type Hardware Software Publication 1398 5 11 February 1997 Description Select one of the following To set up hardware registration To activate a software simulation at an Input 12 interrupt Field State Source Wait For Tripped Auto Rearm Registration Input Reset Axis Fault 9 37 Description Select one of the following Arm To monitor the specified axis until a transition of the registration source you specified in the Source field occurs Disarm Disengage a previously set registration event Select one of the following Input 11 Interrupt To select Hardware Interrupt 1 Input 12 Interrupt To select Hardware Interrupt 2 Select this to pause the program until the registration event occurs Select this to activate the registration event continuously 3 Select Save The dialog box closes The diagram appears with the block checked to indica
82. e following fields Field Description Output Select one of the following General Purpose To specify a general purpose output Binary To specify a group of outputs to set to he binary state of an expression All To set all general purpose outputs OFF Start Bit If the Output field is Binary type the output number from to 8 that represents the least significant bit of the group of binary outputs Publication 1398 5 11 February 1997 9 32 Understanding Blocks Publication 1398 5 11 February 1997 Field Set To Number of Bits Pulse Time sec Description If the Output field is Binary type a value or expression that represents the binary value If the Output field is Binary type the number of outputs included in this group If the Output field 1s General Purpose use this field to set an optional pulse time for the output Program flow continues to the next block and the output turns ON after the specified time 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Patch Statement The Patch Statement block allows you to enter 1CODE the native language of the ULTRA Plus motion controllers commands directly into the application diagram IMPORTANT Use this block only if you are experienced with iCODE 1 Double click on the Patch block A dialog box similar to the following appears Statement s enter patch statem
83. e variables Select Insert The variable is inserted into the expression Publication 1398 5 11 February 1997 4 14 Working With Blocks Note Inputs Outputs must be predefined Refer to the GML Ultra Getting Started manual 4 Select Save The expression is copied to the block s field Adding Operators Select an expression operator from the list The operator is inserted automatically into the expression Adding Numerals Select a number from the calculator The number is inserted automatically into the expression Using Variables Constants and I O User Variables Publication 1398 5 11 February 1997 You can either build expressions from scratch or you can use predefined values for the expressions you build in the Expression Builder There are two types of predefined values e User defined variables e System defined variables User Defined Variables A user defined variable such as a constant a discrete input or output must be defined before it appears as a selection in the lower window You usually define these as needed Refer to the GML Ultra Getting Started manual for more information on defining variables System Defined Variables The Expression Builder offers numerous system variables and system functions based on your system preferences and controller configuration You can select the type of variable you want by selecting the appropriate radio button The related system variables then appear in
84. ed time type the condition that stops the timer Note The present timer value is available in the TIMER_1 or TIMER_2 system variable 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 8 Understanding Blocks Publication 1398 5 11 February 1997 Define Xkey The Define Xkey block allows you to define the function of the keys marked X1 through X4 on the operator terminal These are function keys that when pressed execute a routine in parallel with the application program To define the actions performed when the key is pressed you need to use the Xkey Handler block to create a condition handler You must enable each Xkey using the Set Condition block IMPORTANT You must connect this to the Start block a Define Scan Event block or another Define Xkey block of the Main Module IMPORTANT You cannot encapsulate the Define Xkey block To define the Define Xkey block 1 Double click on the Define Xkey block A dialog box similar to the following appears Define Xkev Defines an key function The keys marked 1 through 4 on the Operator Terminal are special function keys that When pressed execute a routine in parallel with the Cancel 2 Make an entry in the following field Description Select the number of the function key 1 to 4 that you want to define 3 Select Save The di
85. ed unless the condition is satisfied during the move The velocity for the move is that of the previous Custom Move Axis black Evaluates the condition and makes a logical decision based on its value Ifthe condition is met Cancel If Registration 9 23 2 Make entries in the following fields Field Description Distance Type a value or expression that represents the maximum distance of the move Condition Type a value or expression that represents the condition that must be met to exit the move e If the condition is met at any time during the move program flow branches to the 1 true node e If the condition is not met program flow pauses on this block until the specified distance is reached then branches to the 0 false node 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set If Registration The If Registration block allows you to evaluate the previously configured registration event If the event occurs program flow branches to the 1 true node If the event has not occurred program flow continues to the O false node You need to have set up a registration for the specified axis previously in the diagram using a Registration block To evaluate a registration event Publication 1398 5 11 February 1997 9 24 Understanding Blocks 1 Double click on the If Registration block A dialog box similar to the following appear
86. edback OFF 3 Move the axis by hand as needed 4 Select ON When feedback is turned on again the axis is again under closed loop control but at the new position 5 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Fkey This block allows you to simulate pressing an Fkey from within the program FRey F key Program Simulates pressing an FKey from within the program The range af valid F keys is 1 24 Cancel Gear Axes 9 15 The operator terminal has four function keys Fkeys F1 through F4 you can program to perform different functions Once these key are programmed you can assign text to them so their functions appear on the operator terminal screen Enable these displays by connecting the operator terminal to serial port A P7 There are two places to set the Fkey mode displayed on the operator terminal e From a program e By using the mode key To set the Fkey mode from a program Use a Print to Display block with a Cn in the message n corresponds to the Fkey mode number The number n is zero based that is O corresponds to Fkey Mode 1 1 corresponds to Fkey Mode 2 and so on To set an Fkey mode using the MODE key 1 Press the MODE key to step through as many modes as are defined in the FKey Set Up dialog box If Fkey functions are not assigned to a mode the operator terminal pass over that mode and moves to the
87. elect Open Diagram The Open dialog box appears Open File name auto ult defhome ult exhoame ult Folders c ultdemo ultra E cs E ultdemo Cancel dii Network home std ult jogtwd ult jagrev ult run ult start ult List files of type Drives Files FULT E c motion c Opening a Script Opening Existing Files 3 5 3 Locate the diagram file you want to open Note The file must have a ULT extension 4 Select the diagram you want by double clicking on the name of the file The file opens and the Diagram Editor window appears You can now e Make changes to the diagram e Copy portions or blocks e Convert the diagram to script e Download the diagram to your controller Use the Open Script option to open a saved script You can then copy all or portions of the script as you build your new program When the existing script opens you can e Edit or further develop the existing script e Copy portions of the script for reuse in another script To access an existing diagram IMPORTANT Once you convert a diagram to script the procedure cannot be reversed The script text is the actual language used for the motion controller program 1 From the menu bar select File The File Menu appears 2 Select Open Script The Open dialog box appears with qps text files identified the List files of type field similar to the illustration below Open Ed File name Folder
88. elect Translate to Script As GML Ultra translates the diagram into a script a dialog box appears to inform you of the translation progress Translating Diagram 5 Repeat Steps 1 through 3 until the program translates successfully Publication 1398 5 11 February 1997 Creating a Script 7 5 Creating a Script Use the Script Editor to create a new script view and edit text files Examples include e Script documents generated from GML Ultra diagram documents e Script files that reside on your controller You can upload these to your PC and save them as scripts The Script Editor provides standard cut copy paste delete and find replace functions A ATTENTION Changes to the script cannot be converted back to the graphical diagram To create a new script that uses iCODE 1 From the menu bar select File The File menu appears 2 Select New Script The menu changes to one specifically for working with scripts GMLULTRA File Edit Script Windows Help 53 New Untitled 3 Enter program code CODE to create your new script program Use the editing features described next to edit your program text Editing a Script Using the Edit Menu Functions Use the Edit menu to access standard edit functions Inserting Text To insert text at a specific location do one of the following e Press any of the four arrow keys on the keyboard to reach the location you want e Click the mouse once with the I
89. eneral purpose output Binary To specify a group of outputs to set to the binary state of an expression All To set all general purpose outputs ON If the Output field is Binary type a value from 1 to 8 that represents the least significant bit of the group of binary outputs If the Output field is Binary type a value or expression that represents the binary value If the Output field is Binary type the number of outputs included in this group If the Output field 1s General Purpose use this field to set an optional pulse time for the output Program flow continues to the next block and the output turns OFF after the specified time 3 Select the output that you want to turn on if set to General Purpose Publication 1398 5 11 February 1997 Output Off 9 31 4 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Output Off The Output Off block allows you to immediately turn a single output OFF or to the state of the flag variable or set a group of outputs to the binary state of a variable To define a single output as OFF 1 Double click on the Output Off block A dialog box similar to the following appears Output OFF OUTPUT OFF Output NENNEN s Directly and immediately turns OFF all general purpose outputs or turns a single General Purpose Cancel output OFF arta the state af a flag Cancel T 2 Make entries in th
90. ents here Allows i CODE the native language ofthe Ultra Plus motion controller commands to be entered directly into the application diagram Cancel Print Fault 9 33 2 Type the 1CODE commands in the scrolling Statement s window 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Pause Move The Pause Move block allows you to ramp motion to a stop and pause You can also set the Pause input to perform this function in setup The Pause block does not require you to enter information Print Fault The Print Fault block allows you to print messages on the operator terminal Note This block is usually used within the Error program To select the type of message that displays on the operator terminal when a fault occurs 1 Double click on the Print Fault block A dialog box similar to the following appears Print Fault PRINT FAULT ER Print Choose the desired message from the pop up menu Messages include Error Message Printthe proper message to the operator terminal Upon occurrence of an error Warning Message Printthe proper message to the operator terminal upon occurrence of a warning Publication 1398 5 11 February 1997 9 34 Understanding Blocks Publication 1398 5 11 February 1997 2 Make an entry in the following field Field Description Print Select one of the following Error Message To disp
91. es User s E i Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this manual are intended for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley office does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or in part without written permission of Allen Bradley Inc is prohibited Throughout this manual we use notes to make you aware of safety considerations AN ATTENTION Identifies information ab
92. ew Madule Publication 1398 5 11 February 1997 6 2 Working With Modules Using the Diagram Library Using the Edit Menu Publication 1398 5 11 February 1997 2 Place the New Module block in the Diagram Editor window by clicking again 3 Name the block Add appropriate blocks and connections later The first icon in the block palette 1s the Library Browser Select this icon to display all available blocks for the ULTRA Plus controller To access the Diagram Library 1 Select the LUE icon A Diagram Library similar to the one below appears Diagram Library Registration VVaitfor If Registration Redistration Clear the operator terminal screen 2 Use the scroll bar to find the New Module block 3 Select the New Module block It is highlighted 4 Inthe Diagram Library window select Select The Diagram Editor window appears 5 Point to the location where you want to place the block 6 Click and release your cursor The New Module block appears To add a new module block using the Edit menu 1 From the Edit menu select Add The Block Library appears 2 Scroll to find the New Module block 3 Select the New Module block It is highlighted Encapsulating Blocks or Modules Creating a New Module 6 3 Select Select The Diagram Editor appears with the cursor looking like a pointing hand Point to the location where you want to place the New Module block Click and release your c
93. from the Diagram menu but you must be online to set a breakpoint You can set the breakpoint only after the diagram is downloaded A block with a breakpoint set has its validation check mark highlighted in black instead of green Up to 24 breakpoints are supported When a breakpoint is reached the block with the breakpoint is highlighted You can pause program execution when it reaches a breakpoint so you can check your motor function or fine tune your program To set a breakpoint in your diagram 1 In the Online Manager window download the program 2 Inthe diagram select the block at the location at which you want the program to stop 3 From the menu bar select Diagram The Diagram menu appears 4 Select Breakpoint The Breakpoint Control dialog box appears 5 Select Set Breakpoint To Do this Cause the program to stop when Select Stop Program When it reaches a specified block Reached Allow the program to continue Go to step 7 without pausing 7 Select OK The menu closes and the green checkmark at the upper left corner of the block changes to black The breakpoint is set Publication 1398 5 11 February 1997 8 14 Going Online Defining Watch Items Publication 1398 5 11 February 1997 Clear Display Print Allen Bradley You can monitor specific functions within your diagram as the program executes To identify the items you want to watch during Trace 1 From the menu bar select Definitio
94. g The relay outputs Ready and Enabled can also be turned on and off in this test To test the Digital Outputs 1 Inthe Axis Setups dialog box select Digital Outputs 2 Select Execute The Digital Outputs dialog box appears 3 To Do this Turn on an output Select the check box corresponding to the output number Turn on all outputs Select All On Turn the Ready or Select the appropriate check box Enabled relay on Turn off individual Clear the corresponding check box outputs Turn all outputs off Select All Off Turn the Ready or Clear the appropriate check box Enabled relay off The outputs are restored to their previous state when you select Close Publication 1398 5 11 February 1997 8 22 Going Online Testing the Operator Terminal The Operator Terminal test verifies communication between the ULTRA Plus and the operator terminal This test sends a string of characters to the operator terminal and displays the characters sent so you can visually check the operator terminal Any operator terminal keys that are pressed while in this test are displayed on the screen To test the operator terminal 1 Inthe Axis Setups dialog box select Operator Terminal 2 Select Execute The Operator Terminal dialog box appears and the test starts immediately 3 Select Close The test stops Characters sent to the operator terminal are also sent to the dialog box for verification Any keypress action at the operator
95. he If Timeout block A dialog box similar to the following appears If Timeout bu IF TIMEOUT Timer 1 v Evaluates the specified countdown timer to determine if it has timed aut Ifthe chosen Timer has timed aut then program flow branches to the 1 true node Ifthe chosen Timer has nottimed out then program flow continues to the D false node Cancel 2 Make an entry in the following field Field Description Timer Select the preset timer that you want to use or 2 If the chosen Then program flow branches to the timer has Timed out true node Has not timed out O false node 3 Make sure you have set the parameters in the specified Set Timer Define Scan Event and Set Condition blocks 4 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 26 Understanding Blocks Jog Axis The Jog Axis block allows you to jog move continuously the servo axis a specific direction at a specified speed You can set the jog and location rates by using a Change Jog Dynamics block or in Jogging under Axis Configuration To define a jog 1 Double click on the Jog Axis block A dialog box similar to the following appears Direction P speed Jogs moves continuously the axis in aspecified Direction at a specified Speed Choose the Direction Forward Reverse fram the pop up me
96. he column in which the display begins Select the serial port that you want to use The default is Port A the operator terminal port Select this check box to enter a prompt message In the adjacent box type the prompt message Select the type of variable that you want to read Select this field if you want the current value of the variable to appear This allows the operator to see the current value and simply press Enter to keep it Select this check box if you want to specify a minimum maximum range This option is only available if you selected G or V User Variables If you selected the Range check box specify the minimum value the operator is allowed to enter This option is only available if you selected G or V User Variables If you selected the Range check box specify the minimum value the operator is allowed to enter This option is only available if you selected G or V User Variables Select this check box if you want to specify the field and precision of the displayed variable or if you want to display it as a fraction This option is only available if you selected G or V User Variables If you selected the Format check box type the number of characters that you want to allow for the variable including the decimal point This option is only available if you selected G or V User Variables If you selected the Format check box type the number of places that you want to display after the decimal po
97. he menu bar select Edit The Edit menu appears Select Paste The module is pasted into the new diagram Note You can change settings now later or keep the module as is Continue adding blocks and modules new or existing to complete your diagram You can copy and paste an entire preexisting diagram usually a module into a new diagram You can then use it as is or modify parts of it To Copy an Entire Diagram 1 2 From the menu bar select Edit The Edit menu appears Select Select All The entire diagram is highlighted From the menu bar select Edit The Edit menu appears Select Copy The diagram is copied to the clipboard From the menu bar select Windows A list of open diagrams appears Select your new diagram by name or number That new diagram becomes active In the Diagram Editor window of the new diagram place the cursor where you want to insert the copied module From the menu bar select Edit The Edit menu appears 9 Using Preexisting Modules to Create Diagrams 5 9 Select Paste The module is pasted into the new diagram Note You can change settings now or later or keep the module as is 10 Continue adding blocks and modules new or existing to complete your diagram To Copy Part of a Diagram 2 10 11 12 13 From the menu bar select File The File menu appears In the Diagram Editor window place your cursor at the upper left corner of the area you wa
98. ialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 28 Understanding Blocks Move Axis The Move Axis block allows you to move the servo axis to a specified absolute position or to a specified incremental distance at a specified speed The Move Axis block can also generate custom move segments To define a move 1 Double click on the Move Axis block A dialog box similar to the following appears Hove Axis MOVE AXIS Move Absolute Choose the desired move Type Absolute Incremental ar Segment fram the pop up menu and values ar expressions forthe desired Position or Distance and Speed Move types include C l Absolute moves the axis to a specified absolute Cancel wr 2 Make entries in the following fields Field Description Move Select one of the following Absolute To move the axis to an absolute position Incremental To move the axis by an incremental distance Segment To move the axis by an incremental distance representing a portion of a complex profile Position If you selected Absolute in the Move field type the value or expression that defines the specific position Distance If you selected Incremental or Segment in the Move field type the value or expression that defines the incremental distance Speed Type a value or expression that represents the speed of the move Publication 1398 5 11
99. ically show program flow while running at full program speed Note Because trace is fast use Step to monitor the program at a suitable pace In the Online Manager window select Trace The Diagram Editor window changes to Trace mode Blocks in the Diagram Editor window are highlighted as they are executed in the program Selecting a View Mode Select Normal view to run Trace Auto and Step Tracing Tasks within a Diagram To trace tasks within a diagram 1 In the Online Manager window select Download Diagram The program is sent to the controller 2 In Normal view mode select Trace The program runs at full speed and highlights blocks as they are executed Terminating Trace Mode To terminate Trace mode and continue program execution without aborting the program select Go Use Auto to automatically step through program blocks Auto shows program flow at slower than normal program speed In the Online Manager window in Normal view mode select Auto When execution of that block is complete the next block in the diagram is highlighted Selecting a View Mode Select Normal view to run Trace Auto and Step Using Step Setting a Breakpoint Monitoring Program Flow 8 13 Use Step to manually step through a program one block at a time 1 In the Online Manager window select Normal View 2 Select Step Selecting a View Mode Select Normal view to run Trace Auto and Step You can set and clear breakpoints
100. int This option is only available if you selected G or V User Variables Publication 1398 5 11 February 1997 9 12 Understanding Blocks Field Description Fraction If you selected the Format check box select this field if you want the variable to appear as a fraction This option is only available if you selected G or V User Variables 3 Select the variable that you want to display from the scrolling list 4 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Equation The Equation block allows you to assign a value to a user variable a system variable or a general purpose output You can assign a constant or an expression to determine the value that is to be assigned To define a value 1 Double click on the Equation block A dialog box similar to the following appears Acceleration Acceleration Feedforward Gain Average Current_Fault_ Setpoint Current_Limit Assigns a value ta a User Variable write access System Variable and General Purpose output The value assigned can be a canstant or an expression which is evaluated ta determine the value to be assigned Publication 1398 5 11 February 1997 Feedback 9 13 2 Make entries in the following fields Field Description Let Select the type of variable that you want to use in the equation A list of those variables appears in the window Type the value or expression tha
101. ion blocks replacing blocks 4 6 replacing text in scripts Reset Axis Fault function block Reset Drive function block Reset Move function block RS 232 communication link RS 422 communication link S saving a diagram diagram changes Scan Event Handler function block as a library 2 10 9 37 script creating a new definition opening a Index I 5 printing 3 15 Script Editor 7 1 Script Editor window purpose 2 7 Script menu Edit option File option Find Again option Find Replace option Help option Windows option scripts copy EE creating 7 5 deleting text from finding text inserting text into 7 5 Select All option Edit menu Set Condition function block Set scan Timer function block Show Details option Module menu Show Overview option Module menu Slew Disable function block Slew Enable function block Snapping to Grid option Space Blocks option Edit menu spacing blocks START block Stop Motion function block swapping blocks Swapping Blocks option Edit menu system functions adding system defined variables T Terminal Monitor function block Test Diagram option Diagram menu testing diagrams title bar purpose Trace window purpose Translate to Script option Publication 1398 5 11 February 1997 l 6 Index Diagram menu translating diagram to script successful un
102. ions such as your operating mode GML Ultra Application Window The application window illustrated below is the basic GML Ultra window It provides the main menu for accessing the GML Ultra functions and features Refer to the Understanding Your Tools section in this chapter for descriptions of the title bar and the main menu File E dit Definitions Module Diagram windows Help E Title Bar Main Menu This window is always visible when GML Ultra is open but you never see it alone When you open the application a New Diagram window appears immediately after the GML Ultra application window opens When you are online the Online Manager window also appears here Publication 1398 5 11 February 1997 2 2 Before you Begin GML Ultra Diagram Window Diagram Editor Window Publication 1398 5 11 February 1997 The GML Ultra diagram window provides the workspace for using the Diagram Editor to create edit and test programs It also provides access to e all the menus and toolbars e the block palette definitions menus setting breakpoints translating diagrams to script function and the Online Manager The illustration below shows a diagram window on top of the application window Controller File Edit Definitions Module Diagram Windows Help STAR ULT Ultra Control Family START ULT Setting a program number of Run the program START ULT 255 causes the Ultra Plus to check parameters to determine hich progra
103. istration event set up by a previous arm Registration black occurs Choose the desired Interrupt Input Input 11 interrupt Input 12 Interrupt fram the pop up menu Mote If vau selected Wait Far Tripped in the arm Cancel 2 Make an entry in the following field Field Description Source Select one of the following Input 11 Interrupt To wait for Interrupt 1 to occur Input 12 Interrupt To wait for Interrupt 2 to occur 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 50 Understanding Blocks Wd Xkey e The Xkey block allows you to simulate an operator pressing an Xkey The keys marked X1 through X4 on the operator terminal are special function keys Xkeys that when pressed execute a routine in parallel with the application program To enable an Xkey routine you need to use the Xkey Handler block to create a condition IMPORTANT Only one Xkey routine can be running at a time If an Xkey routine is running when the Xkey block is executed then the current Xkey routine ends and the new Xkey routine is started To simulate pressing an Xkey 1 Double click on the Xkey block A dialog box similar to the following appears X key Program Simulates an operator pressing an AkKev The xkev routine must have been enabled previously with a Set Condition block Cancel 2 Make an e
104. it menu appears Select Select All All the blocks and modules in the diagram are selected START uauuu 4444 pror Ana pase pr pr New Diagram From the menu bar select Edit The Edit menu appears Select Align Blocks The selected blocks align Spacing Blocks Snapping to the Grid Snapping to the Grid 4 9 Pe Pe p pr aI EHE EN uation Blocks that are evenly spaced are easier to read When a diagram becomes cluttered and blocks overlap it is time to space the blocks and modules so you can keep track of what you are doing To space blocks for readability 1 From the menu bar select Edit The Edit menu appears 2 Select Select All The entire diagram is selected 3 From the menu bar select Edit The Edit menu appears 4 Select Space Blocks 5 Click your left mouse button in another area The diagram selection is cleared and the blocks are uniformly spaced New Diagram Note You can Align Blocks at this time for optimum readability You define how you place blocks in the diagram by using the Snap To Grid option in the Preferences dialog box GML Ultra divides the diagram into invisible horizontal and vertical lines The horizontal grid is set for 4 the size of a block and the vertical spacing is set for 2 the size of a block Publication 1398 5 11 February 1997 4 10 Working With Blocks You can specify that blocks be aligned to the nearest horizontal and or vertical grid line
105. lated documentation Where to find help Technical support Common techniques used in this manual Who Should Use this Manual Purpose of this Manual Contents of this Manual Use this manual if you are responsible for designing testing or debugging GML Ultra diagram programs used with ULTRA Plus controllers GML Ultra is a member of the GML family This manual is a user guide for the GML Ultra programming tool It describes the procedures you use to design a diagram define the parameters of each block function and download test and debug the diagram all using the graphical interface unique to GML Chapter Title Contents 1 Overview of This chapter provides an introduction to GML Ultra GML Ultra 2 Before You This chapter describes what you need to Begin know about GML Ultra before you build your first diagram It includes Descriptions of the GML Ultra screen what it looks like how it works what options are available to make your diagram easy to build easy to copy easy to find and easy to troubleshoot Descriptions of GML Ultra menus and toolbars Descriptions of function block libraries Publication 1398 5 11 February 1997 P 2 Preface Where to Find Help Using the Manual Set Publication 1398 5 11 February 1997 Chapter Title 3 General Procedures Working with Blocks Working with Diagrams Working with Modules Working with Scripts Going Online Understanding
106. lay CLEAR DISPLAY mone Row C Column f Length 1 Clear the operator terminal screen Enter the optional Row and Column where clearing will begin and Length The tap raw is 1 and the left hand column is 1 If anly a raw is specified that row an the Cancel 2 Make entries in the following fields Field Description Row To clear an entire row on the operator terminal screen type the number of that row To clear an area within a row 1 Type the number of the row at which you want to begin clearing 2 Enter column and length values Column Type the number of the column at which you want to begin clearing To clear a number of characters beginning at a location you also have to enter a length in the Length field Length Type the number of characters to be cleared starting at the row and column specified Publication 1398 5 11 February 1997 9 6 Understanding Blocks Publication 1398 5 11 February 1997 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Define Scan Event The Define Scan Event block allows you to define a scan event and conditions Scan events are executed continuously in parallel with the application program To define the actions of a scan event you need to create a condition handler using the Scan Event Handler block You must enable each scan event using the Set Condition block IMPORTANT You m
107. lay an error message when a fault occurs Warning Message To display a warning message when a fault occurs 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Print to Display The Print to Display block allows you to display messages and variable values on the operator interface To define a message and position it on the operator interface 1 Double click on the Print to Display block A dialog box similar to the following appears Print to Display Print to Display E C Set Row Column l Message enter message text here Variable Force to Port B Displays messages and variable values on the operator interface Save Enter the optional Row and Column where printing will begin The tap raw is 1 and the left hand column is 1 pee Enter an optional message Optionally selectthe Type of Cancel Redefine Position 9 35 2 Make entries in the following fields Field Description Set Row Type the row at which the message begins Set Column Type the column at which the message begins Message Type the message that you want to appear Variable Select the type of variable that you want to display Force to Select the Force to Port B check box to print to Port B Port B The default is Port A the operator terminal port 3 Select the variable you want to display from the scrolling list 4 Select Save The dialog box closes The
108. le The File menu appears 2 Select Open Diagram An Open dialog box appears similar to the following Open 7 Look in E3 Diagrams HE i 1334 arl T Drillfd ami Multadd grl Avishnk grl s D ualreg gril Ed Multitsk gml d s Benchmrk gml s Flthnalr arl s Packlabl gml s L ailwind gml s Flyshear gmil s Fickplac qml Conveyor gml s Imtsdemoa gril is Sheeter gml D atarec gml s Library grl d Simpfeed grl Slipcomp c E ii Timer ami f a File name Timer gmi Files of type GML Diagram Files qrnl Cancel 3 Highlight the diagram you want to use Select Open The diagram opens and becomes active Note A diagram can be an entire program or it can be just a module 4 Select the module you want to copy The module is highlighted Note Itis not necessary to open a module to copy and use it Publication 1398 5 11 February 1997 5 8 Working with Diagrams Using a Preexisting Diagram Publication 1398 5 11 February 1997 10 11 12 From the menu bar select Edit The Edit menu appears Select Copy The module and all its blocks connections and block parameters are copied From the menu bar select Windows A list of open diagrams appears Select your new diagram by name or number That new diagram becomes active In the Diagram Editor window of the new diagram place your cursor where you want to insert the copied module From t
109. ler Color Code for Blocks Understanding Your Tools 2 11 GML uses color to group blocks by function Color Green Red Yellow Brown Pink Violet Light Green Light Yellow White Function Initiate or change motion Stop motion Change setting or configuration Affect program flow control Provide I O control Provide operator interface functions Provide communications facilities Provide calculations tables and other similar functions Provide miscellaneous functions that are not available in the categories above Publication 1398 5 11 February 1997 2 12 Before you Begin Publication 1398 5 11 February 1997 Starting GML Ultra Creating New Files Creating a New Diagram Chapter 3 General Procedures This chapter contains step by step procedures for tasks you use frequently while programming in GML Ultra These tasks include the following e Starting GML Ultra e Creating new diagrams and scripts e Opening diagrams and scripts e Saving and naming a diagram e Naming blocks and modules e Printing diagrams and scripts e Closing a file e Exiting GML Ultra To start GML Ultra double click on the GML Ultra icon The GML Ultra application window appears with a new active unnamed diagram window One of GML Ultra s time saving features is its ability to use existing diagrams to create new ones and to save diagrams or parts of diagrams for this purpose Also GML Ultra supplies a li
110. lock on the diagram with another block To replace a block 1 On the diagram select the block you wish to replace 2 From the File menu select Change Block The Diagram Library appears 3 Select the replacement block in the diagram it replaces the original block Use the Insert Between option to insert a new block between two existing blocks To insert a block 1 On the diagram select the two existing blocks 2 From the File menu select Insert Between The Diagram Library appears Note The Insert Between option is disabled gray until you select the two blocks 3 From the Diagram Library select the block you wish to insert The new block appears between the two selected blocks You can treat a group of blocks as a unit by placing a temporary box around them They can then be manipulated as a group To group blocks 1 Place the blocks so you can draw a box around them without including other blocks 2 Place your cursor at the upper left of the group Swapping Blocks Making Changes to Your Diagram 4 7 3 Press and hold the left mouse button and drag it to the lower right of the group A box is drawn around the group et a Disable Gear Show Program Status 4 Release the mouse button The blocks are highlighted You can now work with the block group as a unit For example you can move as shown above cut or encapsulate the blocks as a group For more information about encapsulating bl
111. m 1 2 3 Select the information you want to remove From the menu bar select Edit The Edit menu appears Select Cut The information is removed from your diagram and stored temporarily on a clipboard At this point you can either Ignore it and consider the information permanently deleted from your diagram Paste the information into another diagram or a different place in the same diagram Undo the delete action to restore the selected parts Clearing Information from Your Diagram Clear deletes the selected blocks but does not put them on the clipboard so it 1s not available for pasting To clear selected information from your diagram 1 2 3 Select the block or blocks you want to clear The blocks are highlighted From the menu bar select Edit The Edit menu appears Select Clear The information is deleted from your diagram At this point you can either Publication 1398 5 11 February 1997 3 8 General Procedures Publication 1398 5 11 February 1997 e Ignore it and consider the information permanently deleted from your diagram e Undo the delete action to restore the selected parts Deleting a Block from a Diagram If you place a block in the Diagram Editor window and then change your mind you can delete it To delete a block 1 Select the block 2 Press Delete 3 At this point you can either e Ignore it and consider the information permanently deleted from your
112. m Editor Window 4 1 Using the Diagram Library i rr rir re ex deta eines 4 1 Usma tae Block Paletleass sei E MM aoe en De nan IE 4 2 Manipulating iore cde EP 4 3 USING ING CUS ON E OU 4 3 Connecting BIOCKS cccecccceececeeeeceeeeceeeeceeeeseeeeseueeseuseseueeseneesaes 4 3 MOVIHO ABIOCGKS ubi tide stia aia dead tait ad Rad uv aHa Hun aoa a 4 4 Showing the Connection LINGS cccceececeececeeeeceeeeeeeeeseeeeseeeeeaes 4 4 DisScoriDecHing BIOCKS adque sequ uda d ad dado 4 4 Making Changes to Your Diagram cccceccceecceeeeaeeeseeeseeeeeeeneeeneeess 4 5 SelSCHAG p nete c cc 4 5 DUONG auhg dlOe Kisistutulsdciatcetidatutatctatoetid edis at cet eatutattatdiialt 4 5 Adding EOC RET 4 5 ROpaCINO A BIO Kosie EEEE EEE EE EEEN 4 6 INSCMING 4 BIOCK rena 4 6 Grouping BIOCKS aise enero ee tel 4 6 SWAPPING BIOCKS S idit tumquam ug an nuu RE uE 4 7 PONG BIOCKS siema P E E Ru E cC ERES 4 8 Spacing BlOCKS iriiritia toilet allies 4 9 Snapping to the Gid cccccsceceecccceeecceeecceeecceeecceeecceeecseesceeeseeesees 4 9 ACCESSING DIOCK INONMA yea Gua Garda ar AR a e ea a Ri 4 10 Setting Block Function Parameters ccccccccseeeeeeeeeeeeeeeeeeneeeeneeeens 4 10 Using Mathematical Expressions as Values ssssssse 4 11 Understanding Expressions ccccseccseeeceeeeeeeeaeeeseeeseeeeeueeeeeeaes 4 11 Usmo the Expression Buil
113. m the PC to the ULTRA Plus Transfer the Fault History from the ULTRA Plus to the PC Send or receive an executable file from the PC to the ULTRA Plus For more information refer to Deleting a Diagram Downloading Your Diagram Upload Options Controlling Online Functions 8 9 Functions for Managing Program Execution Use this button Abort Auto ESTOP Examine Go Resume Step Trace To do this For more information refer to this section Stop program execution Stopping a Program Automatically step through an application program Using Auto Trace one instruction at a time Kill any motion stop program execution and turn Stopping a Program and Killing the Feedback off Motion Examine the value of any defined variable Select the variable from the variable list then select the Examine button To monitor a variable continuously in real time select Watch from the Command Watch field Execute an application program residing in an ULTRA Plus The program to be run is determined by the program type and program selected in Control Options on the Definitions menu and must have been downloaded to the ULTRA Plus Resume program execution When motion Resuming a Suspended resumes the position target is the same as before program the interruption Manually step through an application program one Using Step instruction at a time Show program flow while running the program at Using T
114. m the menu bar select Diagram The Diagram menu appears 3 Select Translate to Script Upon successful translation a script file similar to the following appears in the Script Editor window Publication 1398 5 11 February 1997 2 8 Before you Begin EN NEW_DIAG QPS For Firmware Ultra Plus 3 10 or later TITLE GMLPROG PGMTYPE MAINPGM BEGIN MAIN MODULE NEV _DIAG ULT MOVP 0 Move Axis ACCEL 4 Equation XNPGM 4 Xkey END END MAIN MODULE NEVW_DIAG ULT For more information on using the Script Editor to view and fine tune your program refer Translating to Script Quick Reference to GML Ultra Windows Work area Purpose Available Available Off line Online Application Window Access to the main menu for GML Ultra functions V y and features Diagram Window Workspace for using the Diagram Editor to create v and edit diagrams Diagram Editor Window Provides functions and features to create and edit V diagrams Online Manager Window To communicate in real time with your motion v controller Trace Window Online to monitor the sequence of blocks V executing in a program For debugging Watch Window Online to monitor a variable as it executes in a v program Command Window Online to monitor a command and or response s link with the controller Script Editor window To view and edit text files including script v y documents generated from GML documents Publication 1398 5 11 February 1997
115. m to run Block Name Block Name desci Diagram Nam Diagram Editor window A new Diagram Editor window illustrated above appears each time you open GML Ultra and each time you open a new diagram You use the Diagram Editor to create edit translate and test your GML Ultra application programs You can create or edit programs in this graphical environment then transparently translate them into their native language Although several Diagram Editor windows can be open simultaneously only one can be active at one time Online Manager Window Understanding Your Work Area 2 3 Use the Online Manager to communicate with your motion controller The Online Manager window provides real time communication with the motion controller through the scripted program It allows you to exchange information and control processing It also provides a venue to monitor and supervise the execution of commands and partial or total programs Tools such as breakpoints are provided for graphical testing and debugging Two additional windows are available when you are online the Trace window and the Watch window e Inthe Trace window you can visually follow program execution GML Ultra highlights each block or module as the program in the motion controller executes that block For more information refer to the Trace Window section in this chapter e Inthe Watch window you can watch a command function as it executes in a program For more inform
116. modules Duplicate option Define Scan Event function block Edit menu Define Xkey function block duplicating Definitions option blocks Diagram menu Delay function block 9 9 E Delete option Cdt menm compare with Cut and Clear Align Blocks option sd Block Information option dicam Build Expression option changing a Clear option 10n 9 9 creating a new 3 1 5 1 EODD ar M Cut option display information zh E content Duplicate option duplicating some or all 3 9 Find Acai non naming a new E Paste option opening a 34 isa a Redo option Select All E Space Blocks option saving a new saving changes Swapping Blocks d selecting a complete diagram Undo option Diagram Editor window Edit Soha purpose 227 i B32 Diagram Info option ea ee Script menu a anne d Edit Value function block cd ary Encapsulate option using the 4 1 Diagram menu Module menu Definitions option encapsulating blocks 1 1 END block Diagram option Equation function block Edit option Exit option File option File menu Find option Eius Help option Module option 3 2 ME Sm Translate to n pi ion Vi nici Windows option 3 E diagrams ice selecting a complete Bde ET testing us translating to script 7 1 F dialog boxes Expression Builder Feedback function block Find Block fields Find Replace 7 7 entering expressions as
117. n link 6 B Publication 1398 5 11 February 1997 N naming a diagram blocks New Diagram option 3 1 File menu 5 1 New Module block 6 1 New Module function block as a library New Script option File menu numerals adding 4 14 Online Manager opening 8 1 Online Manager window purpose Open Diagram option Open dialog box Open Script option opening a diagram a script operators adding expression Output Off function block Output On function block overview GML Ultra 1 1 P parameters finding specific setting parameters Paste option Edit menu pasting clipboard contents Patch Statement function block Pause Move function block PDM See Positioning Drive Module Personality Module PM purpose PM See Personality Module Positioning Drive Module PDM purpose 1 1 preface P 1 Print Diagram dialog box 3 13 Print Fault function block Print to Display function block printer setting up printing a diagram 3 a script all modules of a diagram S14 selected modules of a diagram product support local sales and order service agreements technical training telephone number warranty publications related Allen Bradley purpose of this manual P 1 Q quick reference to GML Ultra windows H Redefine Position function block Redo last action Redo option Edit menu 3 10 Registration funct
118. nable the rate of change racceleratian limit far the output af the gear function 2 Make an entry in the following field Field Description Slew Type the value in user units per second that represents the maximum acceleration to match speed with the master 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Stop Motion The Stop Motion block allows you to disable motion in progress and bring the axis to a decelerated stop To enter a stop motion 1 Double click on the Stop Motion block A dialog box similar to the following appears Stop Motion STOP MOTION Mode Stop All Motion bal Decelerate Move Stops any motion an the axis without disabling feedback Choose the desired Mode from the pop up menu Publication 1398 5 11 February 1997 9 44 Understanding Blocks Publication 1398 5 11 February 1997 2 Make entries in the following fields Field Description Mode Select one of the following Stop All Motion All motion caused by any previous Move Axis Jog Axis and Gear Axis blocks is stopped simultaneously bringing the axis to rest Stop All Gearing Stop all Gear Axis blocks Stop All Jog Stop all Jog Axis blocks Stop All Move Stop all Move Axis blocks Decelerate Select this check box to use the default Move acceleration to stop motion If you do not select this check box no deceleration is used
119. ndex To print an index containing a page reference for each module that has been printed 4 Select Print For a hard copy of your program script to edit or keep on file print a script as follows 1 Convert your diagram to script 2 From the File menu select Print The print function begins Status dialog boxes similar to the following appear The script prints GHL Printing XN Pec Printing EXHOHME GPS Printing JOGREY QP5 Finishing Page 1 Ending Document You can close a file at any time You need not be finished with the diagram The system saves whatever you have completed Use the following procedures e Closing a file before saving it e Closing a file that is saved and named Publication 1398 5 11 February 1997 3 18 General Procedures Closing a File Before Saving It Publication 1398 5 11 February 1997 A diagram is considered new until it is saved Usually you name a diagram when you first save it If you close a file without saving it your work is lost To close a diagram 1 From the menu bar select File 2 Select Close The following dialog box appears Save changes to New Diagram before closing Cancel No 3 Select Yes The Save As dialog box appears The name is highlighted in the File name field Save As EES File name Folders c windows pragr ultdemo E Cancel new gml oy c newer gml windows newest gml a aldai C3 programs test_a_gml
120. ndow You use this window to make standard editing changes to your diagram such as cut copy paste Descriptions of these options are in the General Procedures chapter You also use this menu to select editing features that are specific to GML Ultra such as moving blocks and accessing block parameters These options are described in this section Use the Select All option to select all the elements in the Diagram Editor window This option is often used with other editing changes to your diagram such as aligning and spacing To select the entire diagram select Select All from the Edit menu Every block module connection property and parameter is highlighted Use Duplicate on Edit menu to make a copy of an existing block in a diagram To duplicate a block 1 Select the block you want to duplicate 2 From the File menu select Duplicate 3 A copy of the selected block appears next to the original block You add a new block to a diagram by selecting it from the Diagram Library You can display the Diagram Library in two ways l Click on the Library Browser the first block on the left 2 From the File menu select Add 3 Move the cursor when you want to add a block Publication 1398 5 11 February 1997 4 6 Working With Blocks Replacing a Block Inserting a Block Grouping Blocks Publication 1398 5 11 February 1997 4 Click the left mouse button The block is added You can quickly replace one b
121. ns The Definitions menu appears 2 Select Watch Items The Watch Items dialog box appears Watch Items Defined Items Items to Watch Feedback Velocity Filter 0 Acceleration Feedback Velocity Scale amp dd 1 Define Home Input Word Feedrate Default 2 Current Limit Filtered Feedback Velocity 3 Feedback Position Following Error Following Error Limit Following Error Time Gear Position Gear Ratio Hard Reset Input Word Defines the data items which are available for realtime monitoring via the SERVO hal Online Manager Watch Option Data may Cancel 3 In the Defined Items field in the Watch Items dialog box select the variables you want to track A check mark Y appears in front of the selected variable 4 Select Add The variable appears in the Items to Watch field 5 Repeat steps 3 and 4 to add more items 6 Select Save The dialog box closes The items are placed in the Variable View window on the Online Manager window 7 Inthe Command Watch field in the upper right corner of the Online Manager window select Watch The Watch window appears The selected items appear in the Watch Window in the Online Manager window Analog o Digital Available Program Spaces Average Current Fault Setpoint Command Current Command Position Command Position External Analog To Digital Converter Available Program Spaces Monitoring Program Flow 8 15 8 Scroll the Watch window to the find the variable s you w
122. nt to copy Press and hold the left mouse button Drag the cursor to the lower right corner of the area you want to copy A dotted rectangle surrounds the area Release the mouse button The selected portion of the diagram is highlighted From the menu bar select Edit The Edit menu appears Select Copy The selected portion is copied to the clipboard From the menu bar select Windows A list of open diagrams appears Select your new diagram by name That new diagram becomes active Place your cursor in the Diagram Editor window of the new diagram at the place where you want to insert the copied module From the menu bar select Edit The Edit menu appears Select Paste The module is pasted into the new diagram Note You can change settings now later or keep the module as is Continue adding blocks and modules new or existing to complete your diagram Publication 1398 5 11 February 1997 5 10 Working with Diagrams Converting a Diagram to a Script Publication 1398 5 11 February 1997 Before you perform a download you could view a script to identify problems IMPORTANT Changes made to a script do not convert to changes in the corresponding diagram To translate your diagram 1 Make sure the diagram you want to view is active 2 From the menu bar select Diagram 3 Select Translate to Script The script appears in a window similar to the following FR FAz Application ID B 33 0 B 452
123. ntry in the following field Field Description X key Type the number 1 4 that represents the Program Xkey routine defined by a previous Define Xkey block and Xkey Handler and activated by a previous Set Condition block 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 Xkey Handler 9 51 Xkey Handler The Xkey Handler allows you to place a new blank module on the diagram Xkey handlers perform their actions in parallel with program execution The keys on the operator terminal marked X1 through X4 are special purpose keys Xkeys that when pressed cause the execution of an Xkey Handler Only blocks relevant to this module are available in the block library IMPORTANT You must connect the input node from node 2 the lower output node of a Define Xkey block and you cannot encapsulate it You cannot connect back to the diagram File Edi Definitions Module Diagram Windows Help New Diagram Ultra Control Family C _Xkey Handler v gt STRRT Xkey Handler Xkey Handler Publication 1398 5 11 February 1997 9 52 Understanding Blocks Publication 1398 5 11 February 1997 A Add option File menu adding blocks numerals expression operators 4 41 14 system functions system variables and flags user variables and flags Align Blocks option Edit menu aligning blo
124. nu and Cancel 2 Make entries in the following fields Field Description Direction Select one of the following Forward To jog the motor forward Reverse To jog the motor reverse Speed Type the speed at which the motor jogs 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 Motion Settings 9 27 Motion Settings The Motion Settings block allows you to change the working profile values used with all subsequent moves Note This block does not change the power up profiles that are defined in setup It only changes the current working profile and subsequent motion for this axis To change the value of all moves following this block 1 Double click on the Motion Settings block A dialog box similar to the following appears Motion Settings E MOTION SETTINGS Default Move Settings C Speed Overspeed E C Accel Decel je Directly changes the default move settings Used with all subsequent moves Enter an optional Speed drive Overspeed andiar Acceleration Deceleration value Cancel 2 Make entries in the following fields Field Description Speed Type the speed for the move or jog This changes the working velocity value used with subsequent Move blocks Overspeed Type the overspeed fault set point Accel Decel Type the acceleration and deceleration value 3 Select Save The d
125. numbers of your products available when you call Refer to Where to Find Help for the publication numbers related to this product The Rockwell Automation Technical Support number is 216 646 6800 Common Techniques Used in this Manual The following conventions are used throughout this manual Bulleted lists provide information not procedural steps Numbered lists provide sequential steps Words that you type or select and keys that you press appear in bold Field names and references appear in italics Warnings appear with the following symbol ATTENTION This warning identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss This symbol indicates a situation that requires immediate attention for personnel safety or for preventing harm to machinery IMPORTANT Identifies information that is critical for successful application and understanding of the product The term select means that you use your mouse cursor to point to the value then click and release the left mouse button to mark your choice Depending on the field you can select one or more options for a field The options appear in various formats e Sometimes you must browse through a list to find the value you want Clicking an option in the list highlights your selection e Sometimes you can select several values in one area A check in a box IV is used when you can select more
126. o select and position blocks in the Diagram Editor window e Selecting a block from the Diagram Library e Picking and placing a block from the block palette The Diagram Library contains all available blocks for your motion controller To access blocks from the Diagram Library 1 Atthe far left of the block palette select the Library Browser block Publication 1398 5 11 February 1997 4 2 Working With Blocks Using the Block Palette Publication 1398 5 11 February 1997 Reset Axis Redefine Motion Fault F aul sition Settings Choose the desired move Type Absolute Incremental Velocity ar Custom fram the pop up menu and values ar expressions far the desired Position or Distance and Speed Move type include Note More blocks are available by sliding the scroll bar down 2 Select a block The block is highlighted and a description of the block s function appears in the text area on the right Note In the example above the Move Axis block is selected 3 Select the Select button The Diagram Editor window appears and the cursor changes to a finger 4 Position the cursor and click the mouse button The selected block appears in the Diagram Editor window Recently used blocks appear in the block palette the string of colored function blocks you see across the top of the screen This palette is useful when you need to reuse a block repeatedly The most recently selected block is positioned in
127. oad or delete a file Publication 1398 5 11 February 1997 8 6 Going Online Downloading Your Diagram The download process translates the diagram to script and downloads the script to the controller If you make functional changes to your diagram you must download it again before you run it You do not need to download if the changes are non functional changes such as dragging blocks or connections To download your diagram 1 In the Online Manager window select Download Diagram The download process begins A dialog box appears requesting confirmation to download The Control s Application is going to be modified to reflect the changes made to the Diagram Do you want to Continue with the Download 2 Select Yes The download continues Downloading Axis and Drive Setup Data Publication 1398 5 11 February 1997 You can download axis drive setup data along with the diagram This includes axis specific gains dynamics drive data encoder data motion profiles tolerances homing overtravel and fault configurations If you have changed the GML Ultra default setup options and want to override the setup configuration resident in the controller you must select the Axis Drive Data Download field in the Control Options dialog box A ATTENTION Be sure you have valid axis drive data in the Axis Use dialog box before you download your diagram if you have selected Axis Drive Data Download To download the saved axis d
128. ocks refer to the Encapsulating Blocks section Use the Swap Blocks option to swap the location and connections of two selected blocks The blocks need not be connected In the example that follows the Control Settings block 1s swapped with the Output block This is the current position of the blocks ek ih Control Settings Un Watch Output To swap two selected block positions in a diagram 1 Select one of the blocks to be swapped by selecting it with your left mouse button It is highlighted Control Settings On Watch Publication 1398 5 11 February 1997 4 8 Working With Blocks Aligning Blocks Publication 1398 5 11 February 1997 Select the second block to be swapped by holding down the Shift key and clicking the second block with your left mouse button You should now have two selected blocks From the Edit menu select Swap Blocks The blocks switch positions gt Un watch Control Settings Click your left mouse button in another area of the pane to clear the TR CO selection un Output On Watch Control Settings Use the Align Blocks option to align blocks on a vertical or a horizontal grid The Align Blocks option affects either e The entire Diagram Editor window pane you do not need to select anything This 1s the default e Only the portion of blocks that you select To align the entire diagram 2 From the menu bar select Edit The Ed
129. on at which you want to put the information 2 Click the left mouse button 3 From the menu bar select Edit The Edit menu appears 4 Select Paste The copied information appears in the diagram Note The information on the clipboard remains there until you cut or copy something else which then replaces the previous information The clipboard only holds one item at a time Selecting a Whole Diagram at Once This option selects all the elements in the Diagram Editor window Select All is most often used in combination with other editing changes to your diagram such as aligning and spacing To select the entire diagram 1 From the menu bar select Edit The Edit menu appears 2 Select Select All Every block module and connection is highlighted Note At this point the information is NOT copied Duplicating Part of Your Diagram Duplicate creates an identical block or set of blocks in the same diagram Those blocks can then be moved to a different location in the diagram To create an identical block or group of blocks 1 Select the information to be duplicated The block s are highlighted 2 From the menu bar select Edit The Edit menu appears 3 Select Duplicate A second block or set of blocks appears in the diagram The new set is highlighted 4 Drag the new blocks to the new location Saving and Naming a New File 3 11 Undoing the Most Recent Action You can undo an action if you make a mistake o
130. onitoring Program Flow 8 11 To suspend program execution in the Online Manager window select Pause The program suspends execution It can be resumed without a new download Resuming a Suspended Program To resume a suspended program from the point of suspension in the current run mode in the Online Manager window select Resume The program restarts from the point of suspension in the current run mode Stopping a Program To stop a program in the Online Manager window select Abort The program stops Stopping a Program and Killing Motion To stop a program and kill motion press ESTOP The enabled relay is opened To recover from this condition either execute a Feedback on the block or cycle power to the controller Monitoring Program Flow GML Ultra provides several options for monitoring program flow Option Trace Auto otep Breakpoints Watch Description Displays program flow with the executing block highlighted Runs at full speed Displays program flow with the executing block highlighted Runs at less than full speed Displays program flow You control the process by pressing a button to step through the program one block at a time oet a specific point to pause a program so you can check it To display variables you want to monitor Publication 1398 5 11 February 1997 8 12 Going Online Using Trace Using Auto Publication 1398 5 11 February 1997 Use Trace to period
131. oop Proportional Gain PGain Velocity Loop Integral Gain IGain or Filter value Once the velocity loop has been tuned the position loop can be tuned The parameters used to tune the position loop are e Position Loop Proportional Gain PGain e Integral Gain IGain e Integral Zone Izone Tuning Motors and Drives 8 29 e Velocity Feedforward Gain VFF e Proportional Zone PZone e Proportional Gain P in Zone Changing the position loop proportional gain changes the position loop bandwidth When you use an integral gain in the position loop you reduce the effects of friction and allow zero error when holding position Integral gain IGain is used in conjunction with the integral zone Izone The integral zone Izone is the area around the commanded position where the integral gain IGain is active The velocity feedforward gain is used in the position loop to minimize the following error when the system is moving The proportional zone parameter PZone sets a zone around the commanded position where the position loop proportional gain is changed to the gain set by the proportional gain in zone P in Zone parameter Tuning using the step response allows adjustment of the position loop proportional gain PGain integral gain IGain integral zone LZone proportional zone PZone and proportional gain in zone P in Zone Tuning the Velocity Loop To tune the velocity loop using Manual Tune 1 Follow the Auto
132. or expressions representing the ratio between the number of follower axis feedback counts and the number of master axis feedback counts Note A negative gear ratio causes the motor to move in the direction opposite that of encoder 2 Publication 1398 5 11 February 1997 Field Follower Master Ratio Follower Counts Master Counts Slew If Axis 9 17 Description If your ratio is a real number type the real number or expression that represents the ratio of follower axis counts to master counts If your ratio is a fraction type the pair of integer numbers or expressions that represent the ratio between the number of follower axis feedback counts and the number of master axis feedback counts Select the Slew check box and type the value that defines the maximum acceleration of the follower axis Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set If Axis The If Axis block allows you to check the status of an axis If the status of the axis matches the chosen status program flow branches to the 1 true node If the status of the axis does not match the chosen status program flow continues to the 0 false node 1 Double click on the If Axis block A dialog box similar to the following appears D IF AXIS Status In Position ww Checks the specified status ofthe axis Ifthe status ofthe axis matches the chosen Status then
133. osition loop Enter in percent If the Change field is Velocity Loop Gain use this field to adjust the following error of the velocity loop Enter in percent Publication 1398 5 11 February 1997 Change Jog Dynamics 9 3 Field Description Integral in zone To set an integral gain If the Change field is Position Loop Gain use this field to bring the system into the specified position more quickly and increase the stiffness of the position loop The zone determines the region around the commanded position where the position loop gain is active If the Change field is Velocity Loop Gain use this field to improve the stiffness of the velocity regulator and to reduce the effects of load disturbances Excessive integral gain results in velocity overshoot and could cause instability Value Type the positive number that represents the proportion of the gain Note You can use the Expression Builder to enter this value Select Edit from the menu bar 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Change Jog Dynamics The Change Jog Dynamics block allows you to change on the fly the speed acceleration and deceleration of trapezoidal profile jogs Once a jog has been stopped by a Change Dynamics to Zero speed you can either Change Jog Dynamics to a nonzero speed to resume the jog in the same direction or use a Jog Axis block to s
134. out practices or circumstances that can lead to a personal injury or death property damage or economic loss Attention statements help you to Identify a hazard Avoid the hazard Recognize the consequences Important Identifies information that is critical for successful application and understanding of the product GML GML Ultra and ULTRA Plus are trademarks of Allen Bradley Inc Microsoft and MS DOS are registered trademarks and Windows is a trademark of Microsoft Corporation Preface GML Ultra Overview Before you Begin General Procedures Table of Contents Who Should Use this Manual cccccscceceececeeeeseeeeeeeeeseeeeseeeeeeeeesees P 1 PUOSC ONIS MINUA reee e Re EEE REEE REEE P 1 Contents Of this Manual ices cess essere coercet ete e eec rere irai e aes P 1 Li dais to uinea je em rr P 2 Using the Manual Starissa nennen nnns P 2 Jomo Onne A Cl 0 Eom P 3 Related DOCUMENTATION ccccceccceecceeeceeeeeeeeceeceueceueeceeeceeeseueseeeenes P 4 Rockwell Automation SUDDO sica eben ioter ba eR dioe ioo n NUMEN P 4 Local Product Support cs escent medias viu dtm len teed ncc DP EI ELIT de P 4 Technical ProGuetASSISTANG Gouusduescens sna ta oaa a eai ue RR NR ue P 5 Common Techniques Used in this Manual suse P 5 Chapter 1 HOW VOL S ns cmn IE LM I n 1 1 Motion Controllers that Use GML Ultra sseeessessss
135. ownloaded every time a change is made to the diagram 1 From the menu bar select Diagram The Diagram menu appears 2 Select Online The Online Manager window appears 3 To display the Breakpoint Control dialog box select the block where you want to set a breakpoint 4 Download the current diagram 5 Select Breakpoint from the Diagram menu 6 Setor clear the breakpoints by selecting the appropriate radio button A block with a breakpoint set has a black validation check mark Documenting Your Diagram Documentation provides a place to record information about a specific diagram To document information about your diagram 1 Select the desired diagram from the Windows menu 2 From the Definitions menu select Documentation The Diagram Documentation dialog box appears Publication 1398 5 11 February 1997 5 6 Working with Diagrams Diagram Documentation Application ID enter ID string Application comments Y au can type anything you want in this Space Remember this is the DIAGRAM documentation box nat the MODULE documentation box There is na formatting available in this area just basic text Ma spellcheck Ma tabs Mo bold 3 Type your information 4 Select Save The information is saved and the dialog box disappears Accessing Previous Documentation Publication 1398 5 11 February 1997 When working with a diagram or a module from another diagram you can look at notes or
136. ox select Enter Setups in the Online Manager window Axis Setups Viewing Version Information Gal AXIS SETUPS C Version Information C Digital Outputs C Encoder Test C Operator Terminal C DAC Output C Nonvolatile Memory C Monitor Output Initialize PM Tune C Status and V0 Monitor Provides access from within the Online Manager to the Axis Drive Setups These functions include Hookup Diagnostics and MotorvDrive Tuning The user may optionally save the data Upon completion as well as Update the diagram axis drive parameters Diagram parameters that are updated ce To view the ULTRA Plus firmware version Publication 1398 5 11 February 1997 In the Online Manager window select Enter Setups The Axis Setups window appears Select Version Information Select Execute The current firmware version appears in the window on the bottom of the Online Manager window Initializing the Personality Modules 8 17 Initializing the Personality Modules Before you can initialize the personality module your ULTRA Plus must be disabled To initialize and load the appropriate personality module files for PDM and motor combination 1 Apply input power and check the LEDs e The green DC BUS LED should turn on to indicate power is applied e The bicolor status LED should turn green e If the status light is red the PDM is in a fault condition Continue with the following instructions and clear faults To clear faults
137. ox similar to the following appears Working with Finished Diagrams 5 3 FIND BLOCK C in block s name C in block s parameters C Break Point Look for PO Cancel 2 Inthe Find area select the type of search 3 In the Look for field enter the text you are looking for You can enter up to 255 characters in this field 4 Select the Find It button GML Ultra searches for the text and displays it if it is located Finding the Same Block or Parameter Again Use the Find Again option on the Edit menu to repeat a search you just completed using the Find option Diagram Information Use the Diagram Info option to display the number of blocks and modules in the current diagram To display this information about the current diagram from the Definitions menu select Diagram Info A GML Info dialog box similar to the following appears displaying the information Publication 1398 5 11 February 1997 5 4 Working with Diagrams Testing Diagrams Publication 1398 5 11 February 1997 File Edit Definitions Module Diagram Windows Help RUN ULT Ultra Control Family RUN ULT v RUN ULT Clear Display Prompt Operator Current Program is default GHL Info This diagram contains 0 modules and 12 function blocks Clear Display RUN ULT This option allows you to test your diagram for valid translation into a script for the selected motion controller including tests for valid block parameters and block connections
138. p Printing a Picture of All Diagram Modules To print a picture of all diagram modules 1 Select All Modules All modules including the top level module the diagram itself are printed Modules are printed exactly as they appear on the computer screen and each module is printed on a separate page Select the type of information you want to print about each module For a description of information types refer to the table in the next procedure Note You can print only four pages for each diagram Select the Print button Printing a Picture of Select Diagram Modules To print a picture of select modules 1 Select Selected Modules All the modules in the diagram are listed in the window including the diagram itself From the module list select the modules you want to print A check appears in front of the selected modules Modules are printed exactly as they appear on the computer screen and each module is printed on a separate page Printing a Script Closing a File Closing a File 3 17 3 Select one or more information types you want to print about each module Use the information in the following table Field Description Print Details To print a page describing the parameter values for each block Note Each block is assigned a numeric identifier and is printed on a separate page Print Definitions To print a page describing the module definitions for each selected module Print I
139. p Velocity feedforward gain is entered in percent The system sets velocity feedforward gain 100 P in Zone Proportional zone is the region around the commanded position where the position loop proportional gain is changed to the gain set by the P in Zone field The proportional zone value appears in user units as defined in the Transducer Counts Unit field The system sets proportional zone Pzone 0 Zone Integral zone is the region around the commanded position where the integral gain is active The integral zone value appears in user units as defined in the Transducer Counts Unit field The system sets integral zone Izone 0 10 Select Enable The ULTRA Plus is enabled 11 Select Start The Manual Tune process begins The motor moves back and forth Publication 1398 5 11 February 1997 12 13 14 15 16 17 18 19 20 Tuning Motors and Drives 8 35 If motor response is Do this Sluggish Type a slightly higher value in the PGain field in the Position Loop area Too stiff Type a slightly lower value in the PGain field in the Position Loop area While watching the Feedback_Velocity signal on the Monitor output with the oscilloscope adjust the PGain field in the Position Loop area for the quickest response with minimum overshoot It can be helpful to connect an LED and 2 2k ohm resistor in series to the In Position output to check the In Position output during the tuning process
140. program flow branches to the 1 true node Ifthe Status ofthe axis does nat match the chosen Status then program flow Cancel Publication 1398 5 11 February 1997 9 18 Understanding Blocks Publication 1398 5 11 February 1997 2 Make an entry in the following field Field Description Status In Position Jogging Done Moving Done Homing Done Gearing Done Select one of the following To check for an in position status When the axis locks onto its command position the program branches to the 1 true node In Position FlagZON To check for a jogging done status When the axis 1s no longer being commanded to jog it branches to the 1 true node Jog Active Flagz OFF To check for a moving done status When the axis is no longer being commanded to move the program branches to the 1 true node Move Complete FlagZON To check for a homing done status When the axis has been homed the program branches to the 1 true node Home Sequence Complete Fl ag ON To check for a gearing done status When the axis is no longer being commanded to move from the electronic gearing function the program branches to the 1 true node Gearing Active FlagzZOFF 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set If Expression 9 19 If Expression The If Expression block allows you to evaluate a mathematical expres
141. program using script instead of using the graphical interface IMPORTANT We recommend that you use the New Diagram option to develop new programs To create a new script document 1 From the menu bar select File The File menu appears 2 Select New Script A GML script window appears GHLULTRA e Fille Edit Serpt windows Help Hew Untitled E30 Publication 1398 5 11 February 1997 3 4 General Procedures Opening Existing Files Opening a Diagram Publication 1398 5 11 February 1997 Using the Script Menu The Script window displays menu options pertaining to writing importing and downloading scripts File Edit Script This menu option File Edit Script Windows Help windows Help Provides access to these features Open new and existing diagrams and scripts print functions and general GML Ultra system settings Standard text editing functions Find Replace A list of active diagrams and scripts GML Ultra online help You can access previously written and saved functional modules saved as diagrams and entire diagrams to build your new diagram When the diagram opens you can e Edit or further develop a previously saved diagram e Copy formatted blocks modules or larger portions of the diagram for use in another diagram a primary benefit of GML s graphical design structure To access a diagram 1 From the menu bar select File The File menu appears 2 S
142. r change your mind You only have one chance to undo and you must perform the undo immediately after the action you want to undo To undo your most recent action 1 From the menu bar select Edit The Edit menu appears 2 Select Undo The diagram returns to the way it was immediately before your action Note You can undo only one action Redoing Your Last Action To redo your last action 1 From the menu bar select Edit The Edit menu appears 2 Select Redo The last action you performed on your diagram is repeated Note If you select Redo after an undo the action you undid is redone Note Undo and Redo go backwards one step Editing Your Script Use the Script Editor window to view and edit text files including script documents generated from GML Ultra diagram documents Script Editor provides standard cut copy paste delete and find replace functions ATTENTION Changes to the script cannot be converted back to the graphical diagram For more information on using scripts refer to the Working with Scripts chapter Saving and Naming a New File Use the following procedures for saving files e Saving and naming a diagram Publication 1398 5 11 February 1997 3 12 General Procedures e Saving changes to a diagram e Changing a Diagrams name and location Saving and Naming a New Diagram IMPORTANT Save and name your new diagram even though it is empty The first time you save your diagr
143. race full speed Publication 1398 5 11 February 1997 8 10 Going Online Starting and Stopping Programs GML Ultra allows you to Starting a Downloaded Program Pausing a Program Publication 1398 5 11 February 1997 start a downloaded program pause a program suspend a program resume a suspended program stop a program stop a program and kill motion Note Before you start the program you must download the diagram to the controller Once it is downloaded the control resident application program is synchronized with the diagram Note If you select Go while in Trace mode Trace mode is aborted To start an application program after it has been downloaded to your ULTRA Plus in the Online Manager window select Go The program runs To pause the program at a specific point to monitor machine function set a breakpoint Breakpoints can only be set after the diagram is downloaded The diagram must be downloaded every time a change is made to it You can set up to twenty four breakpoints 1 After your PC is online with the controller and your program is downloaded select the block in the location at which you want to pause the program From the Diagram menu select Breakpoint The checkmark turns black Select Go The program executes until the breakpoint is identified The program pauses To restart the program select Resume The program executes from the point where it paused Suspending a Program M
144. rive data with your diagram 1 From the menu bar select Definitions The Definitions menu appears 2 Select Control Options The Control Options dialog box appears Executing a Direct Motion Command 8 7 Control Upton Firmware Version Ultra Plus 3 10 ww Program Type Program it Download Options Defines the control Executable options for the Ultra Plus AxisiDrive Setup Data may be optionally Downloaded with the Diagram This Axis Drive Data Downloads m includes Axis Specific Multi drop Axis Select fo Gains Dynamics m Cancel C Script and Executable M Add Debug Information Select Axis Drive Download Data A checkmark appears in the box Select Save The configuration you defined in the GML Ultra Definitions menu is downloaded to the controller The new settings override the settings resident in the controller Executing a Direct Motion Command Deleting a Diagram To execute a direct motion command 1 In the Command Watch field in the Online Manager window select Command The Command window appears In the Direct Command window select the appropriate function block The block is highlighted Select Execute The function executes and the script for the function displays in the display field To delete an executable diagram and script file residing in the ULTRA Plus 1 In the ULTRA Plus Directory dialog box select the number or name of the file to delete IMPORTAN
145. s If Registration A IF REGISTRATION Source Evaluates the status of a previously configured registration event Ifthe event has occured then program flow branches to the 1 ttrue node ifthe event has not occured then program flow continues to the 0 false node Choose the desired Interrupt Input Input 11 Cancel 2 Make an entry in the following field Field Description Source Select one of the following Input 11 Interrupt To select hardware Interrupt 1 Input 12 Interrupt To select hardware Interrupt 2 If the event Program flow branches to the Does occur true node Does not occur O false node 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set If Timeout The If Timeout block allows you to evaluate the count down timer you specify to determine if it has timed out If the timer has timed out program flow branches to the 1 true node If the chosen timer has not timed out program flow continues to the O false node Publication 1398 5 11 February 1997 If Timeout 9 25 The following three events must be complete before you insert the If Timeout block e A Define Scan Event block was used to define the use of the timer e A Set Timer block was used to set the value of the timer e A Set Condition block was used to activate the Scan event To use a specified preset timer to decide program flow 1 Double click on t
146. s c Xultdemo ultra Cancel fy cs C3 ultdemo Network E ultra List files of type Drives Files qps E c motion c 3 Select the file you want Publication 1398 5 11 February 1997 3 6 General Procedures Editing GML Ultra Files Publication 1398 5 11 February 1997 4 Select Open The script file opens in the window similar to the It is common to make changes as you work on a diagram Use the illustration below GMLULTRA OF XJ File Edit Script Windows Help Ultra Control Family START ULT START QPS D X TITLE GMLPROG BEGIN MAIN MODULE START ULT PGMMLIM 255 Setting a program number of STARTP OM Run the program END END MAIN MODULE START ULT You can now e Make changes to the script e Select and copy portions of the script to another file e Download the script following options on the Edit menu to make the changes Cutting blocks Clearing information Deleting blocks Copying information Pasting information Selecting a diagram Duplicating part of a diagram Undoing an action Redoing an action Editing a script Making Changes to Your Diagram Editing GML Ultra Files 3 7 All the tools you need to make changes to your diagram are available through the Edit menu Cut Clear and Delete are Not the Same Cut This command Allows Allows undo redo Cutting Blocks from Your Diagram To cut or remove selected information from your diagra
147. s and the Dialog Editor window appears Using Mathematical Expressions as Values Understanding Expressions Expressions are formulas of variables constants and functions that can be used in place of a numeric parameter Although you can type a number expression or variable directly into a field you can also use the Expression Builder to build an expression The Expression Builder includes a calculator keypad a list of special operators and easy access to lists of all variables constants and functions that can be used in expressions This section describes the process for entering values in fields For a detailed description of the Expression Builder refer to the Expression Builder chapter in the GML Ultra Reference manual Publication 1398 3442 Sometimes you need a numerical value or expression to define a parameter for a block A value can be a single constant a variable an array reference a function or any combination in the form of a mathematical calculation You can either enter an expression string directly in the field or build an expression by selecting items from the lists in the lower left corner of the Expression Builder In GML Ultra all operators are of equal precedence and compute in left to right order Use parenthesis to change precedence You can nest operators up to 25 levels deep Arrays or indirect variable references can be incorporated in any expression You can access an array through the Indirect
148. sion and make a logical decision based on its value If the value of the expression is true program flow branches to the 1 true node If the value of the expression is false program flow continues to the O false node To use the If Expression block to make a decision based on an expression 1 Double click on the If Expression block A dialog box similar to the following appears If Expression Pood IF EXPRESSION Command Yelocity 01 Evaluates a mathematical expression and makes a logical decision based an its value If the value of the expression is nat zero then program flow branches to the 1 truet node Ifthe value ofthe expression is zero Cancel 2 Make an entry in the following field Field Description If Type or use the Expression Builder to create a logical expression 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 20 Understanding Blocks If Fault The If Fault block allows you to check for fault conditions on the drive If the selected fault condition is active the program flow branches to the 1 true node If the selected fault condition is not active the program flow continues to the 0 false node To check for a fault condition on the drive 1 Double click on the If Fault block A dialog box similar to the following appears eb IF FAULT Condition
149. successful translating diagrams to script 7 1 U undo last action Unencapsulate option Module menu user variables and flags adding user defined variables V values entering expressions as values in fields W Wait for Axis function block Wait for Enter function block Wait for Expression function block Publication 1398 5 11 February 1997 Wait for Input Off function block Wait for Input On function block Wait for Registration function block Watch Item dialog box Watch window purpose windows Application window 2 1 available offline available online Command window Diagram Editor window Online Manager window 2 3 quick reference to Script Editor window Trace window Watch window Windows option Diagram menu Script menu X Xkey function block Xkey Handler function block as a library oA Rockwell Automation Allen Bradley a Rockwell automation business has been helping its customers improve An Ro productivity and quality for more than 90 years We design manufacture and support a broad Allen Bradley range of automation products worldwide They include logic processors power and motion control devices operator interfaces sensors and a variety of software Rockwell is one of the world s leading technology companies Worldwide representation Argentina Australia Austria Bahrain Belgium Brazil Bulg
150. t Monitor Output Exercises the Monitor Output Digital Outputs Allows digital outputs to be forced ON or OFF to test the outputs and system wiring Operator Verifies communication between the ULTRA Plus and Terminal the Operator Terminal Nonvolatile Does a non destructive test of the ULTRA Plus Memory nonvolatile RAM NVRam I O Status Continuously monitors machine status and the status Monitor of the digital inputs and outputs Can be done anytime even if a program is running The Encoder test checks both Encoder 1 and Encoder 2 To test and or check the size of an encoder 1 From the menu bar select Diagram The Diagram menu appears 2 Select Online The Online Manager window appears 3 Select Enter Setups The Axis Setups dialog box appears 4 Select Encoder Test 5 Select Execute The Encoder dialog box appears Testing the DAC Output Selecting and Running Diagnostic Tests 8 19 To Verify that encoder counts are being received Check the size of the encoder Do this Rotate the encoder As the counts are received the count display is incremented or decremented depending on the direction the encoder is rotated Select Zero Counts to clear the count display Select Zero Counts to clear the count display Rotate the encoder slowly until the size appears in the Size field The size displayed is in encoder counts number of encoder lines multiplied by 4 The DACI
151. t defines the value for the variable 3 Select the variable in the window 4 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Feedback The Feedback block allows you to directly and immediately enable or disable the feedback loop on the servo axis You can use the Feedback block anywhere in a GML Ultra diagram However because it causes an abrupt uncontrolled stop you should not use it while the axis is moving To set feedback condition state 1 Double click on the Equation block A dialog box similar to the following appears Feedback FEEDBACK State Directly and immediately enables and disables the feedback loop Choose the desired State Of On from the pop up menu Mote this Cancel iy Publication 1398 5 11 February 1997 9 14 Understanding Blocks Publication 1398 5 11 February 1997 2 Make an entry in the following field Field Description State Select one of the following ON To immediately enable the feedback loop on the servo axis OFF To immediately disable the feedback loop on the servo axis 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set To use feedback when you must move the axis by hand 1 Select the appropriate axis 2 In the Feedback State field select OFF The position continues to be tracked even with fe
152. t should be saved before quitting 3 The GML Ultra application closes Publication 1398 5 11 February 1997 3 20 General Procedures Note To close only a file within the application select Close not Exit from the File Menu Publication 1398 5 11 February 1997 Chapter 4 Working With Blocks To create a program or diagram in GML Ultra you place blocks representing program functions between the and blocks These two blocks are always present in the diagram and cannot be deleted You generally add blocks left to right in the Diagram Editor window You then connect the blocks to show the flow of program functions You can move blocks around and change their connections which changes program flow You can simplify complex diagrams by grouping encapsulating several blocks together then giving the module a name that describes the group s function To make working with blocks easier we recommend that you e Try to have block connections flow from left to right or up to down e Limit the number of blocks in the work space to ten or less e Try to keep your diagram on one screen so that you don t need to scroll to see parts of it This chapter covers e The physical aspect of blocks such as selecting moving and naming e Using blocks to define functions for your diagram and using the Expression Builder Selecting and Positioning Blocks on the Diagram Editor Window Using the Diagram Library There are two ways t
153. tart a new jog Publication 1398 5 11 February 1997 9 4 Understanding Blocks To define the speed related changes for your diagram 1 Double click on the Change Jog Dynamics block A dialog box similar to the following appears Change Jog Dynamics C Speed Acceleration C Deceleration Changes the Speed Acceleration and Deceleration of trapazoidal profile jogs on the fly Choose the options and enter values ar expressions forthe desired Speed Acceleration andor Deceleration Cancel 2 Make entries in the following fields Field Description Speed Type the speed at which the move or jog occurs Acceleration Type the acceleration at which the move or jog occurs in axis position units per second squared Deceleration Type the deceleration at which the move or jog occurs in axis position units per second squared Note If this value is changed without changing the speed the new value is used for any subsequent jog motion 3 Select Save The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 Clear Display 9 5 Clear Display The Clear Display block allows you to clear the operator terminal screen To clear the entire screen don t make entries in this dialog box To clear specific parts of the terminal display screen 1 Double click on the Clear Display block A dialog box similar to the following appears Clear Disp
154. te that the parameters are set Reset Axis Fault The Reset Axis Fault block allows you to directly reset the ULTRA Plus controller It resets or clears the specified fault status on the specified axis by setting the value of the appropriate fault variable to zero The Reset Axis Fault block does not require you to enter information Publication 1398 5 11 February 1997 9 38 Understanding Blocks Publication 1398 5 11 February 1997 Reset Drive The Reset Drive block allows you to perform a hardware reset Note This block causes the axis to lose home complete Status This block does not require you to enter information Resume Move The Resume Move block allows you to resume motion previously halted by the Pause Move block You can also set a Resume Move by clearing the Pause input The Resume Move block does not require you to enter information Scan Event Handler The Scan Event Handler block allows you to place a new blank module on the diagram Scan event handlers monitor the condition of an event When the scan event is enabled if the event is scanned and the condition is true the actions are performed in parallel with program execution Scanned events can be enabled and disabled within the application IMPORTANT You need to connect the input node from node 2 the lower output node of a Define Scan Event block IMPORTANT You cannot encapsulate this block IMPORTANT You cannot connect this block
155. than one option e Sometimes only one value is allowed A radio button i is used when you can select only one option e When you select a block in your diagram the block is highlighted You can now Publication 1398 5 11 February 1997 P 6 Preface e Move the block by clicking and dragging rather than clicking and releasing e Open the dialog box by double clicking In all cases the term indicates your choice to GML Ultra Publication 1398 5 11 February 1997 How it Works Chapter 1 GML Ultra Overview GML the exclusive Graphical Motion Control Language from Allen Bradley provides a graphical method of programming your motion controller This revolutionary tool reduces the time you need to learn motion control programming and makes problem solving easier GML integrates software programming and debugging to solve your motion control problems GML Ultra a member of the GML family is a Microsoft Windows based interface to the ULTRA Plus series of controllers GML Ultra uses a flowchart approach to motion control programming To produce a diagram motion program you place function blocks representing the specific actions on the screen then connect them in the proper order of operations Later you enter motion and process limits using a fill in the form approach Each block has its own form which you select with a few clicks of the mouse You can enter and change any block at any time minimizing the need
156. the clipboard Editing a Script 7 7 Pasting Text To paste text that has been cut or copied to the clipboard p Using the Script Menu Functions Place the cursor into the script at the new location From the menu bar select Edit The Edit menu appears Select Paste The selection is pasted into the script at that location Use the Script menu to access these functions Find and Replace text strings Find again Finding Replacing Text Find allows efficient searches for known script patterns Replace allows you to automatically make global changes These tools are especially effective for multiple searches in long documents To find and or replace script patterns 1 Convert your diagram to script Refer to the Translating a Diagram to Script section From the menu bar of the active script window select Script The Script menu appears Select Find Replace The Find Replace dialog box appears Find Replace Find Replace with JOG OFF JOGF OFF Iv match case replace text Iv from beginning Iv global replace confirm replace Cancel In the Find field type the text you want to search for in the current text file exactly as it appears in the script file Note Pay special attention to dots and spaces The search is not case sensitive unless you select that option Refer to Step 6 In the Replace with field type the text you want to replace in the Find field Publication 1398 5 11 February
157. the following fields Field Description Status Select one of the following In Position To make the axis wait for a locked condition Jogging Done To make the axis wait for jogging to finish Moving Done To make the axis wait for moving to finish Homing Done To make the axis wait for homing to be complete Gearing Done To make the axis wait for gearing motion to finish 3 Select Save The dialog box closes The diagram appears with the block checked to indicate that the parameters are set Publication 1398 5 11 February 1997 9 46 Understanding Blocks Wait For ENTER The Wait For ENTER block allows you to pause program flow until you press ENTER on the operator terminal The Wait For Enter block does not require you to enter information M Wait For Expression A B C The Wait For Expression block allows you to evaluate and wait for a mathematical expression to be true When the value of the expression is true then program execution continues To pause a program until a value or expression is met 1 Double click on the Wait For Expression block A dialog box similar to the following appears Wait for Expression WAIT FOR EXPRESSION Wait For Evaluates and Waits far a mathematical expression to be true Once the value of the expression is non zero then program execution continues Cancel 2 Make an entry in the following field Field Description Wait For Type or use the Expression Buil
158. the list window below Example 1 System Variables When you select System Variables the predefined system variables appear by name in the list window Use the scroll bar to view all the variables Using Mathematical Expressions as Values 4 15 Acceleration Acceleration Feedfonvard Gain Analog To Digital Converter Average Current Average Current Fault Setpoint Example 2 System Functions The example below shows the System Functions that are defined by GML Ultra C System Variables and Flags C User Variables and Flags oystem Functions Nnputs Outputs Encods r 2 Counts To Units Units To Encoder 1 Counts Units To Encoder 2 Counts Publication 1398 5 11 February 1997 4 16 Working With Blocks Publication 1398 5 11 February 1997 Creating New Diagrams Chapter 5 Working with Diagrams Diagrams are the graphical equivalent of scripted programs You can create original programs or copy and paste parts of existing diagrams into your new diagram Each time you open GML Ultra the GML Ultra window appears ready for you to begin developing a new diagram lap eiia bois aga Wreden Bien gt ine s md a pepe Mew Di gram ET E Im Haw Dir aum are Dir Armi at T a Li a i Diagram Editor gis rene aC MCommeue Doce NY Here Word Utes E em zx Creating a New Diagram To create a new diagram select New Diagram from the File menu A new window appears with a temporar
159. the status of all the inputs and outputs along with certain dedicated inputs and outputs Ready and Enabled relay status and machine faults if any A check box shows the status of each input output If the box is selected the corresponding input output is active The dedicated inputs and outputs are shown in bold if active and grayed out if not active The dedicated outputs shown are Program Running At Home Home Sequence Complete In Position Error Ready Enabled The dedicated inputs shown are e Forward Limit e Reverse Limit e Pause Upload Options Transferring a Script File Upload Options 8 37 Use the Transfer Control dialog box to transfer information between your PC and the ULTRA Plus In the Transfer Type dialog box select the type of information you want to transfer In the Transfer Mode dialog box select the direction of the transfer You can select the Send to ULTRA Plus option only when you ve selected NVRam or Executable in the Transfer Type box From the ULTRA Plus to the PC To transfer a script file from the ULTRA Plus to the PC A In the Online Manager window select Upload Options The Transfer Control dialog box appears Transfer Control Ed Transfer Type Transfer Mode Script Receive from ULTRA Plus C NvYRam C Send to ULTRA Plus C Fault History C Executable Select Script Select Start The Save As file dialog box appears Select a destination
160. this field to enable the low pass filter on the output of the velocity regulator The value is the bandwidth in Hz of the low pass filter on the output of the velocity regulator Reducing the value of the filter smooths the torque command which reduces noise from high frequency torque pulsations The maximum value is 300 Hz The system turns the filter off Proportional gain of the velocity loop Increase proportional gain to reduce dynamic velocity errors and to increase the velocity loop bandwidth Integral gain of the velocity loop Integral gain is used to improve the stiffness of the velocity loop and to reduce the effects of load disturbances Excessive integral gain results in velocity overshoot and could cause instability Auto tune sets the velocity loop integral gain I to zero for point to point For contouring integral gain is set to a non zero value that results in about a 15 velocity step overshoot Acceleration feedforward gain of the position loop in percent The system sets acceleration feedforward gain AFF 0 9 In the Limits area the system makes entries in the following fields Field Step Current Max Distance Max Velocity Description Type the step current in user units per the Timebase for Max Velocity field The default value should provide good results for most systems Reduce the value if the torque exceeds machine specifications Type the maximum distance in user units The default v
161. ting up the system e Connecting the hardware e Basic features and functions e screen menu and toolbar functions e Mechanics of working with blocks modules and diagrams e Basic block definitions e Setup details e Expression Builder details e Block function details You have access several types of online help To use this Dotis Description GML help Block descriptions Definition descriptions Select Help from the menu bar Double click on a block to open its dialog box Double click the Library block to open the Block Library From the Definitions menu select a setup procedure e Detailed descriptions of all menus and screens e Creating a diagram e Error messages e Troubleshooting information e Getting the ULTRA Plus started e PSM diagnostics e Post command language A brief description of a block s function is found in e The blocks dialog box e The block library Each setup dialog box contains a brief description of the definition you are configuring Publication 1398 5 11 February 1997 P 4 Preface Related Documentation The following documents contain additional information concerning related Allen Bradley products To obtain a copy contact your local Allen Bradley office or distributor For Information regarding ULTRA Plus hardware An overview of the ULTRA Series family An overview of ULTRA Plus Positioning Servo Drives Descriptions and specifi
162. tion command to the ULTRA Plus and to display watch item variables You select the function you want active by selecting Command Watch in the top right corner of the window Regardless of the option you select the available options remain the same with one exception the content of the box in the top left block changes to reflect your selection If you select Command the box contains function blocks to execute Online Manager for New Diagram x Execute Feedback change F aggl axis Reset Redefine Gain Drive Position Motion Move Axis Jag Axis Gear Axes Change Jog Settings Dynamics Enter Setups Go Pause Step Acceleration Acceleration Feedforward Gain Upload Options Trace Resume Auto active Scan Event Download Diagram Delete Abort an ha Examine Axis SEHVO ww View mode Installed Firmware 3 18 Beta Exit Online Debug Error Must turn diagram debug ON Tracing ESTOP If you select Watch it displays watch item variables for monitoring Online Manager for MHLLDIAGH ULT Acceleration 500 0000 Active Scan Event Analog Input Available Program Spaces Command Position Jog Command Position Command Position Profile Gen Default Program Number Enter Setups Go Pause Step Acceleration Acceleration Feedforward Gain Upload Options Trace Resume Auto Active Scan Event Download Diagram Delete Abort Active Xkey i Axi SERYO View mode a ll Installed Firmware 3 186
163. ts function evident Create a library folder of modules A ATTENTION All user variables and any defined I O is copied and could conflict with ones already in the diagram Also none of the axis information is transferred when you paste from one diagram to another To use a module from your library 1 From the menu bar select File The File menu appears 2 Select Open Diagram The Open dialog box appears 3 Locate the directory and module that you want to use 4 Open the diagram 5 Select the module It is highlighted 6 From the menu bar select Edit The Edit menu appears Unencapsulating a Module 6 5 7 Select Copy The module and its contents is copied to the clipboard 8 Select your original diagram to make it active 9 From the Edit menu select Paste The module appears in the diagram receiving the diagram 10 Name the new module Unencapsulating a Module If you ve encapsulated several blocks or modules into one module you can reverse the process by unencapsulating the module 3 ATTENTION If you unencapsulate a module that contains several blocks into a diagram that also contains several blocks sorting the old from the new can be difficult To unencapsulate a module 1 Select the module The module is highlighted 2 From the menu bar select Module The Module menu appears 3 Select Unencapsulate The module separates into its component parts et Timer 2 Show Program Status Control
164. ursor The New Module block appears You can simplify the structure of your diagram by combining or encapsulating several blocks or modules into a single module You can easily reverse this process by unencapsulating the module Refer to the Unencapsulating a Module section To create one new module by encapsulating several blocks and or modules Position the blocks that you want to include in the new module so that e They are next to each other and e Unwanted blocks are excluded when you select the desired blocks Hold down the mouse button Drag a rectangle around the files you want to select New Diagram Show Program Status Control Settings End Program Release the mouse button The targeted blocks are highlighted New Diagram New Diagram E fain BR Show Program Status Control Settings End Program Publication 1398 5 11 February 1997 Using an Existing Module Publication 1398 5 11 February 1997 Working With Modules 5 From the menu bar select Module A menu appears Encapsulate Unencapsulate Show Details Shot I ETWIETA Module Info Module Drac 6 Select Encapsulate The selected blocks are encapsulated into a New Module New Diagram eb New Diagram New Module 1 Once you have created a module you can use it in other diagrams The best way to store a collection of prebuilt modules is to save each module as a separate diagram with a name that makes i
165. use the Status and I O Monitor option on the Axis Setups dialog box Refer to the ULTRA Plus Installation Manual Publication 1398 51 for more information 2 From the menu bar select Diagram The Diagram menu appears 3 Select Online The Online Manager window appears 4 Select Enter Setups The Axis Setups dialog box appears 5 Select Initialize PM 6 Select Execute The Initialize Personality Module dialog box appears 7 Make entries in the following fields Field Description Drive Type Select the appropriate PDM type Motor Type Select the appropriate motor type Motor Encoder Select the appropriate motor encoder size Size 8 Select Update PM 9 Select OK The Personality Module initialization begins A message appears showing the percent of the update that 1s complete 10 Select Close The Initialize Personality Module window closes 11 Select Cancel The Axis Setups dialog box closes Publication 1398 5 11 February 1997 8 18 Going Online Selecting and Running Diagnostic Tests Testing the Encoder Publication 1398 5 11 February 1997 The following table identifies the purpose of each test Step by step instructions for completing each test follow IMPORTANT To run these tests e Make sure the ULTRA Plus is disabled e Make sure diagrams are not running This test Does this Encoder Checks both Encoder 1 and Encoder 2 DAC Output Exercises the Digital and Analog Converter DAC1 outpu
166. ust connect this block to the Start block or another Define Scan Event block of the Main Module You cannot encapsulate the Define Event Scan block To define the scan event 1 Double click on the Define Scan Event block A dialog box similar to the following appears Define Scan Event DEFINE SCAN EVENT ScanEvent 1 Scan Type Defines a Scan Event and conditions scan Events are executed continuously in parallel with the application program To define the actions of a scan event a condition handler must be created Define Scan Event 9 7 2 Make entries in the following fields Field Scan Event Scan Type If Timer Timer Type Start Timer Stop Timer Condition Description Select a number from to 8 to identify this scan event Select one of the following Conditional To test for a condition you specify Timer To use a timer to determine the elapsed time between two events or delay an action If the Scan Type field is Conditional type an expression or event If the Scan Type field is Timer select the number that you want to assign to this timer If the Scan Type field is Timer select one of the following Action After Timeout To delay the action by the value of the time once the condition is met Elapsed Time To determine the elapsed time between two events If the Scan Type field is Timer type the condition that starts the time If the Timer Type field is elaps
167. values in Ba Open file extensions Print Dialog qps Watch Items ult Disable Gearing function block File menu Documentation F tion Add option Module menu Change Block option documenting Close option Publication 1398 5 11 February 1997 Exit option 3 17 Insert Between option New Diagram option 3 1 5 1 New Script option File option Diagram mem c2 Script menu files closing new Find Again option Edit menu Script menu Find Block dialog box Find option Diagram menu finding text in scripts Find Replace dialog box Find Replace option Script menu Fkey function block function blocks Change Gain 9 1 Change Jog Dynamics Clear Display 9 5 Define Scan Event Define Xke 9 8 Delay Disable Gearing Edit Value Equation Feedback Fkey Gear Axes If Axis If Expression If Fault If Input If Move If Registration If Timeout Jog Axis Motion Settings Move Axis New Module New Module Output Off Output On Patch Statement Pause Move Print Fault Print to Display Redefine Position Registration Index Reset Axis Fault Reset Drive Reset Move Scan Event Handler Set Condition Set Scan Timer Slew Disable Wait for Enter Wait for Expression Wait for Input Off Wait for Input On Wait for Registration Xkey Xkey Handler 2 10 G Gear Axes function block GM
168. xisting information Note The text has no formatting or word wrap capabilities 6 Select Save The information is saved The Diagram Editor appears Publication 1398 5 11 February 1997 Chapter 7 Working with Scripts A script is a text based program The ULTRA Plus controller requires programs in this format specifically in a programming language called iCODE Because a GML Ultra diagram is not in iCODE script format it requires translation to it The Script Editor in GML Ultra is precisely for this purpose to translate your graphical based program into a script that the controller can use In addition you can use the Script Editor to create edit and print script programs For example script files reside on your controller You can upload these to your PC and save them as scripts This chapter describes these two topics e Translating a diagram to script e Creating and editing a script Translating a Diagram to Script When you download your diagram to the controller GML Ultra translates your diagram to 1CODE the native language of the ULTRA Plus controller You can access the script to view or fine tune the program ULTRA Plus controllers can store up to 32 programs In turn you can upload these programs to a script file on your PC and store them there You can translate a diagram to script before downloading it but changes to the script cannot be converted back to the graphical diagram If changes to the s
169. y name Rename it as you wish Note When GML Ultra is open do not start a new diagram by selecting the icon from the program window This would result in two GML Ultra applications running at the same time Editing Your Diagram as you Build It All the options in the Edit menu pertain to the Diagram Editor window Publication 1398 5 11 February 1997 5 2 Working with Diagrams For information on standard editing features such as cut copy and paste refer to the General Procedures chapter For information on block editing features that are specific to GML Ultra refer to the Working with Blocks chapter Working with Finished Diagrams Accessing the Diagram Menu Once you have designed a diagram the Diagram menu provides access to The Find feature Diagram statistics The Online Manager window Diagram testing Translation from graphical design to script Depending on previous options and current selections some options can be inactive and appear gray Only the active options appear black From the menu bar select Diagram The Diagram menu appears Find again Diagram Info Online Breakpoint Test Diagram Translate to Script Finding a Specific Block or Parameter Publication 1398 5 11 February 1997 The Find option on the Diagram menu allows you to search for text in the current diagram or script file To search for text 1 From the Diagram menu select Find A dialog b

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