PBA Systems Operation Manual BEI Voice Coil Actuator with ELMO
Contents
1. aie Do 1 ii noe 003 1H ant D D UT TH mehe ress dioa Fiii 5 05 o 18 VCA with HAR Version 1 0 Preliminary Setup Information x The following parameters were changed by Wizard Click the lt Finish gt button to write Low Position Reference Limit 1 000000000 these parameters Application Peak Current 5 5 UID to the FLASH Application Continuous Current 21 700 Command Source Software Click the Back KP for Current Loop 24 785000 button to repeat the El for Current Loop 213345 d Profiler Mode OM Previous Steps Smooth Factor 5 Acceleration 5000000 Click the lt Cancel gt Deceleration 5000000 button to exit Jogging Yelocity 5000 WITHOUT saving EP Velocity Loop without Gain Schedule 100 0000 Kl Velocity Loop without Gain Schedule 1000 000 EP Position Loop without Gain Schedule 400 0 Application E ditor Motion mode Position Mode Cancel Help Finally a summary of all parameters will appear Click Finish to continue Back Setup Information E x The following parameters were Le age hee F Click the Finish EIGENEN 0 4 Save int Cu Demo de Ex EJ LA24 20 0004 dat File name La24 20 0004 Save as type Application file dat Cancel A User will be prompted to save the application data 19 VCA with HAR Version 1 0 Preliminary Fl Edi Sia Communicator od winder Ha gue usar o Me fe ac2. Run to tune current loop automatically Note e If Inhibit behavior is set ensure that it is NOT at Active state If unsure set all input to ignore and try again e tis possible to tune current loop manually Press m at the above dialog box to access manual tuning dialog box e tis not recommended to tune current loop manually unless the auto tuning result is very bad or cannot be use at all This 1s possible for some motors where the inductances are very small In this case 1t will be useful to reduce current loop gains manually x Process Tuning of Current Loop T Status Performed successfully Chck Yes for the Nest step Chick No to Repeat this step You should see the above message when tuning is successful 13 VCA with HAR Version 1 0 Prelimin Step 2 Tuning DC Brush Motor Feedback Tuning DCBrush Motor Feedback Commutation Feedback Parameters has been Changed Motor Commutation May be Wrong Please Click lt Run gt button to find Brush Motor direction Please Enter Test Parameters Displacement Ent BO Current Command 5 1 B3 Test Duration m ec AOL Tolerance 4 el Run Back Cancel Help Before taking the default values and click Run ensure that there are enough physical travel distance as required specified in Displacement Cnt field Note e This process may fail if the Inhibit Forward Limit Sensor or Reverse Limit Senso
3. s website http www elmomc com products composer description contents main htm This manual assumes Composer has been installed properly Please refer to Composer s user manual for installation procedure This manual uses Composer Version 2 9 0 1 2 Oct 2003 Some of the screen images may be different if other versions are used 2 1 Setup Communication From Start menu select Programs run Composer The following screen will appear Welcome to Composer Application Create a New Application Open an Existing Application Open Communication Directly Load Network Please ensure that the RS232 cable un crossed type 1s connected from PC to driver Select Create a New Application if you do not have any working application file dat files Select Open an Existing Application if you already have a working copy of the application file dat files Select Open Communication Directly to communicate with driver bypass setup wizard VCA with HAR Version 1 0 Preliminary Application Name and Communication Type Enter New Application Name tC ation Et connection wl automat ally be LE EM Hone clicked iore gemere Select RS232 if you are using RS232 CAN for CANOPEN Click on Properties see below to change the Com Port or CAN manager setting H5 232 Properties x Wata ats mens Epa S Torre Lite Gv sari Gl O Addis Netware Select Com p
4. see elem ee Rss nna EN sala Sune Ie nee z Enable Profle Smogth lector EN cos par at ecelesia n coursed 77 pre o Pr Fes Help prosa FT me The Smart Terminal will appear Elmo Composer Fie Edit View Communication Tools Window a P 4 Result Offset for Input 1 EE ES Difset for Input 2 To save all parameters to the non volatile memory in the driver type SV in the Enter Command field and click Send You should see an echo of SV followed by a semicolon 5 1f the command is executed correctly Before saving to non volatile memory any loss of power 24V auxiliary power supply will result in loss of all settings and tuning data User will have to re do the whole process again Hence it is important that this step is not missed and should be done as soon as possible 20 VCA with HAR Version 1 0 Preliminary 3 Diagnostic and Troubleshooting There are very good diagnostic and troubleshooting tools available m Composer This section briefly introduces some commonly used features in Motion Monitor Elmo Composer File Edit View Communication Tools window Help PA E veicis Mode pr ahe Marzoa con els Ha E sh SS EE je x Enter Command T able Editor k Send sync Management Noise Filter Protections Limits Digital Filters Custom Analog Input Inpu e Wizard nable Profile Smooth fact
5. If the required data source is not in the pull down list click Mapping button to re map the data sources After selecting the data sources to capture there is a choice of data resolution The better the resolution the shorter the record time Next select the trigger mode Typically Single is selected record on the first trigger event Delay can be set so that data before the trigger event are recorded For example if Delay is set to 50 then half the recorded data are before the trigger event The trigger source is usually one of the data source to record but not necessary User must define rising edge falling edge or both in the Slope setting For example if Position 1s chosen as the trigger source and under Level cnt High is set to 100 with the rising edge button selected then the recorder will start recording when actual position crosses 100 counts in the positive direction With these functions user can monitor encoder signal analog input commands motion profile actual and commanded etc Motion time can also be measured from the graphs For more detailed explanation of these functions refer to Elmo s Composer User Guide 22 VCA with HAR Version 1 0 Preliminary 4 Programming File View Communication Tools Window Help Bp E s NR Rim LAZ4 20 0004 COMI x 4 T Velocity Smart Terminal BZC ERI Motion Monitor Elmo Studio 7 E jol x Enter Command Table Editor d
6. languages refer to Elmo s manual http www elmomc com support manuals HAR SF 0903 pdf 25 VCA with HAR Version 1 0 Preliminary Elen Sadia DO TzigseresP ncpum VIA MPE sk LATAS DA ODM EIE Bi Bi iem paid ous doe Hip RE la i le al e rimni Berr g ET T LPES ZIHODDA COM E EL xt qa ot io wait 200 E Progen Cirle Scl lock MO 1 gx 1 0 HM 2 u0 EM HM 3 21 Tso home sensor Ba Ld o 7 D att 1 BAL S O HET HH Z2 ar Time 5 0 gx 1 1 Bir until HM 1 7 70 FBLOGE E fm BS until Hmm OLD DEST 1 PeOR70000 gt 216 CHECI while tl 4 LIE whila IB Zl CBHECR INHIBIT GIGA MO 0 DE 1 rvxm 5 As 5 tIEEZS PESc Sil Alien E5Erarua BOB z Ds ro Roads Blignal cut ET endi Ho 1 DE 2 lLi Baryo Rau T digual output DE 1 iveco wxc 5 3 IECEPEZB IBEEZ 5E 4 Moraion Htztum DEBST IPE amp x7D D0 16 7 HECE DIHNHi it DEETI DLD DEST qoto amp k LDOP x i b des E moe n Es dd ihe proec llni Cd1 lDos MON lEmFHE An example of Elmo s High Level program is below AUTOEXEC SP 1000 speed 1000 counts sec AC 10000 acceleration 10000 counts sec2 DC AC Jf deceleration acaleration wait 300 wait for 300ms MO 1 turn on motor servo on while 1 infinity loop PA 5000 Move to 5000 absolute position BG Begin move Wai
7. start automatically from that line when the driver is powered up 25
8. Acceleration Deceleration setting should eventually set to the required values to test the actual operational performance However it 1s advisable to start from slow speed and low acceleration to avoid excessive overshooting and oscillation when KPs and KI are far from optimized Click Run Test to start motion and data acquisition Iteration of Position Loop KP is required to optimize the performance User are allowed to modify the Velocity Loop KP and KI if necessary Again if the performance is not ideal user can choose to tune in Advanced Manual Tuning mode to modify 64 sets of control gains at different velocity Refer to ELMO s Composer User Guide for more information on Advanced Manual Tuning Click Next after an optimized set of control gains are obtained 17 VCA with HAR Version 1 0 Preliminary Boston SEE Command 1200 0 125 0 25 0 375 0 5 Time sec lnl x 0 125 0 25 0 375 0 5 Time sec After every iteration the above scope will appear User can zoom in out the graphs and drag the primary cursor to different position to check the instantaneous data showed in the status bar An example of zoomed in graph is shown below Note that dX value showed in the status bar is the time difference between the 2 cursors Scam ccopn rdv Fk zig Xj Bi rie ver inde 2 Hf x Ole aS sim x aja aaja Pasian P oiben Daran ceti RSS DD aa a E o E ES 5h25 REALE
9. PBA Systems Operation Manual BEI Voice Coil Actuator with ELMO HARmonica Driver Version 1 0 Preliminary Contents l 3 4 Hardware Se up PARAR SRS aet cit PE LI DM a dU tura c E PEIIPU M S E I lele SPOWOER SUD DIV cuesmuio d tussi tala Deck ro iudi Ducum da tadunbut gu td aud tud Mesi da le duobus d l 2 3Blectticalb C ONC ClIONS ceren E E O l Sa Ano THUS E E A S 2 Jd Pulse and Direction ModE enrenar Lad o da eee ies AGR aaa ida DE 3 o SStandalone IOC uieih huie DUO ode louer sa ewicatncradehsaibnsaaeaan feb aa rn na 4 SOL WALES CLP asas a rd Ea DA EMI E MM MI EE UI 5 2 1 Sep COMMUNICATION ou oe ont aie Fete one a PLE Stop LAM MIO ia 5 2 2 Setup Diver Parameter det vies Eel d Ra bivio t Ra 7 2 3 hiis cC T MM T M NR 12 Diagnostic and Troubleshooting eeeeeesssssssssseeeeeeeeeeeeeeee enne eene nnns 21 Prora O RPPS PANDA PE a BON TR IN EDI ie ue PP RR 23 VCA with HAR Version 1 0 Preliminary 1 Hardware Setup 1 1 Power Supply HAR requires a 24V DC power supply for the control circuit and DC supply 20 to 180 VDC depending on HAR model to drive the motor 1 2 Electrical Connections Elmo s digital drives such as Saxophone MiniSaxophone and Harmonica are able to run in 3 different control modes 1 Analog mode e 10 V analog command e Current mode or velocity mode 2 Pulse and direction mode e Pulse and direction command e Position loop closed in driver 3 Standalone mode e So
10. ftware control position loop closed in driver e Program stored in driver e Communicate with other devices through RS232 CANOpen and or digital I O e Distributed control mode Notes This manual is a simplified version for easy setup of BEP s Voice Coil Actuators with Elmo s digital drivers For more information users should refer to the following Elmo manuals HAR manuals hardware HAR Cable Kit pdf HAR cable kit manual HAR IG VI pdf HAR user guide HAR CF pdf HAR Command reference manual HARVI O notes pdf HAR release notes HCAN IG pdf HAR CANOpen Implementation guide HAR manuals software HAR SW manual pdf HAR software manual Composer SF pdf ELMO Composer Software Manual VCA with HAR Version 1 0 Prelimin 1 3 Analog mode jo41uo2 Bojouo vo 4 Buiim VOA NYH GI did SNHISAS Vdd AS6I 0 002 7 vH SUP ASGL 0v 02 2 NVH Ed Z AG6I or 002 1 XVH Cy D Z AG6 00 001 82 AVH senso aca AG6 02 001 7 VH d AS6 02 001 2 NYH aed 94548 AS OT 06 21 avH ZLd V 8d V 607y0uy Td NV puo 4409 ADT gt _GoyoUY gdo NV ZF apis JajoJquoo ul RY C d 7 22NV J04 ONADY PAIAO E DIJND 109 92IOA 9r go oen lt Tdot O 41aV9 Cy opus JITODNI C GebL33aras d EU cr CIADAS ed eu Ld X3QNI CTTU e 8d X3GNI Seara ear 7 Ld 92MI 6d5 8H9 COTD AHI ITd YH3 CTD VHI ae BETE NE S VCA with HAR Version 1 0 Prelimin Pulse and Direction
11. leration Deceleration settings should also start from small values Start with small KP e g 1 and KI e g 10 If the actuator doesn t move at all the data acquisition message window will wait forever for the triggering event cancel the data acquisition process and increase KP and KI Typically KP is around 100 and KI is around 1000 However these parameters vary with different loads and motion profiles During the tuning process the Voice Coil Actuator may oscillate vigorously Make sure the actuator is mounted firmly on a rigid frame You may cancel the tuning click Cancel before the motion stops and try again with smaller KP and or KI Click Run Test to start the test motion and data acquisition A graphical display scope will appear once the data acquisition 1s completed User can zoom in out drag the primary cursor to check the instantaneous data showed in the status bar Re iterate KP and KI until the result is acceptable Click Next only when you have found the optimal KP and KI values 15 VCA with HAR Version 1 0 Preliminary Hil Display 1 Velocity Velocity Command 0 0625 0 125 0 1875 0 25 Time sec Ini xi HL ment um itt n TI E RE e diaz un meer Current Command 5 0 4 ee N Ml ui 1 0 25 Timel er After each iteration the above scope will appear Typically velocity loop doesn t require very good following performance and usually an overshoot is allo
12. mode 1 4 SNOW UO IZDIAUI puo asjng 404 Guia VIA AVH CLT Aid SWAISAS Vad 4aj o44u03 MO4Jj PUVUNOS UO ZIaUIG puo asind PSA ODA ler CIDAS Td aydns CVd20 9I ND CEdDethNo eddT 98ND Td T ND or Cyd PUD Cod LIIdTS CID AS are Zd X3GNI batasi EM 8d X30NI d 3 33UuI 645 8H2 C0Td5 8H2 CTTdd VHO 2Td9 VHI UaAluq 34 IVO 83ILD2N3 AGGT 0P 002 h VH ASSi 0v 002 2 WVH AG6I OP 002 1 sVH AS6 0 001 8 WVH AS6 02 001 b SH AS6 0c 001 2 VH ABb OT 05 01 AVH A8v 0 05 8 VH A8v 0OI 06 6 VH 403 032g WOQ 282IOA VCA with HAR Version 1 0 Prelimin 1 5 Standalone mode apow IUDIVPUVLS Gul4JA VIA VH AS6I 0 002 b ayH AC6I 0 002 2 avH AS6T OP 00271 AVH G6 02 001 8 avH AG6 02 001 v AVH CI tld SHWMLSAS Vad AS6 0c 001 60 dvH A8v OT 0G 2T AVH puy K1a L3adns d X3GQNI Z 48 ad44 u02 Tg YO wgpae j a y 9 Uo LON DY d 2 NO IJ 2 Oto 2doT3 2elY L CoD PD or 3 18V23 amp 3 ILI2N3 but SA LINANS 9d AS Ld XGQNI TUI E 8d XG0NI SAM AUI LA a3uI 6d 8H2D OTd H9 TT d VHO C2Tdd VHO ASAI 7 AVH VCA with HAR Version 1 0 Preliminary 2 Software Setup Harmonica drivers HAR can be setup using Elmo s Composer software User can download Composer from Elmo
13. or EN mec Advanced Manual Tuning E Lond Lond i Bleration Deceleration ERE EIS Firmware Download _ leration ERN Deceleration EST Help Spore M ir e cr Speed PR w Go Direction eS E Stop 7 Help Indications Motor Digital Output 1 E o o o o Es Status Patan Error ent Velocity REM Velocity cnt sec Velocity Error APM Ir High Resolution Reset Signals _Reset Signals Maneira Mapping Start Record pe Motion Monitor Window will appear On the right hand side of the window there are 2 display fields Display 1 and Display 2 They are updated continuously User can pull down the list to select a data source to display here Below the 2 displays there are digital I Os indication and Amplifier status 21 VCA with HAR Version 1 0 Prelimin Motion Monitor d O x Indications 7 Motor Recorder Trigger Mode Source cee Oo Active Curent 8 ee 1 2 CA ig Sue E Lent s j 4 8 E 1 evel cn Slope Goo o oo oo o Qo ow JU m Last Failure Amplifier Status Start Record Ins EE a pre I NI Current Command 4 DC Bus Voltage On the left hand side there is a Recorder It behaves like an oscilloscope User can choose to record various data in one or more graphs
14. ore General Purpose Forward only ALS Logic level Output 1 Low Output 2 A Soft amp amp Hard Stop E L IL JIILLIEI Low Back Cancel Help If you have connected inhibit and or limit sensors input assign them accordingly including their logic level Otherwise choose ignore for all the input Some common function behavior descriptions 1 Inhibit Freewheel VCA is free to move servo off when this input is Active 2 Forward only RLS This input is connected to Reverse Limit Sensor 3 Reverse only FLS This input is connected to Forward Limit Sensor 4 Hard Stop VCA will stop with maximum deceleration allowed 11 VCA with HAR Version 1 0 Preliminary 2 3 Tuning age eg ot s o X Skip Ti uning Dual E Leap e For analog current control mode only Step 1 and Step 2 are required e For analog velocity control mode Step 1 Step 2 and Step 3 are required e For pulse and direction mode standalone mode and distributed control mode Step 1 Step 2 Step 3 and Step 4 are required 12 VCA with HAR Version 1 0 Preliminary Step 1 Tuning Current Loop x Upon clicking the Run button the servo p Tuning drive energizes the motor s winding with a Bun high frequency current waveform It is not expected that the motor shaft will move however precaution is required far the unlikely event of an undesired movement i Cancel Help Click
15. ort to use Com 1 2 etc If communication is successful the following screen with driver version number will be shown If communication is not successful try another Com port or check your connections Com 1 or Com 2 Make sure that the 24V is turned ON and Com cable is connected Note that com cable used is un crossed type VCA with HAR Version 1 0 Preliminary 2 2 Setup Driver Parameters System Data Base x Please select the Motor Part Number from the lists below If you do not find a matching part number use the Custom button and specify the motor s parameters ELMO Driver version Motor Data Base Motor Manufacturer Mame Motor PAN PBA Systems CALA 5 16 0204 VICA LAT5 15 O204 Remove manufacturer Remove motor Mew Continuous Stall Maximum Mechanical Motor Type Current A Speed FPM Rotating Brush i3 E000 E dit Linear Brushless Rotating Brush Rotating Brushless z Back Cancel Help Select Rotating Brush for Motor Type Note that Composer does not support Voice Coil Actuator directly However it is possible to setup a Voice Coil Actuator as rotating brush motor because they are very similar in terms of electrical characteristics Click on Edit change the Continuous Stall Current A according to the motor specification Some common BEI s Voice Coil Actuators current specifications are list below These values are mostly round downed to a convenient fig
16. r Resolution Pulses per Revolution 200 Counts per Revolution B lt Back Cancel Help Select Encoder as Current Main Commutation Feedback Enter Encoder Resolution as 2000 Pulse per Revolution The software will compute the resolution in counts per revolution x 4 for quadrature encoder This result in a maximum speed limit 6000RPM 60second 8000 counts per revolution 800000 counts per second You may want to adjust the 2 parameters to suit your application VCA with HAR Version 1 0 Preliminary System Definitions an and Limits delins he system behavior whe no BUD fi poog0o000 E DOBnODODO 1000000000 Enter Application Continuous Current Peak Current and Speed according to the application s need The application continuous current must be less than continuous stall current entered in the previous dialog box You may leave the other fields as default 10 VCA with HAR Version 1 0 Preliminary Please review the following system default parameters and change them if Select Function Behaviors and Logic Level Signal Function behaviors Logic level ene Input 1 Ignore Low SDN EIN Input z Ignore Lowy These parameters Input 3 gnare Low define the system Input 4 Ignore Lows behavior when Input 5 Ignore Low reaching limits Input Inhibit Freewheel T Low j Wrong parameter s Hind eewheel will affect the safety of the next step s an
17. r is Active e If unsure set all input to ignore and try again Process Establishing Commutation Status Performed successfully Chek res for the next step Chek Noto repeat this step Yes Mo The above message box will appear once this step 1s successfully completed 14 VCA with HAR Version 1 0 Prelimin Step 3 Tuning Velocity Loop XI Step 1 Select the Tuning Type Manual Tuning Shep 2 Adjust F iter Parameters Tuning Yelocity Loop kl Advanced Filter KP OFF 100 1000 O Designer Step 3 Set Test Parameters Displacement cnt Displacement cnt Velocit Velocity Unit 0 1000 1000 ent sec Snooth Factor Acceleration count fsec 2 Deceleration v Profiler Mode z 10000 l 10000 Step 4 Set R ecord Parameters Record Resolution Mas Record Time Slope 120 0 psec point foz E sec s m Run Test Start the Tuning Process Back Cancel Help For Voice Coil Actuator you should use Manual Tuning or Advanced Manual Tuning Auto tuning requires a long travel stroke which usually exceed the physical available stroke for a Voice Coil Actuator Set Displacement and Displacement at least 20 smaller than the available stroke to allow overshoot during tuning During tuning the actuator will cycle in positive and negative direction repeatedly Hitting the hard stopper will yield inaccurate result Velocity and Acce
18. t 2 until MS 0 Wait for motion completion wait 500 Dwell for 500 ms PA 0 Move to 0 absolute position BG Begin move Wait 2 until MS 0 Wait for motion completion wait 500 Dwell for 500 ms end 24 VCA with HAR Version 1 0 Preliminary After writing the program user has to build and download the program into the driver Select Build from menu bar and click Build It will compile the codes and download to the driver if compilation is successful This will take a few seconds gs mom sab gi VLA AS i di LA a 21 9084 COM d IB E TET FE E m J das la og a Oni asc Im 2M d YET pi Sg EIER a ERE UN Walt 300 Aol EmM 21 1s HM z U4J i HM 3 11 HH 4 0 HM 5 until HM 1 FF LOOP PASH Ed until ME OLD DESTe rP Os70000 2 16 whil amp tli E while IEL 1 Ap Mimi p i oxx5 wxx 5 o lREXES rE X 5 BLE zi 1 I i i ands Bo 1 cu 21 1 gui ready sLond cpu s qa Ls A Compin Krai diok im Es xcd AT Lopis Parz F IFF PEER Fi of oid TI tela iE ar daba 1 4 beris Vi orenicad Be Dr Wie m E Fi ELIO H oboe upando Co E head pplicakons D ene Lonpidlecoce ang Parra BD inseri a ii Glad Eie A To ee L on abar DB A EE The program can be executed from Elmo Studio or 1f there is a AUTOEXEC label in the program it will
19. ure and serves as a guideline only For exact specifications please refer to BET s data sheets LA13 12 000A 06 15 0 7 l 5 8 VCA with HAR Version 1 0 Preliminary For Maximum Mechanical Speed RPM you may enter 6000 This 1s equivalent to 100 revolution per second In the next dialog box you will need to enter encoder s resolution in pulse per revolution Together these parameters allow the driver to compute the speed limit of this application System Data Base EE Please select the Motor Part Number from the lists below If you do not find a matching part number use the Custom button and specify the motor s parameters ELMO Driver version Motor Data Base Matar Manufacturer Name Motor P N PBA Systems v CA L amp 24 20 0004 VLA L415 T5 D204 Remove manufacturer Remove motor ep Continuous Stall Maximum Mechanical Motor Type Current A T Speed RPM miu Fiotatina Brush 4 BEL Cancel Back Cancel Help User can choose to assign these setting to a unique Motor Part Number under a Motor Manufacturer Name This is highly recommended so that you do not need to refer to motor specifications in future when you are going to setup the same motor again VCA with HAR Version 1 0 Preliminary ommutation Feedback Parameters Please select the applicable commutation feedback and enter required parameters p Curent Main Commutation Feedback Encode
20. wed to ensure fast response 1n the position loop If the performance is no good with manual tuning user can choose to select Advanced Manual Tuning Elmo s digital drives have a gain scheduling algorithm built in where the driver can switch KP and KI automatically according to the travel velocity In Advanced Manual Tuning there are a maximum of 64 sets of KP and KI User can choose to manual tune all 64 sets of gains or tune a few sets of KP and KI and let the software interpolate the rest Refer to ELMO s manual Composer user guide for more information 16 VCA with HAR Version 1 0 Preliminary Step 4 Tuning Position Loop Tuning Position Loop Step Select the Tuning Type Manual Tuning Step 2 Adjust Filter Parameters Inner Velocity Loop KP 100 0000 Outer Position Loop ER 100 0 Step 3 Set Test Parameters El 1000 000 Advanced Filter OFF C Designer Step cnt Speed Speed Unit 1000 1500 000 cnt sec Smooth Factor Acceleration count queen Deceleration 5 SODCL SOOO Step 4 Set Record Parameters Record Resolution Max Record Time 360 0 Lec point 0 432 SEC Run Test Start the Tuning Process Similar to velocity loop position loop for Voice Coil Actuator should be tuned manually Manual Tuning or Advanced Manual Tuning Back Set Step travel displacement according to the required travel distance Speed and
21. z Send Sync Management Frofile Moize Filter Protections Limits Digital Filters Custom Analog Input Inpu M ont jv Enable Profile Smooth Factor ER ps EC Advanced Manual Tuning Acceleration Deceleration count sec 2 Lidia Firmware Download Acceleration EEE Deceleration BET 7 Help Test Motion Direction a Smart Terminal Scope a i Studio Elme Studn K TriggeredPrzgram NAAS sid zLACH XIHUSQDA COMTE 2 S E n alaj xl FR Ele Edt iew Buki Tooke Winde Heb quo RF a ar E EE o 0m es 6 JE ue MIU d le ES rg A gil es e ox HH 1 0 HH 2 D px Et iE ng EM 3 1 mel I HM 4 0 HM 5 7 1 Tw 5D EM 1 1 Bt until HM I 01 Pe LOOP Pimy AGJ until MWE 0 SOLD DEST TP amp 0n T0000 516 ida while 1 4 wWhilatIB 21 CHECK INHIBIT dICNAI Ho 0B 1 IVX 5 Wx 553 4PE 5 BEZ 5 5 4 Motion Statu nB za 7Ui ruo Ready UE DI andi MUI DB 32 71 1 Serv Ready S107 IT eut DE 1 wvx 5 amp Az 55 tfpesS PEZ 55 1 Hotini Et DES3T T1P amp Us70DUU T 16 if DESTL O0LO DEST goto FELOOD i M xi i H Eh we ESG PRT OESP Fa Hei piest FI Lnl cal Dus HUM D amp U7PM m The Elmo Studio editor will appear For details of Elmo s programming
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