Home

IMS LYNX Product Family Operating Instructions

Contents

1. Figure 10 1 LYNX Differential I O Module Dimensions 1 51 The Differential I O Module XNA TEIN Connection Overview Group 10 High Speed 1 0 P 1 Figure 10 2 High Speed Differential I O Module Connection Overview Power Requirements Power is supplied through the LYNX Control Module High Speed Differential O Power Requirement Input Voltage to LYNX Control Current Requirement for Module Modular LYNX System 03 10 2000 1 52 Pin Assingments And Description P3 13 Position Removeable Terminal Connector High Speed Differential O Module Pins 1 and 2 are the differentially buffered signal for group 10 VO 13 This channel is configured by means of the IOS Instruction This channel is fixed as clock 2 and associated with Counter 2 CTR2 For usage details see Section 6 Configuring the Digital VO Pins 3 and 4 are the differentially buffered signal for group 10 VO 14 This channel is configured by means of the IOS Instruction This channel is fixed as clock 2 and associated with Counter 2 CTR2 For usage details see Section 6 Configuring the Digital VO Pins 5 and 6 are the differentially buffered signal for group 10 15 This channel is configured by means of the IOS Instruction This channel
2. MicroLYNX Connections MicroLYNX VO an VPULLUP Communications 10 Pin Header age k RESISTOR I O 8 Position Phoenix lO 2x 5 to 24VDC IO GND Output To LED Oo PIN 1 V PULLUP MicroLYNX I O ow PIN 2 l O LINE 21 ow l PIN 3 l O LINE 22 10 2x PIN 4 l O LINE 23 29 C PIN 5 I O LINE 24 Open Switch H C gt PIN 6 0 LINE 25 P CRM PIN 7 I O LINE 26 oo PN 8 1 0 Ground Isolated IO GND Input Controlled Switch RS 232 RX PIN 3 EDD PIN 4 N C Communications Ground PIN 5 PIN 6 RS 485 RX RS 485 RX PIN 7 Hoo PIN 8 RS 485 TX RS 485 TX PIN 9 PIN 10 Communications Ground PHASEA em MOTOR PHASE L MOTOR PHASE A T MOTOR PHASE B PHASE A O MOTOR PHASE B PHASE B 0 1073 q POWER SUPPLY INPUT V POWER SUPPLY RETURN GND l 8 Lead Motor Series Connection Figure 1 2 MicroLYNX Connection Overview 2 11 The MicroLYNX System Switches NO 411104 Figure 1 3 Micro LYNX Switches MICROLYNX SWITCHES Pul up ON OFF Switches VO 26 for VO Lines 21 26 Upgrade Firmware Upgrade Table 1 1 MicroLYNX Switches MicroLYNX System Rev 03 10 2000 2 12 Getting Started Section Overview T
3. N 2X 0 150 2X 3 81 Figure 3 1 Dimensional Information Installation and Removal of the Optional Expansion Modules One of the powerful features of the MicroLYNX System is the extreme ease by which it can be configured and installed There are three 3 bays in which expansion modules can be installed The expansion modules can be plugged into any available slot with the exception of the High Speed Differential I O modules which can only be plugged into slots 2 and 3 For ease of configuration ensure that the pull up switches on the Isolated Digital I O expansion module are in the desired position prior to closing and mounting the 2 17 Installing and Mounting the MicroLYNX EAS S BOARDS 9 3 s GROUP 20 110 COMMUNICATIONS Figure 3 2 MicroLYNX System showing the General Purpose I O Expansion Module installed in Slot 1 MicroLYNX System See Section 9 Configuring and Using the Optional Expansion Modules for more information on this topic To install the expansion modules the only tool required is a phillips head screwdriver The installation steps follow 1 Remove the two screws A from the MicroLYNX case 2 Remove the side of the case See Figure 3 3 3 Remove the c
4. 1 47 Section OVerVI8 W eer d e o ed Ut Ce n t E Pepe 147 Hardware SpecifICatlons cce cemere HER setae d rente ttis 147 Environmental Specification 1 mettere ete re ab ee lee q ERG e RaR 147 Mechanical Specification rete io m eere Ee HR EE rr ere dero et 147 Connection OVervieW ron au eai eee he e Le eel nan ed a ead 1 48 Pin Assignments And Descripton suc e er trt e He e eate te E e e EO see 1 48 Switch Assignments And Descriptions a l u n Sq na un 1 49 Input Specifications irte e t da i a reet hi e er ance p dete tenes 1 49 Input Filtern undae Redeem eene 1 50 Output Specifications ecole tee Sees em e e etre p oe Ee tette uei 1 50 The Differential Digital l O Module 1 51 SECTION OVVIE W eeo vedete E te a ee e eo e en a poten 1 51 Hardware Specifications eda e E Wave diee Wines ilove p ro e REG TI CUR aes 1 51 Environmental Specification eee odere ene dte RI etri 1 51 Mechanical Specification 8h eh e Sutin caer eee e atte ee A LA ER 1 51 Connection OVerVISW Jv e tl e peto rt etes te ue eed uera 1 32 Power Requirements aru um oe ia dana aem eite 1 52 Pin Assinsments And Descriptions suc cetero o ligase vides ve e 1 53 Input Specifications e e e
5. 2 28 Full Coll Configuration cre rrr peteret ertet one Pee eine n E IER E Cep ie re ope R epa 228 Controlling the Output Current and Resolution u u 2 29 ECHO QVELVICW 2 29 El 5 o E Current Control Variables uu suysu gus tee uQ 2 29 Determining the Output Current in an ee ee rete dte a ere eee A ee c e ce ace 2 30 Setting the Output Current peace ete e Hee e p E 2 32 setting the Motor Resolution ERR t 2 33 The Communications Interface aaa J J J JJ J 2 34 SecCUOD OVervIeW E EE A ee eed a e er E Saha 2 34 Connecting the RS 232 Tnterface a eti beet t RH ep UE REP EH 2 34 Connecting the RS 485 Interface iurare tete RE E IER er er EO UI Re eres 2 38 Connecting and Configuring the Optional Controller Area Network CAN Bus eee 2 40 Connecting to the CAN BUS teda ence al ea aa oe pra de ee 2 40 Configuring Th CAN Mod le p i decet rr reete e eet tee eb tare eeu reden 242 CAN Configuration Command 2 42 ToInitialize the CAN Module rettet epe apo aa ROS
6. epe eua EE LL pete pd ba tee ade gud 1 16 Single Control Module System aret tope 1 16 Multiple Control Module System eese i i 1 17 Connecting the RS 485 Interface 5 rte a i STEERER EEE 1 20 Single Controller System oss uii e retineret oer EHE RE ege Duis Ue nave ee te d LER gea us 1 20 Multiple Controller System u ihre teer ar 1 21 LYNX Control Module Modes of Operation 1 23 Immediate Mode Hn 1 23 Program Mode E 1 23 EXEC M de Zapana 1 23 LYNX Control Module Communication Modes 1 23 1 23 hire UE 1 24 Configuring the DIgItal V0 u EE 1 25 ECHO OVerVieW e P 1 25 System I O Availability by Module 5 2 rre t ter e o tpe ip e E p Ha Lr rendue 1 25 TheJsol ted Digital VO Uu eon Ee enti e eaae ter eerte eph tee E Glas eect Nad Poe asua eet 1 26 Uses of the Isolated Digital O eer Ier ertt EP E 1 26 Whe IOS u saan quas 1 27 Configunng an Input erret reote I RH DE pe tp Ce E per e ERE
7. essere eterne 2 16 The RS 485 Port 2 Communication Expansion Module 2 TI List of Tables Table 1 1 MicroLY NX Switches uec nette eite be D 2 1 Table 6 1 Motor Current Control Variables esee nennen reet ennemis 2 29 Table 6 2 Microstep Resolution Settings sess eene nennen 2 33 Table 7 1 Wiring Connections RS 232 Interface Single MicroLYNX System 2 35 Table 7 2 Party Mode Address Configuration Switch Settings esee 2 36 Table 7 3 Connections and Settings Multiple MicroLYNX System RS 232 Interface 2 37 Table 7 4 RS 485 Interface Connections 2 38 Table 7 5 Party Mode Address Configuration Switch Settings sse 2 30 Table 7 6 RS 485 Interface Connections and Settings Multiple MicroLYNX System 2 37 Table 7 7 CAN Pm Configuration 1 5 erac a ua de esca e Ge ep E piu Reed 241 Table 7 8 CAN Configuration Command Summary eese nennen rennen 242 Table 7 0 GAN Bit Timing Registers teeth bee E Tb aea ORDRE E Mose Re 244 Table 7 10 Sample Bit timing Register eerte rrt riter treten th e 244 Table 7 11 CAN Bit Time Definition u teet rte
8. x _ Table 7 2 Party Mode Address Configuration Switch Settings p default name is table To set the address of the controller using the configuration switches use the following The party address switches provide the simplest means for setting up PARTY operation for up to seven 7 MicroLYNX In setting up your system for PARTY operation via software the most practical approach would be to observe the following steps 1 Connect the Host MicroLYNX to the Host PC configured for single mode operation 2 Establish communications with the HOST MicroLYNX For help in doing this see Software Reference Using the LYNX Terminal Using the Command SET DN or the configuration switches give the controller a unique name If using the software command this can be any upper or lower case ASCII character or number 0 9 Save the name using the command SAVE 3 Set the appropriate HOST and PARTY configuration in accordance with the following table and diagram Remove power 4 Connect the next MicroLYNX in the system in accordance with the following table and diagram setting the AO switch in the ON position 5 Apply power to the system and establish communications with this module using the name A Rename and save the new name by prefixing the save command with the new name Remove power 6 Repeat the last two steps for each additional MicroLYNX in the system WARNING Failure to connect communications gr
9. waw an 2 20 Selecting a Motor Supply GEV iilii eese Lege se iie ape ea edo eben 2 20 Wiring and Shielding ua 2 21 DS OR DAC M 221 a Aida 221 Power Supply Connection amp Specification eene eene nennen nennen nennen 2 22 Recommended IMS Power Supplies i ccc cescaceesssscceesvbescesanessdedaecacscedssueecbagstbescvdsaddaasdeeteesecubenseevassetawectoaees 2 22 Motor Requirements cc 2 23 Nehalem 223 Selecting a MOf 0F au 2 23 Types and Construction of Stepping Motors 223 Sizing Motor for Your System ete drei entre nere ope E ER EE EE PELLE E Re 223 Recommended IMS Motot ottenere toisi iiia 2 25 Mot r iei r 226 Connecting the vro qe PH 2 27 MEBThWUCDC CM 227 6 Lead HH 228 Half Coil Configuration uere ep teeth etre oet tane 228 A Lead Motors 2 u sa
10. M 1 530 000 000 steps sec Resol ti n iet u NS io a ad ee 0 711 steps sec Types Linear triangle s curve parabolic sinusoidal s curve user defined Software Specifications User Program Space 2 2 2 8175 bytes Number of User Definable Labels 291 Program and Data Storage Flash Math Logic and Conditional Functions 32 Bit Floating Point Math IEEE Format Add Subtract Multiply Divide Sine Cosine Tangent Arc Sine Arc Cosine Arc Tangent AND OR XOR NOT Less Than Greater Than Equal Square Root Absolute Integer Part Fractional Part Acceleration amp Deceleration Separate Variables and Flags 4 Pre defined Types and 1 User defined LHDIIZSWICh u u aaa tette Definable Deceleration amp Type Isolated VO 4 at ordnen Programmable as Dedicated or General Purpose Predefined I O Functions 25 Limit Home Soft Stop etc Program Trip Functions eee 13 4 Input Trips 4 Timer Trips 4 Position Trips 1 Velocity Trip User Programs 2 Executed simultaneously 1 Foreground 1 Background Party Mode Names eee 62 Communication Modes eee 2 ASCIL Binary Mechanical Compensation Backlash Encoder Functions Stall Detection and Position Maintenance MicroLYNX System Rev
11. eese eene een enne 2 22 Figure 5 1 Per Phase Winding Inductance eerte teet tete p edi epit 2 24 Figure 5 2 8 Lead Motor Series Connection 2 27 Figure 5 3 8 Lead Motor Parallel 2 27 Figure 5 4 6 Lead Motor Half Coil Connection a 2 28 Figure 5 5 6 Lead Motor Full Coil Connection eese ner eneen eret 228 Figure 5 6 4 Lead Motot RR RH RE RI EE ERUIT EUER E u naa Tte 228 Figure 6 1 Motor Current Control Variables 2 20 Figure 7 1 Connecting the RS 232 Interface Single MicroLYNX System eese 2 35 Figure 7 2 Connecting the RS 232 Interface Multiple MicroLYNX System 22022 2 2 37 Figure 7 3 RS 485 Interface Single MicroLYNX System 2 38 Figure 7 4 RS 485 Interface Multiple MicroLYNX System sese eene 2 40 Figure 7 5 Devices ona CAN eiie eine be medie elo ee betnds aba 241 Figure 7 6 Connecting the CAN BUS egere rg a e e Lo ese tete 241 Figure 7 7 Bit Register Configuration Dialog from LYNX Terminal eee 2 45 Figure 7 8 Setup Dialog for Global Mask Registers in LYNX Terminal
12. Notes These flags enable disable the corresponding position event trip Related Commands TP1 TP2 TP3 TP4 Software Reference 03 10 2000 3 96 TT1 TT2 TT3 TT4 Trip On Timer Variables FORMERLY Tl lt x gt Setup Variables Binary Mode Usage Example Parameters Opcodes Hex Decimal lt gt 1 4 TT1 2 9Fh 159 time Time in milliseconds 0 65 535 TT2 AOh 160 lt lbl addr gt Subroutine invoked on trip Ath 161 lt output gt Output set TRUE on trip 4 A2h 162 TT lt x gt lt time gt Ibl addr output Notes There are three parameters for the TTx variables The first specifies the period or time in milliseconds which should elapse before the event occurs The second specifies the address of the subroutine that should be executed when the timer expires The third optional parameter specifies an output to be set TRUE when the trip is reached TTRx specifies whether the associated event should be a one shot or repeated every time the specified period expires TTEx must be enabled for the associated event to be recognized Related Commands TTE1 TTE2 TTES TTE4 TTR1 TTR2 TTR3 TTR4 TTE1 2 TTE4 Trip On Timer Enable Disable Flags FORMERLY TIE lt x gt Setup Flags Binary Mode Usage Example Opcode Hex Decimal TTE1 Eth 225 TTE2 E2h 226 TTE3 E3h 227 TTE4 E4h 228 3u I J rt aJem3jog lt gt 1 4 TTE lt x gt lt
13. These versatile new motors can be converted to a ball screw linear actuator by mounting a miniature ball screw to the front shaft face Ball screw linear actuators offer long life high efficiency and can be field retrofitted There is no need to throw the motor away due to wear of the nut or screw The IOS motors offer the following features The shaft face diameter offers a wide choice of threaded hole patterns for coupling The IOS motor can be direct coupled in applications within the torque range of the motor eliminating couplings and increasing system efficiency The IOS motor can replace gearboxes in applications where gearboxes are used for inertia dampening between the motor and the load The induced backlash from the gearbox is eliminated providing improved bi directional position accuracy Electrical or pnuematic lines can be directed through the center of the motor enabling the motors to be stacked end to end or applied in robotic end effector applications The through hole is stationary preventing cables from being chaffed by a moving hollow shaft Light beams can be directed through the motor for refraction by a mirror or filter wheel mounted on the shaft mounting face The IOS motor is adaptable to valves enabling the valve stem to protrude above the motor frame The stem can be retrofitted with a dial indicator showing valve position The motor is compatible with IMS bipolar drivers keeping the system cost low The I
14. 3 21 Section 3 Functional Grouping of the Instruction Set 3 25 ECE OM OVERVIEW 3 25 Using the Tabl S d H 3 25 Acceleration and Deceleration ssescscsecsacssseedeckesvenesedenservedenveannavadesedeeyensaienecapessaecevdaesnaes dedeaveenavebeetdeveestaeses s 326 3 27 POST OM u na ha as 3 27 Drive and MOtOr uy D Se ua us a et SS 3 28 Inl M ERa 329 o 3 29 Miscellaneous Molloy L L R Rt e FIG Ree re ERE EO N E ERN Esr eaea eE aai 3 30 3 31 Eyent Trp u anna Si 3 33 Instructions Which Can Be Used In 3 34 tn 5 3 23 y 9 5 Instructions Which Can Be Used In Immediate 20 senes 3 37 Miscellaneous And Setup Variables s n ui 3 39 Miscellaneous And Setup Fla S sic coc n una eet tier ete te e Sheek egeret gd 3 40 Mathematical And Logical Functions
15. Group 50 Figure 9 2 Isolated Digital I O Module Connection Overview Pin Assignments And Description P1 13 Position Removeable Terminal Connector Isolated Digital O Signals are individually programmable as inputs or outputs see description of thelOS command in the Part 3 Software Reference of this manual Inputs are CMOS logic level compatible and VO Group 40 can accept inputs to 24 volts Noise rejection is available via digital filtering Outputs are open Lines 41 46 drain VOs each have individually switchable 7 5 Kohm pull up resistors to 5VDC Outputs can switch inductive resistive or incandescent loads Refer to Section 6 Configuring the Digital for usage and specifications Modular LYNX System 03 10 2000 1 48 Switch Assignments And Description Group 40 I O Pull Up Switches Can Be Changed at any Time Usable for Exercising Inputs mee remm sem Individual Switches for VO Group 40 Pull Ups When this switch is on the is pulled up through an internal 7 5 Kohm resistor to 5VDC Can be used to simulate the activation of an input while testing system software Table 9 2 Isolated I O Module Group 40 I O Pull up Switches Group 50 I O Pull Up Switches Can Be Changed at any Time Usable for Exercising Inputs remm sem 0 Individual Switches for VO Group 50 Pull Ups When this switch is on the is pulled up through an inter
16. lt chan gt 1 ADS lt chan gt lt aunit gt lt func gt law lt aunit gt B3h 179 lt func gt 1 2 lt law gt 1 4 Description The ADS variable is used to set up the analog input functions of the analog input joystick module The following parameters are used lt chan gt Channel 1 or 2 lt aunit gt User Unit MUNIT AUNIT lt func gt 1 Analog input lt func gt 2 Joystick interface lt law gt 1 Linear lt law gt 2 Square law lt law gt 3 Cube law lt law gt adjusts the joystick position to motor velocity transformation Related Commands AIN JSC JSDB JSFS IJSC 5 3 2 5 5 Retrieve All Parameters Binary Mode Usage Example Opcode Hex Decimal PRINT ALL IP ALL 63h 99 GET ALL Description The ALL keyword is used with GET IP and PRINT instructions to signify that all types of parameters should be retrieved from nonvolatile memory NVM initialized to factory default values or printed to the serial port When used with the GET instruction all values of variables and flags are retrieved from NVM into working memory RAM In addition the program space in working memory RAM is also refreshed from NVM When used with the IP instruction all system variables and flags in working memory RAM are restored to their factory default settings user flags and variables are not affected When used with the PRINT instruct
17. BR lt lbl addr gt MVG BR lt lbl addr gt PRINT MVG MVG FALSE 0 Motor is stationary MVG TRUE 1 Motor is moving FALSE 0 Dsh 219 Notes Read only status flag which is TRUE 1 whenever the motor is moving This flag is TRUE 1 whenever the motor is moving regardless of the type of move point to point jog or slew When a profiled move is taking place this flag does not become FALSE 0 until the motion command with mode 0 has completed Related Commands PCHG VCHG Software Reference 03 10 2000 3 80 NOP Program Mode Instruction No Operation Instruction Binary Mode Usage Example Parameters Opcode Hex Decimal Notes This instruction is used to fill up one byte of program space It can be used if in editing a program there is a change in the line boundary that causes a gap in the program It can also be used to leave space for future instructions It is recommended however that programs are written to a file using a text editor and downloaded to the LYNX Product during debug This will save a great deal of retyping during debug of the program Syntax Example POS 0 Set position to 0 PGM 100 Start program at address 100 LBL NOPDEMO Label program NOPDEMO VM 4 Max velocity 4 user units sec NOP No operation MOVA 20 1 Move absolute 20 user units do not decelerate HOLD 0 Suspend prog until position change completes NOP No operation VM 8 Max velocity 8 user uni
18. CALL econds lt lbl addr gt Subroutine label or address to be invoked if cond TRUE lt cond gt Flag or logical function Notes This function can be used to invoke a subroutine within a program This allows the user to segment code and call a subroutine from a number of places rather than repeating code within a program There are two parameters to the CALL instruction The first specifies the label or program address of the Software Reference 03 10 2000 3 50 Syntax Example Related Commands subroutine to be invoked if the second parameter the condition is true If the second parameter is not specified the subroutine specified by the first parameter is always invoked The condition parameter can include flags as well as logical functions that are to be evaluated The subroutine should end with a RET instruction The RET instruction will cause program execution to return to the line following the CALL instruction IOS 20 0 1 Set IO group 20 to Input HIGH TRUE PGM 100 Start program at address 100 LBL MAINPGM Label program MAINPGM MOVR 51200 Index 51 200 msteps relative to current pos HOLD 2 Suspend program until motion stops DELAY 500 Delay 500 milliseconds CALL WAITIN21 IO 21 1 Invoke subroutine WAITIN21 when IO line 21 TRUE BR MAINPGM Loop back to MAINPGM LBL WAITIN21 Declare program subroutine WAITIN21 MOVR 51200 5 Index relative 256 000 msteps H
19. TT M2 2240 D 34 Frame MicroLYNX 7 Single Shaft Double Shaft ND M2 3424 D M2 343 pre ette A uu a u M2 3437 D M2 B45 05S M2 3450 D Enhanced Stepper Motors IMS also carries a new series of 23 frame enhanced stepping motors that are recommended for use with the IM483H IM805H These motors use a unique relationship between the rotor and stator to generate more torque per frame size while ensuring more precise positioning and increased accuracy The special design allows the motors to provide higher torque than standard stepping motors while maintaining a steadier torque and reducing torque drop off The motors are available in 3 stack sizes single or double shaft with or without encoders They handle currents up to 3 Amps in series or 6 Amps parallel and holding torque ranges from 95 oz in to 230 oz in 67 N cm to 162 N cm These CE rated motors are ideal for applications where higher torque is required 23 Frame High Torque Motors MicroLY NX 4 7 Single Shaft Double Shaft MEE2218 S L a e ER px Ue cpi 2 MH 2218 D jS M M MH 2222 D IMIS 22 TCS c either EE kusay naw bs vette x MH 2231 D IMS Inside Out Stepper Motors The new Inside Out Stepper IOS Motors were designed by IMS to bring versatility to small motors using a unique multi functional hollow core design 2 25 Motor Requirements 5 o i E
20. eese 2 46 Figure 7 9 Message Frame Setup Dialog From LYNX Terminal 2 247 Figure 7 10 LYNX CAN Setup Dialog from LYNX Terminal 2 48 Figure 8 1 IOS Variable Applications essent 2 52 Figure 8 2 Isolated Digital I O Input Equivalent 2 53 Figure 8 3 Isolated Digital I O Output Equivalent 2 55 Figure 9 1 Installing the Isolated I O esses ennemi 2 59 Figure 9 2 The Isolated I O Expansion Module Bottom View eese 2 60 Figure 9 3 Powering Multiple Isolated Digital Modules eene 2 60 Figure 9 4 The Differential VO Module 22224442 1 110000000000 nennen eren a 2 61 Figure 9 5 Installing the High Speed Differential I O Module seen 2 62 Figure 9 6 Clock Functions otii erem ee EET eT UTERE TEE a IF ee EIN E eret d 2 63 Figure 9 7 Differential I O Input Equivalent Circuit 0 00 cecceseeeceseeseeseesecneceeceeesessecsecseeaseesesseeeaeseaes 2 64 Figure 9 8 Differential I O Output Equivalent Circuit enne nennen 2 65 Figure 9 9 Differential Encoder Connection essent nennen 2 67 Figure 9 10 Differential I O Connections for Following and External Clock Input sess 2 60 Figure 9 11 One and a Half Axis Opera
21. Analog Input Joystick Interface Command Summary Usage Usage Description Supports the Analog Joystick Interface Module when operating in joystick mode Execution of this command followed by moving the connected joystick over its range of motion and back to center and then pressing the ENTER key or letting it time out for 30 seconds calibrates the joystick This instruction allows for rapid calibration of the joystick Description ADS JSC lt num gt ADS lt chan gt lt aunit gt lt func gt lt law gt JSFS lt num gt aunit x munit directly as shown directly as shown Setup variable supports the Analog Input Joystick Module chan channel 1 or 2 lt aunit gt converts analog units to motor steps velocity lt mode gt 1 analog 2 joystick lt law gt Adjusts joystick position to motor velocity transformation 1 linear 2 square law 3 cube law Joystick center position updated by USC command or Joystick Full Scale updated by ISJC command or Usage Description Joystick Enable flag lt flg gt 1 enables joustick function lt flg gt 0 default disables Table 9 11 Analog Input Joystick Software Command Summary MicroLYNX System Rev 03 10 2000 2 72 and Analog Expansion Module MicroLYNX These are introduced here and covered in more detail in the Software Reference Error Codes In addition to the instructions and variable
22. This part has undergone the following changes since the last revision 1 The LYNX Terminal software section has been updated and moved from its prior location in Part I of this document to this part 2 The Language Reference section has been reformatted 3 The Error Table Appendix A has been updated to include support for the MicroLYNX 4 The new instructions variables flags and math functions listed below have been added Software Enhancements The following software enhancements have been incorporated into the LYNX System to provide increased functionality as well as to provide access to the new hardware features These enhancements have been accomplished while maintaining backward compatibility with the Modular LYNX System Enhancements are in the form of new instructions system variables flags and supporting error numbers as well as expansion of existing instructions to provide new capabilities New or Modified Instructions Ct DVF This is an enhancement of the DVF command in that it will now allow the deleting of variables and flags that 8 defined by the command These new flags D HIGH H 1 LOW L 0 TRUE 1 FALSE F 0 YES Y 1 NO N 0 OFF 1 ON 0 INPUT This command is an enhancement of the existing command The enhancement relates to the optional nowait parameter If nowait is set to 1 the INPUT command will no longer suspend program execution waitin
23. a Basic rules of wiring and shielding LYNX Control Module with IMS Drivers a LYNX Control Module as Stand alone or with Optional I O Module Wiring and Shielding Noise is always present in a system that involves high power and small signal circuitry Regardless of the power configuration that you use in your system there are some wiring and shielding rules that you should follow to keep your noise to signal ratio as small as possible Rules of Wiring a Power Supply and Motor wiring should be shielded twisted pairs run separately from signal carrying wires a A minimum of 1 twist per inch is recommended m Motors wiring should be shielded twisted pairs using 20 gauge wire or 18 gauge or better for distance greater than 5 feet a Power ground return should be as short as possible to established ground a Power Supply wiring should be shielded twisted pairs Use 18 Gauge wire if load is less than 4 amps or 16 gauge for more than 4 amps a Do not Daisy Chain power wiring to system components Rules of Shielding The shield must be tied to zero signal reference potential In order for shielding to be effective it is necessary for the signal to be earthed or grounded m Do not assume that earth ground is true earth ground Depending on the distance to the main power cabinet it may be necessary to sink a ground rod at a critical location a The shield must be connected so that shield currents drain to signal earth c
24. command XXXXX XXX Switch out of program mode PGM BR Used to branch conditionally or unconditionally to a routine Switch to program mode at address 200 PGM 200 Label command will name the program LBL Program 1 XXXXX Program named by LBL command XXXXX XXX Unconditional branch to Program BR Program1 Switch out of program mode PGM END Designates the end of a program Switches to program mode at address 200 PGM 200 Label command will name the program LBL Program XXXXX Program named by LBL command XXXXK XXX Unconditional branch to Programl BR Program1 Designates the end of the program END Switches out of program mode PGM DELAY Delays program execution in milliseconds Switches to program mode at address 200 PGM 200 Label command will name the program LBL Program1 XXX Program named by LBL command XXXXK XXXXX Delay 2 seconds between re execution of program DELAY 2000 Unconditional branch to program1 BR Program1 Designates the end of the program END Switches out of program mode PGM PRINT Outputs specified text and parameter values to a terminal or terminal software on a Host PC Switches to program mode at address 200 PGM 200 Label command will name the program LBL Program1 XXX Program named by LBL command XXXXX XXX Prints text in quotes and then POS PRINT Position POS Delay 2 seconds between re execution of program DELAY 2000 Unconditional branch to programl BR Programl Designates the end of the program END
25. output VO to be set true on input trip Trip on timer enable enables the corresponding timer event trip TTE1 TTE2 TT Formerly TIE lt x gt TTE3 TTE4 TTE lt x gt lt flg gt lt gt 1 4 lt flg gt 0 Disabled lt flg gt 1 Enabled Trip on timer repeat specifies whether or not the corresponding timer event trip TT will repeat each time the specified period TIR1 TTR2 TTRoc flg expires Formerly TIR lt x gt TTR3 TTR4 lt gt 1 4 lt flg gt 0 Do not repeat lt flg gt 1 Repeat Trip on velocity This variable was formerly VT lt velocity gt Velocity used for trip TV TV lt velocity gt lt lbVaddr gt lt output gt lt lbl addr gt Subroutine label or address to be 0 000 0 0 activated on trip lt output gt O to be set true on velocity trip Trip on velocity enable Enables the corresponding velocity trip 5 Formerly VTE WE iur flg 0 Disabled flg 1 Enabled Instructions That Can Be Used in a LYNX Program Instructions That Can Be Contained in a LYNX Program Performs conditional or unconditional branch to a routine in a LYNX program lt lbl addr gt Subroutine label or address param Condition parameter sets the condition for the branch If blank branch will be unconditional Allows the user to invoke a subroutine within a LYNX program Ibl addr Subroutine label or address to be CALL lt gt lt param gt invoked if lt param gt TRUE
26. 0 4095 AUNIT 1 Joystick Enable Disable Flag Enables velocity mode for the Analog Input Joystick Module lt flg gt 0 Disabled lt flg gt 1 Enabled JSE lt fig gt Joystick full scale variable Automatically updated by 5 or JSFS lt num gt manually using lt num gt 0 4095 AUNIT 1 Flag specifies whether or not motion will cease when a limit is reached lt flg gt 0 Motion will not stop lt flg gt 1 Motion will stop LIMSTP lt flg gt Miscellaneous Motion Miscellaneous Motion Related Variables Flags and Instructions Flag enables disables backlash compensation BLE BLE lt flg gt lt flg gt 0 Disabled lt flg gt 1 Enabled Variable specifies the mode for backlash compensation BLM BLM lt mode gt lt mode gt 0 Mathematical Compensation lt mode gt 1 Mechanical Compensation BLSH BLSH lt num gt Backlash compensation amount lt num gt User Units CTR1 Counter which represents the raw counts sent to the primary tend motor Counter which represents the raw counts received from the Counter which represents the raw counts of the clock seen on Flag which enables disables half axis scaling mode HAE HAE flg lt flg gt 0 Disabled flg 1 Enabled Software Reference 03 10 2000 3 30 Miscellaneous Motion Related Variables Flags and Instructions cont d HAS HAS lt param gt Variable defines the scaling factor for half axis mode ems par
27. 131 85 132 86 d J Sp a sa 133 Wasa ma 87 134 88 EE 135 dtm 89 136 PEUPLE 90 137 5222 ac 91 138 rer 92 139 93 p 140 Software Reference 03 10 2000 3 102 181 182 sanku BUE RON 183 mn 184 185 IB BLO 186 226 187 227 ee 188 O assesses 228 n 189 2290 RUE 190 Bst 230 191 ssec Del 192 232 c 193 233 nds E 194 234 ee 195 235 HP 196 8 236 occ 197 QI consid Leu 198 WEN 199 mE eS 200 E771 Meier 201 Q S 0 202 imita end no a 242 Lube ide 203 ER 204 mc B 205 49 e 206 246 gt 207 ausu un Un lumus 208 Tn 209 cB 9 nuc diee 210 5 fn ne 211 O Mr 212 252 213 253 214 85 MOREM 215 55 cres 216 au E M 217 PA A 218 R ee 219 nig P 220 em 3 103
28. 3 11 iw LYNX Terminal Function Key Setup Clear Restore Reset MLYNX EXEC Start up 1 7 7 1 M plP M pSAVE M C Ape Abas i z wd 2 R C J S ENC_ 0_ START Aniol Encoder Tet Binto 01544 Figure 1 5 LYNX Terminal Function Key Setup Upgrading the Firmware in Your LYNX Product With power disconnected to the LYNX Product put the upgrade switch in the ON position Connect power to the LYNX Product Open the LYNX Terminal Software Select the Terminal screen Click the Upgrade menu item on the Menu bar Follow the instructions M E gt S Put the upgrade switch in the OFF position and cycle power LYNX Upgrader Dx LL l www LYNX Controller UPGRADER Welcome to the Press NEXT to Continue Figure 1 5 LYNX Terminal Upgrader Utility Dialog Software Reference 03 10 2000 3 12 C3 ODN Introduction to LYNX Programming Section Overview This section will cover the tools required to effectively program the LYNX product as well as the basic components of the Lynx Software then it will cover in depth the most commonly used commands and variables The LYNX instruction set features a large arsenal of commands which allows it to be very flexible to what applications it is used for however the basic commands will apply to most programs Section 4 of
29. Immediate Program Instruction Print to LYNX COMMA Instruction Binary Mode Opcode Hex Decimal Usage Example PRINT2 lt text gt PRINT2 lt var llg gt 5Ah 90 PRINT2 lt text gt lt var flg gt Notes This is an enhancement of the PRINT instruction in that it will only output the print string to LYNX COMM 2 otherwise it operates the same as the PRINT instruction Related Commands DISP INPUT INPUT1 INPUT2 PFMT PRINT PRINT1 3 87 PRMPT Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Character or PRMPT lt char ascii gt ASCII decimal 32 to 254 ASCII 62 98h 152 value Specify Prompt Character Variable Notes Specifies the character that is used by the LYNX Product for a prompt Valid characters are ASCII characters represented by decimal values 32 254 See ASCII table in Appendix A UED Queue LYNX Controller Flag Setup Flag Binary Mode Usage Example Opcode Hex Decimal _ lt flg gt FALSE 0 Disabled QUED lt flg gt fig TRUE 1 Enabled FALSE 0 DBh 219 Notes This flag when TRUE 1 will enable LYNX nodes in a PARTY system to be able to receive broadcast commands A queued node one with QUED 1 will respond to instructions addressed to This in effect allows the host PC to broadcast instructions to multiple nodes in the system Related Commands PARTY RATIO Setup Variable Ratio Mode Variable Binary Mode Usage E
30. Product Family Operating Instructions Modular LYNX System MicroL YNX System Software Heference INTELLIGENT MOTION SYSTEMS INC E w Livi mJ Excellence in Motion 370 N MAIN ST PO BOX 457 MARLBOROUGH CT 06447 PH 860 295 6102 FAX 860 295 6107 Internet www imshome com E Mail info imshome com The information in this book has been carefully checked and is believed to be accurate however no responsibility is assumed for inaccuracies Intelligent Motion Systems Inc reserves the right to make changes without further notice to any products herein to improve reliability function or design Intelligent Motion Systems Inc does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Intelligent Motion Systems and are trademarks of Intelligent Motion Systems Inc saa Intelligent Motion Systems Inc s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury Per Intelligent Motion Systems Inc s terms and conditions of sales the user of Intelligent Motion Systems Inc products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems Inc against all damages 2000 Intelli
31. Set encoder enable to TRUE 1 default value FALSE 0 EE 1 Setthe EUNIT Encoder Units variable to 800 200 Encoder Resolution X 4 Quadrature Input This means that 1 unit of motion or 1 POS is equal to 800 encoder counts In this instance it will be rotation of the motor EUNIT 800 Save the above flag and variable settings SAVE Now you may begin to use the motion command MOVR as well as PRINT POS and PRINT CTR2 to see the number of encoder counts fed back to the system Set the motor position to 0 POS 0 Move the motor 2 units 2 X EUNIT relative to current position MOVR 2 Print the value of CTR2 This value will indicate the number of encoder counts that the motor has moved Your terminal should echo back the number 1600 Modular LYNX System 03 10 2000 1 34 PRINT CTR2 Print the position of the motor Your terminal should echo 2 000 PRINT POS By printing the variable CTR2 CTR2 EUNIT X POS we can view the distance the motor has traveled in raw encoder counts or by printing POS you can see the distance of travel represented by number of units relative to 0 ENCODER Channel A Channel A Channel B Channel B SCLK DIR 5VDC Encoder OUTPUT Stepping Motor amp 5VDC Opto Supply Step Clock Input Power Connections Not Shown For Simplification Direction Input Motor Driver Figure 6 8 Connecting and Using an Encoder Translating the EUNIT Var
32. Table 9 1 MicroLYNX Expansion Module Configurations MicroLYNX System Rev 03 10 2000 2 58 Expanding the Isolated Digital 1 0 The Isolated Digital I O can be expanded to 24 lines Expansion to this level would require the use of all three slots The I O groups are slot dependent The slots will yield the following groups as numbered Slot Group 30 Nip R Group 40 Nl Eq X Group 50 Connector Option 8 Position Phoenix 10 Pin Header ose m T li joa Table 9 2 Isolated Digital I O Group and Line Locations by Connector Option and Slot Installing The Isolated Digital 1 0 Module To install the Isolated Digital I O Expansion Module in your MicroLYNX perform the following in accor dance with Figure 9 1 1 Remove screws A TERMINAL BLOCK 2 Vo p mu Remove panel from slot to be used rcs 3 Insert Isolated Digital I O Module into Slot 1 C Slot 2 D or Slot 3 E 4 Press firmly until expansion board is securely seated and locked into place by retaining clips F Reassemble MicroLY NX case in accordance with Figure 9 1 6 Affix labels as shown Use a highlighter or marker pen to highlight slot s used ISOLATED DIGITAL 1 0 5 REMOVE Figure 9 1 Installing the Isolated Digital I O Expansion Module 2 59 The Expansion M
33. lt param gt Condition parameter Flags or logical functions to be evaluated BR lt lbl addr gt lt param gt Instruction that performs the two s complement of the specified CPL var flg variable or flag lt var flg gt Variable or flag CALL CPL DEC DEC vare Instruction used to decrement the specified variable by 1 lt gt Variable DELAY Aimes Delay program execution for specified lt time gt lt time gt Time in milliseconds Software Reference 03 10 2000 3 34 Instructions That Can Be Contained in a LYNX Program cont d Instruction that deletes user defined variables and flags lt param1 gt 0 All user vars and flags deleted lt param1 gt 1 Only user vars deleted lt param1 gt 2 Only user flags deleted ff no parameter is specified both will be 0 lt param2 gt 0 All global and local user vars and or flags deleted lt param2 gt 1 Only global user vars and or flags deleted lt param2 gt 2 Only local user vars and or flags deleted Find VO switch instruction Parameters are optional lt num1 gt speed in user units sec lt num2 gt creep in user units sec lt line gt VO line If not specified lt num gt VM lt param gt VI FIOS lt num1 gt lt num2 gt lt line gt Instruction to define a user flag that can be TRUE or FALSE FLG lt name gt lt state gt lt name gt Identifier for flag up to 8
34. 0 to 50 degrees C Storage Temperature essent enne 20 to 70 degrees C Humidity u L DS qS Oa HU EES 0 to 90 non condensing Mechanical Specification INTELLIGENT MOTION SYSTEMS INC Uuuuuu nuauguuiuu Figure 8 1 LYNX Control Module Combination Dimensions 1 43 The Control Module Combination XIVA Power Requirements Power Requirements and Specifications Input Voltage 12 to 75 VDC Unregulated or 5VDC 5 550 pm j 4d utput unloa ontrol Medie Output Voltage 5VDC 5 t 50r A mn rnally Table 8 1 Power Requirements for the LYNX Control Module Combination Connection Overview Switches Select Addresses A Thru G Party Mode Select Host Interface Mode Select Software Upgrade Party Mode Address Differential Direction IO 11 And Step Clock lo12 Outputs Differential 1 0 Channels 13 14 T And 17 Current Limited 5V Output Or 5V Power In RS 422 Group 20 Serial Communications ra Volt Isolated Ground Power Ground 5V Pullup Enable P1 12 to 80 VDC Input Power Switches for Z Group 30 Figure 8 2 LYNX Control Module Combination
35. 2 Only local user vars and or flags deleted ERR PRINT ERR Read only status flag indicates whether an error has occurred ERRA PRINT ERRA 2 variable displays the memory location that the error Read only variable contains the error code for the most recent error See Appendix B for a list of possible errors Flag allows the user to enable disable the fault indicator LED FAULT FAULT lt flg gt lt flg gt 0 Disabled lt flg gt 1 Enabled PRINT FLAGS IP FLAGS GET FLAGS ERROR PRINT ERROR Keyword used with the GET PRINT and IP instructions to indicate the inclusion of only flags Data Related Instructions Keywords and Flags cont d Instruction to define a user flag that can be TRUE or FALSE FLG lt name gt lt state gt lt name gt Identifier for flag up to 8 characters lt state gt Logic state 1 or 0 Instruction that retrieves the specified information from non volatile memory NVM param ALL All vars flags and program space param VARS Variables only param FLAGS Flags only param PGM Program space lt param gt lOS VO settings If param is not specified then param ALL Instruction used to request input from the user param is an optional nowait parameter If param is not INPUT var param var Variable specified then param 0 Suspend prog execution param 0 param 1 Do not suspend prog execution Enhanceme
36. CAN Version Connector Option ENUT s e s SNOLIVOINQININOO 9 N C Reserved for V O I0 dnoso e LLL LL TL TAATA Table 7 7 CAN Pin Configuration SNOIIVOINDANOO e say _ CAN BUS PHASE A PHASE A PHASE B PHASE H oo n POWER V IPPLY D 0 0 0 B sa m COMMUNICATIONS NN a e n n n n n 10 Pin Header MicroLYNX 10 Pin Header Figure 7 6 Connecting to the CAN Bus 2 41 The Communications Interface Configuring The CAN Module The CAN module is placed in configuration mode by holding the CONFIG input LOW on power up The module can then be configured using the configuration commands Care must be taken to ensure proper initialization as no syntax checking is performed on the commands The CAN module powers up as follows when the config input is held LOW BAUD e tret ye eg pe E aqusapa 50kbps Time Quanta t before sample point essent 5 Time Quanta t after sample point a 4 Time Quanta t before re synchronization jump width 2 MASTITIS e Standard 11 bit Global Mask u ei HE reete aah iue Peale genes ee ut FFFFh CAN Receive
37. MUNIT 51200 360 2 67 The Expansion Modules EUNIT 2000 360 This assumes MSEL 256 and a 500 line encoder With this configuration if you performed the following absolute move MOVA 270 the axis would turn 270 Thus when you enter PRINT POS the terminal will display 270 00 The program that follows will illustrate encoder feedback by making a series of moves while displaying both the raw counts from CTR2 and the scaled POS value Enter the program below in the text editor window I PARAMETERGS xxx MUNIT 51200 motor units 1 256 resolution EUNIT 2000 500 line encoder quad input EE 1 enable encoder functions STLF 200 stall factor 10 of 1 rev STLDE 1 enable stall detection STLDM 0 stop motion if stall is detected MAC 75 accel current to 75 MRC 50 run current to 50 MHC 25 hold current to 25 PDROGRAM PGM 200 CTR2 0 POS 0 MOVR 1 HOLD 2 DELAY 250 PRINT rEncoder Count CTR2 Position Count POS e K MOVR 10 HOLD 2 DELAY 250 PRINT rEncoder Count CTR2 Position Count POS e K MOVR 11 HOLD 2 DELAY 250 PRINT rEncoder Count CTR2 Position Count POS e K BR 200 END PGM Execute the program by entering EXEC 200 into the terminal Following an External Clock Electronic Gearing The High Speed Differential I O Module allows you to configure the MicroLYNX s primary axis to follow an external clock input The hardware connection Fig
38. PAUSD lt flg gt been paused PRINT PAUSD lt flg gt 0 Program not paused lt flg gt 1 Program paused Enables disables the ability of LYNX MicroLYNX modules in a multi drop system to receive broadcast commands SEP fig 0 Disabled lt flg gt 1 Enabled BKGD BSY CSE CHE HELD Enables disables the status of a LYNX or MicroLYNX as the yt host module in a multi drop system HOST lt flg gt 0 Disabled not host lt flg gt 1 Enabled host LOGO PARTY AUSD QUED BR lt bl addr gt STK figs Read only status flag indicates a program subroutine stack fault STK PRINT STK lt flg gt 0 No fault lt flg gt 1 Stack overflow or underflow Software Reference 03 10 2000 3 40 Mathematical and Logical Functions All mathematical and logical functions are evaluated sequentially there is no hierarchy of functions Therefore the equation 1 2 3 evaluates to 9 and not 7 All functions can be evaluated in immediate mode although their real usefulness is in a control module program Mathematical and Logical Functions Binary Mode Symbol Opcode Hex Decimal Dm 7 umm fee ETENUNUTETITITTLCESIUCD T ORbiwse 1 VARS VARI VAR2 bitwise FLG3 FLG1 FLG2 logical 17 8 9 21 A VAR3 VAR1 VAR2 bitwise FLG3 FLG1 FLG2 logical 4 5 Equal To VAR lt num gt FLG lt 0 1 gt FLG1 VAR1 VAR2 18h 2 lt FLG1 lt 0 1 gt VAR1 lt VAR2 19h
39. The LYNX Terminal software is an easy to setup and use interface for MicroLYNX programming It is also required to upgrade the software in the MicroLYNX The LYNX Terminal program is fully covered in the LYNX Product Family Operating Instructions Its coverage in this document is limited to what is required to communicate with the MicroLY NX and to create edit and download MicroLYNX programs Configuring Communication Settings The communications settings are configured by means of the Preferences Dialog This dialog is accessed through the Edit gt Preferences menu item or by clicking the Preferences icon on the toolbar The preferences dialog gives the user the ability to set the format for text size font and color as well as general communications settings It is set by default to the optimum communications settings for the MicroLYNX If 3 9 5 2 D 9 3 Preferences X Editor Format Terminal Format Comm Settings Window Size Port Com Rows 25 Y Dus 38400 Columns 80 M c Line Block Cursor Cursor Char Delay msec Baler Siow 250 Line Delay 50 21 msecl ad v Enable Function Keys LYNX Indexer Old Indexer LYNX 4831 10071 Panther I Figure 1 2 LYNX Terminal Communications Settings you change the BAUD rate setting for the MicroLYNX power will have to be cycled for the change to take effect Ensure that the LYNX Termina
40. ape eo vba eeu 2 44 Table 7 12 Global Mask Registers 244 Table 7 13 Message Frame Arbitration Registers 2 47 Table 7 14 ASCII Mode Special Command Characters n 2 50 Tabl 7 15 Binary Mode Hex Codes rre crt t yet e ebbe Pao v tu b ER Yn eR sevens 2 50 dable 8 1 IOS Variable Settings eee pete recte rh e 2 53 Table 8 2 Digital Filter Settings for the Isolated 2 54 Table 8 3 Binary State of Outputs rtr prep eerte RR Ee e 2 56 Table 9 1 Expansion Module Configurations n nn entente 2 58 Table 9 2 Isolated Digital I O Group and Line Locations enne 2 50 Table 9 3 Differential I O Electrical Characteristics nennen enne eene nnne 2 61 Table 9 4 Differential I O Expansion Module Pinout by Connector Style and Slot 2 61 Table 9 5 The Four tt empereur eed enun eo e eap edad 2 63 Table 9 6 IOS Variable Settings for the Differential I O sess 2 64 Table 9 7 Digital Input Filter Settings for the Differential eese 2 65 Table 9 8 Expansi
41. devices such as relays solenoids LED s and PLC inputs may be controlled from the LYNX Depending on the device connected the input or output may be pulled up to either the internal 5 VDC supply or an external 5 to 24VDC supply or the I O lines may be pulled down to ground These features combined with the programmability and robust construction of the MicroLYNX I O open an endless vista of possible uses for the I O in your application Sensors Switches PLC Outputs INPUTS LYNX Control Module Relays Solenoids LED s OUTPUTS hens Figure 6 1 Isolated I O Applications Each I O line may be individually programmed to any one of 8 dedicated input functions 7 dedicated output functions or as general purpose inputs or outputs The I O may be addressed individually or as a group The active state of the line or group may also be set All of these possible functions are accomplished with of the IOS variable Modular LYNX System 03 10 2000 1 26 The 105 Variable The IOS variable has three parameters when used to configure the isolated digital I O These are 1 I O Line Type Specifies the the type of I O that the line or group will be configured as i e general purpose or dedicated function 2 TO Line Function Either an input or an output 3 Active State Specifies whether or not the line will be active HIGH or active LOW The default configuration of the standard I O set is 0 0 1 This
42. 0 MUNIT 51200 25 LBL TurnOnce SLEW 500 Software Reference 03 10 2000 Set I O 21 to be a Go input Set I O 25 to be a user input Enter program mode at address 1 label the following program ProgInit Set position to zero Scale micro steps into Millimeters label the following program TurnOnce Move at constant velocity of 500 mm per second LBL Loop1 label below program Loop1 DELAY 2 delay 2 milliseconds BR Loopl IO 21 0 Conditional Branch to Loop1 if io 25 is high SLEW 0 Move at constant velocity of 0 mm per second HOLD 1 Suspend program execution until motion has stopped PRINT POS Prints position END Designate the end of the program PGM Exit program mode 2B This program will run upon power up Startup provided it is saved to NVM prior to power down The program will first ask for the Speed in mm per second at which to slew Once entered it will slew at that speed until input 21 is true then it prints the position where it stopped at returns to zero and asks for another speed PGM 200 Enter program mode at address 200 LBL startup label the following program Start up POS 0 Set position to zero MUNIT 51200 25 Scale micro steps into Millimeters IOS 21 0 0 0 0 0 0 Set I O 21 to be a Go input VAR Speed define the variable speed 7 LBL label the following program MoveMe S PRINT Enter Speed Print to terminal Enter Speed E INPUT Speed
43. 1 0 2 0 Step Clock Output 12 CLK1B 2 1 1 0 2 0 Direction Output 13 CLK2A 3 0 1 0 1 0 14 CLK2B 4 0 1 0 1 0 15 CLK3A 5 0 1 0 1 0 16 CLK3B 6 0 1 0 1 0 17 CLK4A 7 0 1 0 1 0 18 CLK4B 8 0 1 0 1 0 Groups 20 50 vO Function IOS Notes 21 26 USER 0 0 1 0 0 0 3 31 36 USER 0 0 1 0 0 0 41 46 USER 0 0 1 0 0 0 51 56 USER 0 0 1 0 0 0 J Notes You can specify the set up for individual I O or for the entire group of I O To specify the group you would specify 8 10 for group 10 20 for group 20 etc Otherwise simply specify the number There are six settings that be 5 specified for each I O The first setting is the I O type type type can be one of the following Type Function Input Output Typ Function Input Output 0 USER Input or Output 13 LIMIT PLUS Input 1 CLK1A Output Only 14 LIMIT MINUS Input 2 CLK1B Output Only 15 STATUS Input 3 CLK2A Input or Output 16 JOG PLUS Input 4 CLK2B Input or Output 17 JOG MINUS Input 5 CLK3A Input or Output 18 MVG Output 6 CLK3B Input or Output 19 PCHG Output 7 CLK4A Input or Output 20 VCHG Output 8 CLK4B Input or Output 21 BSY Output 9 GO Input 22 STALL Output 10 STOP Input 23 ERR Output 11 PAUSE Input 24 PAUSD Output 12 HOME Input 25 SYNC Output The second setting is Input or Output lt i o gt 0 Input 1 Output The third setting is High Low True lt h I gt 0 Low True 1 High True The fourth setting is Level Edge
44. 10 2000 6 Lead Motors As with 8 lead stepping motors 6 lead motors have two configurations available for high speed or high torque operation The higher speed configuration or half coil is so described because it uses one half of the motor s inductor windings The higher torque configuration or full coil uses the full windings of the phases Half Coil Configuration As previously stated the half coil configura tion uses 50 of the motor phase windings This gives lower inductance hence lower torque output As with the parallel connec tion of 8 lead motor the torque output will be more stable at higher speeds This configura tion is also referred to as half copper In setting the driver output current multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current PHASEA PHASE A NO CONNECTION PHASEB PHASEB NO CONNECTION Figure 5 4 6 Lead Motor Half Coil Connection 4 Lead Motors 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance In setting the driver output current multiply the specified phase current by 1 4 to determine the peak output current Full Coil Configuration The full coil configuration on a 6 lead motor should be used in applications where higher torque at lower speeds is desired This configu ration is also referred to as full copper Use the per phase or unipolar current rating
45. 100 Define the Variable Time and set it to 100 FLG Answer1 0 Define the Flag Answerl and set it to 0 PRINT Enter Feed Rate in inches sec Prompts user for Feed Rate speed INPUT Feedrate Enters the Data entered by the user into Feedrate variable PRINT Enter length of raw material in inches Prompts user for Length INPUT Length Enters the Data entered by user into Length variable LBL Cutting Name the program Cutting PRINT Enter in inches length of Cut Prompts user for length of Cut INPUT Cutsize Enters the Data entered by user into Cutsize variable LBL Go now Name the program go now Leftover Length POS Set Leftover equal to material length less already cut BR Toosmall Leftover Cutsize Branch to toosmall if leftover is less than cutsize Time abs CTR3 Set time equal to the absolute value of ctr3 DELAY Time Delay for time 001 seconds VI Feedrate 100 Set Initial Velocity to Feed rate divided by 100 VM Feedrate Set Max Velocity to Feed rate entered MOVR Cutsize Move number of inches entered for Cutsize HOLD 2 Suspend the Program execution until Motion stops BR Done POS Length Branch to Done if amount cut is equal to Length BR Done POS gt Length Branch to Done if amount cut is less than Length BR Go_now Branch to Go_now LBL Toosmall Name the program Toosmall BR Done Leftover 0 Branch to Done if remaining mat
46. 11 Ci SIarted E 2 13 SeCUOD OVERVIEW ahua Q 2 13 Getting Started u ESS 2 13 Includedin the Package br pe cna 2 13 User Provided Tools and Equipment Needed seen 2 14 Connecting the Power Supply eene eet 2 14 Motor Connections PE M 2 14 Communications dii DP 2 14 Establishing Communications using the IMS LYNX Terminal esee 2 14 Testing the MicroL Y NX Setup u teen eterna tuae peret eua tpe pora aae voco age eae 2 15 Installing and Mounting the MicroLYNX 2 17 ECHO OVervieW M 2 17 Dimensional Information n irt rrr epar et Ee ERN ER ER 2 17 Installation and Removal of the Optional Expansion Modules seen 2 17 Mounting the MicroLYNX System to a Panel sess enne nenne 2 19 Powering the MicroLYNX System 2 20 Neid A 220 Selecting uode
47. Allow user to enter data SLEW Speed Move at constant velocity equal to speed 8 LBL Loop1 label below program Loop1 gt DELAY 2 delay 2 milliseconds BR Loopl IO 21 0 Conditional Branch to Loop1 if io 21 is high T PRINT POS Prints position R MOVA 0 Move back to zero position HOLD 2 Suspend program execution until motion has stopped BR Unconditional Branch to MoveMe END Designate the end of the program PGM Exit program mode Cut to Length Application This program asks for several variables using the Print and Input commands It then will start feeding the material in the cutsize increments with a delay adjustable by the encoder input on Counter 3 When the material leftover is less than the cutsize the user has the option to modify the cutsize When there is no material left it will exit the program PGM 1 Start program mode at address 1 LBL Cutstuff Name the program Cutstuff MUNIT 51200 25 Scale steps into user units CTR3 100 Set Counter 3 Clock 3 counter to 100 POS 0 Set Position Register Clock 1 counter to 0 VAR Feedrate 0 Define the Variable Feedrate and set it to 0 VAR Cutsize 0 Define the Variable Cutsize and set it to 0 VAR Length 0 Define the Variable Length and set it to 0 VAR Leftover 0 Define the Variable Leftover and set it to 0 VAR Enter 0 Define the Variable Enter and set it to 0 VAR Time
48. Although setting a parameter of the IOS variable specifies ratio mode this flag acts as a master enable of the mode This allows the user to enable and disable the function without changing the I O setup In addition if multiple drives are being ratioed this allows them to be started simultaneously Ratio Mode Enable Flag Related Commands IOS RATIO RATIOW RATIOW Setup Variable Binary Mode Usage Example Parameters Range Opcode Hex Decimal 2 lt num gt 0 Square wave mW mW num 1 254 Pulses in increments of 50ns oe 9Ah 154 Notes Pulse width for the step clock of the secondary channel s being used to drive the motor s in ratio mode It should be noted that if a square wave pulse is selected here the ratio will be 1 2 that specified For instance if a ratio of 1 is specified and RATIOW is set to 0 the ratio will actually be 7 Thus if a square wave pulse is desired the true range of ratio is 1 lt RATIO lt 1 Ratio Mode Pulse Width Variable Ie TI NE YE TS BICMOS Related Commands RATIOE RATIO RES Immediate Mode Instruction Resume Program Execution Instruction Binary Mode Opcode Hex Decimal Usage Example Resume the program and if necessary motion that was suspended by a PAUS instruction The program is always resumed but the motion may or may not be resumed depending on the value of PAUSM at the time the PAUS instruction was issued Notes Related Commands
49. BIRO Ri 53h BIRI 34h ieu PM FFh FFh UGMLO sau FFh UGNMDE FFh L GMID ER FFh JB GUI E o F8h FFh 2 FFh ei cet ete pc Atari es FFH E FFh Message Frame Lu a n s Su not valid Message Frame RR not valid Message Erame 3 id eda mei a E apes not valid MicroLYNX Mode 212 2 1 1 single MicroLYNX Party Address re tertii efc EH Micro babe uc gt MicroLY NX BAUD Rate reiten e Ee a se ia cope pe ETE HEURES 9600 The use of the INIT instruction will restore these defaults in the CAN module There are several new enhancements to the LYNX instrutcion set which add the functions of the CANmodule while maintaining backward compatibility with the modular LYNX system The following instructions and variables are specific to the CAN Module These are introduced here and covered in more detail in the Software Refe
50. Binary Mode Usage Example Response Opcode Hex Decimal Notes The POSCAP variable is a read only variable that captures the value of POS when a trip is encountered Axis Position At Time Of Trip Variable Related Commands POS TIEx TPx TTx TTEx TTRx TVx PRINT Immediate Program Instruction Print Instruction Usage Example Binary Mode Opcode Hex Decimal PRINT text PRINT lt var flg gt PRINT lt text gt lt var flg gt Notes This instruction is used to output text and parameter value s to the host PC Text should be enclosed in quotation marks while parameters variables and flags should not Text strings and parameters which are to be output by the same PRINT instruction should be separated by commas The information being output is followed by a carriage return and line feed unless a semicolon is included at the end of the PRINT instruction to indicate that the cursor should remain on the same line This is useful when the PRINT instruction is being used to output instructions preceding an INPUT instruction The DISP instruction may effect how the data is printed In addition the PFMT variable will determine the representation of numerical data Software Reference 03 10 2000 3 86 There are several control characters that can be embedded in the print text b Causes the cursor to backspace one character c Embeds a Ctrl C into the text string e Embeds an ESC c
51. Command FRM lt frame gt lt valid flag gt lt extended ID flag lt frame gt frame number 1 3 Frames and 2 are fixed as receive frames Frame 3 is fixed as a transmit frame lt valid flag gt frame valid lt valid flag gt 0 frame not valid extended ID flag 1 extended identifier extendedID flag 0 standard identifier The CAN module will only operate on valid message objects Example FRM 210 This sets message 2 valid using the standard identifier Set Message Frame Arbitration Registers Command Usage Example UAR0 lt framef gt lt hex digit gt lt hex digit gt UAR0 2A3 UARI frame gt lt hex digit gt lt hex digit gt UAR1 200 LAR0 frame gt lt hex digit gt lt hex digit LAR0 200 LAR1 lt frame gt lt hex digit gt lt hex digit gt LAR1 200 lt frame gt frame number 1 3 This sets message 2 arbitration registers to A30h ID28 18 Identifier of a standard message ID17 0 set to 0 for a standard message ID28 0 Identifier of an extended message MicroLYNX System Rev 03 10 2000 2 46 The arbitration registers are used for acceptance filtering of incoming messages and to define the identifier of outgoing messages There must not be more than one valid message object with a particular identifier at any time If some bits are masked by the global mask registers then the identifiers of the valid message objects must differ in the remaining bits which are used for acceptance f
52. Connections and Switches Modular LYNX System 03 10 2000 1 44 LED Indicators System or software fault detected The user can choose to enable or disable the indicator by setting the FAULT flag FAULT TRUE 1 will cause the LED to illuminated whenever an ERROR occurs Table 8 2 LYNX Control Module LED Indicators Pin Assignment and Description P1 Two Position Screw Lock Terminal Input Power Connection me a se Power ground for the unregulated power supply Table 8 3 LYNX Combination Control Module Connector P1 Pin Configuration P2 13 Position Removeable Terminal Connector Motion Signals Regulated Power and Communications Pin Function Description Pins 1 and 2 are the differentially buffered signal for group 1 1 or VO 11 The default for this signal is the direction output for the primary motor drive of the controller If desired this signal may be programmed as a quadrature or up down clock type or a user output This VO may not be programmed as an input 1 Direction VO 11 Pins 3 and 4 are the differentially buffered signal for group 1 2 or VO 12 The default for this signal is the step clock output for the primary motor drive of the controller If desired this signal may be programmed as a quadrature or up down clock type or a user output This VO may not be programmed as an input 3 Step Clock VO 12 Common to the power ground on pin 1 of connector P1 This is provided
53. D X D t t 3 i b Decrement Variable Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal lt var gt User or factory defined variable 34h 52 Description The Decrement Variable instruction will decrement the specified variable by one Syntax Example In the following example we will write a routine that will perform an operation in a loop 10 times VAR LOOPCTR 10 Declare variable LOOPCTR PGM 100 Start program at address 100 LBL LOOP10 Label program LOOP10 DEC LOOPCTR Decrement LOOPCTR variable PRINT LOOPCTR LOOPCTR Print value of LOOPCTR variable HOLD 2 Suspend execution DELAY 1000 Delay 1 second BR LOOP10 LOOPCTR gt 0 Loop to beginning of program while LOOPCTR gt 0 PRINT DONE END PGM Delay Program Execution Instruction Binary Mode Usage Example Parameter Range Opcode Hex Decimal DELAY lt time gt lt time gt Time in milliseconds 0 65535 35h 53 Notes The Delay Instruction will delay program execution for a specified number of milliseconds before continuing The maximum delay time is 65 535 milliseconds or 65 535 seconds Syntax Example In the following example we will set an output leave it set for 500 milliseconds and then clear it PGM 100 Start program at address 100 LBL SAMPLE Label the program SAMPLE IOS 21 0 3 Define I O line 41 as a user defined output IO 21 1 Set I O line 41 to TRUE 1 DELAY 500 Hold I O l
54. Din Rail Mounting Option A DIN Rail mounting kit IMS P N LX DB100 000 may be purchased as an option to your LYNX System It includes all the hardware necessary to mount the system to either of the following recommended DIN rails TS35 X 7 5or TS35 X 15 Included in the DIN Hail Mounting Kit Included in the DIN Rail Mounting Kit is the following hardware a 2 IMS0065 DIN Rail Brackets 4 6 Split Lock Washer 4 6 32X7 16 L Pan Hd Machine Screws 4 6 Flat Washer 040 Thick 2 6 X 250 L Set Screw 1 Instruction Sheet Mounting the LYNX System s to a DIN Hail Inorder to install your LYNX System DIN rail complete the following FA led F 1 Insert the two DIN rail brackets m into the slots located in the back of the system between the end plates and LYNX modules The pull tab on the DIN i bracket must be on the bottom EMG 2 Using the 6 hardware pro vided secure the bracket to the DIN Rail Bracket C 6 Split Lock Washer end plates Figure 3 1 j 6 32 X 7 16 Machine Tighten to 5 7 lb in 6 Flat Washer Screw 6 7 Ivin torque Figure 3 1 Installing the DIN Rail Bracket Modular LYNX System 03 10 2000 1 10 A DIN Rail Bracket DIN Rail LYNX System 3 Holding the LYNX System at an angle away from you lower the upper slot of
55. FALSE IOF20 7 TI 0 0 TIR4 FALSE IOF30 7 2 0 0 TPE1 FALSE 40 7 0 0 2 FALSE 50 7 T14 0 0 TPE3 FALSE IOS11 1 1 1 0 2 0 TP1 0 000 0 TPE4 FALSE IOS 12 2 1 1 0 2 0 TP2 0 000 0 VCHG FALSE IOS13 3 0 1 0 1 0 TP3 0 000 0 VTE FALSE 105 14 4 0 1 0 1 0 4 0 000 0 lOS 15 5 0 1 0 1 0 VEL 0 000 IOS16 6 0 1 0 1 0 VER V XXX 0817 0 0 1 0 0 0 VI 102400 000 0818 0 0 1 0 0 0 768000 000 10521 0 0 1 0 0 0 VT 0 000 0 105822 0 0 1 0 0 0 10523 0 0 1 0 0 0 FI 10524 0 0 1 0 0 0 ags 10525 0 0 1 0 0 0 IOS26 0 0 1 0 0 0 _ 0831 0 0 1 0 0 0 22 u PAIGE IOS32 0 0 1 0 0 0 BKGD FALSE 10533 0 0 1 0 0 0 BLE FALSE 10534 0 0 1 0 0 0 BSY FALSE 105 35 0 0 1 0 0 0 FALSE 10536 0 0 1 0 0 0 DCL FALSE 10541 0 0 1 0 0 0 EE FALSE 10542 0 0 1 0 0 0 ERR FALSE 10543 0 0 1 0 0 0 EVE FALSE 10544 0 0 1 0 0 0 GECHE FALSE 105 45 0 0 1 0 0 0 HAE FALSE 10S 46 0 0 1 0 0 0 HELD FALSE lOS51 0 0 1 0 0 0 HOST TRUE 10552 0 0 1 0 0 0 ITET FALSE 10553 0 0 1 0 0 0 ITE2 FALSE 10554 0 0 1 0 0 0 Software Reference 03 10 2000 3 108 PEND 5 Establishing Communications using Windows95 Hyper Terminal If your Host PC is equipped with the Windows9x or NT 2000 operating systems you can create a new Hyper Terminal
56. Global variables are variables that are defined outside of a program The benefit to using a global variable is that no user memory is required For example the user can define a variable called SPEED by entering VAR SPEED into the terminal The user can then set that variable to equal the value of the read only variable VEL velocity by entering SPEED VEL into the terminal Local Variables This type of user defined variable is defined within a program and can only effect events within that program It is stored in user memory with the program Examples of this type of variable will be given later in the section It is worthy of note that a local variable is not static but is erased and declared again each time a program is executed Flags show the status of an event or condition A flag will only have one of two possible states either 1 true on enabled or 0 false off disabled As with variables there are two classes of flags factory and user defined Factory Defined Flags Factory defined flags are predefined at the factory and cannot be deleted When a DVF Delete Variables and Flags or IP Initialize Parameters instruction is given these flags will be returned to their factory default state There are two types of factory defined flags Read Writable This type of flag is user alterable They are typically used to set a condition or mode of operation for the LYNX For example RATIOE 1 would enable ratio mode operation or E
57. HOST and PARTY configuration in accordance with the table and diagram below Remove power Connect the next control module in the system in accordance with the following table and diagram setting the PARTY switch in the ON position If you desire you can set the PARTY Flag to 1 in software later and turn the switch off Establish communications with this module using the factory default name This name cannot be reused Rename and save the new name Remove power Repeat the last two steps for each additional control module in the system WARNING Failure to connect communications ground as shown may result in damage to the Control Module and or Host NOTE If using the RS 232 Interface Option the Host PC MUST be less than 50 feet from the Control Module If your system will be greater than 50 feet from the Host PC you must use the RS 485 RS485 Interface Modular LYNX System 03 10 2000 1 18 RS 232 Interface Wiring And Connectionsfor Multiple LYNX Nodes Host Control Module Control Module 1 Control Module n Recieve Data REGIS Data Pin7 Transmit Data 9 Transmit Data p hanemit pala __ Pin 9 Transmit Data TX Pin 9 Recieve Data RX Pin7 Recieve Data RX Pin 7 Communications Ground Pin 11 Communications Ground Pin 11 Communications Ground Pin 11 PARTY Switch ON PARTY Switch ON PARTY Switch ON or or or PARTY Flag TRUE 1 PARTY Flag TRU
58. High Speed Differential Expansion Module installed in slot 2 If your module is installed in slot 3 use I O channels 15 and 16 IOS E 15 5 0 1 0 1 1 and IOS 16 6 0 1 0 1 1 instead The raw count of clock pulses will register to CTR3 I O x channels 17 and 18 can be used for this also only there is no registration of clock pulses IOS 13 3 0 1 0 1 1 T O 13 quad input ratio mode IOS 14 4 0 1 0 1 1 T O 14 quad input ratio mode 3 HAE 1 Enable half axis scaling mode HAS 5 Half axis scaling variable to 5 1 output pulse on the pri axis for 2 input pulses With this configuration one 1 step clock pulse will output to the primary axis for every two 2 input clock pulses By reading the value of CTR2 and you can see the ratio of the pulses Try different HAS variable motor resolution and MUNIT settings to see how the primary axis is effected by different settings Connection Showing 10 Pin Header Connection Showing 8 Position Phoenix Terminal TS 0 AG Ol zdnouo Differential Parameter Setup Encoder IOS 13 3 0 1 0 1 1 105 14 4 0 1 0 1 1 1 5 SNOLWSINNINIOD PHASEA PHASEA PHASEB PHASEB power V SUPPLY Stepping Motor MicroLYNX Figure 9 10 Differential I O Connections for Following an External Input NOTE The HAS variable must be set to less
59. I a 24 216 NE ms 25 ve 4 o TI 26 Stepping AY gt IL Molor Black Orange wnite 7 Opto Supply POWER Opto Supply _ Orange Black White Direction DIR 21 E Red Yellow White S TIT N Step Clock DIR 22 Yellow Red White NI Ed NG SCK 23 27 SCK 24 P2 P1 m N GND 25 5V 26 I a cu RX 31 IM483 Step Motor Driver Resolution Select Programmed RX 32 for 256 Resolution 33 RS 232 Communications Wiring T 34 Ground DB 9 Pin 5 ceno 35 TX Transmit DB 9 Pin 3 RX 36 RX Receive DB 9 Pin 2 TX IG ve Cyst c HI PGND v T 32 GND o TI 33 2 ME Cll 34 D AC Ground Green o Clas m A Neutral White o 36 i liciss lady AC Line Cord SS ine Blaci En 2 E ce g p LYNX Control Module B Lao SS Host PC am o E dp Tem O i oring Tn ISP200 4 l 120VAC IN Figure 1 1 Basic Setup Configuration RS 232 Interface Included in the Package 1 LYNX Control Module IMS P N LX CM100 000 2 End Mounting Brackets IMS P N LX EB100 000 1 LYNX Compact DIsc IMS P N LX SW100 000 D Screw DIVET iiie euer eei ot Pep cie eerta IMS P N SD1 1 5 Getting Started XNA TE User Provided Tools and
60. I O Group 10 has 3 Channels Line Pairs 13 amp 14 15 amp 16 and 17 amp 18 that can be config ured as an output by the user and One Channel Line Pairs 11 amp 12 that is configured as output only SCK and DIR on the Control Module These outputs can be configured as high speed outputs or 0 to SVDC general purpose outputs by using the IOS variable The high speed clock outputs have the following restrictions Line Pairs 11 12 13 14 and 15 16 can be configured to Step Clock Direction or Up Down Line Pair 17 18 is limited to IMHz Reference Out 17 and 10MHz Reference Out 18 3 3kQ Clock User Defined Function Figure 9 8 Differential I O Output Equivalent Circuit 2 65 The Expansion Modules In the Equivalent Circuit in Figure 17 an Output is being used as Step or Direction on a driver For the configuration example use I O line 13 for the output Since by default the line is a quadrature input we must configure it to be a Step Direction Output by setting the IOS Variable to the following IOS 1323 1 0 1 2 0 This breaks down as IOS 13 Identifies the line being configured as 13 3 Sets the I O Type to Clock 2A default Sets it as an output 0 Sets Logic at Low True Edge Triggered 2 Sets the Clock Type to Step Direction 0 No Ratio Typical Functions of the Differential 1 0 Connecting and Using an Encoder The high speed differential I O module may be used for closed
61. I O must be configured as Outputs to set the state of outputs Each I O Group has 6 weighted bits Least Significant Bit is 1 and Most Significant Bit is 6 Weight of the LSB 1 and MSB 32 Using the PRINT command to read the state of I O group 20 PRINT IO 20 To determine the decimal equivalent of the binary state of the whole group you would add together the decimal weight of each set bit Decimal equivalent 44 because 32 8 4 44 To set the state of I O group 50 IO 30239 This will set all 6 I O lines in group 30 to 100111 the binary equivalent of 39 Decimal equivalent 32 4 42 1 39 To set the state of individual I O 31 IO 312 0 Software Reference 03 10 2000 3 18 The binary equivalent of group 30 is now 2 38 2 100110 Decimal equivalent 38 because 32 4 2 38 To read state of individual I O 31 PRINT IO 31 A 1 or 0 will appear 1 true 0 false System Instructions The following System instructions will be used frequently CP The CP Instruction is used Program Instructions PGM This instruction toggles the LYNX into or out of program mode o h Ct Switch to program mode at address 200 PGM 200 XXXXX d Program starting at address 200 XXXXX gt XXXXX Switch out of program mode PGM T LBL u Assigns a label or name to a program or subroutine Switch to program mode at address 200 PGM 200 Label command will name the program LBL Program1 XXXXX Program named by
62. Input Voltage onset iet greet 5 to 24VDC Output Current Sink eere 350mA Input Filter Range t rte pte 215Hz to 21 5kHz Programmable Pull ups e ete et dee 7 5kOhm individually switchable Pull up Voltage Internal uei eter tient 35VDC External eR GSR Oe 24 VDC Protection aulas a e diaa Over temp short circuit inductive clamp Isolated Ground ins a e nn eed eed Common to the 6 I O Communication Specifications Asynchronous Interface Type COMM Le tete e Sea e DO DE edet BAUD Rate iere tte eter eee Error Checking i air RR elei Communication Isolated u k sls un MicroLYNX System Rev 03 10 2000 2 8 4800 to 38 8kbps 16 bit CRC binary mode ASCII text or binary Common to COMM 1 and COMM 2 Controller Area Network CAN CAN replaces Asynchronous Communications in the MicroLYNX Base System Uses COMM 1 internally CAN Compliance eset te eee aae Version 2 0B Active Message Frames Di u AE 2 bci M 1 Isolated Ground uuu eret terrere Common to COMM 1 and COMM 2 Mechanical Specifications S r DIMENSIONS P See Figure 1 1 of Expansion Modules sese 3 x edi dm Built in fan Mounting ce nh ERE PEPPER EAEE 2 6 or M3 5 machine screws Mounting Screw Torque eene 5to7 Ib
63. Intentionally Left Blank Software Reference 03 10 2000 3 110 TWENTY FOUR MONTH LIMITED WARRANTY Intelligent Motion Systems Inc warrants its products against defects in materials and work manship for a period of 24 months from receipt by the end user During the warranty period IMS will either at its option repair or replace Products which prove to be defective EXCLUSIONS The above warranty shall not apply to defects resulting from improper or inadequate handling by customer improper or inadequate customer wiring unauthorized modification or misuse or operation outside of the electrical and or environmental specifications for the Product OBTAINING WARRANTY SERVICE To obtain warranty service a returned material authorization number RMA must be obtained from customer service at 860 295 6102 before returning product for service Customer shall prepay shipping charges for Products returned to IMS for warranty service and IMS shall pay for return of Products to customer However customer shall pay all shipping charges duties and taxes for Prod ucts returned to IMS from another country WARRANTY LIMITATIONS IMS makes no other warranty either expressed or implied with respect to the Product IMS specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long an implied warranty lasts so the above limitation or exclusion may not
64. LYNX Control Module Modes of Operation LYNX Control Module Communication Modes Connecting the RS 232 Interface Single Control Module System In systems with a single control module also referred to as Single Mode the LYNX Control Module is connected directly to a free serial port of the Host PC Wiring and connection should be performed in accor dance with the following table and diagram In this mode the PARTY switch will be in the OFF position and the PARTY Flag will be set to 0 in software This is the factory default setting Please be aware that you cannot communicate with the LYNX Control Module in single mode unless those conditions exist WARNING Failure to connect communications ground as shown may result in damage to the Control Module and or Host NOTE If using the RS 232 Interface Option the Host PC MUST be less than 50 feet from the Control Module If your system will be greater than 50 feet from the Host PC you must use the RS 485 RS485 Interface Modular LYNX System 03 10 2000 1 16 RS 232 Interface Wiring And Connections LYNX Control Module 25 Pin Serial Port on PC 9 Pin Serial Port on PC Recieve Data Pin12 Transmit Data TX Pin2 Transmit Data Jata DO Pin 3 Communications Ground Pin 11 Communications Ground Pin 7 Communications Ground Pin5 Table 5 1 Wiring Connections RS 232 Interface Single Control Module System 25 PIN Serial Port on Host PC 5 V Wow d 17 18 19 20 21 22 23 2 25
65. Overview The LYNX Control Module features two communication interfaces RS 232 and RS 485 For both channels the BAUD rate is software configurated using the BAUD variable to 4800 9600 19200 or 38400 bits sec The factory default is set to 19200 bits sec Default data settings are 8 data bits 1 stop bit and no parity A host computer can be connected to either interface to provide commands to the control module or to multiple control modules in a system Since most personal computers are equipped with an RS 232 serial port it is most common to use the RS 232 interface for communications from the host computer to the control module You will typically want to use this interface option if your Host PC will be within 50 feet of your system Should your system design place the LYNX Control Module at a distance greater than 50 feet it will be necessary for you to use the RS 485 interface option You can accomplish this by using either an RS 232 to RS 485 converter such as the converter sold by IMS Part CV 3222 or installing an RS 485 board in an open slot in your host PC Covered in detail in this section are RS 232 Interface Single Control Module System RS 232 Interface Multiple Controller System RS 485 Interface Single Control Module Interface RS 485 interface Multiple Controller System Communicating with the LYNX System using Windows95 98 HyperTerminal Communicating with The LYNX System using the LYNX Terminal software
66. PRINT IOS 20 Show changes IP Clear all PRINT IOS 20 Show cleared to default Related Commands ALL VARS FLAGS IOS JOGS Setup Variable Jog Speed Variable Binary Mode Usage Example Range Opcode Hex Decimal 0000000000000001 JOGS lt speed gt to 9 999 999 999 999 999 256000 000 83h 131 Notes Speed at which the motor should move when a jog motion is performed The jog motion is performed in response to an input which is assigned the Jog Plus or Jog Minus type When inputs have been designated with these types via IOS variables the closure of the Jog Plus input causes the motor to move in the positive direction at the speed specified by JOGS Similarly the closure of the Jog Minus input causes the motor to move in the negative direction at the speed specified by JOGS Related Commands MUNIT IOS Software Reference 03 10 2000 3 72 JSC Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes The JSC variable supports the Analog Input Joystick Interface module and is updated automatically by means of the IJSC instruction or can be updated manually as shown above Joystick Center Position Variable Related Commands IJSC JSDB JSFS JSE JSDB Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal JSDB num AUNIT m 10 AUNIT 1 85h 133 Notes The JSDB variable supports the Analog Input Joystick Interface module and is updated automatically by mean
67. Setting DRVEN 1 enables the drive output Factory default is 1 DRVRS Drive reset flag Setting DRVRS 1 resets the drive to phase B on fullstep Factory default is 0 New Math Logic Functions FRC Returns the fractional part of a floating point number Qo 5 5 3 D 3 5 INT Returns the integer part of a floating point number IN 4 The LYNX Terminal Software Section Overview dj This section will cover the usage of the LYNX Terminal software which is included with your LYNX family product There are two main benefits to be gained by using this software First and most importantly it includes the upgrade utility which allows you to install software upgrades to your LYNX product The LYNX software cannot be upgraded without this utility Second it features two basic windows A text editor window for writing programs and a terminal window for communicating with your LYNX system The multiple document interface allows you to have multiple windows both editor and or terminal open at the same time Each terminal window can have it s preferences configured independantly in case you have more than one LYNX product connected to different COM ports on your PC This program also eliminates the need to use two separate programs for example Notepad and HyperTerminal to program your system Covered in this section are Installation and Setup
68. Setup by following these steps 1 Select Start 2 Select Programs 3 Select Accessories 4 Select Hyper Terminal 5 Double Click on Hypertrm exe 6 Then follow instructions a Enter name for this setup IMS Indexer works well And choose an Icon then click OK b Select Comm port to connect to Should be a direct connection Then click OK n Now set the Comm Properties These factory default settings for the SI Product These should be i Baud 9600 2 il Data Bits 8 T Parity None iv Stop Bits 1 Flow Control None Then click OK You will now be in the Hyper Terminal you created You will need to adjust its Properties Do this by clicking on the Properties Icon on the tool bar or by going to the File Menu item Then select Proper ties The Properties Setup window will show i Select ANSI terminal ii Select ASCII Setup a Set Line delay to 10 msec b Set Character delay to 0 msec if transfers hang up increase Char Delay Click BE SURE TO SAVE YOUR SETUP Once you have established communication the following will appear in you terminal window either on power up or when the system has been reset using C CTRL C Program Copyright 1996 1998 by Intelligent Motion Systems Inc Marlborough CT 06447 VER 0 617 SER A2698006 3 109 Page
69. Stops the execution of program It should be the last line of a program written in memory END Program Instruction If executed in immediate mode the END instruction stops the execution of the current program as well as any background program that has been started by a RUN instruction Syntax Example A program will probably be identified by a label and run to the END statement The following example program simply moves the motor to absolute 0 PGM 100 LBL ENDMOVE Label Program ENDMOVE MOVA 0 Perform absolute move to position 0 END End program PGM Related Commands EXEC RUN ERR Read Only Status Flag Binary Mode Usage Example Opcode Hex Decimal BR lt lbl addr gt ERR BR lt lbV addr gt ERR pc TEN FALSE 0 C6h 198 PRINT ERR P Notes The ERR flag is automatically cleared when a new program is executed The only way to manually clear the ERR flag is to read the value of the ERROR variable Error Flag By setting the type of an output to 23 the user can specify that the control module should activate the output whenever an error has occurred There is an instruction ONER which allows the user to specify the execution of a subroutine in the program memory when an error occurs The subroutine might contain instructions to read the ERROR variable which would clear the ERR flag Related Commands ERROR ONER IOS ERRA Read Only Variable Error Address Variable Binary Mode Usage Example Re
70. Table 10 3 High Speed Differential I O Module Input Specifications 1 53 The Differential I O Module XIVA T EIpalA Edge Edge Detect Logic Polarity Digital Group Filter Setting Figure 10 3 LYNX Differential I O Input Equivalent Circuit Input Filtering User definable Digital filtering makes the LYNX well suited for noisy industrial environments The filter setting is software selectable using the JOF Variable with a minimum guaranteed detectable pulse width of 18 microseconds to 2 3 milliseconds The table below illustrates the IOF settings IOF Filter Settings for the High Speed Differential I O lt gt lt num gt 0 7 Cutoff Minimum Detectable Pulse 0 default 5 00 MHz 100 nanoseconds 1 25 MHz 400 nanoseconds Table 10 4 Digital Filter Settings for the Differential I O Modular LYNX System 03 10 2000 1 54 Output Specifications High Speed Differential l O Output Specifications No Load 6mA Load Output Voltage Logic 0 Short Circuit Current 250mA Max Table 10 5 LYNX Differential I O Output Specifications Clock User Defined Function Figure 10 4 LYNX Differential I O Output Equivalent Circuit The Differential I O Module XIVA T EIpalA Intentionally Left Blank Modular LYNX System 03 10 2000 1 56 Part Il MicroLYNX i I q 4 1 4 5 4 4 4 4 The MicroL YNX System Getting Started Installing and Mounting the
71. This is an enhancement of the INPUT instruction in that it will only accept input from LYNX COMM 1 otherwise it operates the same as the INPUT instruction Notes INPUT2 Program Mode Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal var Any user or factory defined variable INPUT1 var lt param gt param 0 Suspend program execution while waiting for user input 58h 88 param 1 Do not suspend program execution User Input Request Instruction LYNX 2 Notes This is an enhancement of the INPUT instruction in that it will only accept input from LYNX COMM 2 otherwise it operates the same as the INPUT instruction Read Write IO Variable Variable Binary Mode Usage Example Range Opcode Hex Decimal PRINT IO lt line group gt IO lt line group gt lt 0 1 0 63 gt lt line group gt VO lines 21 26 31 36 41 46 51 56 or IO Group 20 50 7Bh 123 Notes There are two types of I O with the LYNX system First there can be up to eight 8 high speed differential I O individually programmable as clock inputs or outputs or for general purpose use If used as inputs these are digitally filtered with a cutoff frequency that can be set by the user Second there are up to twenty four 24 general purpose I O which can be used for special purpose inputs such as limits or home as well as general purpose inputs and outputs As inputs each is digitally filtered with a cutoff frequ
72. Triggering lt 1 gt 0 Level Triggered 1 Edge Triggered The fifth setting is Clock Type lt clk type gt 0 No Clock Differential I O Only 1 Quadrature 2 Step Direction 3 Up Down The sixth setting is Ratio lt ratio gt 0 No Ratio Differential I O Only 1 Ratio Mode Syntax Examples IOS 20 0 Set all the inputs in Group 20 to user defined TOS 21 10 0 1 1 Set I O Line 21 to a Stop Input High True Edge Triggered A more detailed discussion on configuring the digital I O using the IOS variable can be found in I O configuration section of the part of this document pertaining to the LYNX product purchased Related Commands IOF IO IP 3 71 IP Immediate Program Instruction Initialize Parameters Instruction Binary Mode Usage Example Opcode Hex Decimal IP ALL IP VARS IP FLAGS IP IOS Notes Initializes specified parameters to the factory defaults in working memory RAM To specify which kind of parameters should be initialized use the following keywords ALL or blank All variables flags and I O settings IOS VARS Variables only FLAGS Flags only IOS I O only If you want the factory default settings to permanently replace the contents of the specified parameter type in NVM you must perform a SAVE after the IP instruction Otherwise the old values will be restored once power is cycled Syntax Example PRINT IOS 20 Show defualt settings IOS 2020 1 1 1 0 0 Change ios settings
73. Variables Flags and Instructions Drive enable flag enables disables drive output DRVEN DRVEN lt flg gt lt flg gt 0 Drive output disabled lt flg gt 1 Drive output enabled Drive reset flag resets drive output DRVRS DRVRS lt flg gt lt flg gt 0 Drive not reset lt flg gt 1 resets the drive to phase B on fullstep Read only drive type variable Provides a means to interrogate system to determine the type of drive DEVIE PAINE DEYI Response 2 IM483H Response 4 IM805H HCDT HCDT lt time gt Holding current delay time variable EIU time Time in milliseconds Motor acceleration current variable Used when velocity is MAC MAC lt percent gt changing lt percent gt 0 100 MHC MHC lt percent gt Motor holding current variable Used when axis is stationary percent 0 100 Motor run current variable Used when axis is at velocity MRC lt percent gt lt percent gt 0 100 Microstep resolution variable Valid lt param gt settings are 2 4 8 16 52 64 1287296 5 10 25 50125 250 Motor settling delay time variable Meneses lt time gt 0 65 535 milliseconds Motor units variable specifies the number of clock pulses per MUNIT MUNIT lt num gt user unit lt num gt Clock pulses user unit PMHCC PMHCC lt percent gt Variable specifes the position manitenance hold current change percent 0 to MHC Software Reference 03 10 2000 3 28 MSEL lt para
74. Write 1 0 Group When using the IO variable to read the state of a group of BIT WEIGHT DISTRIBUTION TABLE inputs outputs or write to a group of outputs you would first FOR GROUP 20 1 0 want to configure the entire I O group to be general purpose ETE uo 23 iaaa 0 21 inputs or outputs using the IOS variable In this case the MSB LSB response or input won t be a logic state of 1 or 0 but rather the 32 16 8 4 2 1 decimal equivalent 0 to 63 of the 6 bit binary number repre sented by the entire group BINARY STATE OF I O GROUP 20 When addressing the I O as a group the LSB Least Significant a Bit will be line 1 of the group e g 21 31 41 51 The MSB eo Most Significant Bit will be line 6 of the group e g 26 36 46 1 0 0 0 1 1 56 1 0 26 21 MSB 025 1 0 24 I O 23 I O 22 LSB The table on the left shows the bit weight of each I O line in the group It also illustrates the state should 6 LED s be connected BINARY STATE OF I O GROUP 20 to I O group 20 when entering the IO variables in this exercise I0 20 7 Configure the IOS variable such that group 20 is all general purpose outputs active low or 0 0 0 1 1 1 1 0 26 21 025 1 0 24 I O 23 I O 22 IOS 20 0 1 0 MSB LSB Enter the following in the terminal BINARY STATE OF I O GROUP 20 IO 20
75. a The Menu Command Structure Using the LYNX Terminal to Program a Upgrading the LYNX Software Installation and Setup System Requirements a IBM Compatible 486 or higher PC a Windows 95 98 or Windows NT4 0 or 2000 a 5 MB hard drive space a A free serial communications port Installation The LYNX Terminal software is a programming communications interface This program was created by IMS to simplify programming and upgrading the MicroLYNX The LYNX Terminal is also necessary to upgrade the software in your MicroLYNX These updates will be posted to the IMS website at www imshome com as they are made available To install the LYNX Terminal to your hard drive insert the CD into your CD ROM Drive The 3 5 CD while smaller than typical compact disks will work in any horizontally mounted tray type CD drive To start the installation click Start gt Run and type Drive Letter LYNX terminal IMS LYNXTerminal exe in the Open box Follow the on screen instructions to complete the installation Detailed instructions for the IMS LYNX Terminal software can be located in The LYNX MicroLYNX Software Reference Manual 1 To open the LYNX Terminal select Start gt Programs gt Lynx Terminal gt Lynx Terminal 2 Click the File Menu Item Edit gt Preferences 3 Click the Comm Settings tab 4 Select the Communications Port that you will be using with your MicroLYNX Software Reference 03 10
76. chan Channel 1 or 2 lt aunit gt User Unit MUNIT AUNIT func 1 Analog input ADS chan aunit func law func 2 Joystick interface law 1 Linear law 2 Square law law 3 Cube law law adjusts the joystick position to motor velocity transformation Variable causes a read of analog input channel lt var gt AlN lt chan gt lt var gt Variable to which data is saved lt chan gt Analog input channel CIS TINY TR BICMOS Related Variables Flags and Instructions cont d Instruction supports the Analog Input Joystick Interface in joystick Mae mode Variable reads or writes the state of an VO line or group lO lt line gt lt Istate gt lt lstate gt 0 I O line inactive lO lt group gt lt bstate gt Istate 1 VO line active lt bstate gt 0 63 Binary state of all lines in group Variable sets the level of digital filtering to be applied toa specified Group Group 10 0 lt group gt 10 50 Groups 20 50 7 lt param gt 1 7 See Language Reference Variable configures the also used as a keyword with the IP for usage example instruction Joystick center position variable Automatically updated by USC JSC lt num gt or manually using lt num gt 0 4095 AUNIT 1 IOF lt group gt lt param gt Joystick deaband variable Automatically updated by IJSC or JSDB lt num gt manually using lt num gt
77. characters lt state gt Logic state 1 or 0 Instruction that retrieves the specified information from non volatile memory NVM lt param gt ALL Al vars flags and program space If param is not lt param gt VARS Variables only Me GET param specified then lt param gt FLAGS Flags only lt param gt ALL param PGM Program space param IOS VO settings Hold program execution until the specified motion phase completes lt mode gt 0 Program suspended until position change HOLD HOLD lt mode gt completes lt mode gt 1 Program suspended until velocity change completes lt mode gt 2 Program suspended until motion ceases Instruction used to request input from the user lt param gt is an optional nowait parameter If lt param gt is not INPUT lt var gt lt param gt lt var gt Variable specified then lt param gt 0 Suspend prog execution lt param gt 0 G INC INP lt param gt 1 Do not suspend prog execution NP P EM C UT Enhancement to the INPUT instruction which will only accept 1 lt gt is optional if param is INPUT1 INPUT1 lt var gt lt param gt P 2 specified then lt var gt Variable param 0 lt param gt 0 Suspend prog execution lt param gt 1 Do not suspend prog execution Enhancement to the INPUT instruction which will only accept 2 COMM 2 param an optional i
78. could use the branch instruction to perform the equivalent of a DO WHILE loop in a higher language In this example while the motor is accelerating the velocity will be reported to the host terminal or terminal program running on a PC PGM 200 Start program at address 200 LBL CNTVEL Label address location CNTVEL MUNIT 51200 25 Set the user units to Millimeters arbitrary ACCL 25 Set acceleration to 25 mm sec DECL ACCL Set deceleration to 25 mm sec VM 200 Set max velocity to 200 mm sec VI VM 100 Set initial velocity to 20 mm sec MOVR 2500 Perform a relative move of 2500 mm LBL DOWHILE Create subroutine DOWHILE BR ENDWHILE ACL 0 Conditional branch to routine ENDWHILE when the acceleration flag is equal to 0 PRINT Velocity VEL millimeters per second BR DOWHILE Unconditional branch to routine DOWHILE LBL ENDWHILE Create routine ENDWHILE PRINT Motor is at constant velocity VEL millimeters per second END End the Program PGM Return to Immediate Mode ENDENPGM PRINT Done 3 49 BREAK Variable Binary Mode Usage Example Opcode Hex Decimal Break Point Variable num 0 Function disabled num 1 10 Break points lt gt lt lbl addr gt num 0 68h 104 lt lbl addr gt Program label or address where execution will break Notes Break allows the user to set break points within a LYNX pr
79. dedicated output type an error will occur MicroLYNX System Rev 03 10 2000 2 56 C3 ON Configuring and Using the Expansion Modules Section Overview This section covers the configuration and usage of the optional expansion modules available for the MicroLYNX System For instructions on installing the expansion modules into your MicroLYNX System please see Section 2 Installing and Mounting the MicroLYNX of this document The modules covered in this section are The Isolated Digital I O Module The High Speed Differential I O Module Typical Functions of the Differential I O The Analog Input Joystick Interface Module El 5 o i E Typical Functions of the Analog Input Joystick Module The RS 232 Expansion Module CAN only The RS 485 Expansion Module CAN only MicroLYNX Expansion Modules Additional Isolated Digital 1 0 The Isolated Digital I O can be expanded an additional 3 groups 30 50 for a total of 24 programmable I O lines These expansion boards can go in any available slot The group number will be determined by whichever slot they are plugged into slot 1 will be group 30 slot 2 will be group 40 and slot 3 will be group 50 These expansion boards will be configured and used in the same manner as the I O bank that is standard on the MicroLYNX The IMS Part for this item is MX DI100 000 Terminal Block or MX DI200 000 10
80. eeseseeseseeseeeeenenee nennen 3 41 Section 4 LYNX Programming Language Reference 3 42 Appendix A ASCH TABLE ken ee ero eo doa Yann pruna ui chen domm rn 3 102 Appendix Error Table u sipas 3 104 Hard Ware BITOIS an n et dette ee teet tele oi uu 3 104 W O suc 3 104 Cl cle en exeo terrre e ertt e usa i S coe cutee Ig tet 3 105 Syntax Errors p aa a ete aie ede bu eqs a petet al a Ee RUD 3 105 Vanriable Flag oa death seeds to Etre tut HO de teer i ete deer de bep 3 106 Motion BTfOIS dee on ee E e GN EMI ne eee 3 106 Encoder Errors minre voee tUe E toed Eve e aU HN 3 106 NVM Erros ide nene ete te ee tea cue ep 3 106 Out Of Range Errors epe et ede d ee ee e PUE eb et PP ERE 3 106 Appendix C Factory Defaults eeeee esee essei sehn enne enr anna ata nsa a ana qusuaniir ayasa 3 1108 Appendix D Establishing Communications Using Windows95 Hyper Terminal 3 109 Software Reference 03 10 2000 3 4 SUMMBMARNY O N
81. eg ERR TORO 1 28 Configuring the Digital Filtering niessessies igoeren nennen nennen trennen trennen entente 1 28 Config ring an l 1 29 1 3 Introduction XNA The IO Variable iih i usu a am ie et tt E hassan ua 1 29 Read Writean Gro p ue esi unan sa ee e eR He EH de 1 30 TheDifferentiall O u a saw eti t er i ee t tet re e et tr dta 1 31 The Clock Interface eret ete E RON eI M 1 31 Clock Types Defined u edicit re eet e tm PE P eR RE EY 1 31 Configuring The Differential I O The IOS Variable sese 1 32 Configunng am Inputs eee epe peti e E m Ree o t EHE EE 1 32 Setting the Digital Input Filtering for the Differential 1 33 Configunng an Outpt rtt e et ee pete biete 1 33 Typical Functions of the Differential retenti eennr a 1 34 Connecting and Using an Encoder 1 34 Translating the EUNIT Variable to a Dimension of Distance 2 2 1 35 Halt Axis Op erati n Follower u y etie tet E ERN rr Eve hapa aaa usa 1 36 One and a Half Axis Operation RATIOBE 1 37 The LYNX Control Module L X CM100 000 1 39 Section OVerVIeW ecd cnc ep else ene a
82. error go to the specified label or address lt lbl addr gt PRINT PRINT lt text param gt Instruction used to output text and parameter value s to the host _ PC See Language Reference for usage details Enhancement to the PRINT instruction that will allow the user to PRINT PRINT tex param only output to LYNX MicroLYNX COMM 1 Wa Enhancement to the PRINT instruction that will allow the user to PRINTZ PRINT2 tex param only output to LYNX MicroLYNX COMM 2 RET Return statement RET is required at the end of a subroutine pu invoked by a CALL instruction The RUN instruction executes a background taskto be run at the UN sible s specified label or address lt lbl addr gt Saves all variables flags and programs currently in working SAVE memory to NVM Instruction used to set a variable or a flag to a specified value SET lt var gt lt num gt NOTE The SET instruction does not need to be entered to take SET lt flg gt lt state gt effect When entering lt var gt lt num gt or lt flg gt lt state gt SET is assumed SAVE Slew the ps at instruction Mode Ousediif SLEW SLEW lt num gt lt mode gt lt mode gt lt mode gt 0 Use acceleration mode 1 Do not use acceleration ramp p SSTP VARS Stop the current motion using the specified deceleration profile and optionally stop the program lt mode gt 0 Stop motion only lt mode gt 1 Stop
83. error is generated when a limit is reached If LIMSTP is FALSE 0 when a limit is reached the program will continue to run In this case the user should write code to take care of stopping the axis in the routine that is executed ONERror This gives the user flexibility in dealing with how motion should be stopped when a limit is reached ONER LIST Immediate Mode Instruction List Stored Program Space Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal lt lbl addr gt Starting label or address LIST lt lbl addr gt lt flg gt flg 0 List through first END Notes lt flg gt 1 List through end of program space If LIST is issued with no starting address specified then the entire program space is reported to the host If it is issued with a starting address and no stop flag or a stop flag of 0 then the program space is listed from the specified starting address to the first END that is encountered Finally if it is issued with a starting address and a stop flag of 1 then the program space is listed starting from the specified address and continuing until the end of the program space 3 75 Ie TINY TR JEMYOS LOGO Sign On Banner Enable Disable Flag Setup Flag Binary Mode Usage Example Opcode Hex Decimal _ lt flg gt FALSE 0 Disabled LOGO lt flg gt lt flg gt TRUE a ian TRUE D3h 211 Notes This simply controls whether or not when the LYNX Product power
84. flg gt lt flg gt FALSE 0 Disable flg TRUE 1 Enable Notes These flags enable the corresponding timer event trip Related Commands TT1 TT2 TT3 TT4 TTR1 TTR2 TTR3 TTR4 Trip On Timer Reload Flags FORMERLY TIR lt x gt Setup Flags Binary Mode Usage Example Opcode Hex Decimal Ebh 229 TTR2 E6h 230 TTR3 E7h 231 TTR4 E8h 232 lt gt 1 4 TTR lt x gt lt flg gt lt flg gt FALSE 0 Do not repeat timer event lt flg gt TRUE 1 Repeat timer event Notes TIRx specifies whether the associated event should be a one shot or repeated every time the specified period expires Related Commands TIT TI2 TT4 TV Trip On Velocity Variable FORMERLY VT Binary Mode Usage Example Parameters Opcodes Hex Decimal lt velocity gt Velocity in user units sec TV lt velocity gt Ibl addr output lt lbl addr gt Subroutine invoked on trip 0 000 0 0 ACh 172 output Output set TRUE on trip There are three parameters for the VT variable The first specifies the velocity at which the specified subroutine should be executed The second specifies the address of the subroutine that should be executed when the velocity is reached The optional third parameter specifies and output to be set TRUE when the trip is reached Setup Variables Notes Once the trip has been set up the specified subroutine is run when the velocity VEL passes
85. for the IMS LYNX Terminal software can be located in The LYNX MicroLYNX Software Reference Manual Testing the MicroLYNX Setup S El 5 o E Two basic instructions for communicating with a LYNX Product are SET and PRINT The SET instruction is assumed and can be left off when communicating in ASCII mode You are in ASCII mode whenever you are using a text based terminal It is used to set variables and flags that define LYNX operation The MicroLYNX Software automatically recognizes the SET instruction whenever the name of the variable or flag is typed into the terminal Here we will set the motor units variable MUNIT to 51200 by typing the following at the prompt gt MUNIT 51200 The PRINT instruction is used to report the values of variables and flags Now double check the value of MUNIT by typing the following at the prompt 2 PRINT MUNIT The return from your terminal should be 51200 Note that the case is not important for instructions variables and flags They may be typed in upper or lower case The next step is to turn the motor Before doing so type in the following lines to configure the driver at the prompt Note Command descriptions are found in the Software Reference section of the manual MSEL 256 MAC 80 MRC 75 Use the SLEW instruction to move the motor at a constant velocity Be sure that the velocity provided is a reasonable value for your motor and drive and try to move the mot
86. identify it in the system This can be done using configuration switches A0 A2 or by using the software command SET DN For example to set the name of a controller to A you would use the following command SET DN A The factory default name is To set the address of the controller using the configuration switches use the above table Table 5 5 Party Mode Address Configuration Switch Settings In setting up your system for PARTY operation the most practical approach would be to observe the following steps 1 Connect the Host Control Module to the Host PC configured for Single Mode Operation 2 Establish communications with the HOST Control Module For help in doing this see Using the LYNX Terminalin the next section Using the Command SET DN or the configuration switches give the controller a unique name If using the software command this can be any upper orlower case ASCII character or number 0 9 Save the name using the command SAVE 3 Set the appropriate HOST and PARTY configuration in accordance with the following table and diagram Remove power 4 Connect the next control module in the system in accordance with the following table and diagram setting the PARTY switch in the ON position If you desire you can set the PARTY Flag to 1 in software later and turn the switch off 5 Establish communications with this module using factory default name This name cannot be re
87. in S 2 900 73 66 C 2X 300 2X 7 62 GU00000000 C 2 3 500 3 200 88 90 81 28 J N 2X 0 150 2X 3 81 Figure 3 1 Dimensional Information Environmental Specifications Operating Temperature asses 0to 50 C Storage ua tereti ter 20 to 70 C Humidity M 0 to 90 non condensing 2 9 The MicroLYNX System Motion Specifications Counters E E maa EET OET O Position encoder 1 encoder 2 Resolution uel eR RR e ets 32 bits Edge Rate MaX i itp e EU S FERE aa 5MHz Electronic Gearing Use of Hlectronic Gearing requires the Differential I O Expansion Module csset oe o OT Eee Ee Ba to 1 external clock in Resolution dde pies 32 bits Range etd niente aceti e ee Re 2 to 2 secondary clock out Resolution eta tete ae cto lee eite 16 bits The range may be increased by adjusting the microstep resolution of the drive Velocity Range eite et wer D ER 5 000 000 steps sec er be ee genet 0 005 steps sec Update Period tenis 25 6 microseconds Acceleration Deceleration UT
88. is fixed as clock 3 and associated with Counter 3 For usage details see Section 6 Configuring the Digital VO Pins 7 8 are the differentially buffered signal for group 10 16 This channel is configured by means of the IOS Instruction This channel is fixed as clock 3 and associated with Counter 3 For usage details see Section 6 Configuring the Digital VO Pins 9 and 10 are the differentially buffered signal for group 10 VO 17 This channel is configured by means of the IOS Instruction This Channel may be configured as a high speed input or output As an output it is a 1MHz reference clock VO 17 and 18 are not associated to a counter For usage details see Section 6 Configuring the Digital VO Pins 11 and 12 are the differentially buffered signal for group 10 VO 18 This channel is configured by means of the IOS Instruction This Channel may be configured as a high speed input or output As an output it is a 10MHz reference clock VO 17 and 18 are not associated to a counter For usage details see Section 6 Configuring the Digital VO Non isolated ground Common with the LYNX Control Module power ground Table 10 2 High Speed Differential I O Module Pin Configuration Input Specifications High Speed Differential l O Input Specifications Differential Input Threshold 0 2V to 0 2V Input Common Mode Range 6V to 6V Open Circuit Input Voltage Input 4 3V
89. is not being used EE 0 the value of CTR2 can be used by the user to manually verify the position of the axis in this case POS is based on CTR1 CTR2 is associated with Clock 2 Default Differential I O channels 13 and 14 Refer to the IOS variable for information on how these channels are set up by default and how they can be changed for your system It should be noted that the clock type could effect the clock rate here For instance if a quadrature clock type is chosen the actual count will be four times the number of lines A 1000 line encoder would produce 4000 counts per revolution of the motor If the encoder is in use by the LYNX Product EE 1 then the value of CTR2 probably need not be set directly as the value will be modified by a change to POS If however the encoder is not in use EE 0 but an encoder is connected to the system the user may directly modify the value of CTR2 in order to set the reference with respect to the motor Related Commands POS CTR1 EUNIT EE IOS HAS HAE 3 53 0 5 Q o 5 5 CTR3 Register Variable Binary Mode Usage Examples Range Opcode Hex Decimal PRINT CTR3 Clock Pulses num IO15 and 16 2 147 000 000 6Bh 107 Notes This variable contains the raw counts representation of the clock seen on Differential I O channels 15 and 16 This channel will typically be used to drive a second stepper drive as an eve
90. no error Hardware Errors 1018 1019 1100 1101 1102 1103 1105 1106 1107 1109 1110 1111 1113 1114 1115 1117 1118 1119 1121 1122 1123 1125 1126 1127 1128 1130 1131 1132 1134 1201 1202 1204 1205 IO MODULE NOT INSTALLED LYNX CHECK SUM INCORRECT FAULT LIMIT DETECTED IN A CONNECTED DRIVE FAULT IN DRIVE 1 FAULT IN DRIVE 2 FAULT IN DRIVE 3 DRIVE 1 FAULT AND TYPE CHANGED DRIVE 2 FAULT AND TYPE CHANGED DRIVE 3 FAULT AND TYPE CHANGED DRIVE 1 MSEL COULD NOT BE SET DRIVE 2 MSEL COULD NOT BE SET DRIVE 3 MSEL COULD NOT BE SET DRIVE 1 TYPE CHANGED MSEL COULD NOT BE SET DRIVE 2 TYPE CHANGED MSEL COULD NOT BE SET DRIVE 3 TYPE CHANGED MSEL COULD NOT BE SET DRIVE 1 FAULT MSEL COULD NOT BE SET DRIVE 2 FAULT MSEL COULD NOT BE SET DRIVE 3 FAULT MSEL COULD NOT BE SET DRIVE 1 FAULT TYPE CHANGED MSEL COULD NOT BE SET DRIVE 2 FAULT TYPE CHANGED MSEL COULD NOT BE SET DRIVE 3 FAULT TYPE CHANGED MSEL COULD NOT BE SET HOLD IGNORED MOTOR DISABLED DRIVE 1 NOT AVAILABLE DRIVE 2 NOT AVAILABLE DRIVE 3 NOT AVAILABLE DRIVE 1 TYPE CHANGED DRIVE 2 TYPE CHANGED DRIVE 3 TYPE CHANGED ILLEGAL DRIVE NUMBER SELECTED ANALOG BOARD NOT INSTALLED ANALOG CHANNEL NUMBER NOT AVAILABLE ANALOG OPTION NOT INSTALLED ANALOG VALUE OUT OF RANGE POSSIBLY DEFECTIVE BOARD I O Errors 2001 2002 2020 2021 2022 2023 2024 2025 2026 2030 2031 2032 2033 2034 2035 FIOS FOUND NO HOM
91. not change this setting until you have established communications with the MicroLYNX Controller The Window Size settings are strictly optional You may set these to whatever size is comfortable to you Click OK The settings will be automatically saved upon a normal shutdown Apply power to the MicroLYNX Controller The following sign on message should appear in the Terminal window Program Copyright 1996 2000 by Intelligent Motion Systems Inc Marlborough CT 06447 VER SER Detailed instructions for the IMS LYNX Terminal software can be located in Part III Using the LYNX Terminal Software of this manual Testing the LYNX Setup Two basic instructions for communicating with a control module are SET and PRINT The SET instruc tion is assumed and can be left off when communicating in ASCII mode You are in ASCII mode whenever you are using a text based terminal It is used to set variables and flags that define control module opera tion The LYNX Software automatically recognizes the SET instruction whenever the name of the variable or flag is typed into the terminal Here we will set the motor units variable MUNIT to 51200 by typing the following at the prompt gt MUNIT 51200 The PRINT instruction is used to report the values of variables and flags Now double check the value of MUNIT by typing the following at the prompt gt PRINT MUNIT The return from your terminal should be 51200 Note
92. of measure At this point by entering the instruction MOVR 1 the motor will turn one complete revolution relative to it s current position Therefore 1 1 7 Getting Started XNA T EIpalA User Unit 1 Motor Revolution For the exercise below we will use degrees for our user unit As the LYNX Product Manual indicates the calculation required to select degrees as our user unit in this case is 51200 Micro steps perrev 360 degrees 142 222 Micro steps per degree By setting the MUNIT variable to 51200 360 the LYNX Control Module will perform the calculation to convert the user unit to degrees Now when issued a relative motion instruction MOVR 90 the motor will turn 90 degrees Now enter a sample program that will convert motor steps to degrees execute a 90 move and report that move every 100 milliseconds while the motor is moving Type the following bold commands Enter Program Mode start program at Location 2000 PGM 2000 Label the program TSTPGM LBL TSTPGM Set the user units to degrees MUNIT 51200 360 Set the max velocity to 25 degrees per second VM 25 Execute a relative move of 90 degrees MOVR 90 Report the position every 100 ms while moving LBL PRINTPOS DELAY 100 PRINT Axis position is POS Degrees BR PRINTPOS MVG End the program END PGM Now Type TSTPGM to run program This sample program will be stored starting at location 2000 It sets the conversion factor for the use
93. port respectively When used with the GET instruction only flag values are retrieved from NVM When used with the IP instruction only system flag values are set to the factory default parameters In this case user defined flags are not affected When used with the PRINT instruction only flag values are echoed to the host computer Retrieve Flags Keyword Related Commands PRINT GET IP FLG Immediate Program Mode Instruction Define User Flag Instruction Binary Mode Usage Example Parameters Opcode Hex Decimal name 1 to 8 Alpha numeric Characters Underscore 3Bh 59 Notes The name of the flag can be 1 to 8 alphanumeric characters in length You may use the underscore _ character in the name as well The value of the flag can be initialized when it is defined If it is not specifically initialized it will have a value of FALSE until it is set Flags can be global or local A local flag is one that has been defined in a program while a global flag is defined in immediate mode It should be noted that a local flag is not static but is erased and declared again whenever the program is executed GET Immediate Program Mode Instruction Retrieve Variables and Flags Instruction Binary Mode Usage Example Parameters Opcode Hex Decimal GET VARS GET FLAGS 3Ch 60 GET ALL Notes Retrieves the specified information from nonvolatile memory NVM into working memory RAM There is one optional pa
94. program to the MicroLY NX by clicking the menu item Transfer Download and selecting Edit window as the source Run the program by typing EXEC 200 in the terminal The motor should speed up as it cycles through the resolution setting Decimal Microstep Resolution Settings 1 8 Motor 25 000 Table 7 1 Microstep Resolution Settings 2 33 Controlling the Output Current and Resolution SECTION Z The Communications Interface Section Overview The basic MicroLYNX features two communication interfaces RS 232 and RS 485 For both channels the BAUD rate is software configured using the BAUD variable to 4800 9600 19200 or 38400 bits sec The factory default is set to 9600 bits sec Default data settings are 8 data bits 1 stop bit and no parity A host computer can be connected to either interface to provide commands to the MicroLYNX System or to multiple MicroLYNX nodes in a system Since most personal computers are equipped with an RS 232 serial port it is most common to use the RS 232 interface for communications from the host computer to the MicroLYNX You will typically want to use this interface option if your Host PC will be within 50 feet of your system Should your system design place the MicroLYNX at a distance greater than 50 feet it will be necessary for you to use the RS 485 interface option You can accomplish this by using either an RS 232 to RS 485 converter s
95. results in the maximum jerk and is not recommended for applications requiring smooth starting and stopping Such applications would include those that pull a material or move liquid 4 The Sinusoidal S Curve profile is very similar to 3 the triangle S Curve The main difference is that it has less jerk when starting or stopping Related Commands DECL ACLTBL Software Reference 03 10 2000 3 74 LDECL Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal User Units 0000000000000001 to LDECL lt num gt 9 999 999 999 999 999 1 000000 000 87h 135 Notes Related Commands Limit Deceleration Variable The LDECL Variable sets the peak deceleration that will be reached by the LYNX or MicroLYNX when a limit is reached in user units per second If the user units have not been set then the value is in clock pulses per The actual deceleration profile is maintained by the LDCLT variable The value given by LDECL sets the maximum deceleration that the Control Module will reach MUNIT LDCLT LIMSTP Limit Stop Flag Setup Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Do not stop program LIMSTP lt flg gt lt flg gt TRUE 7 x program FALSE 0 D2h 210 Notes Related Commands The Limit Stop Flag specifies whether 1 or not 0 the program should be stopped automatically when a limit is reached Regardless of the state of LIMSTP an
96. s o Rules of Wiring Ct a Power Supply and Motor wiring should be shielded twisted pair run separately from signal carrying wires A minimum of 1 twist per inch is recommended a Motors wiring should be shielded twisted pairs using 20 gauge wire or 18 gauge or better for distance greater than 5 feet a Power ground return should be as short as possible to established ground a Power Supply wiring should be shielded twisted pairs Use 18 gauge wire if load is less than 4 amps or 16 gauge for more than 4 amps Do not Daisy Chain power wiring to system components Rules of Shielding The shield must be tied to zero signal reference potential In order for shielding to be effective it is necessary for the signal to be earthed or grounded m Do not assume that earth ground is true earth ground Depending on the distance to the main power cabinet it may be necessary to sink a ground rod at a critical location a The shield must be connected so that shield currents drain to signal earth connections The number of separate shields required in system is equal to number of independent signals being processed plus one for each power entrance The shield should be tied to a single point to prevent ground loops second shield can be used over primary shield however the second shield is tied to ground at both ends WARNING when using an unregulated supply ensure that the output voltage does not exc
97. sey oa reco MO 21 response or input won t be a logic state of 1 or 0 but rather MSB LSB the decimal equivalent 0 to 63 of the 6 bit binary number 32 16 8 4 2 1 represented by the entire group When addressing the I O as a group the LSB Least Signifi BINARY a EROUP 20 cant Bit will be line 1 of the group e g 21 31 41 51 The MSB Most Significant Bit willbeline6ofthegrup eg 26 1O 36 46 56 1 0 0 0 1 1 1 0 26 21 The table on the left shows the bit weight of each I O line in O 25 VO 24 I O 23 V0 22 eb the group It also illustrates the state should 6 LED s be connected to I O group 20 when entering the IO variables in BINARY STATE OF I O GROUP 20 this exercise 10 20 7 Configure the IOS variable such that group 20 is all general e O O O purpose outputs active low or 0 0 0 1 1 1 1 0 26 21 VO 25 I O 24 1 0 23 I O 22 IOS 20 0 1 0 MSB LSB Enter the following in the terminal BINARY STATE OF I O GROUP 20 IO 20 49 IO 20 35 Asshown in the table I O lines 26 22 21 should 1 1 0 0 0 1 illuminated 25 24 and 23 should be off 1026 VO 25 VO 24 vo 23 Vo 22 4021 Enter Table 8 3 Binary State of Outputs IO 20 7 Now I O 21 22 and 23 should be illuminated IO 20 49 26 25 and 21 are illuminated NOTE You can only write to General Purpose Outputs If you attempt to write to and input or
98. source of current that can push the output of a power supply beyond the maximum operating voltage of the driver and as a result could damage the stepper driver over a period of time The Power Supply Driver Relationship The MicroLYNX System is very current efficient as far as the power supply is concerned Once the motor has charged one or both windings of the motor all the power supply has to do is replace losses in the system The charged winding acts as an energy storage in that the current will recirculate within the bridge and in and out of each phase reservoir This results in a less than expected current draw on the supply Stepping motor drivers are designed with the intention that a user s power supply output will ramp up to greater or equal to the minimum operating voltage The initial current surge is quite substantial and could damage the driver if the supply is undersized The output of the power supply could fall below the operating range of the driver upon a current surge if it is undersized This could cause the power supply to start oscillating in and out of the voltage range of the driver and result in damage to either the supply the driver or both There are two types of supplies commonly used regulated and unregulated both of which can be switching or linear All have their advantages and disadvantages Hegulated vs Unregulated An unregulated linear supply is less expensive and more resilient to current surges however t
99. specified per phase or unipolar current rating by 1 4 to determine the peak output current Example A 6 lead motor in half coil configuration has a specified phase current of 3 0A 3 0A X 1 4 4 2 Amps Peak Full Coil Configuration When configuring the motor so that full coil is used connected from end to end with the center tap floating use the per phase or unipolar current rating as the peak output current S 5 o E Example A 6 lead motor in full coil configuration has a specified phase current of 3 0A 3 0A per phase 3 0 Amps Peak 8 Lead Motors Series Configuration When configuring the motor windings in series use the per phase or unipolar current rating as the peak output current or multiply the bipolar current rating by 1 4 to determine the peak output current Example 1 An 8 lead motor in series configuration has a specified unipolar current of 3 0A 3 0A per phase 3 0 Amps Peak Example 2 An 8 lead motor in series configuration with a specified bipolar current of 2 8A 2 8 X 1 4 2 3 92 Amps Peak Parallel Configuration When configuring the motor windings in parallel multiply the per phase or unipolar current rating by 2 0 or the bipolar current rating by 1 4 to determine the peak output current 2 31 Controlling the Output Current and Resolution Example 1 An 8 lead motor in parallel configuration has a specified unipolar current of 2 0A 2 0A per pha
100. switchable Pull up Voltage Internal 5VDC iere etre A 24 VDC Protection a ee tec eee ee Over temp short circuit inductive clamp Isolated Ground aeter Common to the 6 I O The Isolated Digital 1 0 The MicroLYNX System comes standard with a set of six 6 5 to 24VDC I O lines which may be pro grammed individually as either general purpose or dedicated inputs or outputs or collectively as a group The isolated digital I O may also be expanded to twenty four 24 lines in groups of six 6 The I O groups and lines are numbered in the following fashion Group 20 Lines 21 26 Standard Group 30 Lines 31 36 Optional Group 40 Lines 41 46 Optional Group 50 Lines 51 56 Optional The isolated digital I O may be defined as either active HIGH or active LOW When the I O is configured as active HIGH the level 15 5 to 24 VDC and the state will be read as a 1 If the level is 0 VDC then the state will be read as 0 Inversely If configured as active LOW then the state of the I O will be read as a 1 when the level is LOW and a 0 when the level is HIGH The active HIGH LOW state is configured by the third parameter of the IOS variable which is explained further on The goal of this I O configuration scheme is to maximize compatibility between the MicroLYNX and standard sensors and switches TheMicroLYNX I O scheme is a powerful tool for
101. that the case is not important for instructions variables and flags They may be typed in upper or lower case Use the SLEW instruction to move the motor at a constant velocity Be sure that the velocity provided is a reasonable value for your motor and drive and try to move the motor For instance at the prompt type SLEW 10 This will move the motor at a speed of 10 munits per second If the motor does not move verify that the wiring is in accordance with Figure 1 1 and that the resolution select settings agree with part 5 step 4 on the other side of this page If a non IMS driver is being used you may need to consult the user manual for that device Once you have been able to move the motor the next step is to write a simple program to illustrate one of the dynamic features of the LYNX the ability to convert motor steps to a dimension of linear or rotary distance Let s begin by discussing the relationship between the MUNIT variable and user units Typically when we perform a move we want to know the distance of that move in a familiar unit of measurement That means translating motor steps to the desired unit of measurement The LYNX Control Module has the capability of doing this for you You have already set the motor units variable MUNIT to a value 51 200 With the driver set to a resolution of 256 micro steps per step and a 1 8 step motor that will be equal to 1 revolution of the motor or one USER UNIT A user unit can be any unit
102. the Fault LED will not illuminate In order to clear the FAULT LED you must issue a PRINT ERROR statement Related Commands ERROR ONER IOS ERRA Software Reference 03 10 2000 3 62 FIOS Immediate Program Instruction Find Switch Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal speed speed in user units sec FIOS lt speed gt lt creep gt lt line gt lt creep gt creep in user units sec lt line gt VO line number lt speed gt VM creep VI SAN 58 Notes This instruction will find the selected I O switch There are three optional parameters for this command 1 Speed Specifies the direction and speed that the axis will move until the switch is activated 2 Creep Specifies the direction and speed that the axis will move off the switch until it becomes inactive again 3 Line Specifies the Input switch to be monitored When FIOS is executed the axis moves in the direction specified by the sign of speed at the speed until the input specified by line becomes active It then creeps off of the switch in the direction specified by the sign of creep at the creep speed Motion is stopped as soon as the switch becomes deactivated tn 5 5 23 D 3 5 If speed is not specified the speed used to find the switch is If creep is not specified the speed used to move off of the switch is VI If line is not specified the inp
103. the High Speed Differential 1 0 Module To install the High Speed Differential I O Expansion Module in your MicroLYNX perform the following in accordance with Figure 9 5 1 Remove screws A 2 Remove panel from slot to be used either Slot 2 or Slot 3 3 Insert High Speed Differentiall I O Module into Slot 2 C or Slot 3 D 4 Press firmly until expansion board is securely seated and locked into place by retaining clips F 5 Reassemble MicroLYNX case in accordance with Figure 9 1 6 Affix labels as shown Use a highlighter or marker pen to highlight slot s used HIGH SPEED DIF ITO Tightening Torque TERMINAL BLOCK e SCRIP Specification For A CHANNEL A 4 to 5 lb in CHANNEL A CHANNEL B 0 45 to 0 56 N m CHANNEL B CHANNEL CHANNEL GROUND REMOVE HIGH SPEED DIFF 1 0 Figure 9 5 Installing the High Speed Differential I O Expansion Module The Four Clocks Explained MicroLYNX has four clock pairs that are used by the high speed I O One of these clock pair 11 and 12 is fixed as an output and is used internally to provide step clock and direction pulses to the driver section of the MicroLYNX The step clock output increments CTR1 Counter 1 The user has no physical access to this clock however CTR1 may be read from or written to by software instruc
104. the LED s all off and ends the program IOS 21 9 0 0 0 0 0 IOS 25 0 0 0 0 0 0 PGM 1 LBL InitProg POS 0 VAR Lights 1 IOS 30 0 1 0 0 0 0 IO 30 1 LBL TurnOnce IO 30 Lights Lights Lights 2 BR Done Lights 33 MOVR 51200 HOLD 2 DELAY 3000 MOVA 0 HOLD 2 BR TurnOnce LBL Done IO 30 0 END PGM Program Sample 2 Set I O 21 to be a GO input Set I O 25 to be a User Input Low true Enter program mode at address 1 Name the following program InitProg Set position to zero Define the variable Lights set it equal to 1 Set group 30 to all be User Outputs Low True Set IO group 30 to 1 IO 31 true Low active Name the following program TurnOnce Set IO group 30 all false Low true so all high Double the value of Lights 1 2 4 8 16 32 64 Conditional Branch to Done if Lights greater than 33 Move relative 51200 steps Suspend program execution until motion has stopped Delay three seconds Move absolute to zero Suspend program execution until motion has stopped Unconditional Branch to TurnOnce Name the following program Done Set IO group 30 all false Designate the end of the program Exit program mode 2A This program will set I O 21 amp 25 as inputs to interface the switches When input 21 is true it starts the program which moves the motor at a constant velocity until I O 25 is true then it prints its position and returns to zero LBL ProgInit POS
105. the differentially buffered signal for group 10 VO 14 This channel is configured by means of the IOS Instruction For usage details see Section 6 Configuring the Digital O See description above Pins 5 and 6 are the differentially buffered signal for group 10 VO 17 This channel is configured by means of the IOS Instruction For usage details see Section 6 Configuring the Digital O See description above Signals are individually programmable as inputs or outputs see description of IOS command in Part 3 The Software Reference of this manual Inputs are CMOS logic level compatible and can VO Group 20 accept inputs to 24 volts Noise rejection is available via digital filtering Outputs are open drain Lines 21 26 VOs each have individually switchable 7 5 Kohm pull up resistors to 5VDC Outputs can switch inductive resistive or incandescent loads Refer to Section 6 Configuring the Digital O for more information Isolated Ground For solated common signal return for group 20 VO Isolated from the power and communication Group 20 VO grounds Table 8 5 LYNX Combination Control Module Connector P3 Pin Configuration Switch Assignments Configuration Switches Read at Power On or System Reset Mat be Overidden by Software Settings Firmware Upgrade When this switch is on the controller firmware may be upgraded using the IMS upgrade program When this switch is on the
106. this document LYNX Programming Language Reference contains detailed descriptions of each instruc tion variable flag and keyword as well as real world usage examples for each Throughout this section there a few things for you to take note of The word True and the number 1 are used interchangeably as are False and 0 These refer to digital logic states True will ALWAYS be equal to 1 False will ALWAYS equal 0 The apostrophe character is recognized by the LYNX as a comment character Any text in a program e that follows an apostrophe will not be loaded into user memory space It is a good practice to comment your programs as you are learning the LYNX Programming Language This will be valuable in debug 5 ging your program as it will provide step by step description of each program step Below is sample line of commented LYNX code 5 T ACCL 360 Set the acceleration variable to 360 munits per second 5 Tools Required Terminal The terminal can be at a minimum a hand held terminal or a DOS driven terminal such as Pro Comm Plus IMS recommends that the LYNX Terminal software produced by IMS be used however either Terminal Windows 3 1x or HyperTerminal Windows 95 98 can be used if you are unable to use the LYNX Terminal Terminal can be located in Program Manager Accessories Terminal for Window 3 1x HyperTerminal for Windows 95 98 can be found in Programs Accessories Hyp
107. through the velocity specified by vel In other words the subroutine will be called when the motor accelerates through the velocity and then again when it decelerates through it Note that the range of velocity is 0000000000000001 to 9 999 999 999 999 999 user units based on the value of MUNIT Related Commands TVE MUNIT TVE Trip On Velocity Enable Disable Flag FORMERLY VTE Setup Flags Binary Mode Usage Example Opcode Hex Decimal p flg FALSE 0 Disabled TVE lt flg gt fig TRUE 1 ae di FALSE 0 EEh 238 Notes This flags enables the corresponding velocity event trip Related Commands TV Report User Flags Keyword Binary Mode Usage Example Opcode Hex Decimal PRINT UFLGS A7h 167 Notes This keyword is used with the PRINT instruction to report the state of all the user defined flags which were created using the FLG instruction Returns G Logic State Global L Logic State Local Related Commands EEG Software Reference 03 10 2000 3 98 Report User Labels Keyword Binary Mode Usage Example Opcode Hex Decimal PRINT ULBLS A8h 168 Notes This keyword is is used with the PRINT instruction to report all the user defined labels which were created using the LBL instruction Related Commands LBL UVARS Report User Variables Keyword Keyword Binary Mode Usage Example Opcode Hex Decimal PRINT UVARS A9h 169 Notes This keyword is used with the PRINT instructio
108. to start a simple program at Line 1000 to index a motor 200 user units First you must configure the I O Line 21 as a GO input 4 5V Internal Pull up Switch CLOSED IOS 21 9 0 0 Pullup To break this command down PUSH BUTTON SWIFEH IOS 21 Identifies the I O Line we are setting as 21 9 Configures the I O Type to GO 0 Configures I O as Input 0 Configures I O as Active LOW GND When the Input Type GO is selected it will always look to execute a program located at line 1 of program memory Therefore to run a program at line 1000 you must do the following LYNX Control Module Figure 6 2 Isolated I O Input PGM 1 Records program at line 1 of memory space EXEC 1000 Execute program located at line 1000 of memory space END Terminates Program PGM Switches system back to immediate mode PGM 1000 Records program at line 1000 of memory space MOVR 200 Move relative to current position 200 user units HOLD 2 Hold program execution until specified motion is completed END PGM Configuring the Digital Filtering User definable Digital filtering makes the LYNX well RO 4 n IOF Filter Settings for the General Purpose Isolated I O suited for noisy industrial environments The filter lt gt cnum gt 0 7 setting is software selectable using the JOF e FEISENBESSSEGENES Variable with a minimum guaranteed detectable Filter Setting pulse wi
109. value to a flag or variable For instance if the user wants to SET ACCL to 5 this can be done using the SET instruction SET ACCL 5 or the instruction can be implied ACCL 5 Syntax Example In the below syntax example you will notice that we did not type the SET command in front of the variable name In the LYNX software the SET is assumed when a variable or flag value is defined Whenever a program is uploaded from the LYNX to a text file or LISTed to the terminal screen the SET instruction will appear in front of the variables and or flags that have been defined within the program RATIOW 200 Set ratio pulse width to l0us SLEW Immediate Program Instruction Slew Motor At Constant Velocity Instruction Binary Mode Usage Example Opcode Hex Decimal _ lt mode gt 0 Use acceleration ramp SLEW lt speed gt lt mode gt lt speed gt User Units sec mode 1 Do not use acceleration ramp 51h 81 Notes When using the SLEW instruction the user must at least give a velocity sign indicates direction at which the motor should run The slew velocity will be based upon the value of MUNIT In addition the user can specify whether or not the acceleration ramp should be used to get to speed If the second parameter is not specified or is given as 0 the acceleration ramp should be used to get to speed If it is specified as 1 the slew rate should be reached by a step function without acceleration Syntax Exampl
110. will suspend until the input request is satisfied If param 1 then program execution will continue uninterrupted It is up to the programmer to use the PRINT command to request the information from the user before using the INPUT statement to accept the information into the specified variable In order to keep the cursor on the same line as the user instructions the string should be followed by a semicolon as shown in the following example The variable used as the parameter for the INPUT instruction may be a system or USER variable If a USER variable is being used it must be declared prior to the INPUT instruction using the VAR instruction Syntax Example In the following example we will write a routine that will request that the user input the velocity to be used for the next move VAR SPEED Declare SPEED variable PGM 100 Start program at address 100 LBL SAMPLE Label the program SAMPLE PRINT Input the velocity for the next move INPUT SPEED Input velocity SLEW SPEED Perform a relative move of ten user units END PGM Software Reference 03 10 2000 3 68 INPUT1 Program Mode Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal lt var gt Any user or factory defined variable INPUT1 var lt param gt param 0 Suspend program execution while waiting for user input 57h 87 lt param gt 1 Do not suspend program execution User Input Request Instruction LYNX COMM 1
111. 0 MUNIT 51200 JSDB 100 Joystick deadband 100 aunits VM 10000 max velocity 10 000 munits sec ADS 1 1000 2 1 chan 1 aunits 1000 joystick linear law JSE 1 enable joystick functions kkk Drogram PGM 1 PRINT Ne 2J LBL RUN PRINT e 1 1HInput Channel o AIN PRINT Axis Velocity VEL MicroLYNX System Rev 03 10 2000 2 74 PRINT Axis Position POS BR RUN END PGM Exercise 2 Sensor Input I Here we pretend the potentiometer is a pressure transducer and use it to display a pressure value to the screen ADS 1 50 5 1 set ADS to aunit 50 5 analog input mode 5 PGM 200 LBL PRNTPSI name program PRNTPSI lt PRINT Ne 2J ansi esc sequence to clear display PRINT Pressure AIN 1 PSI n BR PRNTPSI loop to program beginning END Pu PGM 3 Exercise 3 Sensor Input 11 Once again our potentiometer is pretending to be a sensor In this exercise the program will call up a subrou tine based upon the voltage seen on AIN 1 and position the axis at an absolute position The best analog to this example might be a flow control application Parameterg MUNIT 51200 munits 51200 MAC 75 acceleration current to 75 MRC 50 run current to 50 ADS 1 5 1 aunits 5 analog input mode VAR LIMIT 0 declare user var LIMIT ek kk Program PGM 200 LBL AINTST name program AINTST LIMIT AIN 1 set user var LIMIT AIN 1 CALL
112. 004 Ratio Out of Range will occur MicroLYNX System Rev 03 10 2000 2 70 The Analog Input Joystick Module The Analog Input Joystick Module adds two 0 to 5 volt analog input channels to the MicroLYNX System Both channels can be used _Specifeaton for data aquisition or either channel can be used Analog Input Voltage Range to directly control motion This offers the user the capability of receiving input from a variety of analog sources such as temperature or pressure sensors and then controlling events based upon those inputs Differential Linearity Error 3 4 LSB The user selected Joystick channel can be programmed to set the range zero deadband and sensitivity Each channel uses 12 bit D A converter for Joystick Reference Voltage better resolution as well as a fixed single pole analog filter with a cutoff frequency of 658 Hz to reduce the electrical noise that can be Eoi HN present in industrial environments Calibration Reference Voltage Tolerance The Analog Input Joystick Module can be i Q 5 gt 2 o E installed in any free slot however only one 1 module can be used per MicroLYNX Slot Position Table 9 9 Analog Input Module Specifications Connector Option 8 Position Phoenix 10 Pin Header a 5V Joystick Reference 5V Joystick Reference LITT 4 096V Calib Reference 4 096V Calib Reference Table 9 10 Analog Input Joystic
113. 03 10 2000 2 10 Connection Overview MicroLYNX Connections Communications 7 Position Phoenix I O 10 Pin Header PIN 2 RS 232 Receive Data RX PIN 3 RS 232 Transmit Data TX PIN 5 Communications Ground S VO LINE24 PIN gh pin 2 0 LINE 22 9 Pin Serial COM Port VPULLUP PIN 3 LL DLL PIN 4 1 0 LINE 23 v Out of Limit PIN 5 o oH PIN 6 1 0 LINE 24 m Out of Limit PIN 7 Ho oH PIN 8 I O LINE 25 lt Ground Isolated PIN 9 of PIN 10 LINE 26 PIN 2 RS 232 Transmit Data TX PIN 3 RS 232 Receive Data RX DC PIN 1 RS 232 RX mca PIN 2 RS 232 TX PIN 7 Communications Ground MC PIN 3 RS 485 RX y ES IJCo a s pao PIN 4 RS 485 RX 1 2 4 5 6 8 9 0 1 12 13 MC PIN 5 RS 485 TX O oO OOm OOOOOO PIN 6 Communications Ground A 45 46 17 48 19 20 21 22 2 25 IC PIN 7 RS 485 TX O O O O O O O O O O MOTOR PHASE MOTOR PHASE K 25 Pin Serial COM Port H a MOTOR PHASE L MOTOR PHASE B L h 3 2 Mid MicroLYNX Terminal PC L Wo GND RX RX U TX TX i CGND CGND RS 232 Communications Connections
114. 2 NOT NEM FLG3 FLG1 Usable for flags only ES ESCE Equal To Equal To 35 2 3 4 Qo 5 m 23 5 5 SECTION 4 LYNX Programming Language Reference ACCL Variable Binary Mode Usage Example Range Opcode Hex Decimal User units 0000000000000001 to ACCL lt num gt 9 999 999 999 999 999 1 000000 000 60h 96 Description The ACCL Variable sets the peak acceleration that will be reached by the Control Module in user units per second based upon the value of MUNIT If the user units have not been set then the value is in clock pulses per second The actual acceleration profile is maintained by the ACLT variable The value given by ACCL sets the maximum acceleration that the Control Module will reach Related Commands MUNIT ACLT ACL PFMT Peak Acceleration Variable ACL Read Only Status Flag Acceleration Flag Binary Mode Usage Example Opcode Hex Decimal BR lt lbl addr gt ACL BR lt lbl addr gt ACL FALSE 0 B8h 96 PRINT ACL lt flg gt 1 Axis is accelerating Description The ACL Flag is a read only flag The flag will be in a logic TRUE or 1 state when the axis is accelerating It will be logic FALSE 0 at all other times It can be used to branch to a program subroutine for actions such as toggling an output while the axis is accel
115. 2 5 to 24VDC I O lines which may be programmed individually as either general purpose or dedicated inputs or outputs or collectively as a group The isolated digital I O may also be expanded to twenty four 24 lines in groups of six 6 The I O groups and lines are numbered in the following fashion Group 20 Lines 21 26 Standard Group 30 z Lines 31 36 Standard Group 40 Lines 41 46 Optional Group 50 Lines 51 56 Optional The isolated digital I O may be defined as either active HIGH or active LOW When the I O is configured as active HIGH the level is 5 to 24 VDC and the state will be read as a 1 If the level is 0 VDC then the state will be read as 0 Inversely If configured as active LOW then the state of the I O will be read as a 1 when the level is LOW and a 0 when the level is HIGH The active HIGH LOW state is configured by the third parameter of the IOS variable which is explained further on The goal of this I O configuration scheme is to maximize compatibility between the LYNX and standard sensors and switches The LYNX I O scheme is a powerful tool for machine and process control Because of this power a level of complexity in setup and use is found that doesn t exist in controllers with a less capable I O set Uses of the Isolated Digital 1 0 The isolated I O may be utilized to receive input from external devices such as sensors switches or PLC outputs When configured as outputs
116. 2 32 Setting the Motor Resolution The output resolution of the drive section of the MicroLYNX is set by the MSEL variable By viewing the table on the right you can see that there are fourteen 14 resolution settings available with the MicroLYNX These settings may be changed on the fly in either immediate mode or in a program The operation of this variable is illustrated in the following exercise In this excercise we will write a short program that will simply slew the motor and cycle through a few of the binary microstep resolution settings The lower the resolution is the higher the speed of the motor Enter the following program into the text editor window of the LYNX Terminal 5 MAC 100 set acceleration current to 75 MRC 100 set run current to 75 5 MSEL Parameter gt Microsteps Step PGM 200 start program at address 200 n SLEW 8000 slew the motor at 4000 munits sec bes Binary Microstep Resolution Settings HOLD 1 suspend prog until velocity change d 1 8 Motor 400 MSEL 128 set resolution to 128 msteps step DELAY 1000 delay program 1 sec MSEL 64 set resolution to 64 msteps step 8 DELAY 1000 delay program 1 MSEL 32 set resolution to 32 msteps step DELAY 1000 delay program 1 sec r 3 840 E MSEL 16 set resolution to 16 msteps step DELAY 1000 delay program 1 sec 56000 00 MSEL 8 set resolution to 8 msteps step DELAY 10000 END PGM Transfer the
117. 2 43 To Set the CAN Bit Timing Registers a la nene ee en 2 44 To Set The Global Mask 2 45 To Setups Message Erames eie eue auta pte eise ad 2 46 Set Message Frame Arbitration Registers 2 46 Defining the MicroLYNX Mode Single or Party eese 2 47 Setting the MicroLYNX Party 4 2 48 MicroEY NXCPrOmpt i1 Re eto E a tte Getty 2 48 NX Baud Rate ccs seca eee otn rte tete leere bd tn ee EIER ERR 2 48 MicroLYNX Modes of Operans nianon an n e R netten nennen asas teneret enne 2 49 Immediate rte n a n hp oe e e et E PEE ERE EO RE 2 49 Program Mode oi a c epp e RED BE 2 49 EXEC Mode it oet ite eint get tais 2 49 MicroLYNX Communication Modes eese eene 2 49 peg pteueses 2 49 Bi ary iiA ated t e bd dade taies 2 50 Configuring the Isolated Digital I O 2 51 Section OVervIeW nt d Sac vests Sects epe et ee E e ra eet UP acy lesa e o eere PE see 2 51 Electrical CBaracteristiCs s de er eee eet e e 2 51 The Isolated Digital VO neonin Hine e rer P at a e e Se eH cede 2 51 Usesof the Isolated Digital WO te edet eO lee
118. 2 channel but are not seen by the other system nodes on the RS 485 channel The Host Interface module to the Host PC via the RS 232 channel routes responses from the other control modules Only the Host Interface should have the HOST flag set All other system nodes should have the flag cleared which allows the control modules to operate on commands received via either the RS 485 or RS 232 ports In addition the LYNX Products s responses are output to both ports It should be noted that there is a switch which allows the user to set the host flag in hardware but the software overrides the hardware Therefore if switch is set for Host in hardware and the user sets the host flag to FALSE 0 in software the unit will not act as a host interface Related Commands PARTY 5 Immediate Program Instruction Calibrate Joystick Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal Notes The IJSC instruction is a new addition to the LYNX instruction set It is added to support the Analog Input Joystick interface module when operating in joystick mode Execution of this command followed by moving the joystick over its range of motion and back to center then pressing the ENTER key or allowing it to time out in 30 seconds will calibrate the joystick Qo 5 5 23 o 3 5 INC Immediate Program Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal lt var
119. 2000 3 8 Uc LYNXTerm 5 The BAUD rate is already set to the MicroLYNX default Do not change this setting until you have established communications with the MicroLYNX System The Window Size settings are strictly optional You may set these to whatever size is comfortable to you 7 Click OK The settings will be automatically saved upon a normal shutdown 8 Apply power to the MicroLYNX System The following sign on message should appear in the terminal window Program Copyright 1996 2000 by Intelligent Motion Systems Inc Marlborough CT 06447 VER 1 300 SER If you can see this sign on message then you are up and running If the sign on banner does not appear try using a software reset hold down the Ctrl key and press C C If the sign on banner still doesn t appear then there may be a problem with either the hardware or software configuration of the MicroLYNX or Host PC nis Technical Writing Shared Manuals in Progress LYNX Quick x Terminal 1 Parameters MUNIT 51200 MAC S MRC SO TEXT EDITOR WINDOW M EXT EDITO DO TERMINAL WINDOW VAR LIMIT O f PrOgramtttt PGM 200 LBL AINTST LIMIT AIN 1 CALL ATEST LIMIT gt 3 5 CALL BTEST LIMIT 3 5 BR 200 END LBL ATEST VM 20 MOVA 10 HOLD 2 RET PROGRAMMABLE FUNCTION KEYS tt fSubroutinesttt Figure 1 1 The LYNX Terminal Main Screen Using the LYNX Terminal Software
120. 26 SELECTED COMM PORT2 CANNOT BE SEPERATELY SELECTED 4027 LINE NUMBER NOT NEEDED Variable Flag Errors 5001 ILLEGAL VARIABLE ENTERED 5002 ILLEGAL FLAG ENTERED 5003 ILLEGAL FLAG OR VARIABLE ENTERED 5004 NO EQUAL IN SET VARIABLE TO VALUE 5005 ILLEGAL CHARACTER FOLLOWS DECLARATION OF VARIABLE OR FLAG 5006 UNDEFINED USER VAR OR FLG 5007 TRIED TO REDEFINE LBL VAR FLG 5008 TRIED TO REDEFINE GBL LCL LBL VAR FLG 5009 INSTRUCTION VARIABLE FLAG NOT IMPLEMENTED IN THIS VERSION 5010 VALUE OF LBL VAR FLG CHANGED WARNING 5011 FLAG IS READ ONLY 5012 VARIABLE IS READ ONLY 5013 CAN ONLY INIT ALL VARS FLAGS 5016 CAN T SET MULTI VARIABLES READ ONLY Motion Errors 6001 REACHED PLUS LIMIT SW 6002 REACHED MINUS LIMIT SW 6003 TIME NEEDED TO MAKE MOVE LESS THAN 200USEC 6004 NO DISTANCE FOR MOVE Encoder Errors 7001 STALL DETECTED 7002 IMPROPER RATIO OF MUNIT TO EUNIT 7003 MOVED OUT OF DEADBAND NVM Errors 8001 LABEL AREA FULL 8002 SAVEFAILED 8003 TRIED TO TAKE FROM EMPTY STACK 8004 DATA NOT IN NVM 8005 TRIED TO OVER FILL FOREGROUND STACK 8006 TRIED TO SAVE WHILE MOTION IN PROGRESS 8007 TRIED TO OVER FILL BACKGROUND STACK 8008 BAD SECTOR IN PAGE 0 OF FLASH 8009 BAD SECTOR IN PAGE 1 OF FLASH 8010 BAD SECTOR IN PAGE 2 OF FLASH 8011 BAD SECTOR IN PAGE 3 OF FLASH Out Of Range Errors 9001 IO FILTER OUT OF RANGE 9002 IO GROUP OUT OF RANGE 9003 PROGRAM ADDRESS OUT OF RANG
121. 49 IO 20 35 O As shown in the table I O lines 26 22 and 21 should be illumi 1 1 0 0 0 1 nated 25 24 and 23 should be off NO vo 25 WO 24 vo 23 vo 22 UVP Enter this next Table 6 4 Binary State of Outputs IO 20 7 Now I O 21 22 and 23 should be illuminated IO 20 49 T O 26 25 and 21 are illuminated NOTE You can only write to General Purpose Outputs If you attempt to write to and input or dedicated output type an error will occur Modular LYNX System 03 10 2000 1 30 The Differential 1 0 Step Clock Direction The Clock Interface The LYNX has four clock pairs that are used by the high speed I O One of these Step Clock clock pair 11 and 12 is fixed as an output and is used internally to provide step clock and direction pulses to Step Clock and Direction outputs located on Connector P1 of Direction the LYNX Controller The step clock output increments CTR1 Counter 1 CTR1 m may be read from or written to by software instructions in either program or immedi Quadrature ate mode The following table explains the clocks as well as their default I O line pair placement Clock Types Defined There are three basic types of clocks that may be configured for the MicroLYNX Channel B they are Up Down 1 Quadrature 2 Step Direction 3 Up Down Cw The
122. 5 Pin Serial Port 9 Pin Serial Port Pin Receive Data RX 1 Receive Data 2 Transmit Data TX Transmit Data TX Pina ransmi T Pin 2 Transmit Data TX mi ceive Data RX P n 2 Receive Data RX Pin 5 CGND Pin 6 CGND Pin 7 CGND Pin 5 CGND Table 7 1 Wiring Connections RS 232 Interface Single MicroLYNX System PIN 2 RS 232 Receive Data RX PIN 3 RS 232 Transmit Data TX PIN 5 Communications Ground S 5 Q gt o E 9 Pin Serial COM Port SNOILYOINNWWOD 9 PIN 2 RS 232 Transmit Data TX PIN 3 RS 232 Receive Data RX PIN 7 Communications Ground MicroLYNX 4 7 Pi s s t n n u 0660000000000 mn m p 2 3 2 2 mH 000000000000 25 Pin Serial COM Port Host PC a ON oz e SNOILVINDINNOD e PHASEA PHASEA oo 0 0 0 PHASE B PHASE B oo O a a kd W SUPPLY GND COMMUNICATIONS SN 2 MicroLYNX 4 10 Pin Header Figure 7 1 Connecting the RS 232 Interface Single Micro LYNX System Multiple MicroLYNX Systems When connecting multiple MicroLYNX nodes in a system using the RS 232 interface it is necessary to establish one MicroLYNX as the HOST This MicroLYNX will be connected to the Host PC exactly as
123. 50 Related Commands EE EDB PME PMV MUNIT EUNIT PMV s I Position Maintenance Velocity Variable Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal PMV lt speed gt deiode is 10240 000 96h 150 Notes Velocity to be used during position maintenance repositioning If EUNIT has been set then the value of PMV should be specified in user units Otherwise the value is simply specified in clock pulses per second Related Commands EE EDB PME MUNIT EUNIT POS Variable Binary Mode Usage Example Range Opcode Hex Decimal POS lt position gt PRINT POS User Units 2 0 000 97h 151 BR lt lbl addr gt POS lt position gt uidi scc LE Notes Contains the current position of the axis in user units If the encoder is disabled the POS register contains the scaled information that has been sent to the drive In other words POS CTR1 MUNIT In this case if the user changes POS CTR1 is also modified If the encoder is enabled the POS register contains the scale information that has been seen at the encoder In other words POS CTR2 EUNIT In this case if the user changes POS CTR1 and CTR2 are both modified Modifying POS in essence changes the frame of reference for the axis POS will probably be set once during system set up to reference or home the system Axis Position Variable Related Commands CTR1 CTR2 EE MUNIT EUNIT POSCAP POSCAP Read Only Variable
124. 70 write to the final velocity key in VM 5 then hit enter ACCL Acceleration in munits per second 70 read the acceleration key in PRINT ACCL then hit enter 7o write to the acceleration key in ACCLz75 then hit enter DECL Deceleration in munits per second 70 read the deceleration key in PRINT DECL then hit enter 7o write to the deceleration key in DECL ACCL then hit enter Software Reference 03 10 2000 3 16 Math Functions Another powerful feature of the LYNX is its ability to perform common math functions and to use these to manipulate data Audition uso er NEW_POS POS CTR3 Subtraction u niaaa assasssaqassa DELTA CTR2 POS Multiplication sese ACCL ACCL 2 TINA SION a savage ACCL ACCL 2 Absolute value us nuna esegue WAIT Abs CTR3 User defined variable used as an example Motion Commands MOVA Move to an absolute position relative to a defined zero position For example type the following commands followed by hitting enter POS 0 MOVA 200 PRINT POS The terminal screen will read 200 MOVA 300 PRINT POS The screen will echo back 300 MOVR tn 5 5 3 o 3 5 Move number of steps indicated relative to current position For example type the following commands followed by hitting enter POS 0 MOVR 200 PRINT POS The terminal screen will read 200 MOVR 300 PRINT POS Notice the posi
125. 87 Notes Backlash could be described as the amount of mechanical variance in a system For example the nut on a leadscrew may not engage until several steps into the move Again during a direction change it would also take several steps for the actual motion in the opposite direction to commence The LYNX Control Module is able to compensate for that amount using this feature with the BLM Backlash Compensation Mode and BLSH Backlash Compensation Amount Variables In order to use backlash compensation the function must be enabled This flag will be used in conjunction with the BLM and BLSH variable to establish the type and amount of backlash compensation employed The code example below illustrates how this flag might be used in setting up the backlash compensation for your system Related Commands BLM BLSH tn 5 5 23 o 5 5 BLM Setup Variable Binary Mode Usage Example Opcode Hex Decimal meme modes lt mode gt 0 Mathematical compensation Mode 0 66h 102 1 Mechanical compensation Notes Mode 0 Mathematical Compensation When mathematical backlash is employed a move made in the opposite direction of the previous move will have the value of BLSH added to it in the direction of the current move This will have the effect of taking up the backlash resulting from the change in direction Backlash Compensation Mode Distance 1 Specified Distance 1 Dista
126. ASCII data for 2 param eter ASCII data for n parameter CTRL J Binary Binary mode communications is faster than ASCII and would most likely be used in a system design where the communication speed is critical to system operation This mode cannot be used with standard terminal software The command format in binary mode when the control module is in Single Mode PARTY FALSE is lt 20H gt lt character count gt lt opcode gt lt Field type for 1 parameter gt lt IEEE hex data for 1 parameter OEH Field type for 2 parameter gt lt IEEE hex data for 2 parameter gt lt OEH gt Field type for n parameter gt lt IEEE hex data for n parameter gt lt optional checksum gt 01 EUM Note that 20H is 20 hex the character count is the number of characters to follow the character count not including the checksum if one is being used The OpCodes for control module instructions variables flags and keywords are given in Sections 15 and 16 of this document The Field type byte will be one of the following based on the type of data that is expected for the specific parameter OEH is OE hex which is a separator character in this mode Finally the optional checksum will be included if CSE is TRUE and excluded if itis FALSE If included the checksum is the Table 5 8 Binary Hex Codes low eight bits of the complemented sixteen bit sum of the address field 20H here character count O
127. ATEST LIMIT gt 3 5 call ATEST if LIMIT is greater than 3 5 aunits CALL BTEST LIMIT 3 5 call BTEST if LIMIT is less than 3 5 aunits BR 200 loop to beginning of program END Subroutineg LBL ATEST declare subroutine ATEST VM 20 max velocity 20 munits sec MOVA 10 index to abs pos 10 HOLD 2 suspend prog until motion completes RET return from subroutine LBL BTEST declare subroutine BTEST VM 5 max velocity 5 munits sec MOVA 22 index to abs pos 22 HOLD 2 suspend prog until motion completes RET return from subroutine 2 75 The Expansion Modules The RS 232 Port 2 Communication Expansion Module The RS 232 Port 2 communications module which allows for use of the RS 232 interface can only be used with the CAN bus version of the MicroLYNX This expansion board can be used in any of the three expansion slots and is automatically recognized by the MicroLYNX no configuration is needed NOTE Since the RS 232 Expansion Module uses MicroLYNX COMM 2 it cannot be used in conjunction with the RS 485 Expansion Module Only one of the two interfaces can be used with the CAN bus version of the MicroLYNX This expansion board uses MicroLYNX COMM 2 and can be used to simultaneosly communicate with the MicroLYNX via RS 232 while communicating via the CAN bus This is useful in requesting and displaying system status information from and to a PC or terminal The following tab
128. Control Module Connector P2 Pin Configuration 1 41 The Control Module P3 13 Position Removeable Terminal Connector Isolated Digital O Pin Function Description Signals are individually programmable as inputs or outputs see description of thelOS command in the Part 3 Software Reference of this manual Inputs are CMOS logic level compatible and VO Group 20 can accept inputs to 28 volts Noise rejection is available via digital filtering Outputs are open Lines 21 26 drain each have individually switchable 7 5 Kohm pull up resistors to 5VDC Outputs can switch inductive resistive or incandescent loads Refer to Section 6 Configuring the Digital VO for usage and specifications Isolated common signal return for groups 20 and 30 VO Isolated from the power and communication grounds Table 7 5 LYNX Control Module Connector P3 Pin Configuration 13 Isolated VO Ground Switch Assignments Configuration Switches Read at Power On or System Reset Mat be Overidden by Software Settings s mem sm _ _ Firmware Upgrade When this switch is on the controller firmware be upgraded using the IMS upgrade program When this switch is on party mode communications is selected When it is off single mode communications is selected For more information see Section 5 The Communications Interface Table 7 6 LYNX Control Module Configuration Switches Gr
129. Control Module and external IMS Driver Power Supply Recommendations Recomended Type Unregulated DC Ripple Voltage 10 When Used With 1M483 1M483H Output Voltage 12 to 45VDC Output Current 2A Typ 4A Peak When Used With 1M804 1M805 1M805H Output Voltage 24 to 75VDC Output Current 4A Typ 6A Peak The output current needed is dependant on the supply voltage motor selection and load 1 13 Powering the LYNX System XIVA T EIpalA Stand alone or with Optional Modules 12 to 75VDC Supply A 12 to 75VDC unregulated supply connected to P1 provides power to the LYNX Control Module and any optional I O modules As in the LYNX Controller with Driver s Configuration pins 5 Ground and 6 5VDC on connector P2 of the Control Module becomes a 5VDC 150mA internally limited regulated output Ensure that the DC Output of the Supply Does Not Exceed the Maximum Driver Input Voltage All Power Supply Wiring Should Be Shielded Twisted Pair to Reduce Electrical Noise 5VDC 150mA Internally Limited Output 12 to 75VDC Power Supply IMS ISP 200 4 Shown Figure 4 2 Stand alone Power Configuration 12 75 VDC Supply 5 VDC Supply A 5VDC 5 regulated supply connected to pins 5 Ground and 6 2 5 VDC on connector P2 provides power to the LYNX Control Module and any optional I O modules Figure 4 3 115 assumed that external drives are being used and power is supplied to these drives s
130. E 0 would disable the encoder functions Read Only Read Only flags cannot be modified by the user They only give an indication of an event or condition Typically this type of flag would be used in a program in conjunction with the BR branch instruction to generate an if then event based upon a condition For Example the following line of code in a program BR STOPPROG ACL 0 would cause a program to branch to a subroutine named STOPPROG when the ACL the read only acceleration flag is false User Defined Flags This class of flag is defined by the user by using the instruction FLG This class of flag can be either contained in Keywords a program or defined in immediate mode There are two types of user defined flags Global Flags Global flags are flags that are defined outside of a program The benefit to using a global flag is that no user memory is required For example the user can define a flag called IN POS by entering FLGIN POS into the terminal Local Flags This type of user defined flag is defined within a program and can only effect events within that program It is stored in user memory with the program It is worthy of note that a local variable is not static but is erased and declared again each time a program is executed Keywords are used in conjunction with the PRINT GET and IP instructions to indicate or control variables and flags For instance PRINT UVARS would print the state of all the user defined vari
131. E 9004 RATIO OUT OF RANGE 9005 DATA OUT OF RANGE FOR VARIABLE 9006 PULSE WIDTH OUT OF RANGE Software Reference 03 10 2000 3 106 9007 TOO MANY DIGITS SPECIFIED IN PRINT FORMAT 9008 SUM OF ID AND FD EXCEEDS MAX NUMBER OF DIGITS 9009 VALUE MUST BE POSITIVE ONLY 9010 VMIS SET LESS THAN OR EQUAL TO VI 9011 VIIS SET BELOW MIN_VELOCITY 9012 MOVE DISTANCE TOO SHORT FOR PRESENT DECEL RATE 9013 JOG SPEED LESS THAN MIN_VELOCITY 9014 ANALOG INPUT NOT ALLOWED FOR DATA 9015 COMM PORT OUT OF RANGE 3 107 tn i 5 D o 5 5 INI D Factory Defaults Variables lOS55 0 0 1 0 0 0 ITE3 FALSE IOS 56 0 0 1 0 0 0 ITE4 FALSE ACCL 1000000 000 0 0 LIMSTP FALSE ACLT 1 IT2 0 0 LoGo TRUE BAUD 96 IT3 0 0 MVG FALSE BKGDA 0 IT4 0 0 PARTY FALSE BLM 0 JOGS 256000 000 PAUSD FALSE BLSH 0 000 LDCLT 1 PCHG FALSE CTR1 0 LDECL 1000000 000 PME FALSE CTR2 0 MSDT 0 QUED FALSE CTR3 MUNIT 1 000 RATIOE FALSE DCLT 1 PAUSM 0 STALL FALSE DECL 1000000 000 PFMT 10 3 2 STK FALSE DISP 0 0 0 PMV 10240 000 STLDE FALSE DN 1 POS 0 000 TIE1 FALSE ECHO 0 PRMPT gt TIE2 FALSE EDB 2 000 RATIO 1 000 TIE3 FALSE ERROR 0 RATIOW 0 TIE4 FALSE EUNIT 1 000 SER TIR1 FALSE HAS 1 000 STEPW 0 TIR2 FALSE IOF10 0 STLF 10 000 TIR3
132. E 0 Disabled PARTY lt flg gt lt flg gt TRUE 1 Enabled FALSE 0 D7h 215 Notes This flag should be set to TRUE 1 for LYNX MicroLYNX systems that are used in a multidrop system multiple LYNX Products connected on a common RS 485 channel It should be left as FALSE 0 the factory default if a single unit is used While in PARTY mode a LYNX system node will respond to commands that are addressed to its name given in DN In addition it will respond to global commands which are specified by the character in the name field Also if its QUED flag is TRUE the system node will respond to commands which are specified by the character in the name field Also the controller will respond to ESC and C There is a hardware switch to enable party mode as well but the software setting will override it Related Commands HOST QUED Party Mode Enable Disable Flag PAUS Immediate Mode Instruction Binary Mode Usage Example Parameters Opcode Hex Decimal Notes Suspends the executing program as well as any motion that is executing The way the motion is suspended and resumed is determined by the value of PAUSM Pause Program Execution Instruction Immediate commands are allowed while the control module is paused To continue the program use the RES instruction To abort the program use the END instruction Related Commands RES END PAUSD PAUSM PAUSD Read Only Status Flag Paused P
133. E 1 PARTY Flag TRUE 1 Table 5 3 Connections and Settings Multiple Control Module System RS 232 Interface HOST Switch ON PARTY Switch ON HOST Control Module Control Module 1 HOST Switch OFF PARTY Switch ON Host PC Control Module 2 c HOST Switch OFF PARTY Switch ON To Other Control Modules in System Figure 5 2 RS 232 Interface Multiple Control Module System 1 19 The Communications Interface XNA T EIpalA Connecting the RS 485 Interface Single Controller System In a Single Controller System the RS 485 interface option would be used if the Control Module is located at a distance greater than 50 feet from the Host PC Since most PC s do not come with an RS 485 board pre installed you will have to install an RS 485 board in an open slot in your PC or purchase an RS 232 to RS 485 converter such as the CV 3222 sold by IMS to use this connection interface For wiring and connection information please use the following table and diagram RS 485 Interface Wiring And Connections RS 485 Board or RS232 to RS 485 Converter LYNX Control Module Recieve Data RX Transmit Data TX Pin 9 Recieve Data RX Transmit Data TX Pin 10 Transmit Data TX Recieve Data RX Pin7 Communications Ground Communications Ground Pin 11 Table 5 4 RS 485 Interface Connections LYNX C
134. E SWITCH NOT IN FACTORY MODE OUTPUT FAULT AT DIGITAL IO GROUP 20 OUTPUT FAULT AT DIGITAL IO LINE 21 OUTPUT FAULT AT DIGITAL IO LINE 22 OUTPUT FAULT AT DIGITAL IO LINE 23 OUTPUT FAULT AT DIGITAL IO LINE 24 OUTPUT FAULT AT DIGITAL IO LINE 25 OUTPUT FAULT AT DIGITAL IO LINE 26 OUTPUT FAULT AT DIGITAL IO GROUP 30 OUTPUT FAULT AT DIGITAL IO LINE 31 OUTPUT FAULT AT DIGITAL IO LINE 32 OUTPUT FAULT AT DIGITAL IO LINE 33 OUTPUT FAULT AT DIGITAL IO LINE 34 OUTPUT FAULT AT DIGITAL IO LINE 35 Software Reference 03 10 2000 3 104 Error Table 2036 2040 2041 2042 2043 2044 2045 2046 2050 2051 2052 2053 2054 2055 2056 2101 2102 2103 2104 2105 2106 2200 OUTPUT FAULT AT DIGITAL IO LINE 36 OUTPUT FAULT AT DIGITAL IO GROUP 40 OUTPUT FAULT AT DIGITAL IO LINE 41 OUTPUT FAULT AT DIGITAL IO LINE 42 OUTPUT FAULT AT DIGITAL IO LINE 43 OUTPUT FAULT AT DIGITAL IO LINE 44 OUTPUT FAULT AT DIGITAL IO LINE 45 OUTPUT FAULT AT DIGITAL IO LINE 46 OUTPUT FAULT AT DIGITAL IO GROUP 50 OUTPUT FAULT AT DIGITAL IO LINE 51 OUTPUT FAULT AT DIGITAL IO LINE 52 OUTPUT FAULT AT DIGITAL IO LINE 53 OUTPUT FAULT AT DIGITAL IO LINE 54 OUTPUT FAULT AT DIGITAL IO LINE 55 OUTPUT FAULT AT DIGITAL IO LINE 56 ANALOG RANGE NOT ALLOWED ANALOG DESTINATION SOURCE NOT ALLOWED ANALOG DESTINATION SOURCE ALREADY USED INVALID ANALOG CHANNEL NUMBER ANALOG LAW NOT ALLOWED CAN T ENABLE JOYSTICK WHILE IN MOTION OR CAN T E
135. ERE HERR ERE eee ERES 1 39 Hardware Specification S uei ite ee et remit O e piliers deti 1 39 Environmental Specifications u L u S i nik tnnt etre a una a 1 39 Mechanical Specification rt e o t p tide e ete guion 1 39 Connection OVervieW sn Coh terae Rete Rd ete us 1 40 Power Requirements oe ore eh E e exter teen ve Ry E EDEN 1 40 LED Indicatots i 5 ee etate tente ate bu e catered e eb nest 141 Pin Assiegniment and Description sse eee ore a uhu im uiay E EEEE ia asss 141 Swatch Assignmehts x eel e He Ert SSS ERES HEEL E CU EE 142 The LYNX Control Module Combination 1 43 Section OVERVIEW oae ee dee ette ea ep de dile ep eas eee tote a ss 1 43 e e tr te ei a eere e pe eut P tetti 1 43 Environmental Specifications eese T u a m asal snn u 1 43 Mechanical SpeCifiCatiOn eere re e tee PEU E PD EC e e teer 1 43 Connection OVervi W 3 rie ete obiectu m es phat ea eas teet 1 44 Power Requirements ee ete get ee E est pete aha h ve eR e ana asas 144 LED Indicators sa s ans ERE RC REDE eU eH 1 45 Pin Assignment and Description aet e egere E e Se er E e Dei 1 45 Swatchi Assigtiments u a g na E eh EN ce 0 AG S UL RES 1 46 The Isolated Digital I O Module
136. Equipment Needed Serial Cable IM483 or equivalent step motor driver ISP200 4 or equivalent power supply M2 22XX or equivalent stepping motor Wire Cutters Strippers 22 gauge wire for logic level signals 18 gauge wire for power supply and motor wiring PC with a free serial port COM l or 2 Connecting the Power Supply 1 Using the 18 gauge wire connect the DC output of your power supply to V on your LYNX Control Module and to P2 pin 4 on the IM483 Step Motor Driver Or V pin on equivalent driver Figure 1 1 2 Connect the Power Supply Return GND to PGND on the LYNX Control Module and to P2 pin 3 on the IM483 Step Motor Driver Or GND on equivalent driver Figure 1 1 3 Connect the AC Line cord to your power supply in accordance with any user documentation accompanying the supply DO NOT PLUG IN AT THIS TIME Connecting the Step Motor Driver 1 Using 22 gauge wire connect direction DIR on the LYNX Control Module to P1 pin 3 on the IM483 Driver Or direction pin of equivalent drive used Figure 1 1 2 Connect Step Clock SCK of the LYNX Control Module to P1 pin 2 of the IM483 Driver Or Step Clock input of equivalent drive used Figure 1 1 3 Connect the 5V output off the LYNX Control Module to the Opto Supply P1 pin 4 of the IM483 Driver Or Opto Supply of drive used if required Figure 1 1 4 Set the Resolution Select DIP switch on the IM483 Driver to 256 resolution Figure 1 1 Motor Connections Con
137. FALSE 0 BDh 189 Notes When this flag is enabled and binary mode communications is being used each command sent to the LYNX requires a checksum to be included as the last byte of the command The checksum is only used in binary mode and is the low 8 bits of the 16 bit sum of the address field character count field command field data fields and separators included in the message Refer to the section Modes of Operation for more information about the format of commands in binary and ASCII modes Related Commands BIO CTR1 Register Variable Binary Mode Usage Examples Range Opcode Hex Decimal Clock 1 Counter Variable var CTR1 math CTR lt x gt var CTR1 math var PRINT CTR1 User Units 2 147 000 000 69h 105 CTR1 num BR lbl addr CTR1 lt num gt Software Reference 03 10 2000 3 52 Notes This variable contains the raw count representation of the clock pulses sent to the motor drive If there is no encoder in use EE 0 then this value scaled using MUNITS will match the value in the POS variable If there is an encoder in use EE 1 this value scaled using MUNITS can be compared to the POS value to determine the position error for the axis in this case POS is based on CTR2 CTR1 is associated with Clock 1 Step Clock Direction Defaulted to Differential I O channels 11 and 12 Refer to the IOS variable for information on how these channels are set up by default and how they can be
138. High Speed Differential I O Configuring an Input Clocks 2 3 and 4 can be configured as high speed inputs or as a general purpose input in the same fashion as the Isolated I O In configuring the Differential I O line as a general purpose input you would typically use the line of the line pair You cannot use both lines as separate I O lines The figure below shows the Input Equivalent Circuit with the I O line pair connected to channel A of a differential encoder This feature Edge Differential Edge Detect Encoder Logic pu Polarity SU Channel A igita Filter Level lt Channel A Channel B Group Filter S Setting Channel B Index Index Modular LYNX System 03 10 2000 1 32 is demonstrated in Typical Functions of the Differential I O Connecting and Using an Encoder Clocks 2 3 and 4 are set up as Quadrature inputs by default The defaults for each I O Line Pair are IOS 1323 0 1 0 1 0 IOS 14 4 0 1 0 1 0 IOS 15 5 0 1 0 1 0 IOS 16 6 0 1 0 1 0 IOS 17 7 0 1 0 1 0 IOS 18 8 0 1 0 1 0 Setting the Digital Input Filtering for the Differential 1 0 User definable Digital filtering makes the LYNX well suited for noisy industrial environments The filter setting is software selectable using the JOF Variable with a minimum guaranteed detectable pulse width of 18 microseconds to 2 3 milliseconds The table below illustrates the
139. I O 24 to 1 Delay Prog execution 4 msec Declare subroutine ZERO Loop to sub ZERO until POS 0 Clear I O 21 Delay Prog execution 4 msec Unconditional branch to BACK Related Commands RET END BKGD BKGDA Save Instruction Binary Mode Opcode Hex Decimal Usage Example Notes Saves all variables flags and programs currently in working memory RAM to nonvolatile memory NVM The previous values in NVM are completely overwritten with the new values If necessary the user can get back to factory default values using the IP instruction When the user modifies variables flags and program space they are changed in working memory RAM only If the SAVE instruction is not executed before power is removed from the control module all modifications to variables flags and programs since the last SAVE will be lost Related Commands IP SET PGM tn 5 5 3 3 5 SER Read Only Variable Binary Mode Usage Example Opcode Hex Decimal Notes This read only variable can be used to display the LYNX Product s serial number The value set is at the factory Serial Number Variable SET Immediate Program Instruction Set Variable Or Flag Instruction Binary Mode Opcode Hex Decimal Usage Example SET lt var llg gt lt val gt 50h 80 Notes Sets a variable or flag to a specified value SET is an optional command It can be left off when assigning a
140. IO variable must be set to less than 2 or 2 or Error Code 9004 Ratio Out of Range will occur Modular LYNX System 03 10 2000 1 38 5 O SN The LYNX Control Module LX CM 100 000 Section Overview This section will cover a Hardware Specifications Environmental Specifications Mechanical Specifications Power Requirements Connection Overview LED Indicators Pin Assignments Switch Assignments Hardware Specifications Environmental Specifications Operating Temperature esee 0 to 50 degrees C Storage Lemperat re corte rer erdt dde 20 to 70 degrees C Humidity d 0 to 90 non condensing Mechanical Specification INTELLIGEMNVOTIONNSTEMS INC Figure 7 1 LYNX Control Module Dimensions 1 39 The Control Module XNA T EIpalA Power Requirements Power Requirements and Specifications Input Voltage 12 to 75 VDC Unregulated or 5VDC 5 Table 7 1 Power Requirements for the LYNX Control Module Connection Overview Switches Select Addresses A Thru G 5V Pullup Enable Party Mode S
141. IOF settings Configuring an Output IOF Filter Settings for the High Speed Differential VO IOF lt num gt lt num gt 0 7 Filter Settin Cutoff Minimum Detectable Pulse 9 Frequency Width O default 5 00 MHz 100 nanoseconds 1 25 MHz 400 nanoseconds Table 6 6 Digital Filter Settings for the Differential I O The Differential I O Group 10 has 3 Channels Line Pairs 13 amp 14 15 amp 16 and 17 amp 18 that can be config ured as an output by the user and One Channel Line Pairs 11 amp 12 that is configured as output only SCK and DIR on the Control Module These outputs can be configured as high speed outputs or 0 to SVDC general purpose outputs by using the IOS variable The high speed clock outputs have the following restrictions Line Pairs 11 12 13 14 and 15 16 can be configured to Step Clock Direction or Up Down Line Pair 17 18 is limited to IMHz Reference Out 17 and 10MHz Reference Out 18 Clock User Defined Function 1 33 Configuring the Digital I O XNA T EIpalA In the Equivalent Circuit in Figure 17 an Output is being used as Step or Direction on a driver For the configuration example use I O line 13 for the output Since by default the line is a quadrature input we must configure it to be a Step Direction Output by setting the IOS Variable to the following IOS13 3 1 0 1 2 0 This breaks down as IOS 13 Identifies the line being configured as 13 3 Sets the I O Type to Clo
142. Identifier esses eene enne nennen nenne FFOh CAN Transmit Identifier 5 er ER e ERREUR RAI S Ve TEN eae FF2h When the CONFIG input is held LOW at power up a standard message frame identifier FF2h will transmit the CAN Module software version number The format of all MicroLYNX commands remain unchanged when using the MicroLYNX CAN Module The CAN Protocol limits the amount of data to be transmitted in a message frame to 8 bytes Because MicroLYNX commands can be longer than 8 bytes the MicroLYNX CAN module employs a double buffer scheme Each enabled receive message frame will buffer a maximum of 64 bytes of data Once the CAN Module detects a complete MicroLYNX command the complete command is queued to a 128 byte buffer for transfer to the MicroLYNX Any response from the MicroLYNX is queued to a 256 byte buffer and is transferred on the CAN bus when the transmit message frame is enabled The system designer must be careful not to generate MicroLYNX code that will overflow the 128 byte and 256 byte buffers All buffers are circular and no checks are made for overflow The LYNX Terminal communications software which ships with the MicroLYNX System contains a CAN configuration utility to aid in configuring the CAN module This utility can be accessed via the setup menu item on the LYNX Terminal CAN Configuration Command Summary CAN Configuration Command Summary Description Command Usage Usage Example Initia
143. MicroLYNX Powering the MicroLYNX System Motor Hequirements Controlling the Output Current The Communications Interface Configuring and Isolated Digital I O Configuring the Using the Expansion Modules MicroLYNX System Rev 03 10 2000 Table of Contents The MIicroLYNX SysStemi uu 2 7 OVELVICW d ESS 2 7 Introduction u aus sobs 2 7 Electrical Sp cificatonS M 2 8 Power Supply Requirements eerie tent ere ste 2 8 Motor DrIV eT 2 8 Isolated Digital 2 8 Communication Specifications d E 2 8 Eden M 2 8 Controller Area Network CAN aea eet REED 2 9 Mechanical Specifications Merger tree ERE e REESE TR REVO Ea Ver FER 2 9 Environmental Specifications erre tte tete UR tees E CORE saga cp TT C EE TUBE aS 2 9 Motion ente lii f 2 10 Software Specifications EE 2 10 eroe ieu 2
144. NX or MicroLYNX PR PRMPT lt char gt as a prompt character gt ASCII 62 lt char gt Character or ASCII decimal value 32 254 BAUD KGDA REAK DISP DN ECHO AUSM MPT Miscellaneous and Setup Flags Miscellaneous and Setup Flags Sets communication mode BlO flg lt flg gt 0 ASCII lt flg gt 1 Binary Read only status flag indicates whether or not a background BR lbl addr BKGD lt flg gt program is running PRINT BKGD lt flg gt 0 Background program not running lt flg gt 1 Background program running Read only status flag indicates whether or not a program is PRINT BSY Response 0 Program not running Response 1 Program running Enables disables use of checksum when binary communications are used CSE lt flg gt lt flg gt 0 Disabled lt flg gt 1 Enabled Enables disables the echo of global commands for use in party mode E lt flg gt 0 Disabled lt flg gt 1 Enabled Read only status flag indicates whether or not a program is waiting for a position change velocity change or motion to PRINT HELD complete Response 0 Program not held Response 1 Program held Enables disables the sign on banner LOGO flg lt flg gt 0 Disabled lt flg gt 1 Enabled Enables disables party mode PARTY lt flg gt lt flg gt 0 Disabled lt flg gt 1 Enabled Read only status flag indicates whether or not a program has P BR lt lbl addr gt
145. OLD 2 Suspend program until motion stops DELAY 500 Delay 500 milliseconds BR WAITIN21 IO 21 1 Loop to beginning of subroutine while IO 21 is TRUE RET Return to main program END End program PGM Return to immediate mode RET Clear Program Instruction Immediate Mode Instruction Binary Mode Usage Example Opcode Hex Decimal lt lbl addr gt Subroutine label or address to be cleared CP lt lbl addr gt mode mode 0 Clear only specified program 32h 50 Notes Syntax Examples Related Commands mode 1 Clear to end of working memory This instruction will clear the program space in working memory RAM as specified by the instruction parameters There are two parameters to the CP instruction The first specifies the label or program address of the location at which the clear command should begin The second indicates whether only the specified program or subroutine 0 or the entire program space beginning with the specified address or label 1 should be cleared If the second parameter is omitted or is specified as 0 the program space is cleared only until the first END or RET is reached However if it is specified as 1 the program space is cleared to the end of the program space Remember that this instruction operates on working memory RAM In order to remove the programs from the program space for the next power up a SAVE instruction must be executed to save the contents of wo
146. OS motor can operate up to 3000 rpm s The IOS motor is available in the following frames Single Shaft IMS P N 17 C M3 1713 IOS DB Frame CL M3 2220 IOS E gru m M3 3424 IOS Motor Wiring As with the power supply wiring motor wiring should be run separately from logic wiring to minimize noise coupled onto the logic signals Motor cabling exceeding 1 in length should be shielded twisted pairs to reduce the transmission of EMI Electromagnetic Interference which can lead to rough motor operation and poor system performance overall For more information on wiring and shielding please refer to Rules of Wiring and Shielding in Section 4 of this manual NOTE The physical direction of the motor with respect to the direction input will depend upon the connection of the motor windings To switch the direction of the motor with respect to the direction input switch the wires on either phase A or phase B outputs WARNING Do not connect or disconnect motor or power leads with power applied MicroLYNX System Rev 03 10 2000 2 26 Following are the recommended motor cables Dual Twisted Pair Shielded Separate Shields e none Belden Partt 9402 or equivalent 20 Gauge Lis M Belden Partt 9368 or equivalent 18 Gauge When using a bipolar motor the motor must be within 100 feet of the drive Connecting the Motor 5 The mot
147. Output 15 Status Output 24 Program Paused Table 8 1 IOS Variable Settings Configuring an Input o 35 gt a g e o 2 gt lt gt 21 2 Figure 8 2 below illustrates the Input Equivalent Circuit of the Isolated I O being used with a switch To illustrate the usage of an input you will go through the steps to configure this switch to start a simple program at Line 1000 to index a motor 200 user units First you must configure the I O Line 21 as a GO input IOS 21 9 0 0 To break this command down IOS 21 Identifies the I O Line we are setting as 21 PULL UP SWITCH ON Pull up Switch Edge Detect Logic j Switch 7 5kQ T Polarity Digital Group Isolated Ground Filter Setting Figure 8 2 Isolated I O Input Equivalent Circuit 2 53 The Isolated Digital I O gt 5 o i E 9 Configures the I O Type to GO 0 Configures I O as Input 0 Configures I O as Active LOW When the Input Type GO is selected it will always look to execute a program located at line 1 of program memory Therefore to run a program at line 1000 you must do the following PGM 1 Records program at line 1 of memory space EXEC 1000 Execute program located at line 1000 of memory space END Terminates Program PGM Switches system back to immediate mode PGM 1000 Records program at line 1000 of memory space MOVR 200 Move re
148. PAUS PAUSM RET Program Mode Instruction Return From Subroutine Instruction Binary Mode Usage Example Opcode Hex Decimal 4Dh 77 Notes A RET statement is required at the end of the subroutine executed by a CALL instruction Syntax Example VAR VAL 0 Declare user variable VAL set to 0 PGM 100 Start Program at address 100 LBL MAIN PRG Label program MAIN PRG MOVR 51200 Move relative 51 200 user units HOLD 2 Suspend program until motion completes CALL SUB ROUT VAL 1 Call subroutine SUB ROUT when VAL 1 BR MAIN PRG Unconditional branch to MAIN PRG LBL SUB ROUT Declare subroutine SUB ROUT MOVR 51200 5 Move relative 51 200 X 5 user units HOLD 2 Suspend program until motion completes RET Return from subroutine END End program PGM Return to immediate mode Related Commands CALL RUN Program Mode Instruction Run Background Task Instruction Binary Mode Opcode Hex Decimal RUN lt lbl addr gt 4Eh 78 Notes The RUN instruction starts a background task to be run at a specified address When the background task is started the foreground and background task both execute sharing the LYNX Product s processor The background task runs until a RET or END instruction is reached or until the end of code space is reached It is good practice to end the task using the RET or END instruction Usage Example Note that only one background task may be executing at any one time If you execute a second RUN instruct
149. Pin Header High Speed Differential 1 0 Module If closed loop motion control ratio functions such as following or electronic gearing or the ability to sequentially control a second axis is required up to two High Speed Differential I O Modules can be installed in slots 2 and 3 giving three channels of high speed differential or single I O apiece The IMS Part for this item is MX DD100 000 Terminal Block or MX DD200 000 Pin Header Analog Input Joystick Module The Analog Input Joystick Module features two 12 bit 0 to 5 volt input channels which can be used to monitor devices such as temperature and pressure sensors It can also be used to control an axis with a joystick It features two voltage outputs a 5 volt joystick reference and a precision 4 096 volt calibration reference This device can be installed in any available slot The IMS Part for this item is MX AJ100 000 Terminal Block or MX AJ200 000 Pin Header Choosing the Expansion Modules for Your Application A powerful feature of the MicroLY NX is the versatility offered by its wide range of configurations available through the expansion modules The expansion modules listed above may be used singly or in combination to customize your MicroLYNX System to the specific requirements of your application The table on the following page lists a collection of possible application requirements and their suggested MicroLYNX configurations 2 57 The Expansion Modules Micr
150. Programmable Function Keys eese eene eene ren nnne 3 11 Upgrading the Firmware in Your LYNX Product a nennen 3 12 Section 2 Introduction to LYNX Programming 3 13 Nieve zu de PH 3 13 yo Sunc E 3 13 Terminal u ss rp cute ED aerial OR E G aa sa 3 13 MCX GIB GION am M 3 14 Basic Components of Lynx Software esiseina iniinis apoiar ieaiai ananake anarai a aaa aa Sa 3 14 JEANS MD KEAN O oT EEA EA EEAS 3 14 MCuLL mL E ERE EEE EEEE 3 14 Flag Sipinen E OA EE scapes kaya 3 15 KEY WOES a 3 16 Most Commonly Used Variables and Commands esses 3 16 3 16 hi iS Ini e ETE 3 17 LOCommanidsu a C A Senden ek 3 18 System IMSMUCHONS 3 19 Proprati Instructs uyu u u u 3 19 Programing uu suu 3 21 Program Samples sruni usus
151. S Analog I O setup supports the Analog Joystick module DRVTP Provides means to interrogate MicroLYNX to determine system configuration HCDT Hold current delay time in increments of 1 millisecond AIN Causes a read of Analog I O channel chan Data is saved to variable var JSC Joystick center position Updated by IJSC command or directly as shown JSDB Joystick deadband Updated by IJSC command or directly as shown JSFS Joystick full scale Updated by IJSC command or directly as shown MAC Motor acceleration current setting in percent Range is 0 to 100 This setting is used whenever velocity is changing Factory default is 25 MRC Motor run slew current setting in percent Range is 0 to 100 Factory default is 25 MHC Motor hold current setting in percent Range is 0 to 100 This setting us used HCDT milliseconds after motion stops Factory default is 5 Software Reference 03 10 2000 3 6 MSEL Microstep resolution setting Valid param settings are 2 4 8 16 32 64 128 256 5 10 25 50 125 250 Factory default is 256 POSCAP The value of the position counter at the time of a TRIP on Input Position Time Velocity PMHCC Position maintenance hold current change 0 to MHC STLDM Stall Detect Mode Setting Valid num settings are 0 and 1 0 Stop Motor when detecting a stall 1 Don t stop motor when stall is detected New Flags DRVEN Drive enable flag
152. S teni 2 52 The IOS Variable 5 5 mta aec eem oni eee ics 2 52 Configuring dn ete et et b de vo te ie et e e pereat pedea 2 53 Configuring the Digital enne 2 54 Configuring dn Output rep ete re Ee HE Et n eeu terere Podere pe 2 54 The TO Variable errato er ete edet ee e HE uh 2 55 Read Write an VO Group Henr eee etat eei aer eter donee eye e eret ee Peste d 2 56 Configuring and Using the Expansion Modules 2 57 OVErViE W o eir E 2 57 M icroEY NX Expansion Modules a aga e etit deir ete T lene 2 57 Additional Isolated Digital ninen eeuen adep eea rennen enne 2 57 High Speed Differential I O 2 2 57 Amalo Input Jloystick Module terreri ee e eee eden 2 57 Choosing the Expansion Modules for Your 2 57 Expanding the Isolated Digital VO e eerte ER E o a ee eed 2 59 Installing The Isolated Digital I O 2 59 Using theIsolated Digital I O a RES t tee eee th IHRE 2 60 The High Speed Differential I O 2 61 Installing the High Speed Differential I O Module eese 2 62 The Four Clocks Explained IR ee eda edi ette Ab adele 2 62 Glock Types Defined
153. Switches out of program mode PGM VAR Command used to define a variable with 8 alphanumeric characters Switches to program mode at address 200 PGM 200 Define a variable named Count VAR Count Label command will name the program LBL Program1 XXXXX Program named by LBL command XXXXK XXX Prints text in quotes and then POS PRINT Position POS Delay 2 seconds between re execution of program DELAY 2000 Unconditional branch to programl BR Programl Designates the end of the program END Switches out of program mode PGM Software Reference 03 10 2000 3 20 Programming Program mode is the mode that the LYNX must be in to enter programs This is done by simply typing PGM and then an address between 1 and 8000 After the program has been entered type PGM to toggle out of program mode Check proper hook up of system components to the LYNX Product When ready to write a program it is a good rule of thumb to Clear Program memory with the CP 1 1 com mand Delete user defined Variables and Flags with the DVF command And Initialize Parameters with the IP command With the LYNX Product now at factory default there are no parameters that will throw you off track when and if you need to debug your program Solve I O configuration is it a clock input or output is it a user input or a user output is it a dedicated I O is it low true or high true Configuring the I O is done using the IOS command Compute Scaling factor that scales pulses or st
154. XEC MOTION CMD WITH JOYSTICK ENABLED CAN ERRORS 1 6 11 16 21 26 31 36 Clock Errors 3001 3002 3003 3004 3005 3006 3007 TRIED TO SET CLK TO NON CLOCK LINE OR WRONG LINE CAN T HAVE CLOCK TYPE APPLIED TO IT CAN T HAVE RATIO AND NO CLK CLK IO CAN T BE SET FOR RATIO MODE IN HALF AXIS MODE TRIED TO SET TO INPUT WHEN DRIVE CONNECTED NO IO SET FOR INPUT RATIO Syntax Errors 4001 4002 4003 4004 4005 4006 4007 4008 4009 4010 4011 4012 4013 4014 4015 4016 4017 4018 4019 4020 4021 4022 4023 4024 INVALID IO NUMBER TRIED TO WRITE GROUP TO NONUSER TRIED TO WRITE TO A NON USER LINE TRIED TO WRITE TO AN INPUT TRIED TO SET AN OUTPUT ONLY TO INPUT TRIED TO SET AN INPUT ONLY TO OUTPUT TRIED TO SET LINE TYPE TO LINE THAT CAN T BE SET THAT WAY NOT A VALID IO TYPE IO TYPE SW PREVIOUSLY DEFINED FIND SW MUST BE SET AS INPUT MORE THAN ONE IO SET FOR RATIO INPUT ILLEGAL RUN EXEC MODE RECEIVED UNACCEPTIBLE COMMAND ILLEGAL PAR IN INPUT PAR COMMAND LABEL HAS TO BE TEXT ILLEGAL DATA ENTERED IN PRINT FORMAT NO DATA ENTERED COMMAND IGNORED ILLEGAL DRIVE NAME ADDRESS DOESN T POINT TO VALID INSTRUCTION TRIED TO EXECUTE A BAD USER PROGRAM INSTRUCTION ILLEGAL LINE NUMBER MULTI LINE PRINTS NOT ALLOWED IN BINARY MODE ILLEGAL HOLD TYPE NOT ALLOWED IN IMMEDIATE MODE 3 105 14 F Q D X D t t 3 Q b 4025 ANINPUT IS ALREADY PENDING 40
155. ables to the screen IP FLAGS would restore all the flags to their factory default state Qo 5 5 3 5 Most Commonly Used Variables and Commands Variables MUNIT MUNIT or motor units is the scaling function used to put steps into user units For example here is a possible scenario a ball screw has a 3 8 pitch 375 inch travel per revolution using a 1 8 degree step motor being stepped by a Half Full stepper in half step there are 400 steps per revolution If the user wants to operate in inches the munit scaler would be 1 Rev 375 X 400 steps Rev 2400 375 1066 667 type MUNIT 400 375 then hit enter It is recommended that you allow the LYNX Control Module s math functions to perform all the calcula tions for you As in the example were you to round the result of that calculation to 3 decimal places and enter 1066 667 as the MUNIT it would lead to positional inaccuracy POS POS indicates the position in munits POS takes its reading from which is the counter for Clock 1 Wi 7o read the position type PRINT POS or PRINT then hit enter Wi 70 zero the position type POS 0 then hit enter VI Initial velocity in munits per second Wi 70 read the initial velocity type PRINT VI then hit enter Wi 70 write to the Initial velocity type VI 25 then hit enter VM Maximum or final velocity Wi 70 read the final velocity key in PRINT VM then hit enter
156. ag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disable STLDE flg dig gt TRUE e FALSE 0 EOh 224 Notes If the encoder is enabled EE 1 and the encoder falls behind the motor more than the specified factor STLF a STALL is indicated If STLDE is also enabled 1 then the motor will be stopped when a STALL is detected EE is the master encoder enable unless it is TRUE 1 nothing happens when STLDE becomes TRUE 1 Related Commands EE STALL STLF STLDM Software Reference 03 10 2000 3 94 STLDM Setup Variable Binary Mode Usage Example Parameters Opcode Hex Decimal 2 lt mode gt 0 Stop motor when detecting a stall lt mode gt 1 Do not stop motor when detecting stall 89h 197 Notes This variable sets the mode for stall detection Related Commands EE STALL STLF STLDE Stall Detection Mode Variable STLF Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal 0000000000000001 to Notes If the encoder is enabled EE 1 and the encoder falls behind the motor more than the specified factor a STALL is indicated If STLDE is also enabled 1 then the motor will be stopped when a STALL is detected Related Commands EE STALL STLDE Stall Factor Variable tn 5 3 23 o 5 9 5 TH 2 TIS 4 Trip On Input Variables Seti varinbles FORMERLY IT lt x gt Binary Mod
157. ain Related Commands PARTY QUED SAVE DRVEN Setup Flag Drive Enable Disable Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disabled DRVEN flg tlg TRUE a TRUE BFh 191 Notes The DRVEN flag enables or disables the drive module attached to the LYNX or MicroLYNX This Flag is only relavent to drive modules external drives are not affected by this flag Related Commands DRVTP DRVRS Qo 5 3 23 o 5 5 Drive Reset Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Drive not reset DRVRS lt flg gt fig TRUE 1 Reset drive FALSE 0 Cth 195 Notes The drive reset flag is a momentary flag which when TRUE 1 will remain so for 10vs before returning to it s default FALSE state Related Commands DRVEN DRVTP DRVTP Read Only Variable Binary Mode Usage Example Range Opcode Hex Decimal Response 2 M483 Notes The DRVTP variable provides a means to interogate the MicroLYNX to determine system configuration Drive Type Variable Related Commands DRVEN DRVRS DVF Immediate Program Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal lt param1 gt 0 All user variables and flags deleted lt param1 gt 1 Only user variables deleted lt param1 gt 2 Only user flags deleted Delete User Defined Variables And Flags Instruction lt
158. al PRINT VARS GET VARS AAh 170 IP VARS Notes Used with the GET IP and PRINT commands to specify that all variables should be retrieved from nonvolatile memory NVM set to their factory default values or printed to the serial port respectively When used with the GET instruction only system variable values are retrieved from NVM When used with the IP instruction only system variable values are set to the factory default parameters In these cases user defined variables are not affected When used with the PRINT instruction only variable values are echoed to the host computer Related Commands PRINT IP GET VCHG Read Only Status Flag Binary Mode Usage Example Opcode Hex Decimal BR lt gt VCHG Uu Velocity constant BR lt lbl addr gt VCHG FALSE 0 EDh 237 Notes Read Only status flag indicates whether or not the axis is changing velocity Will be TRUE 1 whenever the axis is accelerating or decelerating Velocity Changing Flag VEL Read Only Register Variable Velocity Variable Binary Mode Usage Example Range Opcode Hex Decimal PRINT VEL BR lb addr VEL lt num gt User Units Sec 0000000000000001 to 0 000 A8h 168 9 999 999 999 999 999 CALL lt sub gt VEL lt num gt Notes Register which contains the actual velocity of the axis in user units per second Related Commands EUNIT MUNIT Software Reference 03 10 2000 3 100 VER Read Only Varia
159. allation instructions for LYNX Terminal see The Software Reference The LYNX Terminal Software on the LYNX CD To Set The Global Mask Hegisters Command Usage Example GMS0 lt hex digit gt lt hex digit gt GMS0 FF GMS1 lt hex digit gt lt hex digit gt GMSI FF UGMLO0 hex digit gt lt hex digit UGML0 FF UGML1 lt hex digit gt lt hex digit gt UGMLI FF LGML0 lt hex digit gt lt hex digit gt LGML0 FF LGML1 lt hex digit gt lt hex digit gt LGMLI F8 SID28 18 Standard Identifier 11 bit EID28 0 Extended Identifier 29 bit Incoming message frames are masked with the appropriate global mask If the bit position in the global mask register is 0 don t care then the bit position will not be compared with the incoming message s identifier Global Mask Registers x Jo elele lele Te e we EE aw cos Table 7 12 Global Mask Registers 2 45 The Communications Interface Message Frame 1 Message Frame 2 Message Frame 3 Baud Rate Bit Timing Calculator Mask Registers LYN Settings Global Mask Short E w TE a 1 11 11 Global Mask Long I m s EID20 18 111 11111111 Lower Global Mask Long TE ae BEI EM GEA 11 1 1111 1 Source of Settings INIT PC DEVICE No Communications DK Figure 7 8 Setup Dialog for Global Mask Registers in LYNX Terminal To Setup Message Frames
160. allows the designer to reduce design time and improve reliability because of readily available components and fewer connections A complete discussion of the operation of the CAN bus is beyond the scope of this document The MicroLYNX System can be purchased with the capabiltiy to connect to a Controller Area Network CAN bus in place of the standard 2 Port RS 232 RS 485 interface The MicroLYNX with this option conforms to the CAN2 0B Active protocol CAN2 0B is fully backwards compatible with CAN2 0A therefore the MicroLYNX can be used on a network with CAN 2 0A devices There are two receive message frames and one transmit message frame The CAN version of the MicroLYNX can also be optionally outfitted with RS 232 or RS 485 expansion modules for asynchronous communications Connecting to the CAN Bus To connect to the CAN bus the only necessary connections are CAN H amp CAN L Since the majority of CAN cabling consists of shielded twisted pair cable the shield can be connected to the SHIELD connection of the MicroLYNX communications connector See Table 7 7 for pin configuration MicroLYNX System Rev 03 10 2000 2 40 CAN Device CAN Device 2 S El o E LLL LL oe e 2 Device i8 MicroLYNX 1 MicroLYNX 2 Figure 7 5 Devices on a CAN Bus Controller Area Network
161. am 1 to 1 Variable sets the ratio for a secondary drive to a specified RATIO RATIO lt param gt value lt param gt 2 to lt 2 Master flag enables disables ratio functions RATIOE RATIOE lt flg gt lt flg gt 0 Disabled lt flg gt 1 Enabled Pulse width for the secondary channel s being used to drive the RATIOW RATIOW lt num gt motor s in ratio mode lt num gt 0 254 1 254 50ns increments T Pulse width for the step clock of the primary axis LEM num 0 254 1 254 50ns increments Data Related Instructions Keywords Flags Usage Example Description PRINT ALL Keyword used with the GET PRINT and IP instructions to IP ALL indicate the inclusion of all variables flags and program space GET ALL where applicable Ie TI NY TR JEMYOS Instruction that performs the two s complement of the specified CPL var flg variable or flag lt var flg gt Variable or flag Bec Instruction used to decrement the specified variable by 1 var Variable Instruction that deletes user defined variables and flags lt param1 gt 0 All user vars and flags deleted lt param1 gt 1 Only user vars deleted lt param1 gt 2 Only user flags deleted ff no parameter is specified both will be O DVF lt paraml gt lt param2s lt param2 gt 0 All global and local user vars and or flags deleted param2 1 Only global user vars and or flags deleted param2
162. apply to you However any implied warranty of merchantability or fitness is limited to the 24 month duration of this written warranty EXCLUSIVE REMEDIES If your Product should fail during the warranty period call customer service at 860 295 6102 to obtain a returned material authorization number RMA before returning product for service Please include a written description of the problem along with contact name and address Send failed product to Intelligent Motion Systems Inc 370 N Main St Marlborough Connecticut 06447 Also enclose information regarding the circumstances prior to Product failure v k LYNX Product Family Operating Instructions ix 0M100 000 V03 10 2000
163. ard 10 Pin 7 Pin 10 Pin 7 Pin Header Phoenix Header Phoenix x n o7 gt o 7 gt k N lt Xe Software Switch Setting Software Switch Setting HOST Flag 0 HOST Flag 0 PARTY Flag 1 PARTY Flag 1 A2 A1 AO Address Set A2 A1 A0 Address Set OR OR DN char DN char Table 7 6 RS 485 Interface Connections and Settings Multiple MicroLYNX System 2 39 The Communications Interface MicroLYNX 1 Host PC RS 232 RS 422 Converter MicroLYNX 2 Other MicroLYNX Nodes in System Figure 7 4 RS 485 Interface Multiple Micro LYNX System It is also possible to communicate with a MicroLYNX in the system in single mode by sending it a command with address to clear the party flag and then communicate with it as in single mode no line feed terminator then reset the PARTY Flag when done Connecting and Configuring the Optional Controller Area Network CAN Bus IMS P N 5200 400 700 The CAN bus is a high integrity serial data communications bus for real time applications originally developed for the automotive industry Because of its high speed reliability and robustness CAN is now being used in many other automation and industrial applications Using the CAN bus to network controllers sensors actuators etc
164. as a signal return for Ground GND the motion control signals and the power return for the 5VDC in out on pin 6 Pins 7 and 8 are the differential receive inputs for the RS 485 communications interface They 7 RS 485 RX Input should be left disconnected if they are not used For specific connection information see Section 5 The Communications Interface Pins 9 and 10 are the differential transmit outputs for the RS 485 communications interface They 9 RS 485 TX Output should be left disconnected if they are not used For specific connection information see Section 5 The Communications Interface Communications Isolated communications ground signal for both RS 485 and RS 232 For specific connection Ground CGND information see Section 5 The Communications Interface 11 Transmit output to the host computer For specific connection information see Section 5 The 13 poe Communications Interface Table 8 4 LYNX Combination Control Module Connector P2 Pin Configuration 1 45 The Control Module Combination 13 Position Removeable Terminal Connector Combination ra Pins 1 and 2 are the differentially buffered signal for group 10 VO 13 This channel is configured by means of the IOS Instruction For usage details see Section 6 Configuring the Digital O See description above Pins 3 and 4 are
165. as the peak output current PHASE A NO CONNECTION PHASE A PHASE B NO CONNECTION PHASEB Figure 5 5 6 Lead Motor Full Coil Connection PHASE A PHASE A PHASE B PHASEB Figure 5 6 4 Lead Motor SEG U uto Controlling the Output Current and Hesolution Section Overview This section covers the following current control features of the MicroLYNX System m Current control variables a Determining the output current a Setting the output current a Setting the motor resolution Current Control Variables One of the unique and powerful features of the MicroLY NX is the precision current control available through the instruction set Unlike most stepper drives which only offer the capability of controlling run current and hold current the MicroLYNX also has the capability of setting the acceleration current By setting the acceleration current to a higher value the system designer can deliver more power to the system at the time when it is needed the most when system inertia must be overcome Afterwards when the motor has reached peak velocity the run current can be set to a lower value thus reducing motor heating and improving system power efficiency See Figure 6 1 and Table 6 1 for the current control variables 35 80 J las 35 D 80 Max Velocity MAC 80 lace 80 O AS Ko e s VM I
166. at address specified by lt Ibl addr gt lt mode gt 0 Normal execution lt mode gt 1 Trace mode lt mode gt 2 Single step mode Find switch instruction Parameters are optional lt num1 gt Speed in user units sec lt num2 gt Creep in user units sec line VO line Instruction to define a user flag that can be TRUE or FALSE lt name gt Identifier for flag up to 8 characters lt state gt Logic state 1 or 0 Instruction that retrieves the specified information from non volatile memory NVM lt param gt ALL All vars flags and program space lt param gt VARS Variables only lt param gt FLAGS Flags only lt param gt Program space lt param gt lOS VO settings in Immediate Mode If lt flg gt not specified lt flg gt 0 If no parameter is specified both will be 0 If lt mode gt not specified lt mode gt 0 If not specified lt num gt VM lt param gt VI If lt param gt is not specified then lt param gt ALL FX Initializes specified parameters to the factory default state param ALL All vars flags and VO settings param VARS Variables only param FLAGS Flags only lt param gt lOS VO settings If param is not specified then param ALL 14 0 X D t t 3 Iv b Instructions That Can Be Issued in Immediate Mode cont d If lt lbVaddr gt no
167. be identical to that in Single Mode with the exception that the entire command would be preceded by the MicroLYNX s address character stored in DN and terminated by a CTRL J rather than ENTER Address character gt lt Mnemonic gt lt white space ASCII data for 1 parameter lt ASCII data for 2 param eter ASCII data for n parameter CTRL J ASCII Mode Special Command Characters esc Terminates all active operations and all running Escape Key programs lt BKSP gt Moves the cursor back one in the buffer to correct a Backspace Key typing error Table 7 14 ASCII Mode Special Command Characters Binary Binary mode communications is faster than ASCII and would most likely be used in a system design where the communication speed Is critical to system operation This mode cannot be used with Binary Hex Codes standard terminal software Hex Code Data Type abel Te The command format in binary mode when the MicroLYNX is in Single Mode PARTY FALSE is lt 20H gt lt character count gt lt opcode gt lt Field type for 1 parameter gt lt IEEE hex data for 1 parameter OEH Field type for 2 parameter gt lt IEEE hex data for 2 parameter OEH Field type for n parameter gt lt IEEE hex data for n parameter gt lt optional checksum gt a Note that lt 20H gt is 20 hex the character count is the number of Table 7 15 Binary Hex Codes characters to follow th
168. be set to provide a conversion factor for encoder counts to user units Suppose the system will be moving a part in the linear axis in millimeters Set the MUNIT to indicate that there are 800 motor steps rev and 20 motor steps per millimeter Therefore 1 revolution of the motor will equal 40 millimeters of linear motion with a full step drive Please note that actual step count per user unit will depend upon such factors as leadscrew pitch gearing etc Any numbers given here are strictly arbitrary MUNIT 20 Set MUNIT variable to 20 user unit will be millimeters In another example we will use a micro stepping drive set to a micro step resolution of 256 micro steps step driving a 45 stepping motor A 45 motor will have 800 steps per revolution 360 45 800 steps multiplied by the micro step resolution of 256 will give us 204 800 micro steps or clock pulses per revolution For the purpose of example we will say that 123 456 micro steps will equal 1 inch of linear movement We would then divide the number of micro steps per rev by the number of micro steps per inch 204 800 123456 1 66 inches per revolution Using the math functions built into the LYNX we can express the MUNIT value as follows MUNIT 204800 1 66 Set inches as user unit MOVR 5 Index 5 relative to current position Related Commands EUNIT POS EE MVG Read Only Status Flag Moving Flag Binary Mode Usage Example Opcode Hex Decimal
169. ble Binary Mode Usage Example Response Opcode Hex Decimal PRINT VER VER lt chipsel gt lt board addr gt lt version gt AQh 169 Notes This is a read only variable which will be changed only when the software is upgraded by using the upgrader program It will print the software version of the LYNX Control Module and the version of any add on modules in the system This list will not display when using the PRINT ALL or PRINT VARS instruction or if the communications mode selected is binary Software Version Variable Vi Setup Variable Initial Velocity Variable Binary Mode Usage Example Range Opcode S Hex Decimal 0000000000000001 to s Notes Initial velocity for the axis during a point to point motion The factory default value is 102 400 2 clock pulses per second with a minimum value of 12 000 clock pulses per second when 9 MUNIT 1 The initial velocity for a stepper should be set to avoid the low speed resonance frequency and must be set lower than the pull in torque of the motor Related Commands EUNIT MUNIT VM Setup Variable Maximum Velocity Variable Binary Mode Usage Example Range Opcode Hex Decimal _ 0000000000000001 to Notes Maximum velocity for the axis during a point to point motion The maximum velocity is the velocity that will be reached for any MOVA or MOVR provided of course that the move is long enough for the axis to reach the velocity When a motio
170. branch to a routine in a LYNX program It can also be used to perform loops and IF THEN logic within a program There are two parameters to a branch instruction These are used to perform two types of branches Conditional Branch This type of branch first specifies a label or address where program execution should continue if the second parameter the condition is true The condition parameter may include flags as well as logical functions that are to be evaluated e Unconditional Branch In this type of branch the second parameter is not specified then the execution will continue at the address Q specified by the first parameter 2 it Syntax Examples This section of code will use the branch instruction to execute a segment of code 10 times In this case we will move motor 10 user units 10 times This usage is similar to loop instruction a higher level language 152 VAR LOOPCNT 0 Create variable LOOPCNT set to O0 PGM 100 Start program at address 100 LOOPLBL Label program address LOOPLBL MOVR 10 Move the motor 10 user units HOLD 2 Halt prog execution until motion stops DELAY 1000 1 second delay after motion stops INC LOOPCNT Increment the variable LOOPCNT BR LOOPLBL LOOPCNT lt 10 Branch to LOOPLBL if LOOPCNT value is less than or equal to 10 PRINT Done END End the program PGM Return to immediate mode The following section of code will illustrate how a user
171. cates to the CAN module that the MicroLYNX prompt is the gt character lt char gt any valid MicroLYNX prompt character This command identifies to the CAN module the MicroLYNX prompt character MicroLYNX Baud Rate Command Usage Example LBAUD lt baud gt lt baud gt LBAUD 38 This indicates to the CAN module that the MicroLYNX baud rate is 38400 baud lt baud gt lt baud gt 48 4800 baud lt baud gt lt baud gt 96 9600 baud lt baud gt lt baud gt 19 19200 baud lt baud gt lt baud gt 38 38400 baud This command identifies to the CAN module the MicroLYNX baud rate amp CAN MODULE Configuration Figure 7 10 LYNX Setup Dialog from LYNX Terminal MicroLYNX System Rev 03 10 2000 2 48 MicroLYNX Modes of Operation There are three modes of operation for the MicroLYNX These are Immediate Mode Program Mode and EXEC Mode Immediate Mode In this mode the MicroLYNX responds to instructions from the user that may be a result of the user typing instructions directly into a host terminal or of a user program running on the host which communicates with the MicroLYNX Program Mode The second mode of operation of the MicroLYNX is Program Mode All user programs are entered in this mode Unlike the other modes of operation no commands or instructions can be issued to the MicroLYNX in Immediate Mode This mode is exclusively for entering programs for the MicroLYNX The command to enter Program Mode
172. changed for your system Although the value of CTR1 can be set by the user it is probably not necessary for the user to set this value directly The value is automatically updated by the LYNX software when the POS value is set The value of CTR1 is effected when POS is changed regardless of whether an encoder is being used in the system or not EE 0 or 1 The example below will use the value of CTR1 to calculate the position error when working with the encoder functions enabled Note that the position error is in raw counts and not user units in this case VAR POSERR Define variable POSERR EE 1 Enable the encoder function MOVR 100 Perform a relative move of 100 counts HOLD 2 Suspend program execution until move completes POSERR CTR1 CTR2 Calculate position Error PRINT POSERR Display position error Related Commands POS CTR2 MUNIT EE IOS CTR2 Register Variable Binary Mode Usage Examples Range Opcode Hex Decimal Clock 2 Counter Variable lt var gt CTR2 lt math gt CTR lt x gt lt var gt CTR2 lt math gt lt var gt PRINT CTR2 User Units 2 147 000 000 6Ah 106 CTR2 num BR lbl addr CTR2 lt num gt Notes This variable contains the raw counts representation of the clock edges received from the encoder if one is connected to the LYNX Product If the encoder is in use EE 1 then this value scaled by EUNITS is given in POS and the encoder feedback is registered If the encoder
173. cifies the the type of I O that the line or group will be configured as i e general purpose or dedicated function 2 Line Function Either an input or an output 3 Active State Specifies whether or not the line will be active HIGH or active LOW The default configuration of the standard I O set is 0 0 1 This means that by default each line in group 20 is configured to be a General Purpose 0 Input 0 which is active when HIGH 1 Table 8 1 on the following page and the exercises illustrate possible configurations of the IOS NOTE When configuring a dedicated input or output the second parameter of the IOS Variable MUST match the func tion either input or output or an error will occur MicroLYNX System Rev 03 10 2000 2 52 To configure an entire 1 0 Group enter the Group 20 30 40 or 50 here To configure an individual I O Line enter the Line 21 26 31 36 41 46 or 51 56 here Define Line or Group As Input or Output 0 Input 1 Output lOS XX X X X Enter I O Line Type Here Set the state 0 General Purpose 16 Jog Plus Input of the Line or Group 9 Start Input 17 Jog Minus Input 0 Active Low 10 Stop Input 18 Moving Output 1 Active High 11 Pause Input 19 Indexing in Progress Output 12 Home Input 21 Program Running Output 18 Limit Plus Input 22 Stall Output 14 Limit Minus Input 23 Error
174. ck 2A default 1 Sets it as an output 0 Sets Logic at Low True Edge Triggered 2 Sets the Clock Type to Step Direction 0 No Ratio Typical Functions of the Differential 1 0 Connecting and Using an Encoder The differential I O module can be set up to receive encoder feedback using either a differential or a single ended output encoder A differential output encoder would typically be connected to differential input pairs 13 and 14 P1 pins 1 4 as the default setting for I O 13 and 14 is set up to accept a quadrature encoder input Channel A of the encoder would be connected to input pair 13 P1 pins 1 amp 2 and channel B would be connected to input pair 14 P1 pins 3 amp 4 A single ended output encoder would be connected to the positive inputs of the input pair Whether you use a differential encoder or single ended encoder the same software commands and settings will be used In setting up your system to run with an encoder you will be using the following variables flags and instructions The variables used with an encoder will be MUNIT EUNIT CTR2 and POS The Encoder Enable Flag EE and the instruction MOVR will be used The block diagram to the left illustrates a LYNX system with the encoder and drive connections that will be used in this example The sequence of commands in bold used to make this setup function would be as follows Set the MUNIT Variable to 51 200 steps rev MUNIT 51200
175. controller will act as the Host Interface Controller for communications in a multiple controller system When it is off the controller is a slave in the system and will not act as the host interface For more information see Section 5 The Communications Interface This Switch may be overridden in software by the HOST flag Host Interface When this switch is on party mode communications is selected When it is off single mode communications is selected For more information see Section 5 The Communications Interface Sets party mode communications node address See also DN instruction in the Software Reference Party Mode Address Bit 0 A2 A1 AO Address OEE OFF OFF None Party Mode Address ON B Bit 1 A1 ON AE OFF 1DE ORE JES Party Mode Address On a Bit 2 A2 SN S Table 8 6 LYNX Combination Control Module Configuration Switches Group 20 I O Pull Up Switches Can Be Changed at any Time Usable for Exercising Inputs remm sm j Individual Switches for VO Group 20 Pull Ups When this switch is on the VO is pulled up through an internal 7 5 Kohm resistor to 5VDC Can be used to simulate the activation of an input while testing system software Table 8 7 LYNX Combination Control Module Group 20 I O Pull up Switches Modular LYNX System 03 10 2000 1 46 JBG ON The Isolated Digital I O Module Section Ove
176. d break points can refer to the label instead of the address Syntax Example PGM 100 Begin program at address line 100 of memory LBL MY PGM Name the program MY PGM PRINT This is my program END End the program Related Commands CALL BR EXEC TI 1 4 TT 1 4 TP 1 4 TV BREAK LDCLT Setup Variable Binary Mode Usage Example Parameters Opcode Hex Decimal Limit Deceleration Type Variable lt param gt 0 User Defined lt param gt 1 Linear LDCLT lt param gt lt param gt 2 Triangle S Curve 1 Linear 86h 134 lt gt 3 Parabolic lt param gt 4 Sinusoidal S Cuve Notes The LDCLT Variable defines the type of curve that will be used to build deceleration when a limit has been hit The deceleration profiles are defined as follows 0 User defined deceleration profile This will follow the user defined points in the ACLTBL acceleration table for the acceleration profile 1 Constant linear deceleration 2 Triangle S Curve profile 3 Parabolic profile 4 Sinusoidal S Curve profile See DCLT in this section for an graphic example of deceleration types Comparison of Deceleration Types 1 Constant smooth linear deceleration from initial to max velocity 2 Triangle S Curve profile 3 The Parabolic profile best utilizes the speed torque characteristics of a stepper motor since the highest acceleration takes place at low speed It will however be the profile that
177. ders lt param gt 2 No padding Notes The PFMT variable specifies the print format for numeric values There are three parameters with PFMT The first specifies how many significant digits there will be before the decimal The second specifies how many significant digits there will be after the decimal And the third specifies the type of padding Blank or 0 specifies padding with spaces 1 specifies padding with zeros and 2 specifies no padding There will be a total of 16 digits displayed so if there are 10 digits specified to the left of the decimal there can be at most 6 specified to the right Related Commands PRINT PRINT1 PRINT2 PGM Immediate Mode Instruction Enter Exit Program Mode Instruction Binary Mode Opcode Hex Decimal Usage Example PGM lt addr gt Enter program mode PGM Exit Program mode 49h 73 Notes When starting program mode you must specify at what address to enter the program instructions in the program space Simply type PGM again when you have finished entering your program commands to go back to immediate mode While in program mode blank lines are accepted as are tab characters This allows the user to format a text file with a user for readability and then download the program to the LYNX by transferring the text file in a program such as HyperTerminal The example given below could be stored in a text file and downloaded The lines preceded by an apostrophe are co
178. dth of 18 microseconds to 2 3 milliseconds Waaa ET The table below the IOF settings The filter setting will reject any frequency above Rd mna Filter for I O Group 20 to 7 defaut 15H 2 323 millisecond 3 44kHz Table 6 3 Digital Filter Settings for the Isolated I O This setting will cause any signal above 3 44 kHz on I O lines 21 26 to be rejected The default filter setting for the isolated I O groups is 7 or 215Hz Modular LYNX System 03 10 2000 1 28 Configuring an Output Figure 6 2 following illustrates the Output equivalent circuit of the Isolated I O When used as an output the I O line is able to sink 350mA continuous for each output or a total of 1 5A for the entire I O Group See Section 9 The Isolated I O Module for detailed specifications In the usage example we will use an LED on I O Line 31 for the load We will use the same program from the input example only we will use the output to light the LED while the motor is moving Pull Up Switch OPEN IOS 31 18 1 Using the table on page 27 we can break this setting down as follows IOS 31 Identifies that I O line 31 is being configured 18 Configures the I O Type as Moving 1 Configures the I O line as an output 1 Configures the Line as Active HIGH 4 5V Internal Pullup E 5 c o O gt lt gt lt LINE O Now when the input program above i
179. e Usage Example Parameters Opcodes Hex Decimal 4 lt gt 1 TH 7Fh 127 lt input gt Input line used for trip 2 80h 128 lt lbl addr gt Subroutine invoked on trip 81h 129 lt output gt Output set TRUE on trip 82h 130 Tl lt x gt lt input gt lt Ibl addr gt output Notes Sets up an input event trip for the specified input There are three parameters for the TI variables The first specifies which input line should cause the event The second specifies the address of the subroutine that should be executed when the input is seen The third optional parameter specifies the output line to be set TRUE when the input trip is seen The input used should be a user input or one of the limit or home inputs Note that the GO input automatically looks for a subroutine at address 1 and if there is valid code there it starts execution from address 1 The TIE flag for the appropriate event number must be enabled for the event to be recognized Related Commands 1 TIE2 TIES TIE4 IOS TIE1 TIE2 TIE3 TIE4 Trip On Input Enable Disable Flags FORMERLY ITE lt x gt Setup Flags Binary Mode Usage Example Opcode Hex Decimal TIE1 CCh 204 TIE2 CDh 205 TIE3 CEh 206 TIE4 CFh 207 lt gt 1 4 TIE lt x gt lt flg gt lt flg gt FALSE 0 Disable lt flg gt TRUE 1 Enable Notes Enables the corresponding event trip Note the the input trips are di
180. e Opcode Hex Decimal PRINT IOF group group 10 50 IO Group 10 0 7Dh 125 IOF group lt param gt lt param gt 1 7 IO Groups 20 50 7 Notes This variable sets the digital filtering to be applied to the specified I O group Digital Input Filtering Variable When setting the digital filtering for the I O you must specify the group for which the filter should be applied This can be group 1 the high speed I O or groups 2 5 the standard and optional 1 0 The filter values used for the high speed differential I O are different than those used for the general purpose I O IOF Settincs For DIFFERENTIAL IO Group 10 Cutoff Minimum Detectable Pulse Frequency Width 0 default 5 00 MHz 100 nanoseconds 1 25 MHz 400 nanoseconds Filter Setting IOF FOR GENERAL Purpose lsoLATED IO Groups 20 50 Cutoff Minimum Detectable Pulse Po emen 7 1 72 kHz 290 microseconds 430 Hz 1 162 milliseconds Related Commands IOS IO Software Reference 03 10 2000 3 70 IOS Setup Variable VO Configuration Variable Keyword Binary Mode Usage Example Range Opcode Hex Decimal Description Specifies the set up of the I O Is also used as a keyword for the IP instruction Usage IOS lt Line Group gt type lt i o gt lt gt l e clk type ratio Default Settings Group 10 Vo Function IOS Notes 11 CLK1A 1 1
181. e RS 485 Interface Single MicroLYNX System In a Single Controller System the RS 485 interface option would be used if the MicroLYNX is located at a distance greater than 50 feet from the Host PC Since most PC s do not come with an RS 485 board pre installed you will have to install an RS 485 board in an open slot in your PC or purchase an RS 232 to RS 485 converter such as the CV 3222 sold by IMS to use this connection interface For wiring and connection information please use the following table and diagram RS 485 Interface Single MicroLYNX System MUST be 0 to Converter MicroLYNX communicate with the MicroLYNX System in a 10 Pin 7 Pin Single MicroLYNX System Header Terminal using the RS 485 Interface OR m gt 3 cmo os s Table 7 4 RS 485 Interface Connections RS 232 to RS 485 Converter 0c dodo SL TE SP SP Te TT SNOLLVOINQIWNINOO e PHASE A PHASE A PHASE B PHASE B COMMUNICATIONS oo oO Oo 2 10 Pin Header MicroLYNX 4 10 Pin Header Figure 7 3 RS 485 Interface Single MicroLYNX System MicroLYNX System Rev 03 10 2000 2 38 Multiple MicroLYNX System When using the RS 485 interface in a Multiple M
182. e SLEW 5 1 Slew the motor 5 user units sec w no acceleration ramp Related Commands ACCL Software Reference 03 10 2000 3 92 SSTP Immediate Program Instruction Soft Stop Instruction Binary Mode Usage Example Opcode Hex Decimal mode 0 Stop motion only program continues to execute mode mode 1 Stop both motion and program Mode 0 52h 82 Notes Stop the current motion using the specified deceleration profile and optionally stop the program that is currently running If SSTP is issued with no parameter or 0 only the motion is terminated If however SSTP is issued with a parameter of 1 the motion and program are both terminated Syntax Example The examples below illustrate the SSTP instruction being used in both modes MODE 0 PGM 100 Start program at address 100 LBL TST Label the program TST SLEW 100000 Slew th motor at 100000 user units sec o DELAY 3000 Delay 3 seconds SSTP 0 Soft stop motion continue executing program DELAY 2000 Delay 2 seconds BR TST Unconditional branch to beginning of program p END 2 PGM T j3 MODE 1 Q 157 100 Start program at address 100 LBL TST Label the program TST SLEW 100000 Slew th motor at 100000 user units sec DELAY 3000 Delay 3 seconds SSTP 1 Soft stop motion stop program DELAY 2000 Delay 2 seconds BR TST Unconditional branch to beginning of program END PGM STALL Read Only Status Flag Axis Stalled I
183. e below shows the Edge Differential Edge Detect Encoder Logic 5 Polarity Digital Channel A Filter Channel A Channel B Group Filter el 5 Setting Channel B Index Index Figure 9 7 Differential I O Input Equivalent Circuit MicroLYNX System Rev 03 10 2000 2 64 Input Equivalent Circuit with the I O line pair connected to channel A of a differential encoder This feature is demonstrated in Typical Functions of the Differential I O Connecting and Using an Encoder Clocks 2 3 and 4 are set up as Quadrature inputs by default The defaults for each I O Line Pair are IOS 13 3 0 1 0 1 0 IOS 14 4 0 1 0 1 0 IOS 15 5 0 1 0 1 0 IOS 16 6 0 1 0 1 0 0 1 0 0 1 0 IOS 17 7 0 1 IOS 18 8 0 1 Setting the Digital Input Filtering for the Differential 1 0 User definable digital filtering IOF Filter Settings for the High Speed Differential O makes the LYNX well suited for IOF lt num gt lt num gt 0 7 noisy industrial environments Cutoff Minimum Detectable Pulse selectable using the OF Variable with a minimum guaranteed detectable pulse width of 18 microseconds to 2 3 TAMNA A449 nanoseconds milliseconds Table 9 7 illus 5 ne Pe 64microseconds S Q 5 gt 2 gt o E Table 9 7 Digital Filter Settings for the Differential I O Configuring an Output The Differential
184. e character count not including the checksum if one is being used The OpCodes for MicroLYNX instructions variables flags and keywords are given in Sections 15 and 16 of this document The Field type byte will be one of the following based on the type of data that is expected for the specific parameter lt gt is OE hex which is a separator character in this mode Finally the optional checksum will be included if CSE is TRUE and excluded if itis FALSE If included the checksum is the low eight bits of the comple mented sixteen bit sum of the address field 20H here character count OpCode all data fields and separa tors OE hex MicroLYNX System Rev 03 10 2000 2 50 C5 Configuring the Isolated Digital 1 0 Section Overview This section covers the usage of the Isolated Digital I O which isavailable on the MicroLYNX System E Electrical Characteristics m The Isolated Digital I O 9 Configuring an Input Setting the Digital Input Filtering for the Isolated I O Configuring an Output x Setting the Binary State of an I O Group 2 Ct D 3 Electrical Characteristics Numberof VO u uiii rte et teens 6 Input Voltage niente er peter repas 5 to 24VDC Output Current Sink see 350mA Input Filter Range itn 215Hz to 21 5kHz Programmable luii P 7 5kOhm individually
185. e mode no line feed terminator then reset the PARTY Flag when done Modular LYNX System 03 10 2000 1 22 LYNX Control Module Modes of Operation There are three modes of operation for the LYNX control module These are Immediate Mode Program Mode and EXEC Mode Immediate Mode In this mode the control module responds to instructions from the user that may be a result of the user typing instructions directly into a host terminal or of a user program running on the host which commu nicates with the control module Program Mode The second mode of operation of the control module is Program Mode All user programs are written in this mode Unlike the other modes of operation no commands or instructions can be issued to the control module in Immediate Mode This mode is exclusively for writing programs for the controller The command to enter Program Mode is PGM address When starting Program Mode you must specify at what address to enter the program instructions in the program space Simply type PGM again when you have finished entering your program commands to go back to Immediate Mode EXEC Mode In EXEC Mode a program is executed either in response to the EXEC instruction from the user in Immediate Mode or in response to a specified input While the control module is running a program the user may still communicate with it in Immediate Mode As part of a user program the control module may start a second task using the RUN i
186. e of operation by setting the Party Switch configuration switch 3 labeled PT to the ON position or setting the PARTY Flag to True 1 in software It is necessary for all of the controllers in a system to have this configuration selected When operating in PARTY Mode each control module in the system will need a unique address or 1 17 The Communications Interface XIVA T EIpalA name to identify it in the system This can be done using configuration switches A0 A2 or by using the software command SET DN For example to set the name of a controller to A you would use the following command SET DN A The factory default name is To set the address of the controller using the configuration switches use the following table Party Mode Address Configuration Switches Table 5 2 Party Mode Address Configuration Switch Settings In setting up your system for PARTY operation the most practical approach would be to observe the following steps 1 2 Connect the Host Control Module to the Host PC configured for single mode operation Establish communications with the HOST Control Module For help in doing this see Software Reference Using the LYNX Terminal Using the Command SET DN or the configuration switches give the controller a unique name If using the software command this can be any upper or lower case ASCII character or number 0 9 Save the name using the command SAVE Set the appropriate
187. eed the maximum driver input voltage due to variations in line voltage It is recommended that an input line filter be used on power supply to limit voltage spikes to the system 2 21 Powering the MicroLYNX System Power Supply Connection amp Specification Power is connected to the MicroLYNX via connector optional expansion boards are then powered from the MicroLYNX Ensure that the DC output of the power supply does not exceed the maximum input voltage All power supply wiring should be shielded twisted pair to reduce system noise 9 olozd ouo e PHASE A PHASE A PHASE B PHASE B power V SUPPLY GND e MicroLYNX V 120 VAC IN ISP200 4 Figure 4 1 MicroLYNX Power Connection Power Supply Specifications Recommended Unregulated DC Ripple Voltage a eei i ciere o x 1096 MicroLYNX 4 Output 12to 48VDC a irre rer tenet Pete Ee ene tun 2 Amps Typical 4 Amps Peak MicroLYNX 7 Outp t Voltage uyu ri ete 24 to 75VDC Output 3 Typical 6 Amps Peak The output current needed is dependant on the supply voltage motor selection and load Recommended IMS Power Supplies The ISP200 is a low cost non regulated switching power supply which can handle varying load conditions Itis available in eith
188. elated Instructions Keywords and Flags cont d Trip on input variables which setup an input event trip for the specified input This variable was formerly IT lt x gt lt gt 1 4 TH TIG TH Tioe lt inpub gt lt lbVaddr gt lt output gt input Input used for trip Ibl addr Subroutine label or address to be activated on trip output O to be set true on input trip Flag enables disables the corresponding event trip Flag was formely ITE lt x gt IE E TES TIE lt o lt fig gt S 1 4 lt flg gt 0 Disabled lt flg gt 1 Enabled Trip on position variables which setup an input event trip for the specified input lt gt 1 4 Uzis erne lt pos gt Position used for trip 0 000 0 0 I lt lbl addr gt Subroutine label or address to be activated on trip output O to be set true on input trip Flag enables disables the corresponding event trip 2 TPEoc lt fig gt lt gt 1 4 TPES TPE4 lt flg gt 0 Disabled lt flg gt 1 Enabled tn i 5 23 o 3 5 Event Trip Related Instructions Keywords and Flags cont d Timer trip variables which setup an input event trip for the specified input This variable was formerly lt gt lt gt 11 4 In a TDe time Ibl addr output time Time used for trip Le lt gt Subroutine label or address to be activated on trip
189. elect Switches for Host Interface Mode Select Software Upgrade Group 20 Party Mode Address Differential Direction IO 11 And Step Clock lo12 Outputs Group 20 5 24 Volt sat 1 0 Current Limited 5V Output Or 5V Power In C RS 422 Group 30 f Serial 5 24 Volt Communications 1 0 Isolated Ground Power Ground 5V Pullup Enable P1 12 to 80 VDC Input Power Switches for Group 30 Figure 7 2 LYNX Control Module Switches Connections Modular LYNX System 03 10 2000 1 40 LED Indicators System or software fault detected The user can choose to enable or disable the indicator by setting the FAULT flag FAULT TRUE 1 will cause the LED to illuminated whenever an ERROR occurs Table 7 2 LYNX Control Module LED Indicators Pin Assignment and Description P1 Two Position Screw Lock Terminal Input Power Connection me a se Power ground for the unregulated power supply Table 7 3 LYNX Control Module Connector Pin Configuration P2 13 Position Removeable Terminal Connector Motion Signals Regulated Power and Communications Pin Function Description Pins 1 and 2 are the differentially buffered signal for group 1 1 or VO 11 The default for this signal is the direction output for the primary motor drive of the controller If desired this signal may be programmed as a quadrature or up down clock type or a user output This VO may not be programmed as a
190. enabled This is the factor at which the count rate out to the primary drive will follow the external clock in half axis mode This clock input would typically be connected to differential input pairs 15 and 16 P1 pins 5 8 This could be set up as any of the available clock types If half axis mode is enabled HAE the primary axis of the control will follow the clock input with the ratio specified by the HAS variable In order to use the HAS Half axis mode scaling variable the HAE flag must be set to true 1 For example to set the half axis scale factor to 5 where the drive will follow the external Clock input with a ratio of 1 count to the drive for every two counts from the external clock you would use the command SET HAS 5 or HAS z 5 Figure 6 7 illustrates the connections for using this mode of operation using a clock input from an encoder The sequence of commands used to make this setup function would be as follows Set IOS 15 to ratio mode IOS 15 5705 70 45 Set IOS 16 to ratio mode IOS 16 6 0 1 0 1 1 Half axis enable set to true HAE 1 Half axis scaling to 5 1 output clock pulse to every 2 input clock pulses HAS 5 Modular LYNX System 03 10 2000 1 36 ENCODER Channel A Channel B Encoder or Pulse Generator Stepping Motor 5VDC Opto Supply Step Clock Input ee Power Connections Direction Input Not Shown For Simplification Motor Driver Figure 6 9 Half Axis Mode Fol
191. ency that can be set by the user For more details on I O structure and availability by module see the section on Configuring the Digital IO in the part of this document pertaining to the LYNX product purchased I O is divided into the following groups Group 10 Up to 8 High Speed Differential I O line pairs Group 20 General Purpose I O lines 21 26 Group 30 General Purpose I O lines 31 36 Group 40 General Purpose I O lines 41 46 Group 50 General Purpose I O lines 51 56 Each digital I O line can be programmed as Input or Output as well as have its various functions such as triggering High Low TRUE etc using the IOS variable The digital filtering for inputs can be set using the IOF variable You can report or change the state of individual inputs or outputs or you can report or change the binary state of the entire group In the former case the response from the LYNX will be a 1 if the input or output is active and a O if it is not In the latter case the response is a decimal equivalent of the byte that is a bitwise representation or binary weight of the entire group If for some reason the I O cannot be set i e output shorted held to True or 1 an error message will be generated See Appendix B Error Table for more details Related Commands IOS IOF Qo 5 3 Q 5 5 IOF Setup Variable Binary Mode Usage Example Rang
192. eparately The LYNX Controller internally limits the current 45VDC 5 to 800mA While the LYNX Controller and I O Re lated Su pply Modules will only require 368mA a fully Up to 800mA configured LYNX System utilizing the outputs may require up to 800mA Figure 4 3 Stand alone Power Configuration 5 VDC Modular LYNX System 03 10 2000 1 14 Power Requirements Power Requirements and Specifications Input Voltage 12 to 75 VDC Unregulated or 5VDC 5 Output Voltage 5VDC 5 Input Current Requirements per Module LYNX Control Module 250 mA 5VDC Input Differential VO Module 50mA 5VDC Input Table 4 1 Power Requirements WARNING When using an unregulated supply ensure that the output voltage does not exceed the maximum driver input voltage due to variations in line voltage It is recommended that an input line filter be used on power supply to limit voltage spikes to the system WARNING When specifying the input voltage of the LYNX System ensure that the power supply output voltage corresponds with the input voltage of the driver used WARNING When specifying an external power supply ensure that all modules are included in the power calculation WARNING Only one of these methods of Powering the LYNX System can be used 1 15 Powering the LYNX System XNA TEIN SEG ON The Communications Interface Section
193. eps into user units of degrees rpm inches etc This is using the MUNIT variable and if an encoder is installed and enabled the EUNIT variable also Using the text editor notepad or wordpad start writing the program It is often easier to start with the basic motion you want After verifying that it works then edit the text file and add the loops and branches as needed There are three ways to program the LYNX Product The first is in immediate program mode where you program as you type This is not recommended We recommend using a text editor using the Copy and Paste functions to simply paste the program onto the LYNX terminal or using the Send Text file function you can transfer the file to the LYNX terminal Qo 5 5 3 o 5 After the final version of the program has been entered a SAVE should be issued to save the program from Flash Memory to Non Volatile Memory Program Samples System Characteristics of Sample Programs 1 The 1 8 degree stepper motor is being driven by an IM483 in 1 256 resolution Therefore 1 rev of the motor is 360 1 8 200 200 X 256 5 1200 micro steps The normally open dry contact switch will be between ground and the inputs The internal pull up resistor to 5 VDC for the inputs has been selected by the dip switches Therefore when the switch is pressed the input will be grounded or low and when not pressed it will be SVDC or high 2 The 1 8 degree stepper m
194. er 120 or 240 VAC configuration ISP200 4 MicroLY NX 4 ISP200 7 MicroLYNX 7 Input Specifications AC Input Voltage Range eee 102 132VAC Erequengy za pa aaa cete n i e B EU UE 50 60 Hz Output Specifications Voltage Nominal No Load 45 VDC 75VDC Current Continuous isisisi sabido stata sedo e Seb dean ge 3 2 Amps Options INI UIT 240VAC Input MicroLYNX System Rev 03 10 2000 2 22 e U uto lt Motor Requirements Section Overview This section covers the motor configurations for the MicroLYNX 4 7 a Selecting a motor m Motor wiring 5 a Connecting the motor P lt Selecti M E electin ga otor When selecting stepper motor for your application there are several factors that need to be taken into consideration a How will the motor be coupled to the load a How much torque is required to move the load a How fast does the load need to move or accelerate a What degree of accuracy is required when positioning the load While determining the answers to these and other questions is beyond the scope of this document they are details that you must know in order to select a motor that is appropriate for your application These details will effect everything from the power supply voltage to the type and wiring configuration of your stepper motor as well as the cur
195. erTerminal The settings whichever terminal is used will be ANSI Terminal Direct connect to COM port BAUD Rate 9600 Data Bits 8 Parity None Stop Bits 1 Flow Control NONE TIP The terminal that is included with Windows 3 1x features programmable function keys which can be configured for the commands that you commonly will use i e CP 1 1 IP DVF If you are using the upgrade version of Windows 95 98 and have upgraded from Windows 3 1x the executable file should still be located at c windows terminal exe NOTE Here is a known bug with HyperTerminal If the horizontal scroll bar is not set all the way to the bottom left of the window the commands issued to the LYNX may appear garbled This is corrected by dragging the scroll bar all the way to the left Text Editor A text editor is recommended for writing and editing the programs The program then can be simply saved then uploaded as a text transfer with the Transfer Send Text file The figure on the previous page illustrates the most effective screen setup for using HyperTerminal together with the Windows 95 98 text editor Notepad Notepad is located at Start Programs Accessories Notepad for Windows 95 98 and in the program group Accessories in the Windows 3 1x program manager Basic Components of LYNX Software Instructions An instruction results in an action there are three types Motion Motion instructions are those that result in the movement of a mot
196. erating for example to power an LED indicator Related Commands ACCL Software Reference 03 10 2000 3 42 ACLT Variable Binary Mode Usage Example Parameters Opcode Hex Decimal Acceleration Type Variable lt param gt 0 User Defined lt param gt 1 Linear ACLT lt param gt lt param gt 2 Triangle S Curve 1 Linear 61h 97 lt param gt 3 Parabolic param 4 Sinusoidal S Curve Description The ACLT Variable defines the type of curve that will be used to build acceleration The acceleration profiles are defined as follows 0 User defined acceleration profile This will follow the user defined points in the ACLTBL acceleration table for the acceleration profile 1 Constant linear acceleration 2 Triangle S Curve profile 3 Parabolic profile 4 Sinusoidal S Curve profile Comparison of Acceleration Types 1 Constant smooth linear acceleration from initial to max velocity 2 Triangle S Curve profile 3 The parabolic profile best utilizes the speed torque characteristics of a stepper motor since the highest acceleration takes place at low speeds It will however be the profile that results in the maximum jerk and is not recommended for applications requiring smooth starting and stopping Such applications would include those that pull a material or move liquid 4 The Sinusoidal S Curve profile is very similar to 2 the triangle S Curve The main difference i
197. erial is equal EO O PRINT Remaining material is smaller or equal to cutsize PRINT You have leftover inches remaining PRINT PRINT Do you wish to modify cutsize Yes 1 No 0 INPUT Answerl1 Enters the Data entered by user into answerl Flag BR Cutting Answerl 1 Branch to Cutting if user wants to modify cutsize LBL Done Name the program Done PRINT Program has ended Remove all debris PRINT PRINT run program again type cutstuff END End of Program PGM Ends Program Mode Software Reference 03 10 2000 3 24 c ON c9 Functional Grouping of the Instruction Set Section Overview This section covers contains a logical grouping of the LYNX product family instruction set Each subsection contains a tableized summary displaying a description usage example and default setting for each instruc tion variable flag or keyword In the case where a command can logically be placed in more than one group it is duplicated in each group The following functional groups are presented a Acceleration and Deceleration Velocity m Position a Drive and Motor a Encoder a a Miscellaneous Motion Data Event Instructions Program Mode Instructions Immediate Miscellaneous and Setup Variables a Miscellaneous and Setup Fla
198. et on In ec tee e i tue ea ears 1 53 Input EA ILKE m Ta Ye m E 1 54 Output Specifications tes C RED 1 55 Modular LYNX System 03 10 2000 1 4 e U dio Getting Started Section Overview The purpose of this section is to get you up and running quickly This section will help you do the follow ing Connect power to LYNX Control Module m Connect and establish communications in single mode m Write a simple test program Getting Started See Driver Documentation for Current Adjust Resistor Value 8 INTELLIGENT MOTION SYSTEMS INC i E 3 me FAUT J oat urrent Adjust 8 B mo w TI 22 Resistc pol 215 s NE TI 23 nN H
199. ew the motor at a constant velocity instruction vel User units sec mode 0 Use acceleration ramp mode 1 Do not use acceleration ramp Mode 0 used if mode not specified Stop the current motion using the specified deceleration profile and optionally stop the program mode 0 Stop motion only mode 1 Stop motion and program Mode 0 used if mode not specified PRINT VARS GET VARS IP VARS Escape Key Terminates all active operations and all running programs Terminates all active operations and all running programs forces a partial reset of the LYNX MicroLYNX Keyword used with the GET PRINT and IP instructions to indicate the inclusion of only variables Software Reference 03 10 2000 3 38 Miscellaneous and Setup Variables Miscellaneous and Setup Variables Sets the BAUD rate for serial communications with the LYNX MicroLYNX 5 lt param gt 48 4800 bps BAUD lt param gt lt param gt 96 9600 bps 9600 bps lt param gt 19 19 200 bps lt param gt 38 38 000 bps Variable holds the present instruction address for the B BKGDA lt num gt background task lt num gt 7 8175 Variable allows user to set up to 10 break points within a LYNX program BREAK lt num gt lt lbl addr gt lt num gt 0 Function disabled lt num gt 1 10 Program addresses specified by lt lbl addr gt where execution will break B Specifies the disp
200. f param is not INPUT2 INPUT2 lt var gt lt param gt P specified then lt var gt Variable par m gt 0 lt param gt 0 Suspend prog execution p lt gt 1 Do not suspend prog execution Initializes specified parameters to the factory default state param ALL All vars flags and VO settings If param is not IP lt param gt param VARS Variables only specified then param FLAGS Flags only param ALL param IOS VO settings 3u I J rt JEMYOS Instructions That Can Be Contained in a LYNX Program cont d This instruction will label the address of a program or a subroutine within a program lt name gt 1 to 8 alphanumeric charaters including underscore LBL lt name gt Perform point to point move or index to an absolute position instruction Use of mode is optional num Absolute position Mode 0 is used MOVA num mode mode 0 Motion ceases when position is when mode not reached specified mode 1 Motion part of a profile does not decelerate Perform point to point move or index to a relative position instruction num Absolute position Mode 0 is used MOVR num mode mode 0 Motion ceases when position is when mode not reached specified mode 1 Motion part of a profile does not decelerate No operation instruction used to fill one byte of program space ONER ONER lt lbl addr gt On
201. g for an input The Lynx program will continue executing and the var flg will be updated whenever it is entered This is enhancement of INPUT command that it will accept input from 1 Otherwise it operates the same way INPUT2 This is an enhancement of the INPUT command in that it will only accept input from COMM 2 Otherwise it operates the same way PRINT1 This is an enhancement of the PRINT command in that it will only output the print string to COMM 1 Otherwise it operates the same way PRINT2 This is an enhancement of the PRINT command in that it will only output the print string to COMM 2 Otherwise it operates the same way 5 This is new command to support Analog Joystick module when operating Joystick mode Execution of this command followed by moving the connected joystick over its range of motion and back to center then pressing Enter or letting it time out in 30 seconds This allows for rapid calibration of the joystick The TRIPs Have Been Renamed ITx is now TIx Trip on Input ITEx is now TIEx Trip on Input Enable TPx is now TPx Trip on Position TPEx is now TPEx Trip on Position Enable TIx is now TTx Trip on Timer TIEx is now TTEx Trip on Timer Enable TIRx is now TTRx Trip on Timer Repeat VT is now Trip on Velocity is now Trip on Velocity Enable New Variables AD
202. gent Motion Systems Inc All Rights Reserved Part 1 Ihe Modular LYNX System Getting Started Connecting the LYNX System Mounting the LYNX System Powering the LYNX System The Communications Interface Configuring the Digital I O The LYNX Control Module The LYNX Control Module Combination The Isolated Digital I O Module The Differential Digital I O Module The Combination Digital I O Module Modular LYNX System 03 10 2000 Table of Contents Getting Started E e a eaaa aar ES ae E Area EAEE 1 5 OVeryieW FM 1 5 Getting Started uuu uu A E EE EE E E E E E 1 5 Included inthe Package aeter eei e E E EE 1 5 User Provided Tools and Equipment 1 6 Connecting the Power Supply etra rere Piper init eee a rar ter HR RES 1 6 Connecting the Step Motor Driver sess rennen nne rennen orvosok iik iek vius osse 1 6 Motor 1 6 C mmaunieationS WiHD d 1 6 Establishing Communications using IMS LYNX Terminal 2 2 1 6 Testing the LYNX EDD 1 7 Connecting the LYNX System E LE 1 9 Section saa Me 1 9 Connecting th System RE 1 9 Mo
203. gs a Mathematical and Logical Functions Using the Tables The instruction set summary tables are set up in the manner illustrated in the following example F 0 D 22 D t t 3 Iv t Example Table Flag enables disables some function FLAG lt flg gt lt flg gt 0 Disabled lt flg gt 1 Enabled Command The command is given in the left hand colunm The Adobe Portable Document format pdf version of this manual has hyperlinks built in to allow for easy linking from one portion to another By clicking on the command in the command column the user is linked to the full description of the command in the Language Reference section of this document Usage Example The usage example column illustrates how the instruction variable or flag would be used in a program or in immediate mode In the case of the expressions bracketed by the lt gt symbol only the contents would be typed not the symbols themselves For example VAR lt num gt lt mode gt would be entered VAR 23 1 arbitrary numbers used in example The following codes are mostly self explanatory and are used to identify the various settings lt num gt Some number lt param gt Parameter lt time gt Time flg Flag this will be 1 or 0 lt percent gt Percentage lt lbl addr gt Program label or address lt mode gt Mode lt chan gt Channel lt func gt Function lt cond gt Conditio
204. gt Any user or factory defined variable 3Fh 63 Increment Variable Instruction Notes The Increment Variable instruction will increment the specified variable by one Syntax Example In the following example we will write a routine that will perform an operation in a loop 10 times VAR LOOPCTR 0 Declare variable LOOPCTR set value to 0 PGM 100 LBL LOOP10 Declare subroutine LOOP10 INC LOOPCTR Increment the value of LOOPCTR PRINT LOOPCTR LOOPCTR Display the value of LOOPCTR DELAY 1000 Delay Program execution for 1 sec BR LOOP10 LOOPCTR lt 10 Cond branch to LOOP10 while LOOPCTR 10 PRINT DONE END PGM INPUT Program Mode Instruction User Input Request Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal var Any user or factory defined variable INPUT var lt param gt lt param gt 0 Suspend program execution while waiting for user input lt param gt 1 Do not suspend program execution Notes Command to request input from the user over the RS 232 or RS 485 channel The input must be numeric and is input into the variable that is specified as a parameter to the command This instruction has been modified since the prior release with the inclusion of the no wait parameter param This parameter allows the user to determine whether or not the program execution will suspend while awaiting input from the user If param 0 or is not specified program execution
205. haracter into the text string to allow ANSI video escape sequences 9 Causes the terminal to sound the bell n Causes a line feed with no carriage return Causes carriage return with no line feed to allow overwriting of the same line X Embeds a Tab in the text string NOTE These control characters MUST be lower case Syntax Example This example will print the velocity and position information for the user s review PRINT Velocity VEL Position POS The following example will request that the user input information into a variable The cursor will remain on the same line for the user to input the data VAR TURNS Declare user variable TURNS PGM 100 Start program at address 100 LBL SAMPLE Label program SAMPLE PRINT Specify the number of turns INPUT TURNS Request user input for TURNS END End program PGM Return to immediate mode Related Commands DISP INPUT INPUT1 INPUT2 PFMT PRINT1 PRINT2 Ie TINY TR JEMYOS PRINT1 Immediate Program Instruction Print to LYNX COMM 1 Instruction Binary Mode Opcode Hex Decimal Usage Example PRINT1 lt text gt lt var flg gt 59h 89 PRINT1 lt text gt lt var flg gt Notes This is an enhancement of the PRINT instruction in that it will only output the print string to LYNX COMM 1 otherwise it operates the same as the PRINT instruction Related Commands DISP INPUT INPUT1 INPUT2 PFMT PRINT PRINT2 PRINT2
206. have the value of the scaled encoder counts In other words CTR2 EUNIT will equal POS Note that if MUNIT is left at 1 then the user is programming in clock pulses and EUNIT should be the conversion of clock pulses to encoder counts If the user wishes to program in a specified unit of measure such as millimeters he she must specify the units per clock pulse in MUNIT and units per encoder count in EUNIT Syntax Example In the example below the MUNIT and EUNIT variables will be set to measure position in degrees In this example we will assume a stepper driver set 256 resolution with a 1 8 step motor with a 500 line quadrature encoder input Since it is a quadrature input we will multiply the encoder resolution by 4 to get the base EUNIT of 2000 To illustrate the use of the LYNX Control Module s math functions we will use the divide by function Allowing the LYNX to perform calculations will give us greater positional accuracy MUNIT 51200 360 Set MUNIT variable to use degrees as the user unit EUNIT 2000 360 Set EUNIT variable to monitor position in degrees NOTE MUNIT AND EUNIT MUST BE DIVIDED BY THE SAME SCALING FACTOR Related Commands MUNIT POS EE Ie TINY TR JEMYOS EXEC Immediate Mode Instruction Execute Program Instruction Binary Mode Usage Example Opcode Hex Decimal lt mode gt 0 Normal execution EXEC lt lbl addr gt lt mode gt mode 1 Trace mode 39h 57 mode 2 Si
207. he position should be specified in clock pulses Syntax Example MOVR 10 Specify a relative move of 10 user units in the direction A profile within a program can be performed in the same fashion as the example given in the MOVA example If MOVR is used then the motion would start from the current location Related Commands VI VM ACL ACLT DCL DCLT MRC Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes This variable controls the percent of driver output current to be used when the axis is at velocity See the section on current control in the part of this document pertaining to your product for more information Figure 4 4 illustrates the relationship between the current control variables Related Commands MAC MHC PMHCC Motor Run Current Setting Variable MSDT Setup Variable Motor Settling Delay Time Variable Binary Mode Usage Example Range Opcode Hex Decimal Time NE icis bi Notes Specifies the motor settling delay time This is the time between moves if consecutive motions are executed The PCHG and MVG flags are not cleared until the settling time has elapsed so the settling time is included in the move time and will effect the HOLD command Related Commands PCHG MVG HOLD Software Reference 03 10 2000 3 78 MSEL Setup Variable Binary Mode Usage Example Parameters Opcode Hex Decimal MSEL lt param gt See Table Belo
208. he 18 gauge wire connect the DC output of your power supply to V on your MicroLYNX Control System See Figure 2 1 Basic Setup Configuration for detials Connect the Power Supply Return GND to GND on the MicroLYNX Controller 3 Connect the AC Line cord to your power supply in accordance with any user documentation DONOTPLUGIN AT THIS TIME Motor Connections Connect the motor to the MicroLYNX System in accordance with Figure 2 1 Communications Wiring Connect the Host PC to the MicroLYNX in accordance with Figure 2 1 This is needed to program the MicroLYNX If the MicroLYNX has a Terminal Block Connector connect in the following manner PC 25 Pin Serial Port PC 9 Pin Serial Port MicroLYNX Comm Connector Pin 7 GND Pin 5 GND Pin 6 C GND Pin 2 TX Pin 3 TX Pin 1 RS 232 RX Pin 3 RX Pin 2 RX Pin 2 RS 232 TX Establishing Communications using the IMS LYNX Terminal Included in the MicroLY NX shipping package is the IMS LYNX Terminal software This is a programming communications interface created by IMS to simplify the use of the MicroLYNX There is a 16 bit version for Windows 3 x and a 32 bit version for Windows 9x NT4 2000 located on the CD The IMS LYNX Terminal is also necessary to upgrade the software in your MicroLYNX These updates will be posted to the IMS website at http www imshome com as they are made available To install the IMS LYNX Terminal to your hard drive insert the CD into your CD ROM D
209. he purpose of this section is to get you up and running quickly This section will help you do the following iz 3 a Connect power to the MicroLYNX Control System E E Connect and establish communications in single mode Write simple test program x Ct iu 3 Getting Started Host PC 0 1102 dnoso e Stepping Motor Jg PHASE A PHASE A PHASE PHASE B power V SUPPLY GND 2 MicroLYNX Ensure that the DC output of the power supply does not exceed the maximum input voltage ISP200 4 All power supply wiring should be shielded twisted pair to reduce system noise Figure 2 1 Basic Setup Configuration RS 232 Interface Included in the Package 1 MicroLYNX Controller esee IMS P N MX CS100 400 D LYNX MicroLYNX Compact Disc IMS P N LX SW 100 000 Ty Quick Manual IMS P N MX OM300 000 2 13 The MicroLYNX System User Provided Tools and Equipment Needed Serial Cable ISP200 4 or equivalent power supply M2 22XX or equivalent stepping motor Wire Cutters Strippers 22 gauge wire for logic level signals 18 gauge wire for power supply and motor wiring PC with a free serial port COM 1 or 2 Connecting the Power Supply 1 Using t
210. he voltage decreases with increasing current draw This can cause problems if the voltage drops below the working range of the drive Also of concern are the fluctuations in line voltage This can cause the unregulated linear supply to be above or below the anticipated or acceptable voltage MicroLYNX System Rev 03 10 2000 2 20 A regulated supply maintains a stable output voltage which is good for high speed performance They are also not bothered by line fluctuations however they are more expensive Depending on the current regulation a regulated supply may crowbar or current clamp and lead to an oscillation that as previously stated can cause damage to the driver and or supply Back EMF can cause problems for regulated supplies as well The current regeneration may be too large for the regulated supply to absorb This could lead to an over voltage condition which could damage the output circuitry of the MicroLYNX System Non IMS switching power supplies and regulated linear supplies with overcurrent protection are not recommended because of their inability to handle the surge currents inherent in stepping motor systems Wiring and Shielding gt G Noise is always present in a system that involves high power and small signal circuitry Regardless of the 8 power configuration that you use your system there some wiring shielding rules that you should follow to keep your noise to signal ratio as small as possible
211. hod should be used and when it is False 0 the ASCII method should be used ASCII ASCII is the most common mode of communicating with the MicroLYNX System It allows the use of readily available terminal programs such as HyperTerminal ProComm and the new LYNX Terminal When using the ASCII method of communications the MicroLYNX tests for four special characters each time a character is received These characters are given in the following table along with an explanation of what occurs when the character is received The command format in ASCII mode when the MicroLYNX is in Single Mode PARTY FALSE is lt Mnemonic gt lt white space gt lt ASCII data for 1 parameter ASCII data for 2 parameter ASCII data for n parameter gt lt CR LF gt The mnemonics for MicroLYNX instructions variables flags and keywords are given in Section 16 of this document White space is at least one space or tab character CR LF represent the carriage return line feed 2 49 The Communications Interface characters that are transmitted in response to the Enter key on the keyboard provided the ASCII setup specifies Send line feeds with line ends Note that there need not be a space between the data for the last parameter and the CR LF Also note that if there is only one parameter the CR LF would immediately follow the data for that parameter The command format in ASCII mode when the MicroLYNX is in Party Mode PARTY TRUE would
212. iable to a Dimension of Distance The EUNIT or Encoder Unit variable is the scaling factor used to translate Encoder steps to a dimension of distance or user units At this point you should already be familiar with the MUNIT variable The main difference between the two is as follows By using MUNIT scaling factor you monitor the position of an axis based upon the value of CTR1 the register that contains the actual count of clock pulses sent to the drive The number of pulses is then scaled to user units by setting the MUNIT Variable to the appropriate scaling factor for the type of units being used be they inches millimeters degrees or etc Then the POS variable tracks position in the user units specified Example User Unit POS where EE Encoder Enable Flag FALSE 0 By setting the state of EE the master encoder function enable flag to a true state you will monitor the position of an axis based upon the actual position of the motor shaft as it is fed back to the Control Module 1 35 Configuring the Digital I O XIVA T EIpalA by a motor mounted encoder The actual count of encoder pulses received by the Control Module is maintained by the register CTR2 if the encoder is connected to I O line pair 13 amp 14 with the EUNIT variable scaling it to user units Example User Unit POS CTR2 EUNIT where EE Encoder Enable Flag TRUE 1 When using the EUNIT scaling factor it is important to understand
213. iables These variables are predefined at the factory They cannot be deleted When a DVF Delete Variables and Flags or IP Initialize Parameters instruction is given these variables will be reset to their factory default value There are two types of factory defined variables They are a Read Writable These factory defined variables can have their value altered by the user to effect events inside or outside of a program For example ACCL Acceleration Variable can be used to set the Acceleration or POS Position Variable can be used to set a position reference point Read Only These factory defined variables cannot be manipulated by the user but contain data that can be viewed or used to effect events Inside a program For example VEL velocity variable registers the current velocity of the motor in MUNITs per second MUNITS will be explained later in this section Software Reference 03 10 2000 3 14 User Defined Variables One of the powerful features of the LYNX is that it allows the user to define variables using the VAR Variable Instruction It is important to note that when a DVF Delete Variables and Flags or IP Initial ize Parameters instruction is given these variables will be deleted This class of variable must also be saved to memory using the SAVE instruction or when power is removed or a software reset C occurs they will be lost There are two types of user defined variables Flags Global Variables
214. icroLYNX System the Host PC as well as all of the system nodes to communicate on the RS 485 interface In this case there is no Host Interface MicroLYNX so all MicroLYNX nodes in the system should have their HOST flag set to False 0 Factory Default The Host PC will be equipped with an RS 485 board or RS 232 to RS 485 converter In systems with multiple MicroLYNX nodes it is necessary to communicate with the system nodes using PARTY Mode of operation The MicroLYNX nodes in the system are configured for this mode of operation by setting the Party Address Switches and setting the PARTY Flag to True 1 in software It is necessary for all of the nodes in a system Party Mode Address Configuration Switches m w 5 Q gt gt OFF OFF x n 5 E i 3 Table 7 5 Party Mode Address Configuration Switch Settings to have this configuration selected When operating in PARTY Mode each MicroLYNX node in the system will need a unique address name to identify it in the system This can be done using configuration switches A0 A2 or by using the software command SET DN For example to set the name of a controller to A you would use the following command SET DN The factory default name is To set the address of the controller using the configuration switches use the above table Multiple MicroLYNX System RS 485 Interface RS 232 to RS 485 Converter or MicroLYNX 1 MicroLYNX n RS 485 Bo
215. iltering This sets message 2 arbitration registers to A30h Message Frame Arbitration Registers ID20 18 ID17 13 Table 7 13 Message Frame Arbitration Registers S Q 2 gt o 5 E CAN MODULE Configuration X Message Frame 1 Message Frame 2 Message Frame 3 Baud Rate Bit Timing Calculator Mask Registers LYN Settings Upper Arbitration e m 2 Lun 101713 T T 1 1110 0000 Lower Arbitration ae pms san Pm m Pm misma a 008020 0 Frame Size Valid Not Valid 11Bits 29 Bits T C Valid Not Valid Source of Settings INT PC DEVICE No Communications OK Figure 7 9 Message Frame Setup Dialog from LYNX Terminal Defining the MicroLYNX Mode Single or Party This command identifies to the CAN module the MicroLYNX mode Command Example LMODE lt flag gt LMODE 0 lt flag gt 0 single mode This indicates to the CAN module lt flag gt 1 party mode that the MicroLYNX is operating in single mode 2 47 The Communications Interface Setting the MicroLYNX Party Address Command Usage Example LADDR lt address gt LADDR X lt address gt any valid MicroLYNX address This indicates to the CAN module that the MicroLYNX party address is X This command identifies to the CAN module the MicroLYNX address when party mode is enabled in the MicroLYNX MicroLYNX Prompt Command Usage Example LPRMPT lt char gt LPRMPT gt This indi
216. ine 41 in a TRUE 1 state for 500ms IO 21 O Set I O line 41 to FALSE 0 END End program PGM Return to immediate mode Software Reference 03 10 2000 3 56 DISP Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Format Display Variable lines 0 255 DISP lt lines gt chars wrap 6Eh 110 wrap 0 Do not wrap lines wrap 1 Wrap lines Notes Specifies the display format for the print command There are three parameters for this variable The first lines gives the number of lines per screen The second chars gives the number of characters per line And the third wrap specifies whether or not to wrap long lines to the next line Related Commands PRINT DN Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal ASCI Character a z A Z 0 9 Exclamation Mark 6Fh 111 Notes The DN Variable stores the device name to be used when the LYNX Product is to be addressed in party mode operation Device Name Variable The name is only used when party mode communications is being used PARTY 1 If the QUED flag is set the LYNX Product will respond if addressed by its own name or by the QUEUE or broadcast name All LYNX system nodes will respond if the name command is given as When the name is changed it must be saved into the nonvolatile memory if it is to be used in later sessions without being changed ag
217. intenance Encoder Deadband Variable When position maintenance is enabled a move is made to the specified encoder position and when the move is complete the LYNX Product maintains position within the specified deadband so that the position remains within desired position EDB actual position desired position EDB The deadband position is specified in user units if EUNIT has been set Otherwise it is specified in encoder counts Related Commands EUNIT PME EE EE Master Encoder Enable Disable Flag Setup Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disabled EE lt flg gt lt flg gt TRUE 1 Enabled FALSE 0 C5h 197 Notes This is the master enable for all of the encoder functions It specifies whether or not position maintenance and or stall detection should be performed if their individual enable flags are set If EE is TRUE but STLDE is FALSE a stall will be detected but not acted upon In other words the STALL flag will become TRUE if the encoder does not keep up with the motor but the motor will not be stopped as a result of the stall Encoder feedback requires the use of I O 13 and I O 14 as the feedback input Related Commands PME STLDE EDB STALL 5 m Q 9 5 END Immediate Program Instruction Binary Mode Usage Example Usage Rule Opcode Hex Decimal Both immediate mode and program 38h 56 Notes
218. ion all variable and flag values are echoed to the host computer In order to save the changes made to working memory when ALL is used with the IP instruction the SAVE instruction must be executed Related Commands PRINT IP GET AIN Read Only Variable Binary Mode Usage Example Range Opcode Hex Decimal ars SRI chans var 1 to which data is saved 71h 113 chan 1 Description Read only variable causes a read of the analog input channel chan Data is saved to the variable var Read Analog Input Channel Related Commands ADS JSC JSDB JSFS IJSC BAUD Setup Variable Binary Mode Usage Example Parameters Opcode Hex Decimal lt param gt 48 4800 lt param gt 96 9600 BAUD lt param gt lt param gt 19 19200 9600 bps 64h 100 lt param gt 38 38 000 Notes This variable sets the baud rate for serial communications with the control module It sets the rate for both the RS 232 and RS 485 interfaces The baud rate is set by indicating the first two digits of the desired rate as shown in the range section below Baud Rate Variable In order for the new BAUD rate to take effect the user must issue the SAVE instruction and then reset the Control Module When the Control Module is reset it will communicate at the new BAUD rate NOTE You will have to reset your terminal to the default setting of 9600 following any IP Initialize Parameters instruction to reestablish communica
219. ion before the first one has completed unexpected results will occur Syntax Example The following code sample will run a background task that will enable or disable an output based on the position of the motor while a foreground task is indexing the motor In this example assume a half full step driver set to full step driving a 1 8 stepping motor When executed the motor will move 1 revolution set the output 31 move back to position 0 clear the output then repeat Software Reference 03 10 2000 3 90 The Foreground Program PGM 10 LBL TST PGM MUNIT 200 IOS 21 0 1 POS 0 RUN BACK LBL LOOP MOVA 200 HOLD 2 DELAY 2000 MOVA 0 HOLD 2 DELAY 2000 BR LOOP END PGM The Background Program PGM 200 LBL BACK IO 21 O LBL FULL BR FULL POS 200 IO 21 1 DELAY 4 LBL ZERO BR ZERO POS 0 IO 21 O DELAY 2 BR BACK END PGM Enter program at line 10 Name the program TST PGM Set MUNIT so that 200 units 1 Revolution Set I O line 21 to a user defined output Set the position to 0 Run the background program labeled BACK Define Sub Loop Index to Absolute Position 200 Suspend Prog execution until move completes Delay 2 seconds Index to Absolute Position 0 Suspend Prog execution until move completes Delay 2 seconds Unconditional Branch to Sub LOOP Define background task BACK Set I O 21 to 0 Declare subroutine FULL Loop to sub FULL until POS 200 get
220. is PGM address When starting Program Mode you must specify at what address to enter the program instructions in the program space Simply type PGM again when you have finished entering your program commands to go back to Immediate Mode EXEC Mode S El 5 o E In EXEC Mode a program is executed either in response to the EXEC instruction from the user in Immediate Mode or in response to a specified input While the MicroLYNX is running a program the user may still communicate with it in Immediate Mode As part of a user program the MicroLYNX may start a second task using the RUN instruction Thus there can be two tasks running on the MicroLYNX at the same time a foreground task started by the EXEC instruction in Immediate Mode and a background task started by the RUN instruction in Immediate Mode or EXEC Mode MicroLYNX Communication Modes When the MicroLYNX is operating in Immediate Mode there are two methods of communicating The first is ASCII where the instructions are communicated to the MicroLYNX in the form of ASCII mnemonics and data is also given in ASCII format The second is binary where the instruction is in the form of an OpCode and numeric data is given in IEEE floating point hex format In binary mode there is also the option of including a checksum to ensure that information is received properly at the MicroLYNX The BIO flag controls the method of communication When it is True 1 the binary met
221. is required Sizing a Motor for Your System The MicroLYNX System contains a bipolar driver which works equally well with both bipolar and unipolar motors i e 8 and 4 lead motors and 6 lead center tapped motors To maintain a given set motor current the MicroLYNX System chops the voltage using a constant 20kHz chopping frequency and a varying duty cycle Duty cycles that exceed 50 can cause unstable chopping 2 23 Powering the MicroLYNX System This characteristic is directly related to the motor s winding inductance In order to avoid this situation it is necessary to choose a motor with a low winding inductance The lower the winding inductance the higher the step rate possible W nding Inductance Since the driver integrated into the MicroLYNX System is a constant current source it is not necessary to use a motor that is rated at the same voltage as the supply voltage What is important is that the MicroLYNX System is set to the motor s rated current See Section 6 Controlling The Output Current for more details As was discussed in the previous section Power Supply Requirements the higher the voltage used the faster the current can flow through the motor windings This in turn means a higher step rate or motor speed Care should be taken not to exceed the maximum voltage of the driver Therefore in choosing a motor for a system design the best performance for a specified torque is a motor with the lowest possible winding ind
222. isconnecting System Modules Connecting the System 1 Remove the end plate s A from the Control Module Depressing the locking clips C with a small screwdriver through the slot B on the top and bottom of the module and pulling them apart does this See figure 2 1 Align the locking clips of the module being connected with the slots on the module being connected to Press modules firmly together there will be an audible snap when the locking clips are fully engaged Reinstall the end plates at the ends of the LYNX System They are designed to fit either end You are now ready to mount your LYNX System to a panel or DIN Rail using the optional hardware kit Figure 2 1 Removing the End Plates WARNING Exercise caution when removing end plates or separating LYNX System modules Internal component damage may occurif the screwdriver is inserted too far into the slots 1 9 Getting Started XNA COIN c9 Mounting the LYNX System Section Overview ip I This section covers the two basic methods of mounting LYNX System a Panel Mount a DIN Rail Mounting Option Panel Mount Using the panel mount option the LYNX is designed to use 10 hardware not included Details such as screw length and threads are dependent on your overall system design
223. j 9 PIN Serial Port on Host PC a a 4 2 38 46 5 Figure 5 1 Connecting the RS 232 Interface Single Control Module System Multiple Control Module System When connecting multiple control modules in a system using the RS 232 interface it is necessary to establish one control module as the HOST This control module will be connected to the Host PC exactly as the system using a single control module The system HOST is established by one of two methods by manually selecting the Host switch configuration switch 2 labeled HI to the ON position or by setting the HOST Flag to True 1 in software The remaining control modules in the system must then be connected to the HOST control module using the RS 485 interface and will have their Host switch set to OFF HOST Flag 0 In this interface configuration Host PC communications will be received by the Host Control Module via RS 232 and forwarded to all of the other control modules in the system via the RS 485 channel Responses from the individual control modules in the system will be routed back to the Host Control Module via the RS 485 channel then internally converted to RS 232 before being forwarded back to the Host PC In systems with multiple controllers it is necessary to communicate with the control modules using PARTY Mode of operation The LYNX Control Modules in the system are configured for this mod
224. k Upload The program will transfer from the MicroLYNX Programs may be uploaded from the MicroLYNX to a text file by selecting Destination Type gt File on the dialog and typing in a drive location Vile name in File Name box on the dialog w LYNX Upload 7 D D 5 Figure 1 4 LYNX Terminal Upload Dialog Setting the Programmable Function Keys The LYNX Terminal features the capability of programming up to 10 function keys a feature found only on more advanced terminal programs These can be set to provide quick acces s to commonly used LYNX Immediate mode commands execute programs or even hold entire LYNX programs as there is no character limit for each function A fly out dialog can be brought up by clicking the arrow on the right of the function key Contents field see figure 1 5 on the following page which enables the programmer to embed common ASCII control codes in the function key text string To access the function key setup dialog right click the function key area on the terminal window To setup the function keys 1 Enter a caption in the Caption text field this will be displayed on the function button 2 Enter the text string consisting of LYNX commands and ASCII control codes Remember to terminate each command with a line feed M and and appropriate pause time typically 1 sec 9600bps or p 3 Click Done to set the function
225. k Module Pin Configuration Installing the Analog Input Joystick Module To install the Analog Input Joystick Expansion Module in your MicroLYNX perform the following in accordance with Figure 9 9 1 Remove Screws A 2 Remove panel from slot to be used 3 Insert Analog Input Joystick Module into Slot 1 C Slot 2 D or Slot 3 E 4 Press firmly until expansion board is securely seated and locked into place by retaining clips F 5 Reassemble MicroLYNX case in accordance with Figure 9 9 2 71 The Expansion Modules 6 Affix labels as shown Use a highlighter or marker pen to highlight slot used ANALOG INPUT JO STICK TERMINAL BLOCK REFERENCE CHANNEL GROUND REFERENCE CHANNEL 2 GROUND CALIBRATION GROUND Slot 1 2 3 REMOVE Tightening Torque Specification For A 4 to 5 Ib in 0 45 to 0 56 N m ANALOG INPUT JOYSTICK Figure 9 12 Installing the Analog Input Joystick Module Instructions amp Variables Specific to the Analog Module There are several new enhancements to the LYNX instruction set which add the functions of the Analog Input Joystick Interface Module while maintaining backward compatibility with the modular LYNX System The following instructions and variables are specific to the Analog Input Joystick Interface Module LYNX Instruction Variable
226. l preferences are adjusted for the new BAUD settings Downloading a Program to the MicroLYNX There are two ways to download programs to the MicroLYNX 1 Directly from the text editor window of the LYNX Terminal 2 Fromatext file located on a hard drive or removeable disk To download a program from the text editor window click the menu item Transfer gt Download The dialog shown in Figure 1 3 will open Select the Source Type Edit Window option click download The program will transfer to the MicroLYNX m LYNX Download X Data Types Flags Programs Source Type Edit Window File File Name JE dit window Start Device Browse Address Browse Name Download Cancel Figure 1 3 LYNX Terminal Download Dialog Software Reference 03 10 2000 3 10 Programs can be downloaded to the MicroLYNX from a text file by selecting Source Type gt File on the dialog and typing in a drive location Vile name in the File Name box on the dialog or browsing to the file location Uploading a Program From the MicroLYNX Programs may also be uploaded from the MicroLYNX intwo ways 1 Directly to the text editor window of the LYNX Terminal 2 Toa text file located on a hard drive or removeable disk To upload a program to the text editor window click the menu item Transfer Upload The dialog shown in Figure 1 4 will open Select the Destination Type gt Edit Window option clic
227. l use the same program from the input example only we will use the output to light the LED while the motor is moving IOS 31 18 1 1 Using Table 8 1 on the previous page we can break this setting down as follows IOS 31 Identifies that I O line 31 is being configured 18 Configures the I O Type as Moving 1 Configures the I O line as an output 1 Configures the Line as Active HIGH MicroLYNX System Rev 03 10 2000 2 54 Now when the input program above is executed the LED will be lit during the move rating of the internal inductive clamp is 100mJ milli joules non repetetive It is recommended that an external clamp be used if that value may be exceeded NOTE 2 The internal pull up Clamp Diode voltage is designed to pull up See Note 1 the I O line NOT to provide an output load supply voltage N NOTE 1 The maximum energy PULL UP SWITCH OFF Load Supply 24VDC Max See Note 2 m gt a 2 KS o 162 gt lt 2 gt gt Q 5 o E Isolated Ground Isolated Ground Figure 8 3 Isolated I O Output The IO Variable After configuring the I O by means of the IOS variable we need to be able to do two things with the I O 1 Write to an output or group of outputs thus setting or changing its their state 2 Read the states of either inputs or outputs We can use this information to either display those states to ou
228. lative to current position 200 user units HOLD 2 Hold program execution until specified motion is completed END PGM Configuring the Digital Filtering User definable Digital filtering makes the IOF Filter Settings for the General Purpose Isolated I O LYNX well suited for noisy industrial IOF lt num gt lt num gt 0 7 environments The filter setting is software Cutoff ists xerit Efe Filter Setting selectable using the JOF Variable with a Frequency Width minimum guaranteed detectable pulse width 0 27 5 kHz of 18 microseconds to 2 3 milliseconds Table 8 2 illustrates the IOF settings 2 6 89 kHz 73 microseconds The filter setting will reject any frequency amem E 4 1 72 kH 290 microseconds above the specified bandwidth For example E pou IOF2 3 Set the are Digital Filter for I O Group 20 to 3 44kHz Table 8 2 Digital Filter Settings for the Isolated I O This setting will cause any signal above 3 44 kHz on I O lines 21 26 to be rejected The default filter setting for the isolated I O groups is 7 or 215Hz Configuring an Output Figure 8 3 illustrates the Output equivalent circuit of the Isolated I O When used as an output the I O line is able to sink 350mA continuous for each output or a total of 1 5A for the entire I O Group See Section 9 The Isolated I O Module for detailed specifications In the usage example we will use an LED on I O Line 31 for the load We wil
229. lay format for the PRINT instruction lines Number of lines 0 255 0 no limit DISP lines chars wrap chars Number of characters 0 255 0 no limit wrap 0 Do not wrap line wrap 1 Wrap long lines to next line P Variable stores the device name to be used when in PARTY DN lt char gt mode of operation char A Z a z 0 9 82ua8J8JaH aJem3jog Specifies whether or not the LYNX or MicroLYNX will echo commands received via communications port back over the line mode 0 Full duplex F CHO lt mode gt 1 Half duplex lt mode gt 2 Only respond to PRINT and LIST commands Determines how motion is stopped in response to the PAUS instruction and whether or not it is restarted in response to the RES instruction lt mode gt 0 Normal DECL resume with RES PAUSM lt mode gt lt mode gt 1 LDECL deceleration resume with RES lt mode gt 2 Complete motion normal DECL lt mode gt 3 Complete motion LDECL deceleration lt mode gt 4 Normal DECL no resume lt mode gt 5 LDECL deceleration no resume Specifies the print format for numeric values lt num1 gt of digits before decimal 0 16 Eus PFMT lt num1 gt lt num2 gt lt num2 gt of digits after decimal 0 16 n lt param gt lt param gt 0 Spaces as placeholders lt param gt 1 Zeros as placeholders lt param gt 2 No padding Specifies the character to be used by the LY
230. le and diagram illustrate the pin configuration and connection CEOHSPIDEO DOR of the RS 232 Expansion Module See Section 3 Installing and Mounting the mnel CZAT 10 Pin Header MicroLYNX for installation instructions In Phoenix 3 RS 232 TX RS 232 RX 5 NC CGND 7 NC N C N C Table 9 12 RS 232 Expansion Pinout Host PC 02 dnouo jt L st se so se a CAN BUS PHASE A n PHASE A n M PHASE B a PHASE B n n dmm Y SUPPLY GND COMMUNICATIONS 2 p 10 Pin Header MicroLYNX 10 Pin Header MicroLYNX System Rev 03 10 2000 2 76 The RS 485 Port Communication Expansion Module The RS 485 Port 2 communications expansion module allows for use of the RS 485 interface on the CAN bus version of the MicroLYNX only This expansion board can be used in any of the three expansion slots and is automatically recognized by the MicroLYNX no configuration is needed This expansion board uses MicroLYNX COMM 2 and can be used to simultaneosly communicate with the MicroLYNX via RS 485 while communicating via the CAN bus This is useful in requesting and displaying NOTE Si
231. lize CAN Registers INIT INIT 1 2 le 3 1 GMS0 lt hex digit gt lt hex digit gt GMSO FF GMS1 hex digit gt lt hex digit GMS1 FF UGMLO lt hex digit gt lt hex digit UGMLO FF UGML1 lt hex digit gt lt hex digit gt UGML1 FF LGMLO lt hex digit gt lt hex digit gt LGMLO FF LGML1 lt hex digit gt lt hex digit gt LGML1 F8 Set Global Mask Registers UARO lt frame gt lt hex digit gt lt hex digit gt UARO 2A3 Set Message Frame Arbitration UAR1 framez hex digit gt lt hex digit gt UAR1 200 Registers LARO lt frame gt lt hex digit gt lt hex digit gt LARO 200 LAR1 lt frame gt lt hex digit gt lt hex digit LAR1 200 MicroLYNX Party Address LADDR lt address gt LADDR X MicroLYNX BAUD Rate LBAUD lt baud gt lt baud gt LBAUD 38 Table 7 8 CAN Configuration Command Summary MicroLYNX System Rev 03 10 2000 2 42 To Initialize the CAN Module Command INIT The factory default settings for the CAN module are detailed below BAUD Rate HEC M 50kbps Time Quanta t before sample point tmr eo eere 5 Time Quanta t after sample enne 4 Time Quanta t before re synchronization jump width 2 Global Mask L FFFFh CAN Receive Identifier eiii tet cere tad ie FFOh CAN Transmit Identifier 2 1 2 2 00000000000000000000000000000000000 FF2h
232. lll Software Reference Summary of Changes The LYNX Terminal Software Introduction to LYNX Programming Functional Groups Language Reference ASCII Table Error Table Factory Defaults Establishing Communication Using Hyperterminal Software Reference 03 10 2000 Table Of Contents Summary OF Cha g S Exe 3 5 Software Enhancements ss tenant Heine 3 5 New or Modified Instructions esses tnt i tese eene nen 3 5 New Variables e 3 6 New FASS iss cued 3 7 New Math Logic Functions ice 3 7 Section 1 The LYNX Terminal Software 3 8 Secom OVERVIEW d T 3 8 Installation and Setup u a q aqu M 3 8 System Requirements o eite ete ter rp B ear I EES EE EEKE E AEE OA EERE AE ES ives Menor etd 3 8 Installation uu RR S a E NU ee 3 8 Using the LY NX Terminal Software triti aser t er EE ep PH E do E ia e ee rese 3 9 Downloading A Program to the 3 10 Uploading a Program form the LYNX n nennen enne nennen 3 11 Setting the
233. locity control 1 analog input 2 velocity or joystick mode law Controls the sensitivity of the velocity with respect to the analog input The effect of the analog input can be linear square or cube law applies to velocity mode only Here are two examples that illustrate the ADS variable Example 1 A pressure transducer is connected to input 1 The transducer output is 10 psi volt Vref represents the voltage at the Input to the Analog Joystick Module corresponding to full scale Vref as measured at pin 1 on the Analog Joystick Module is 5 05 volts Thus aunits for channel 1 is 10 psi volt x 5 05 volts or 50 5 The value returned by an analog read of Channel 1 will be in psi Note that the full scale output of the transducer does not have to equal the Analog Module full scale This setup would be expressed thus ADS 1 50 5 1 Example 2 A 1 8 degree per full step motor connected to a lead screw with a lead of 1 inches rev The step motor drive is set for 32 usteps per full step A joystick is connected to channel 1 To program speed and motion in inches set munits to 32 pulses 1 8 degrees x 360 degrees 1 rev x 1 rev 1 inches If a maximum speed of 3 inches second is desired while in Joystick operation set aunits for channel 1 to 3 For linear Joystick operation the setup command is ADS 1 3 2 1 2 73 The Expansion Modules Typical Functions of the Analog Input Module There are three program examples that will illust
234. loop motion control by receiving quadrature input from a differential or single ended encoder High Speed I O channels 13 and 14 are configured by default for this function so you would want your expansion module inserted into expansion slot 2 Connect your encoder as shown in the following figure and table Encoder Connections Expansion Slot 2 Encoder Signal MicroLYNX Differential Singe VO Channel 8 Position Pheonix 10 Pin Header ee NOTE IMS differential encoder follow the Hewlett Packard pin configuration Thus if your encoder is manufactured by HP or IMS a 10 conductor straight through wired ribbon cable with female DIN ribbon cable connectors can be connected directly between the differential encoder and the expansion board 10 Pin Header Version without wiring modification Table 9 8 Expansion Slot 2 Encoder Connections Testing Your Encoder Setup Now that your encoder is connected let s test the setup and verify its operation by typing the following into your terminal set munits to correspond with MSEL 256 MUNIT 51200 set the encoder units variable EUNIT to the number 4 x encoder resolution ie 500 line encoder x 4 2000 MicroLYNX System Rev 03 10 2000 2 66 200 line encoder x 4 800 etc EUNIT 2000 Set the stall factor variable to 10 of EUNIT 10 of a revolution STLF 200 Enable encoder functions 1 POS 0 set position counter to 0 CTR2 0 set cou
235. lowing NOTE The HAS variable must be set to less than 1 or Error Code 9004 Ratio Out of Range will occur One and a Half Axis Operation RATIOE A secondary drive can be connected to a pair of differential outputs The secondary driver will operate off of the differential output pair 15 and 16 I O pair 13 and 14 can also operate in this mode Setting the ratio mode to TRUE 1 for the differential output clock IOS specifies a secondary drive function Then when ratio mode is enabled RATIOE the secondary axis will follow the primary axis with the ratio specified by the RATIO variable The sequence of commands used to make this setup function would be as follows Set IOS 15 to step direction clock type and ratio mode IOS 15 5 0 1 0 2 1 Set IOS 16 to step direction clock type and ratio mode IOS 16 6 0 1 0 2 1 Set Ratio Mode Enable Flag to 1 1 37 Configuring the Digital I O XNA RATIOE 1 Set RATIO variable to 5 for the secondary drive RATIO 5 With this setup the motor on the secondary drive will move half the distance of the primary HSIO DRIVE 2 134 Step Clock 14 Direction SCLK DIR 5VDC 4 OUTPUT 5 Stepping 5VDC Motor 2 Opto Supply 5 Motor Drive 2r 5VDC Opto Supply Step Clock Input Stepping Motor Power Connections Not Shown For Motor Driver Simplification Figure 6 10 One and a Half Axis Operation Direction Input NOTE The RAT
236. lt vel gt user units sec lt mode gt 0 Use acceleration ramp lt mode gt 1 Do not use acceleration ramp Mode 0 used if lt mode gt not specified SLEW lt num gt lt mode gt Stop the current motion using the specified deceleration profile and optionally stop the program lt mode gt 0 Stop motion only lt mode gt 1 Stop motion and program Mode 0 used if mode not specified SSTP lt mode gt Read only flag indicates when velocity is changing BR lbl addr VCHG lt flg gt lt lbl addr gt Label or address of program PRINT VCHG lt flg gt 0 Velocity is not changing lt flg gt 1 Velocity is changing Register that contains the actual velocity of the axis In user units BR lbl addr VEL lt num gt per second Read only 0 000 PRINT VEL Ibl addr Label or address of program d num user unit sec Initial velocity of the axis during a point to point motion 102400 00 num user units sec Maximum velocity reached by the axis during a point to point VM VM lt num gt motion 768000 000 lt num gt user units sec Position 82u8J8JaH aJew3jog Position Related Variables Flags and Instructions Find switch instruction Parameters are optional lt num1 gt speed in user units sec lt num2 gt creep in user units sec lt line gt VO line If not specified lt num gt VM lt param gt VI FlOS lt num1 gt lt num2 gt l
237. m gt Encoder Encoder Related Variables Flags and Instructions Encoder deadband variable specifies the x length of the EDB lt num gt deadband for position maintenance lt num gt user units Master enable flag for all encoder functions EE lt flg gt lt flg gt 0 Encoder functions disabled lt flg gt 1 Encoder functions enabled Conversion variable for converting motor steps or user units to EUNIT lt num gt encoder counts lt num gt encoder counts per user unit E U Position maintenance enable flag P PME lt flg gt lt flg gt 0 Position maintenance disabled lt flg gt 1 Position maintenance enabled P PMV lt num gt Position maintenance velocity variable 10240 000 ERE num user units sec EUNIT ME MV Flag which indicates if the motor has stalled STALL BR lbl addr STALL lt flg gt Ibl addr Program label or address PRINT STALL flg 0 Axis not stalled lt flg gt 1 Axis stalled Flag enables stall detection STLDE STLDE lt flg gt lt flg gt 0 Stall detection disabled lt flg gt 1 Stall detection enabled Stall detect mode setting determins whether motor stops when a stall is detected RI mod mode 0 Stop motor mode 1 Do not stop motor STLF lt num gt Stall factor variable lt num gt User units 1 0 V0 Related Variables Flags and Instructions Setup variable for the Analog Input Joystick module
238. machine and process control Because of this power a level of complexity in setup and use is found that doesn t exist in controllers with a less capable I O set 2 51 The Isolated Digital I O Uses of the Isolated Digital 1 0 The isolated I O may be utilized to receive input from external devices such as sensors switches or PLC outputs When configured as outputs devices such as relays solenoids LED s and PLC inputs may be controlled from the MicroLYNX Depending on the device connected the input or output may be pulled up to either the internal 5VDC supply or an external 5 to 24VDC supply or the I O lines may be pulled down to ground These features combined with the programmability and robust construction of the MicroLYNX I O open an endless vista of possible uses for the I O in your application Each I O line may be individually programmed to any one of 8 dedicated input functions 7 dedicated output functions or as general purpose inputs or outputs The I O may be addressed individually or as a group The active state of the line or group may also be set All of these possible functions are accomplished with of the IOS variable Sensors Switches PLC Outputs INPUTS MicroLYN X Relays Solenoids LED s OUTPUTS Semen hens Figure 8 1 Isolated I O Applications The 105 Variable The IOS variable has three parameters when used to configure the isolated digital I O These are 1 TO Line Type Spe
239. means that by default each line in group 20 is configured to be a General Purpose 0 Input 0 which is active when HIGH 1 The following figure and exercises illustrate possible configurations of the IOS 05 XX X X X To configure an entire 1 0 Group enter the Group 20 30 40 or 50 here Define Line or Group As Input or Output To configure an individual I O Line 0 Input enter the Line 21 26 31 36 41 46 0 51 56 1 Output Enter I O Line Type Here Set the state 0 General Purpose 16 Jog Plus Input ofthe Line or Group 9 Start Input 17 Jog Minus Input 0 Active Low 10 Stop Input 18 Moving Output 1 Active High 11 Pause Input 19 Indexing in Progress Output 12 Home Input 21 Program Running Output 13 Limit Plus Input 22 Stall Output 14 Limit Minus Input 23 Error Output 15 Status Output 24 Program Paused Table 6 2 IOS Variable Settings NOTE When configuring a dedicated input or output the second parameter of the IOS Variable MUST match the func tion either input or output or an error will occur 1 27 Configuring the Digital I O XNA TEIN Configuring an Input Figure 6 1 below illustrates the Input Equivalent Circuit of the Isolated I O being used with a switch To illustrate the usage of an input you will go through the steps to configure this switch
240. mments and will be ignored by the LYNX Product When the program is listed the tabs and blank lines will not show but they are accepted by the control module for input Retrieve Program Keyword Binary Mode Usage Example Opcode Hex Decimal GET PGM 94h 148 Notes Used with GET to signify that all the program space should be retrieved from nonvolatile memory NVM Related Commands GET Software Reference 03 10 2000 3 84 PME Setup Flag Binary Mode Usage Example Opcode Hex Decimal i lt flg gt FALSE 0 Disabled PME flg lg TRUE 1 Enabled FALSE 0 DAh 218 Notes Specifies whether the position maintenance function which maintains position within a specified deadband is enabled 1 or disabled 0 The default setting is 0 disabled In order for position maintenance to be performed the Encoder enable flag EE must also be set to TRUE 1 Related Commands EE EDB Position Maintenance Enable Disable Flag PMHCC Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes This variable specifies the amount of current required to maintain position when position maintenance is enabled Position Maintenance Holding Current Change Variable BIUGIIJOY JEMYOS The value for PMHCC is a percentage its range being from 0 to 100 and is added to MHC until MRC is reached Thus if MHC is set to 15 and MRC is set to 50 then the effective range for PMHCC will be 15
241. motion and program Mode 0 used if lt mode gt not specified SSTP lt mode gt PRINT VARS GET VARS IP VARS Keyword used with the GET PRINT and IP instructions to indicate the inclusion of only variables Software Reference 03 10 2000 3 36 Instructions That Gan Be Used Instructions That Can Be Issued in Immediate Mode CP Ibl address lt flg gt DVF lt param1 gt lt param2 gt EXEC lt lbl addr gt mode FlOS lt num1 gt lt num2 gt lt line gt FLG lt name gt lt state gt GET lt param gt Clear program instruction clears the program space in working memory beginning with the label or address specified by Ibl addr lt flg gt 0 Clear specified program only lt flg gt 1 Clear entire program space beginning with secified Ibl addr Instruction that performs the two s complement of the specified variable or flag lt var flg gt Variable or flag Instruction used to decrement the specified variable by 1 var Variable Instruction that deletes user defined variables and flags lt param1 gt 0 All user vars and flags deleted lt param1 gt 1 Only user vars deleted lt param1 gt 2 Only user flags deleted lt param2 gt 0 All global and local user vars and or flags deleted lt param2 gt 1 Only global user vars and or flags deleted lt param2 gt 2 Only local user vars and or flags deleted Execute the program label or located
242. n lt state gt Logic state Description The description column contains a brief description of the command and an elaboration of the expression bracketed by the lt gt symbols Factory Default This column contains the factory default setting of the variable or flag discussed Acceleration and Deceleration Acceleration and Deceleration Related Variables and Flags ACCL ACCL lt num gt valio ars 1000000 000 lt num gt User units sec2 Acceleration type variable lt param gt 0 User Defined lt param gt 1 Linear lt param gt 2 Triangle S Curve lt param gt 3 Parabolic lt param gt 4 Sinusoidal S Curve ACLT lt param gt Read only deceleration flag BR lbl addr DCL lt flg gt lt lbl addr gt Program label or address PRINT DCL lt flg gt 1 decelerating lt flg gt 0 not decelerating Specifies deceleration type used when a limit is reached lt param gt 0 User Defined lt param gt 1 Linear lt param gt 2 Triangle S Curve lt param gt 3 Parabolic lt param gt 4 Sinusoidal S Curve LDCLT lt param gt Software Reference 03 10 2000 3 26 Velocity Velocity Related Variables Flags and Instructions Jog speed variable JOGS JOGS lt num gt 256000 000 lt num gt user units sec PMV Position maintenance velocity variable 10240 000 Es lt num gt user units sec Slew the motor at a constant velocity instruction
243. n By The Driver Specified Per Phase _ Specified Per Phase Inductance Inductance PHASEA EBASER Q gt PHASER o a 009 e PHASE B b PHASEB PHASEB PHASEB PHASEB Q 8 Lead Stepping Motor 8 Lead Stepping Motor Series Configuration Parallel Configuration This example also This example also applies to the 6 lead motor applies to the 6 lead motor full copper configuration and half copper configuration to 4 lead stepping motors A B Figure 5 1 A amp B Per Phase Winding Inductance MicroLYNX System Rev 03 10 2000 2 24 Maximum Motor Inductance mH per Phase 2 X Minimum Supply Voltage NOTE In calculating the maximum phase inductance the minimum supply output voltage should be used when using an unregulated supply Hecommended IMS Motors IMS stocks the following 1 8 Hybrid Stepping Motors that are recommended for the MicroLYNX System All IMS motors are CE marked For more detailed information on these motors please see the IMS Full Line Catalog or the IMS website at http www imshome com 17 Frame MicroLYNX 4 Single Shaft Double Shaft ue c Em M2 1713 D NJ Sua su p dete ieu iS M2 1715 D M23L71958 5 u usu citer eae Rune M2 1719 D 23 Frame MicroLYNX 4 7 Single Shaft Double Shaft M 0 HM u a Su M2 2215 D PL M2 2220 D 2722328 M M2 2232 D ND 2 P
244. n and wait for the motion to complete before continuing with the program MOVR 10 Perform a relative move of ten user units HOLD 2 Suspend program execution until motion completes Related Commands HELD PCHG VCHG MVG Software Reference 03 10 2000 3 66 HOST Setup Flag Host Interface Enable Disable Flag Binary Mode Usage Example Opcode Hex Decimal 7 lt flg gt FALSE 0 Disabled HOST lt flg gt fig TRUE 1 Enabled FALSE 0 CBh 203 Notes This is the Host Interface flag It is only relevant in a system that contains several LYNX Product nodes in a multi drop configuration When this flag is set the node that will serve as the interface between the Host PC and the rest of the system is connected via the RS 232 port Other LYNX Product nodes in the system are connected together via RS 485 interface To properly configure the system the host computer should be connected to the Host Interface via RS 232 The remaining nodes in the system should then have their RS 485 RX inputs connected to the Host Interface Control module s RS 485 TX output and their RS 422 TX outputs connected to the Host Interface s RS 485 RX input The HOST flag of the Host Interface should be set Host PC communications are received by the Host Interface Control module and forwarded to all of the other control modules in the system via the RS 485 channel Responses from the Host Interface module are routed to the Host PC via the RS 23
245. n input 1 Direction VO 11 Pins 3 and 4 are the differentially buffered signal for group 1 2 or VO 12 The default for this signal is the step clock output for the primary motor drive of the controller If desired this signal may be programmed as a quadrature or up down clock type or a user output This VO may not be programmed as an input 3 Step Clock VO 12 Common to the power ground on pin 1 of connector P1 This is provided as a signal return for Ground GND the motion control signals and the power return for the 5VDC in out on pin 6 Pins 7 and 8 are the differential receive inputs for the RS 485 communications interface They 7 RS 485 RX Input should be left disconnected if they are not used For specific connection information see Section 5 The Communications Interface Pins 9 and 10 are the differential transmit outputs for the RS 485 communications interface They 9 RS 485 TX Output should be left disconnected if they are not used For specific connection information see Section 5 The Communications Interface Communications Isolated communications ground signal for both RS 485 and RS 232 For specific connection Ground CGND information see Section 5 The Communications Interface 11 Transmit output to the host computer For specific connection information see Section 5 The 13 PE Communications Interface Table 7 4 LYNX
246. n occurs the axis starts at velocity VI and accelerates using the specified acceleration profile until the velocity VM is reached Related Commands EUNIT MUNIT 3 101 A 8 NIIE ASCII TABLE Char Decimal Value Char Decimal Value jo 47 LP 94 48 95 y re 49 pe 96 50 97 x aur 51 98 4d 52 99 Lee 53 100 D 2225 54 NRI 101 7 usya ap bua aaa 55 102 56 Le 103 DL E 57 h saa aaa 104 58 ce LOD P MR 59 jr 106 60 107 61 108 62 109 yi 63 110 64 111 65 D 112 66 eR D 113 C ususiy a 67 114 D op 68 TN 115 69 116 Fo 2350 70 a s 117 cr 71 118 H 72 m 119 2223 2 sees tee 73 oM 120 NM 74 Vasa iq 121 qm M M 75 v uS 122 PN 76 Tag asla a 123 M usuyasa 77 Pukuna aysa 124 N iu all 78 p po ACCES 125 o cp 79 T 126 00 127 opm 81 lo 128 eM 82 TENERE 129 83 130 prem 84
247. n to report the state of all the user defined variables which were created using the VAR instruction Returns G Logic State Global L Logic State Local Related Commands VAR VAR Immediate Program Instruction Define User Variable Instruction Binary Mode Verge Bema Parameters Opcode Hex Decimal lt name gt 1 8 Alphanumeric characters and underscore VAR lt name gt lt num gt num Some number Notes Defines a user variable that can contain numeric data The name of the variable can be 1 to 8 alphanumeric characters in length You may use the underscore character in the name as well The value of the variable can be initialized when it is defined If it is not specifically initialized it will have a value of 0 until it is set Variables can be global or local A local variable is one that has been defined in a control module program while a global variable is defined in immediate mode It should be noted that a local variable is not static but is erased and declared again whenever the program is executed Syntax Example PGM 100 Start program at address 100 LBL TST Label program TST VAR MY VAR Declare user variable MY VAR set to 1000 user units SLEW MY VAR Slew the amount specified by MY VAR BR TST Unconditional Branch to TST END PGM Related Commands UVARS Qo 5 5 D y 5 Variables Keyword Binary Mode Usage Example Opcode Hex Decim
248. nal 7 5 Kohm resistor to 5VDC Can be used to simulate the activation of an input while testing system software Table 9 3 Isolated I O Module Group 50 I O Pull up Switches Input Specifications L lt de Table 9 4 Isolated I O Module Input Specifications PULL UP SWITCH ON Pull Up Edge Edge Detect Switch Logic Switch 7 5kQ Polarity Digital Isolated Ground 1 49 The Isolated I O Module XNA T EInpalA Input Filtering User definable Digital filtering makes the LYNX IOF Filter Settings for the General Purpose Isolated I O well suited for noisy industrial environments The lOF lt num gt num 0 7 filter setting is software selectable using the Filter Settin Cutoff Minimum Detectable Pulse 5 9 Width Variable with a minimum guaranteed detectable pulse width of 18 microseconds to 2 3 millisec SS ERE onds The table at right illustrates the IOF settings j 1 72 kHz 290 microseconds 6 430 Hz 1 162 milliseconds Table 9 5 Digital Filter Settings for the Isolated I O Output Specifications Isolated I O Input Specifications Load Supply Voltage 28 VDC Maximum Continuous Sink Current 350mA Maximum Each Output Ta 25 C Pull up Switch ON 4 5V Open Circuit Output Voltage Pul up Switch OFF OV Table 9 6 Digital Filter Settings for the Isolated I O NOTE The maximum energy PULL UP SWITCH OFF rating of the i
249. nce 3 Specified Distance 3 Distance 2 Specified Distance 2 BLSH Figure 4 3 Mode 0 Backlash Compensation Mode 1 Mechanical Compensation When mechanical backlash compensation is employed a move in the direction opposite to that indicated by the sign of BLSH will have the value specified by BLSH added to it to take up the backlash A separate move will be made to take up the backlash amount Distance 1 in positive direction BLSH Specified Distance 1 XX User Units gt 4 Distance 2 negative direction Specified Distance 2 BLSH Figure 4 4 1 Backlash Related Commands BLE BLSH BLSH Setup Variable Backlash Compensation Amount Variable Binary Mode Usage Example Range Opcode Hex Decimal 0000000000000001 to Description This variable represents the amount of backlash compensation employed in user units or clock pulses if MUNIT or EUNIT not specified the sign indicates direction Related Commands BLE BLM MUNIT EUNIT Software Reference 03 10 2000 3 48 BR Program Mode Instruction Branch Instruction Binary Mode Usage Example Opcode Hex Decimal lt lbl addr gt Program or subroutine label or address BR lt lbl addr gt cond cond Specified Conditional branch 30h 48 cond Blank or unspecified Unconditional branch Notes The branch instruction can be used to perform a conditional or unconditional
250. nce the RS 485 Expansion Module uses MicroLYNX COMM 2 it cannot be used in conjunction with the RS 232 Expansion Module Only one of the two interfaces can be used with the CAN bus version of the MicroLYNX system status information from and to a PC terminal or machine interface such as the IMS HMI It also allows for the use of multiple EASIER un esed MicroLYNX Systems in a PARTY configuration without using Connector Option additional CAN bus node positions if the CAN interface is not 8 Position required an all the MicroLYNX nodes The following table and phos diagram illustrate the pin configuration and connection of the RS 485 Expansion Module See Section 3 Installing and Mounting the MicroLYNX for installation instructions For multi drop connection information see Section 7 The Communications Interface S gt 5 o E 10 Pin Header C 0102 dnouo RS 232 RS 485 Converter PHASE A n PHASEA n PHASE B n PHASEB o POWER ve n SUPPLY GND d c N 5 MicroLYNX 10 Pin Header Figure 9 15 Connecting the RS 485 Expansion Module 2 77 The Expansion Modules This Page Intentionally Left Blank MicroLYNX System Rev 03 10 2000 2 78 Part
251. nction Set the Triggering Set the Ratio Mode Enter the Channel 4 13 18 here 0 Level 0 No Ratio 1 Edge 1 Ratio Define the Clock Type Enter I O Line Type Here 1 Clock 1A NOTE The 2 Clock 1B Clock s are 0 Not A Clock 3 2 fixed to their Set the state 1 Quadrature 4 Clock 2B associated I O of the Line or Group 2 Step Direction 5 Clock channel and 0 Active Low 3 Up Down 6 Clock cannot be 1 Active High 7 Clock 4A changed They Define Line or Group 8 Clock 4B are entered for As Input or Output sake of consistency 0 Input only 1 Output lOS XX X X X X Table 9 6 IOS Variable Settings for the High Speed Differential I O Care must be taken when configuring the high speed I O to a general purpose or dedicated function as the output current sink is 150mA for the entire I O group 10 The IOS variable will be configured for the high speed I O in the same fashion as it is set for the isolated I O Configuring an Input Clocks 2 3 and 4 can be configured as high speed inputs or as a general purpose input in the same fashion as the Isolated I O In configuring the Differential I O line as a general purpose input you would typically use the line of the line pair You cannot use both lines as separate I O lines The figur
252. ndard I O set The only difference is in how the lines and groups are addressed MicroLYNX System Rev 03 10 2000 2 60 See Section 8 for instructions on using the isolated I O If digital filtering is used IOF variable it must be configured for each group separately The High Speed Differential I O Module The MicroLYNX has the capability of having up to two High Speed Differential I O Modules installed in expansion slot numbers 2 and 3 The High Speed Differential I O Module expands the capabilities of the MicroLYNX to include application features such as 1 Closed Loop Motion Control Encoder Feedback 2 Electronic Gearing Ratio Functions 3 Secondary Clock Output 4 General Purpose High Speed I O Q gt gt 2 gt o E E High Speed Differential O Expansion Board Electrical Characteristics Figure 9 4 The Differential I O Module Max Clock Frequency Table 9 3 Electrical Characteristics Connector Option 8 Position Phoenix 10 Pin Header ses ses 7 4 ere e Ls ewe fewe foe _ 1 jose om om Table 9 4 High Speed Differential I O Expansion Pinout by Connector Style and Slot 2 61 The Expansion Modules The pinout by slot location and connector style is given in Table 9 4 The high speed differential I O is non isolated meaning the ground is not common with the isolated I O ground Installing
253. ndicator Flag Binary Mode Usage Example Opcode Hex Decimal BR lbl addr STALL BR lbl addr ISTALL one TO s 2 FALSE 0 DEh 222 PRINT STALL Notes Read only flag that indicates the motor has stalled If the encoder is enabled EE 1 and the encoder falls behind the motor more than the specified factor STLF a STALL is indicated If STLDE is also enabled 1 then the motor will be stopped when a STALL is detected Related Commands EE STLDE STLF Retrieve Status Flags Keyword Binary Mode Usage Example Opcode Hex Decimal PRINT STATS 9Ch 156 Notes Used with the PRINT instruction to print values of the status flags only The status flags are ACL BKGD BSY DCL ERR HELD MVG PAUSD PCHG STALL STK VCHG Related Commands PRINT STEPW Setup Variable Binary Mode Usage Example Parameters Range Opcode Hex Decimal num 0 Square wave ET ET lt num gt 1 254 Pulses in increments of 50ns Bees 9Dh 157 Notes Step pulse width for the primary axis Step Pulse Width Variable STK Read Only Status Flag Binary Mode Usage Example Opcode Hex Decimal BR lt lbl addr gt STK BR lbl addr STK PRINT STK Subroutine Stack Fault Flag STK FALSE 0 No fault STK TRUE 1 E overfiow or underfiow fault 229 Notes This is a read only flag that indicates a stack overflow or underflow STLDE Setup Flag Stall Detect Enable Disable Fl
254. nect the motor to the IM483 Step Motor Driver in accordance with Figure 1 1 Communications Wiring Connect the Host PC to the LYNX Control Module RS 232 Communications in accordance with Figure 1 1 This is needed to program the LYNX Control Module Establishing Communications using the IMS LYNX Terminal Included in the LYNX shipping package is the IMS LYNX Terminal software This is a programming communications interface created by IMS to simplify the use of the MicroLYNX There is a 32 bit version for Windows 9x NT4 2000 located on the CD The IMS LYNX Terminal is also necessary to upgrade the software in your LYNX Control Module These updates will be posted to the IMS website at http www imshome com as they are made available To install the IMS LYNX Terminal to your hard drive insert the CD into your CD ROM Drive The 3 5 CD while smaller than typical compact disks will work in any tray type CD drive To install click Start Run and type x terminal 32bit setup exe in the Open box Follow the on screen instructions to complete the installation 1 Open the LYNX Terminal by selecting Start gt Programs gt LynxTerm gt LYNXTERM Windows 9x NT 2000 Modular LYNX System 03 10 2000 1 6 2 3 4 Click the File Menu Item Setup Select the Terminal gt Setup option Select the Communications Port that you will be using with your MicroLYNX The BAUD rate is already set to the MicroLYNX default Do
255. nge is represented by the sum of MSDT HCDT Hold Current Delay Time Variable Related Commands MAC MRC MHC MSDT HELD Read Only Status Flag Binary Mode Usage Example Opcode Hex Decimal BR lbl addr HELD a I BR lt gt HELD Status FALSE 0 ProgramiSxecuting FALSE 0 CAh 202 PRINT HELD Status TRUE 1 Program suspended Notes This flag is TRUE 1 when the program is waiting for the position change velocity change or motion to complete Related Commands HOLD Program Execution Held Flag HOLD Program Mode Instruction Hold Program Execution During A Move Instruction Binary Mode Usage Example Opcode Hex Decimal lt mode gt 0 Suspend program until position change completes HOLD lt mode gt lt mode gt 1 Suspend program until velocity change completes lt mode gt 2 Suspend program until motion completes Notes Hold program execution until the specified motion phase completes There is one optional parameter to the HOLD instruction which specifies how long the program execution should be held If the parameter is 0 or not specified the program will suspend until the position change completes PCHG becomes FALSE If the parameter is 1 the program will suspend until the velocity change completes VCHG becomes FALSE If the parameter is 2 the program will suspend until the motion completes MVG becomes FALSE Syntax Example In this example we will start a motio
256. ngle step mode Notes If the program to be executed is specified by a label the EXEC instruction can be omitted For instance if a program is specified by the label TSTPRG the command EXEC TSTPRG is equivalent to simply typing TSTPRG There are three modes of program execution Mode 0 Normal execution is specified by a mode of 0 or simply leaving the mode blank Mode 1 Trace mode is specified by a mode of 1 This means that the program executes continuously until the program END is encountered but the instructions are traced to the communications port so the user can see what instructions have been executed Mode 2 Single step mode is specified by a mode of 2 In this mode the user can step through the program using the space bar to execute the next line of the program The program can be resumed at normal speed in this mode by pressing the enter key Syntax Examples EXEC TSTPRG 2 Execute TSTPRG in single step mode EXEC 2000 Execute program at line 2000 in normal mode Related Commands PAUS END FAULT Read Only Status Flag Fault Indicator LED Enable Disable Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disabled FAULT lt flg gt fig TRUE n P TRUE EFh 239 Notes This Flag allows the user to enable or disable the red fault indication LED on the Control Module When TRUE 1 will display all ERROR conditions by illuminating the Fault indicator LED When FALSE 0
257. nitial Velocity VI Motor Settling Delay Time 60ms Delay Time 30ms Figure 6 1 Motor Current Control Variables Values set are for illustration purposes only 2 29 Controlling the Output Current and Resolution Q gt 5 o i E Current Control Variable Summary Default MAC rn MAC lt num gt Percent 0 100 25 Current Setting Setting MSDT Motor Setting Delay gt Timein 65535 Time milliseconds Table 6 1 Motor Current Control Variables Determining the Output Current Stepper motors can be configured as 4 6 or 8 leads Each configuration requires different currents Shown below are the different lead configurations and the procedures to determine the peak per phase output current setting that would be used with different motor lead configurations 4 Lead Motors Multiply the specified phase current by 1 4 to determine the peak output current Example A 4 Lead motor has a specified phase current of 2 0A 2 0A X 1 4 2 2 8 Amps Peak B Lead Motors A 6 lead motor can be configured two ways in either the Half Coil Configuration high speed or the Full Coil Configuration higher torque The current calculation is different for each configuration MicroLYNX System Rev 03 10 2000 2 30 Half Coil Configuration When configuring a 6 lead motor in the half coil configuration connected from one end of the coil to the center tap multiply the
258. nput clock type and ratio enabled The primary axis moves as a ratio of this clock based on the factor entered in HAS This is an implementation of a master follower where the master is input into a clock input and the primary axis follows based on the specified factor Half Axis Mode Enable Disable Flag Related Commands HAS HAS Setup Variable HAIf Axis Mode Scaling Variable Binary Mode Usage Example Range Opcode Hex Decimal HAS lt param gt Scaling Factor 1 000 79h 121 Notes In half axis mode the master clock is taken from a clock input 2 3 or 4 line pairs 13 14 15 16 or 17 18 which have been set for input clock type and ratio enabled This is the factor at which the count rate out to the primary drive will follow the external clock in half axis mode This is an implementation of a master follower where the master is input into the clock input and the primary axis follows based on the specified factor HAE must be set to TRUE in order to enable the function Related Commands HAE IOS ITI NE YE TR BIEMIYOS HCDT Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes The HCDT variable sets the delay time in milliseconds between the cessation of motion and when the LYNX or MicroLYNX shifts to the holding current level specified by the MHC variable The delay time is also effected by the MSDT Motor Settling Delay Time variable in that the total time from motion ceasing to current cha
259. ns that HOST mode is still supported A motion system architecture might use one COMM port for connection to a host PC or PLC while using the other for communication with an operator interface or status display Another use for the second port could be to pass data between MicroLYNX Systems in a multi axis system while maintaining a communications link to a host 2 7 The MicroLYNX System S El 5 o E Electrical Specifications Power Supply Requirements Voltage 4 Version P N MX CS100 400 7 Version P N MX CS100 700 Current Actual requirements depend on application and programmable current 4 Version P N MX CS100 400 esee 7 Version P N MX CS 100 700 essen Motor Drive MOtOtr iier Sy Motor Current software programmable 4 Version P N 5100 400 7 Version P N MX CS 100 700 MicroStep Resolution of settings Steps per Revolution 1 8 Motor 12 to 48VDC 24 to 75VDC setting 2A typical 4A peak 3A typical 6A peak 2 4 phase bipolar stepper to 4A peak to 7A peak 400 800 1000 1600 2000 3200 5000 6400 10000 12800 25000 25600 50000 51200 General Purpose 1 0 Number of V O 6
260. nstruction Thus there can be two tasks running on the control module at the same time a foreground task started by the EXEC instruction in Immediate Mode and a background task started by the RUN instruction in Program Mode LYNX Control Module Communication Modes When the control module is operating in Immediate Mode there are two methods of communicating The first is ASCII where the instructions are communicated to the control module in the form of ASCII mnemon ics and data is also given in ASCII format The second is binary where the instruction is in the form of an OpCode and numeric data is given in IEEE floating point hex format In binary mode there is also the option of including a checksum to ensure that information is received properly at the control module The BIO flag controls the method of communication When it is True 1 the binary method should be used and when it is False 0 the ASCII method should be used ASCII ASCII is the most common mode of communicating with the LYNX System It allows the use of readily available terminal programs such as HyperTerminal ProComm and the new LYNX Terminal When using the ASCII method of communications the control module tests for four special characters each time a character is received These characters are given in the table below along with an explanation of what occurs when the character is received The command format in ASCII mode when the control module is in Single M
261. nt to the INPUT instruction which will only accept input from LYNX MicroLYNX COMM 1 param is an optional nowait parameter var Variable param 0 Suspend prog execution param 1 Do not suspend prog execution If param is not specified then param 0 INPUT1 var lt param gt Enhancement to the INPUT instruction which will only accept input from LYNX MicroLYNX COMM 2 param is an optional nowait parameter var Variable param 0 Suspend prog execution param 1 Do not suspend prog execution If param is not specified then param 0 INPUT2 var param Initializes specified parameters to the factory default state param ALL All vars flags and VO settings If param is not IP lt param gt lt param gt VARS Variables only specified then lt param gt FLAGS Flags only lt param gt ALL lt param gt IOS VO settings PGM GET PGM Keyword used with the GET instruction to retrieve the contents 558 of program space from NVM Instruction used to place the LYNX MicroLYNX in program mode PRINT PRINT lt text param gt Instruction used to output text and parameter value s to the host See Language Reference for usage details Enhancement to the PRINT instruction that will allow the user to PRINT tex param only output to LYNX MicroLYNX COMM 1 ES Enhancement to the PRINT instruction that will allow the
262. nt type input for a second encoder or as the master clock input for the half axis mode Clock 3 Counter Variable Again refer to the IOS variable for information on how these channels are set up by default and how they can be changed for your system It should be noted that the clock type could effect the clock rate here For instance if a quadrature clock type is chosen the actual count will be four times the number of lines A 1000 line encoder would produce 4000 counts per revolution of the motor Related Commands IOS RATIO MUNIT RATIOE HAS HAE DCL Read Only Status Flag Binary Mode Usage Example Opcode Hex Decimal BR lt lbl addr gt DCL lt flg gt FALSE 0 Not decelerating Bn fig TRUE 1 Axis is decelerating FALSE 0 BEh 190 Notes The Deceleration Flag is a read only status flag which will be TRUE 1 when the Control Module is decelerating the Axis It will be FALSE 0 at all other 1 Deceleration Flag Related Commands DECL DCLT DCLT Setup Variable Binary Mode Usage Example Parameters Opcode Hex Decimal Deceleration Type Variable lt param gt 0 User Defined lt param gt 1 Linear DCLT lt param gt lt param gt 2 Triangle S Curve 1 Linear 6Ch 108 lt param gt 3 Parabolic lt param gt 4 Sinusoidal S Curve Software Reference 03 10 2000 3 54 Notes The DCLT Variable defines the type of curve that will be used to build deceleration Comparison
263. nter 2 to 0 S SAVE save the aforementioned settings 8 Test the encoder setup by entering the following into your terminal MOVR 10 the motor moves 10 revolutions we hope ao PRINT POS we read the POS variable it should say 10 000 PRINT 2 we read CTR2 it should read 10 X EUNIT or 20000 Connection Showing 10 Pin Header MICRO LI On 0 0 m 8 Stepping 8 Differential Motor Encoder I Ti M 8 Zoo Sin ne oo oa ne m PHASE PHASEA PHASE B PHASEB Ey co 12 48 SUP Connection Showing 8 Position Phoenix Terminal MicroLYNX Figure 9 9 Differential Encoder Connection Introducing The EUNIT Encoder UNITS Variable During open loop operation the MicroLY NX takes the number of clock pulses registered on scales that number using the MUNIT variable and then writes the result to the position variable POS For closed loop operation where the encoder functions are enabled EE 1 the MicroLYNX takes the number of clock pulses registered on CTR2 scales them by the EUNIT variable and stores them to the POS counter The EUNIT variable must be scaled to the same factor as the MUNIT variable For example if you were scaling your system to operate in degrees the MUNIT EUNIT relationship would be expressed thus
264. nternal inductive 5VDC clamp is 100mJ milli joules I non repetetive It is recommended a that an external clamp be used 2 pour ur if that value may be exceeded See Note Load S upply f 28VDC Max Isolated Ground Isolated Ground Figure 9 4 LYNX Isolated I O Output Equivalent Circuit Modular LYNX System 03 10 2000 1 50 C3 DN 419 The Differential Digital 1 0 Module Section Overview A LYNX system may contain an optional Differential I O Module which provides six 6 high speed differen tial I Os These I Os can be used as clock inputs or outputs or general purpose I O Along with the differential motion I Os P1 pins 1 4 ofthe LYNX Control Module these I O make up the Group 1 signal set Each signal pair is a 0 to 5VDC input or output When used as an input or an output a single ended or differential configuration is accommodated Hardware Specifications Environmental Specifications Mechanical Specifications Power Requirements Pin Assignments Input Specifications Input Filtering Output Specifications Hardware Specifications Environmental Specification Operating Temperature 22 0 to 50 degrees Storage Temperature esses 20 to 70 degrees C Humidity iue itcr rt drei Cet bid 0 to 90 non condensing Mechanical Specification
265. oLYNX Expansion Slot Configuration Application Isolated Digital O High Speed Differential Analog Expansion Requirement Input Joystick Slot 6 Additional SLOT 1 12 Additional Isolated I O SLOT 2 SLOT 3 SLOT 1 18 Additional Isolated I O SLOT SLOT 3 SLOT 1 Encoder Feedback SLOT2 SLOT 3 SLOT 1 Encoder Feedback Secondary Clock Out or In SLOT2 SLOT 3 SLOT 1 6 Additional Isolated I O Encoder Feedback SLOT 2 SLOT 3 SLOT 1 12 Additional Isolated Secondary Clock Out or In SLOT2 SLOT 3 SLOT 1 Analog Input or Joystick Control SLOT2 SLOT 3 6 Additional SLOTI Isolated I O Analog Input or Joystick Control SLOT 2 SLOT 3 SLOT 1 12 Additional Isolated I O Analog Input or Joystick Control SLOT 2 SLOT 3 SLOT 1 Analog Input or Joystick Control Encoder Feedback SLOT2 SLOT 3 6 Additional SLOT 1 Isolated VO Analog Input or Joystick Control Encoder Feedback SLOT 2 SLOT 3 SC NE is Eo qu Jer S EIN s r DN 250 j sm 1 EN GE NEN ES EE NA GN 5 14 see Wasa sss Ee EX 12 11 Lese ___ x ES s E n gd 3 __ e 15 o NEL CHE MEN r 001 REFERRE NES METRE UR CX
266. oLYNX Product Manual indicates the calculation required to select degrees as our user unit in this case is 51200 Microsteps per rev 360 degrees 142 222 Microsteps per degree By setting the MUNIT variable to 51200 360 the MicroLYNX will perform the calculation to convert the user unit to degrees Now when a relative motion instruction MOVR 90 is issued the motor will turn 90 degrees Let s enter a sample program that will convert motor steps to degrees execute a 90 move and report that move every 100 milliseconds while the motor is moving Type the following bold commands Enter Program Mode start program at Location 2000 PGM 2000 Label the program TSTPGM LBL TSTPGM Set the user units to degrees MUNIT 51200 360 Set the max velocity to 25 degrees per second VM 25 Execute a relative move of 90 degrees MOVR 90 Report the position every 100 ms while moving LBL PRINTPOS DELAY 100 PRINT Axis position is POS Degrees BR PRINTPOS MVG End the program END PGM Now Type TSTPGM to run program This sample program will be stored starting at location 2000 It sets the conversion factor for the user units sets the maximum velocity and then starts a motion While the motion is occurring the position is reported every 100 milliseconds At this point you may desire to restore the settings to their factory default as you may not wish to use degrees as your user unit To do this you will u
267. ock is not available on any external connector May be configured as an input or output By default this is configured as a quadrature input 9 13816 Slota It can be configured as a tertiary clock output electronically geared to CLK1 Table 9 5 The Four Clocks and Their Default Line Placement Configuring the Differential 1 0 The IOS Variable The high speed differential I O is configured by means of the IOS variable and is used in the the same fashion in which the isolated I O is configured The main difference lies in that there are three additional parameters which need to be set in configuring the triggering clock type and ratio mode setting It is important to note that the high speed differential I O lines may be used for the same input or output functions as the isolated digital I O where the higher speed capabilities of the differential I O is required 2 63 The Expansion Modules 9 4 2 o E However for purposes of this example we will only illustrate the clock functions associated with the high speed differential I O Figure 9 6 illustrates the IOS variable settings for the high speed differential I O Configuring the High Speed 1 0 a Non Clock Function Configuring the high speed I O to clock functions will be covered in depth in the following subsections on configuring encoder and ratio functions Here we will briefly discuss using the high speed I O as a general purpose or dedicated I O fu
268. ode PARTY FALSE is lt Mnemonic gt lt white space gt lt ASCII data for 1 parameter lt ASCII data for 2 parameter ASCII data for ni parameter CR LF The mnemonics for Control Module instructions variables flags and keywords are given in Section 6 of this document White space is at least one space or tab character CR LF represent the carriage return line feed 1 23 Communications Interface XNA T EIpalA ASCII Mode Special Command Characters lt esc gt Terminates all active operations and all running Escape Key programs I lt BKSP gt Moves the cursor back one in the buffer to correct a Backspace Key typing error Table 5 7 ASCII Mode Special Command Characters characters that are transmitted in response to the Enter key on the keyboard provided the ASCII setup specifies Send line feeds with line ends Note that there need not be a space between the data for the last parameter and the CR LF Also note that if there is only one parameter the CR LF would immediately follow the data for that parameter The command format in ASCII mode when the control module is in Party Mode PARTY TRUE would be identical to that in Single Mode with the exception that the entire command would be preceded by the control module s address character stored in DN and terminated by a CTRL J rather than ENTER Address character gt lt Mnemonic gt lt white space gt lt ASCII data for 1 parameter lt
269. odules S Q gt gt 2 gt o E Using the Isolated Digital 1 0 The Isolated Digital Expansion I O operates in the very same manner as the standard isolated I O The only differences are the location of the pull up switches and the method of supplying an external pull up voltage 2 184 55 47 INTELLIGENT MOTION SYSTEMS INC MICROLYNX ISOLATED 101 102 VPULL 101C 102 103 O 104 105 i06 C 106 103 104 105 PULL UP SWITCH Figure 9 2 The Isolated Digital I O Module Bottom View The pull up switches are located on the bottom of the expansion board They operate in the same fashion as the standard I O set pull ups Configuring and using these switches is detailed in Section 8 of this document Another key difference is the method by which an external pull up voltage is supplied to the I O While the I O Ground is common to each Isolated Digital I O Module installed both the Differential I O Module and the Analog Input VO GROUP 20 con STAND 5 to 24VDC Supply Figure 9 3 Powering Multiple Isolated Digital I O Modules Joystick Module have separate non isolated grounds V PULLUP is NOT common This allows you to power each I O group independently if you choose The expansion isolated digital I O is configured and controlled by the IOS variable and the IO instructions in the same manner as the sta
270. of Deceleration Types 1 Constant smooth linear deceleration from initial to max velocity 2 Triangle S Curve profile 3 The Parabolic profile best utilizes the speed torque characteristics of a stepper motor since the highest acceleration takes place at low speeds It will however be the profile that results in the maximum jerk and is not recommended for applications requiring smooth starting and stopping Such applications would include those that pull a material or move liquid 4 The Sinusoidal S Curve profile is very similar to 3 the triangle S Curve The main difference is that it has less jerk when starting or stopping Deceleration Profiles Constant Triangle S Curve Parabolic Sinusoidal S Curve Velocity Figure 4 5 Deceleration Profiles Related Commands DECL ACLTBL DECL Setup Variable Peak Deceleration Variable Binary Mode Usage Example Range Opcode Hex Decimal _ User Units per 0000000000000001 to DECL lt num gt 9999 999 999 999 999 1 000000 000 6Dh 109 Notes The DECL Variable sets the peak deceleration that will be reached by the Control Module in user units per second If the user units have not been set then the value is in clock pulses per second The actual deceleration profile is maintained by the DCLT variable The value given by DECL sets the maximum deceleration that the Control Module will reach Related Commands MUNIT DCLT DCL 14 Q F 0
271. ogram for help in debugging the program When the program is executed while there are break points set the program executes continuously until the address or label specified by the break point is encountered The user can then step through the program by pressing the space bar to execute a single line If the user wishes to continue execution to another break point or to the end of the program this can be done by pressing the enter key There are 11 entries in the break point table The first entry break 0 enables or disables the function If it is set to O the function is disabled any nonzero value enables the function The remaining ten entries break 1 break 10 hold program addresses at which execution should break awaiting a command to continue from the user The program address may be entered numerically or by label BSY Read Only Status Flag Binary Mode Usage Example Opcode Hex Decimal BSY FALSE 0 No program running PRINT BSY BSY TRUE 1 Program running FALSE 0 BCh 188 Notes The BSY flag is a read only status flag which will read TRUE 1 when a program is executing It will be in a FALSE 0 state at all other times Busy Flag By setting an output to I O Type 21 the LYNX Product will activate that output whenever the BSY Flag is TRUE Related Commands PRINT EXEC IOS CALL Program Mode Instruction Call Subroutine Instruction Binary Mode Usage Example Condition Opcode Hex Decimal
272. on t resume motion in response to a RES instruction 5 Interrupt motion with the LDECL deceleration but don t resume motion in response to a RES instruction AO 5 5 23 3 5 Related Commands PAUS PAUSD DECL LDECL RES PCHG Read Only Status Flag Position Change Flag Binary Mode Usage Example Opcode Hex Decimal BR lt PCHG BR lb addr IPCHG x ey cc m FALSE 0 D9h 217 PRINT PCHG gog p Notes This read only status flag indicates whether or not the axis is trying to obtain a specified position This flag becomes TRUE when the axis is moving in a profile motion It is FALSE when the axis is moving in a jog or slew motion and becomes FALSE after the specified position has been exceeded in a MOVA or MOVR instruction with mode 1 When the motor is moving in jog or slew motion or after the position has been reached during a MOVA or MOVR instruction with mode 1 MVG is TRUE See the example for MOVA where HOLD is used to wait until PCHG becomes FALSE before starting the second move in the profile PFMT Setup Variable Binary Mode Usage Example Parameters Opcode Hex Decimal Print Format Variable lt num1 gt Number of digits before the decimal 0 16 num2 Number of digits after the decimal 0 16 PFMT lt num1 gt num2 param lt param gt 0 Spaces as placeholders 10 3 2 93h 147 lt param gt 1 Zeros as placehol
273. on Slot 2 Encoder Connections essere ren eere 2 66 Table 9 9 Analog Input Module 2 71 Table 9 10 Analog Input Joystick Module Pin Configuration eese 2 71 Table 9 11 Analog Input Joystick Module Command Summary serene 2 72 Table 9 12 RS 232 Expansion Module Pinout 2 76 Table 9 13 RS 485 Expansion Module Pinout essere eene en en 2 TI S El 5 o E List of Figures Figure 1 1 Dimensional Information eeeseeeeeeseeseeeeenenne eene nne enne nenne enne rnnt nennen retener 2 9 Figure 1 2 MicroLYNX Connection Overview 1 2 11 Figure 1 3 MicroEY NX Switches etti rt eee ve Rot HERO EUR Sese E Eee ead tees 2 12 Figure 2 1 Basic Setup Configuration nette temi a be e e e Ree e tradere Rete 2 13 Figure 3 1 Dimensional Information eese netten enne nennen nennen rennen 2 17 Figure 3 2 MicroLYNX System with Isolated Digital I O Expansion Module Installed 2 18 Figure 3 3 Installing the Optional Expansion Modules a rennen 2 18 Figure 3 4 Panel Mounting MicroLYNX sssrini niio eere nennen a 2 19 Figure 4 1 MicroLYNX Power Connections
274. on in which the isolated I O is configured The main difference lies in that there are three additional parameters which need to be set in configuring the triggering clock type and ratio mode setting It is important to note that the high speed differential I O lines may be used for the same input or output functions as the isolated digital I O where the higher speed capabilities of the differential I O is required However for purposes of this example we will only illustrate the clock functions associated with the high speed differential I O Figure 6 6 following illustrates the IOS variable settings for the high speed differential I O Set the Triggering Set the Ratio Mode Enter the Channel 13 18 here 0 Level 0 No Ratio 1 Edge 1 Ratio Define the Clock Type lOS XX X X X X Enter I O Line Type Here 1 Clock 1A NOTE The 2 Clock 1B Clock s are 0 Not A Clock 3 Clock 2 fixed to their Set the state 1 Quadrature 4 Clock 2B associated I O of the Line or Group 2 Step Direction 5 Clock channel and 0 Active Low 3 Up Down 6 Clock cannot be 1 Active High 7 Clock 4A changed They Define Line or Group 8 Clock 4B are entered for As Input or Output sake of consistency 0 Input only 1 Output Figure 6 5 IOS Variable Settings for the
275. onnections a The number of separate shields required in a system is equal to the number of independent signals being processed plus one for each power entrance a The shield should be tied to a single point to prevent ground loops a A second shield can be used over the primary shield however the second shield is tied to ground at both ends WARNING When using an unregulated supply ensure that the output voltage does not exceed the maximum driver input voltage due to variations in line voltage It is recommended that an input line filter be used on power supply to limit voltage spikes to the system Modular LYNX System 03 10 2000 1 12 LYNX Control Module with IMS Driver In this case power is connected to the LYNX Control Module via connector P1 All optional plug on modules are then powered from the LYNX Control Module In this configuration pins 5 and 6 on connector P2 of the Control Module becomes a 5VDC 150mA internally limited regulated output If an encoder is to be used in the system it may be powered via these pins Below is a table of recommended power supply specifications for each IMS drive Ensure that the DC Output of the Supply Does Not Exceed the Maximum Driver Input Voltage All Power Supply Wiring Should Be Shielded Twisted Pair to Reduce Electrical Noise AC Line Power Supply 5VDC Opto Supply Step Clock Input Direction Input Motor Driver Figure 4 1 Power Configuration LYNX
276. ontrol Module If your PC is equipped with an RS 485 Board no converter is necessary Connect RS 485 lines directly to Host PC as shown RS 232 To RS 485 Converter Recommended IMS Part CV 3222 Figure 5 3 RS 485 Interface Single Controller System Modular LYNX System 03 10 2000 1 20 NOTE The HOST switch MUST be off to communicate with the Control Module in a Single Controller System using the RS 485 Interface Multiple Controller System When using the RS 485 interface in a Multiple Control 2 as all of the control modules communicate on the RS 485 OFF OFF interface In this case there is no Host Interface Control Module so all control modules in the system should have their Host switch OFF or HOST flag set to False 0 The Host PC will be equipped with an RS 485 board or RS 232 to 485 converter In systems with multiple controllers it is necessary to communicate with the control modules using PARTY Mode of operation The LYNX Control modules in the system are configured for this mode of operation by setting the Party Switch configuration switch 3 labeled PT to the ON position or setting the PARTY Flag to True 1 in software It is necessary for all of the controllers in a system to have this configuration selected When operating in PARTY Mode each control module in the system will need a unique address or name to
277. or For instance at the prompt type SLEW 10 This will move the motor at a speed of 10 munits per second If the motor does not move verify that the wiring is in accordance with Figure 2 1 If the wiring is determined to be correct type PRINT ERROR An error number other than zero 0 will be displayed See Appendix B for more information Once you have been able to move the motor the next step is to write a simple program to illustrate one of the dynamic features of the MicroLYNX the ability to convert motor steps to a dimension of linear or rotary distance Let s begin by discussing the relationship between the MUNIT variable and user units Typically when we perform a move we want to know the distance of that move in a familiar unit of measurement That means translating motor steps to the desired unit of measurement The MicroLYNX Controller has the capability of doing this for you You have already set the motor units variable MUNIT to a value of 51200 2 15 Getting Started With the driver set to a resolution of 256 microsteps per step MicroLYNX factory default and a 1 8 step motor that will be equal to 1 revolution of the motor or one USER UNIT A user unit can be any unit of measure At this point by entering the instruction MOVR 1 the motor will turn one complete revolution relative to its current position Therefore 1 User Unit 1 Motor Revolution For the exercise below we will use degrees for our user unit As the Micr
278. or The syntax of these commands are as such first type the command followed by a space and then the velocity or position data For example MOVA 2000 will move the motor to position 2000 1 0 An I O instruction results in the change of parameters or the state of an Input or Output The syntax of these commands are as such first type the command followed by a space then the I O then an equal sign then the data Example IO 21 1 will set I O 21 true Program A program instruction allows program manipulation The syntax of these vary due to the nature of the command Some examples would be as such PGM 100 this command toggles the system into program mode starting at address 100 BR Loop IO 21 1 this command will Branch to a program labeled Loop if I O 2 is true System A system instruction is an instruction that can only be used in immediate mode to perform a system operation such as program execution EXEC or listing the contents of program memory LIST For example EXEC 2000 will execute a program located at line 2000 of program memory space Variables Variables are labeled data that allow the user to define or manipulate data These can also be used with the built in math functions to manipulate data There are two classes of variables factory defined and user defined The syntax for each variable may differ See Section 4 LYNX Programming Language Reference for usage instructions and examples Factory Defined Var
279. or leads connected to the following connector pins which are clearly labeled for ease of use gt Phase Pin x Phase cesses ces tec 4 o Phase B tete sete 3 2 Phase 1 3 8 Lead Motors For the systen designer 8 lead motors offer a high degree of flexibility in that they may be connected in series or parallel thus satisfying a wide range of applications Series Connection Parallel Connection A series motor configuration would typically be used in applications where a higher torque at low speeds is needed Because this configuration has the most inductance the performance will start to degrade at higher speeds Use the per phase or unipolar current rating as the peak output current or multiply the bipolar current rating by 1 4 to determine the peak output current An 8 lead motor in a parallel configuration offers more stability but lower torque at lower speeds but because of the lower inductance there will be higher torque at higher speeds Multiply the per phase or unipolar current rating by 1 96 or the bipolar current rating by 1 4 to determine the peak output current PHASE A PHASE A PHASE B PHASE B Figure 5 2 8 Lead Motor Series Connection PHASE A PHASE A PHASE B PHASE Figure 5 3 8 Lead Motor Parallel Connection Motor Requirements MicroLYNX System Rev 03
280. otor is being driven by an IM483 in 1 256 resolution One revolution of the motor gives 25 mm of deflection The normally open dry contact switch will be between ground and the Inputs The internal pull up resistor to 5VDC for the inputs has been selected by the dip switches Therefore when the switch is pressed the input will be grounded or low and when not pressed it will be SVDC or high Sample Program 1 1A This first program will set I O 21 as an Input to interface a switch When the Input is pulled low through the switch the motor will move one revolution The switch will essentially will initiate the program GO Switch IOS 21 9 0 0 0 0 0 PGM 1 LBL InitProg POS 0 LBL TurnOnce MOVR 51200 HOLD 2 END PGM Set I O 21 to be a GO input Enter program mode at address 1 Name the following program InitProg Set position to zero Name the following program TurnOnce Move relative 51200 steps Suspend program execution until motion has stopped Designate the end of the program Exit program mode 1B The second program will set I O 21 as an Input to interface a switch When the Input is pulled low through the switch the motor will move one revolution The switch will essentiallyl initiate the program GO Switch Then it will wait 3 seconds return to zero and wait for I O 25 to become true before repeating the cycle After each cycle it activates one of the 6 LED s until the sixth one is reached then it resets
281. ound as shown may result in damage to the Control Module and or Host NOTE If using the RS 232 Interface Option the Host PC MUST be less than 50 feet from the Control Module If your system will be greater than 50 feet from the Host PC you must use the RS 485 RS 485 Interface MicroLYNX System Rev 03 10 2000 2 36 Header Phoenix Header Phoenix Header Phoenix Ls s fs L fom fs L mm Software Switch Setting Software Switch Setting Software Switch Setting HOST Flag 1 HOST Flag 0 HOST Flag 0 PARTY Flag 1 PARTY Flag 1 PARTY Flag 1 A2 A1 A0 Address Set A2 A1 A0 Address Set A2 A1 AO Address Set OR OR OR DN lt char gt DN lt char gt DN lt char gt ul83S g XNAT0 2 IAI Table 7 3 Connections and Settings Multiple MicroLYNX System RS 232 Interface MicroLYNX 1 n oo oo a COMMUNICATIONS MicroLYNX Pin Te C rf N 10 Pin Header i Host PC Ol zdnou5 e MicroLYNX 2 INQAWOO e PHASEA PHASE A PHASE PHASEB power SUPPLY GND P MicroLYNX 10 Pin Header To Other MicroLYNX Nodes in System Figure 7 2 RS 232 Interface Multiple MicroLYNX System 2 37 The Communications Interface Connecting th
282. oup 20 I O Pull Up Switches Can Be Changed at any Time Usable for Exercising Inputs LINK Individual Switches for VO Group 20 Pull Ups When this switch is on the is pulled up through an internal 7 5 Kohm resistor to 5VDC Can be used to simulate the activation of an input while testing system software Table 7 7 LYNX Control Module Group 20 I O Pull up Switches Group 30 I O Pull Up Switches Can Be Changed at any Time Usable for Exercising Inputs Individual Switches for VO Group 30 Pull Ups When this switch is on the VO is pulled up through an internal 7 5 Kohm resistor to 5VDC Can be used to simulate the activation of an input while testing system software Table 7 8 LYNX Control Module Group 30 I O Pull up Switches Modular LYNX System 03 10 2000 1 42 6 ON The LYNX Control Module Combination Section Overview The Control Module Combination IMS Part LX CM200 000 offers the user of purchasing a LYNX Control Module with 3 differential I O Channels and 6 Isolated I O lines instead of the standard 2 Isolated I O groups This section will cover a Hardware Specifications Environmental Specifications Mechanical Specifications Power Requirements Connection Overview LED Indicators Pin Assignments Switch Assignments Hardware Specifications Environmental Specifications Operating Temperature 2
283. over from the slot you will be using 4 Insert Expansion Module into open slot seating until module snaps into place See Figure 3 3 5 Replace the side of the case 6 Insert and tighten screws HIGH SPEED DIR IO Tightening Torque TERMINAL BLOCK E WDC OUTPUT Specification For A CHANNEL A 4 CHANNEL A 4 to 5lb in 0 45 100 56 N m CHANNEL CHANNEL C CHANNEL C GROUND 57 to 9 Slot 1 1 HIGH SPEED DIFF 1 0 Figure 3 3 Installing the Optional Expansion Modules MicroLYNX System Rev 03 10 2000 2 18 Mounting the MicroLYNX System to a Panel The MicroLYNX System can be mounted to a panel by using standard 6 hardware As the system has a built in cooling fan no heat sinking is necessary When mounting the MicroLYNX System in an enclosure ensure that adequate space is available for air flow on the fan side of the MicroLYNX case Mounting screws should be tightend to 5 7 Ib in torque WARNING Ensure that adequate clearance on the fan side of the case is left for air flow S gt 5 o 5 D 3 Mounting Screw Torque Specification 5 to 7 Ib in 0 60 to 0 80 N m Figure 3 4 Panel Mounting the MicroLYNX 2 19 Installing and Mounting the MicroLYNX SECTION 4 Powe
284. pCode all data fields and separators OE hex Modular LYNX System 03 10 2000 1 24 SEGTION 9 Configuring the Digital 1 0 Section Overview This section covers the usage of the Isolated Digital and High Speed Differential I O channels which are available on the LYNX System System I O Availability by Module The Isolated Digital I O Configuring an Input Setting the Digital Input Filtering for the Isolated I O Configuring an Output Setting the Binary State of an I O Group a The Differential I O The Clock Interface Configuring an Input Setting the Digital Input Filtering for the Differential I O Configuring an Output a Typical Functions of the Differential I O System Availability by Module The LYNX System offers the designer ability to custom tailor the LYNX System for their individual applica tion needs Below is a table illustrating the available configurations and the I O set which whould be present with each configuration Allowable LYNX System I O Configurations LYNX LX CM100 LX CM200 LX CM100 System Eun LX DI100 LX DI100 LX DD100 GROUP 10 HIGH SPEED 11 12 13 11 12 13 14 amp 17 14 amp 17 LX CM100 LX DI100 LX DD100 LX CM100 LX DC100 11 12 13 14 amp 17 Configuring The Digital I O XNA T EIpalA The Isolated Digital 1 0 The LYNX Control Module comes standard with a set of six 1
285. param2 gt 0 All global and local user vars and or flags deleted lt param2 gt 1 Only global user vars and or flags deleted lt param2 gt 2 Only local user vars and or flags deleted DVF lt param1 gt lt param2 gt Notes This instruction deletes user defined variables and flags Global variables and flags are defined in immediate mode while local variables and flags are defined as part of a program Syntax Examples DVF 1 2 Delete only local variables DVF 0 2 Delete all local flags and variables DVF 2 2 Delete only local flags DVF Delete all flags and variables Related Commands VAR FLG Software Reference 03 10 2000 3 58 ECHO Setup Variable Echo Mode Variable Binary Mode Usage Example Opcode Hex Decimal mode 0 Full duplex mode 1 Half duplex mode 2 No echo only resp to PRINT and LIST ECHO lt mode gt Full Duplex 1 72h 114 Notes This variable specifies whether or not the Control Module should echo commands received via the communications port back over the line 0 Echo all information back over communications line Full duplex 1 Don t echo the information only send back prompt Half duplex 2 Does not even send back prompt only responds to PRINT and LIST commands EDB Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes This variable defines the and length of the encoder deadband for position ma
286. r units sets the maximum velocity and then starts a motion While the motion is occurring the position is reported every 100 milliseconds At this point you may desire to restore the settings to their factory default as you may not wish to use degrees as your user unit To do this you will use the CP DVF and IP instructions CP Clear Program To clear the program type CP 1 1 This will completely clear program memory space Should you desire to only remove one program the instruction CP Program Label i e CP TSTPGM would clear only that program In this exercise only one program was entered CP TSTPGM will clear it DVF Delete User Defined Variables and Flags By entering DVF all of the user defined variables will be removed Although no Flags were set in this exercise this command would clear them were they used IP Initialize Parameters This instruction will restore all of the parameters to their factory default state After entering these instructions a SAVE instruction should be entered Modular LYNX System 03 10 2000 1 8 ee ODN Connecting the LYNX System Section Overview Each module of the LYNX System is a closed unit with a header of pins and locking tabs to connect it to another module in the system Optional I O modules are connected on the RIGHT side of the Control Module This section covers Removing the End Plates Connecting D
287. r terminal or to set up conditions for branches and subroutine calls within a program We can also use this command to write or read the state of an entire I O group Read Write a Single 1 0 Line To read the state of a single input or output the following would be typed into the terminal PRINT IO 21 The response from this would be 1 or 0 depending on the state of the line The state of an input or output in a program can be used to direct events within a LYNX program by either calling up a subroutine using the CALL instruction or conditionally branching to another program address using the BR instruction This would be done in the following fashion CALL MYSUB IO 22 1 This would call up a subroutine labled MYSUB when I O line 21 is active BR 200 IO 22 0 This would branch to address 200 when I O line 22 is inactive Writing to an output is accomplished by entering the following into a terminal or program IO 21 1 IO 21 0 This would change the state of I O line 21 2 55 The Isolated Digital I O Read Write 1 0 Group When using the IO variable to read the state of a group of inputs outputs or write to a group of outputs you would first BIT WEIGHT DISTRIBUTION TABLE want to configure the entire I O group to be general purpose FOR GROUP 20 I O inputs or outputs using the IOS variable In this case the UD ia ve
288. rameter to this instruction If there is no value given for this parameter or it is ALL then all variables flags and the program space are refreshed in working memory Alternately if the parameter is specified as FLAGS only the values of system flags are refreshed and if the parameter is specified as VARS only the values of the system variables are refreshed It should be noted that user defined flags and variables those defined using a FLG or VAR instruction are not refreshed with a GET command Related Commands ALL FLAGS VARS PGM Software Reference 03 10 2000 3 64 GECHE Global Echo Enable Disable Flag Setup Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disabled GECHE lt flg gt lt flg gt TRUE FALSE 0 C8h 200 Notes Enable 1 or disable 0 the echo of Global commands For use in party mode communications only A global command is any command that specifies the LYNX Product name as the GLOBAL Control module character instead of a specific LYNX system node name This flag should be TRUE for only one LYNX node on the common RS 422 line Related Commands PARTY HAE Setup Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disabled HAE lt flg gt fig TRUE 4 FALSE 0 C9h 201 Notes In half axis mode the master clock is taken from the clock input 2 3 or 4 line pairs 13 14 15 16 or 17 18 which have been set for i
289. rate the use of the Analog Input Joystick Module In each case a 1kQ potentiometer is used to emulate a sensor for analog input mode and a joystick for velocity mode Use the connection configuration shown in figure 9 13 below a joystick or a sensor would be connected the same way Dj Motor Power and Communications Connections not shown cno OW rL 0 LH Saquvosg NOISNVdX3 SNOLIVOINDIWINOO e PHASEA 5V Reference PHASEA PHASEB n n n n AIN 1 GND PHASE B power V SUPPLY GND 1k Potentiometer MicroLYNX Figure 9 13 Analog Input Module Exercise Connection Exercise 1 Velocity Joystick Mode Here the potentiometer is emulating a joystick Enter and execute the following program When the voltage on AIN 1 is roughly 100mV either side of 2 5 volts it will be in the deadband range of the joystick When less than 2 4 volts the axis will accelerate in the minus direction When more than 2 6 volts it will accelerate in the positive direction The velocity will increase as the voltage decreases from 2 4 to 0 or increases from 2 6 to 5 0 This can be watched with a multimeter In this exercise both the axis velocity and position will display to the terminal screen Parameterg MSEL 256 MRC 100 MAC 10
290. rence Table 6 8 contains a summary of the configuration commands for the CAN Module The MicroLYNX must be in ASCII communications mode for use with the CAN Module 2 43 The Communications Interface El 5 o E To Set the CAN Bit Timing Registers Command Usage Example BTRO lt hex digit gt lt hex digit BTRO 49 BTR1 lt hex digit gt lt hex digit gt BTR1 34 This sets 100 Kbaud 5 time quanta before the sample point 4 time quanta after the sample point CAN Bit Timing Registers 7 6 5 4 3 BTRO SJW BRP Table 7 9 CAN Bit Timing Registers and 2 time quanta for re synchronization jump width SJW Re synchronization jump width Adjust the bit time by SJW 1 time quanta for resynchronization Valid values are 0 3 BRP Baud rate prescalar The oscillator frequency 10 MHZ is divided by BRP 1 to generate the bit time quanta Sample Bit Timing Register Settings TSEG2 Time segment after sample point There are Doue TAE Aan Sennas 5 time quanta before sample point TSEG2 1 time quanta after the sample point Valid values 4 time quanta after sample point 1 7 2 time quanta for re synchronization jump width un BAUD kb BTR0 BTR1 TSEGI Time segment before sample point There are TSEG1 1 time quanta before the sample point Valid DE t nl values are 2 15 250 43h 34h A bit time is subdivided into four
291. rent and microstepping settings of your MicroLYNX System Types and Construction of Stepping Motors The stepping motor while classed as a DC motor is actually an AC motor that is operated by trains of pulses Though it is called a stepping motor it is in reality a Polyphase Synchronous Motor This means it has multiple phases wound in the stator and the rotor is dragged along in synchronism with the rotating magnetic field The MicroLYNX System is designed to work with the following types of stepping motors 1 Permanent Magnet PM 2 Hybrid Stepping Motors Hybrid Stepping Motors combine the features of the PM Stepping Motors with the features of another type of stepping motor called a Variable Reluctance Motor VR which is a low torque and load capacity motor that is typically used in instrumentation The MicroLYNX System cannot be used with VR motors as they have no permanent magnet On Hybrid motors the phases are wound on toothed segments of the stator assembly The rotor consists of a permanent magnet with a toothed outer surface which allows precision motion accurate to within 3 percent Hybrid Stepping Motors are available with step angles varying from 0 45 to 15 with 1 8 being the most commonly used Torque capacity in hybrid steppers ranges from 5 8000 ounce inches Because of their smaller step angles Hybrid motors have a higher degree of suitability in applications where precise load positioning and smooth motion
292. ring the MicroLYNX System Section Overview This section covers the power requirements for your MicroLYNX System Selecting power supply a Basic rules of wiring and shielding a Power supply connection and requirements a Recommended power supplies Selecting a Power Supply Selecting a Motor Supply V Proper selection of a power supply to be used in a motion system is as important as selecting the drive itself When choosing a power supply for a stepping motor driver there are several performance issues that must be addressed An undersized power supply can lead to poor performance and possibly even damage to your MicroLYNX System The Power Supply Motor Relationship Motor windings can be basically viewed as inductors Winding resistance and inductance result in an L R time constant that resists the change in current To effectively manipulate the rate of charge the voltage applied is increased When traveling at high speeds there is less time between steps to reach current The point where the rate of commutation does not allow the driver to reach full current is referred to as Voltage Mode Ideally you want to be in Current Mode which is when the drive is achieving the desired current between steps Simply stated a higher voltage will decrease the time it takes to charge the coil and there fore will allow for higher torque at higher speeds Another characteristic of all motors is back EMF Back EMF is a
293. rive The 3 5 CD while smaller than typical compact disks will work in any tray type CD drive For Windows 3 x users click File gt Run in program manager and type x terminal 1 6bit setup exe in the Command Line box x is the drive letter of your CD ROM For Windows 9x NT4 2000 users click Start gt Run and type x terminal 32bit setup exe in the Open box Follow the on screen instructions to complete the installation 1 Open the LYNX Terminal by double clicking the IMS icon labeled LYNXTERM in the LynxTerm program group Windows 3 x or select Start gt Programs gt LynxTerm gt LYNXTERM Windows 9x NT 2000 2 Click the File Menu Item Setup 3 Select the Terminal gt Setup option 4 Select the Communications Port that you will be using with your MicroLYNX MicroLYNX System Rev 03 10 2000 2 14 5 The BAUD rate is already set to the MicroLYNX default Do not change this setting until you have established communications with the MicroLYNX Controller 6 The Window Size settings are strictly optional You may set these to whatever size is comfortable to you 7 Click OK The settings will be automatically saved upon a normal shutdown 8 Apply power to the MicroLYNX Controller The following sign on message should appear in the Terminal window Program Copyright 1996 2000 by Intelligent Motion Systems Inc Marlborough CT 06447 VER SER Detailed instructions
294. rking memory in permanent memory NVM CP 1 1 This will clear all of working memory CP TSTPRG 0 This will clear the program labeled TSTPRG only CP 2000 1 Clear from line 2000 to the end of working memory space CP 2000 0 Clear from line 2000 to the first END or RET SAVE tn 5 5 Q 5 5 CPL Immediate Program Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal CPL lt var flag gt lt var flag gt Variable or flag 33h 51 Notes This instruction will perform the twos complement of the specified variable or flag Twos Complement Instruction Has the effect of negating a numerical value For instance a variable named TESTVAR has a value of 2 CPL TESTVAR will cause the value of TESTVAR to equal 2 In the case of flags it will also be negated For example a flag named TESTFLAG TRUE 1 then CPL TESTFLAG will cause TESTFLAG to be FALSE 0 Syntax Examples VAR TESTVAR 2 Declare user variable TESTVAR set value to 2 PGM 100 Start program at address 100 LBL TEST Label the program TEST PRINT TESTVAR Print the value of TESTVAR CPL TESTVAR Twos complement TESTVAR PRINT TESTVAR Print the value of TESTVAR END End the program PGM Return to immediate mode CSE Check Sum Enable Flag Setup Flag Binary Mode Usage Example Opcode Hex Decimal T lt flg gt FALSE 0 Disabled CSE flg flo TRUE 1 2
295. rogram Execution Flag Binary Mode Usage Example Opcode Hex Decimal BR lt lbl addr gt PAUSD BR lt lbl addr gt IPAUSD 1 SUED 1 22 2 FALSE 0 D8h 216 PRINT PAUSD Notes This read only status flag will indicate whether or not a program has been paused Related Commands PAUS Software Reference 03 10 2000 3 82 PAUSM Setup Variable Binary Mode Usage Example Parameters Opcode Hex Decimal Pause Mode Variable lt mode gt 0 Normal deceleration resume with RES lt mode gt 1 LDECL deceleration resume with RES lt mode gt 2 Complete motion stop with normal deceleration PAUSM lt mode gt lt mode gt 3 Complete motion stop with LDECL deceleration Medan SEIT 146 lt mode gt 4 Normal deceleration no resume with RES lt mode gt 5 LDECL deceleration no resume with RES Notes Determines how motion is stopped in response to the PAUS instruction and whether or not it is restarted in response to the RES instruction The following describes how motion is stopped and resumed for each value of PAUSM 0 Interrupt motion with normal deceleration DECL and resume motion in response to a RES instruction 1 Interrupt motion with the LDECL deceleration and resume motion in response to a RES instruction Complete the current motion stopping with the normal deceleration DECL Complete the current motion stopping with the LDECL deceleration Interrupt motion with normal deceleration DECL but d
296. rs The integration of the drive and the small size of the MicroLYNX are the most obvious accomplishments in its development The ability to customize the I O suite to the application in smaller increments is another The basic MicroLY NX System comes standard with six 5 to 24VDC isolated digital programmable I O lines This is epandable to a total of twenty four lines using optional expansion modules This section summarizes the specifications for the basic MicroLYNX system The expansion modules available for the MicroLYNX are Isolated Digital 5 to 24VDC I O M High Speed Differential I O Analog Input Joystick Interface RS 232 Module for use with the CAN version only RS 485 Module for use with the CAN version only These modules and their applications are covered in detail in Section 9 Configuring and Using the Expansion Modules A more subtle enhancement is the provision of two fully independent communication ports for the LYNX system While modular LYNX provided both RS 232 and RS 485 ports these ports shared the same UART on the LYNX CPU This limited communications on these ports to sequential usage Adding a fully independent second UART allows simultaneous usage Software has been updated to keep this system fully compatible with the Modular LYNX The MicroLYNX will accept commands from either COMM port and can now direct output to either port regardless of the state of the HOST flag Of course compatibility mea
297. rview The Isolated I O Module IMS Part LX D1100 000 offers the user of adding an addition 12 Isolated 5 to 24VDC General Purpose I O lines in two groups of six each Groups 40 and 50 for a total of 24 individu ally programmable O when used with the LYNX Control Module 18 When used with the Control Module Combination a Hardware Specifications Environmental Specifications Mechanical Specifications Pin Assignments Switch Assignments Input Specifications Input Filtering Output Specifications Hardware Specifications Environmental Specification Operating Temperature esee 0 to 50 degrees C Storage Temperature rateci die reser opea pecu 20 to 70 degrees C Humidity 2 t Rete Rr etr tates 0 to 90 non condensing Mechanical Specification HEHHEE x SARS Figure 9 1 LYNX Isolated I O Module Dimensions 1 47 The Isolated I O Module XNA TEMPON Connection Overview 5V Pullup Enable Switches for Group 40 Group 40 Isolated I O Group 50 Isolated I O Isolated Ground 5V Pullup Enable Switches for
298. ry Mode Parameters Opcode Hex Decimal position x Absolute position mode 0 Decelerate to position and stop Mode 0 44h 68 mode 1 Do not decelerate move part of profile Notes There are two parameters to the MOVA instruction The first specifies the absolute position to which the axis should move The second specifies the mode of the movement If mode 0 then the axis should just stop when the specified position is reached If mode 1 then the motion is part of a profile and the motor should not decelerate to the specified position In this case it is expected that a new motion will take place immediately after the position is reached so the motion continues at the final speed Note that if mode is not specified it is the same as having specified a mode of O MOVA lt position gt mode If MUNIT has been specified then the position should be given in user units Otherwise the position should be specified in clock pulses tn 5 5 23 o 5 5 20 Absolute Position Figure 4 7 MOVA Instruction Mode 1 Syntax Example This example will use the MOVA instruction to create the profile shown below Ensure that your start position is set to absolute 0 POS 0 Set Position to 0 PGM 100 Start program at address 100 LBL MOVADEMO MOVADEMO program VM 4 Maximum velocity set to 4 user units sec for move 1 MOVA 20 1 Index to absolute position 20 do not decelera
299. s executed the LED will be lit during the move The IO Variable Figure 6 3 Isolated I O Output After configuring the I O by means of the IOS variable we need to be able to do two things with the I O 1 Write to an output or group of outputs thus setting or changing its their state 2 Read the states of either inputs or outputs We can use this information to either display those states to our terminal or to set up conditions for branches and subroutine calls within a program We can also use this command to write or read the state of an entire I O group Read Write a Single 1 0 Line To read the state of a single input or output the following would be typed into the terminal PRINT IO 21 The response from this would be 1 or 0 depending on the state of the line The state of an input or output in a program can be used to direct events within a LYNX program by either calling up a subroutine using the CALL instruction or conditionally branching to another program address using the BR instruction This would be done in the following fashion CALL MYSUB IO 22 1 This would call up a subroutine labled MYSUB when I O line 21 is active BR 200 IO 2220 This would branch to address 200 when I O line 22 is inactive Writing to an output is accomplished by entering the following into a terminal or program IO 21 1 IO 2120 This would change the state of I O line 21 1 29 Configuring the Digital I O XIVA T EInpalA Read
300. s the following error codes have been added to support the inclusion of the Analog Module and aid in troubleshooting the MicroLYNX System 1201 Selected Analog Board not installed 1202 Analog channel number not available 1204 Analog option not installed 1205 Analog VALUE out of range possibly defective Board 2101 Analog RANGE not allowed 2102 Analog destination source not allowed 2103 Analog Destination Source already used 2104 Invalid Analog Channel number 2105 Analog LAW not allowed 2106 Can tenable Joystick while in motion or can t exec motion cmd with Joystick enabled S El 5 o E 9014 Analog input not allowed for data The ADS Variable A to D Setup The ADS variable is the heart of the MicroLYNX Analog Input Joystick Interface Module There are three parameters that control how the module will respond to input It is used as follows ADS chan aunit mode law chan Is the analog input channel that will be used either 1 or 2 aunit This parameter sets the relationship between the analog input and units that are convenient to the user In analog User mode the aunits parameter is the number of user units corresponding to the Analog Module full scale In Joystick Velocity mode the aunits parameter is the number of munits second corre sponding to the Joystick Full Scale JSFS parameter mode The mode parameter controls whether or not the input is used for ve
301. s of the IJSC instruction or can be updated manually as shown above Joystick Deadband Variable Related Commands IJSC JSC JSFS JSE Qo 5 23 o 5 5 JSE Setup Flag Binary Mode Usage Example Opcode Hex Decimal a lt flg gt FALSE 0 Disabled JSE lt flg gt fig TRUE 1 Enabled FALSE 0 DOh 208 Notes The JSE flag enables disable joystick velocity mode for the MicroLYNX Analog Input Joystick Module Related Commands IJSC JSC JSFS JSDB Joystick Enable Disable Flag JSFS Setup Variable Joystick Full Scale Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes The JSFS variable supports the Analog Input Joystick Interface module and is updated automatically by means of the IJSC instruction or can be updated manually as shown above Related Commands IJSC JSC JSDB JSE 3 73 LBL Program Mode Instruction Binary Mode Usage Example Parameter Opcode Hex Decimal lt name gt 1 8 Alphanumeric characters and underscore _ 42h 66 Notes This instruction will label the address of a program or subroutine within a program Label Program Subroutine Instruction The name of the label can be 1 to 8 alphanumeric characters in length You may use the underscore _ character in the name as well The first character of a label cannot be a numeral Subroutine calls branches program execution events trip an
302. s that it has less jerk when starting or stopping 14 F 0 E D 22 D t t 3 i b Acceleration Profiles Constant Triangle S Curve Parabolic Sinusoidal S Curve Velocity Figure 4 1 Acceleration Profiles Related Commands ACCL ACLTBL 3 43 ACLTBL Variable Binary Mode Usage Example Range Opcode Hex Decimal lt num gt 0 256 Description The acceleration table is a table of 256 points that can be used to define a user acceleration profile The value specified in num 0 is the scale factor for the table It will be multiplied by the rest of the points in the table to get the true acceleration profile A point in the table can be specified by setting ACLTBL num val as shown in the example below To use this all 256 points must be defined Acceleration Table Variable If ACLTBL num 0 is set to 0 then the table is considered empty In order for the table to be used the ACLT DCLT or LDCLT variable must be set to 0 The routine below illustrates how the ACLT variable in all its types effects the acceleration profile ACLTBL 1 0 ACLTBL 2 0 110 ACLTBL 3 0 220 ACLTBL 256 0 110 Related Commands ACCL ACLT DCLT LDCLT Figure 4 2 Triangle S Curve Profile Plotted using num val in an Acceleration Table Software Reference 03 10 2000 3 44 ADS Variable Binary Mode Usage Example Range Opcode Hex Decimal Analog Input Setup Variable
303. s up a sign on banner is echoed out the serial port This banner consists of copyright and version information MAC Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes This variable controls the percent of driver output current to be used when the axis is accelerating See the section on current control in the part of this document pertaining to your product for more information Figure 4 4 illustrates the relationship between the current control variables Related Commands MRC MHC PMHCC Motor Acceleration Current Setting Variable MHC Setup Variable Binary Mode Usage Example Range Opcode Hex Decimal Notes This variable controls the percent of driver output current to be used when the axis is between moves See the section on current control in the part of this document pertaining to your product for more information Related Commands MRC MAC PMHCC Motor Holding Current Setting Variable MRC 35 MAC 80 las 35 i 80 Max Velocity VM MAC 80 80 MHC 15 lou 15 6 9 e o 2 MSDT 30 y HCDT 60 I Initial Velocity VI Motor Settling Delay Time 30ms Delay Time 60ms Figure 4 6 The Relationship Between the Current Control Variables Software Reference 03 10 2000 3 76 MOVA Immediate Program Instruction Move To Absolute Position Instruction Usage Example Bina
304. sabled when the LYNX MicroLYNX encounters an END or RET statement Related Commands TH 2 TIS 4 TP1 TP2 TP3 TP4 Setup Variables Trip On Position Variables Binary Mode Usage Example Parameters Opcodes Hex Decimal lt gt 1 4 TP1 A3h 163 pos Position in user units 0 000 0 0 TP2 A4h 164 lt lbl addr gt Subroutine invoked on trip d TP3 A5h 165 output Output set TRUE on trip TP4 A6h 166 TP lt x gt lt pos gt lt lbl addr gt output Notes There are three parameters for the TPx variables The first specifies the position at which the specified subroutine should be executed The second specifies the address of the subroutine that should be executed when the position is reached The third optional parameter specifies an output to be set TRUE when the trip is reached It should be noted that if EE is TRUE 1 in order to use TP3 and TP4 as encoder counts the ENC input must be hard wired to the EVENT input The pos range is 0000000000000001 to 9 999 999 999 999 999 user units based on the value of MUNIT Related Commands TPE1 TPE2 TPE3 TPE4 MUNIT TPE1 TPE2 TPES TPE4 Trip On Position Enable Disable Flags Setup Flags Binary Mode Usage Example Opcode Hex Decimal TPE1 E9h 233 TPE2 EAh 234 EBh 235 TPE4 ECh 236 lt 1 4 lt lt 9 gt lt flg gt FALSE 0 Disable lt flg gt TRUE 1 Enable
305. se X 2 0 4 0 Amps Peak Example 2 An 8 lead motor in parallel configuration with a specified bipolar current of 2 8A 2 8 X 1 4 2 3 92 Amps Peak Setting the Output Current The output current on the MicroLYNX is set in software As previously mentioned the MicroLYNX differs from other step motor drivers in that the acceleration current can also be set in addition to the run current and holding current There are 3 variables in the MicroLY NX instruction set to set these current values MAC Motor Acceleration Current This value will be used by the MicroLYNX whenever velocity is changing therefore it will also be the value used when the motor is decelerating MRC Motor Run Current This value will be used by the MicroLYNX whenever the motor is at peak velocity MHC Motor Holding Current This value will be used by the MicroLYNX when motion has ceased The MicroLYNX will change to the hold current setting AFTER the time specified by the MSDT and HCDT vari ables See Figure 6 1 and Table 6 1 in the beginning of this section for more detail on these variables and their setup Example Current Setting For purpose of example we will set the acceleration current to 80 the run current to 45 and the holding current to 15 We will allow the motor 2 seconds to settle into place and delay 5 seconds before reducing the current to the holding value MAC 80 MRC 45 MHC 15 MSDT 2000 HCDT 500 MicroLYNX System Rev 03 10 2000
306. se clock functions are illustrated in figure 6 3 Quadrature Figure 6 4 Clock Functions The quadrature clock function is the most commonly used input clock function This is the default setting for each high speed I O channel except 11 amp 12 This clock function will typically be used for closed loop control encoder feedback or for following applications Step Direction The step direction clock funtion would typically be used in an application where a secondary or tertiary clock output is required to sequentially control an additional axis Up Down The up down clock type would typically be used as an output function where a secondary axis is being driven by a stepper or servo drive with dual clock direction control circuitry The Four Clocks This clock is internally generated motion clock It provides step clock and directional control to 1 ens CIRI the driver section This clock is not available on any external connector May be configured as an input or output By default this is configured as a quadrature input 2 15 16 Sora CIRS It can be configured as a tertiary clock output electronically geared to CLK1 Table 6 5 The Four Clocks and Their Default Line Placement 1 31 Configuring the Digital I O XNA T EInpalA Configuring The Differential 1 0 IOS Variable The high speed differential I O is configured by means of the IOS variable and is used in the the same fashi
307. se the CP DVF and IP instructions CP Clear Program To clear the program type CP 1 1 This will completely clear program memory space Should you desire to only remove one program the instruction CP Program Label i e CP TSTPGM would clear only the specified program In this exercise only one program was entered CP TSTPGM will clear it DVF Delete User Defined Variables and Flags By entering DVF all of the user defined variables will be removed Although no flags were set in this exercise this command would clear them were they used IP Initialize Parameters This instruction will restore all of the parameters to their factory default state After entering these instructions a SAVE instruction should be entered MicroLYNX System Rev 03 10 2000 2 16 C3 COIN c9 Installing and Mounting the MicroLYNX Section Overview This section covers the installation of the optional expansion modules and panel mount procedures for the MicroLYNX System B Dimensional information Installation and removal of the optional expansion modules m Mounting the MicroLYNX System to a panel El 5 o E Dimensional Information 2 900 73 66 2X 300 2X 7 62 GU00000000 gt
308. segments as defined in the m 1000 40h 34h CAN specification Each segment is a multiple of the time quantum t The synchronization segment Sync Seg is Table 7 10 Sample Bit Timing Register always 1 t long The time before the sample point is defined as the combined times of propagation time segment and the phase buffer segmentl TSEGI The time after the sample point is defined as the phase buffer segment2 TSEG2 The Bit Timing Registers can also be set using the Bit Rate Bit Timing Calculator utility in the LYNX Terminal software that comes with the MicroLYNX see Figure 7 7 This utility can be accessed from the Setup Configure CAN menu item on the main LYNX terminal window Bit Time Definition 1 Bit Time os os ors rs s s s s sg q q q q q q q q Sample Transmit Point Point Table 7 11 CAN Bit Time Definition MicroLYNX System Rev 03 10 2000 2 44 Message Frame 1 Message Frame 2 Message Frame 3 Baud Rate Bit Timing Calculator Mask Registers LYN Settings Time Segment Before Sample Pt Baud Rate ITSEG1I 5 500 KHz Time Segment After S ample Pt TSEG2 0 4 Bit Time Baud Rate Prescaller 200 uSec Synchronization Jump Width 5Jw 1 0 3 40 uSec Source of Settings INIT PC DEVICE No Communications DK Figure 7 7 Bit Register Configuration Dialog from LYNX Terminal S El 5 o E For inst
309. sponse Opcode Hex Decimal PRINT ERRA lt addrl gt Foreground program address Bih 177 Response lt addr1 gt lt addr2 gt lt addr2 gt Background program address Notes The ERRA variable allows the user to troubleshoot programs and is automatically set when the ERROR flag is set It contains the ERROR type and program location It will clear only when it is replaced by another error address ERRA will return two numbers The first number will be the address of the last error in the foreground program the second will be the address of the last error in the background program Related Commands ERROR ONER FAULT Software Reference 03 10 2000 3 60 ERROR Read Only Variable Binary Mode Usage Example Range Opcode Hex Decimal PRINT ERROR See Error Table Appendix B Lo o 74h 116 Notes This read only variable indicates the program error code for the most recent error that has occurred in the Control Module The ERROR variable must be read in order to clear the ERR flag Error Type Variable See Appendix B for a list of possible errors Related Commands ERR ONER FAULT ERRA EUNIT Setup Variable Encoder UnitsVariable Binary Mode Usage Example Range Opcode Hex Decimal o Encoder counts 0000000000000001 to Notes Conversion factor for converting motor steps or user units to encoder counts when an encoder is being used for position feedback When the encoder is enabled EE 1 POS will
310. t specified will list all program space If lt flg gt not specified lt flg gt 0 List stored program space beginning with label or address specified by Ibl addr flg 0 List through end of program space flg 1 List through first END LIST lbl addr lt flg gt Perform point to point move or index to an absolute position instruction Use of mode is optional num Absolute position Mode 0 is used MOVA num mode mode 0 Motion ceases when position is when mode not reached specified mode 1 Motion part of a profile does not decelerate Perform point to point move or index to a relative position instruction num Absolute position Mode 0 is used MOVR num mode mode 0 Motion ceases when position is when mode not reached specified mode 1 Motion part of a profile does not decelerate ONER ONER lt lbl addr gt On error go to the specified label or address lt lbl addr gt PAUS PAUS Suspends the executing program as well as any motion that is in EN progress instruction SAVE SAVE Saves all variables flags and programs currently in working e memory to NVM Instruction used to set a variable or a flag to a specified value SET lt var gt lt num gt NOTE The SET instruction does not need to be entered to take SET lt flg gt lt state gt effect When entering lt var gt lt num gt or lt flg gt lt state gt SET is assumed Sl
311. t line gt Perform point to point move or index to an absolute position instruction Use of lt mode gt is optional lt num gt Absolute position Mode 0 is used MOVA lt num gt lt mode gt lt mode gt 0 Motion ceases when position is when mode not reached specified lt mode gt 1 Motion part of a profile does not decelerate Perform point to point move or index to a relative position instruction lt num gt Absolute position Mode 0 is used MOVR lt num gt lt mode gt lt mode gt 0 Motion ceases when position is when mode not reached specified lt mode gt 1 Motion part of a profile does not decelerate Position Related Variables Flags and Instructions cont d Read only flag indicates when motion is taking place BR lt lbl addr gt MVG lt flg gt lt lbl addr gt Program label or address PRINT MVG lt flg gt 0 Axis is stationary lt flg gt 1 Axis is in motion Read only flag indicates when the axis is trying to reach a specified relative or absolute position lt lbl addr gt Program label or address flg 0 Axis is moving in a jog or slew lt flg gt 1 Axis isindexing to a position POS POS lt num gt Register which contains the axis position in user units IUE PRINT POS num x Position POSCAP PRINT POSCAP Read only variable position at time of TRIP 0 000 BR lt lbl addr gt PCHG lt flg gt PRINT PCHG Drive and Motor Drive and Motor Related
312. te HOLD 0 Suspend program execution until completion of position change VM 8 Maximum velocity set to 8 user units sec for move 2 MOVA 60 Index to absolute position 60 decelerate and stop END End program PGM Return to immediate mode Related Commands VI VM ACL ACLT DCL DCLT MOVR Immediate Program Instruction Binary Mode Usage Example Parameters Opcode Hex Decimal lt position gt Relative position MOVR lt position gt mode mode 0 Decelerate to position and stop Mode 0 45h 69 mode 1 Do not decelerate move part of profile Notes The primary difference between MOVA and MOVR is that where MOVA indexes to a position MOVR will index a distance from the current position Move To Relative Position Instruction There are two parameters to the MOVR instruction The first specifies the relative position to which the axis should move The second specifies the mode of the movement If mode 0 then the axis should just stop when the specified position is reached If mode 1 then the motion is part of a profile and the motor should not decelerate to the specified position In this case it is expected that a new motion will take place immediately after the position is reached so the motion continues at the final speed Note that if mode is not specified it is the same as having specified a mode of O If MUNIT has been specified then the position should be given in user units Otherwise t
313. than 1 or Error Code 9004 Ratio Out of Range will occur 2 69 The Expansion Modules Connection Showing 10 Pin Header 0 1 0Z dnouo Stepping Motor SNOLIVOINQAWOO e T T Encoder PHASE A PHASE A POWER SUPPLY MicroLYNX Connection Showing 8 Position Phoenix Terminal Figure 9 11 One and a Half Axis Operation One and a Half Axis Operation RATIOE A secondary drive can be connected to a pair of differential outputs The secondary driver will operate off of the differential output pair 15 and 16 I O pair 13 and 14 can also operate in this mode Setting the ratio mode to TRUE 1 for the differential output clock IOS specifies a secondary drive function Then when ratio mode is enabled RATIOE the secondary axis will follow the primary axis with the ratio specified by the RATIO variable The sequence of commands used to make this setup function would be as follows Set IOS 15 to step direction clock type and ratio mode IOS 15 5 0 1 0 2 1 Set IOS 16 to step direction clock type and ratio mode IOS 16 6 0 1 0 2 1 Set Ratio Mode Enable Flag to TRUE 1 RATIOE 1 Set RATIO variable to 5 for the secondary drive RATIO 5 With this setup the motor on the secondary drive will move half the distance of the primary NOTE The RATIO variable must be set to less than 2 or 2 or Error Code 9
314. that you MUST set the EUNIT variable AND the MUNIT variable to the same scaling factor for accurate position monitoring In the example below you will use a hypothetical system designed from the following components An IMS IB462H Half Full Step driver configured for Half Step Operation A 1 8 Stepping Motor mounted to a 20cm linear slide A 200 Line Encoder You will want to use millimeters for our user unit The IB462H in half step mode will need 400 clock pulses to turn the motor one revolution The pitch on the leadscrew is such that one millimeter of linear motion will require 25 clock pulses 400 steps rev 25 steps mm 16 mm rev Therefore you would set the MUNIT variable as follows MUNIT 400 16 Now when you give a MOVR 20 instruction the axis will index 20 millimeters Now to set the EUNIT Variable We have a 200 line encoder connected to a quadrature clock input This will mean that 1 revolution will equal 800 Encoder Pulses you will have to use the same scaling factor as we did for MUNIT as there will still be 16mm per revolution EUNIT 800 16 Both values must be set and both must be set to the same scaling factor With the EE 1 a MOVR 20 command will still index the axis 20 millimeters but position will be maintained by CTR2 Half Axis Operation Follower In half axis mode the master clock is taken from a clock input 2 3 or 4 line pairs 13 14 15 16 or 17 18 which have been set for input clock type and ratio
315. the system using a single MicroLYNX The system HOST is established by setting the HOST Flag to True 1 in software The remaining MicroLYNX nodes in the system must then be connected to the HOST MicroLYNX using the RS 485 interface and will have their HOST Flag set to 0 In this interface configuration Host PC communications will be received by the Host MicroLYNX via RS 232 and forwarded to all of the other MicroLYNX nodes in the system via the RS 485 channel Responses from the individual nodes in the system will be routed back to the Host MicroLYNX via the RS 485 channel then internally converted to RS 232 before being forwarded back to the Host PC In systems with multiple MicroLY NX nodes it is necessary to communicate with the Host MicroLYNX using PARTY Mode of operation The MicroLYNX nodes in the system are configured for this mode of operation by setting a unique party address using the address switches or setting the PARTY Flag to True 1 in software It is necessary for all of the system nodes to have this configuration selected When operating in 2 35 The Communications Interface PARTY Mode each MicroLYNX in the system will need a unique address to identify it in the system This can be done using configuration switches A0 A2 or by using the software command SET DN For example to set the name of a controller to A you would use the following command SET DN z A The factory Party Mode Address Configuration Switches
316. the DIN rail attachment onto the top edge of the DIN rail Snap LYNX system into place Figure 3 2 4 Insert 46 X 250 L set screw provided into the TOP threaded insert located between the 6 screws on each end plate Figure 3 3 Tighten until 12 14 in oz This will keep the system from sliding on the DIN rail Figure 3 2 Installing the LYNX System on a DIN Rail To Remove the LYNX System from the DIN Rail l Loosen the set screws located in the TOP threaded insert between the 6 screws on each end plate Grasp the pull tabs located on the bottom of the DIN Rail brackets to release the LYNX system from the DIN Rail Figure 3 3 C amp D while gently lifting the front of the LYNX system Liftthe LYNX System Away from the DIN Rail TE HERE TI E th DIN Rail Bracket DIN Rail Pull Tab 6 X 250 Set Screw Top Location Only 12 14 in oz torque Removal from DIN Rail 90066 Figure 3 3 Installing the Set Screw Removing the LYNX System from the DIN Rail NOTE The DIN Rail Mounting option should only be used on STATIONARY Systems Itis not designed for transport 1 11 Mounting The LYNX System XIVA T EIpalA SECTION 2 Powering the LYNX System Section Overview This section covers the two basic power configurations for your LYNX System
317. tion raska ep e inen 2 70 Figure 9 12 Installing the Analog Input Joystick 4 2 72 Figure 9 13 Analog Input Example Connection 2 74 Figure 9 14 Connecting the RS 232 Expansion Module eese enne 2 16 Figure 9 15 Connecting RS 485 Expansion 2 77 MicroLYNX System Rev 03 10 2000 2 6 0 u uJ 4 The MicroLYNX System Section Overview This section summarizes the specifications for the basic MicroLYNX system It contains the following E Introduction a Electrical Specifications E Mechanical Specifications Introduction The MicroLYNX is a Motion Control System integrating a bipolar stepper motor microstepping drive and a programmable indexer with expandable I O and communication capability into a compact panel mounted assembly The basic system is available with either 3 Amp MicroLYNX 4 or 5 Amp MicroLYNX 7 RMS motor drive capability The basic MicroLYNX System can also be purchased with either the standard dual communications or Controller Area Network CAN interface The MicroLYNX has been developed from the LYNX 1 5 Axis Modular Motion System It has inherited all of its capabilities along with enhanced features and additional software commands to make use of these features and control the motor drive paramete
318. tion echoed is 500 and not 300 SLEW Move at a constant velocity SLEW 2000 The motor will move at a constant velocity 2000 munits per second HOLD A HOLD 2 should typically follow MOVA or MOVR commands a program so that program execution is suspended until motion is complete Note There are circumstances where you may not want to hold up program execution Below is a usage example PGM 1 MOVR 200 HOLD 2 END PGM 1 0 Commands 1 0 Grouping Group 10 Differential High speed I O I O Lines 11 18 Predefined as differential Step Direction outputs Group 20 50 Isolated 5 24vdc I O Control Module Group 20 I O Lines 21 26 Group 30 I O Lines 31 36 Isolated I O Module Group 40 I O Lines 41 46 Group 50 I O Lines 51 56 105 Sets the parameters of the I O this command configures the I O Using the PRINT command to read IO parameters Read all I O parameters PRINT IOS Read I O group 20 parameters PRINT IOS 20 Read I O 21 parameters PRINT IOS 21 Setting the I O parameters Set group 20 I O parameters IOS 20 1 1 11 Set I O 25 parameters IOS 25 See the table on the next page for full I O identification and settings For example To set I O 25 as a Jog input Low True Level triggered the following would be entered IOS 25 16 0 0 0 IO Used to read write the binary state of an I O group or read write of an individual output Note
319. tions with the LYNX Related Commands SAVE BIO Setup Flag Binary Mode of Operation Flag Binary Mode Usage Example Opcode Hex Decimal x lt flg gt FALSE 0 ASCII BlO lt flg gt lt flg gt TRUE 1 FALSE 0 B9h 185 Description This flag when set to TRUE 1 sets the communications mode to binary When the flag is FALSE 0 the communications mode is ASCII Related Commands CSE Software Reference 03 10 2000 3 46 BKGD Read Only Status Flag Binary Mode Usage Example Opcode Hex Decimal Background Program Running BR lbl addr BKGD BKGD 2 program BR lbl addr I5BKGD _ FALSE 0 BAh 186 PRINT BKGD BKGD Bert Background Program Description This Read Only Status Flag indicates whether or not a background program is running A background program is started by the RUN instruction The result is two tasks a foreground task and a background task running at the same time Related Commands RUN BKGDA BKGDA Read Only Status Variable Binary Mode Usage Example Range Opcode Hex Decimal PRINT BKGDA 1 8175 Do Description This variable holds the present instruction address for the background task Background Program Address Variable Related Commands BKGD RUN BLE Setup Flag Backlash Compensation Enable Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disabled BLE lt flg gt lt flg gt TRUE 1 Enabled FALSE 0 BBh 1
320. tions in either program or immediate mode The following table explains the clocks as well as their default I O line pair placement Clock Types Defined There are three basic types of clocks that may be configured for the MicroLYNX they are 1 Quadrature MicroLYNX System Rev 03 10 2000 2 62 2 Step Direction 3 Up Down Step Clock Direction These clock functions are illustrated in figure 9 6 Quadrature quadrature clock function is the most commonly used input 21 E clock function This is the default setting for each high speed channel except 11 amp 12 This clock function will typically be used Quadrature for closed loop control encoder feedback or for following applications Channel A Step Direction The step direction clock funtion would typically be used in an TEM application where a secondary or tertiary clock output is required Up Down to sequentially control an additional axis Up Down cw The up down clock type would typically be used as an output function where a secondary axis is being driven by a stepper or _ servo drive with dual clock direction control circuitry Figure 9 6 Clock Functions The Four Clocks This clock is internally generated motion clock 1 11 amp 12 lt provides step clock and directional control to the driver section This cl
321. ts sec MOVA 60 Move absolute 60 user units decelerate and halt NOP No operation END End Program PGM Return to immediate mode ONER Immediate Program Instruction On Error Instruction Binary Mode Usage Example Parameters Opcode Hex Decimal ONER lt lbl addr gt lt lbl addr gt Subroutine to be called on error 47 71 Notes When an error occurs in a program or due to an immediate command the specified subroutine is called If a program was running when the fault occurs once the error routine completes program execution continues with the instruction after the one that caused the error A program need not be running for the subroutine specified by ONER to run The error function is disabled by setting the address parameter of a subsequent ONER command to 0 or resetting the LYNX Product Syntax Example Executing the following program will cause the above routine to be called when an error occurs reporting the error to the host PGM 100 Start program at address 100 LBL ERR HND Label program ERR HND PRINT Error Number ERROR RET Return from subroutine ONER ERR HND On error goto ERR HND END End program PGM Return to immediate mode If the error report is no longer desired it can be turned off as follows ONER 0 Related Commands ERR ERROR Qo 5 5 23 5 9 5 PARTY Setup Flag Binary Mode Usage Example Opcode Hex Decimal i lt flg gt FALS
322. uch as the converter sold by IMS Part CV 3222 or installing an RS 485 board in an open slot in your host PC Covered in detail in this section are RS 232 interface single MicroLYNX System RS 232 interface multiple MicroLYNX System RS 485 interface single MicroLYNX Interface RS 485 interface multiple MicroLYNX System Connecting and configuring the optional Controller Area Network CAN bus MicroLYNX modes of operation MicroLYNX module communication modes Connecting the RS 232 Interface Single MicroLYNX System In systems with a single MicroLYNX also referred to as Single Mode the MicroLYNX is connected directly to a free serial port of the Host PC Wiring and connection should be performed in accordance with the following table and diagram In this mode the PARTY ADDRESS switches will be in the OFF position and the PARTY Flag will be set to 0 in software This is the factory default setting Please be aware that you cannot communicate with the MicroLYNX in single mode unless those conditions exist WARNING Failure to connect communications ground as shown may result in damage to the Control Module and or Host NOTE If using the RS 232 Interface Option the Host PC MUST be less than 50 feet from the Control Module If your system will be greater than 50 feet from the Host PC you must use the RS 485 interface MicroLYNX System Rev 03 10 2000 2 34 RS 232 MicroLYNX Connection 10 Pin Header 7 Pin Phoenix 2
323. uctance used in conjunction with highest possible driver voltage The winding inductance will determine the motor type and wiring configuration best suited for your system While the equation used to size a motor for your system is quite simple several factors fall into play at this point The winding inductance of a motor is rated in milliHenrys mH per Phase The amount of inductance will depend on the wiring configura tion of the motor The per phase winding inductance specified may be different than the per phase inductance seen by your MicroLYNX System depending on the wiring configuration used Your calculations must allow for the actual inductance that the driver will see based upon the motor s wiring configuration Figure 5 1A shows a stepper motor in a series configuration In this configuration the per phase inductance will be 4 times that specified For example a stepping motor has a specified per phase inductance of 1 47mH In this configuration the driver will see 5 88 mH per phase Figure 5 1B shows an 8 lead motor wired in parallel Using this configuration the per phase inductance seen by the driver will be as specified Using the following equation we will show an example of sizing a motor for a MicroLYNX 4 used with an unregulated power supply with a minimum voltage V of 18 VDC 2X 1823 6 mH The maximum per phase winding inductance we can use is 3 6 mH Actual Inductance Actual Inductance Seen By The Driver See
324. unting the LYNX 57610 1 10 SECHON QVELVICW gt 1 10 Panel M untu aus ua H 1 10 Din Mounting Option MEREEPEEPE 1 10 Included in the DIN Rail Mounting Kit oe eee 1 10 Mounting the LYNX System to a DIN 1 10 Powering the LYNX SVSI m_ u suy 1 12 Neu did 1 12 Witing and Shielding e 1 12 n 1 12 Rules Gf Shielding u 5 1 Q a aQ 1 12 LYNX Control Module with IMS Driver 1 13 Stand alone or with Optional I O 4 1 14 5512 00 75 V DC Supply 2 ect te n e t i oe p pur epe ee RR Ea PEE 1 14 S VDC SUPPLY u 1 14 Power Requirements siir sreci isecen re rt RR RR ER UE REIP E Fg e EE Dee e nre 1 15 The Communications Interface 1 16 DECHON QVELVICW 1 16 Connecting the RS 232 Interface etis trece
325. ure 9 8 is almost identical to that shown for closed loop control only in this instance instead of using a quadrature clock input for position monitoring and mainte nance we will use the encoder input to control the primary axis Using this type of application introduces the HAE Half Axis Enable flag and the HAS Half Axis Scaling variable In half axis mode the master clock is taken from the CLK2 CLK3 or CLK4 I O channels 13 amp 14 15 amp 160r 17 amp 18 which have the IOS variable configured as inputs a clock type and ratio mode enabled The primary axis will move as a ratio of this clock based upon the factor entered in the HAS variable MicroLYNX System Rev 03 10 2000 2 68 HAE Half Axis Enable Disable Flag This flag 1 enables and 0 disables half axis scaling mode The default condition is 0 disabled The HAE flag must be enabled for this mode to function HAS Half Axis Scaling Variable The half axis scaling variable is the factor by which the Follower Input Primary Axis ratio is scaled The range of the factor is gt 1 to 1 For example a setting of HAS 5 will output 1 pulse on the primary axis for every 2 pulses input to the follower input or a 2 1 ratio HAS 2 will be 5 1 HAS 999 will be 999 1 and so on The default HAS value is 0 000 thus some factor must be entered to make this function Configuring the 1 0 for Half Axis Mode 5 The parameter setup to make this configuration follows This assumes a
326. used Rename and save the new name Remove power 6 Repeat the last two steps for each additional control module in the system 1 21 The Communications Interface XIVA T EIpalA RS 485 Interface Wiring And Connectionsfor Multiple LYNX Nodes RS 232 to RS 485 Converter Control Module 1 Control Module n Recieve Data RX Transmit Data TX Ping Transmit Data TX Pin 9 l Data ransmit Data 1 ata 1 in 1 1 Transmit Data Recieve Data RX Pin 7 Recieve Data RX Pin 7 n T E r YE E Communications Ground Communications Ground Pin 11 Communications Ground Pin 11 PARTY Switch ON PARTY Switch ON or or PARTY Flag TRUE 1 PARTY Flag TRUE 1 Table 5 6 RS 485 Interface Connections and Settings Multiple Control Module System Control Module 1 HOST Switch OFF PARTY Switch ON Control Module 2 HOST Switch OFF PARTY Switch ON AED If your PC is equipped with an RS 485 Board no converter is necessary Connect RS 485 lines directly to Host PC as shown To Other Control Modules RS 232 To RS 485 Converter in System Recommended IMS Part CV 3222 Figure 5 4 RS 485 Interface Multiple Control Module System It is also possible to communicate with a controller in the system in single mode by sending it a command with address to clear the party flag and then communicate with it as in singl
327. user to PRINT2 PRINT2 tex param nly output to LYNX MicroLYNX COMM 2 SAVE SAVE Saves all variables flags and programs currently in working memory to NVM PRINT SER variable that contains the serial number of the LYNX 5 Instruction used to set variable flag to specified value SET lt var gt lt num gt NOTE The SET instruction does not need to be entered to take SET lt flg gt lt state gt effect When entering lt var gt lt num gt or lt flg gt lt state gt SET is assumed Software Reference 03 10 2000 3 32 Data Related Instructions Keywords and Flags cont d STAT PRINT STATS Keyword used with the PRINT instruction to output the values of only status flags U S UFLGS PRINT UFLGS Keyword used with the PRINT instruction to output the values of only user defined flags LBLS PRINT ULBLS Keyword used with the PRINT instruction to output the values of only user defined labels S E A VAR VAR S name Instruction used to define a user variable to hold numeric data lt name gt 1 to 8 alpha numeric characters PRINT VARS Keyword used with the GET PRINT and IP instructions to GET VARS indicate the inclusion of only variables IP VARS y i VER PRINT VER Read only variable that contains the version information of the D LYNX product UVAR PRINT UVARS Keyword used with the PRINT instruction to output the values of only user defined variables Event Trip Event Trip R
328. ut specified as the home switch IOS type 12 is monitored for activation If a limit switch is encountered before the specified switch is seen the direction will be reversed until the specified switch is seen The motor will be allowed to go by the switch and then return in the specified direction to find the home position If both limits are encountered before the specified switch is seen the motion is stopped and an error is flagged Syntax Example In this example we will use the FIOS command to home the axis on initial power up We will not specify the line parameter since we want to use the home switch We will specify the speeds however Assume that the MUNIT and EUNIT variables have been set so that the user unit is inches therefore speeds are specified in inches per second We will search for the switch at 5 inches per second and come off of it at 1 inch per second IOS 21 12 Set IO line 21 to a homing input PGM100 Start program at address 100 LBL FINDIO Label program FINDIO FIOS 5 1 21 Find home switch at 5 in sec creep off at 0 1 in sec END End program PGM Return to immediate mode Related Commands VM VI IOS FLAGS Keyword Binary Mode Usage Example Opcode Hex Decimal PRINT FLAGS IP FLAGS 78h 120 GET FLAGS Notes Used with the GET IP and PRINT commands to specify that all flags should be retrieved from nonvolatile memory NVM set to their factory default values or printed to the serial
329. uyay nicer ree m a e Pee e ey boqapaq 2 62 Configuring the Differential I O The IOS Variable essere 2 63 Configuring the High Speed I O a Non Clock Function esee 2 64 Configunng an eeiam unten Edi C EE 2 64 Setting the Digital Input Filtering for the Differential I O sese 2 65 MicroLYNX System Rev 03 10 2000 2 4 Configuring qn ME 2 65 Typical Functions of the Differenttall O u essent nennen nette enne 2 66 Connecting and Using an Encoder 2 66 Following an External Clock Electronic 22 2 68 Configuring the I O for Half Axis Mode 10000 000000000000000 5009 2 60 One and a Half Axis Operation RATIOE eese 2 70 The Analog Input Joystick nennen 2 71 Installing the Analog Input Joystick 2 71 Instructions amp Variables Specific to the Analog Module eere 2 72 The ADS Variable A to D Set p aaa dritte tei ete e trees etre do ee LES ee eR 2 73 Typical Functions of the Analog Input Module 2 74 The RS 232 Port 2 Communication Expansion Module
330. w 91h 145 Notes The MSEL variable controls the microstep resolution of the MicroLYNX or driver module There are 14 parameters that can be used with this variable 8 binary and 6 decimal The table below illustrates the parameter settings and their associated resolutions for a 1 8 stepper motor Motor Resolution Select Variable If using a motor with a step angle other than 1 8 the microsteps rev resolution will change with the step angle of the motor For example a 45 step angle motor 800 full steps rev with MSEL variable set to MSEL 16 or 16 microsteps step will have a resolution of 12 800 microsteps rev The MSEL parameters given in the table below are the only valid parameters that will be accepted by the LYNX Microstep Resolution Settings MSEL Parameter Microsteps Fiev Microsteps Step P Binary Microstep Resolution Settings 1 8 Motor tn 5 5 3 o 3 5 Lm 25 600 Decimal Microstep Resolution Settings 1 8 Motor 25 000 MUNIT Setup Variable Motor Units Variable Binary Mode Usage Example Range Opcode Hex Decimal Clock Pulses per 0000000000000001 to Notes Conversion factor for converting Clock pulses to user units When the encoder is not enabled EE 0 POS will have the value of the scaled clock pulses In other words CTR1 MUNIT will equal POS Syntax Example If the encoder is enabled EE 1 then the value of EUNIT should
331. xample Range Opcode Hex Decimal Notes The RATIO variable is used when one or more secondary drives is following the primary drive This is done by setting the ratio option of IOS for one or more high speed output pairs to TRUE 1 and then setting RATIOE to TRUE 1 The clock driving the secondary drive s will be ratioed to the one driving the primary drive by the RATIO specified I O lines 11 and 12 typically will be used for the primary I O lines 13 and 14 can be used to ratio other external drives as well This would be done by setting the lines up as clock outputs with the ratio option of the IOS set to TRUE 1 Syntax Example In the following example we will set the secondary axis in this case CLK3 to follow the primary axis CLK1 at a ratio of 12 NOTE A Differential Digital I O module is required to perform this function Or a Combination I O module using I O line pairs 13 and 14 to control the secondary axis IOS 15 5 1 1 0 2 1 Set Diff I O channel 15 to ratio IOS 16 6 1 1 0 2 1 Set Diff I O channel 16 to ratio RATIO 5 Set ratio to one half RATIOE 1 Set ratio mode enable flag to true Related Commands IOS RATIOE RATIOW Software Reference 03 10 2000 3 88 RATIOE Setup Flag Binary Mode Usage Example Opcode Hex Decimal lt flg gt FALSE 0 Disabled RATIO lt flg gt flg TRUE 1 Enabled FALSE 0 DCh 220 Notes This flag when TRUE 1 will enable ratio mode operation

Download Pdf Manuals

Related Search

Related Contents

App Note: Measureing Audio/Video Delay  Craftsman CanOBD2 Manufacturer's Warranty  Philips Entertainment Tablet PI3800B2  FixCascais  Speakman SA-1402 Instructions / Assembly  KMR 1700 D - Alfred Kärcher and Company  Novel Order Book Rules to Promote Trading System  Hampton Bay 27054 Installation Guide    König SAT-MAFU60 mounting kit  

Copyright © All rights reserved. Failed to retrieve file