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Ver.2.29 / 2.39 MDUG-CM1/11401E-01

1. Port Settings How to find the COM port No Bits per second Open the Control panel Baud Rate bps 38400 Data bits 66 Performance and Data bits 8 Maintenance and then Parity System Parity None Choose Hardware Tab Stop bits 1 on the opened window Elow control and then click Device Flow control None Manager Restore Defaults The available COM ports are displayed in the tree selection Ports COM amp LPT 5 Connect Cool Muscle confirm the COM port that Cool Muscle is connected then power on Cool Muscle The motor information will appear when the communication is es tablished It might take a few minutes to establish a communication with a PC when Cool Muscle is connected for the first time Cool Muscle HyperTerminal File Edit View Call Transfer Help Dg 953 ma 101 Mlu2 35 5 401236 Motor nformation SC5 28 COOL MUSCLE USER S GUIDE Operation method of Cool Muscle 1 Enter 90 then press Enter J key the user parameters that are saved in Cool Muscle will be displayed Cool Muscle HyperTerminal File Edit View Call Transfer Help CH1u2 35 5 01236 1 0 1 3333 og oo co o cec eco ecc ecco cec Wow jH H H H H H H H H H L Ca p p S p Oro 0 2 1 1 2 3 2 0 0 1 0 0 IL uw H H H m H H H Hl O O O O 7 c gt PB PB co co G Co co ncn gt Par
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3. nnns SC3 18 Trouble Shooting of Communication SC3 19 SECTION 4 INPUT AND OUTPUT ei IE re tco i guru cud R HOT kv te ce aee kao ecu EA 5 4 20 Pin Assignment and Layout a SC4 20 Assignable Functions Input IIIa asss SC4 21 Assignable Functions Output sissies a sasakii SC4 23 SECTION 5 COMMUNICATION tete re err rnnt SC5 24 CoolWorks Lite u er e prre ine ce rade te SC5 24 How to Set Up Hyper Terminal rre ett iter ence SC5 27 IN 5 COOL MUSCLE USER S GUIDE SECTION 6 eed sels 5 6 31 Cool Muscle Language ssc asha enenda aa aae a a aa eana rennes SC6 31 Parameters nus Sie es ee a eee SC6 32 Commands TEL SC6 32 CME Structure E SC6 33 CML File Structure Program Mode sese nnns SC6 35 CML Program File Example ssssseeeeeeeneeen nennen nennen SC6 36 CML File Structure Direct Mode eco tee Er ehe SC6 37 CML File Command Downloading SC6 38 SECTION 7 SEITING PARAMETERS n A amala ed ada sald SC7 39 Betore Setting Parameters yun uy alien nie ane eee SC7 39 Parameter Structure u a u AAA aenn aeina a aei Ta nennen ness nen en SC7 41 Parameter 0000000 0000000000 SC7 42 SECTION 8 SET NG COMMANDS QQ guau an aon eet ei ee ee SC8 68 Dir
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5. lt Sequence for the Origin Search by Stopper gt When setting a value to K48 Off Set Distance Between Mechanical and Electrical Origin Cool Muscle will move to its electrical origin after detecting the mechanical origin The acceleration and speed to electrical origin shall be the same as the ones for origin search K42 K43 AP7 134 COOL MUSCLE USER S GUIDE 2 46 2 3 Origin Search by sensor Related Parameters K27 K42 K43 K45 and K46 1 When an origin sensor signal is off when starting origin search Start Origin Search with the set acceleration and speed by K43 and K42 to the set direction by K45 Start deceleration at the rising edge of sensor signal and complete origin search after returning to the point a When setting a value to K48 Off Set Distance Between Mechanical and Electrical Origin Cool Muscle will move to its electrical origin after detecting the mechanical origin Origin Sensor Signal 1 Start Origin Search Search Origin Signal ON 2 Stop with Deceleration 3 Over run Correction OFF 1 Origin Search by K45 a Origin lt Sequence for Origin Search by Sensor 1 gt 2 When an origin sensor signal is on when starting origin search Move off a sensor signal to the opposite direction against K45 to search the rising edge of sensor signal When passing the point a in the graph start to decelerate after detecting a sensor signal off then the sam
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7. Example B1 1 X3 1 Execute the reciprocating motion between P1 and P2 three times A1 1 S1 1 P1 1 P2 1 End P command without a wait Y Description When the Cool Muscles are networked a master motor waits for in position signals from slave motors before executing the next line in a program bank with P command Y command instead of P command enables networked motors to execute motion without waiting for in positions of the specified motor at Y position Example B1 1 A1 2 S1 2 Y1 2 A1 1 S1 1 P1 1 End The ID1 motor moves to P1 without waiting for an in position of the ID2 motor at P1 Y1 SC8 83 COOL MUSCLE USER S GUIDE Max 30 characters include can be used for a comment The characters must be English one byte character Q command without a wait Z Description The definition of the Z command is the same as the Y command Z command instead of Q command enables networked motors to execute motion without waiting for in position of the Push Mode of the specified motor at Z position Example B1 1 A1 3 S1 3 Z1 3 A1 2 S1 2 P1 2 End The ID2 Cool Muscle moves to P1 without waiting for an in position of the Push Mode of the ID3 Cool Muscle at Z1 P1 Description Comments can be entered after a in the CML program files Comments are not downloaded to Cool Muscle Noan a Description This command is used with the command and executes No Ac tion then goes to the next line in a
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9. A1 1 S1 1 P1 1 P2 1 Merge Mode from P1 1 to P2 1 P3 1 Positioning to P3 1 AP7 138 COOL MUSCLE USER S GUIDE 4 When positioning in the opposite direction lt Example gt A1 1 S1 1 P1 1 P1 2 P2 1 P3 1 Merge Mode will be canceled because of P1 2 t will operated as below A1 1 S1 1 P1 1 P1 2 P1 1 and P1 2 are executed at the same time P2 1 P3 1 Merge Mode from P2 1 to P3 1 Example of Merge Mode lt Example 1 gt A1 1 10 A2 1 15 A3 1 8 S1 1 50 S2 1 100 S3 1 70 P1 1 5000 P2 1 15000 P3 1 25000 lt PTP Motion Between 3 Points gt lt 2 Point Merge Mode with B1 1 variable speed and acceleration gt A1 1 S1 1 P1 1 A2 1 S2 1 P2 1 B1 1 A3 1 S3 1 P3 1 A1 1 S1 1 P1 1 A2 1 52 1 P2 1 A3 1 S3 1 P3 1 END END Move to P1 1 vvith the acceleration and Move to P1 1 vvith the acceleration and speed that are speed that are stored in A1 1 and S1 1 stored in A1 1 and S1 1 Move to P2 1 vvith the acceleration and Move to P2 1 vvith the acceleration and speed that are speed that are stored in A2 1 and S2 1 stored in A2 1 and S2 1 vvithout deceleration at P1 1 Move to P3 1 vvith the acceleration and Move to P3 1 vvith the acceleration and speed that are speed that are stored in A3 1 and S3 1 stored in A3 1 and S3 1 vvithout deceleration at P2 1 P2 t Y Speed S2 Speed S2 s3 S3 S1 b S1 Time Time t r 1 7 139 COOL MUSCLE USER S GUIDE lt Example 2 gt 2 Point Merge Mode with Ou
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11. 75 T n oururi oes seam 6 Bue NPUT4 Digtet input Anaiog meu v 7 Pune PUTs tgin s Bax INPUT nsunorino See 9 Gray INPUT 2 Digital Input Pulse Counter Serial RX CCW Direction m Bax erom sp v me ssvnoour svPowerouwaxiomay About wiring example please refer to Appendix 1 SC4 20 COOL MUSCLE USER S GUIDE Assignable Functions Input ammi Digital Input Multiple functions can be assigned to a digital input port By setting the duration the quick response and slow response signal can be performed Furthermore functions can be assigned at the rising and falling edges and target voltage level of either quick or slow re sponse signals Assignable input functions at the target voltage level NoAcion 0 0 y 6 CW Limit Sensor Combined with Origin Sensor 8 Full Stop the same as 1117 CCW Limit Sensor Combined with Origin Sensor Assignable input functions at the rising and falling edges O No Action 6 Execute Banki 08828 8 Manual Jog CW 9 Manual Jog CCW 0000 Example Input 4 is configured to be K28 8000 K30 4000 K50 10 1 Assign Manual Jog of 10 pulses at the rising edge of quick response signal 2 Assign Manual Feed CW at the target level of slow response signal SC4 21 COOL MUSCLE USER S GUIDE When quick response input
12. Line 1 Commands for both motors in the same line make both motors start at the same time The ID1 motor moves to P1 with S1 and A1 and the ID2 motor moves to P1 with S1 and A1 Line 2 After both motors have reached the first target positions they execute the motion defined by line 2 The ID1 motor moves to P2 with S1 and A1 The ID2 motor moves to P2 with S1 and A1 Line 3 After the ID1 motor have reached the target position the ID1 motor moves to P3 with S1 and A1 without wait the ID2 motor SC9 92 COOL MUSCLE USER S GUIDE Basic network program example 3 1 P1 10000 P2 20000 P3 0 S1 100 S2 200 A1 50 A2 100 2 1 30000 2 0 51 200 52 300 1 50 2 100 3 P1 20000 P2 0 51 125 52 100 1 20 2 150 4 P1 12500 P2 0 51 150 52 75 A1 15 A2 40 1 2 3 4 Save all data above to all networked motors B1 1 A1 1 S1 1 P1 1 A1 2 S1 2 P1 2 A1 3 S1 3 P1 3 A1 4 S1 4 P1 4 S2 1 P3 1 S2 2 P2 2 A2 3 P2 3 A2 4 P2 4 END Line 1 The ID1 motor moves to P1 with S1 and Line 2 The ID2 motor moves to P1 with S1 and Line 3 The ID3 motor moves to P1 with S1 and A1 Line 4 The ID4 motor moves to P1 with S1 and A1 Line 5 The ID1 motor moves to P3 with S2 and A1 the ID2 motor moves to P2 with S2 and A1 the ID3 motor moves to P2 with S2 and A1 the 104 motor moves to P2 with S2 and at the same time SC9 93 COOL MUSCLE USER S GUIDE mn SECTION 10 APPLIED CML PRO
13. Program Bank B1 1 T1 1 12 1 C2 1 C3 1 B2 1 13 1 C4 1 T0 1 2 1 A1 1 P3 1 B3 1 131 51 4 S3 1 A1 1 P4 1 B5 1 S1 1 A1 1 P1 1 End Motion Description You can select a bank via digital inputs by using a nesting tech nique The above motion program shovvs hovv you can program in such a way as to allow for bank select using two input ports SC10 101 COOL MUSCLE USER S GUIDE Appendix 1 Cool Muscle Dimensions CM1 L1 11L130 4 M2 6 B V Dep 3MIN Unit mm M D cut i ey 18 e A WAN 8 s 955 P 1 3 olo od ol t 83 REZ s K s i 23 0 2 1 5402 28 0 3 MODEL ea CM1 L1 17L130 D cut il 40 s 28 4 M3 x0 5 G Dep 4MIN 42 0 25 31 0 25 53 713 0 51 5 75 5 17530 60 5 31 0 25 1 5 071 L1 24 42 0 25 18 05 Li 2 42 36 6 27
14. SC7 42 COOL MUSCLE USER S GUIDE iani Trigger Timing for Open Loop Mode K22 Description This parameter lets you set a trigger timing for an open loop This trigger timing is a time delay between in position signal and the moment when Cool Muscle goes into an open loop Example K22 1 500 Cool Muscle goes into an open loop mode when there is no posi tion command for 500 msec after in positioning Description Set the method of status report from Cool Muscle The registrable number is from 0 to 31 as shown below The number can be combined by addition 0 Polling 1 In position and Alarm 2 Report when input status changes 4 Report when output status changes 7 Combination of 1 2 and 4 8 No Local Echo No return input signal 16 Display Error Messages SC7 43 COOL MUSCLE USER S GUIDE uun error Out Of Range Unsettable values for K parameters error syntax error Description in Program Bank is vvrong error too many steps Steps in Banks are more than 500 End Bank Program Banks are ended properly Change Baud Rate xxxKbps Y N error CW Limit l CVV Limit Sensor ON error CCW Limit CCVV Limit Sensor ON When Baud Rate is changed by K20 or K65 Cool Muscle replies only against the queries that are sent to Cool Muscle The local echo shall be displayed as well K23 1 13 14448 Cool Muscle automatically reports the status when Inpositioning Alarm and output status chan
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17. 0000 K27 0000 K30 0000 9999 0000 9999 Input Order is In4 3 2 1 Each digit must be set individually Example K27 1 1243 Input 1 Manual Feed CW Input 2 Manual Feed CCW Input 3 Origin Sensor Input 4 General Use Origin sensor has a prior to the other function in Ver 2 25 and Ver2 35 The priority in Ver 2 24 Ver2 33 is in order of Input 4 3 2 1 AP7 130 for detail SC7 48 COOL MUSCLE USER S GUIDE D ke Input Functions at the Quick Response Rising Edge K28 Input Functions at the Quick Response Falling Edge K29 nput Functions at the Slovv Response Rising Edge K31 By setting K36 2 the execution of bank 2 Input Functions at the Slow Response Falling Edge K32 or 3 can be assigned to either rising or fall ing edge of a signal Description These parameters assign functions performed at the edge of a signal Functions or events should be assigned to event triggers in such a way as to make sense For example it may create undesirable movements if you assign Motor Free to the rising edge of a quick response signal and Go Origin to the duration of a slow response signal With this input function assignment when the motor is commanded to go back to origin as it goes into a free state at the rising edge of a quick response signal it will not be able to go back to origin Refer to SC7 44 Assignable Functions at the rising and falling edges of an input sig nal Functions with lt g
18. For example there are four steps in the above program bank Program Bank Description This command defines the beginning of a program bank and a pro gram bank number as well The max number for program banks is 30 Note that when you enter the B command all the existing pro gram banks will be erased Example 1 B1 1 The beginning of program bank 1 A1 1 S1 1 P1 1 Go to P1 with A1 and S1 11 521 Go to P3 with A1 and S2 End Example 2 B1 1 A1 2 S1 2 P1 2 A1 3 S1 3 P1 3 End ID2 and ID3 motors go to P1 with A1 and S1 SC8 79 COOL MUSCLE USER S GUIDE m E Description 7 This command calls and executes specified program bank After manages all motion including the other execution of the called program bank by C command it comes Cool Muscles in the back to the original program bank network ID number for the B command must always be 1 Example B1 1 beginning of program bank 1 C2 1 call B2 and execute C3 1 call B3 and execute B2 1 beginning of program bank 2 1 1 531 11 B3 1 beginning of program bank 3 A2 1 S2 1 P3 1 End LEM Description This command jumps to and executes specified program The difference from the C command is that after execution of jumped bank by J command it will not come back to the original program bank The other usage is the same as C command Example B1 1 beginning of program bank 1 J2 1 jump and execute program bank 2 B2 1 beginning o
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22. 1 A2 1 P3 1 Motion to P3 with A2 and S1 Please refer to SECTION 9 CML Program Basic Example for more detailed information SC6 36 COOL MUSCLE USER S GUIDE CML File Structure Direct Mode uun Motor can be directly operated by commands in Direct Mode This mode is useful for debugging or voluntary movement Direct mode is available in all types of Cool Muscle Direct Mode Structure S ID Value A ID Value P ID Value A ID Execute n Program Mode you need to define position speed acceleration and timer In Direct Mode you can directly operate Cool Muscle by entering motion profile Example S 1 250 A 1 100 P 1 10000 A SC6 37 COOL MUSCLE USER S GUIDE CML File Command Downloading P C There are a number of ways to use CML to set parameters define motions create programs download program execute programs and operate Cool Muscle CoolWorks Lite is a free software from Muscle Corporation de signed to work with CML Hyper Terminal is also available that is usually included with your Windows installation disk To save the file by text format txt is recom mended to transfer E the file directly from To change parameters execute program banks operate Cool Cool Works or Hyper Muscle in the Direct Mode can be executed by commands from Terminal It is also Hyper Terminal or Cool Works via RS 232C communication recommended to edit the content of the pro gram Creating and Editi
23. 1 Search Origin Signal Origin Search by K45 a Origin lt Sequence for Origin Search by Sensor 3 gt Origin Sensor Signal must be assigned to K27 Do not assign Origin Sensor Signal to multiple inputs Proper Origin will not be detected because multiple inputs start processing the same signal When acceleration and speed are set too high deviation of the origin may occur according to the sensor precision Set proper acceleration and speed in relation to mechanical and sensor precision Origin Search may be canceled if send a Query during Origin Search Do not send any Query during Origin Search AP7 136 COOL MUSCLE USER S GUIDE Example for Motion when Origin Sensor is assigned K27 6290 Input Function at the Quick Response Target Voltage nput4 6 Limit Sensor CW Combined with Origin Sensor CW Input3 2 Origin Sensor Input2 9 Limit Sensor CCW Combined with Origin Sensor CCW Input1 0 No Action lt Ver 2 24 Ver 2 33 gt Priority of Origin Sensor shall be In4 In3 In2 and In1 Ex1 K45 0 Origin Search Direction CW Origin Sensor CW Origin Sensor Origin Sensor CCW o o o e G CW Origin Sensor is prior to Origin Sensor t Ex2 K45 1 Origin Search Direction CCW Origin Sensor CW Origin Sensor Origin Sensor COW o o o Origin Sensor is prior to CCW Origin Sensor p lt Ver 2 25 Ver 2 35 gt
24. 5th Axis starts the motion 18msec after the 1st Axis Gth Axis A1 2 S1 2 P1 2 A1 3 S1 3 P1 3 A1 4 S1 4 P1 4 A1 5 S1 5 P1 5 A1 6 S1 6 P 1 6 CR 75 Characters 0 3 75 22 5 that shows the 6th Axis starts the motion 22 5msec after the 1st Axis By defining only the A and S data for ID1 to 6 in the first line and P data for ID1 to 6 in the second line the time delay between each motor shall be shorten to approximately 1 5msec Response time acts rashiy too if the baud rate is made early and it is late if it slovvs down AP6 132 COOL MUSCLE USER S GUIDE Appendix 7 Position Mark Output lt Explanation gt When setting K34 Output Function 7 Position Mark the pulse signal will be output that shall be defined by K24 Position Mark lt Motion gt The pulse signal according to motor s current position will be output The motor s current position shall be divided by the range of K24 value the output will be on at the position of from 1 4ps to 3 4ps then off at the other position range Output logic can be set by K33 Output Logic The output timing will be different in CW and CCW direction as shown in the graph below That is because the threshold at 1 4ps and 3 4ps for output signal On and Off has plus minus 1 5000ppr plus minus 10 in 50000ppr hysteresis to cut the noise Hysteresis Range 1 5000ppr 10 50000ppr Motion in CW direction Motion in CCW d
25. 8 14 6 30 5 4 045 0 ie THRU HOLE cs AS N Z 7 2 r OO I F c 2 8 El 15 0 lt A 3 N E 13 3 LL T GO 14 HORS 32 V SZ 77 g 33 s NN JJ 51 o 2 ap 48 xk G Y da KE 62 M 47 14 0 13 1 5 0 25 LI 24 56 0 5 20 6 05 L 1 owes 23306 42 66 AP1 102 COOL MUSCLE USER S GUIDE Cool Muscle Specifications Max Speed 3000rpm 3000rpm 3000rpm 3000rpm 2000rpm 3000rpm Rated Continuous Torque 0 56 0 055 0 28 0 027 3 7 0 36 0 84 0 082 8 9 0 87 3 0 0 294 Kgfcm Nm Rated Peak Torque 0 8 0 79 0 4 0 039 5 3 0 518 1 2 0 117 12 71 24 Dn 8 0 4 0 3 0 2 0 70 24 180 80 760 380 4600 Load Inertia Allowance Depending on the load inertia servo gain needs to be adjusted within the above range adjustable by parameters Encoder Incremental Magnetic Encoder 50000 pulses Rotation Control Method Closed Loop Vector Control Input Supply Voltage DC24V 10 Input Supply Current Rated 1 2A 1 5A 0 8A 1 0A 1 5A 1 8A 0 8A 1 0A 2 6A 3 4A 3 9A 5 1A Continuous Rated Peak Relosution Pulse Rotation From 200 to 50000 Pulse Rotation Set by parameter Environmental Conditions 0 c 40 C 20 C 60 C Operation Storage No condensation condition Operative Humidity Less than 90 RH Impact Vibration Less than 10G Less than 1G Weight Approx 300g 240g 480g 330g 1100g 550g Cool
26. COOL MUSCLE USER S GUIDE The relationship between numbers of parameters transferred and over written and required wait time is as shown in the graph lt Baud Rate 38 4Kbps gt msec Wait Time T 38 4 kbps 8 00 7 00 6 00 5 00 4 00 T 3 00 2 00 1 00 0 00 15 20 25 30 35 40 45 50 55 60 65 70 75 80 No of parameter transferred N and over written lt Baud Rate 19 2Kbps gt msec Wait Time T 19 2 kbps 4 50 4 00 3 50 3 00 2 50 2 00 1 50 1 00 0 50 0 00 ERE 15 20 25 30 35 40 45 50 55 60 65 70 75 80 No of parameter transferred N and over written Wait time will not be required in 9600bps But the communication will be more stable if 1msec time interval is set between each data Note the graph shows only a rough indication by epitomized calculation Set the affordable interval time AP6 130 COOL MUSCLE USER S GUIDE 2 Transmission of Command Set more than 1msec time interval between the commands transferred 3 Transmission of Query Send another query after receiving the response for the query before 4 Response when using network When more motors are used in network more time will be needed for transmission of data lt Condition gt The baud rate shall be all 38400bps The time for transmission of 1 character 10bit 38400bps 0 000260417 0 3msec There shall not be an interval time betwee
27. GUIDE Quick and Slow response event triggers Events functions can be assigned to the rising and falling edges and the target voltage of a quick and slow response signals Quick Response 5 Target Voltage Level Rising Edge Falling Edge Slow Response _ Target Voltage Level Rising Edge Falling Edge P i 0 2 sec Short Signal When a signal is completed within the offset time only a quick re sponse signal is recognized Original Signal Quick Response Target Voltage Level Rising Edge Falling Edge Slow response is Slow Response i not recognised Target Voltage Level 005 0 2 sec SC7 46 COOL MUSCLE USER S GUIDE ur Description This parameter sets the input logic Default 0000 1111 0000 0 Active by lovv level signal 1 Active by high level signal Input Order is In4 3 2 1 Each digit must be set individually Please set the input logic referring to the output logic at the Example K26 1 1010 upper controller side b Input 1 Normally Open Input 2 Normally Closed Input 3 Normally Open Input 4 Normally Closed SC7 47 COOL MUSCLE USER S GUIDE a When input logic is active low the target voltage level is less than DC 0 8V 7mA and when ac tive high it is from DC 3V to DC 5V The shortest signal shall be 10msec When a function is assigned to input 1 or 2 a signal from a PC might activate the function Do not as sign any
28. I JO pue pindu a Vul x3 O L YULq y JO 1u91u09 BY MOUS 0 8 L 19 4uIp y Jo 1lu luo2 eui MOUS 0 SB Ul 1495 au y indui jo snyeys u L uJe460Jd yueq p lo ds y Jo Ju uo5 au luo seues y d I aseo Ul Jn1leJ duu eq 1snui di yuca AP3 124 COOL MUSCLE USER S GUIDE Appendix 4 Wiring For Network Card CN2 Serial Daughter Card D Sub9 Socket type D Sub9 Pin type RXE110 Master Set AP4 125 COOL MUSCLE USER S GUIDE INPUT2 D Sub9 Socket type 24V RXE110 Jumper settings Re Generative Current Protection Circuit Slave Set AP4 126 COOL MUSCLE USER S GUIDE Wiring For Communication Cable RS 232C communication can be established by the wiring below when not using RS 232C Cable Y cable or Daisy Chain Network Board Cool Muscle CN 1 Connector RS 232C D sub9 F uPDA4721 NEC VDD C4 TAM A C14 GND 145 vcc C1 VSS C5 STBY_ 6 al C5 VCHA DIN1 DOUT1 hs DIN2 DOUT2 9 s ROUT1 RIN ROUT2 RIN2 C1 C5 0 47 micro F 16V Non pola capacitor with the same amount of capacity can be used AP4 127 Appendix 5
29. Muscle Parts Life Time The life time of each part depends on the actual operating conditions and how it has been used Defective parts should be replaced or repaired immediately 13 thousand hours 5 thousand hours AP1 103 COOL MUSCLE USER S GUIDE Input Output Signal Voltage Specification INPUT1 INPUT1 High Level gt 3V INPUT2 INPUT2 Low Level lt 0 8V INPUT3 High Level gt 4 2V INPUT4 Low Level lt 0 8V Pulse Type Command by input pulse signal Cool Muscle moves following input pulse signal to input 1 and 2 number of pulse for angle and pulse frequency for speed Step Jue LI 1 lu ET L Step Direction yp Pulse cw CCW Direction CW CCW Pulse CCW Max Frequency 500Kpps Min Pulse Range 0 8 micro sec Analog Type OP Amp usage is recommended INPUT4 Resolution 1024 Position control by input vlotage from 0V to DC 4 8V Max position range is settable by parameter Position Control Rotate Angle Distance The speed control in proportion to an input voltage from 0 2V to 4 8V The max speed can be set by a parameter Analog Voltage 2 6V to 4 8V Increase speed in CW direction Analog Voltage 2 4V to 0 2V Increase speed in CCW direction Or Analog Voltage 0 2V to 4 8V Increase speed either in CW or CCW direction Speed Control Rotate Direction Speed Speed Speed Position Max CW Max
30. Parameter default values For the shipping 2 AP2 119 Appendix 3 Command EISE uyak a a al setae AP3 120 Data Command Direct Mode Program Mode sss AP3 120 Execution Command Direct Mode gt uu l D uuu nennen AP3 121 Execution Command Program Mode nennen AP3 122 Program Mode uuu ER AP3 122 elm 000006 0000000000 0000000 AP3 124 Appendix 4 Wiring For Network Card uuu aaa aaa aasawa kananaskis assqa AP4 125 Wiring For Communication Cable L ener AP4 127 Appendix 5 Re Generative Current Protection Circuit eee esas selini AP5 128 Appendix 6 Comunication Time with Cool Muscle AP6 129 Appendix 7 Position Mark Output sassis R u asas nna AP7 133 Origin Ref Ez Ire ERE AP7 134 Morge Modo u uu b sa AP7 138 HOw rer eC AP7 141 Appendix 8 Manual Terminolo y s s Ra ne b aa asma ee s maya ru eu onu e AP8 142 201156 o E RH 150 IN 7 COOL MUSCLE USER S GUIDE ALi SECTION 1 ABOUT COOL MUSCLE The Cool Muscle is a fully integrated closed loop vector drive servo system VVith an intelligent driver a 32 bit RISC CPU a magnetic encoder and power management built onto the motor the Cool Muscle excels in performance size and cost Sup
31. Re Generative Current Protection Circuit 1 pc zav 109 5VV 10W RD30 Vz 30V 2 2k Q 0 25W Vpss 150V 10k 2 0 25W Ip 10A 20A LED AP5 128 COOL MUSCLE USER S GUIDE Appendix 6 Communication Time with Cool Muscle 1 The time that is shown below is the theoretical time Please cordon a suitable time because communication time depends on upper controller such as computer and sequencer etc Transfer and Over write Data shall be written in Cool Muscle s memory EEPROM in predefined time according to temporal condition when they are being transferred Since longer time is required to over write more data when transferring more parameter the suitable time for whole the process will be longer Although Cool Muscle has a buffer for communication data processing the buffer may be overflovved by a delay of communication data processing when a lot of parameters are transferred and over written constantly in a high baud rate Note to cordon a suitable wait time between the transferred parameters according to baud rate and numbers of parameters that are transferred and over written in Cool Muscle for a stable communication Parameter transfer Parameter transfer Wait Time Interval time for parameter transfer Wait Time T 2 The time between a delimiter and the first character of the next parameter transferred defining or CR as a delimiter AP6 129
32. When applying value outside range or it can accept the values will not be changed When Cool Muscle other than Ver 2 25 and Ver 2 35 are handled the values will be set back to default values above that are not to the default values for the shipping SC7 62 COOL MUSCLE USER S GUIDE a In positon signal is different from com pletion and is sent out when a motor reaches within the set pulse by K55 A motor sends out an in posiiton signal be fore reaching at the target position when under the conditions as a resolution is small a motor speed is low and K55 value is big ammi amni Cool muscle moni tors the level of the regenerated voltage If the dangerous re generated voltage is detected the motor becomes free In Position Signal Range K55 Description Cool Muscle outputs an in position signal and this parameter sets In position signal will be sent out within the position 999 to 1001 K55 5 In position signal will be sent out within the position 995 to 1005 Min 1 When a too small value is applied to this parameter Cool Muscle will not detect an in position and not be able to execute the next step Error Counter Over Flow K56 Description This parameter sets the max value for the counter over flow error If the error exceeds the set value then the motor goes into a motor fee state Min Max Over Load Time K57 Description This parameter sets the time delay between the detection of
33. command by command directly from an upper controller The A S and P shall be used for the commands for Acceleration Speed and position in Direct Mode Direct Mode shall be executed by command after defenition of A S P ID number is required in a multiple axises operation by Daisy Chain For example an execution for ID2 A 2 S 2 P 2 A 2 shall be sent The report method that Cool Muscle reports automatically when the event of Cool Muscle changes is called Event Driven The contents that Cool Muscle reports an upper controller can be set by the parameter K23 The method to adjust a fine alignment between instruments and Cool Muscle A smoother and more stable motion will be provided by a better adjustment The Cool Muscle gain system is the same as the standard Servo motor s AP8 144 COOL MUSCLE USER S GUIDE Incremental Live Driver Local Echo Low Pass Filter Manual Feed The motion in specified direction for specified distance referring to the current position as the starting point for the next positioning is called Incremental Motion This function is adapted to the repeated constant distance feeding P type Cool Muscle is operated synchronizing the pulse signal from a pulse generator One of a signal output method of a pulse gen erator is called Line Driver Line Driver has The transfer of high frequency and Less Impli cation from Noise for its feature and used for a high speed
34. from a PC The components that you need to operate the Cool Muscle are list ed in the green area in the table below The components listed in the pink area are the optional components for networking the Cool Muscles Components Interfaces Cool Muscle Motor Motor Cable RS 232C Cable Y Cable 24V Cool Muscle Power Supply Manual CD Network Card master set Network Card slave set D sub 9pin network straight cable Male to Female O included with the motor A optional component Pulse Type Analog Computer Type Type Cool Muscle User s Guide COOL WORKS L TE USER S MAN UAL and CoolWorks Lite Software are included in this CD The CD shall be attached only at the first delivery SC2 11 COOL MUSCLE USER S GUIDE Components Motor Cable The Cool Muscle comes with one 1 motor cable The standard length of the motor cable is 40cm CM1C1 400S 5 232 Cable Y Cable A RS 232C Cable is required to connect Cool Muscle to a PC via RS 232C This cable is required when downloading motor param eters and motion programs to Cool Muscle or when you wish to control a single motor via RS 232C serial communication In addition a customer can make a RS 232C Cable Please refer to AP4 122 1 2 2000 Power Supply A regulated DC 24V power supply Required power supplies may be available from your local distribu 4 Tor 150VV 240VV power supply from Muscle is capable for peak curr
35. is high level CW direction is set When the Direction pulse in low level CCW direction is set Note The input voltage under DC 3V can not be recongnized as a pulse signal Please apply pulse signal from DC 5V to DC 24V When using in the Step Direction mode please apply a Step pulse only when Cool Muscle is stopping or a few msec after a Direction pulse is applied ANALOG TYPE COOL MUSCLE V type Cool Muscle can vary speeds or positions in proportion to an input analog voltage level Set the max speeds or travel dis tance with ease by parameters V type Cool Muscle is an ideal so lution for constant feed system and valves Speed Control K38 0 The speed control in both CW and CCW direction in proportion to an input analog voltage level The max speed at the both direction can be set by the parameter K40 Position Control K38 1 The position control in proportion to an input analog voltage level referring to DC 4 8V as the max travel distance The max travel distance between DC 0 2V and DC 4 8V can be set by the parameter K41 Speed Control CW K38 2 The speed control in CW directon in proportion to an input analog voltage level from DC 0 2V to DC 4 8V The max speed in CW SC1 9 COOL MUSCLE USER S GUIDE direction can be set by the parameter K40 Speed Control CCW K38 3 The speed control in CCW direction in proportion to an input ana log voltage level from DC 0 2V to DC 4 8V The max speed in CCW directio
36. memory locations respectively Specify the memory location for the corresponding value Ex P14 3 1000 The defined value 1000 is stored in position memory location 14 of the ID3 motor The value set by the parameter is absolute Motor ID When operating multiple Cool Muscles motor ID must be specified in a program The commands and parameters will be placed in the memory locations of the specified motor When Motor ID is left out itis assumed to be either motor 1 or the last ID value used SC6 33 COOL MUSCLE USER S GUIDE Modifier The most common modifier is the that is used with the P com mand Adding after the ID number of P data makes the value relative P14 3 would command motor 3 to move relatively incre mentally 1000 pulses against Cool Muscle s current position Refer to SC8 73 Malue All the value that is defined by commands shall be absolute All val ues as A S P andT shall be set before making a program Spaces Spaces should not be used in a command line Upper or lower case All the commands in CML program files can be either upper or lower case letters SC6 34 COOL MUSCLE USER S GUIDE CML File Structure Program Mode CML files consist of 2 different parts The first part defines memory Zel contents as Positions Speeds Accelerations and Timers and the second part defines program Example 1 1 30000 Data Command A1 1 200 B1 1 T PE bil Program Command S1 1
37. mode P 1000000000 is still available in any resolution Cool Muscle s internal counter has a limitation as shown in the above table and the operation within this limitation is recommended As exceptions Cool Muscle can be operated over Max position value only by continuous position command P 1000000000 or incremetal command However when Pausing or Stopping over Max position value by continuous or incremental positioning the internal counter value becomes over limitation and a polar plus or minus of current position will be switched in the internal counter then Cool Muscle will be operated from a polar switched current position to a set target position Therefore please do not operate over Max position value in general use When operation over Max position value is required for an application such as only one direction operation please execute Counter Reset by command or input functions K38 Description This parameter sets V type Cool Muscle to either speed or position control t Object for Control Speed Control CW CCW 1 Position Control CVV CCVV 2 Speed Control CVV 3 Speed Control CCW SC7 54 COOL MUSCLE USER S GUIDE un un Voltage Filter Gain K39 Description Cut off frequency for Lovv Pass Fliter for AD converter Min Max Default Unit 0 1024 128 5 rad sec Unit 5000 times sec 1024 5 rad sec Analog Speed Range K40 Description This parameter sets t
38. page 1 Connect the RS 232C Cable to Cool Muscle PC and DC 24V power supply referring to the Section 3 Setting Up Cool Muscle Please make sure that the power is turned off 2 Start up Windows PC 3 Start up Cool Works that is available on the CD provided with Cool Muscle or can be downloaded from Muscle website at http www coolmuscle com Or Hyper Terminal on Windows is also available Please set up Hyper Terminal for Cool Muscle referring to the Sec tion 5 How to Set Up Hyper Terminal 4 Power Cool Muscle on As the drawing below when motor infor mation is displayed on a screen the communication is established Cool Muscle HyperTerminal File Edit View Call Transfer Help 195 553 mne ID1 CMIoXOOCX XXXXX 5 Please check the default parameter Enter 90 and press the Enter key J all the user parameter shall appear on the screen 6 Turn off Cool Muscle and close Cool Works SC3 18 COOL MUSCLE USER S GUIDE Trouble Shooting of Communication How to find the COM port No in Window XP Open the Control panel click Performance and Maintenance and then System Choose Hardware Tab on the opened window and then click Device Manager The available COM ports are displayed in the tree selection Ports COM amp LPT Nothing appears when Cool Muscle is powered on is proper baud rate set when communicating with Hyper Terminal Once a baud rate is set on Hyper Terminal it ca
39. position 0 and Cool Muscle vill not be operated beyond those lim ited positions This function enables you to remove hardvvare limit as limit sensor or mechanical stopper and will provides safeness and cost reduc tion The speed shall be set by S command The speed unit can be selected from belovv tvvo by the parameter K37 setting 1 7 100 pps 2 7 10 pps The relation between S value and rotating speed is RPM S S unit 60 Resolution Note that when resolution is changed after setting S value the same S value makes different speed Timer shall be set by T command The unit is msec T 1000 timer for one second AP8 149 COOL MUSCLE USER S GUIDE Revision History User s Guide No is described in the cover of this manual revise 5 1 Iten 1 Jan 2006 JPO60123 The last print Apr 2006 wouecw 06405E A1 Supplemental Document of JP060123 Dec 2006 Vpus w 06C31E 0 WA 1 and SC8 Cool Muscle Interface are integrated How to connect Cool Muscle is changed SC9 Input and Output is moved SC5 How to use Cool Muscle is changed SC6 SC4 CML Structure is moved SC6 30 Composition chart of CML is changed SC7 SC6 Setting Parameters is moved Automatic Identification is added Note deletion concerning change in baud rate of K20 Error message of K23 is addes More than 2msec in chart of K24 is addes A common note to K27 and K30 is added Note deletion concerning change in 2 of K30
40. signal when the motor reaches the target position 3 General Use O Command F Command 4 General Use O Command F Command I Out Outputs analog waves for monitoring must be assigned in the Select a type of information by second digit parameter K35 B au ee i Merge Mode Merge Mode K73 shall be set K24 shall be set for its intervals B Motor Free O tbputs a signal during motor free 9 Push Mode Outputs a signal during the push mode Max Default 99 2 Output Order is Out2 1 Each digit must be set indivisually Example K34 1 51 Input 1 In Position Input 2 Analog Out SC7 51 COOL MUSCLE USER S GUIDE ammi Analog Output K35 Description This parameter sets an analog output type that you can monitor with an oscilloscope Make sure that you select Analog Out by the parameter K34 The range of analog output is 0 5V 2 5V is the baseline The overall value is output but the analog output is dis played in the set range 0 5V This function is assignable only to Output 2 Tek Prevu 41024 pulses 0 pulses 1024 pulses 1 00 A Chi X 1 507 20V M20 0ms A c X 290V 130 20 amp 5 20 amp Target Position 181024 22 57 7 Current Veocity magnified by 6 145300 rpm 2 5V Mux nq 5 1 kgfcm 2 5V 17L30 ruere S 1 16 kgfcm 2 5V 23L20 0 64 kgfcm 2 5V 17L30 oo 90 3 Output Order is Out2 1 Each dig
41. switched by configuring an even number or an odd number Setting value Mi M Default Default for the shipping 2175175 512 250 150 150 150 200 201 200 Each type of Cool Muscle has different default gain values for the shipping When applying value outside range or it can accept the values will not be changed When Cool Muscle other than Ver 2 25 and Ver 2 35 are handled the values will be set back to default values above that are not to the default values for the shipping SC7 61 COOL MUSCLE USER S GUIDE P E Speed Gain K54 Description Setting Speed 1 Gain The stable gain mode When an even number is applied Stable gain is applied The variable gain mode When an odd number is applied Speed id Gain High speed low speed gain 30rpm 54rpm 3000rpm adiustment Refer to The gain adiustment steps in the Appendix 7 For variable gain mode the speed that a set value and speed 1 gain become 0 is in the relation of proportion When K54 5 Speed gain will be 0 after speed is getting over 30rpm When K5429 Speed 1 gain will be 0 after speed is getting over 54rpm To switch stable gain mode and variable gain mode it is switched by configuring an even number or an odd number lt Setting value gt Min Max Default Default for the shipping L0 fmt 2 3 5 5 4 5 Each type of Cool Muscle has different default gain values for the shipping
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43. 7 58 Chart of each Gain is added AP2 117 Values of K26 K32 are changed Jan 2009 mouc cw1 09101E 01 Caution is added SC1 9 Note is changed SC3 14 15 VVhat Do 1 Need to Create a Daisy Chain is changed Attachment of Netvvork card is added 00 5 4 20 PIN Layout is changed and matched to the catalog SC4 22 Explanation of Serial input is added SC7 40 Explanation and caution are added SC7 54 Explanation of K37 is added SC8 73 Query is changed and matched to Appendix 3 Caution of is added Explanation of Execute Program Bank is added Cool Muscle Parts Life Time is added Caution is added Caution is added Deviation Counter is changed Apr 2011 vbuecui 11401E 01 Dimension of CM1 LI 17LIL is changed Dimension of CM1 0 230 0 is changed Specification of CM1 O0 170 0 is changed Specification of CM1 L1 23L1L is changed AP1 103 RH 151
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45. A2 1 P3 1 Memory Contents Position Speed Acceleration and Timer definition takes the form of P ID Value 1 25 memories S ID Value 1 15 memories A ID Value 1 8 memories T ID Value 1 7 memories ML Program Banks All programs shall be made by CML motion commands and stored in the specified bank memory A program is defined as it follows B 1 B specifies the program bank number up to 30 banks and com mands that make up the contents of program bank Each program bank can be regarded as an object Program Bank may contain up to 500 steps CML commands and structures are outlined in the CML Command List SC6 35 COOL MUSCLE USER S GUIDE CML Program File Example fe K26 1 1111 Set Input Logic K49 1 15 Set the Speed for Manual Feed K58 1 500 Set Software Limit CW K59 1 500 Set Software Limit CCW P1 1 1000 Definition for Position Memory 1 P2 1 2000 Definition for Position Memory 2 P3 1 4000 Definition for Position Memory 3 1 1 200 Definition for Soeed Memory 1 2 1 500 Definition for Soeed Memory 2 A1 1 200 Definition for Acceleration Memory 1 A2 1 100 Definition for Acceleration Memory 2 B1 1 Start of The Content of Bank 1 C2 1 Call The Beginning of Bank 2 C3 1 Call The Beginning of Bank 3 B2 1 Start of The Content of Bank 2 1 1 A14 P1 1 Motion to P1 with A1 and S1 S2 1 A2 1 P2 1 Motion to P2 with A2 and S2 B3 1 Start of The Content of Bank 3 1
46. CWorCCW Max Input Input E i Voltage Voltage 0 CCW Max Mal V 0 V 0 2 48 02 2426 48 02 48 lt Position Control gt lt Speed Control gt Computer Type Digital Input RS 232C INPUT 1 2 shall be used for serial communication Max baud rate for communication 57 6Kbps AP1 104 COOL MUSCLE USER S GUIDE High Level Output Voltage DC 5V 24V Recommended 5V Low Level DC 0 8V DC 5V 24V 4 1K 5 4 7K DC 24V A DC 24V GND_1 TT OUTPUT2 QUTPUT1 066606000000 COOL MUSCLE AP 1 105 COOL MUSCLE USER S GUIDE Interface Wiring Example Cool Muscle DC 5V 24V Controller Example i E i M PHOTOCOUPLER 2 i PHOTOCOUPLER y V i x 4 R 4702 INPUT4 gt i eure gt INPUTA OUTPUT i 4700 e I 2 meus DC 5V OUTPUT2 2SC4617 ra NEC 2 1 R OUTPUT2 FATA4M NEG lt OUTPUTI DC 24V DC 24V DC 5V A 47KQ 4JKQ 470pF P ot INPUT3 m 0055 e ri i TLP115A 51065 1200 53254 1270 BREF 1 vp 6 bi 50212 8000 MOLEX po sv S vo S INPUT2 gt INPUT2 MOLEX 34 cat Eo 1SS357 F103 TOSHIBA TOSHIBA 2 TLP115A bi INPUT gt INPUTI T
47. E Connect Network Cards to Cool Muscle About wiring please refer to AP4 121 Connect to a host computer via a straight cable Master Set 24V b E Connect Cool Muscle via a motor cable Connect to the next Cool Muscle via a straight cable Connect to the previous Cool Muscle via a straight cable Slave Set 24V b E Connect Cool Muscle via a motor cable Connect to the next Cool Muscle via a straight cable SC3 16 COOL MUSCLE USER S GUIDE Set Jumpers The Jumper pins connection of Master Set and Slave Set is dif ferent Please confirm that Jumpers are set properly on Network Cards before connecting Network Cards to Cool Muscle Master Set JP5 JP3 JP4 On Serial Daughter Card JP1 Connect the pin 1 amp 2 JP2 Connect the pin 2 amp 3 JP2 JP1 JP2 P1 J JP 3 JP 4 JP 5 No require any pin connect ed JP 1 JP 2 Leave the JP1 amp JP2 open JP 3 JP 4 JP 5 Connect the pin 1 amp 2 on each JP JP 1 JP2 Connect the pin 1 amp 2 on the JP1 amp JP2 When power is supplied through the terminal block on the card leave the JP1 amp JP2 open SC3 17 COOL MUSCLE USER S GUIDE Communication with Cool Muscle 12 Connect Cool Muscle to your to make sure that the communi cation is established and the default parameters are set properly When you can nol establish the communication please refer to the Trouble Shooting section that is included in the next
48. GRAM EXAMPLE This section shows you applied CML program examples using the parameters and commands Ex 1 Setting 1 O Functions CCVV Pulse Output Signal Out1 Out1 Parameters K25 1122 Set time delay between quick and slow response signal to 0 1sec 0 1sec 0 2sec 0 2sec for input 4 3 2 1 Set input logic for Input 4 3 2 1 to active high K26 1111 K27 2000 Set QTV functions K3120217 Set SR functions K32 0200 Set SF functions K33 00 Set output logic for output 2 1 to active high K34 21 Set output functions Input QTV nput 1 OrignSearh nput2 Alarm Reset SS nput3 jMotorFree nput 4 Origin Sensor Output Output Signal Output 1 Output 2 SC10 94 COOL MUSCLE USER S GUIDE Program Bank B1 1 511 11 11 S2 1 A2 1 P2 1 S3 1 P3 1 S1 1 A1 1 P1 1 Motion Description This example shows you that multiple functions can be assigned to a single input K25 sets the time delay between quick and slow response signals Ex 2 Origin Search using a bumper Pulse Input Signal Output Signal Outi Outi Out1 Out1 Parameters K25 1122 Set the time duration between the quick and slow response signal K26 1111 Set the input logic to the active high K27 0000 Set functions to the target voltage level of the quick response signal K28 0007 Set functions to the rising edge of the quick response signal K31 0210 Se
49. INPUT 2 Switch DC 5V 24V 7 It is recognized that it exists on the Cool Muscle side when the switch on the controller side is turned on wr o gt Photo Coupler Switch g l The logic of the signal ic can be set by the pa Controller 4 1 Cool Muscle rameter PLG DC 5V 24V R Photo Coupler It is recognized that it exists on the Cool Muscle side when the transistor on the con Signal troller side is turned on AL The logic of the signal al be set the Controller 4 1 Cool Muscle rameter AP1 108 COOL MUSCLE USER S GUIDE INPUT 3 Max 5V uu sm v v Switch den 4 7KQ 470PF i Controller 4 Cool Muscle PLC 5V 470PF V Controller gt Cool Muscle AP1 109 COOL MUSCLE USER S GUIDE INPUT 4 D El Switch 5V Switch 470PF OV Controller lt gt Cool Muscle 5V u C 470PF OV ov Controller lt gt Cool Muscle Analog v v 5V of A Controller Side Q e OP Amp usage is recommended OV ov Controller lt gt Cool Muscle AP1 110 COOL MUSCLE USER S GUIDE D ke Output OUTPUT 1 DC 5V 24V Digital Output Photo Coupler V i OV Controller gt Cool Muscle OUTPUT 2 Digital Output DC 5V 24V Photo Coupler oy 7 ov Analog Output Controller lt gt Cool Muscle Probe 100KQ D A Cool
50. Muscle AP1 111 COOL MUSCLE USER S GUIDE JEUDIS YOIH Aq AH V L 24615 jaaa MO7 Aq AHOV 0 jas eq 1snui 1IBip uoe3 L Z E pul SI 19p10 1ndul ol o Indu ay 49S 91807 1ndu Aj enpiwipur Jas eq 1snui 985 2 pul 51 1101 euBis esuodsai mojs 40 euin eui 19S Z PEy 19S ses ng YUM semau ye j0 uo 1ndino un 6666 6666 jeubis asuodsay MOIS 40 Aejoq eui WEN uonisog Le SI enjeA Xey uonippe Ag peurquioo eq UBD e oge si quinu v 910N NO JOSUSS UWI MOD jj HUE MOO 40149 NO 40SU8S WI M ii Hr MO 10498 9 JO 02M Aq peBueupo si 93e pneg u ym eBesse v uoneuuiuo N A sdqy xxx pneg eDueuo pepue suieJ604d yueg ueg pua 00S uey ase xueg ul sdeis sdejs ueui 00 40114 BuoJA SI urej60Jd 4yueg ur uonduoseq 10498 xeju s J043 y 10 sen eA ajqeyesun jjeDBueg JO INO 1043 1010u1 adA 5 uim Auo ejqejre e sabessayy 10413 e dsiq 91 jeuBis 1ndui uunje1 oN 0u93 E201 ON 8 seDueuo jeus jndjno uaym uodeg g seDBueup eu amp is indui u uA Woday z pue uonisod u Build 0 opo Aseulg ul pequoseq yeubis NETT Jaye 0007 uedQ ue olul O 10 0w y JO euin v 19S uonisod ble ay o1 xoeq pue doo peso 2 olul saof 1 ejBue jas au HO
51. O oH 1 Default CRLF Temperature Alarm Detection Level K71 o o Q o o This parameter sets the temperature alarm detection level When the temperature in the driver case that is detected exceeds this set value Ux 128 Tempareture Alarm is output and Cool Muscle will go into a Motor Free state Note This parameter works at CM1 Type A series only SC7 66 COOL MUSCLE USER S GUIDE amni Over Voltage Detection Level K72 Description This parameter sets the over voltage detection level When the voltage of DC 24V that is detected exceeds this set val ue Ux 2 Over Voltage Alarm output and Cool Muscle will go into a Motor Free state Relating parameter K57 The even number The overvoltage is detected The odd number The overvoltage is not detected When the regenerated energy is large the alarm is generated it is necessary to have the absorption circuit outside Note This parameter works at CM1 Type A series only The Output Signal Range in Merge Mode K73 Description This parameter sets the range of the signal that is output at the passing point in merge mode Note when the range is too wide in spite of the motor speed is high the output siganls will be united and only one signal will be output through the merge mode operation When the range is too narrow the output level will not turn off until it passes the next target position and passes the multiple target po siti
52. OSHIBA Please make sure to turn off the motor before turning off the Controller And make sure to turn on the Controller before turning on the motor AP1 106 COOL MUSCLE USER S GUIDE I O Wiring E Open collector output is not appropriate for the long length wiring In case of long wiring distance such as over 1 meter the Open collector output is not appropriate to connect Please change to Line driver output Refer to WA 1 Example Pulse Type CW CCW or Step Direction 1 Linedriver CW Pulse CW Pulse or Step INPUT 1 CCW Pulse CCW Pulse or Direction INPUT 2 Q Controller 4 t gt Cool Muscle 2 Open Oollector DC 5V 24V A ID 10 CW Pulse INPUT 1 CW Pulse or Step CCVV Pulse INPUT 2 CCVV Pulse or Direction ov Controller Cool Muscle AP1 107 COOL MUSCLE USER S GUIDE fe Digital Input Switch and PLC INPUT 1 Switch DC 5V 24V _ It is recognized that it exists on the Cool Muscle side when the switch on the controller Je Photo Coupler Switch side is turned on 1 logic of the signal be set by the Controller 4 1 Cool Muscle rameter PLC DC 5V 24V d tae Photo Coupler It is recognized that 10 it exists on the Cool Muscle side when the transistor on the con Signal troller side is timed on JL The logic of the signal can be set by the pa TN rameter Controller 4 t Cool Muscle
53. Origin Sensor is prior to another Ex3 K45 0 Origin Search Direction CW Origin Sensor CVV Origin Sensor Origin Sensor CCW o o o Speed will be faster AP7 137 COOL MUSCLE USER S GUIDE Merge Mode lt Explanation gt Merge Mode will be executed by programming multiple P commands in one 1 line dividing by comma Move to the final target position changing speed acceleration output status etc at the passing points without stop lt Motion gt Related Parameters K34 K73 When setting K34 6 The Output Signal Range in Merge Mode the pulse signal that is set by K73 will be output Note the following articles when using in Merge Mode 1 P command must be used for the positioning The following commands can be used for the final command in the line Q Y and Z 2 The following commands can be used between P commands dividing by comma A S O F and Query 3 Merge Mode can be used only for P command of ID1 motor Merge Mode will be automatically canceled in the following condition 1 When Q Y or Z commands are used with exception of final command 2 When positioning command P Q Y Z is not used for the final command in the line 3 When the directions of positionings are opposite in the line lt Example gt A1 1 S1 1 P1 1 P2 1 P3 1 P1 1 10000 P2 1 30000 P3 1 20000 The direction is opposite in the motion P1 to P2 and P2 to P3 Merge Mode will be canceled and it will be operated as below
54. TI D Zel Set parameters to make the Cool Muscle suit your specification Learn hovv to set the parameters This section also lists all the parameters available Reference Appendix2 Parameter List Pv ic Setting Commands The details of commands Operation of Cool Muscle by V commands and the programming method are explained Reference Appendix3 Command List Basic CML Program Example C Guide for programming by CML commands referring to program examples The program for network is also explained Applied CML Program Example 81 Specified program examples with parameter and command settings are shown and the detail of actual motion is explained Please refer for a further comprehension SC0 4 COOL MUSCLE USER S GUIDE WARNING NO aaa bu VVA 1 D seoklamaen i n VVA 2 lolo 0000000000 000000 VVA 2 ABOUT USER S Ece SC0 3 Flow chart of SECTION 1 u naa anam lasa a ena eie Pe eee SC0 3 SECTION 1 ABOUT GOOLIMUS GLE deret SC1 8 Cool Muscle a E A nennen nnne nnne ne SC1 8 SECTION 2 WHEN YOU RECEIVE COOL MUSCLE sese SC2 11 Gool Muscle Package tette eret ae SC2 11 COMPONENTS 2s E SC2 12 SECTION 3 SETTING P COOL MUSCOLE 2 L ten aka er cede SC3 13 How To Connect Cool Muscle nea SC3 13 Communication with Cool Muscle
55. The note concerning priority of Origin Sensor is added 6 of K34 is changed Default value of K35 is changed Motor type of K36 is changed The note concerning Incremental movement is added Max value of K37 is changed The settable value of K51 is added Default value of K52 K53 and K54 are changed Motor type of K69 is changed SC7 Direct Mode Command and SC8 53 Program Mode Command are integrated Name of Command is changed Description of Acceleration A is changed The note concerning Emergency Stop is added 72 and 99 are changed Alarm Status is changed Stop After Current Motion is added The note concerning END is added A common note to C and J is added The note concerning Push Mode error is added Description of Loop X is added RH 150 COOL MUSCLE USER S GUIDE Dimension of CM1 O 2301 is changed Unit and value of Inertia are changed Chart of Analog Type is added Interface Wiring Example is added SC9 76 Wiring Example is moved Parameter List is changed Max value of K40 is changed The note concerning defaylt value is added Command List is changed AP3 Wiring for Network Card is added Communication Time with Cool Muscle is added AP7 Position Mark Output is added Origin Search is added Merge Mode is added Min Max and Default chart of K28 29 31 and 32 is deleted Feb 2008 MDUG CM1 08207E 01 SC7 48 C
56. Uriuing Innavafion In Hiotion Control Technology COOL MUSCLE Muscle 4 SERVO SY nem IS t V er Vit 4 1 MDUG CM1 11401E 01 Users Guide El an AND Aq Ver 2 29 2 39 Muscle Corporation Inc 2009 Muscle Corp All rights reserved 4 MUSCLE CORPORATION COOL MUSCLE USER S GUIDE WARNING A A P P Do not impact the motor Impacting motor may cause the driver case and the sensor mount ed on the back of the motor to move resulting in alignment errors Do not rotate the shaft of the motor when it is not powered on Ro tating the shaft over 400rpm when the Cool Muscle is not powered on may cause regenerated voltage within the motor This regener ated voltage may damage the driver board Use regulated power supply Please make sure to use Regulated DC 24V power supply Sud den spikes that non regulated power supplies may cause damage to the motor Do not use the motor in wet condition Standard Cool Muscle motors are not environmentally sealed Us ing the motor in wet condition may damage the motor Use the motor within its specification Please refer to the spec section of this manual and ensure that the motor is used within these specifications Are cables too long The recommended length of motor cable is 3m and the power cable is 2m If a longer cable is required please follow the instruc tions in this manual Do not connect or disconnect the motor when the m
57. ameter setting modification the Direct Mode operation the Program Mode operation and the text file transfer are possible 2 Send a text file through Hyper Terminal Click Transfer Text File then send the program file when transfer Click Transfer Text ring a file from Hyper Terminal When the Line Feed is required File then send the select the Line Feed from Menu Property ASCIl program file when transferring a file from Hyper Terminal VVhen the Line Feed 3 Save log data and print is required select Click Transfer Text Capture then save log data of Hyper Terminal the Line Feed from when printing select Transfer Capture and Print Menu Property ASCII SC5 29 COOL MUSCLE USER S GUIDE Close Hyper Terminal 1 Save setting exit Hyper Terminal and save the connection Power down Cool Muscle first then exit Hyper Terminal Select File Exit or click the X on top right hand side of the screen Cool Muscle HyperTerminal izi Edit view Call Transfer Help New Connection Open Save Save As Page Setup Print Properties Exit Alt F4 Do you want to save the connection named Cool Muscle screen will appear when exiting Hyper Terminal Then click Yes and save the connection setting Hyper Terminal 2 Once the connection setting is saved the saved file shall be able to open directly from Start All Programs Accessories Communications H
58. are set as below for the shipping When the values require to be set back to the default please refer to the list below When applying value outside range of it can accept the values will be not changed When Cool Muscle other than Ver 2 25 and Ver 2 35 are handled the values will be set back to the System Default value that are show in the Parameter List but not to the values below o olololiolololololioloflho AP2 119 ejep uoinisod eJUsWAJOU ue SE J010U Gl 10 uonisod Ajouieui y 01 BuuejeJ uonisod 14 wo suni 1O ON FEEDS ESTE LY 18 oesuiog se JO OW Ladi 10 eiep sown z fjoueul eui 18S 00S l 1 ejep uonisod 10 enjeA SNUIW jes uono lp MOD 104 e ul ejep uonisod aq UB ejep uonisog pueWWOd d Jo Jequinu d Jaye Buippe Ag ejep Jeum 195 42 1 Jequunu SI en eA u std q 1snui q Z 4equinu AJOWSW SI enjg EL m ejeq zSddy00 SE 10104 60 JO eyep 9 y 19S 00176 9V OS SE 1010UJ 201 10 eiep p ds e Aiouieui y 19S OSL Z ELS sejep uoneJg oooe jeg ejep peeds jas 8 L jequinu AJOWOUW SI
59. ation can not be set The first Cool Muscle ID1 in Daisy Chain operation is called Mas ter Motor and operates all other Cool Muscles when a multi axises program is executed The multiple positioning without stop is called Merge Mode be cause individual positioning is merged to one motion Merge Mode is comprised by the multiple position but reach the last position passing the positions between start position and final target position Non excitation condition that power is interrupted is called Motor Free When Cool Muscle goes into a Motor Free condition only the power to the motor coil will be interrupted but supplied to the driver board Therefore Cool Muscle determines its current position even in the Motor Free condition When programming a motion program goes deeper by C com mand or J command and its depth is called Nesting This is one method for programming and nesting can be used for conditional branching that usually goes deeper in a program The maximum nesting level for Cool Muscle s programming is 10 times Note that C command and J command can be used only 9 times Number for Loop set how many times a program will repeated When loop is not set a program will end after execution of program one time When XO is set a program will be executed repeatedly until Cool Muscle receives a stop command AP8 146 COOL MUSCLE USER S GUIDE Open Collector Open Loop Origin Offset Polling Position On
60. be updated without notice SC5 24 COOL MUSCLE USER S GUIDE Main features ETerminal function In the terminal window data and bank programs can be set and the status of motion monitored CoolWorks Lite 4 2 1 File Edit View Communication Windows Tools Options Help CML Editor r Program bank execution s s L ee gt Fa ete Motor Response Print Email FirmVerz2 33 MotorRespMode Echo On is opened Motor browser function In the motor browser window the motor parameters are easily set CoolWorks Lite 4 2 1 File Edit View Communication Windows Tools Options Help Motor User Parameters Full Semi Closd Loop yo Position Mark Interface and Settings Time Delay for Slow Response Signal Origin Search Input Logic PPI Controller Input Function at Target Voltage Level of Q Software Limit Input Function at Rising Edge of Quick Resp Manual Operation Input Function at Falling Edge of Quick Res Push Mode Input Function at Target Voltage Level of SI Ms Input Function at Rising Edge of Slow Resp InPosition and Creeping Trout Function at Falling Edge of Slow Resp Deceleration Ratio Output Logic Overflow and Overload Output Function Analog Inputs in C Typt Analog Output Function 30 All Parameters Pulse Interface 0 CW Pulse CCW Pulse mode E Motion Parameters Resolution 3 T t ppr Speed Unit 100pps Position Analog Interface V
61. cable to your User s Guide provides you with hands on instructions to help you Motor Type set up your hardware set parameters create edit command pro IP Pulse grams and make the most of the Cool Muscle motors Since this User s Guide is organized to follow the set up process Analog 2 0 described in this flovv chart Ed Computer Flow chart of SECTION SECTION 1 s l ETE The features of Cool Muscle are explained The differences between 3 types P V and C of Cool Muscle s interfaces a SECTION 2 Mo mV 1112 VVhen receiving the Cool Muscle please confirm that there are all components in a package Then connect Cool Muscle with a PC and confirm the communication ununu SECTION3 Efir Eo Ko Yer D Please see how to connect Cool Muscle with the attached cables The other components are shown separatelly Input and Output D ie Learn how to cotrol I O ports and set functions for each I O port SC0 3 COOL MUSCLE USER S GUIDE SECTION 5 r lminirll r la zlialele D fe Communication Method with Cool Muscle is introduced The outline of special software Cool Works Lite and the communication method with Hyper Terminal SECTION 6 KOVI ES IOANE The composition of special programming language CML Cool Muscle Language The form of parameters and commands and the editing method by a text editor are introduced SECTION 7 RIE U
62. can query the position data by memory number When the value is P 1 1000000000 Cool Muscle will run continu ously CW as defined by speed setting To make Cool Muscle run continuously in a CCW direction set the speed value to a negaive value Example P23 1 250000 Set 250000 pulses to the memory 23 of ID1 motor P24 2 1000000000 Set endless target position to memory 24 of ID2 motor Memory Mn Unt 1000000000 1000000000 SC8 75 COOL MUSCLE USER S GUIDE Speed S o o Q 5 This parameter define multiple speeds Max 15 The speed unit can be set to either 100pps or 10pps by the parameter K37 Example S10 2 20 Set the 2000pps to the memory 10 of ID2 motor Memory Mn Max X Unt 0 32767 100pps or 10pps Acceleration A Description This parameter can define multiple accelerations Max 8 The ac celerations set by this command are absolute This command in combination with K44 also defines deceleration Example A2 3 200 Set 200Kpps to the memory 2 of ID3 motor Memory Min Max Unit 8 1 32767 Kpps Timer T Description This parameter can define multiple timers Max 7 Example T1 1 1000 Set 1000msec to the memory 1 of ID1 motor Memory Min 32767 1 SC8 76 COOL MUSCLE USER S GUIDE When executing an incremental program after rotating a mo tor shaft in motor free status motor moves to a relative position from the cur re
63. cription This parameter sets the speed when the motor goes back to an origin Min 1 Acceleration for Origin Search K43 searches origin This acceleration is also used for manual feed Min Deceleration Ratio K44 Description This parameter sets the deceleration ratio based on acceleration defined by the A command The deceleration can be set as a percentage of acceleration Note that the percentage set by this parameter willl apply to all deceleration in CML program files Refer to SECTION 9 Min Max Defaut Unit SC7 56 COOL MUSCLE USER S GUIDE unun Description This parameter sets the direction for the origin search 0 Default If origin search command is executed at the point where the origin sensor is on the motor vvill move to the opposite direction until it detects the edge of the origin sensor signal Origin Search Direction Y 1 If origin search command is executed at this point motor will move in the Origin Search OFF ON opposite directin to move out of the I origin sensor until it detects the edge of the signal DB G Origin Search Method K46 Description This parameter specifies the method for the Origin Search Origin can be determined using hard stop bumper or an origin sensor It also specifes if motor starts origin search automatically when the Please set the proper input logic for Origin power is supplied to the motor Sensor If it i
64. e Cool Muscle to a PC D Master Set CM1DC1 MBS 7 9 Slave Set CM1DC1 SBS D sub 9 pin Straight Cables CM1DC1 SSC 1800 CD 24V Power Supply CMPS XMUS 150 240 Power Cable Not Attached lt Connecting Example gt Connect to a RS 232C port on PC or PLC ID1 Motor ID3 Motor ID2 Motor The Power Cable is Slave Boad Motor Cables Master Boad Motor Cables connected with Master Set SC3 14 COOL MUSCLE USER S GUIDE Attachment of Network card EGM1 11S30 11L30 Network card can not be mounted on a back of driver case Place it separately from Cool Muscle Do not loosen the screws on a driver case Nuts may fall down in a driver case and it may cause an internal short circuit 1 17S30 17L30 CM1 23S30 23L20 Network card can be mounted on a back of driver case and placed separately as well Do not open a lid of driver case Failure may be induced Cool Muscle will be exempt the warranty if a lid of driver case is opened or whole sticker is removed lt Example gt How to attach Network card 1 Cut and remove 4 corners of sticker on a driver board to expose the nuts Do not remove whole sticker 2 Unscrew the nuts that lock a lid of driver case then place the attached spacers 3 Fix Network card on the spacers by the attached screws 4 Connect Cool Muscle and Network card by the attached motor cable 35mm SC3 15 COOL MUSCLE USER S GUID
65. e motion as the article 1 will be executed Origin Sensor Signal ON 4 Avoidance of Origin Sensor 5 Deceleration Stop 2 Stop with Deceleration 1 Search Origin Signal OFF 3 Over run Correction Origin Search by K45 a Origin lt Sequence for Origin Search by Sensor 2 gt AP7 135 COOL MUSCLE USER S GUIDE 3 When using Limit Sensor Ver2 25 Ver2 35 or later It will be operated as below when the Limit Sensor 6 the same direction as an origin search is assigned to an input and the Origin Sensor Signal 2 is assigned to another input When Origin Search Signal is not assigned to any input the Origin Sensor function will be combined to Limit Sensor and operated as 2 Start Origin Search with the set acceleration and speed by K43 and K42 to the set direction by K45 Then to the reversed direction against the K45 after detecting the limit sensor signal that shows in the same direction as origin search and starts detecting the origin sensor signal at the double speed against K42 After detecting the origin sensor signal then the same motion as the article 2 will be executed Limit Sensor Signal Origin Sensor Signal ON ON 1 Start Origin Search Search Origin Signal 6 Detecting the Limit Reversed Direction 4 Avoidance of Origin Sensor 5 Deceleration Stop 7 Detecting the Sensor Signal Double Speed OFF Jf OFF 3 Over run Correction 2 Stop with Deceleration
66. e of the signal output method is called Open Collector and is one of the most simple method There is a restriction for the distance between Cool Muscle and a pulse generator An appropriate distance always depends on its environment Therefore it shall be confirmed if there is no malfunc tion by things like noise before using The control method without a feedback system is called Open Loop Control and of stepper motor is synchronized with command pulse Open Loop only deems that a motor reaches the target posi tion being premised on that there is no disturbance or load fluctua tion Since there is no feedback system motor can not compare com mand pulse with feedback position data Therefore a motor can not detect its displacement by mis step or external load An electrical origin shall be made aside from a mechanical origin when a mechanical end can not be used for its origin or when a separate origin is required for its operation The distance between a mechanical origin and an electrical origin is called Origin Offset The report method that Cool Muscle replies only when receiving queries from an upper controller is called Polling An upper controller sends query to Cool Muscle and Cool Muscle replies to each query Target position shall be set by P command The unit is pulse Since the same P value will become different position on different resolution those values shall be changed with attention P 1000 1 rotation wh
67. e present power supply voltage level 74 n Analog input value The voltage level of analog input 85 n Version title The title of the version The user parameter from K20 to K82 All the position data 1 25 All the speed data 1 15 All the acceleration data 1 8 All the timer data 1 7 Deviation of positioning The current position 7797 n ICurrentspeed current speed The current torque 799 n Motor status The Current motor status Ux n 0 Running Ux n 1 Counter Overflow Push Mode Error Ux n 2 Over Speed Regenerative Current Ux n 4 Overload Ux n 8 Inposition Ux n 16 Motor Free Ux n 32 During Push Mode Ux n 40 End of Push Mode Ux n 128 Temperature Alarm Ux n 255 Emergency Stop Alarm The above status numbers could be combined 1000 n Contents of Bank Programs Show all the contents in Bank Programs Type A series only SC8 73 COOL MUSCLE USER S GUIDE 32 40 128 255 About Alarm Status Content of display of the follovving Alarm Status information During motor running When positioning Deviation Counter Overflow The alarm when the deviation between motor s current position and target position becomes bigger than the value set by K56 eWhen in push mode Reaching at Target Position eThe alarm when reaching the target position before completion of Push Mode operation Over Speed or Re generative Current eThe alarm when mot
68. ect Mode Data Commands ener SC8 69 Direct Mode Execution Commands sse SC8 70 Direct Mode QUERY un s u seid eet a adl edu te us res i cedar pus SC8 73 Program Mode Data Commands sss eee SC8 75 Program Mode Execution Commands sse SC8 77 Program Mode Program Commands sse SC8 79 SECTION 9 BASIC CML PROGRAM SC9 85 Networking Cool Muscle stint er a a ed ove ety SC9 88 SECTION 10 APPLIED CML PROGRAM EXAMPLE u sese SC10 94 1 Setting 1 O Functions sse nnne SC10 94 Ex 2 Origin Search using a bumper SC10 95 Ex 3 Manual Feed and Jogo l sua asya rt eere n en n o b e Pe SC10 96 Ex 4 Electric orientation with continuous PTP program SC10 98 EX 54 PallSe uu u ERR e ees SC10 99 6 Bank Select using nesting ss eee SC10 100 IN 6 COOL MUSCLE USER S GUIDE Appendix 1 Cool Muscle Dimensions L ein aaa Pu DE ed ocupa Red AP1 102 Cool Muscle Specifications s s s s esse aras ae eee eee eee nennen nennen AP1 103 Inp ut OUTOUL Signal u ERR AP1 104 interface VV ring EXample 1 106 VO Wiring Example uyu AP1 107 Appendix 2 Parameter NST uu u u bu UDUR Hn AP2 112
69. en resolution 1000 1 10 rotation when reso lution 10000 AP8 147 COOL MUSCLE USER S GUIDE Program Bank Program Mode PTP Motion Query Quick Response Signal Resolution Slave Motor Slow Response Signal Program must be made for the usage of Cool Muscle in program mode A series of program units is called Bank A program can be executed bank by bank or call or jump to another bank program The mode that program downloaded to Cool Muscle can be acti vated from an upper controller by execution commands or an input signal is called Program Mode Abbreviated form of Point to Point that means the motion from one point to another Positioning shall be made by several optional points and a motor passes those positions one after another The basic speed form of of the PTP motion is trapezium waveform Cool Muscle can report several sorts of information as its current position speed torque and etc Question command to gain re quired information from Cool Muscle is called Query Cool Muscle recognize input signal by two types of signal quick and slow response signal The input signal that rises and falls at the specified voltage level is called Quick Response Signal Cool Muscle responds a few msec after against Quick Response Signal Resolution indicates the controllability that how many divisions can be made per rotation and defines the precision of motor The unit is Pulse Rotation The maximum resolution
70. ent CMPS XMUS 150 24 Ed Daisy Chain Network Card Those cards are for the Daisy Chain Network and can be mounted on the back of the motor The first motor from the upper controller requires a Master Set and the other motors require the Slave Sets D sub 9pin straight cable can be used between those network cards sars CM1DC1 MBS Master Set Note Network cards can not be mounted on CM1 x 11S L30 motors About wiring please refer to AP4 121 cf k 1 1 5 5 Slave Set SC2 12 COOL MUSCLE USER S GUIDE SECTION 3 SETTING UP COOL MUSCLE How To Connect Cool Muscle 3 Using RS 232C Cable Do not connect or uo disconnect the motor while it is powered on Cool Muscle 5 Please pay attention to the direction of the connector RS 232C Cable DC 24V power supply RS 232C Connector Connect to a RS 232C port on your PC O O O o o SC3 13 COOL MUSCLE USER S GUIDE Using Network Cards You can network multiple motors by using network cards Network Cards are required for Daisy Chain operation Connect a Master Set to an ID1 Cool Muscle closest Cool Muscle to an upper Instead of using a RS 232C Cable you controller and Slave Set to an ID2 and later Cool Muscles can use the network card and the inter conned What Do Need to Create a Daisy Chain th
71. f program bank 2 A1 1 S3 1 P1 1 End SC8 80 COOL MUSCLE USER S GUIDE Input T0 No Action command when you do not make the motor work after it diverges by the pres ence of the signal Refer to SC8 80 Output Off F Description The O command turns the specified output on and the F command turns the specified output off K34 shall be set to 3 or 4 Example B1 1 A2 81 1 P1 1 02 1 Motor moves to P1 with A2 and S1 then turn output 2 on P2 1 F2 1 Then moves to P2 with A2 and S1 then turn output 2 off End It is effective as the trigger signal to other equipment Description This command makes a Cool Muscle perform specified actions or program banks based on the specified input status This command takes the following form I ID Action when true Action when false Example B1 1 141 21 41 End If input 4 is on execute program bank 2 If input 4 is off execute program bank 4 SC8 81 COOL MUSCLE USER S GUIDE Push Mode ed Description The Q command takes the position value defined in a position memory location and commands Cool Muscle to perform a push mode When entering Q1 Cool Muscle starts pushing against the P1 as a target position Cool Muscle will push an object against the target position for the given time at a set current level by the parameter K60 Set K61 3001 for the continuous push mode Push Mode error Ux 1 will occur when reaching at the target position be
72. fore the completion of Push Mode Please set the target position further ahead of the object for Push Mode By the pause command Cool Muscle stops pushing the object but still remain in torque control mode Then by pause com mand again full stop command Cool Muscle stops controlling its torque The target position for a push mode shall be a couple of rotations beyond an object When the deviation between the object and tar get position is too small the current will not go up to the set level and push mode will not be executed properly Example B1 1 A1 1 S1 1 P1 1 2 1 Q2 1 End Goes into a push mode between P1 and P2 referring to K60 for the current level and K61 for its time SC8 82 COOL MUSCLE USER S GUIDE Program banks must finish with P com mand for the last po sitioning VVhen net vvorking a program bank must finish vvith P commands for all motors VVhen paused during the positioning by Y command Origin Search is required after full stop le E Description You can specify the number of times for a specific program bank to loop The times shall be specified after X The max value for X command is 255 The ID number for X com mand must always be 1 The value XO zero infinite loops When the loop is not specified without X program will be executed only once When the number for the loop is not specified no number after X program shall be considered as X0 and loops continuously
73. function to input 1 and 2 when using in communica tion mode vvith PC VVhen positioning to an origin after stopping by a limit sensor function 6 or 9 position deviation may occur The position deviation will be canceled by Enable Motor command after limit sensor is on Input Functions at the Quick Response Target Voltage Input Functions at the Slow Response Target Voltage K30 Description These parameters assign functions performed for the duration of a signal Assignable functions are listed below Refer to SC7 44 Assignable Functions for the Target Voltage Level Functions Description No Action NoAnctin 6060600009 General Use B Typicaliy Used for the command Origin Sensor K27 The signal from Origin Sensor K27 K30 K30 Manual Feed CW Motor runs in a CW direction for the duration of the signal Motor runs in a CCW direction for the duration of the signal CW Limit Sensor with Usually used for a CW Limit sensor But Origin Sensor only after an origin search command the sensor shall work as an origin sensor Emergency Stop Emergeny Stop stop by Max deceleration T Full Stop Stop as IL J CCW Limit Sensor with Usually used for a CCW Limit sensor But Origin Sensor only after an origin search command the sensor shall vvork as an origin sensor Please refer to Appendix 7 for about Origin Sensor 3 1 2 4 Manual Feed CCW 5 Min Max Default
74. g Frog HZ i0 j fib Aepn sous l oh s wes i Steed 18ain k Fafiretet fee The i a Fears Mater Femida Echo n DOMI opara Rec SC5 26 COOL MUSCLE USER S GUIDE How to Set Up Hyper Terminal unu Hyper Terminal is a Communication Software that is pre installed in VVindovvs Communication is possible by command in text format editing and downloading of program file is possible as well The setting method of Hyper Terminal is explained Start Hyper Terminal and Set a communication method 1 Start up Hyper Terminal Start Program Accessory Communication Hyper Terminal 2 Form a Nevv Connection Enter a name in the Connection Description vvindovv Connection Description New Connection Name Enter a name and choose an icon for the connection aes Enter a simple name Name Cool Muscle Ex Cool Muscle 20 d s ee 53 oo i gt Choose an Icon and click Ok 3 Set a communication method Connect To B Click OK after selecting a Cool Muscle Com Port that Cool Muscle is Enter details for the phone number that you want to dial connected to in the Connect Eountry region 2222 191 To window Area code Phone number Comectusno il SC5 27 COOL MUSCLE USER S GUIDE 4 Set the COM port as below and click OK COM1 Properties
75. ges The local echo shall not be displayed Description Description Turn output on off at regular intervals with pulses Set K34 7 The signal wave pattern shall be as below Turn the output on at the first half of the set pulse then off at the last half of the set pulse by K24 Refer to Appendix7 High More than More than 2msec 2msec Low Output On Output Off K24 Set Pulse SC7 44 COOL MUSCLE USER S GUIDE Time Offset Slow Response Signal K25 Description This parameter sets the time delay to create two sets of signals quick and slovv response signal Slovv response signal is a vertual signal that is made by software the specified time delay after the real signal to cover the paucity of input numbers If the signal is completed within the set time delay period it is only recognized as a quick response signal but not as a slovv response signal 9999 3333 Input Order is In 4 3 2 1 Each digit must be set individually Example K25 1 6332 Input 1 0 2sec Input 2 0 3sec Input 3 0 3sec Input 4 0 6sec Quick and Slow response time off set A quick response signal starts when it hits the high level A slow re sponse signal starts after the time offset set by the parameter K25 When K25 1 2222 the slow resoponse signal rises and falls 0 2sec after the quick response signal Original Signa Quick Response Slow Response SC7 45 COOL MUSCLE USER S
76. h communication by detecting high level signal when powering on when external devices are connected to input 1 or 2 SC7 40 COOL MUSCLE USER S GUIDE Parameter Structure oug The parameter of all types of Cool Muscle P V C can be set from PC Each parameter is assigned specified functions Refer to Appendix 2 Parameter List The structure of parameter is K ID Value Example K50 1 15 Manual jog travel distance of the ID1 motor is set to 15 pulses Please put ID Motor ID after all parameters to specify Cool Muscle of the object It becomes effective by inputting Enter J after each data SC7 41 COOL MUSCLE USER S GUIDE Parameter uun Description Set the baud rate to communicate vvith an upper controller Make sure that the same baud rate is set on the upper controller side Baud Rate Set baud rate to 38 4Kbps K20 1 0 38 4Kbps is the Cool Muscle s default value Open Loop Vector Angle K21 Description By the combination of K21 and K22 Cool Muscle goes into an open loop mode vvhen there is no position command during the set time by K22 after in positioning If Cool Muscle moves off the set angle by K21 Cool Muscle goes into a closed loop again and back to the previous target position 0 Ful Closed Loop Unit x 0 1 degree Set the vector angle to 1 degree If Cool Muscle moves off 1 degree it goes into a closed loop again and back to the previous target position
77. he speed at 4 8V for speed type analog Cool Muscle Increase an analog input voltage up to 4 8V to increase the speed K38 shall be set separately When K38 0 K40 2000 The speed will increase up to 2000rpm in CW direction by increasing an analog input voltage from 2 6V to 4 8V The speed will increase up to 2000rpm in CCW direction by decreasing an analog input voltage from 2 4V to 0 2V Note that an area between 2 4V and 2 6V is a dead zone within which no motion will occur When K38 2 K40 1000 The speed will increase up to 1000rpm in CW direction by increasing an analog input voltage from 0 2V to 4 8V When K38 3 K40 1200 The speed will increase up to 1200rpm in CCW direction by increasing an analog input voltage from 0 2V to 4 8V Min Max Default Unit 200 4000 200 rpm Note if supply the power to Cool Muscle applying an analog voltage Cool Muscle may start running following the applied analog voltage K64 for the reference SC7 55 COOL MUSCLE USER S GUIDE un iani uun Analog Distance Range K41 Description Cool Muscle V Type changes position in proportion to the input voltage from DC 0 2V to DC 4 8V This parameter sets the maximum travel distance at 4 8V K38 shall be set separatety Min 32767 32767 2000 pulses When K38 1 K41 4000 The distance will control from 0 to 4000pulses by increasing an analog input voltage from 0 2V to 4 8V K64 for the reference Speed for Origin Search K42 Des
78. ine by line This command is useful when debugging programs Example B1 1 A1 1 S1 1 P1 1 A2 1 S2 1 P2 1 A3 1 S3 1 P3 1 End Entering gt will execute line by line The motor goes to P1 1 then to P2 1 by the next gt command then to P3 1 Execute Previous Line lt Description Entering lt will execute the previous line in a program bank Note This command will not be functional in some program such as Y or Z command is used in a line SC8 78 COOL MUSCLE USER S GUIDE Cool Muscle moves to a target position referring to A and S data before P data in a program bank Therefore A and S must be defined be fore P in a program bank ID1 Cool Muscle manages all motion including the other Cool Muscles in the network ID number for the B command must always be 1 To save the file by text format txt is recommended to transfer the file directly from Cool Works or Hyper Terminal It is also recommended to edit the content of the program Program Commands After parameters and motion values are defined you can start cre ating motion programs The command structure using A S P and T in a program bank is as belovv B1 1 A1 1 S1 1 P1 1 Go to P1 with S1 and A1 End Motion commands are separated by a comma The speed and acceleration that are applied to reach the target position must be placed before the P command The max steps that each motor can store is 500 Each command is counted as one step
79. irection Ps 3 4 1 4 0 1 4 3 4 Ps Ps Ps Ps Ps Ps Ps Ps Set K24 the width of Position Mark to cordon more than 2msec for both signal On and Off time The proper waveform may not be output when the width is set to less than 2msec AP7 133 Origin Search lt Explanation gt Origin Search method can be set by K45 Origin Search Direction and K46 Origin Search Method and executed by the bar command or setting of Input Function assigned to K28 K29 K31 or K32 lt Motion gt 1 K46 0 or 1 Origin Search by Stopper Related Parameters K42 K43 K45 K46 and K47 Start Origin Search with the set acceleration and speed by K43 and K42 to the set direction by K45 Origin Search completes when the current when pushing against the stopper reaches the set level by K47 and the speed goes 1 16 below the set speed by K42 Then the encoder phase value Origin will be displayed The encoder phase will straightly changes from 0 to 999 per 1 50 rotation When the completion of Origin Search in position signal will be output at the encoder phase 0 point that is 1 cycle ahead of completion For the stable origin search adjust an attachment as a coupling for the Origin value to be between 200 and 800 Origin Search Direction CCW K45 1 CCVV Origin Encoder Phase i 1 50 rotation i 999 C Origin 420 eS a Ex Origin 420 Origin Search Direction CW K45 0 CW Origin
80. it must be set individually The first digit is O without fail SC7 52 COOL MUSCLE USER S GUIDE a Please set the speed unit 100pps in nor mal operation VVhen using the extremely slovv speed please set it to 10pps speed unit Do not change the resolution when motor is running Description This parameter sets Pulse Type Cool Muscle to either CW CCW or Step Direction CVV CCVV Step Direction Jog CW and CCW to Execute Bank 2 and 3 K28 K32 shall be referred to C type Only Changes the assignable input functions Manual If you are using C type Cool Muscle this parameter allows you to assign Execute Bank 2 and 3 to rising and falling edges of input signals when K36 2 Motor Resolution K37 Description This parameter sets the motor s resolution pulse rotation and the speed unit that is used by the speed command S The value 0 10 and 40 50 sets the speed unit to 100pps and 20 30 and 70 80 sets to 10pps Speed Unit 10pps Resolution 12000 140 300 120 12002 160 1300 400 2 1500 142 1600 022 soo 162 1600 800 1200 1500 6 15000 146 180000 126 1500002 66 13000 4000 8 125000 48 l6000 128 2500002 68 16000 9 019 so 291 169 8000 12000 Incremental movement can not be executed when K37 value is over 40 SC7 53 COOL MUSCLE USER S GUIDE un The max values for each resolution are as belovv 1 21 7 27 429 496 729 47 67 178 956 970 Continious
81. ition P2 with acceleration A2 and speed S2 Wait for T1 time Move to position P3 with acceleration A3 and speed S3 Wait for T1 time Move to position P2 with acceleration A2 and speed S2 SC9 86 COOL MUSCLE USER S GUIDE Point to Point motion with different deceleration The deceleration rate is always equal to the last acceleration rate specified taking into account the value of parameter K44 This can be modified in two ways The first way is to set the Accel eration Deceleration Ratio parameter This results in setting ratio for every motion The second way is to place multiple commands within a single line of CML it is possible to specify both an accel eration and a deceleration Suppose the final destination is P2 and a quick acceleration followed by a slow deceleration is required Motion definitions A2 1 50 A3 1 8 S2 1 100 P1 1 5000 P2 1 15000 Example B1 1 A2 1 S2 1 P1 1 A3 1 P2 1 END Speed Time P1 P2 Keeping the speed across the tvvo points equal and changing the acceleration value vvill give you a different deceleration to reach the final destination SC9 87 COOL MUSCLE USER S GUIDE Networking Cool Muscle Cool Muscle serial networks are arranged for daisy chain commu nication and formed by a master motor that is closest to an upper controller and slave motors The master motor manages all program banks to control all net worked motors Motion definitions P S A are stored in each motor Howe
82. ject controlled by an analog input Speed Control Adiust S13 value within K40 range Position Control Adiust P24 value within K41 range V type Normal V type operation analog function is assigned Increase an analog input voltage from 0 2V to 4 8V to increase the S0 value within the parameter K40 range Increase an analog input voltage from 0 2V to 4 8V to increase the P0 value within the parameter K41 range Increase an analog input voltage from 0 2V to 4 8V to increase the S13 value within the parameter K40 range Increase an analog input voltage from 0 2V to 4 8V to increase the P24 value within the parameter K41 range Normal V type operation refer to K38 Baud Rate between Slave Motors K65 Description N A This parameter sets the baud rate between slave motors in the Daisy Chain operation l38 4Kbps Please set the baud rate from the last motor in the Daisy Chain operation SC7 65 COOL MUSCLE USER S GUIDE imm amni Alarm reset is avail able after detected temperature goes down below K71 10 C degrees Gain for S Curve K69 Description This parameter sets the Gain for S curve From 0 to 1024 can be applied When 0 motor makes a trapezoi dal motion and when 1024 motor makes a S Curve motion Min 1024 o Delimiter K70 jw o o e o 3 This parameter sets the delimiter at the end of replied data
83. le adopts the Closed Loop Control Cool VVorks is the terminal softvvare that is designed by Muscle for the simple operation for Cool Muscle and is download free from Muscle s vvebsite belovv http www musclecorp com AP8 142 COOL MUSCLE USER S GUIDE CR Creeping Speed CRLF CW CCW CW CCW Method Daisy Chain Delimiter Abbreviated form of Carrige Return 3 To return to the head of the line Both initial speed and terminal speed of the motion are called Creeping Speed This function will shorten a takt time in some application A motion may be unstable vvhen too large value is applied to this parameter K51 Abbreviation form of Carrige Return Line Feed To return to the head of line vvith a line feed A motor s rotating direction CW stands for Clockwise and CCW stands for Counter Clockwise Looking at a motor from motor s output shaft side rotating Clockvvise is CVV and Counter Clockwise is CCW There are tow method for the pulse operation One method is called CW CCW that CW pulse is applied for the operation in CW direction and CCW pulse is applied for the operation in CCW direction An upper controller 101 motor 102 motor ID3 motor Daisy Chain is the method for the communication by connecting all networked Cool Muscles in line but not connecting all Cool Muscles to an upper controller individually It is called Daisy Chain because Cool Muscles are connected as the shape
84. n Current Position Magnified by 8 Position Error Magnified by 8 Current Speed Current Speed Magnified by 8 Current Torque Current Torque Magnified by 8 l O O1 R O IO 2 O Serial Output Serial Transmit to Host Serial Transmit to Slave Output ports and assignable output types O Assignable X Not Assignable SC4 23 COOL MUSCLE USER S GUIDE ALi SECTION 5 COMMUNICATION METHOD There are two 2 methods for the communication with Cool Muscle The one is via special software CoolWorks Lite and the other is via Hyper Terminal pre installed application in Windows CoolWorks Lite ua Refer to COOLVVORKS LITE USER S MANUAL in Manual CD for how to use CoolWorks Lite CoolVVorks Lite is a utility software for CoolMuscle CoolVVorks Lite can communicate with a CoolMuscle directly It lets you modify and save parameters and data It can jog the motor plot motor data on a graph and do gain tuning CoolVVorks Lite is CoolMuscle Language CML compatible CoolVVorks Lite is a user friendly software It assists in easy operation of Cool Muscle GoolWorks Lite 38400 Defar no Open COM CoolVVorks Lite is included in Manual CD provided by each agency when it buys first time The latest CoolWorks Lite can be downloaded for free from the following web site also http vvvvvv musclecorp com Compatible OS Windows 98 2000 ME XP File Size 2 35MB CWL would
85. n can be assigned to inputs but shall not be assigned when operating in Communication Mode The cancellation of Emergency Stop is required when going back to normal operation after Emergency Stop When Emergency Stop is assigned as K27 K30 7 the normal operation will be executed by turning the input signal off Emergency Stop Cancellation x Description This command is required when going back to the operation after the Emergency Stop Data Save Description Saves CML Program Bank and P S A and T values to Cool Mus cle K parameter values are automatically saved when changed Example 1 Saved 2 Saved 3 Saved When data is saved correctly Saved message will be replied from Cool Muscle SC8 72 COOL MUSCLE USER S GUIDE BM Query the specified information 20 zm n Bank 20 Show the content of the direct mode ID number must be 1 1 30 Show the content of the bank 1 30 70 n Input status input status by 16 numbering system Status 8 4 1 2 1 Status Breakdovvn X X X O 11 X X O X Inn 2 12 X X O O Inn 3 2 1 X O X x Inn 4 4 XTO X O mn 4 1 XTOTO X Inn 6 4 2 ignal X OTOTO Inn 7 4 2 1 O X X X Inn 8 8 O x x O 8H O X O X Inn A 8 2 O X O Inn B 8 2 1 Inne 8 4 8 4 1 8 4 2 8 4 2 1 1271 n Temperature in driver case The present temperature in driver case Power supply voltage Th
86. n can be set by the parameter K40 Note The control types above drive the travel distance that is set by K40 or make the acceleration that is set by K41 If the analog voltage is applied when supplying the power to Cool Muscle it ll interfare the applied input voltage Apply the analog voltage that adapts the motion before supplying the power to Cool Muscle Computer Type C type computer is the most powerful Cool Muscle in three 3 interfaces Pre Program If your application only requires repetitive motion you can preprogram the motor eliminating the need for a controller Preloaded programs can be executed by a switch PC or PLC Direct Command If your application requires complicated motion or arbitrary motion you can send command directly to the Cool Muscle via PC or embedded computers Network The C type Cool Muscles can be daisy chained providing you with a simple and low cost network solution There are different ways to network the C type Cool Muscles to suit your needs SC1 10 COOL MUSCLE USER S GUIDE VALI SECTION 2 WHEN YOU RECEIVE COOL MUSCLE When you receive a Cool Muscle package please make sure that you have all the components you ordered You may then proceed to the next step and connect the motor to your PC to make sure that you have proper communications Cool Muscle Package a RS 232C Cable Y Cable is required for all types of Cool Muscle to set pa rameters via RS 232C
87. n characters Example B1 1 A1 1 S1 1 P1 1 A1 2 S1 2 P1 2 A1 3 S1 3 P1 3 A1 4 S1 4 P1 4 A1 5 S1 5 P1 5 A1 6 S 1 6 P1 6 END 1 2 3 4 5 6 1 1 lt Result gt 1st Axis 1 1CR shall be 5 characters composed by 1 1 CR Since it takes approximately 0 3msec for transmission of 1 character 0 3 5 1 5msec So the internal processing time after Cool Muscle receiving CR that comes at the end of data until Cool Muscle starts its motion shall be approximately 2msec Therefore after sending the data it theoretically takes approximately 3 5msec until the actual motion starts 1 1 CR i i i 1 1 1 1 1 s eme um em 0 3msec 0 3msec 0 3msec 0 3msec 0 3msec This time will be different in each case AP6 131 COOL MUSCLE USER S GUIDE 2nd Axis and later Send 3 5msec 8msec 12 5msec T7msec 21 5msec 26msec 2nd Axis A1 2 S1 2 P1 2 15 characters 0 3 15 4 5 that shows the 2nd Axis starts the motion 4 5msec after the 1st Axis 3rd Axis A1 2 S1 2 P1 2 A1 3 S1 3 P1 3 30 characters 0 3 30 9 that shows the 3rd Axis starts the motion 9msec after the 1st Axis 4th Axis A1 2 S1 2 P1 2 A1 3 S1 3 P1 3 A1 4 S1 4 P1 4 45 characters 0 3 45 13 5 that shows the 4th Axis starts the motion 13 5msec after the 1st Axis 5th Axis A1 2 S1 2 P1 2 A1 3 S1 3 P1 3 A1 4 S1 4 P1 4 A1 5 S1 5 P1 5 60 characters 0 3 60 18 that shows the
88. n not be changed When a wrong baud rate is set please re set a Hyper Terminal re ferring to as it follows Connection Selected COM port ex COM1 Baud Rate 38400 Data Bit 8 Parity N A Stop Bit 1 Hand Shake None His Cool Muscle powered on Please make sure that there is a servo rock on the motor shaft Please wait for a few minutes At the first communication sometimes it takes a few minutes to re ceive a replying data from Cool Muscle Do you have multiple terminal applications running in the back ground Or do you have a software for PDAs or other programs that occupy COM ports running Make sure that these programs are disable and not running in the background Nothing appears when 790 is entered Parameters are not properly displayed Turn the motor off and on If the motor responds with its version information communication is established Please check your PC setting including a key board SC3 19 COOL MUSCLE USER S GUIDE SECTION 4 INPUT AND OUTPUT Pin Assignment and Layout Cool Muscle has 4 inputs and 2 outputs that are user definable IP M C Each I O port can be assigned multiple functions by setting motor parameters using CML Please refer to the SECTION 7 MUSCLE CORPORATION WWW MLISCLECORP CONM AAA AAA Melkok PIN Layout Pulse PIN Color Name Function Pulse ao Computer CW CCW Step Dir 99 OM Lr sex aroun i 2
89. n value will be one third of setting value When K52 101 the gain value will be 100 during the slow speed up to 768rpm operation and then the gain value reduces inverse proportion and when speed is 3000 rpm the gain value will be 25 To switch stable gain mode and variable gain mode it is switched by configuring an even number or an odd number lt Setting value gt Min Max Default Default for the shipping o 30 50 70 70 151 50 151 50 Each type of Cool Muscle has different default gain values for the shipping When applying value outside range or it can accept the values will not be changed When Cool Muscle other than Ver 2 25 and Ver 2 35 are handled the values will be set back to default values above that are not to the default values for the shipping SC7 60 COOL MUSCLE USER S GUIDE DENS sra 22 lt Description gt Setting Speed P Gain The variable gain mode When an odd number is applied High speed low speed gain adjustment Ks i The stable gain mode When an even number is applied Speed P Gain Stable gain is applied Refer to The gain adjustment steps in For variable gain mode this gain setting value applies to when the the Appendix 7 speed is 0 rpm When Speed is between Orpm and 300rpm Speed P gain value increases in proportion The conclusive gain value is setting gain value plus 50 To switch stable gain mode and variable gain mode it is
90. ng Program Banks It is recommended to use editor programs such as Microsoft Word to creat and edit Program Bank files You can download Program Bank files via a terminal program by importing text files You can also download parameters in the same method When changing parameters only specified parameter shall be changed It will not affect unspecified parameter When writing Program Bank it must begin with B1 1 Even when changing a part of Program Bank or whole content of another Bank it must begin with B1 1 Please enter a and Enter at the end of the CML program to save the data in Cool Muscle When changing only parameter the does not need to be sent The limit of the number for over writing each data is 100000 times SC6 38 COOL MUSCLE USER S GUIDE SECTION 7 SETTING PARAMETERS This section guides you to the details of parameters and instruction for setting Please refer to Appendix 2 for Parameter List Direct Mode Data Command Execution Command Program Mode Data Command Execution Command Before Setting Parameters To set parameters on Cool Muscle you need to connect Cool Mus cle via RS 232C cable CM1C2 2000A or network card You can set parameters on multiple Cool Muscles when they are networked via network cables IP RS 232C Cable Connect the Cool Muscle refer to SECTION 3 SETTING UP COOL MUSCLE Start up Cool Works or the Hyper Terminal and turn Cool Muscle on Make
91. nt position before motor free Execute Counter Reset in this case Incremental du Description By adding after memory location of P command the P value can be relative position data against the current position Example When current position is 10000 reference P data P1 1 1000 B1 1 A1 1 S1 1 P1 1 END After execution motor moves to P 11000 Execution Commands for Program Mode Execute Program Bank Description Execute the specified program bank The ID number for execution command must always be 1 because the ID1 Cool Muscle manages all program banks Example 1 1 Execute Bank 1 Cool Muscle will send End status via communication line when finishing a program bank SC8 77 COOL MUSCLE USER S GUIDE When alarm situ ation occurs dur ing the daisy chain operation all daisy chained motor shall be stopped Cancel the alarm and make the origin search then re start a program Pause Description pauses Cool Muscle with deceleration that is the same as the cur rent acceleration Alarm shall be canceled as well re starts the motion that is currently paused Entering twice will stop the motor completely 13 JJ Stop After Current Motion Description Entering will stop the motor when it completes the current line of the bank program Entering twice will stop the motor completely J Execute Next Line gt Description Entering gt will execute a program l
92. of Cool Muscle is 50000 and the default value is 1000 when delivered The resolution 1000 means that one rotation is devided by 1000 and positioning can be made every 1 1000 rotation The resolution can be set by the parameter K37 The second ID2 or later Cool Muscle in the Daisy Chain operation are called Slave Motor The signal that is recognized set time after the recognition of quick response signal is called Slow Response Signal The offset time between the quick and slow response signal shall be set by the pa rameter K25 AP8 148 COOL MUSCLE USER S GUIDE Status Report Step Step Direction Method Software Limit Speed Unit Timer Report method from Cool Muscle to confirm Cool Muscle s operat ing status as Running Error and etc is called Status Report The content of report and report timing can be set by the parameter K23 The individual command that is used in a program as P data S data A data and etc is called Step B1 1 A1 1 S1 1 P1 1 There are four steps in above program Cool Muscle can contain 500 steps in its storage One of the method is called Step Direction that Step pulse and Direction pulse must be applied separately Direction pulse must be sent only when Cool Muscle is stopping completely or a fevv msec after Step pulse is sent to Cool Muscle Position limitation called softvvare limit can be set by the parameter K58 and K59 at both CW and CCVV end referring to the origin as
93. of Daisy Daisy Chained Cool Muscle shall be identified by ID number automatically when the power is supplied and each Cool Muscle download only data that matches their own ID numbers Maximum 15 Cool Muscles can be controlled from one Com Port via RS 232C communication line Delimiter is a mark that delimits a character string and each command is recognized as a data by being delimit by delimiter Type of delimiter can be selected by the parameter K70 AP8 143 COOL MUSCLE USER S GUIDE Deviation Deviation Counter Direct Mode Event Driven Gain It is difficult to detect an error when the deviation counter overflow value is too large but an error will be detected very often when the deviation counter overflow value is too small K56 value shall be adjusted in accordance with an instrument Cool Muscle always follows the command pulse for the precise positioning by Closed Loop System The difference between command pulse and feedback position data is called Deviation and the amount of deviation is called Deviation Counter For example the deviation counter is 0 1000 pulses is entered for command pulse and feedback position data is 700 the current deviation counter is 300 The value for the deviation counter overflow can be set by the parameter K56 and an error will be detected when Cool Muscle can not follow the command pulses for the set time The direct mode will not require a motion program but shall be executed
94. on with one output signal Please reduce the K73 value in such a case Min 1000 10 msec SC7 67 COOL MUSCLE USER S GUIDE SECTION 8 SETTING COMMANDS This section guides you to the details of commands and instruction for setting Please refer to Appendix 3 for Command List Parameter Direct Mode Data Command Execution Command Program Mode Data Command Execution Command Program Command Please put ID Motor ID after all parameters to specify Cool Muscle of the object It becomes effective by inputting Enter J after each data SC8 68 COOL MUSCLE USER S GUIDE Direct Mode amni This section contains Data Commands Execution Commands and Queries for the Direct Mode Parameter Data Command Execution Command Program Command Program Mode Data Commands for Direct Mode Position P Description This parameter can define the position for Direct Mode P 1 10000 Unit Pulse P 1 1000000000 is for continuous motion Cool Muscle keeps run ning in a CW direction endlessly Enter value for the speed for CCW continuous motion o Speed Description This parameter can define the speed for Direct Mode S 1 250 Unit 100pps 10pps Refer to K37 Acceleration A Description This parameter can define the acceleration for Direct Mode A 1 250 Unit Kpps SC8 69 COOL MUSCLE USER S GUIDE unun It becomes effective by input
95. or can not reach the target acceleration or when re generative current is generated by steep deceleration Over Load eThe alarm when motor can not move because of external over load In position Motor Free eThe alarm when motor becomes free intentionally by Command or Input Signal During Push Mode Completion of Push Mode Over Heat eThe alarm when the temperature in the driver board is more than the set value by K71 eThe alarm can be canceled when the temperature goes down to K71 10 degrees then motor becomes operative Emergency Stop eThe emergency stop status by command Motor will become operative by the emergency stop cancellation command 1 eWhen emergency stop function is assigned to inputs motor will be operative by turn off the input signal ok o SC8 74 COOL MUSCLE USER S GUIDE Program Mode Except 1000000000 K37 in the page SC7 51 Parameter Setting shall be re ferred to for the max values for P com mand at each resolu tion This section contains Data Commands and Execution Commands for the Program Mode Commands for creating and executing pro gram banks are explained Parameter Direct Mode Data Command Execution Command Data Commands for Program Mode LONE OE Description This parameter can define multiple positions Max 25 The position set by the P command is absolute To make values relative add after memory location Once positions are defined you
96. otor is powered on This may cause damage to the motor When an alarm occurs re start operation after removing its cause When operation is continued with a cause of alarm damage to mechanical equipment could occur WA 1 COOL MUSCLE USER S GUIDE A Disclaimer Before operation of Cool Muscle it is very important that you read the User Manual thoroughly The Cool Muscle can cause bodily injury and or equipment damage if it is misused Proper safety means and measures should be provided to prevent any misuse and or improper operations The user assumes all liabilities for its use The Cool Muscle shall not be used for mission critical applica tions without explict written permission from Muscle Corporation Copyright This user s guide is copyrighted by Muscle Corporation All rights reserved Information on this document is subject to change without notice Coolmuscle is trade mark of Muscle Corporation Microsoft and Windows are registered trademarks of Microsoft Corporation in the United States and other countries Other company names and product names described in this document are trademarks or registered trademarks of their respective holders The trademarks notices TM are not necessarily appended to company system and product names described in this document Printed in Japan WA 2 ABOUT USER S GUIDE VVelcome to the Cool Muscle integrated motor The Cool Muscle Refer to the sections appli
97. overload and alarm signal output Max 100 10000 3000 COOL MUSCLE USER S GUIDE a Software Limit CW K58 Software Limit CCW K59 Description These parameters set the software limit on both CW and CCW sides When the motor hits the limit position it immediately stops In a Program Bank the positioning over the limit can not be executed When the distance is set to 0 default value there is no limit Set value for K58 and value for K59 Mn Max Defaut Uni 568 327607 100puises k59 32767 o 10puses Push Mode Current Level K60 Description This parameter sets the current level for the Push Mode The currrent level can be set by percentage Note the max value 80 means 80 of the 80 of motor s peak torque Min 10 50 Push Mode Holding Time K61 Description This parameter sets the holding time for the Push Mode The Push Mode time shall be from when current level goes up to the set level by the parameter K60 until motor finishes pushing an obiect The endless push mode can be applied by setting K61 3001 Min 10 SC7 64 COOL MUSCLE USER S GUIDE K40 value is always referred to when K64 is set to either 2 3 or 4 Depending on the analog voltage level when the power is supplied to a mo tor a motor possibly moves to the op posite direction from the set direction Analog Input Setting K64 Description This parameter sets the ob
98. porting a vvide variety of communication interfaces including RS 232C Pulse CW CCW and Step Direction and Analog Volt age Cool Muscle can be used not only for nevv products but also for replacement or upgrading the current system The Cool Muscle s high resolution encoder provides you the ex ceptional resolution of 50 000 pulse rotation Combined vvith vector drive control the Cool Muscle does not have a mis step and is an incredibly smooth and quiet motor CML Cool Muscle Language makes creation of motion programs very simple and can be downloaded directly to the motor Cool Muscle Interface Cool Muscle supports three different interfaces as Pulse Analog and Computer Select an interface that will fit your application PULSE TYPE COOL MUSCLE P type Cool Muscle can be a replacement for your current pulse driven system and will remove problems as heat generation mis step and etc that are associated with an open loop stepper motor Further more Cool Muscle can be a replacement for a Servo Mo tor and will provide a cost reduction and compactification P type Cool Muscle supports both CW CCW and Pulse Direction The type can be selected by the parameter K36 SC1 8 COOL MUSCLE USER S GUIDE 1 CW CCW K36 0 Apply CW pulse to the input 1 Apply CCW pulse to the input 2 2 Step Direction K36 1 Apply Step pulse to the input 1 travel distance Apply Direction pulse to the input 2 direction When the Direction pulse
99. program bank Example B1 1 14 1 C2 1 T0 1 A1 1 S1 1 P4 1 B2 1 A1 1 S3 1 P2 1 End VVhen input 4 is true execute bank 2 VVhen input 4 is false ex ecute T0 then move to P4 SC8 84 COOL MUSCLE USER S GUIDE mn Refer to Appendix 7 about Merge Mode SECTION 9 BASIC CML PROGRAM EXAMPLE Continuous Point to Point motion with different speeds Merge Mode B1 1 A1 1 S1 1 P1 1 S2 1 P2 1 S3 1 P3 1 By combining the motion commands in 1 line in a program bank the motion belovv is created Speed S3 A1 S2 A1 A1 1 A1 Time P1 P2 P3 As compared to basic point to point motion the program bank above has no stops in its motion between Origin and P3 Speed is changed at each point and the acceleration and deceleration remaine equal throughout Continuous Point to Point motion with different speeds and accelerations Merge Mode B2 1 A1 1 S1 1 P1 1 A2 1 S2 1 P2 1 A3 1 S4 1 P3 1 ncluding acceleration changes at each point and increasing the speed prior to the last point may create motion similar to the chart belovv Speed Time SC9 85 COOL MUSCLE USER S GUIDE Motion definitions A1 10 A2 50 A3 100 S1 200 S2 100 S3 250 P1 1 5000 P2 1 0 P3 1 15000 T1 1 200 Basic Point to Point motion B1 1 A1 1 S1 1 P1 1 T1 1 A2 1 S2 1 P2 1 T1 1 A3 1 S3 1 P3 1 T1 1 A2 1 S2 1 P2 1 END Move to position P1 vvith acceleration A1 and speed S1 VVait for T1 time Move to pos
100. s not set properly motor rec ionwhentisot Defa fst Stopper Bumper Automatically when powered on Origin Sensor Origin Sensor Automatically when powered on Method opper Bumper The following related parameters shall be set separately Current level for Origin Search K47 by Stopper SC7 57 COOL MUSCLE USER S GUIDE ammi When the accel eration for the origin search is set too high the current lev el goes up to the set level by K47 Please reduce the K43 value in such a case uun a Current Level for Origin Search by Stopper K47 jw o o o 5 Sets current level at which the motor will determine that the origin position has been reached during a stopper bumper origin search routine It is set by percentage Note The max value 100 is the 80 of the motor s peak current Min Default 10 of the peak current Off Set Distance between Mechanical Origin And Electrical Origin 9 K48 Description This parameter sets the offset distance betvveen the mechanical and electrical origins The parameter is for the motor to find the mechanical origin then automatically go to the electrical origin starting point The mechanical origin and electrical origin are the same by the default parameter K48 0 The speed for moving from the mechanical origin to electrical origin is the same as the speed for the origin search Min Default 32767 32767
101. signal transmission Line Driver is recommended when the distance between Cool Muscle and a pulse generator is long or the usage in a noisy envi ronment The function that displays the transferred data on the display of connected device is called Local Echo Cool Muscle replies the recieved data on an upper controller and display the data on its screen On the other hand local echo could be iterrupted when communi cation line is busy In such a case Local Echo could be inactivated by the parameter K23 Note Confirmation of sent data can not be made after inactivating Local Echo Cool Muscle has a function called Lovv Pass Filter that cuts the frequency of Analog input signal in Analog control The cut off level can be set by the parameter K39 The function that Cool Muscle rotates to the specified direction at the specified speed when detecting the target voltage level of input signal then stop when input signal turns off is called Manual Feed The speed for Manual Feed shall be set by the parameter K49 and the direction by the parameter K27 or K30 AP8 145 COOL MUSCLE USER S GUIDE Manual Jog Master Motor Merge Mode Motor Free Nesting Number for Loop The motion that Cool Muscle rotates the specified pulses that is set by the parameter K50 by applying a one shot signal to an input is called Manual Jog This function is adapted to a manual fine adjustment of an instru ment Note that the speed and acceler
102. signal is detected motor will turn 10 pulses When a slow response signal is detected the motor turns continuously for the duration of the signal Pulse Counter DJ Pulse signal can be applied to input 1 and 2 when using Pulse type Cool Muscle CW CCW Step Direction EAnalog Input Input 4 can be used for Analog input when using V or C type Cool Muscle Either speed or position can be cotrolled by Analog input voltage 2 Serial Input Communication Input 1 and 2 as well when networked is used for serial communication when using C type Cool Muscle Cool Muscle establishes its communication by automatic detection of input 1 amp 2 voltage level when powering on Please refer to the SC7 40 Input ports and assignable input types VO Digital In Analog In Pulse n Serial In nput 1 2 O X O O Input3 Max5V o X X x Input 4 Max5v o X x O Assignable X Not Assignable SC4 22 COOL MUSCLE USER S GUIDE Assignable Functions Output P ic Digital Output Assignable Output Functions Commad O 5 Analog Output Assignable only at Output 2 In Position at passing points in Merge Mode Position Mark K24 must be set separatelly 8 During Motor Free 9 During Push 1 Analog Output The data as below can be output by assigning the Analog Output Function at Output 2 Assignable Analog Output Functions Analog Output Function Target Position Current Positio
103. sing CML it is very simple to set parameters It is also very simple to change parameters to suit your specifica tions although it is set to the default parameter when delivered Parameter Definition K ID Value K signifies a parameter number ID after K number signifies an ID number The Number represents the data to be assigned to K A list of parameters and their corresponding numbers are outlined in Section 6 SETTING PARAMETERS Refer to the Ap pendix 2 Parameter List Ex K37 1 3 sets resolution as 1000ppr Command can be used in different two modes Comprehension of the difference between those 2 modes is re quired for Cool Muscle operation Program Mode Operation by the program that is downloaded to a Cool Muscle A program can be triggered by an execution command or an input signal Direct Mode Direct operation via PC to make an immediate action The communication using both Program Direct mode with Cool Muscle can be made from a terminal program as Cool Works or Hyper Terminal SC6 32 COOL MUSCLE USER S GUIDE CML Structure Command Structure amp Rules This section guides you to the Command Structure and Rules for Cool Muscle program mode The basic structure of a CML command is TT 1 m Modifier eu et Value Memory Motor ID Memory Number Each command has a limited number for memory locations For example Position Speed and Acceleration can be stored in 25 15 and 8
104. sure that there is communication estab lished between Cool Muscle and your PC Network Cable Connect Cool Muscles refer to SECTION 3 Start up Cool Works Lite or the Hyper Terminal and turn Cool Muscle on Each Cool Muscle is automatically given a motor ID Make sure that communication is established between Cool Muscles and your PC refer to SECTION 5 The motor information from the daisy chained Cool Muscles will be displayed SC7 39 COOL MUSCLE USER S GUIDE Please note that as it has been exemplified on right hand side Cool Muscle starts the Communication Mode automatically by the setting of Input1 Automatic Identification Cool Muscle executes an upper and lower communication status confirmation when power is supplied When power on Input On Communication Mode Accept only command nput2 On Communication Mode to a Daisy Chained Slave lower Cool Muscle When Input1 and Input2 are on Cool Muscle goes into Communication and Daisy Chain Mode Therefore Input1 Output1 and Input2 Output2 shall be kept for Communication Only the last Cool Muscle in Daisy Chain recognize it the last end because Input2 shall stay off Therefore the Output2 of the last Cool Muscle can be used When operating by pulse signal using input 1 amp 2 for pulse signal do not apply high voltage when powering on External devices such as a sensor are recommended to be connected to input 3 or 4 Cool Muscle may establis
105. t indicate only for the falling edge Description NoAcion PT Reset Alarm Pause Reset Alarm VVhen Alarm is on it resets the alarm Pause Pause a motor Send a start signal to resume a motion rn Enable Motor Enable a motor from a motor free state 3 CounterReset MakethecumentposiionO 4 Execute Next Line Execute the next line in a Bank 66 dada o AN Availability depends on a program 6 ExecueBanki 1 52 j 7 9 Manual Jog CW Motor runs in a CW direction Execute Bank 2 The other values shall be set by K43 49 and 50 When K36 2 execute Bank 2 Manual Jog CCW Motor runs in a CCW direction Execute Bank 3 The other values shall be set by K43 49 and 50 When K36 2 execute Bank 3 The parameter List in the Appendix 2 shall be referred to SC7 49 COOL MUSCLE USER S GUIDE ua Example K28 1 7612 B Input 1 Motor Free Input 2 Reset Alarm Pause Input 3 Execute Bank 1 Input 4 Go Origin Output Logic K33 Description This parameter sets the output logic 11 11 0 Normally Open 1 Normally Closed Output Order is Out2 1 Each digit must be set individually Example K33 1 01 U nput 1 Normally Closed Input 2 Normally Open 5 7 50 COOL MUSCLE USER S GUIDE a Description This parameter assigns a function to an output Assignable func tions are shown in the table below Comman O 1 In Position In Position
106. t functions K42 15 Set the speed for origin search K43 150 Set the acceleration for origin search K45 0 Set the origin search direction CW K46 1 Set the origin search method SC10 99 COOL MUSCLE USER S GUIDE Input Input 1 Pause Alarm Reset Input 2 Execute Bank 1 Input 3 Origin Search Output Output Function Output 1 Output 2 Program Bank B1 1 S1 1 A1 1 P1 1 Motion Description This example shows how you can pause a program During the ex ecution of Bank 1 the motor is paused somewhere in between the origin and P1 By making Input 2 high the paused program will be resumed Ex 6 Bank Select using nesting xm S X N I cw Wl og R2 X PN Input Signal In2 In3 Output Signal Out1 Out 1 Out1 Parameters K25 2222 Sel the time duration between the quick and slow response signal K26 1111 Set the input logic K27 2111 Set functions to the target voltage level of the quick response signal K28 0667 Set functions to the rising edge of the quick response signal K33 00 Set the output logic K34 21 Set output functions K42 15 Set the speed for origin search K43 150 Set the acceleration for origin search K45 0 Set the origin search direction K46 1 Set the origin search method 5 10 100 COOL MUSCLE USER S GUIDE Input QR TV Input 1 Origin Search Input 2 Execute Bank 1 Input 3 Execute Bank 1 Input 4 OriginSensor Output Output Function
107. t functions to the rising edge of the slovv response signal K32 0200 Set functions to the falling edge of the slovv response signal K33 00 Set the output logic to the active high K34 21 Set the output functions K42 15 Set the Origin Search speed K43 150 Set the Origin Search acceleration to 150Kpps K45 0 Origin Search direction CW K46 0 Set the Origin Search Method K46 0 Set the Origin Search Method K47 30 Set the current level for Origin Search by Stopper SC10 95 COOL MUSCLE USER S GUIDE QR SR 0 Origin Search 1 JAlrm Reset Motor Free Enable Motor Output ua Output Functions Output 1 Output 2 Program Bank B1 1 S1 1 A1 1 P1 1 2 1 A2 1 P2 1 S3 1 P3 1 S1 1 A1 1 P1 1 Motion Description The previous example showed you how to search for the origin us ng an origin sensor As an alternative you can use a bumper or stopper to make the motor search for the origin The motor starts to search for the origin vvhen input 1 goes high at the rising edge of a quick response signal The motor turns in a CVV direction at the speed and with the acceleration set by parameter K42 and K43 The motor determines that it has found or reached the origin when its current reaches 30 of its peak current Ex 3 Manual Feed and Jog Speed CCVV Cw Input Signal Output Signal Out Out1 Out Out Out SC10 96 COOL MUSCLE USER S GUIDE Parameters K25 1122 Set the time dura
108. ter motor and slave motors Therefore the master motor shall have the program banks for all slave motors Note that program shall be made through the ID number order SC9 90 COOL MUSCLE USER S GUIDE Basic network program example 1 P1 10000 P2 20000 P3 0 51 100 52 200 1 50 2 100 2 1 30000 2 0 51 200 52 300 1 50 2 100 1 20000 2 0 51 125 52 100 1 20 2 150 4 1 12500 2 0 51 150 52 75 A1 15 A2 40 1 2 3 4 Save all data above to all networked motors B1 1 A1 1 S1 1 P1 1 A1 2 S1 2 P1 2 P2 1 P2 2 P3 1 END Line 1 Commands for both motors in the same line make both motors start at the same time The ID1 motor moves to P1 with S1 and A1 and the ID2 motor moves to P1 with S1 and A1 Line 2 After both motors have reached the first target positions they execute the motion defined by line 2 The ID1 motor moves to P2 with S1 and Al The ID2 motor moves to P2 with S1 and A1 Line 3 After both motors have reached the target positions the ID1 motor moves to P3 with S1 and A1 SC9 91 COOL MUSCLE USER S GUIDE Basic network program example 2 1 P1 10000 P2 20000 P3 0 S1 100 S2 200 A1 50 A2 100 2 1 30000 2 0 51 200 52 300 1 50 2 100 3 P1 20000 P2 0 51 125 52 100 1 20 2 150 4 P1 12500 P2 0 51 150 52 75 A1 15 A2 40 1 2 3 4 Save all data above to all networked motors B1 1 A1 1 S1 1 P1 1 A1 2 S1 2 P1 2 P2 1 Y2 2 P3 1 END
109. ting Enter J after each data Execution Commands for Direct Mode Execution A Description Execute the Direct Mode referring to the defined data P 1 100000 S 1 200 A 1 100 Description is the command to pause Cool Muscle s operation Enter again to restart Pause the Operation of the specified ID 1 Description Pause the operation of the specified ID in the Daisy Chain opera tion Note this command is functional only in the Direct Mode Example 1 3 Pause only ID3 Cool Muscle by Direct Command during Daisy Chain operation SC8 70 COOL MUSCLE USER S GUIDE Origin Search Description Start Origin Search The Origin Method shall be set by K46 Go to Position 0 1 Description Makes the motor go to position 0 Counter Clear 2 Description Clears the position counter and make the current position to 0 Motor Free Description De energizes the motor windings leaving the rotor free to rotate The motor s driver board and encoder remain activated therefore o o o 5 3 nl o o o o Enable Motor Description Use this command to enable the motor in a Motor Free state Output On Output Off F Description On and Off the specified output discretionary K34 shall be set to 3 or 4 COOL MUSCLE USER S GUIDE Emergency Stop Description Make all Cool Muscle stop by max deceleration by sending Emer gency Stop command This functio
110. tion between the quick and slow response signal K26 1111 Set the input logic to active high K28 9810 Set functions to the rising edge of the quick response signal K30 4300 Set functions to the target voltage level of the slow response signal K33 00 Set output to active high K34 21 Set output functions K42 15 Set the speed for origin search K43 150 Set the acceleration for origin search K45 0 Set the origin search direction K46 1 Set the origin search method K49 15 Set Manual Feed speed K50 20 Set Manual Jog pulses nput OR STV Alarm Reset Alarm Reset Manual Jog CW Manual Feed CVV Manual dog CCVV Manual Feed CCVV Output Output Functions Motion Description The example shows manual jog and manual feed The travel dis tance for the manual jog is set to 20 pulses by parameter K50 The speed for manual feed is set to 1500pps by parameter K49 The acceleration for manual feed is the same as the acceleration for the Origin Search A short signal less than 0 2sec vvill trigger manual jog which turns the motor 20 pulses If a signal longer than 0 2sec is sent the motor turns continuously for the duration of the signal In this case manual jog and manual feed are merged SC10 97 COOL MUSCLE USER S GUIDE Ex 4 Electric orientation with continuous PTP program Speed CCW CW Input Signal Out1 Out 2 Out1 Parameters K25 1122 Set the time duration between the quick and slo
111. tput Status Change and Query B1 1 A1 1 S1 1 P1 1 96 1 O2 2 S2 1 P2 1 O3 2 F2 2 S3 1 P3 1 END Query 96 1 and Output2 2 on at P1 1 Move to P2 1 vvithout deceleration at P1 1 Output3 2 on and Output2 2 off at P2 1 Move to P3 1 without deceleration at P2 1 AP7 140 COOL MUSCLE USER S GUIDE How to Adjust Gain The Cool Muscle s gains can be adjusted by changing values of parameters K52 K53 and K54 Each type of Cool Muscle has dif ferent default gain values The following gain adjustment steps will help you find the optimum gain values for your application Step 1 Set K52 K53 and K54 to the following values K52 1 K53 100 K54 0 Step 2 As you increase the value of K53 you may start hearing high fre quency noises and noticing vibration The K53 value should be just under the value that starts generating the noises and vibration The higher the K53 value the less vibrations and noises the motor will generate However if you set the K53 parameter too high the mo tor will generate high frequency noises and vibration Step 3 Once you find the optimum value for K53 start increasing the value of K52 The higher the value of K52 the smaller the positioning er ror becomes and the quicker the motor gets in position However setting the K52 value too high will make the motor unstable caus ing it to vibrate Step 4 If you can not produce the desired motion by step 3 increase the value of K54 The K54 lets
112. type 1 Position Control Speed Voltage Filter Gain 128 es Acceleration Max Speed for V type motor 200 Time Delay Travel Range for V type 2000 kat S Curve Setting Speed for Origin Search 10 K42 Bank Programs Acceleration for Origin Search and Manual F 100 2 k43 D ic Moti Deceleration Ratio 100 x K44 Origin Search Direction 1 COW direction K45 Origin Search Method Stopper K46 Voltage Level for Origin Search 30 x K47 Offset distance between Mechanical Origin 100pulses K48 Speed for Manual Feed 10 100pps K49 Travel Distance for Manual Jog 10 pulses ov il iB Save To File Apply All Apply FirmVerz2 25 J amp E F Echo On iFP Received 2 SC5 25 COOL MUSCLE USER S GUIDE Bog motion function In the Jog window the motor can be rotated by dragging a slider with the mouse Selected Motor Motor resolution osttines Resolution Filter Speed nit Figg the HS wwe changed o wit be saved into the motor Wax spaad po Tipos Currant position Acceleration Cc To Orien Graph function In the graph window the position speed torque etc can be displayed graphically in real time E uning function In the tuning window controller gain can be easily tuned by step This window will not work for py AS 2 2 25 xx E Ver 1 07 or before yep x Pers keetty Systen hetis Losi hartial cn 21 Eo Starting Freq Vicosiy ook a Endin
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114. ver only Timer definition refers to master motor s data Then only the master motor will respond to a execution com mand Motor ID1 Master motor has program Master banks to control all 4 motors Slave motors have motion definitions as P S and A data Parameters shall be set up for each motor as well Motor ID4 Slave SC9 88 COOL MUSCLE USER S GUIDE Defining Motion for Multiple Motors When programing multiple motors the motor ID numbers need to be specified at each step in a program banks Once motor ID is specified the same ID number is applied to the following steps un til another ID number is specified again The specified data by ID numbers shall be downloaded to each motor 1 ID 1 Master P1 1000 P2 2000 81 200 A1 100 A2 300 2 ID 2 P1 2000 P2 2500 S1 200 S2 400 A1 100 A2 300 3 ID 3 P1 20000 P2 24000 S1 300 S2 400 A1 50 A2 300 4 1004 P1 5000 P2 12500 S1 150 S2 75 A1 100 A2 150 1 2 3 4 SC9 89 COOL MUSCLE USER S GUIDE Save all data above to all networked motors ID numbers can be specified in the following format as well P1 1 1000 Set the position1 data of ID1 motor as 1000 pulses P1 2 2000 Set the position1 data of ID2 motor as 2000pulses P1 3 2000 Set the position1 data of ID3 motor as 2000pulses S1 2 400 Set the speed1 data of ID2 motor as 40000pps Hovv to create netvvork program Netvvork of Cool Muscle is formed by a mas
115. w response signal K26 1111 Setthe input logic K27 2000 Set functions to the target voltage level of the slow response signal K28 0167 Set functions to the rising edge of the quick response signal K33 00 Set output to active high K34 21 Set the output functions K42 15 Set the speed for origin search K43 150 Set the acceleration for origin search K45 0 Set the origin search direction CW K46 1 Set the origin search method K48 100 Set the off set for the origin search Input nput 1 Origin Search nput 2 Execute Bank 1 nput 3 Pause Alarm Reset nput 4 pj Output Output Functions SC10 98 COOL MUSCLE USER S GUIDE Program Bank B1 1 S1 1 A1 1 P1 1 S2 1 P2 1 S3 1 P3 1 End Motion Description By setting the offset distance between the mechanical and electric origins you can make the motor automatically move to the electric origin after it finds or goes to a mechanical origin In this example the electric origin is set to 10000 pulses away from the mechanical origin A program in Bank 1 is executed at the rising edge of the quick re sponse signal on Input 2 Ex 5 Pause Speed CCW CW Input Signal Output Signal Out1 Out1 Out1 Parameters K25 1122 Set the time duration between the quick and slow response signal K26 1111 Set the input logic K28 0761 Set functions to the rising edge of the quick response signal K33 00 Set the output logic K34 21 Set the outpu
116. x100 pulses Manual Feed Speed K49 Description This parameter sets the rotational speed for manual jog Min COOL MUSCLE USER S GUIDE a Manual Jog Distance K50 Description This parameter sets the travel distance for manual jog Min Max Default Unit 1 100 10 1 pulses Note The no speed and acceleration will be referred to for Manual Jog operation Creeping Speed K51 Description Sets the creeping speed for the initial and terminal speed for a motion The creeping speed is the speed from which motor starts to move and stop The motion will be adjusted finely by changing creeping speed Setting creeping speed too high may cause the motor to vibrate Min Speed Time There is a number that can not be set by K37 Resolution morethan5 8 28 2500 more than 48 68 600 moethan2 49 69 800 SC7 59 COOL MUSCLE USER S GUIDE aum Description Setting Position P Gain KPp The stable gain mode When an even number is applied Stable gain is applied KPp 2 KPp 3 I The variable gain mode Position P Gain When an odd number is applied 768 rpm 1536rpm 2304 rpm High speed low speed gain adjustment Refer to The gain adjustment steps in For variable gain mode setting gain value is applied to slow speed operation Me Appana Z Speed above 768rpm the gain value reduces inverse proportion When speed is 2304rpm the gai
117. you further fine tune positioning errors Setting the K54 too high will cause the motor to vibrate AP7 141 COOL MUSCLE USER S GUIDE Appendix 8 Manual Terminology Absolute Acceleration Unit Analog Out Baud Rate Closed Loop Cool Works The abusolute positioning shall always be executed by the abusolute position data that is based on the position 0 Origin This function is adapted to a direct motion from an optional position to a specified position Acceleration shall be set by A command The unit is Kpps The relation betvveen A value and time for acceleration is T S Speed Unit A 1000 Cool Muscle can output the analog signal to monitor its position speed and torque for the comprehension of operating condition This analog signal output function is called Analog Out and useful for the measurement by oscilloscope Baud Rate is set the speed to send and receive data The unit is bps that is a number of bits that can be transferred per second Baud Rate shall be confirmed vvhen funny characters appear on a display The control method vvith a feedback from a detecting device as an encoder is called Closed Loop Control Since a detecting device detects motor s rotation Closed Loop Control controls on a comparison of command pulse vvith feed back position data through the feedback system Therefore Cool Muscle alvvays stays at a correct position even in the condition vvith an external load Cool Musc
118. yper Terminal folder Cool Muscle from next time Heroes Accessories gt fm c ations II Network Connections Z Entertainment Network Setup Wizard Startup System Tools E New Connection Wizard Windows Media Playe 48 Internet Explorer VJ Address Book J Remote Desktop Connection El Calculator 2 Wireless Network Setup Wizard L Outlook Express BY Command Prompt Remote Assistance B Notepad Windows Media Player 6 Tour Windows xP 4 Windows Messenger E Windows Explorer UL LL G windows Movie Maker A WordPad B Log Off Turn Off Computer untitled Paint SC5 30 COOL MUSCLE USER S GUIDE SECTION 6 CML STRUCTURE LI CML stands for Cool Muscle Language the ASCII commands only for Cool Muscle Cool Muscle Language D a CML Cool Muscle Language is a free method ASCII commands that provide a simple creation of a motion program for single or multi axis systems As CML can contain a motor ID multiple Cool Muscles can perform coordinated motion CML is composed as follows Parameter Command Direct Mode Data Command Execution Command Program Mode Data Command Execution Command Program Command Enter ID Motor ID No after all parameter and command to specify an ID number Data will be activated by entering Enter JJ after it SC6 31 COOL MUSCLE USER S GUIDE Parameters uun Commands a By u

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