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1. eee eee eese ee eese sins tn stata seta suse ta sone ta sens enses sosta sse ta sensns estu aeneus 9 1 KEYWORDS REFERENCE cccscssssssrssrscssrsersessrsessessrsessessnsenscsensesscssssesscssnsessesensessesensessesensessesenees 10 1 10 1 KEYWORDS ATTRIBUTE REFERENCE eese nennen enne enne nnne ener innen enne nn inni en entente innere 10 1 10 2 COMMAND KEYWORDS LIST erect t eto n condos RSEN cvscusca onedns PENSE OE NEKKE AE EEUE NE SEENE ies 10 2 10 3 PARAMETERS KEYWORDS LIST cett to ca ERR EE ENTE a RN EESE EXER DINE Ree pui S 10 3 10 3 1 SC AT 4M Parameters Keywords List eee eese eene enne nne trennen enne 10 4 10 3 2 SC AT 2M Parameters Keywords List eese eee eene teen nnne nennen trennen enne 10 6 10 4 KEYWORDS LIST FUNCTIONAL GROUPS esee nennen enne nnenne eren innere enne 10 8 10 4 1 Keywords Gro p Descriptlo 3 aue tre ert ener ete Hee e EEUU ge ree creber qu 10 8 10 4 2 Keywords Groups eee te ER RR RD t D aea va e eei a e 10 8 10 57 KEYWORDS LIST ALPHABETICAL LIST x iiss erento t e ter a re mee eee neue e ets 10 13 10 5 1 AB Abort Motion Commands ee a e eee tei etes HRY 10 14 10 5 2 ACS ACCELEV ATION cS esee ee ERES aa as M REIS t RR Eee ite daa 10 15 10 5 3 AD Analog Input Dead Band Ie HR Gees tastes wees vans egere rend 10 16 10 5 4 AF Analog Input Gain Factor seeni i e eene tenente rene eene entree nnet 10 17 10 5 5 AG Anal
2. eee 11 6 List of Figures Figure 4 1 Communication Channels Handling within the Firmware Main Idle Loop 4 20 Figure 5 1 Typical motion profile with full smoothing seen 5 17 Figure 5 2 Typical motion with no profile smoothing eee 5 18 Figure 6 1 Position Over Velocity Loop PIV Control Scheme Structure 6 1 Figure 6 2 Position Loop PID Control Scheme Structure seseeee 6 2 Figure 6 3 Position PID and Velocity PI Piltets e eto reete gazed 6 3 Figure 8 1 Analog Input Scaling Block Diagram eene 8 33 h Control and Robotics Solutions Ltd INTRODUCTION Revision 3 10 January 2005 The SC 4M is a new advanced state of the art multi axes servo controller enhancing the Control and Robotics Solutions Ltd SC products family line This document covers the product general Software User s Manual and describes the Command Reference of the new SC AT servo controllers The SC AT servo controllers consist of the following controllers 1 SC AT 4M 4 Axis Servo Controller 2 SC AT 2M Dual Axis Servo Controller This manual is based on previous versions that supported the SC 4M SA controller The following additional documents are available for further reference Document Type Document Name Document Title Programmer User s SC AT Users Manual SC AT Family Advanced Multi Axes
3. AG Analog Input Gain Ar Ye Analog Input Value AO Auxiliary Analog Output Value AP Yes Next Absolute Position Target AR No General Purpose Array As Yes Analog Input Offset DA No Data Recording Array o Ye DAC Analog Offset Desired Position EA Yes ECAM Motion Parameters Array EM Yes Last End OF Motion Reason ER Yes Max Position Eror Limit FF Yes Ace and Vel Feed Forward Gain FR Yes Following Ratio for Gearing Obsolete in the SC AT 2M Firmware High Software Limit for Motions 1A No Indirect Access Index Array IP No GetInputPort 1s Yes Integral Saturation im xb Ye PID Differential Gain Kr Ye PID integral Gain KP Yes PID Proportional Gam wm Yes Master Encoder Axis Definition Wr Yes Motor Fault Reason PS CA tims the SC AT 2M Firmware ww Ye Motion moe Mo Ye Motor ON EnabloIDisable Yes Currently Not Yet Supported in the SC AT 2M Firmware Motion Off See footnote Read Reset Only Val 9 2047 Assignment Range rT dd See Remark Ye Ne 512 120 000 000 2 2 147 000 000 1x1 000 2 147 000 000 0240905 5 1 2 147 000 000 2x8 o0 aa 128000000 2x2 0 65536 a ia ee 000 eee 000 SS 2x8 2 147 000 000 2 147 000 000 1x50 2 147 000 000 P 04
4. sese siekia aE eai Ea ate iain i eaei 10 47 10 5 24 EC Communication Error Code eese eee eere entente entente entente 10 48 10 5 25 EM End of Motion Reason ener nnne teen trennen rene enne enne enne nnne nnne 10 49 10 5 26 ER Max Position Error Limit eese esee nennen enne tenete entente entree enne 10 50 10 5 27 FF Feed Forward Gans sisiane inini entente entente en oni tnnt entente entente 10 51 10 5 28 LER Following RAN sos eei uae ad et reete e ee e PU Eee EASi 10 53 10 5 29 GP Axis Group Identifiers Definitions SC AT 4M Only 10 56 10 5 30 HL High Software Limit een e tete e eter aae ele eene rp AE 10 58 10 5 31 IA Indirect Array isse Eie ses deberes bine teet estas ea dena K EnaA oE a EEEa Seton deni 10 59 10 5 32 Jb IputLogicas soie idR RII e e iE 10 60 10 3 33 JP dnp t Port sni be p e Db rig tr Pr UC bere ess 10 61 10 5 34 IS Integral Saturation Limit eese eese neen rennen ener 10 65 10 5 55 KD Control Filter Diff Term Gain eese eene trennen eene eerte nnne 10 66 10 5 36 KI Control Filter Integral Term Gain eese eene een een eene 10 67 10 5 37 KP Control Filter Proportional Term Gain eese 10 68 10 5 58 KR Kill Repetitive Motions Command e esee een een eene nennen 10 69 Control and Robotics Solutions Ltd Revision
5. Command Parameter Range 1 8 Syntax XOC 1 Clears the first bit LSB Bit 0 in OP to 0 XOC 8 Clears the last bit MSB Bit 7 in OP to 0 Examples XOP 255 Set ALL digital outputs to High 1 logic XOC 1 Clears the first bit LSB Bit 0 in OP to 0 OP 254 XOP 255 Set ALL digital outputs to High 1 logic XOC 8 Clears the last bit MSB Bit 7 in OP to 0 OP 127 See Also OL OP OS Control and Robotics Solutions Ltd 10 87 SC AT Software User s Manual and Commands Reference 10 5 50 OL Output Logic Purpose Sets and get the SC AT Output Port Logic control word Using the OL Output Logic parameter the user can control the actual H W logic level of each bit in the controller Output Port Word Each bit in OL corresponds to the same bit in OP and to a specific H W digital output The bit order of OL is the same as OP i e e Bit of OL Controls the logic of digital output port 1 Bit 1 of OL Controls the logic of digital output port 2 e Bit 7 of OP Controls the logic of digital output port 8 OL is non axis related so axis preceding character has no effect OL is usually set to a pre defined value after the initial application setup and then OP OS or OC should be used to control the outputs Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows
6. ccceeesccesscecsseceeneecoseceneecesecesneecsaccssneecsacesneecsaeceaeecsseeeneecsaeeeneess 6 4 6 5 Fa AUG EWIDEIdod uu AROR 6 5 6 6 ENCODER GAIN 574 esdteotaste pie iei vt Pee EP ay eee oae F e EY te FETU Ve a Ua nee Ene eg ee Y Ce SREE EN Coe ove Un dep n eU 6 5 6 7 DUAL LOOP OPERATION IN SC AT 2M c cccccsssseceessececssceecessnececseseececseeecsesaeeecsesaeeesaeeecneeeeesseeeeeess 6 6 6 8 NON LINEAR ELEMENTS 5 errante eene eode ene o D ER Ue dpennivace OPERATE EEE EEE AARE EVER a EVERETT e Ede s 6 6 6 9 FILTER GAIN SCHEDULING mieie zeros teen tore tee e es ie beret ee ue ere a eee Qe coe aee ETSE ERR EE 6 7 6 10 ACCELERATION AND VELOCITY FEED FORWARD eeeeeeeeeeeeeeeee enne nene nenne nene en nennen enne se tent enne nene en 6 8 Olii OPEN LOOP OPERATION arysirna e tertie cbe ete en ee E E Aa EE NE eeu Tee IRE Pee lee eee aee EEES 6 8 6 11 1 SC AT 4M Open Loop Operation SIN commutation motors esee 6 9 6 12 REAL TIME SERVO LOOP PROTECTIONS csscccssecessceceseceseeeceacceseeecaceeeneecssececaeeceaececatecaeesseeecsaeeeentess 6 9 6 13 SUMMARY OF ALL CONTROL FILTER RELATED PARAMETERS cessere enne nene nnne enne nene 6 9 FAULTS PROTECTIONS AND LIMITS wisssessssccssssessesesseosssecnsseosssovnisnoxescesesbesostessssassssnsss sessesdeseaxesdesesses 7 1 TA DRIVER FAULTS AND ABORT INPUT 5 3 oce e Ree e ERE ERE pe pete ee
7. Analog Commands in SIN Mode and Open Loop Operation NC Please note the special SIN commutation operation mode is Currently Not Yet Supported in the SC AT 2M Firmware In order to switch back again to close loop operation the motor should be disabled MO 0 and only then NC may be set back to 0 The NC command is restricted to Motor OFF condition Trying to modify NC while motor is enabled MO 1 will generate an EC NEEDS MOTOR OFF error 48 The NC parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Control and Robotics Solutions Ltd 10 85 SC AT Software User s Manual and Commands Reference 10 86 Scope All Restrictions NEEDS MOTOR OFF Save to Flash No Default Value 0 Range 0 3 Syntax XNC 0 Disable Open Loop default ZNC Report Open loop Mode for Z axis ANC 1 Set NC 1 Open Loop for all axes Examples The following code example enables Open Loop mode on Y axis and set the Y axis analog command output to 5 volts and 10 volts YMO 0 Must Disables the Motor before changing the NC YNC 1 Set NC 1 to indicate Open Loop for that axis YMO 1 Set MO 1 for Y Again YTL 32763 Set Command saturation to 10 Volts YTCz16384 Set command value to 50 5 Volts YTC 32763 Set command value to 100 10 Volts YMO 0 Disables the Motor before changin
8. 1 r WB 4 4 a S a n3 a 0 796875 d 0 498047 DesPos 24238 XPos 2 7 Figure 5 2 Typical motion with no profile smoothing Control and Robotics Solutions Ltd Revision 3 10 January 2005 Note that profile smoothing implementation does not imply any numerical limitations and does not include any minimal motion time limit which might be implied by the use of the smoothing itself The user should be aware that theoretically a smoothed profile takes longer time to complete then a similar trapezoidal profile with no smoothing The actual time difference between the non smoothed theoretical trapezoidal profile to the smoothed one depends on all motion profile parameters SP AC DC and the motion distance of course In any case the maximal time difference does not exceed the overall smoothed period 2 WW sample times Control and Robotics Solutions Ltd 5 19 6 1 Revision 3 10 January 2005 THE CONTROL FILTER General The SC AT controller s family supports as a standard two control filter structures to allow users maximum flexibility in servo control loops tuning These are e Full Position feedback based control loop Designated below as PID e Dual Position over Velocity loop control filter structure Designated below as PIV Although in the presence of a single feedback device usually a single encoder based position feedback it is easy to
9. Command Allows Parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 32 767 32 767 Syntax XAO 32767 Set X Axis AO 32 767 10 Volts ZAO Report value of AO for Z axis AAO 0 Set AO 0 to all axes 0 Volts command Examples See Syntax above See Also NC TC CG 10 20 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 8 AP Absolute Position Purpose Defines the Next motion Absolute Position in counts target The absolute position value is used by the controller as the next target position in both the PTP and Repetitive PTP motion modes Upon a BG begin motion command the controller will generate a profile from the current desired DP position to the current AP Note that in relative motion the RP command simply changes the value of the AP Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XAP 100000 Set X Axis Absolute Position to 100 000 ZAP Report value of Z axis AP AAP 0 Set AP 0 in all axes Examples The following example shows resetting the X axis position to O and then initiate a normal motion in X axis from Position 0 to Absolute Position 100 000 XMO 1 Enables the X Motor XPS 0 Set X axi
10. Gearing motion is initialized like any other motion This means that first the motion parameters and mode should be set and then a valid BG Begin Command should be given Upon issuing a BG command to an axis in MM 2 first the master and slave initial positions are locked and then the axis enters a motion state where its reference is calculated according to the following equation MasterDP MasterInitDP FR 16 777 216 SlaveDP SlaveInitDP Remarks gt For an axis in gearing motion mode the slave all other motion profiler parameters i e SP AC etc are ignored gt Users should avoid alter a master axis DP by a issuing a PS command to the master axis while it is connected to a slave axis that is in motion to avoid position Step Commands to the slave and possible a high error faults Although FR can be change during motion doing so will result in a slave step command which may cause a high error fault gt When an axis is commanded to begin a motion in MM 2 it immediately enters the motion with the reference as defined above No acceleration profile is generated for cases where the master axis is already in motion gt Currently the SC AT 4M support position gearing motion mode for X Y axes only Like Jogging Gearing Motion is also theoretically an infinite motion It stops only as a result of a user command or due to some fault limitations or protections gt If a ge
11. Scope All Restrictions Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax YXV Report value of Y axis Aux Velocity BXP 0 Set PS 0 for both axes Examples See Also XV FR Control and Robotics Solutions Ltd 10 153 SC AT Software User s Manual and Commands Reference 10 5 86 ZI CAN Array 10 5 86 1 ZI CAN Array SC AT 4M Purpose The ZI array holds various CAN related parameters These parameters are used in numerous cases 1 CAN remote unit addresses 2 EDB modes 3 Future modes For CAN remote unit addresses ZI is usually used in script programs in order to define the remote unit s addresses The ZI array is an axis related array with size of 10x4 elements Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the ZI array is 1 4 Remote Transmit Address The remote message is sent from the SC AT 4M on this address for macro X Remote Transmit Address The remote message is sent from the SC AT 4M on this address for macro Y Remote Transmit Address The remote message is sent from the SC AT 4M on this address for macro Z Remote Transmit Address The remote message is sent from the SC AT 4M on this address for macro W Remote Receive Address The remote message is received in the SC AT 4M on this address for macro X Re
12. This value is monitored during all motions by the controller Whenever the actual encoder position PS is smaller then the LL value and the velocity VL is negative moving towards lower positions motion is stopped immediately using the stop deceleration parameter DL DL should be normally set to a higher value then DC as during normal operation conditions LL is for emergency cases stop only In the SC AT 2M Only the value of LL is validated by the controller during motion start BG commands only i e a motion beyond the software limits to an AP lt LL cannot be initiated in motion mode Point To Point MM 0 A special communication error code EC 53 is generated by the BG command in that case BG command will return gt Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 2 147 000 000 Range 2 147 000 000 Syntax XLL 100000000 Set X Software LL to 100 000 000 ZLL Report value of Z Software Low Limit ALL 2147000000 Set Software LL to 2 147 000 000 for all axes Examples See Also DL HL PS EC 53 See Communication Error Codes in chapter 11 below Control and Robotics Solutions Ltd 10 71 SC AT Software User s Manual and Commands Reference 10 5 41 ME Master Encoder Purpose ME is the Master Encoder Defini
13. e Mechanical Size The new SC AM SA board size is 136 x 76 mm was 146 x 112 e Power Input Connector Smaller pitch 3 81 mm Phonix Mini Combicon 5 pins GNDx2 VCC Vm Vm The board connector P N is Phonix MC 1 5 5 G 3 81 The mating power input connector is Phonix MC 1 5 5 ST 3 81 Communication Interface Connector The SC 4M SA has a Dual Port RJ 45 option only no option for Quad Both CAN bus channels and the RS 232 can be interfaced from a single RJ45 port Note that ALL 8 pins of the RJ 45 are in use Please consult C amp RS for additional pins assignment Configuration Dip Switches New 8 Dip SW for general purpose configurations are now available on board Currently the first two switches are used for 1 Servo sample source selection must be on and ii Firmware down load options see below Other options may be supported by new firmware versions High Resolution DAC The SC AM SA board uses an 8 channels 16 bit DAC for the main servo analog command outputs This replaces the 14 bits filtered PWM interface of the previous SC 4M board As a result of that the analog second order filter 300 Hz 0 7 does no longer exist in the new analog output circuit Only a simple low pass first order filter is implemented 2 000 Hz to filter high frequency power supply noises This other then having full true 16 bit servo command resolution also significantly improves the controller transfer function
14. CPA KW IS COMMAND 0x00010000 Keyword is a Command Keyword CPA KW IS AXIS RELATED 0x00020000 Keyword is Axis Related CPA KW IS VIRT AXIS RELATED 0x00030000 Keyword is Virtual Axis Related CPA KW SOURCE MUST BE MACRO 0x00100000 KW Source Must be from MACRO Only CPA KW SOURCE MUST BE COM 0x00200000 KW Source Must be from Comm only CPA KW SOURCE MUST BE RS232 0x00300000 KW Source Must be from RS 232 only CPA KW ALL MACRO HALTED 0x10000000 KW Must have all programs halted Table 6 SC AT Keywords Attributes and Restrictions Each command and parameter can have one or more attributes from the table above In addition each parameter has a default value when not loaded from FLASH or when FLASH value is not valid as well as Minimum and Maximum limit values 10 2 Command Keywords List The following table describes alphabetical list of the SC AT Commands Keywords Note The following list DOES NOT include any script programming related commands Please refer to the SC AT Macro Scripts Language features User s Manual for further reference on Script Program related functions 10 2 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Command Axis Description Restrictions Keyword Related AB Yes Immediately Abort any motion Motor ON Start data recording process Not Currently Recording Yes Begi i No i Download Array Buffers in CAN Bus None Not Supported in the No Dow
15. End should be greater than Start The exact conditions tested before the mode is enabled are 0 IStart IEnd 10 000 Similarly to Mode 0 and Mode 1 here the positions in the AR array MUST be defined in a strict ascending or strict descending order and comply to the Distance actually direction definition and the actual motion direction If these conditions are not met the compare pulses will be generated in unpredicted unexpected positions 3 wa 4 The AR array used for location table definitions is a non axis related array The AR array size depends on the controller being used SC AT 4M The size of the AR Array is 1 x 10 000 SC AT 2M The size of the AR Array is 1 x 1 000 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Although all axes can operate simultaneously and independent from one another when working in Mode 2 or Mode 3 all axes share the same AR array The user should use separate AR areas for each axis if more then one is needed to be operated in Mode 2 or 3 simultaneously 8 2 4 Mode 3 32 Bit Arbitrary Tables with FPAG RAM Support This operation mode is similar to Mode 2 i e supporting 32 bit arbitrary location compare table but instead of being based only on the real time controller software to manage points increment it is using the encoder interface RAM as a FIFO to allow unlimited pulse frequency operation This mode is not
16. IO MODE 90 Bits Configuration Description 10 90 Control and Robotics Solutions Ltd Revision 3 10 January 2005 IO MODE 1 YOM The following table describes the IO MODE 1 bits order and specific description 3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 7 5 3 2 1 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 Bits Name IO MODE _0 Bits Description Bits 7 0 of IO MODE 1 controls the Capture Event Source for the X Axis The following bit order definitions applies Bits 3 0 selects the number of digital input to be used as a capture input trigger source for that axis Bits 3 0 0 Select Digital Input 1 DInpl Bits 3 0 215 Select Digital Input 15 DInp15 Bit 4 selects weather Normal Digital Inputs are used i e DInpl to DInp16 if set to 0 or weather the dedicated inputs are used i e XRLS XFLS etc if set to 1 Fora complete list of all dedicated inputs please see the IP keyword reference Dedicated IP bits starting from Bit 16 zero based as X RLS and so on Bit 5 select whether the capture is on one of the inputs defined by Bits 4 0 if set to O or on this axis Encoder Index Input if set to 1 Bit 6 Select Input polarity 0 set Normal pulse polarity 1 set Inverted pulse polarity Bits 7 8 Reserved Should be 0 for future compatibility Bits 15 8 of IO MODE 1 control the Capture Event Source f
17. Note that the value of the step should be smaller than ER to avoid High Error fault In addition high step values can cause oscillations due to the non linearity s especially saturation which are an inherent part of the control loop 5 8 2 Starting a Step Motion Communication Clauses Description MO 1 Enabling the servo loop motor on MM 8 SM 1 Setting Position Step motion mode Repetitive Mode AP 100 Assigning an absolute target position counts RP 30 or assigning a relative value for the target position BG Begin the motion Note that the SC AT controllers also support repetitive Step Motions Similarly this can be done by setting SM 1 instead of SM 0 in the above sequence WT is used as the delay time between each two consecutive motions 5 8 3 Monitoring and Stopping a Step Motion Please refer to section 5 1 3 above Note that the Step motion mode is very short one sample time As a result it is practically impossible to monitor the state of this motion In addition a Step motion does not affect the EM parameter which remains with the same value it has before the BG command Since the Step motion is very short it is not practical to stop it after a BG command If a repetitive Step Motion is commanded the user should use the KR Kill repetitive command much like a normal PTP Rep motion Control and Robotics Solutions Ltd 5 15 SC AT Software User s Manual and Commands Reference 5 9 Profile Smoothing in
18. See section 8 1 in this User s Manual for further information See Also RG DA RL RR RV Control and Robotics Solutions Ltd 10 27 SC AT Software User s Manual and Commands Reference 10 5 13 CA Special Control Parameters Array Purpose SC AT 4M CA is a special control parameters array allowing the user to further configure the servo loop features CA is an axis related array valid for axes X Y Z and W The size of the CA array is 4 x 16 Each parameter in the CA Array controls a certain feature as explained below i indicates an axis identifier between 1 to 4 for X to W SC AT2M CA is a special control parameters array allowing the user to further configure the servo loop features CA is an axis related array valid for axes X Y The size of the CA array is 2 x 16 Each parameter in the CA Array controls a certain feature as explained below i indicates an axis identifier between 1 and 2 for X and Y Array Function Description Element CA i 1 3 Not Used Should be 0 for future compatibility CA i 4 This parameters defines the 274 PID filter duration To disable the 2 PID set CA i 4 0 The duration is defined in servo samples units Le Value of 1 is 1 16384 of a second Value of 164 is 10 mili sec The recommended value range for the 2 PID filter duration is 0 lt CA i 4 lt 16384 Negative values should be avoided Plea
19. X Compare on Index M Start X motion and enter a Loop to wait for the Index Pulse XXN 0 XBG while XXN DESV TENE oM NIE COS endwhile Index is found Stop the motion The Index location is stored in XXC Stop the program y XST XOH 8 3 4 2 SC AT 2M Position Capture Events Examples The following example demonstrates usage of the Capture and Compare functions The X axis is programmed to generate Compare pulses on fixed GAP The pulses are directed to Fast Digital Output 5 It is assumed that DOut 5 is physically connected to DInp 9 Axes X and Y are then programmed to Capture their locations on each Compare pulse The Captured X position should be identical to the desired Compare position The Captures Y position reflects the Y axis location when X was commanded to generate the Compare pulse The captured positions are then sent through the CAN bus to a host computer The Compare GAP is programmed to 200 encoder counts while motion is at 100 000 counts sec The resulted Compare frequency is 500 Hz This application can be used when an X Y scan is made and in order to know the exact planar location of the system on each compare pulse 8 30 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Disable any active compare for X Axis XPO 0 Configure IO MODE 0 DOut 5 assigned as X Compare Configure IO MODE 1 X Y use DInp 1 as their Capture Source XOM 1 Set
20. is 1 32767 in DAC LSB units By setting IS 1 the user can actually disable the Integral term in the system IS should be generally used when it is required that the integral will compensate small dynamic errors or friction forces but to avoid large values to be charged to the integral history gt To the value of PO the final filter signal output after the PID PIV and 2 order filter calculations an offset value defined by DO DAC Offset is added in order to compensate analog output voltage offset Although the software range limit for DO is 32 767 in DAC LSB units it is usually not required to use values more Control and Robotics Solutions Ltd Revision 3 10 January 2005 then few hundreds Note that by using high values of DO a non symmetrical analog output range can be resulted The final DAC command is always protected from roll over beyond 16 bit value gt The DACs in the SC AT 4M system has a finite resolution of 16 bits 32 767 for 10 v Although negligible this still has a non linear quantization effect gt The SC AT 2M analog command output has a resolution if 12 or 13 bits configurable using a dedicated CG bit see section 10 5 15 2 below This gt When working with the PWM command interface for MD or other drives using mini driver interfaces the final system resolution is 12 bits 42047 for 100 PWM gt The encoder has of course a finite digital
21. parameter Pulse Width Mode is not used In turn the pulse width parameter PG i 5 is used to set the required pulse width in multiplications of 1 92 uSec intervals This implementation provides a more flexible user interface for defining the compare pulse width 4 The max allowed value for PG i 5 is 255 This will result in a Pulse Width of 489 6 uSec In the arbitrary table supported modes Modes 2 and 3 the controller real time software is responsible for updating the compare match registers As a result the compare pulse width may be longer then requested The start point of the pulse will however always match the exact compare point without any delay 8 2 5 3 The PQ Command The PQ command is an axis related command enabling or disabling the Compare function for a specific axis The command requires a parameter indicating the requested operation The command syntax is as follows XPQ Parameter where e X isan axis identifier e SC AT 4M For the current SC AT 4M version the compare function is supported for axes X Y Z W only Issuing the command with other axes identifies will issue an error see error codes below e SC AT 2M For the current SC AT 2M version the compare function is supported for both axes X and Y e Parameter 0 Indicates immediate disable of compare for the specified axis No conditions are checked expect a valid axis identifier e Parameter I Indicates start compare
22. A B B signals are not connected The condition is detected by sampling all signals and evaluating the following state A A B B If the state is true for more then 4 consecutive servo samples the error is asserted The second error condition disconnected line requires full differential encoder interface to be used The protection cannot be used in single ended line encoders Note that only the A A and B B lines are sampled for errors There is no implementation for Index disconnected line detection The user can enable or disable the encoder error detection by a dedicated bit in the axis configuration word CG Please see the CG keyword reference in section 10 5 15 below for more information Control and Robotics Solutions Ltd 7 3 SC AT Software User s Manual and Commands Reference Encoder Error faults when enabled are reported by special code in the MF keyword the Motor Fault Cause Please see the MF keyword description in section 10 5 42 below for more information 7 2 3 Motor Stuck Protection 7 3 7 4 The purpose of the Motor Stuck protection is to protect the motor from sustained high current operation The protection detects the following condition In SC AT 4M Motor Is Stuck if The motor current command reaches its peak limit saturated by TL without any encoder movement less then 2 counts sample time for a period of 0 5 seconds In SC A
23. As noted the compare feature is implemented by the SC AT encoder hardware interface so the actual delay between the exact compare time to the generated pulse is very short few cycles of the internal 66 MHZ encoder interface module clock in the current hardware version This feature is useful in applications like printing and scanning where external hardware should be synchronized with actual encoder location SC AT 4M The SC AT 4M supports simultaneous compare events on all of its 4 encoders independent from one another The user can configure the hardware to redirect a generated event pulse to any one of the controller digital outputs This way a user working with a dual axes system X Y stage for example requiring to generate compare event pulses based on the X and Y encoders alternatively can use only one digital output and control the source of the pulse to be an X or Y encoder Compare Event using simple software configuration The user should be aware that the current hardware version of the SC AT 4M support 4 of its 8 digital outputs as Fast Outputs The standard SC AT 4M digital outputs interface is ALL 8 isolated and buffered While this is good for normal outputs when fast synchronization pulses are required a faster interface is needed To solve this problem the SC AT 4M supports the first 4 digital outputs as Fast Outputs Outputs configured as Fast Outputs are non isolated and are driven by a TTL buffer The Fast Outputs
24. Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range See Note Above Syntax XCA 13 1 Enable 2 Order filter for X Axis ZCA 7 Report value of CA 7 for Z axis ACA 4 0 Set CA 4 0 for all axes Disable 2 PID Examples The following commands will Enable 2 order filter operation for the X Axis with the following parameters f 00 Hz 0 7 XCA 7 1537305 XCA 8 127552 XCA 9 62110 Set Filter Parameters XCA 13 1 Enable X 2 Order filter See Also KP KI KD and Section 6 above The Control Filter in this User s Manual for more information about the SC AT servo loop parameters and features Control and Robotics Solutions Ltd 10 29 SC AT Software User s Manual and Commands Reference 10 5 14 CB CAN Baud Rate Purpose Set CAN baud rate The CAN baud rate must be saved to the flash memory and the controller must be reseated in order to change the CAN baud rate Please see the remarks about Initialization of CAN bus parameters in the RA and TA command references Currently the following baud rates are supported CB 1 CB 2 CB 4 CB 8 CB 10 CB 20 Attributes Syntax XCB 1 XCB Examples See Also RA TA 10 30 Can Baud CAN Baud CAN Baud CAN Baud CAN Baud CAN Baud Type Axis related Array Assignment 1 Mbps 500 kBps 250 kBps 125 kBps 100 kBps 50
25. Disable any active compare for X Axis y XPO 0 Configure Digital Output 1 to be assigned as an X Axis Compare Output All other outputs are standard Outputs M XOM 4 OM 1 4 DOutl is X Compare y y Initialize X axis Motion Parameters and reset position XAC 1000000 XDC 1000000 XDL 1000000 XSP 100000 XPS 0 XMO 1 XAP 150000 y M Initialize the X Compare Function XPG1 0 Se XPG2 40 Se XPG3 10000 Se XPG4 100000 Se XPG5 3 Se XPG6 1 Set Pulse Width Mode Use width Parameter XPG7 0 Set Pulse Polarity to Normal Positive 3620 IL Activate X Compare Function M Mode 0 Compare Distance Compare Start Position Compare End Position Pulse Width 23 9 pSec mr gp int deu ur mr gm Giese 2X morlon cuml wene ic se Gia CHE Moro XBG while XMS O0 Weise ar oxe mael Oe Morin endwhile y M Initialize the Compare in the opposite direction XPQ 0 Disable X Compare XPG2 40 Set Compare Distance Negative Direction XPG3 100000 Set Compare Start Position XPG4 10000 Set Compare End Position PEOR Activate X Compare Function M Start Backward X motion towards O0 position XAP 0 XBG Control and Robotics Solutions Ltd 8 19 SC AT Software User s Manual and Commands Reference The next example demonstrates operation of the Y axis compare in table Mode 2 Initially the controller is programmed to execute a motion from 0 to
26. EC or QC are presented below EC QC Code Name Error Description JLSE POL PARAM NOT VALID PS PE PARAM NOT VALID NO HW SUPPORT IN 4AXIS VER The PQ command s parameter is allowed to be 0 for disable or 1 for enable Issuing a PQ command with a parameter out of that range will issue this error code The PQ command must receive a parameter If PQ is issued without a parameter this error code is returned This error is issued by PQ 1 if the requested Compare Mode defined by PG i 1 is out of its range In the current firmware version only Modes 0 and 2 are supported This error is issued by PQ 1 if the Pulse Width Mode Parameter defined by PG i 6 is out of its range The allowed range for the Pulse Width Mode Parameter is 0 or 1 This error is issued by PQ 1 if the Pulse Width Parameter defined by PG i 5 is out of its range The allowed range for the Pulse Width Parameter is 0 to 3 This error is issued by PQ 1 if the Pulse Polarity Parameter defined by PG 1 7 is out of its range The allowed range for the Pulse Polarity Parameter is 0 or 1 This error is issued by PQ 1 if the Distance Parameter defined by PG 1 2 is out of its range Out of range values for Distance are Oinall modes Out of 32 767 range in Mode 0 Not equal 1 or 1 in Modes 2 and 3 This error is issued by PQ 1 if the
27. For Profiler Motions None Yes S amp Ye Status Register None Ne A No Transmitting CAN Address Non Yes zb Ye 32 Bit Timer Down Parameter Non Ne PR Yes TargetRadius None Ye m Ye Targo Time None Ye No Vector Deceleration None Yes VD No Vector Deceleration None Yes WT Yes Wait time for Repetitive PTP None Yes WW Yes Smoothing Factor None Yes XN Yes Number of Capture Events None No poc quo M is Revision 3 10 January 2005 Assignment O enma 2 147 483 647 C ae N l 2x100 2 147 000 000__ 280000 32 767 2 147 000 000 1510000 0 2 147 000 000 Oo 0 100000 Ea ee toro TE poa EDI o 30 000 000 0 8 388 607 se 0 207 0 ea 0 100 000 000 0 32 767 0 32 767 0 32 767 0 100 000 000 0 100 000 000 30 000 000 30 000 000 0 800 000 000 12 2 147 000 000 0 Only Table 9 SC Parameters Keywords List 20 The OM parameters are bit filled commands Please see the OM command reference for more information The PG array element s range is restricted by the PQ command depending on the compare function operation mode Please refer to the relevant command s references PG PQ and the Advanced Features secti
28. No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 536 870 911 Ox 1 fff fff Syntax XIP Report IP value non axis related YIP Report IP value non axis related AIP Report IP value non axis related Examples This example waits for Digital Input 4 to become High implemented in Low level controller syntax please refer to the SC AT Macro User Manual for further references WDI4ON XIP 16 amp XJF WDI4ON Check value of XIP amp 16 The following example does the same but in high level Script Syntax WDI4ON XPA 1 XIP amp 16 Use XPA 1 as a temporary Value if XPA 1 16 Check value of XPA 1 XJF WDIAON If XPA 1 is not 16 stay in loop endif See Also IL OP SC AT Macro User s Manual 10 62 Control and Robotics Solutions Ltd 10 5 33 2 IP Input Port SC AT 2M Purpose Revision 3 10 January 2005 Read the digital Input Port bits of the SC AT 2M servo controller The IP parameter is continuously updated by the real time servo loop to reflect the value of all digital input bits of the controller IP reports both the uncommitted digital inputs Digital Inputs 1 10 as well as all the committed digital inputs i e limit switches driver faults and Abort input The SC AT 2M supports the following digital inputs uncommitted and committed according to t
29. Position PStart Distance 2 etc In general the N pulse is generated at position Position PStart Distance N where N 0 is the start point PStart In this mode the compare pulses are fully generated by the hardware so there is no limit to the max pulses frequency Distances as low as 1 encoder count at any encoder speed are supported The value of Distance the incremental GAP is limited to 16 bit i e 32 767 excluding 0 The sign of Distance controls direction of operation Positive Distance value defines increasing encoder counter motion Negative Distance value defines decreasing encoder counter motion see remark below The compare pulse in this mode is automatically disabled by the real time controller firmware when the end point condition is met This is when Position PEnd for Distance gt 0 and when Position PEnd for Distance 0 Control and Robotics Solutions Ltd Revision 3 10 January 2005 There are few important issues to note regarding this mode of operation 1 This depends on the controller being used SC AT 4M Although in this mode the hardware is responsible for the exact compare triggering it is the controller real time software firmware that manages the end point monitoring i e disabling the compare pulse output when PEnd is passed As a result although the actual pulse frequency is not limited if the resulting pulse frequency is higher then the servo sampling rate cu
30. See Also Control and Robotics Solutions Ltd 10 35 SC AT Software User s Manual and Commands Reference 10 5 16 DA Data Recording Array 10 5 16 1 DA Data Recording Array for the SC AT AM Purpose DA is used to store data recording buffers The DA array is automatically updated by the recorded data when the controller is in data recording process When not used for data recording the DA array can be used for any general purpose It should be noted that the DA array is temporary and IS NOT saved to the flash memory Resetting the servo controller will erase all data in the DA array Attributes Type Parameter Axis related No Array Yes size 1 100 000 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XDA 1 0 Set DA 1 0 XDA 1000 Report value of DA 1 000 AAR 300 1000 Set DA 300 1 000 Examples See Also UD Data Recording RG RL RV RR BR and section 8 1 2 above 10 36 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 16 2 DA Data Recording Array for the SC AT 2M Purpose DA is used to store data recording buffers The DA array is automatically updated by the recorded data when the controller is in data recording process When not used for data recording the DA array can be used f
31. See Also PS MP and section 8 5 above for more information about SIN commutation 10 78 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 44 MM Motion Mode Purpose Set the controller Motion mode for the next Motion Currently the following motion modes are supported MMF 0 Pint to Point MM 1 Jogging MM 2 Position Based Gearing MMc 5 Position Based ECAM MM 8 Step Command no profiler Other Motion modes will be supported by later firmware versions of the controller Please refer to the chapter 5 above in this User s Manual for further information about the supported motion modes The MM command is restricted to No Motion condition Trying to change MM value while motion is in progress will generate an EC NEEDS MOTION OFF error 50 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Needs Motion Off Save to Flash Yes Default Value 0 Range 0 8 Syntax XMM 1 Set X Axis MM 1 ZMM Report value of MM for Z axis AMM 0 Set MM 0 in all axes Examples The example shows starting a Normal Non Repetitive motion in X axis from Position 0 to Position 100 000 XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Accelera
32. U and V virtual axes Each bit in GP element is associated with a specific axis respectively Bit 0 zero based links the X axis to the group Bit 1 zero based links the Y axis to the group and so on The A and B groups GP 1 and GP 2 always have default values of 15 axes X Y Z W and 3 X and Y axes respectively after power up The default values of GP 1 and GP 2 can not be changed for the power up state After power up the user can however define other values to the A and B groups although this is not recommended As a design rule we recommend to use A and B always as their default initial definitions If other sub groups are needed it is recommended to use the C and D groups The value of GP 3 and GP 4 C and D groups can be assigned with any value and can be saved to the flash memory Attributes Type Parameter Axis related No Array Yes size 1 4 Assignment Yes Command Allows parameter Scope All Restrictions See Above Save to Flash See Above Default Value 15 Range 141 023 Syntax XGI 1 21023 Defines the A group as All Axes XGI 2 3 Defines the B group as X and Y sub set XGI 3 Report the value of C group definition XGI 4 15 Defines the D group as X Y Z W sub set Control and Robotics Solutions Ltd Revision 3 10 January
33. and MO 1 will set the motor ON enabling the driver Note that when MO 1 command is issued the DP desired Position is set to PS actual position The SC AT 2M controllers support special hardware configurations for 1 or 2 axes mode When in a single axis configuration an MO 1 assignment is given to the non supported axis a special error code will be issued EC 54 AXIS NOT SUPPORTED Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 1 Syntax XMO 1 Enable X Motor set XMO to 1 ZMO Report value of MO for Z axis AMO 0 Set MO 0 in all axes Disable All Axes Examples The following code example shows starting a Jog motion in the Y axis using SP 50 000 counts sec Negative Motion MO must be set to 1 to start the motion YMO 1 Enables the Motor and Set Position 0 YPS 0 Set Position 0 YMM 1 YSM 0 Set Normal JOG Motion Mode YAC 250000 Set Acceleration to 250 000 YDC 500000 Set Acceleration to 500 000 YSP 50000 Set Speed to 50 000 YBG Start a Motion See Also NC BG MM SM PS Control and Robotics Solutions Ltd 10 81 SC AT Software User s Manual and Commands Reference 10 5 46 MP Magnetic Pitch SC AT 4M ONLY Purpose MP the Magnetic Pitch is a special parameter related to Brushl
34. coNTROL ROBOTICS OLUT ONS SC AT Family Advanced Multi Axes Servo Controllers Software User s Manual and Commands Reference Document Revision 3 10 Date January 2005 SC AT Software User s Manual and Commands Reference DOCUMENT INFORMATION Document Revision 3 10 January 2005 Document Name SC AT Users Manual Ver 310 doc COPYRIGHT Copyright O 1994 2005 Control and Robotics Solutions Ltd The information in this User s Manual may be updated from time to time by Control and Robotics Solutions Ltd to reflect additional features of the product or documentation updates Updates may be temporarily published in version release notes usually attached to any new release or available for download through our WEB site coNTROL ROBOTICS OLUTIOMS Control and Robotics Solutions Ltd 5 Mazal Eliezer St New Industrial Zone Rishon Le Zion ISRAEL Tel 972 3 9510022 Fax 972 3 9510033 Web site ww consol co il Support info consol co il b Control and Robotics Solutions Ltd Revision 3 10 January 2005 Revision History Description Creation F W Version 1 43 1 7 2002 SC 4M SA Version 203 Update Release Notes 1 4 2003 SC 4M SA Version 204 Update Release Notes 1 5 2003 1 03 SC 4M SA Versions 205 B 205 C 2 05 D Update 5 8 2003 Release Notes Correct Mistake in CA 14 should be CA 4 in section a 6 9 Filter Gain Scheduling 9 1 2005 Updated for SC AT Family Co
35. counts sec The value of SP can be negative to define a negative JOG motion However in PTP motion mode the SP sign is ignored and actual speed direction is set by position profile requirements Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 30 000 000 30 000 000 Syntax XSP 100000 Set X Axis SP 100 000 WSP 50000 Set W Axis SP 50 000 ZSP Report value of SP for Z axis ASP 20000 Set SP 200 000 in all axes Examples The following code example shows starting a Jog motion in the Y axis using SP 50 000 counts sec Negative Motion YMO 1 YPS 0 Enables the Motor and Set Position 0 YMM 1 YSM 0 Set Normal JOG Motion Mode YAC 250000 Set Acceleration to 250 000 YDC 500000 Set Acceleration to 500 000 YSP 50000 Set Speed to 50 000 YBG Start a Motion See Also AC DL SP MM BG Control and Robotics Solutions Ltd 10 125 SC AT Software User s Manual and Commands Reference 10 5 69 ST Stop Motion Command Purpose The ST Stop command stops any motion using the DC deceleration value Unlike the Abort AB command the stop command stops the motion by generating a deceleration profile to 0 speed until a complete motion stop ST may be used whenever a motion needs to be stopped in controlled
36. high buffers upload some CAN messages can be lost In order to avoid this problem the SC AT controllers can add delays between CAN messages during data recording upload The Delay is set by RG 2 and is given in servo sample time multipliers RG 2 0 means no delay RG 2 1 means 1 sample time delay this is 61 micro sec on the 4M and 122 micro sec on the 2M and so on Usually a delay of 3 5 samples is sufficient for most cases For complete description of the RG keyword attributes and examples please see the RG keyword command reference above Attributes See RG keyword Above Syntax See RG keyword Above Examples See RG keyword Above See Also See section 8 1 2 2 3 above in this User s Manual for further information Control and Robotics Solutions Ltd 10 113 SC AT Software User s Manual and Commands Reference 10 5 62 RL Data Recording Length 10 5 62 1 RL Data Recording Length For The SC AT 4M Purpose The RL Recording Length parameter controls the number of data points to be collected to the recording buffers during data recording process and as a result the overall recording time The RL parameter defines the number of points per vector If RL 1000 this means that for each selected vector to be recorded 1 000 data points will be collected The total number of points collected in the recording process is RL x Number of Recorded Variables Currently the SC AT 4M sup
37. now takes effect immediately In previous F W revisions 2 04 and earlier the RA TA CAN Receive and Transmit addressed commands took effect only after saving parameters to the controller FLASH memory and after BOOT In Revision 2 05 and later changing RA TA will immediately re init the CAN hardware to take the requested effect Care should be taken as changing RA TA while working in CAN bus will stop the communication with the PC The parameters must still be saved to the FLASH as in previous revisions in order to be valid after boot Some new error codes where added Please refer to the RA TA Commands Reference Manual for more information e New Parameters Added to the VR Version Report command The VR Version Report command now support receiving a parameter as part of the command syntax Calling VR without any parameter is fully compatible to previous revisions version report format However the controller now also support the following additional version reports Control and Robotics Solutions Ltd 2 7 SC AT Software User s Manual and Commands Reference 2 8 gt AVR I Reports Boot and Angel Versions gt AVR 2 Reports Firmware Major and Minor Versions with its release Date and Time gt AVR 3 Reports the FPGA Version The new version report format is supported only in RS 232 communication In CAN bus the controller will report back the standard version format string similar to the previous rev
38. the real time software computes and updates the value PE When the motor is disabled MO 0 DP PS so the position error is 0 by definition Attributes Syntax XPE APE Examples See Also ER PS DP Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Parameter No 0 8 000 000 8 000 000 Report X axis Positioning Error PE Report Positioning Error PE for all axes Control and Robotics Solutions Ltd 10 103 SC AT Software User s Manual and Commands Reference 10 5 56 PG Position Compare Parameters Array 10 5 56 1 PG Position Compare Parameters Array For The SC AT AM Purpose The PG array elements controls the operation of the Position Compare Function PG is an axis related array sized 10 x 8 Each axis has 8 parameters controlling the compare function operation as described below The SC AT 4M product support the Compare Function on axes X Y Z W so accessing the PG array with other axes identifiers has no effect Please see section 8 2 5 1 Table 3 PG Array in SC AT 4M Compare Function Parameters Description in this user s manual for full description of all PG array elements purpose and limitations The PG array parameter has the following attributes Attributes Type Parameter Axis related Yes Array Yes size 10 8 Assignment Yes
39. to be recorded SIN Commutation In current firmware version the SC AT 2M does not support SIN Commutation The dedicated CG bit and the ML and the MP parameters are not supported in this release of the SC AT 2M Position Servo Loop Sampling Time The SC AT 2M is based on a different micro processor where the sampling time is slower than the SC AT 4M The servo sampling rate in the SC AT 2M is of 8 192 Hz every 122 us Every mention of the servo sampling rate of the SC AT 4M includes a note regarding the servo sampling rate of the SC AT 2M Download Buffer As the Download Buffer DB feature is a subset of the EDB mode this feature is no longer supported by the SC AT 2M Data Array Lengths The data array lengths of the SC AT 2M are different than the buffer array lengths in the SC AT 4M Please refer specifically to each array keyword in section 10 Number Of Scripts Supported The SC AT 2M supports 2 macro scripts only X and Y scripts Axis Configuration Keyword CG The SC AT 2M supports additional CG bits The same bits were kept for functions that are identical to the SC AT 4M Please refer to the CG keyword in section 10 New Keywords The following new keywords were added to the SC AT 2M o XP Auxiliary Axis Position o XV Auxiliary Axis Velocity Please refer specifically to each keyword in section 10 New Error Codes New Error codes were added Please refer to E
40. 000 for all axes Example See Also CG KI KD and Chapter 6 above The Control Filter 10 68 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 38 KR Kill Repetitive Motions Command Purpose The KR Kill Repetitive command terminates repetitive Point To Point motion cycles Unlike the ST command the motion will not be stopped immediately but after the current motion is ended Attributes Type Command Axis related Yes Array Assignment Command Allows Parameter No Scope All Restrictions None Save to Flash Default Value Range Syntax XKR Stop X Repetitive Motion AKR Stop Repetitive Motion of All axes Examples The Next example shows starting a Repetitive motion in X axis from Position 0 to Position 100 000 using WT Wait delay between the motions KR is then issued to kill the repetitive motion XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 1 Set Repetitive Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XWT 16384 Set 1 second delay between motions XBG Start a Motion XKR Will terminate the repetitive motion See Also BG AB ST SM MM WT Control and Robotics Solutions Ltd 10 69 SC AT Softwar
41. 10 global registers In the following list all options for RV are defined In the table below 1 indicates the requested axis in zero based form X axis is defined by 1 0 Y axis is defined by i 1 V axis is defined by i 9 RV Value Data Member to be recorded for Axis i 0 None Empty Position m y Motion Status Motion Status Analog Input ix20 9 Motor Fault ix 20 0520 GMF Nur ed 203 3210 202 Outpot Port OP Attributes Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Parameter Control and Robotics Solutions Ltd 10 119 SC AT Software User s Manual and Commands Reference Syntax XRV 0 Set X axis RV to 0 no recording ZRV Report value of Z axis RV ARV 0 Set RV 0 in all axes Examples See section 8 1 in this User s Manual for further information See Also BR DA RG RL RR 10 120 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 66 2 RV Data Recording Recorded Variables For The SC AT 2M Purpose The PA array is an axis related array with size of 2x100 elements Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the PA array is 1 100 The RV keyword Recorded variables in the SC AT 2M is a non axis related array with the size of 1x8
42. 16 777 215 LNA 41932767 O 3 1 2247000000 DENEN a No Ye __ 9s25 17 The A1 array was supported in firmware versions prior to 2 3 It is now obsolete and replaced by the CA Control Parameters Array Please see below 5 The CA array controls advanced features of the controller real time servo loop Although not restricted by the interpreter module allows range is 2 147 000 000 the specific limitations of each element in the array should be checked in the A1 command reference and in the Control Filter chapter in this User s Manual P The EA array element s range is restricted by the ECAM mode support Please refer to the relevant command s references EA ECAM Motion Mode Description for more information 10 6 Control and Robotics Solutions Ltd Key Axis Description Restrictions Word Rela ted ws Yes Motion Stats No No Control Enable Open Loop Motor Off o s Set Output Port Bit Logic Ye o No Se GaOupuPon None No PA Yes General Purpose Parameter Array None Yes FE Ye PositionEnor m Po Yes Control Drive Command None Ne Ps Yes Encoder Position Value None No RA No Receiving CAN Address None Yes RG Recording Gap Next Relative Position Target EK No Recording Saus Noe No SM Ye Special motion mode No Motion Yes S Ye Speed
43. 22 0x0040 0000 W Axis RLS 7 0x0000 0080 Digital Input 48 Din8 23 0x0080 0000 W Axis FLS 8 0x0000 0100 Digital Input 9 Din9 24 0x0100 0000 X Axis Driver Fault 9 0x0000 0200 Digital Input 10 Din10 25 0x0200 0000 Y Axis Driver Fault 10 0x0000 0400 Digital Input 11 Din11 26 0x0400 0000 Z Axis Driver Fault 11 0x0000 0800 Digital Input 12 Din12 27 0x0800 0000 W Axis Driver Fault 12 0x0000 1000 Digital Input 13 Din13 28 0x1000 0000 ABORT Input 13 0x0000 2000 Digital Input 14 Din14 14 0x0000 4000 Digital Input 15 Din15 15 0x0000 8000 Digital Input 16 Dinl6 Notes e Bits 0 15 of IP are the uncommitted Digital Inputs e Bits 16 23 of IP are the RLS and FLS Limit Switch flags of axes X Y Z W e RLS and FLS stand for the Reverse Back Limit Switch flag inputs and the Forward Front Limit Switch flag inputs e Bits 24 27 of IP are the Driver Fault Inputs of axes X Y Z W The polarity of these bits can be inverted using CG 6 Control and Robotics Solutions Ltd 10 61 SC AT Software User s Manual and Commands Reference e Bit 28 is the General Abort Input When Abort is ON all axes are disabled e Note The polarity of the ABORT bit Can Not be inverted e Bits 29 31 are currently not used These are the IP parameter attributes Attributes Type Parameter Axis related No Array
44. 256 Set X Capture on Dinl Y Capture on Din2 See Also OP IP Compare Function See section 8 2 Capture Function see section 8 2 7 2 The SC AT AM Hardware User s Manual for references about Fast Digital Outputs and Inputs Control and Robotics Solutions Ltd 10 93 SC AT Software User s Manual and Commands Reference 10 5 51 2 OM I O Modes Hardware Configuration For The SC AT 2M Although OM is an axes related parameter and it is implemented as such in the SC AT 2M firmware there is no actual relation between the XOM YOM etc to actual axes The distinct axes identifiers are used in this case only to access more then one optional hardware registers of the SC AT 2M Writing to OM immediately changes the corresponding internal hardware register values In the current firmware version there are only 2 functional registers related to the OM parameter These are OM Hardware Functionality Axis Register XOM IO_MODE_0_ Controls Digital Outputs Assignment as normal or Compare Output functions IO_MODE_1 Controls Encoder Capture I O signal Source and logic Table 26 OM I O Mode Configuration Functionality Definitions IO_MODE_0 XOM The following table describes the IO_MODE_0 bits order and specific description 3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 7 5 3 2 1 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 E NEM E IO MODE 0 Bits Desc
45. 3 10 January 2005 10 5 39 LD SV Load and Save Commands eese eene nennen rennen 10 70 10 5 40 LL Low Software Limit edite ei tege eth ene Re theres e PE ee Eel rete Ea de 10 71 10 5 41 ME Master Encoder eee ees ienis ieii asanare iiaa ee ios rski in tette teinte nnn 10 72 10 5 42 MF Motor Fault Reason cesses esee iieiaeie ni ieaie s ein a 10 74 10 5 45 ML Magnetic Location SC AT 4M ONLY cesses eene nennen entente entrent enne 10 78 10 344 MM Motion Mode e eee weno esce e e Et irae Perge etre eder 10 79 10 5 45 MO Motor ON Enable Disable the Servo Loop sese 10 81 10 5 46 MP Magnetic Pitch SC AT 4M ONLY esseeseseeseeeeeeee eene enne trennen enne 10 82 10 5 47 MS Motion St tus iiis se ette tg eeu e e e Hee ER uo yere vete incon 10 83 10 5 48 NC No Control Set Open Loop Mode eene een eene 10 85 10 5 49 OC Output Clear Bit Command eese nennen nennen retener enitn 10 87 10 5 50 OL Output Logic iiia tet E ee ee ue ib uscd betes yeu reete rn 10 88 10 5 51 OM I O Modes Hardware Configuration eee esee eee eene trennen nennen 10 89 10 3 52 OP Output Porti ai dee en er eie ete tbe rere aus etes 10 98 10 5 53 OS Output Set Bit Command eese nennen eene ren eene 10 100 10 5 54 PAS Parameters Array ais ae te n Rea NER REEL es ee E
46. AT Keywords list excluding Script Programming Keywords in alphabetical order including detailed definitions of each command and examples The description of each keyword include e Purpose The operation or task of the keyword e Attributes See below e Syntax Valid clause syntax e Example Simple example of the keyword usage e See also Related commands The following list describe all the valid keyword Attributes Type Command Parameter Axis related Yes No Array Yes dimension No Assignment Yes No i e Read Only Command Allows Parameter Yes Number String Both No Scope Communication Program Both Restrictions See below Save to Flash Yes No Default Value Yes value No Range Min Max The following list describe all the valid keyword Restrictions None Keyword Needs No Motion Keyword Needs Motion Keyword Needs Motor Off Keyword Needs Motor ON Important Note for SC AT 2M Users The examples that are presented in the following section may include prefixes to axes that are not supported in the SC AT 2M Please ignore these prefixes Axis or related Keyword s preceding Character X Y etc affects the keyword behavior Applicable for parameters only Applicable for parameters only Applicable for commands only Control and Robotics Solutions Ltd 10 13 SC AT Software User s Manual and Commands Reference 10 5 1 AB Abort Mot
47. Abort input is handled directly by the SC AT hardware Also the logic of the abort signal can not be inverted Abort is designed to be fail safe so in order to normally operate the controller the user MUST close a circuit through the isolated abort input lines at all times Whenever this circuit is broken the controller immediately switches to Abort condition The following parameters reflect the DRIVER FAULTS and ABORT conditions Controller State Description MO is set to 0 The Motor On parameter is reset to 0 EM is set to 6 Last Motion End Reason is 6 Motor Fault MF is set to 1 for DRV Motor Fault reason is Driver Fault Input MF is set to 2 for ABORT Motor Fault reason is Abort Input IP 24 is 1 for XDrv Flt The relevant bit in IP the Input Port Word is set IP 25 is 1 for YDrv Flt active high Bit 24 for X driver fault Bit 25 for IP 26 is 1 for ZDrv Fl Y Bit 26 Z and Bit 27 for W axis IP 27 is 1 for WDrv FIt IP 28 is 1 for ABORT Bit 28 is set high is the Abort input is Active no current through the Abort lines SC AT 4M Only 7 2 Control and Robotics Solutions Ltd 7 2 7 2 1 Revision 3 10 January 2005 Software Generated Faults The SC AT real time servo loop software can generate the following faults e High position loop error e Encoder signal error e Motor Stuck condition Each one of the above axis related fault conditions
48. Axes Servo Controller Script Programming Language and the Integrated Development Environment User s Manual Remote CAN See Also Please see SC AT Advanced Multi Axes Servo Controller Script Programming Language and the Integrated Development Environment User s Manual Remote CAN Control and Robotics Solutions Ltd 10 157 Revision 3 10 January 2005 11 COMMUNICATION AND PROGRAM ERROR CODES The following table lists ALL possible communication and program Error Codes supported by the SC AT Firmware The error codes listed below are applicable to both communication errors as well as program execution error codes The errors below are applicable in both the SC AT 4M and the SC AT 2M unless specified otherwise For Program related error codes please see the SC AT Macro Scripts Language features User s Manual for more information EC Code Name Error Description Val No Error in history This value is received also by resetting the EC variable This error is issued in the following cases 1 Bad axis prefix was used for the command parameter 2 Keyword does not support one of the axes in the group prefix used e g Group 1 is set to 1023 and the AAC clause is sent This error is issued once a wrong syntax for current clause was sent to the controller It may be one of the following Unrecognized operator Unrecognized Keyword Macro label not according to syntax defined General clause n
49. B SP B SP 10000 20000 gt Echo only if EO 1 Response always sent Reporting the value of the SP Grouping axes is supported in the SC AT 4M only for all axes assuming A is configured to All axes A S PCR A S P CR 100 200 300 400 500 600 700 800 900 1000 gt Echo only if EO 1 Response always sent Executing a Begin Motion Command for X and Y by default BB G CR BBG CR gt Echo only if EO 1 Response always sent Trying to assign out of range value to YAC error prompt is sent and EC is updated accordingly Y AC 10 0 0 CR YA C 10 0 0 CR gt Echo only if EO 1 Response always sent Executing a Script function named HOME X in Program 1 X X QE HOME X CR X Q E HOME X CR gt Echo only if EO 1 Response always sent 4 28 Control and Robotics Solutions Ltd 5 1 5 1 1 Revision 3 10 January 2005 MOTION MODES This chapter describes the various Motion Modes that are supported by the SC AT controller s family Motion Mode defines a type of motion The exact motion for each Motion Mode is defined by a set of related parameters such as speed SP acceleration AC and many other parameters While most of these parameters can be modified on the fly during an active motion practically affecting the motion profile the Motion Mode itself can not be modified during an active motion The Motion Mode for the SC AT is defined by a combination of two parameters
50. Deceleration OM 4 for alternate function on In Stop OM 5 for alternate function on In Target OM 6 for alternate function on Motor On 10 5 51 1 OM I O Modes Hardware Configuration For The SC AT AM Although OM is an axes related parameter and it is implemented as such in the SC AT 4M firmware there is no actual relation between the XOM YOM etc to actual axes The distinct axes identifiers are used in this case only to access more then one optional hardware registers of the SC AT 4M Writing to OM immediately changes the corresponding internal hardware register values In the current firmware version there are only 2 functional registers related to the OM parameter These are OM Hardware Functionality Axis Register XOM IO_MODE_0_ Controls Digital Outputs Assignment as normal or Compare Output functions and Fast Digital Inputs Controls Encoder Capture I O signal Source and logic Vini NU m Should be left not assigned for future compatibility Table 23 OM I O Mode Configuration Functionality Definitions Control and Robotics Solutions Ltd 10 89 SC AT Software User s Manual and Commands Reference IO MODE 0 XOM The following table describes the IO MODE 90 bits order and specific description Each digital output can be assigned as a normal output or as a special Compare Function output using a 3 bit configuration field OM i indic
51. Enc Gain Encoder Electro Mechanical Figure 6 2 Position Loop PID Control Scheme Structure 6 2 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Position Velocity 2 Error Error PE A Position Loop PID Controller Velocity PI Controller Figure 6 3 Position PID and Velocity PI Filters Control and Robotics Solutions Ltd 6 3 Revision 3 10 January 2005 6 2 Linear PID and PIV Filter Equations 6 2 1 Standard PID Filter Mode In standard Close Loop operation in PID mode the linear PID control filter output is fed into the 2 order filter if it is enabled and then passes the final output saturation for the DAC The PID loop linear filter is shown in Figure 6 3 A above The PID linear filter equations are PE DP PS k Tik x PE n spp PE A x gt PE 256 256 65536 PO Sat TL U x SecondOrder Filter where DP is the current desired position or position command in encoder counts This value is usually the output of the profiler routine according to the current motion mode and the motion parameters such as AC DC SP etc gt PS is the actual encoder position reading in counts gt PE is the current position error value in encoder counts gt KP KI and KD are PID Proportional Integral and Derivative gains gt U is the PID filter output gt TL is the output command saturation value gt The 2 order filt
52. Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 See Compare Function description for full limitations description Syntax XPG 1 0 Set X Axis PG 1 to 0 set X axis Mode 0 YPG 2 100 Set Y Axis PG 2 to 100 set Y axis Compare Distance 100 XPG 7 0 Set X Axis PG 7 to 0 set W axis Compare Pulse Polarity Examples Please refer to section 8 2 7 in this user s manual for Compare Function operation examples See Also PQ Compare Function Description section 8 2 Control and Robotics Solutions Ltd 10 105 SC AT Software User s Manual and Commands Reference 10 5 57 PQ Compare Function Activate Disable Command Purpose The PQ command is an axis related command enabling or disabling the Compare Function for a specific axis The command requires a parameter indicating the requested operation The command syntax is as follows XPQ Parameter where X is an axis identifier For the current SC AT 4M version the compare function is supported for axes X Y Z W only Issuing the command with other axes identifies will issue an error see error codes below For the current SC AT 2M version the compare function is supported both axes X and Y Parameter 0 Indicates immediate disable of compare for the specified axis No conditions are checked expect a valid axis identifier Parameter 1 Indicates start compare function for the specified axis The command
53. Function Implementation In the SC AT 2M the PG i 6 parameter Pulse Width Mode is not used In turn the pulse width parameter PG i 5 is used to set the required pulse width in multiplications of 1 92 uSec intervals This is non compatible to the SC AT 4M implementation that specified only 4 width options Please see section 8 2 5 2 below for more information Control and Robotics Solutions Ltd 2 13 SC AT Software User s Manual and Commands Reference 3 GLOSSARY The following definitions are used within this manual Please note that these definitions are provided only for the scope of the SC AT products and this manual Abort Input A dedicated digital input typically connected to the machine s emergency button When the SC detects an active state at this input it immediately disables both motors In the SC AT family controllers in addition to the standard firmware support for the Abort signal as noted above the Abort signal is also monitored by the Hardware to disable all drivers in case Abort is sensed Analog Command A dedicated analog output of the SC one or two for each ACmd axis which is used to transfer the digital control filter result to the motor s driver where it typically considered as a current or velocity command Its standard typical range is 10 v In most normal cases only one analog 10 v command is used for each controlled axis In this case an auxiliary analog output is available for eac
54. IS to 25 2 5 Volts XBG Start a Motion See Also TL Control Filter Implementation Control and Robotics Solutions Ltd 10 65 SC AT Software User s Manual and Commands Reference 10 5 35 KD Control Filter Diff Term Gain Purpose The KD parameter is used to set the control filter algorithm position loop Differential term gain in PID control mode and Velocity loop overall gain in PIV control mode The KD parameter is an array parameter with the size of 4 x 2 i e for each axis X Y Z W KD 1 and KD 2 are available The first element KD 1 or KD see note below set the normal filter gains while the second element KD 2 set the gain for the Gain Scheduling algorithm Please see section 6 9 above for more information about Filter Gain Scheduling Note The SC AT command interpreter supports for backward compatibility access to any array parameter first element as a non array element This means that for example XKD is identical to XKD I Attributes Type Parameter Axis related Yes Array Yes size 4 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 767 Range 0 2 147 000 000 Syntax XKD 16384 Set X Axis KD 16 384 XKD 1 16384 Same as XKD 16384 Set X Axis KD 16 384 XKD 2 30000 Set X Axis KD 2 30000 for Gain Scheduling ZKD Report value of KD for Z axis AKD 100000 Set KD 10
55. Inputs interface now support as default the 12 bit A2D s Using the AG and AF parameters Analog Input Gain and Gain Factor users can scale the analog input reading AT to any desired scale The final A2D Input gain can be any number in the range of 19 0 to 19 16 format The A2D s are sampled at a rate of 2 kHz i e each analog input is sampled once per 8 servo cycles When working with 10 Bit A2D s a higher noise level is expected at least 2 LSB Using AF gt 2 this noise can be eliminated The following related parameter ranges were updated gt AS Analog Input Offset is now 0 4095 gt AG Analog Input Gain is now 524 288 524 288 or 2 19 2419 gt AF Analog Input Gain Factor is now 0 16 Please see the relevant section in this User s Manual for more information about Analog Inputs Support on the SC AM SA Control and Robotics Solutions Ltd 2 9 SC AT Software User s Manual and Commands Reference 2 6 2 10 F W Version 205 D SC AM SA Boards Dec 2003 Version 1 03 of this user s manual describes the changes related to the SC 4M SA firmware revision 2 05 D Dated 12 2003 Release 2 05 D of the SC 4M SA was initiated by C amp RS mainly in order to enhance the controller s motion modes and support Position Based ECAM motions In addition revision 2 05 D also induces Support for programming the CAN Baud rate using the CB command and default initialization of some control
56. Ltd Revision 3 10 January 2005 ME Bit Fault Source ME Bit Fault Source 0 Based 0 Based 16 0 Internal Type Driver Fault 16 8 Not Used set to 0 16 1 External Type Driver Fault 16 9 Not Used set to 0 16 2 Under Voltage Fault PD AT 2M 16 10 Not Used set to 0 16 3 Over Voltage Fault PD AT 2M 16 11 Not Used set to 0 16 4 Encoder A quad B Error 16 12 Not Used set to 0 16 5 Not Used set to 0 16 13 Not Used set to 0 16 6 Not Used set to 0 16 14 Not Used set to 0 16 7 Encoder Disconnect Line Error 16 15 Not Used set to 0 Table 21 Extended Motor Fault Cause Reasons MF Codes in SC AT 2M Note The extended upper 16 bits of MF codes are OR ed with the MF DRV FLT when asserted These are the MF parameter attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range See Above Syntax XMF Report Motor Fault for X axis AMF Report value of MF for all axes Examples See Also EM and Section 7 2 above for more information about software generated faults Control and Robotics Solutions Ltd 10 77 SC AT Software User s Manual and Commands Reference 10 5 43 ML Magnetic Location SC AT 4M ONLY Purpose ML the Magnetic Location or Magnetic P
57. MACRO NOT INITIALIZED This error is issued if a macro related clause is initiated before the macro was initialized NEEDS COMMUNICATION This error is issued if a clause was not sent via communication whilst the clause was defined to be of KW SOURCE MUST BE COM NEEDS MOTION ON This error is issued if the condition for the specific clause is E SW LIMIT ERROR A Point To Point motion was initiated into one of the software limits 11 4 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Val does not support the axis set 55 UNSUPPORTED MODE The method called is no longer supported in the current firmware version 56 EC UNSUPPORTED DRIVER Set when a CG for Un Supported Driver type is configured in CG in SC AT 2M a PG_ERR_MODE_PARAM_ VALID This error is issued by PQ 1 Enable Compare Function the requested Compare Mode defined by PG i 1 is out of its range In the current firmware version only Modes 0 and 2 are supported for Compare Function PG ERR PULSE MODE PARAM NOT VALID This error is issued by PQ 1 Enable Compare Function if the Pulse Width Mode Parameter defined by PG i 6 is out of its range The allowed range for the Pulse Width Mode Parameter is 0 or 1 PG_ERR_PULSE_WIDTH_PARAM_NOT_VALID This error is issued by PQ 1 Enable Compare Function if the Pulse Width Parameter defined by PG i 5 is out of its range The allowed range for the Pulse Width
58. Manual Ver 310 pdf Servo Controllers Software User s Manual and Commands Reference Script Language SC AT Macro SC AT Family Advanced Multi Axes User s Manual Language Ver 310 pdf Servo Controller Script Programming Language and the Integrated Development Environment PC Shell HMI SC AT Shell HMI SC AT Family PC MMI Software Software Description Ver 310 pdf SC4M Shell and Source Code Editor User s Manual Communication SC AT SC AT Family Advanced Multi Axes Protocols ICD s Communication Servo Controllers Communication Protocols Ver 310 pdf Protocols User s Manual DCOM Library SCServer COM SCServer COM DCOM Interface Communication AIP Interface Ver 310 pdf Library Reference User s Guide SC AT 4M Hardware User s Manual SC AT 4M Hardware User s Manual Ver 100 pdf SC AT 4M Advanced Technology Multi Axes Servo Controller Hardware Interfaces User s Manual SC AT 2M Hardware User s Manual This document Control and Robotics Solutions Ltd SC AT 2M Hardware Users Manual Ver 100 pdf SC AT 2M Advanced Technology Dual Axes Servo Controller Hardware Interfaces User s Manual 1 1 SC AT Software User s Manual and Commands Reference The main purpose of this User s Manual is to provide full information over the supported software features of the product as well as to give a user technical reference for each keyword supported by the communication protocol 1 2 Control and R
59. Recording Status Parameter RR 8 4 RR is a read only parameter indicating the recording status When a new recording starts the value of RR is internally set to the value of RL It is being automatically decremented by 1 at each sample point every RG servo sample times When RR 0 recording is complete Control and Robotics Solutions Ltd 8 1 2 5 Select Recorded Variables Parameter RV The SC AT supports simultaneous data vectors to be recorded at the same time The user can of course select to record less then these vectors SC AT 4M recorded at the same time SC AT 2M recorded at the same time Revision 3 10 January 2005 The SC AT 4M supports 10 simultaneous data vectors to be The SC AT 2M supports 8 simultaneous data vectors to be The definition of each recorded vector contents the link to an internal controller variable is done using the RV parameter Currently the following internal controller variables can be selected for data recording for each one of the recorded vectors Recorded Variable Description Axis Variable Related Keyword NONE Empty Vector Encoder Position Encoder Velocity Position Error Desired Position PID Output Status Register Motion Status Analog Input Motor Fault Input Port Output Port Reserved Notes P e By selecting a NULL variable value RV 0 for a specific vector this vector will be disabled not recorded
60. Start Point or End Point Parameters defined by PG 1 3 and PG i 4 are not valid These parameters are validated only in Modes 2 and 3 see specific operation mode description for more details about limitations on PStart and PEnd The PQ command is supported on the SC AT 4M for axes X Y Z W only Issuing the command with a different axis identifier will result in this error code Table 5 Error Codes Generated by the PQ Compare Function Control and Robotics Solutions Ltd 8 15 SC AT Software User s Manual and Commands Reference 8 2 6 Configuring Digital Outputs for the Compare Function The SC AT controllers have general purpose digital output pins There are 8 un committed general purpose digital output in the SC AT 4M and 6 in the SC AT 2M These are DOut1 DOut8 in the SC 4M and DOut Dout4 and Dout5Fast and Dout6Fast in the SC AT 2M When not assigned as position compare event outputs digital output pins can be controlled by the OP Output Port parameter Each hardware digital output pin reflects the state of the corresponding bit in the output word parameter OP please see the OP parameter keyword reference for more details When configured as Position Compare Event output the actual hardware digital output pins in the are controlled by the compare function If the compare function is enabled without any output pin being assigned to it no pulses will be generated the pin will reflect th
61. TEN e ae scs eo esi feo esl esi esi esi fee feel es EEIEEE Table 18 End Of Motion Reason EM Codes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 9 Syntax XEM Report value EM for X axis AEM Report value EM for all axes Examples See Also MF Control and Robotics Solutions Ltd 10 49 SC AT Software User s Manual and Commands Reference 10 5 26 ER Max Position Error Limit Purpose The ER parameter defines the Max allowed Positioning Error while the servo loop is enabled MO 1 The Positioning Error PE is defined as the current desired position minus the actual position PEZDP PS The servo controller real time loop monitors the value of PE and compares it to the Max allowed error ER When ABS PE gt ER the servo controller automatically disables the servo loop switch automatically to MO O state The max allowed error ER is also monitored when the controller is in Open Loop mode when NC 1 and MO 1 to avoid the motor from running over the end of travels When the motor is disabled MO 0 DP PS so the position error is 0 by definition Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 2000
62. above Analog Offset Calibration for more information about Analog Command Offset calibration Control and Robotics Solutions Ltd 10 43 SC AT Software User s Manual and Commands Reference 10 5 21 2 DO Analog DAC Offset For The SC AT 2M Purpose DO Driver Command Offset set Driver outputs command offset values The SC AT 2M has 2 driver command outputs one for X and one for Y these can be Analog or PWM The DO parameter set the offset for the Driver command signals If PWM driver command is used DO set the PWM driver command offset If Analog driver command is used according to the driver type selection There is no special offset parameter for the analog outputs when used as general purpose outputs and not ad driver commands DO should be used to calibrate a zero driver offset value DO is applied in LSB units The range of the new DO command is 32 767 full 16 bit regardless of the actual command resolution The nominal resolution of the DO command is 3 2767 Isb mv The value of DO is saved to the flash memory and is restored on each power up Note that DO has an effect whenever the system is powered on regardless to the Motor On MO and No Control NC states As a result the offset calibration can be performed even when the controller is in Servo Off state MO 0 Although the software range limit for DO is 32 767 in DAC LSB units it
63. and or set the period CA 4 0 Both will disable the feature The user should avoid using too high parameter settings to avoid from system going out of stability when the gain scheduling is active Also it is not recommended to use this feature when very high position errors are reached during final motion acceleration phase Control and Robotics Solutions Ltd 6 7 SC AT Software User s Manual and Commands Reference 6 10 Acceleration and Velocity Feed Forward 6 11 6 8 The SC AT controller s family support reference command Feed Forward features gt Command Acceleration Feed Forward Acc FF is supported in both PID and PIV close loop modes The Acceleration Feed Forward gain is controlled by the FF 2 parameter FF 2 0 means no acceleration feed forward is used The Acceleration Feed Forward Gain FF 2 is working on the profile acceleration in counts sec2 219 units gt Command Velocity Feed Forward Vel FF is currently supported in PID close loop control mode only The Velocity Feed Forward gain is controlled by the FF parameter FF 1 FF 0 means no acceleration feed forward is used The Velocity Feed Forward Gain FF is working on the profile velocity in counts sample time units In both cases the resulted Feed Forward value is added to the filter command output in DAC LSB units Note that the PIV control scheme has an inherent internal velocity feed forward path with unity gain see Figure 6 1Figure 6 1 P
64. be 2047 and not 2047 e The current implementation of AI computation formula dose not uses a dead band function although the dead band parameter AD is supported but has no effect e AG and AF parameters the Analog Gain and Gain Offset can be used to achieve any effective gain in the range of 219 524 288 to 1 65 536 e AG range is 219 524 288 e AFrange is 0 16 i e Gain Factor can be 1 1 1 65 536 e The AG and AF parameters can be used to achieve very high or very low gains or can combined together to achieve accurate floating point gains For example to achieve an overall gain of 4 125 use AG 33 and AF 3 Using the AG and AF parameters the user can define any desired range for the AI value For example if XAS 2047 XAG 100 XAF 2 and the analog input varies in the range of 10 v Then XAI 10 2047 10 x 100 x 2 51 175 This is required for the Joystick motion modes For example the AI parameter is used as a speed reference for the Velocity Based Joystick Mode Using AG and AF the AI value can be scaled to any desired velocity range AS can be used to compensate joystick or analog input circuits offsets Note that nominally AS should be 2047 to achieve AI 0 for nominal Ov analog input value AD the analog dead band is required for the Velocity Based Joystick Mode Standard joysticks do not always return to the same zero value when they are released
65. be set for the desired axis and the configuration should be saved in the FLASH or script program Note that CG can be updated only while a motor is disabled i e MO 0 Note Current firmware versions of the SC 4M support SIN commutation on X and Y axes only Future revisions will support all 4 servo axes for that mode 8 5 2 2 The Magnetic Pitch Definition MP In order to be able to correctly perform the SIN function computation the controller needs to know the scaling between the main position sensor readings encoder counts resolution to the actual physical magnetic position The scaling is defined with a new parameter MP or Magnetic Pitch The Magnetic Pitch represents the actual full 360 magnetic cycle scaled to encoder counts This Control and Robotics Solutions Ltd 8 37 SC AT Software User s Manual and Commands Reference number should be set once per a given motor and encoder configuration and should never change For Example In a linear brushless motor application having a magnetic cycle of 60 96 mm 2 4 inch configured with a linear encoder having final resolution of 0 25 microns per count 4 counts per micron the magnetic pitch in encoder counts is equal to 243 840 counts MP 60 960 x 4 usi m Note that some motor manufacturers provide the magnetic pitch distance for 180 magnetic degrees and not 360 In the SC 4M MP must be equal to full 360 magnetic degree
66. be used during script program development for any purpose The PA array is an axis related array with size of 2x100 elements Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the PA array is 1 100 As noted PA is a user general purpose array and is not used anywhere by the controller s firmware code unless the user has included a reference to it within a script program Attributes Type Parameter Axis related Yes Array Yes size 2 200 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XPA 1 0 Set XPA 1 0 YPA 10 Report value of YPA 10 BPA 100 1000 Set both axes PA 100 1 000 Examples See Below See Also Please see SC AT Advanced Multi Axes Servo Controller Script Programming Language and the Integrated Development Environment User s Manual Section 3 5 Variables And Indirect Addressing 10 102 Control and Robotics Solutions Ltd 10 5 55 PE Position Error Purpose Revision 3 10 January 2005 PE is a read only parameter holding the actual servo loop positioning error The Positioning Error PE is defined as the current desired position minus the actual position PE DP PS Whenever the servo loop is enabled MO 1 in both open and close loop modes
67. command to 0 volts Note that the sign of the analog output can be inverted using the dedicated CG bits The Analog offset can be set using the DO command For brushless SIN commutation motors TC should be used in conjunction with the Auxiliary Analog Output command AO Please see section 8 5 2 5 above for more information about SIN commutated brushless motors operation with the SC AT 4M Please note the SIN commutated brushless motors operation is not yet supported in the SC AT 2M Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 32 767 32 767 10 132 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Syntax XTC 16384 Reset value of X axis TC to 16384 ZTC Report the TC value of Z axis ATC 0 Set TC 0 for all axes set analog Cmd 0 Examples The following code example enables Open Loop mode on Y axis and set the Y axis analog command output to 5 volts and 10 volts YMO 0 Must Disables the Motor before changing the NC YNC 1 Set NC 1 to indicate Open Loop for that axis YMO 1 Set MO 1 for Y Again YTL 32763 Set Command saturation to 10 Volts YTC 16384 Set command value to 50 5 Volts YTC 32763 Set command value to 100 10 Volts YMO 0 Disables the Motor before changing the NC YNC 0 Restore Close loop
68. ee gi eed ienasi 6 10 6 2 4 Mode 3 32 Bit Arbitrary Tables with FPAG RAM Support essere 6 11 6 2 5 Compare Function Parameters Activation and Error Codes eene 8 11 6 2 6 Configuring Digital Outputs for the Compare Function eee 6 16 6 2 7 Position Compare Events Examples esses aikaa 6 19 Control and Robotics Solutions Ltd e SC AT Software User s Manual and Commands Reference 9 10 8 3 POSITION CAPTURE EVENTS 5 6er eet ee TO D PU E etie at VT ege 8 23 6 34L Gapt re Modes ete e EORR D aby aay E Ee EET ne Ice rre E t REO UE 6 23 6 3 2 Operating the Position Capture and Relevant Keywords eere 6 24 6 3 3 Configuring Fast Digital Inputs for the Capture Function eese 6 27 6 3 4 Position Capture Events Examples esses nre nennen nennen ene 6 28 8 4 AUXILIARY ANALOG INPUT INTERFACES ccccccsseecsesecssesscseeesessecssesesesessceesssesseessssesssesessessseneseeseees 8 33 8 5 SUPPORT FOR DC BRUSHLESS MOTORS SIN COMMUTATION SC AT 4M ONLY sees 8 35 83 1 General Background ia nee RO PE ce RE Ue Re ED te dept ua rr ARMES 6 35 6 5 2 Sin Commutation in BLDC Motors eese eene tenete entente AE o EnA enne 6 36 8 6 DYNAMIC ERROR MAPPING CORRECTION scccscssesssesecssesscseeescsseeesesecssesscseesesseesessesesesecseesseneseeneees 8 46 SC AT 4M 2M SHELL SOFTWARE
69. error due to the QW command occurred HW INIT ERROR An error occurred trying to re initialize the CAN bus via re Control and Robotics Solutions Ltd 11 5 SC AT Software User s Manual and Commands Reference EC Code Name Error Description RW SUNGEUNGAXECYER C SW SUPPORT IN A4AXIS VER This error code is issued when a command not supported by the specific SC AT 4M software firmware revision is issued Please check the relevant command for more information about the possible error source NO HW SUPPORT IN 4AXIS VER This error code is issued when a command not supported by the specific SC AT 4M hardware revision is issued Please check the relevant command for more information about the possible error source FLASH ERASE This error code is issued if an error occurred during the Saving to Flash Procedure The error is related to erasing the flash FLASH VOLTAGE This error code is issued if an error occurred during the Saving to Flash Procedure The error is related to the flash voltage FLASH ACK TIMEOUT This error code is issued if an error occurred during the Saving to Flash Procedure The error is related to acknowledge time out from the flash hardware FLASH SUSPEND This error code is issued if an error occurred during the Saving to Flash Procedure The error is related to flash suspend FLASH WRITE This error code is issued if an error occurred during the Saving to Flash Procedure The error is related to flash write
70. fewer vectors are selected The overall data recording time is RL x RG 8 192 in sec units Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 1 Range 1 15 000 Syntax XRL 1000 Set Recording Length to 1 000 XRL Report value of RL Examples See section 8 1 in this User s Manual for further information See Also BR DA RG RR RV Control and Robotics Solutions Ltd 10 115 SC AT Software User s Manual and Commands Reference 10 5 63 RP Relative Position Purpose Defines the Next motion Relative Position in counts target The relative position is used for Relative Point to point motions When issuing an RP command the value of the next absolute position is computed as follows AP DP RP Upon a BG begin motion command the controller will generate a profile from the current desired DP position to the current AP Please refer to the AP command for more information Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XRP 100000 Set X Axis Relative Position to 100 000 ZRP Report value of Z axis RP ARP 100 Set RP 100 in all axes Examples The follo
71. filter parameters New revision Firmware Name Code FW 2 05 D Revision Release Date 8 December 2003 The following changes were made in Release Version 2 05 D of the SC AM SA Servo Controller e Position Based ECAM Motion Mode ECAM is a unique motion mode that allows one axis to follow a motion of another axis with a user defined table based position ratio The SC 4M SA firmware version 2 05 D support master based Position ECAM following on X and Y axes only All 4 axes can be used as masters gt Anew ECAM parameters array EA is now supported gt For the user defined position table the general purpose AR array is used Please see the relevant section in this User s Manual for more information about ECAM motion mode support e CAN Baud Rate Settings The CAN Baud rate can now be set by using the CB command All hardware CAN bus baud rates that are supported by the CAN controller hardware are now supported Please see the CB command reference for more information e RS 232 Baud Rate Settings The RS 232 Baud rate can now be set by using the DIP Switch 3 on the SC 4M SA Board When set to OFF the default baud rate setting of 38 400 bps is selected When DIP SW 3 is set to ON the RS 232 baud rate is selected as 115 200 bps Note that this version supports only the main communication link as 115 200 bps The download firmware is still executed in 38 400 regardless of the DIP SW settings Newer BO
72. for the Y Axis The following bit order definitions applies 0000 X Event source is DINI 0 0001 X Event source is DIN2 1 0010 X Event source is DIN3 2 0011 X Event source is DIN4 3 0100 X Event source is DINS 4 0101 X Event source is DING 5 0110 X Event source is DIN7 6 0111 X Event source is DIN8 7 1000 X Event source is DIN_FAST_9 8 1001 X Event source is DIN FAST 10 9 1010 X Event source is INDEX Y 10 1011 X Event source is INDEX X 11 Select Input polarity for Axis Y 0 set Normal pulse polarity 1 set Inverted pulse polarity These bits are currently not used and should be left 0 for future compatibility Table 28 SC AT 2M YOM IO MODE 1 Bits Configuration Description Control and Robotics Solutions Ltd 10 95 SC AT Software User s Manual and Commands Reference 10 96 The OM parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 124 000 000 2 124 000 000 Syntax XOM 0 Reset IO MODE O register XOM Report Value of IO MODE O0 XOM 0 Reset IO MODE register XOM Report Value of IO MODE 1 Accessing OM with other axes identifiers has no effect and should be avoided for future compatibility Exampl
73. generates similar result to a Driver Fault condition The specific axis is immediately disabled and the relevant software status bits are updated High Position Error This error is asserted when the servo loop position error is two high please see section 6 2 3 above for more information about Position Error calculation The position error PE is continuously compared to the maximal allowed error value ER Whenever PE gt ER the axis is disabled The high position error protection is active at all times when a servo axis is enabled i e when MO 1 This means that the position error is also monitored when the axis is in open loop modes The max allowed positioning error is 8 000 000 encoder counts High position error fault is reported by MF 3 7 2 2 Encoder Signal Error Protections The SC AT hardware supports two types of encoder signals error conditions e Encoder A Quad B Error This error is asserted when the SC AT encoder hardware interface detects that both A and B encoder lines are changed simultaneously In normal A quad B encoder operation this is a non valid condition The encoder signal lines are sampled by the hardware at a very high rate and If ina single sample event both A and B changes their state the error is asserted e Encoder Disconnected Line Error This error is asserted when the SC AT encoder hardware interface detects that one of the following A
74. identifier Since BR is a global function not related to any axis calling it with any axis identifier will start or stop according to the parameter the recording process e Parameter Optional The BR command can receive an optional parameter When called without any parameter i e XBR the command starts the recording process e Parameter 1 XBR I Start a new recording process This is identical to XBR e Parameter 0 XBR 0 Stops the current ongoing recording process RR is reset to 0 immediately When a new recording starts RR Recording Status is automatically set to the value of RL the total required number of sample points As the recording process goes along on each sample point the value of RR is decremented by 1 When recording is complete RR is 0 Only then it is possible to upload the recorded data The BR or BR 1 Begin Recording command checks only that RR is zero before enabling a new recording process If BR is issued during an active recording while RR gt 0 the command will be rejected and a STILL RECORDING error code 16 will be generated Note that the controller does not check if previous buffers were uploaded or not Issuing a new Begin Recording command always overrides old data BR O does not check any conditions and will always stop data recording process 8 1 2 2 Select Recording GAP Paramet
75. immediate fault cause will disappear On the SC AT 2M the Motor Fault reason parameter holds encoded information about the actual fault cause as follows e Lower 16 bits of MF hold Motor Fault reason as generated and set by the real time firmware e Upper 16 bits of MF holds the extended Motor Fault reason as latched by the hardware The lower 16 bits of MF represent a general fault cause number as defined in the following table Lower 16 Bits of MF MF NO FAULT None Normal Operation 1 MF_DRV_FLT Fault caused buy a Driver Error for a specific axis DRV_FLT H W line was asserted 2 MF_ABORT_INPUT Fault caused buy the general Abort Input ABORT H W line was asserted 3 MF_HIGH_ERR Fault caused for a specific axis when its position error PE is exceeding the allowed maximum position error for that axis when Abs PE gt ER 4 MF_MOTOR_STUCK Fault caused for a specific axis when a Motor Stuck Condition is detected Motor Stuck is a condition that the servo command is saturated reaching TL for more then 0 5 seconds and no motion is detected Table 20 Motor Fault Cause Reasons MF Codes in SC AT 2M The Upper 16 bits of MF represent extended fault source options and they are set ONLY when the lower 16 bits of MF equals to 1 i e the motor fault type is Driver Fault The additional fault source information is defined in the following table Control and Robotics Solutions
76. is using a 32 bit 8 24 format scaling resolution to allow ratios of up to x 128 and x 1116 777 216 The following dedicated parameters are used for Position Based Gearing Motion ME in SC AT 4M Controllers Master Encoder or Axis This parameter defines which axis is the Master axis for a given slave gear motion On the SC AT 4M Controllers the ME parameter can be any valid physical axis ME 0 for X ME 1 for Y ME 2 for Z or ME 3 for W ME in SC AT 2M Controllers Master Encoder or Axis This parameter defines which axis is the Master axis for a given slave gear motion On the SC AT 2M Controllers the ME parameter can select between the following encoder inputs ME 0 for X Axis Encoder ME 1 for Y Axis Encoder ME 2 for X Auxiliary Encoder Input ME 3 for Y Auxiliary Encoder Input Control and Robotics Solutions Ltd 5 7 SC AT Software User s Manual and Commands Reference 5 8 FR Following Ratio This parameter defines the slave s following ratio in relation to the Master s axis ME reference position DP FR can be any number in the range of 2 147 000 000 2 147 000 000 As noted above FR is an integer number scaled to 8 24 format I e FR 16 777 216 means a following ratio 1 0 The slave axis reference position is relative to the master s and slave s initial position when the slave axis was initially commanded to actually begin the Gearing Motion
77. is usually not required to use values more then few hundreds Note that by using high values of DO a non symmetrical analog range can be resulted The final driver command is always protected from roll over beyond 16 bit value DO is an axis related parameter and controls the offset of the various analog outputs as follows e XDO Setthe Analog Offset of the Main X Analog Command Channel e YDO Setthe Analog Offset of the Main Y Analog Command Channel Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 32 767 32 167 10 44 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Syntax XDO 100 Set X DAC DO 100 Offset 30 5 mv XDO 100 Set X DAC DO 100 Offset 30 5 mv XDO Report value of AS for X axis BDO 0 Set DO 0 to both axes no analog output offset Examples See Syntax above See Also TC AO Control and Robotics Solutions Ltd 10 45 SC AT Software User s Manual and Commands Reference 10 5 22 DP Desired Position Purpose DP holds the actual instantaneous Desired Position or Reference Position Command of the servo control loop When an axis is not in motion DP is constant and equals to the local position reference point When an axis is in motion DP holds the real time servo loop control ref
78. kBps Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Parameter Set CAN Baud rate to 1 Mbps Report value of CB Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 15 CG Axis Configuration 10 5 15 1 CG Axis Configuration for the SC AT 4M Purpose CG is an axis related parameter defining specific axis configuration CG Currently supports 7 configuration bits Bit 0 to bit 6 as described in the following table future firmware versions may support more configuration bits CG Bit Function Description Zero Based 0 Invert Main This bit controls the MAIN DAC polarity command DAC main servo driver analog command output TC Command When set to 0 the default polarity is invert i e TC 32767 will result in an analog command voltage of 10v When set to 1 the default polarity is non invert i e TC 32767 will result in an analog command voltage of 10v 1 Invert This bit controls the encoder polarity Users can set or Encoder clear this bit to change the encoder reading direction When set to 0 the default polarity is non invert When set to 1 the default polarity is invert 2 Configure This bit configures the axis to operate in SIN SIN Mode commutation brushless mode Please see section 8 5 above for more information When set to 0 default normal mode is used When set to 1 SIN commutation i
79. leouseneagvacdb oben camebepeatas 7 2 7 2 SOFTWARE GENERATED EAULTS 5 e tO ED RR PERPE EOM XE EEbe UO ERR ERR re SEP UD TE EUR EA DOR 7 3 72 1 JHieh Position ETTO s e Ea o RS P dr FREE nO POR Debet pe Due ae epar 7 3 7 2 2 Encoder Signal Error Protections eese eee eene ene trennen tenete entren eren ene 7 3 7 2 3 Motor Stuck Protection uses see ttes aA a Napa exe Eee eee eoa b ee ove ae ee y eeu ege eee e Pea Yen 7 4 7 3 SOFTWARE PROTECTIONS NON FAULT CONDITIONS cccccsssceesesceceessececeenaececseseeeessneeecsesaeeesseeeeeees 7 4 7 4 SPECIAL HANDLING OF SOFTWARE LIMITS eeeeeeeeeeeeee eene enne nene en nnne tene en nene tenr entente innen etn enne 7 5 ADVANCED FEA TURES roseo rtone o rni seo oa eu nae eno saosa issa aora Ro Uno paa eae epe e PE ae eae SSE Eoss rossas Eoas asea aS 8 1 8 1 DATA RECORDING o D N 8 1 8 1 1 Operating Data Recording in the SC AT Controller s Family seen 6 2 8 1 2 Data Recording Keywords uem oda crak gh ans ea de te ene niic e diede 6 2 6 1 3 Data Recording Support on the SC AT 4M 2M Shell sese 8 6 8 2 POSITION COMPARE BVENTS eiecit HR Ire Pellis euet eei desee ie b teste i ree 8 7 6 2 1 Mode 0 Fixed GAP Incremental Distance lt 16 Bit eene enne 8 8 6 2 2 Mode I Fixed GAP incremental Distance gt 16 Bit sss eene 6 9 8 2 3 Mode 2 32 Bit Arbitrary Tables ec
80. lt ML lt MP to define the offset between the incremental position reading and the true absolute physical magnetic 0 location The initial offset of ML should be set ONLY during the Phase Initialization Process as explained in the following section Changing ML value after phase initialization during normal operation in SIN commutation mode will cause abrupt undesired motion and should be avoided Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 5 2 4 Phase Initialization Process For correct sinusoidal commutation operation the exact absolute up to few electrical degrees magnetic or electrical angle should be known In a system using incremental position sensor typically like an encoder the true absolute physical position after power up is not known Thus in the absence of hall effect sensors to provide this information in order to operate in SIN mode each time the controller is powered up a phase initialization process should be performed The Phase Initialization Process finds the true absolute magnetic angle of the system by bringing the motor to a known magnetic equilibrium point and then stets a correct offset value to ML the real time magnetic location parameter From that point on ML is updated automatically and holds the true absolute magnetic position A simple technique for DCBL motors phase initialization process is first to place the rotor into prede
81. manner For example when a motion to search some input flag is performed when the input is detected the ST command may be used to stop the motion see example below Attributes Type Command Axis related Yes Array Assignment Command Allows Parameter No Scope All Restrictions None Save to Flash Default Value Range Syntax XST Stop X Motion AST Stop motion of All axes Examples The following example starts a motion and then enters a loop to check for Input 1 to become low 0 When condition is met the motion is stooped The following example can be written as a script program file The main routine name is S FINDII and can be executed and tested Please see the SC AT Macro Scripts Language features User s Manual for further information about script programming 1 Routine to find Input 1 SFINDII XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Relative motion of 100 000 counts 10 126 Control and Robotics Solutions Ltd Revision 3 10 January 2005 XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion Now enter a loop to check for input 1 to become low while AIP amp 1 Wait for Input 1 to be Low endwhile Input is found so stop the motion Q while XMS 0 Wait for MS Motion
82. modified even during deceleration to the previous target position and can be modified to any value independent of the current position Note that AP or RP change during motion may cause the motor to change its motion direction This will happen if a new AP value is given to a point that was already passed by the system Repetitive Point To Point Rep PTP MM 0 SM 1 This mode is very similar to the standard PTP motion mode as described above Control and Robotics Solutions Ltd Revision 3 10 January 2005 However repetitive motion mode supports motions back and forth between two positions Each motion is a standard PTP motion uses SP AC DC etc as described above but the controller automatically generates the sequence of motions without the need to re sending the BG command This mode is excellent for tuning the PID filter The motor is commanded to perform infinite motions back and forth while the PID parameters are modified on the fly to examine their effect on the motion performance optionally using the Data Recording feature Two additional keywords are used for the Repetitive PTP mode gt WT Wait Time parameter in samples e SC AT AM each sample is 61 us e SC AT 2M each sample is 122 us WT Defines the wait time between consecutive motions Upon BG the controller will generate a motion toward AP waits WT samples and than will generate a motion toward the original position where it will wait again WT
83. of the filter Use Open loop operation and record the record the Driver Command signal see also a remark in section 6 36 3 above 6 11 1 SC AT 4M Open Loop Operation SIN commutation motors For the X and Y axes the user can also use a special NC 2 mode for open loop SIN commutation motors When CG 3 is set SIN commutation is enabled and NC 2 an open loop TC command will use the internal commutation SIN tables for both phases of the motor i e the scalar TC command will be transformed using the SIN table and encoder Magnetic Location to a dual phase command and will change both the MAIN DAC value for Phase A and the AUX DAC value for Phase B accordingly In F W revisions 2 04 and later the controller also support a New Special Open Loop Mode NC23 for X and Y Axes When SIN commutation is enabled and NC 3 the motor SIN phase angle command can be initialized by a user defined parameter and is not effected by the actual Magnetic Location This is frequently used during motor PHASES initialization in SIN mode For full information about SIN commutated motors support by the SC AT 4M please see the NC command reference and also section 8 4 below in this User s Manual When NC 1 an open loop TC command will only change the value of the main DAC regardless of the stage of CG 3 bit status 6 12 Real Time Servo Loop Protections The SC AT family controllers real time loop implements several types or protection mechanis
84. of zero 25 NO VALID MACRO This error code is issued once the QI keyword is issued without any macro in the system CAN NOT FIND LABEL This error code is issued once the QE LABEL clause is sent with an un existing label This means the user issued an execute command to a specific macro routine but the specific routine does not exist BAD NUMERIC FIELD Not Used CLAUSE TOO LONG This error code is issued once a clause exceeds the length of 255 29 MACRO END This error code is issued once a macro One Step or an macro Execute command were issued and the macro reached the end 30 MACRO POINTER This error code is issued once the macro pointer is not in the limits of the macro code or one of the following functions lack a pointer as a parameter 1 Jump 2 Call 32 TOO LONG LABEL This error code is issued if a label parameter exceeds the limit of 12 It can happen in one of the following functions 1 Jump 2 Call 3 Execute PARAM NOT ALLOWED This error code is issued if a parameter in a dedicated clause exceeds the limits for this parameter PARAM OUT OF RANGE This error code is issued when a command is given a parameter out of range or when trying to assign a parameter with a value out of its range Please check the relevant command or parameter keyword reference for more information about the allowed range for the specific parameter Control and Robotics Solutions Ltd 11 3 SC AT Software User s
85. one of the software limits the BG shall return an error and the EC if command performed via communication or QC if command performed via macro shall be set to ErrorCode EC 53 This feature will be also supported in the SC AT 4M in the future Attributes Type Command Axis related Yes Array Assignment Command Allows Parameter Yes Number 1 Scope All Restrictions Needs Motor ON and No Motion Save to Flash Default Value Range Syntax XBG Start X Motion BBG Start motion in X and Y non synchronized BBG 1 Start vector X Y motion ABG Start Motion in all axes Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 and waiting for end of motion The example can be written as a script program file The main routine name is MOV X and can be executed and tested Please see the SCAM Macro Scripts Language features User s Manual for further information about script programming 1 Control and Robotics Solutions Ltd 10 25 SC AT Software User s Manual and Commands Reference 10 26 Routine to Move to Position 100 000 and wait for end of motion MOVX XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP
86. parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 255 Syntax XOL 0 Set non inverted logic to all digital Outputs AOL Report value of OL the output port word XOL 128 Invert the logic of output port 8 XOL 255 Invert the logic of all output ports Examples See Also OC OP OS 10 88 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 51 OM I O Modes Hardware Configuration Purpose The OM parameter is used to configure the programmable Hardware I O interfaces of the SC AT 4M controller Notes e In the SC AT this parameter is currently used to configure the programmable Hardware I O interfaces This functionality may be implemented in future firmware versions in a different way e In the old SC 2M controller the OM parameter was used to configure S W Programmable Outputs logic This option is not supported on the current SC AT controllers firmware versions It may however be implemented in future firmware versions Please consult Control and Robotics Solutions for further information regarding this option This parameter was used in the SC 2M to reflect the following internal controller states OM 0 to disable the alternate function OM 1 for alternate function on In Motion OM 2 for alternate function on In Constant Speed no Acceleration or Dec OM 3 for alternate function on In Acceleration or
87. parameter is used by the controller as a power of 2 coefficient for the smoothing time value For example WW 6 means that smoothing is done over a period of time of 2 6 sample time i e 4 msec in the SC AT 4M or 8 msec in the SC AT 4M The resulted profile will generate its full acceleration value in the 2 6 sample time Setting WW 12 to its Maximal smoothing value of 2 12 will result in a 0 25 sec SC AT 4M or 0 5 sec SC AT 2M acceleration smooth period Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Not In Motion Save to Flash Yes Default Value 0 Range 0 12 Syntax XWW2 0 Set XWW2 0 No Smoothing for X Axis ZWW Report value of WW for Z axis AWW 8 Set WWz 8 for all axes Examples See Also MM and Section 5 9 above Profile Smoothing in the SC in this User s Manual for more information about profile smoothing support in the SC AT family controllers Control and Robotics Solutions Ltd 10 149 SC AT Software User s Manual and Commands Reference 10 5 82 XC Last Capture Position Latch Purpose The XC parameter is used in conjunction with the Capture function to report the last captured position of an axis The last Captured location is stored by the controller firmware in the XC parameter for each axis independently i e XXC YXC ZXC and WXC for X Y Z and W axes respectively The use
88. related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Standard Version Report Command No Yes See Above All None Reports Firmware Major and Minor Versions with its release Date and Time RS 232 only See Syntax Above See Also Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 80 WT Wait Period Purpose Wait time for Repetitive Point to Point When the controller is in MM 0 PTP and SM 1 the motion will be Repetitive This means that the axis will be commanded to perform a PTP motion to the specified absolute position and then after the motion is completed and a user specified delay WT is finished a new motion is automatically initiated to the starting position AP is updated to this value This back and forth motion is repeated until stopped by one of the following clauses AB abort ST stop KR Kill repetitive and MO 0 SC AT 4M The WT parameter defines the delay time in number of servo samples each is approximately 61 us or 1 16 384 of a sec between the back and forth motions SC AT 2M The WT parameter defines the delay time in number of servo samples each is approximately 122 us or 1 8 192 of a sec between the back and forth motions Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to
89. samples and so on for ever gt KR Kill Repetitive command Unlike a standard PTP motion a Repetitive PTP motion does not finished unless stopped by the user or any fault or limitation While AB and ST will act just as for a standard PTP motion KR will stop the repetitive sequence completing the current PTP motion and only then stopping A Repetitive PTP motion is started just as a standard PTP motion but with SM 1 instead of SM 0 This means that the basic motion mode is still a PTP motion MM 0 but it has a special modification identified by SM 1 Notes gt Each motion segment within a repetitive motion is treated as a standard PTP motion The only difference is reflected in the SR parameter bit 4 In Repetitive PTP motion In addition when a motion segment is finished and the motion is paused for WT samples a dedicated bit in MS will identify this status bit 6 gt Modifying AP on the fly will modify the target position of the current segment but will not affect the 2 target position the back motion In the SC AT controller s the repetitive motion is also supported under STEP mode MM 8 Control and Robotics Solutions Ltd 5 5 SC AT Software User s Manual and Commands Reference 5 3 Jogging JOG MM 1 SM 0 5 3 1 Description In this mode the controller calculates a standard acceleration profile using the user specified acceleration AC toward the user specified speed SP
90. servo controller to a SIN 3 phase driver through the Acmd Main DAC and AcmdAux Aux DAC signals Please refer to the SC 4M SA hardware reference manual and to Figure 6 1 Position Over Velocity Loop PIV Control Scheme Structure and Figure 6 2 of this User s Manual for more information A dedicated SIN power amplifier receives as an input the 2 analog commands from the controller and internally derive the third phase command based on the condition that the sum of all 3 phase currents must be zero The following sections describe the SIN Commutation configuration parameters of the SC AT 4M Please see section 10 5 below in this User s Manual for a complete syntax and description of each keyword below 8 5 2 1 Enable SIN Commutation Mode New bit in CG By default the SC AT 4M servo controller assumes that standard DC brush or brushless with trapezoidal hall commutation type motors are used In this mode the controller uses only the main DAC output of each axis as an analog command output of the servo loop In order to enable SIN commutation a dedicated configuration bit in CG the axis configuration word should be set Bit 2 zero based of CG control this mode each axis has its own configuration bit within the axis CG word e CG 2 zero based 2 0 Disable SIN mode e CG 2 zero based 1 Enables SIN mode In order for the controller to work in SIN commutation mode the relevant bit in CG should
91. show that the two control schemes are identical there exist a transformation converting from one filter constants to the other there are few benefits mainly for the tuning process for the PIV configuration that will be discussed below e Figure 6 1 Position Over Velocity Loop PIV Control Scheme Structure below shows the SC AT control loop structure in PID scheme e Figure 6 2 below shows the SC AT control loop structure in PIV scheme e Figure 6 3 below shows both the position loop PID filter and Velocity loop in PIV Mode PI filter implementations The User can select between the two control schemes using a special bit in the axis configuration word CG 3 zero based The SC AT controller s family includes in addition to the standard PID or PIV filter structures some additional features as described below High position error limit Digital 2 order low pass filter can be operational in all modes Automatic Gain Scheduling for improved point to point settling performances Special Open Loop modes for both normal and SIN mode commutation Acceleration and Velocity Feed Forwards Separate saturation levels for the Integral term and command output signal SIN Tables for SIN commutation motors VVVVVVV In the following sections the Linear Filters equations and non linear algorithms are described in details SIN commutation Currently supported in SC AT 4M only Control and Robotics Solutions Ltd 6 1 Revisi
92. standard PTP mode supports on the fly modification of the AP parameter this mode automatically supports the changes of the AI during the motion practically tracking them with the user specified acceleration AC and speed SP parameters These parameters needs to be high enough to enable good tracking on the joystick motions variations of the AI parameter but low enough to avoid nervous motions An important note is that when this mode is activated using the required MM and SM values the AP parameter is continuously and internally assigned with the AI value Note This mode is currently not fully implemented Control and Robotics Solutions Ltd Revision 3 10 January 2005 5 8 Position Step Motion MMz8 SM 0 or SM 1 5 8 1 Description In this mode the Desired Position DP is assigned with the Absolute Position AP immediately after the Begin BG command The profiler does not generate any motion profile and the AC DC and SP values are ignored The theoretical Motion time in this mode is 0 by definition True Step command This mode is useful for the measurement of the closed loop step response and bandwidth It is generally not used in practical applications since it generates infinite acceleration and jerk MM 8 can be combined with SMz 1 to generate repetitive step motions Note that you can also use the Relative Position RP parameter Assigning a value to RP will anyhow modify the value of AP properly
93. the SC AT Controllers Family The SC AT controllers Family support an advanced symmetric S curve like profile smoothing algorithm The smoothing is controlled by the WW parameter WW can be set to 0 to avoid any profile smoothing In that case the generated position velocity profile is pure trapezoidal or triangular If WW is set to 12 the smoothing is set to its maximal value In that case the generated profile has full smoothing and the velocity trajectory is not pure trapezoidal The WW parameter is used by the controller as a power of 2 coefficients for the smoothing time value For example WW 6 means that smoothing is done over a period of time of 2 6 sample time In the SC AT 4M this will take approx 4 msec In the SC AT 2M this will take approx 8 msec The resulted profile will generate its full acceleration value in this time Setting WW 12 to its Maximal smoothing value of 2 12 will result in a 0 25 sec SC AT 4M or 0 5 sec SC AT 2M acceleration smooth period The following figures shows two simple profiles generated in similar motion parameters with different smoothing values For both motions the following general parameters are used AC DC 1 000 000 SP 100 000 AP 100 000 In one case no smoothing is used WW 0 and in the other full smoothing is defined WWz12 Figure 5 1 below shows the motion profile with full smoothing implemented in the profile Note the smooth velocity profile the upper window in
94. the controller is powered up the A and B groups definitions are automatically set to their default The user can not change the default definition of the A and B groups nor save them to the FLASH memory After power up the user can however define other values to the A and B groups although this is not recommended As a design rule we recommend to use A and B always as their default initial definitions If other sub groups are needed it is recommended to use the C and D groups The C and D groups can be assigned to any value The definition is saved to the flash memory with all other controller parameters and can be used after power up Groups definition is simply made using a new bit array filed parameter for each group Each BIT in the parameter defines an axis to be related to the group For example 1023 all 10 bits are 1 defines ALL 1 defines the X axis only 3 defines X and Y axes the B default and so on For further information regarding Groups Definitions please see the GP keyword reference in section 10 5 29 in this User s Manual The SC AT 4M 2M Shell program provides an easy GUI for groups definitions Please see chapter 9 for more information Note In the current firmware version when working in CAN bus communication a multiple axes report command for a group with more then 2 axes will report ONLY the first
95. uses the same pins of normal outputs of the controller DOut through DOut4 SC AT 2M The SC AT 2M supports simultaneous compare events on both of its 2 encoders independent from one another The user can configure the hardware to redirect a generated event pulse to any one of the controller digital outputs This way a user working with a dual axes system X Y stage for example requiring to generate compare event pulses based on the X and Y encoders alternatively can use only one digital output and control the source of the pulse to be an X or Y encoder Compare Event using simple software configuration The user should be aware that the current hardware version of the SC AT 2M supports 2 of its 8 digital outputs as Fast Outputs The standard SC AT 2M digital outputs interface is isolated and buffered While this is good for normal outputs when fast synchronization pulses are required a faster interface is needed To solve this problem the SC AT 2M supports the first 4 digital outputs as Fast Outputs Outputs configured as Fast Outputs are non isolated and are Control and Robotics Solutions Ltd 8 7 SC AT Software User s Manual and Commands Reference 8 2 1 8 8 driven by a TTL buffer The Fast Outputs uses the same pins of normal outputs of the controller DOut5 and DOut6 As a standard the controller generates a single hardware pulse for each compare event The user can control the pulse width in few software configura
96. validates correct parameter PG for the specific requested mode In any case that one of the command s parameters is out of range the command will return an error prompt gt or will generate a script Run Time Error if called from within a script macro program The relevant error code flags EC or QC will be updated to reflect the error cause Notes 10 106 The user should be aware that not all conditions for a correct operation of the Compare Function could be validated during command initialization For example the minimal distance between each two consecutive points in the AR table in Modes 2 and 3 cannot be tested as the limitation depends on the actual motion speed It is the user s responsibility to specify correct parameters values for each of the supported Compare Modes Please refer to specific Compare Modes description in section 8 2 defining operation limitations in each mode For full description of the Compare Mode Function Operation PQ please refer to section 8 2 5 3 in this user s manual For full description of the Compare Mode Function Error codes please refer to section 8 2 5 4 and Table 5 Error Codes Generated by the PQ Compare Function in this user s manual Control and Robotics Solutions Ltd The PQ command has the following attributes Attributes Syntax Type Axis related Array Assignment Command Allows Parameter Scope Restrict
97. wait for a Capture event within a script program This can be used for example to signal events to a host computer whenever a Capture event is sensed XN is an axis related parameter keyword Each axis holds its own Capture index counter On the SC AT 4M only 4 axes are supported so accessing XN with axes identifiers higher then W has no meaning 8 3 2 2 The Capture Location XC 8 24 The last Captured location is stored by the controller firmware in the XC parameter for each axis independently 1 e XXC YXC etc The user should note that when PS is updated the value of XC is meaningless The Capture feature implementation does not support hardware or software buffers Whenever a Capture is detected the last value of XC is overridden and lost As indicated above XC is an axis related parameter keyword Each axis holds its own Captured Position Location value On the SC AT 4M only 4 axes are supported so accessing XC with axes identifiers higher then W has no meaning Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 3 2 3 Selection of Capture Source Pulse YOM The user can configure the Capture pulse source by modifying the IO MODE 1 register This is in the current firmware version done using the YOM parameter please see the OM keyword reference in this user s manual for further information This is a 32 bit array word de
98. 0 Select I O s as Capture Source Bit5 1 Select Indexes as Capture Source e Bit 6 Select Input polarity Bit6 0 Select Normal Positive Pulse Polarity Bit6 1 Select Inverted Negative Pulse Polarity e Bits 7 8 Reserved Should be 0 for future compatibility Control and Robotics Solutions Ltd 8 25 SC AT Software User s Manual and Commands Reference 8 3 2 3 2 SC AT 2M IO MODE 1 YOM Keyword The order of Bits in Each Byte is identical for all axes The Bit order in each Byte is described below e Bits 3 0 selects the X Axis Capture Source 0000 X Event source is DINI 0 0001 X Event source is DIN2 1 0010 X Event source is DIN3 2 0011 X Event source is DIN4 3 0100 X Event source is DINS 4 0101 X Event source is DING 5 0110 X Event source is DIN7 6 0111 X Event source is DIN8 7 1000 X Event source is DIN FAST 9 8 1001 X Event source is DIN FAST 10 9 1010 X Event source is INDEX X 10 1011 X Event source is INDEX Y 11 e Bit 4 selects the polarity of the X axis capture event Bit 4 0 Select Normal Positive Pulse Polarity Bit 4 1 Select Inverted Negative Pulse Polarity e Bit 7 5 Reserved Should be 0 for future compatibility e Bits 11 8 selects the X Axis Capture Source 0000 Y Event source is DINI 0 0001 Y Event source is DIN2 1 0010
99. 0 000 for all axes Example See Also CG KP KI and Chapter 6 above The Control Filter 10 66 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 36 KI Control Filter Integral Term Gain Purpose The KT parameter is used to set the control filter algorithm position loop integral term gain in PID control mode and Velocity PI loop integral term gain in PIV control mode The KT parameter is an array parameter with the size of 4 x 2 i e for each axis X Y Z W KI 1 and KI 2 are available The first element KI 1 or KT see note below set the normal filter gains while the second element KI 2 set the gain for the Gain Scheduling algorithm Please see section 6 9 above for more information about Filter Gain Scheduling Note The SC AT command interpreter supports for backward compatibility access to any array parameter first element as a non array element This means that for example XKT is identical to XKI 1 Attributes Type Parameter Axis related Yes Array Yes size 4 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 767 Range 0 2 147 000 000 Syntax XKI 16384 Set X Axis KI 16 384 XKI 1 16384 Same as XKI 16384 Set X Axis KI 16 384 XKI 2 30000 Set X Axis KI 2 30000 for Gain Scheduling ZKI Report value of KI for Z axis AKI 100000 Set KI 100 000 for all ax
100. 00 000 ZHL Report value of Z Software High Limit AHL 2147000000 Set Software HL to 2 147 000 000 for all axes Examples See Also DL HL PS EC 53 See Communication Error Codes in chapter 11 below Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 31 IA Indirect Array Purpose IA is a user general purpose Index Array Although IA can be used for any general purpose during program development it was intentionally defined to allow Indirect Index Addressing from within a script program The IA array is a non axis related array with size of 200 elements in the SC AT 4M and with a size of 100 in the SC AT 2M Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the IA array is 1 200 SC AT 4M and 1 100 SC AT 2M Since IA is non axis related accessing XAR YAR AAR etc actually access the same array element As noted IA is a user general purpose array and is not used anywhere by the controller s firmware code unless the user has included a reference to it within a script program Attributes Type Parameter Axis related No Array SC AT 4M Yes size 1 200 SC AT 2M Yes size 1 100 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XIA 1 0 Set IA 1 0 BI
101. 000 XAP 100000 Set Next PTP absolute location to 100 000 TR 10 TT 160 Set Target Radius and Target Time XBG Start a Motion 10 128 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Q while XMS 0 Wait for End Of Motion in X XMS 0 endwhile while XSR 32 Wait for In Target in X XSR 32 endwhile Another way to wait for In Target condition is to use the special QW command like in the following example define WaitForEndOfMotionX XQW 100000 defineWaitForXInTR XQW 101060 XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XAP 100000 Set Next PTP absolute location to 100 000 TR 10 TT 160 Set Target Radius and Target Time XBG Start a Motion WaitForEndOfMotionX Will wait for End of Motion in X Axis WaitForXInTR Will wait for In Target in X Axis See Also MS BG TR TT QW in the SC AT Script User s Manual Control and Robotics Solutions Ltd 10 129 SC AT Software User s Manual and Commands Reference 10 5 71 SV Save Command Purpose Please see LD Load Command 10 130 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 72 TA CAN Transmitting Address Purpose Set CAN Transmitting Address The CAN t
102. 000 100 000 000 Cd ae no 0g Cid Jo Jo 30 000 000 E wem l MES j 30 000 000 0 800 000 000 12 2 147 000 000 0 Only Table 8 SC Parameters Keywords List about the compare feature in this user s manual reference for more information The OM parameters are bit filed commands Please see the OM command reference for more information The PG array element s range is restricted by the PQ command depending on the compare function operation mode Please refer to the relevant command s references PG PQ and the Advanced Features section The Recording Gap parameter RG is now a 1 x 2 array RG or RG 1 is the recording Gap RG 2 defines a delay for upload Recording data buffers in CAN bus mode only Please see the RG command The RL Recording buffer Length defines the number of max recorded data points per vector It can be 100 000 points for one vector or 10 000 for 10 vectors and anything in between Please see the RL command reference and the section Data Recording in this User s Manual for more information Control and Robotics Solutions Ltd 10 5 SC AT Software User s Manual and Commands Reference 10 3 2 SC AT 2M Parameters Keywords List Ar Oboe A5 Yes Analog InputDead Band AF Yes Analog Input Gain Factor
103. 03 1s installed 4 Indicates that this 1s a 4 axis version 200 Indicates the FPGA version 2 00 250 Indicates the Macro Buffer size in kBytes 250 kBytes VVVVV e Please note Firmware version 2 03 MUST be used with FPGA version 2 00 or higher Downloading F W version 203 to boards with older FPGA versions will result in a malfunctioning un expected results board e In the following section the major F W Version 2 03 and FPGA Version 2 00 are described Control and Robotics Solutions Ltd 2 1 SC AT Software User s Manual and Commands Reference 2 2 1 SC AM SA Release Version 2 03 Modifications Description This section describes the modifications in version 2 03 of the SC 4M SA firmware and hardware 2 2 1 1 Important Note about H W Interfaces Compatibility The SC 4M SA board has identical electrical interfaces as the SC AM Similar main connectors and pin out are used 44 and 64 pins flats and Communication interface The main Power input connector is a smaller type 3 81 mm pitch Mini Combicon Phonix replacing the SC 4M Power Input 5mm pitch Combicon Phonix connector 5 pins are still used but in opposite pin out order then the SC 4M The new pin order matches the Phonix connector pin out order definition Please see the SC AM SA Hardware User s Manual and electrical drawings before connecting the new board to the main power supply 2 2 1 2 New SC 4M SA Features and Firmware Modifications 2 2
104. 09 SC AT Software User s Manual and Commands Reference 10 5 60 RA CAN Receiving Address Purpose Set CAN Receiving Address The CAN Receiving address is the CAN address which the controller monitor for incoming CAN messages Response will be sent to the CAN address defined by the TA parameter The CAN Receiving Address must be saved to the flash memory and the controller must be reseated in order to change the CAN settings Changing RA TA will immediately re init the CAN hardware to take the requested effect Care should be taken as changing RA TA while working in CAN bus will stop the communication with the PC The parameters must still be saved to the FLASH as in previous revisions in order to be valid after boot A new error code EC HW INIT ERROR 297 was added to indicate a CAN hardware initialization error The SC AT 2M in addition and independent to the standard RA and TA CAN addresses listens and transmits on additional addresses Please see the ZI keyword for more information Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 1 Range 0 2047 Syntax XRA 1 Set CAN RA 1 XRA Report value of RA Examples See Also CB TA ZI 10 110 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 61 RG Data Recording GAP 10 5 61 1 RG Da
105. 1 SC AT Software User s Manual and Commands Reference actual jerks are limited no zero time acceleration change Without smoothing the jerks are infinite acceleration is changed at 0 time The target position can be specified relatively to the current desired position using the RP Relative Position parameter It can be also specified as an absolute position using the AP Absolute Position parameter It is important to note that a PTP motion are always executed toward the value of the AP parameter However sending an RP lt value gt clause is internally interpreted as AP DP value where DP is the current desired position normally equal to the current actual position As a result the AP is indeed modified when a new value is assigned to RP and any following PTP motion toward AP will actually move to the desired relative position The only disadvantage of this method is that for repeated relative motions RP should be sent again before each motion The SC AT controllers support separate AC Acceleration and DC Deceleration values in all profile based motion types Furthermore a new DL Deceleration on Limit parameter is supported in order to define a special Deceleration values when Limits are hit works both for software and hardware limits 5 1 2 Starting a PTP Motion Communication Clauses Description MO 1 Enabling the servo loop motor on MM 0 SM 0 Setting PTP motion mode AC 500000 Assigning a
106. 1 Set X Master Encoder as Y YMM Report Master Encoder of Y Axis AMM 0 Set All MM 0 Examples See syntax examples and sections 5 4 above and 5 5 above See Also FR MM and sections 5 4 above and 5 5 above for more information Control and Robotics Solutions Ltd 10 73 SC AT Software User s Manual and Commands Reference 10 5 42 MF Motor Fault Reason 10 5 42 1 MF Motor Fault Reason in SC AT 4M Controllers Purpose MF is a read only parameter reporting the last motor fault reason MF is automatically updated by the real time controller firmware As actual Motor Faults always causes an MO 0 condition Motor Disable the purpose of the MF parameter is to latch the cause of the last fault since when the motor is disabled usually the immediate fault cause will disappear The following Motor Fault reasons are currently reported MF Code Description vile 0 MF NO FAULT None Normal Operation MF DRV FLT Fault caused buy a Driver Error for a specific axis DRV_FLT H W line was asserted 2 MF ABORT INPUT Fault caused buy the general Abort Input ABORT H W line was asserted MF HIGH ERR Fault caused for a specific axis when its position error PE is exceeding the allowed maximum position error for that axis when Abs PE ER MF MOTOR STUCK Fault caused for a specific axis when a Motor Stuck Condition is detected Motor Stuck is a condition that the servo command
107. 15 SC AT Software User s Manual and Commands Reference 3 16 Digital Control Filter Echo Error Codes Fault Input Firmware Version Downloading FLASH Memory An algorithm that is periodically executed 16 483 times per second in the SC AT 4M 8192 times per second in the SC AT 2M The algorithm compares the desired motor position and its actual position to calculate a command to the motor to minimize the difference between these values The new SC Digital Control Filter algorithm supports both standard position based PID as well as Position Over Velocity loop structure The new SC AT products support additional advanced features Please see the relevant chapter in this User s manual under Control Filter Algorithms In RS 232 mode the SC AT controller s automatically echoes send a copy back each character that it receives during normal communication The returned character can be used by the host to verify proper communication In the binary CAN bus communication protocol ECHO is not supported Only OK ERR prompt is used In case that the SC AT encounters an error when interpreting a received clause it ignores this clause and responds with before the returned terminator gt The SC AT also stores a code for the interpretation error at a parameter named EC which can be later reported to analyze the error source A separate parameter QC holds the error codes of any program running in t
108. 165 R166 for outputs 1 2 3 and 4 respectively Notes e Ifa position compare event will be assigned to a standard non fast output the fast compare pulses will not pass the isolated electrical interface and no pulses will be observed To work with the Compare Function Fast Outputs should be used e The resistors indicated above for the fast and standard interface options MUST not be installed simultaneously Electrical damage might be caused to the SC 4M board if not done so e Please see the SC 4M Hardware Reference User s Manual for more information e On the SC AT 2M Dout5Fast and Dout6Fast are always configured as fast outputs There is no special hardware configuration required for Fats I O s in the SC AT 2M 8 18 Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 2 7 Position Compare Events Examples The following example demonstrates initialization of X axis compare to generate pulses at a fixed gap Mode 0 starting from location 10 000 counts to location 100 000 counts every 40 encoder counts The pulse is directed to Output 1 Motion from location 0 to location 150 000 counts at Speed 100 000 is then executed The resulted pulse frequency is 100 000 ounts sec 4Ocounts pulse 2 500 pulse sec When motion is completed the function is programmed to generate pulses in the opposite direction when moving back to location 0 Only the necessary parameters are re configured 8 2 7 1 SC AT 4M Examples
109. 2 command step resolution the delay periods Phase 1 jitter current values etc are application specific and should be tuned for each electro mechanical configuration motor type stage masses friction forces etc In general the higher the friction forces are greater phase command values will be required This applies to both the main Phase 2 command value and the jitter Phase 1 command value Once the motor is settled in its stable equilibrium point the initialization process is done and the magnetic offset should then be set to 90 or 270 In our case ML 24 000 counts Before concluding the initialization process and setting the magnetic offset angle we check that the motor is not mechanically stuck in one of its mechanical hardtops The hardware limit switches status is checked for that purpose If one of the limits is ON we must assume that the motor is stuck in a mechanical hardtop and recover from that situation otherwise again wrong initialization phase can be assumed This is done by calling another subroutines xmov_P and xmov_p These subroutines enter the motor to NC 3 Open Loop SIN Commutation Stepper Mode and then start to slowly change the phase angle until at least a full magnetic cycle is completed we actually guarantee that 1 5 full cycles are completed Note that in this mode the motor is moving in Open Loop Stepper mode operation Once this is completed the main func
110. 2005 Examples See the Command Syntax Above See Also Section 4 3 2 4 above for more information about Axes Group identifiers and the SC AT 4M Commands Interpreter support for Groups Control and Robotics Solutions Ltd 10 57 SC AT Software User s Manual and Commands Reference 10 5 30 HL High Software Limit Purpose HL is the Software High Position Limit This value is monitored during all motions by the controller Whenever the actual encoder position PS is higher then the HL value and the velocity VL is positive moving towards higher positions motion is stopped immediately using the stop deceleration parameter DL DL should be normally set to a higher value then DC as during normal operation conditions HL is for emergency cases stop only In the SC AT 2M Only the value of HL is validated by the controller during motion start BG commands only i e a motion beyond the software limits to an AP gt HL cannot be initiated in motion mode Point To Point MM 0 A special communication error code EC 53 is generated by the BG command in that case BG command will return Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 2 147 000 000 Range 2 147 000 000 Syntax XHL 100000000 Set X Software HL to 100 0
111. 21 DO Analog DAC Offset 10 5 21 1 DO Analog DAC Offset For The SC AT 4M 10 42 Purpose DO DAC Offset set the analog outputs command offset values The SC AT 4M has 8 analog command outputs 4 Main DAC commands 1 2 3 4 and 4 Auxiliary DAC Commands 5 6 7 8 Usually in normal operation mode the 4 Main DAC commands are used as the X Y Z W analog servo loop commands and the 4 Auxiliary DAC commands are used as general purpose analog outputs However when the controller is operating in SIN commutation mode each axis configured to operate in SIN mode uses two servo commands one for Phases A and one and B DO is usually used to calibrate a zero analog output offset value DO is applied in LSB units The range of the new DO command is 32 767 full 16 bit The nominal resolution of the DO command is 3 2767 Isb mv The value of DO is saved to the flash memory and is restored on each power up Note that DO has an effect whenever the system is powered on regardless to the Motor On MO and No Control NC states As a result the analog offset calibration can be performed even when the controller is in Servo Off state MO 0 Although the software range limit for DO is 32 767 in DAC LSB units it is usually not required to use values more then few hundreds Note that by using high values of DO a non symmetrical analog output range can be resu
112. 25000 Set Speed to 25 000 XBG Start a Motion Wait for End Of Motion Q while XMS 0 Wait for MS Motion Status top be 0 G endwhile XQH Stop program execution See Also ST KR AB MM MS and VA VD VL VS about Vector Motions Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 12 BR Begin Recording Command Purpose The BR command begins new data recording sequence The BR command assumes that the recorded variables and parameters are configured The BR command allows receiving an argument parameter XBR and XBR 1 will both start a new recording sequence XBR 0 will terminate the current data recording process The BR or BR 1 command checks whether the last recording session was terminated and issues a STILL RECORDING error code 16 if not i e if RR gt 0 Data Recording can be started only when previous recording session was terminated Note that the controller does not check if previous buffers were uploaded or not Issuing a Begin Recording command always overrides old data Attributes Type Command Axis related No Array Assignment Command Allows Parameter Yes Number 0 or 1 Scope All Restrictions BR or BR 1 Needs recording off Save to Flash Default Value Range Syntax XBR Start Data recording XBR l Start Data recording XBR O Stop Data recording Examples
113. 2M Attributes Type Parameter Axis related Yes Array Yes size 2 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 16 777 216 Range 2 147 000 000 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Syntax XFR 1 16 777 216 Set X Axis Gear Ration to 1 1 YFR 1 Report Gear Ratio of Y axis BFR 8 388 608 Set Gear Ratio for all axes XFR 2 65 536 Set X Axis Auxiliary ratio to 1 1 Examples See syntax examples and section 5 4 above See Also ME MM and section 5 4 above Gearing Motion Modes for more information regarding the gearing mode Also see the keywords XP XV CG and section 6 7 above Dual Loop Operation In SC AT 2M for more information regarding the Auxiliary Encoder position and Velocity and dual loop operation Control and Robotics Solutions Ltd 10 55 SC AT Software User s Manual and Commands Reference 10 5 29 GP Axis Group Identifiers Definitions SC AT 4M Only Purpose The GP parameter defines the SC AT AM Commands Interpreter Group Axes Identifiers GP is a non axis related array parameter e GP I Defines the A group e GP 2 e GP 3 Defines the C group e GP 4 Defines the D group Defines the B group Each group can be linked with one or more axes up to 10 axes covering all the supported controller axes including the
114. 3 10 January 2005 e NC 3 Open Loop SIN Commutation Stepper Mode Like in NC 2 in this mode also TC is set as the equivalent vector current command but the controller performs the SIN commutation projection according to a user defined magnetic angle Global Servo Parameters Array CA 0 and not related to the true Magnetic Location ML The current command equations in this mode are la 4 TC xsin 0 CATO omman h S 0 E 360 Dcommang TCxsin Q 120 097 5 pp In this operation mode when TC and CA 0 are both constant the motor will be locked in a stable equilibrium point like a stepper motor holding in its position TC set the motor Holding Torque and CA 0 can directly control the rotor phase angle By increasing or decreasing the value of CA O the motor can be moved back and forward again much like a stepper motor is controlled Note that this is still an open loop mode The actual encoder reading is dis regarded and no servo loop is performed This operation mode can be used to allow moving the motor in open loop mode before phase initialization process is completed For example if during the phase initialization mode a mechanical limit is detected the motor can be commanded for a controlled open loop motion to get away from the limit This mode can also be used to overcome coulomb friction problems during the phase initialization process The mode can further be used for advanced
115. 4000 counts with the compare table initialized to generate pulses at locations 1500 2000 2250 2375 When motion is terminated a backward motion is programmed to generate pulses at the exact same locations but when moving in the opposite direction Disable any active compare for Y Axis XPO 0 Configure Digital Outputs 1 and 2 to be assigned to X Y Compare outputs All other outputs are standard Outputs XOM 44 OM 1 4 OM 2 5 DOutl is X DOut2 is Y Initialize Y axis Motion Parameters and reset position YAC 1000000 7 YDe 1000000 YSP T000007 YPS 0 YMO 1 YAP 4000 Initialize the Compare Function and Table Points Note that Table points MUST be INVERTED YPG1 2 Set Mode 0 YPG2 1 Set Compare Direction POSITIVE YPG3 1 Set Compare Start Index AR 1 YPG4 4 Sew Clomaoweuee mul Index AR 4 YPG5 3 Set Pulse Width 3 9 wSec YPG6 1 Set Pulse Width Mode Use width Parameter YPG7 0 Set Pulse Polarity to Normal Positive x YAR1 1500 YAR2 2000 YAR3 2250 YAR4 2375 YAR1 2375 YAR2 2250 YAR3 2000 YAR4 1500 4 3a dL Activate X Compare Function x grar morion eae waige ror Eno OE morlon YBG while YMS 0 Weise see HAC Or lex endwhile Initialize the Compare in the opposite direction EAE GO Disable Y Compare YPG2 1 Set Compare Direction NEGATIVE YPG3 1 Set Compare Start Index AR 1 YPG4 4 Set
116. 4M controller CPU core This means that in order to read Fast Inputs both the actual physical interface as well as the software configuration MUST be modified accordingly If the software setup does not match the actual physical configuration the designated fast Inputs will not be accessible by the controller software The SC AT 2M has two dedicated fast inputs Din9Fasr and DinlOFast There is no special configuration required for fast digital inputs in the SC AT 2M 8 3 3 1 Configuring the Software to Access Fast Inputs SC AT 4M Only Once Fast Inputs are enabled by the hardware the user should configure the software to read the Fast Inputs This is done by setting Bits 24 25 26 and 27 in IO MODE 90 for Dinl DInp2 DInp3 and DInp4 respectively e Each bit set to 1 defines an input select as Fast TTL Input e Each bit set to 0 defines an input select as Standard isolated Input The value of IO MODE 90 is configured using the XOM parameter keyword Please see section 8 2 6 1 above and the OM keyword reference in this user s manual for further information 8 3 3 2 Electrical Configuration for Fast Digital Inputs SC AT 4M Only All standard digital inputs of the SC AT 4M board are optically isolated by the hardware design However as noted this standard electrical interface does not allow fast input pulses to be transported For that purpose the SC AT 4M board design support an optional el
117. 6 and assuming that DOut6 is connected by external wiring to DinlO the Y Capture function is programmed to latch the Compare locations Set X Compare to DOut5 and Y Compare to DOut6 The resulted value is 5 XOM 9 Set IO_MODE_0O YOM 2312 Set IO_MODE_1 X Capture on Din9 Y Capture on Din10 See Also OP IP Compare Function See section 8 2 Capture Function see section 8 2 7 2 The SC AT 2M Hardware User s Manual for references about Fast Digital Outputs and Inputs Control and Robotics Solutions Ltd 10 97 SC AT Software User s Manual and Commands Reference 10 5 52 OP Output Port Purpose Sets and gets the SC AT controller uncommitted digital Output Port bits The SC AT 4M servo controller supports 8 general purpose digital outputs please refer to the SC AT 4M Hardware Users Manual for more information about H W interfaces of digital I O The SC AT 2M servo controller supports 6 general purpose digital outputs please refer to the SC AT 2M Hardware Users Manual for more information about H W interfaces of digital I O The OP parameter holds the Output Port word bit array Each bit in OP controls a single digital output bit port as shown below The user can of course read the value of OP in order to get the current Output Port word status e Bit 0 of OP Controls digital output port 1 e Bit 1 of OP Controls digital output port 2 e Bit 7 of OP Controls digital outp
118. A 1 1 YEA 3 100 BEA 5 Examples Type Axis related Array SC AT 4M SC AT 2M Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Parameter Yes Yes size 4 8 Yes size 2 8 Yes All None Yes 0 2 147 000 000 2 147 000 000 See ECAM Mode Description for full limitations description Set X Axis EA 1 to 1 ECAM Start Index Set Y Axis EA 3 to 100 ECAM End Index Report the ECAM Cycle number for X and Y Please refer to section 5 5 1 2 above in this user s manual for ECAM motion example See Also MM ECAM Motion Mode Description in section 5 5 above Control and Robotics Solutions Ltd 10 47 SC AT Software User s Manual and Commands Reference 10 5 24 EC Communication Error Code Purpose EC holds the last communication error code The value of EC is reset to 0 when the controller boots up When a communication error occurs in one of the communication channels the value of EC is updated accordingly by the Commands Interpreter to reflect the specific error cause The user can clear the value of EC to 0 at any time to clear the last error code register It should be noted that EC only hold errors generated by the Commands Interpreter if the source of the clause is communication Errors generated by programs are reported by the QC parameter and are Program Task
119. A 10 Report value of IA 10 AIA 100 1000 Set IA 100 1 000 Examples See Below See Also Please see SC AT Advanced Multi Axes Servo Controller Script Programming Language and the Integrated Development Environment User s Manual Section 3 5 Variables And Indirect Addressing Control and Robotics Solutions Ltd 10 59 SC AT Software User s Manual and Commands Reference 10 5 32 IL Input Logic Purpose The IL Input Logic parameter controls the logic of all digital inputs of the SC AT servo controller Bits 0 23 of IL corresponds and inverts the relevant bits in IP Please see the IP parameter reference for exact definitions of all IP and IL bits By default IL 0 Each bit in IL that is assigned to 1 inverts the logic of the corresponding IP bit bits 0 23 Only Notes e The ABORT input logic CANNOT be inverted Being a SAFETY input the ABORT logic must be configured such that when disconnected by the hardware the ABORT is active i e all axes are disabled e The Driver Fault Bits IP 24 27 for the SC AT 4M or IP 24 25 for the SC AT 2M can be inverted using CG bit 6 These are the IL parameter attributes Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 16 777 215 0xOOff fff
120. Angle if CAL gt 48000 Check More then 1 5 Cycle is done XTC 0 Done Return to Calling Function XMO 0 XNC 0 XRT endif XJP MOVXP1 Function to Move Away From FLS in STEPPER Mode NC 3 Y XMOV_N Y MO 0 XAO 0 Disable Motor and Analog Out C 3 Set Special STEPPER Mode NC 3 ER 150000 Increase Error For Process CA1 0 Init Magnetic Phase to ZERO MO 1 XTC 2000 Set Motor ON and TC Current Command MOVXN1 TimerX 16 WaitTimerX 1 mili sec delay XCAl1 XCA1 20 Decrease Angle Qie CAL lt 249 010 Check More then 1 5 Cycle is done XTC 0 Done Return to Calling Function XMO 0 XNC 0 XRT endif XJP MOVXN1 Control and Robotics Solutions Ltd 8 45 SC AT Software User s Manual and Commands Reference 8 6 8 46 Dynamic Error Mapping Correction Dynamic Error Mapping Correction is required for correction of non linear mechanical position errors caused for example by lead or ball screw The correction is done by interpolating desecrate positions user defined correction table and altering the actual encoder position readings Each axis can be corrected independently The correction table itself is defined in equally spaced intervals between two maximum and minimum values of actual encoder readings Beyond these values the correction is fixed at the extreme table value point As a part of the real time process the true encoder position reading is co
121. Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 See Compare Function description for full limitations description Syntax XPG 1 0 Set X Axis PG 1 to 0 set X axis Mode 0 YPG 2 100 Set Y Axis PG 2 to 100 set Y axis Compare Distance 100 WPG 7 0 Set W Axis PG 7 to 0 set W axis Compare Pulse Polarity ZPG 6 Report Z Axis Compare Pulse Mode flag Examples Please refer to section 8 2 7 in this user s manual for Compare Function operation examples See Also PQ Compare Function Description section 8 2 10 104 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 56 2 PG Position Compare Parameters Array For The SC AT 2M Purpose The PG array elements control the operation of the Position Compare Function PG is an axis related array sized 2 x 8 Each axis has 8 parameters controlling the compare function operation as described below The SC AT 2M product supports the Compare Function on both axes X and Y Please see section 8 2 5 above in this user s manual for full description of all PG array elements purpose and limitations The PG array parameter has the following attributes Attributes Type Parameter Axis related Yes Array Yes size 2 8 Assignment Yes Command Allows parameter Scope All Restrictions None Save to
122. Compare End Index AR 4 YAR1 2375 YAR2 2250 YAR3 2000 YAR4 1500 YEO Activate X Compare Function Start Backward X motion towards O0 position XAP 0 XBG 8 20 Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 2 7 2 SC AT 2M Examples Disable any active compare for X Axis y XPO 0 Configure Digital Output 1 to be assigned as an X Axis Compare Output All other outputs are standard Outputs y XOM 1 DOutl is X Compare Initialize X axis Motion Parameters and reset position XAC 1000000 XDC 1000000 XDL 1000000 XSP 100000 XPS 0 XMO 1 XAP 150000 y Initialize the X Compare Function XPG1 0 Se XPG2 40 Se XPG3 10000 Se XPG4 100000 Se XPG5 2 Se XPG7 0 ee X2O AL ING y Mode 0 Compare Distance Compare Start Position Compare End Position Pulse Micdta 9 9 MSec Pulse Polarity to Normal Positive ivate X Compare Function Tu 332 eT sO BG Raat Sree 2X oido emel wae ror Cine OI mole so XBG while XMS 0 eiie O lio Ost IMioie skein endwhile M Initialize the Compare in the opposite direction XPQ 0 Disable X Compare XPG2 40 Set Compare Distance Negative Direction XPG3 100000 Set Compare Start Position XPG4 10000 Set Compare End Position 3620 IL Activate X Compare Function y Start Backward X motion towards O0 position XAP 0 XBG The next exam
123. D Master Init Position Defines the starting position of the master MI defines the starting position of the master If MI is zero normal case then the starting master position is set to the position of the master at the time of the BG command The ECAM table is than entered according to relative master motions from this point If MI is a non zero value it is used to set the starting master position instead of the above method This method is useful if the starting point of the ECAM was captured using the position capturing option and the value captured should be used to accurately define the starting position of the master MI is not saved to the FLASH and is initialized to zero after power on or reset The user may set it to any value before starting an ECAM motion EA Is not used and should not be initialized for future compatibility During the BG Begin Motion command when MM 5 the ECAM parameters ES EW EE etc are checked for their validity and a is returned in case of an error In that case EC is set to 14 EC WRONG MOTION PARAM The following conditions must be satisfied for a proper initialization of ECAM motion The ECAM Start Index ES EA 1 must be gt 1 The ECAM Wrap Index EW EA 2 must be gt ECAM Start Index EA 1 The ECAM End Index EE EA 3 must be AR ARRAY LENGTH 10 000 for SC AT 4M or 16 000 for SC AT 2M In the SC AT 2M the array used is acyually the DA array Please r
124. Flash Yes Default Value 0 Range 0 800 000 000 Syntax XWT 0 Set X Axis WT 0 ZWT Report value of WT for Z axis AWT 16384 Set WT 16384 in all axes Examples The example shows starting a Repetitive motion in X axis from Position 0 to Position 100 000 using 1 sec WT Wait between the motions XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 1 Set Repetitive Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 100000 XDC 100000 Set Acceleration to 250 000 XSP 25000 Set Speed to 25 000 Control and Robotics Solutions Ltd 10 147 SC AT Software User s Manual and Commands Reference XWT 16384 Set 1 second delay SC AT 4M or 2 second delay SC AT 2M between motions XBG Start a Motion See Also AC DL SP MM BG 10 148 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 81 WW Profiler Smooth Factor Purpose The SC AT supports an advanced symmetric S curve like profile smoothing algorithm The smoothing is controlled by the WW parameter WW can be set to 0 to avoid any profile smoothing In that case the generated position velocity profile is pure trapezoidal or triangular If WW is set to 12 the smoothing is set to its maximal value In that case the generated profile has full smoothing and the velocity trajectory is not pure trapezoidal The WW
125. Full Current Command XTC 0 Hold Phase 1 at 0 Current Command Y Check that we are not mechanically stuck in either RLS or FLS This will cause error in Phase Init If we are in one of the Limes we call e iwuumctiom io GO Our Ox tine xelesenr Dimi sia STEPPER Mode NC 3 and then call Ourselves Again to re Init X TER C E TEEMAS NES S De ST MOVE Call the Move Away from RLS Func XCS 4 COMM X Call Ourselves Again endif Y if XIP amp IP MASK XFLS XCS XMOV_N Call the Move Away from FLS Func XCS COMM_X Call Ourselves Again endif All is OK Initialize the Magnetic Location Offset and set back to normal Close Loop mode TimerX 16 WaitTimerX 1 Sec delay XML 24000 Set the SIN Phase Offset TimerX 16 WaitTimerX 1 Sec delay XTC 0 XAO 0 XMO 0 XNC 0 XER 2500 Set Normal Mode Params Back Done With SIN Initialization Function 8 44 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Function to Move Away From RLS in STEPPER Mode NC 3 f XMOV_P MO 0 XAO 0 Disable Motor and Analog Out NC 3 Set Special STEPPER Mode NC 3 ER 150000 Increase Error For Process CA1 0 Init Magnetic Phase to ZERO MO 1 XTC 2000 Set Motor ON and TC Current Command MOVXP1 TimerX 16 WaitTimerX 1 mili sec delay XCA1 XCA1 20 Increase
126. IO MOD YOM 2056 Set IO MOD y m E m an LO Lal X Y Use DInp49 for Capture Initialize X Y axis Motion Parameters and reset position BAC 1000000 BDC 1000000 BDL 1000000 BSP 100000 BPS 0 BMO 1 BAP 150000 M Initialize the X Compare Function XPG1 0 Set Mode 0 XPG2 200 Set Compare Distance XPG3 10000 Set Compare Start Position XPG4 100000 Set Compare End Position Pe Ser Pulse Macea 3 9 USSC XPG7 0 Set Pulse Polarity to Normal Positive 929r 1l Activate X Compare Function y Start X Y motion and enter a Loop to wait for the Compare Pulses Pulses are counted and after 100 the loop ends BXN 0 XIA1 0 XZ1I1 3 Remote MSG sent to CAN Address BBG XCAPI1 Q while XXN XIA1 Wait for Next Event endwhile XIA1 XXN XIA1 XIA1 1 Increment counter BKC POCA 5 2 Send Last Event eai OCA 2 35009 Check iol Conch eron XJP XCAPIEND endif XJP XCAPI1 4 XCAPIEND XZM END XQH Program Done Note that since X and Y Capture occurs simultaneously we check only XXN to detect next event Control and Robotics Solutions Ltd 8 31 SC AT Software User s Manual and Commands Reference The next example demonstrates simple usage of the Capture mechanism to latch the Index location of the X axis This can be combined in a simple Homing process to perform exact Index based homing process This can be done at any motion speed It is
127. Initialize the Compare in the opposite direction YBO O Disable Y Compare YPG2 1 Set Compare Direction NEGATIVE YPG3 1 Set Compare Start Index AR 1 YPG4 4 Set Compare End Index AR 4 YAR1 2375 YAR2 2250 YAR3 2000 YAR4 1500 YEO 1 Activate X Compare Function Start Backward X motion towards O0 position XAP 0 XBG Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 3 Position Capture Events Position Capture Latching events is a hardware supported feature of the SC AT controllers encoder interface that provides the ability to latch the exact encoder position register based on an external or internal hardware pulse The SC AT hardware Capture mechanism support two type of trigger pulse sources e Capture Position Based on an Encoder Index Pulse and e Capture Position Based on a Digital Input Pulse Being fully supported by the encoder hardware interface the SC AT hardware can capture positions based on either Index or Inputs at any encoder speed There is no limitation on the motion velocity This feature is useful to find exact 1 count resolution homing location when operated on the encoder Index and to synchronously latch multiple axes system locations when operated on digital inputs The SC AT 4M supports simultaneous capture on all of its four 4 axes The SC AT 2M supports simultaneous capture on both of its two 2 axes The user can configure the Com
128. It might be one of the following characters SC AT 4M Axis Prefixes SC AT 2M Axis Prefixes xX Y Z W BE F G F and X Y total of 2 axes interface U V for axes 1 through 8 and for the 2 additional Virtual axes total of 10 axes interface B for Both After power up B always B for Both X and Y axes refers to the X and Y axes This is done for backward compatibility A for All After power up A always refers to all axes C and D two additional user defined groups All groups A B C D can be configured to define any subset of axes using a special new Group assign parameter Some of the command clauses are not axis related e g SV for saving parameters to the FLASH or the AR for the global general purpose array In these cases the axis identification letter is ignored although it still must be included The Command Interpreter handles a command clause only after the termination character h as been received Next command clause characters are received buffered but are not handled until the current command handling is completed Each command clause includes only a single keyword The keyword may be a command or a parameter In case of a command keyword the command clause will include the command keyword preceded with the axis identification letter with optional parameter
129. Ltd 10 63 SC AT Software User s Manual and Commands Reference e The driver fault may be from 2 different sources e Internal Driver Fault Source Used in Control and Robotics Solutions Dedicated Drivers e External Driver Fault Source Used in 3rd party driver manufacturers e The driver fault source is set using CG 13 e Bits 24 25 of IP are the Driver Fault Inputs of axes X and Y The polarity of these bits can be inverted using CG 6 These bits are the result of the driver fault Internal or external e The actual status of the internal or external driver fault may be found in Bits 12 15 e Bit 28 is the General Abort Input When Abort is ON all axes are disabled e Note The polarity of the ABORT bit Can Not be inverted e Bits 29 31 are currently not used These are the IP parameter attributes Attributes Type Parameter Axis related No Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 536 870 911 Ox 1fff fff Syntax XIP Report IP value non axis related YIP Report IP value non axis related AIP Report IP value non axis related Examples See examples for the SC AT 4M above See Also IL OP SC AT Macro User s Manual 10 64 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 34 IS Integral Saturation Limit Purpose The IS param
130. MM Motion Mode and SM Special Motion Mode Most standard motion modes are defined by the value of MM with SM 0 Some special motion modes uses both MM to define the basic motion mode and SM to define a special variation of it The following sections describe the details of each motion mode Please refer to the following notes gt The communication clauses given in the following sections for how to start stop and monitor each motion mode are just examples A specific application can use any desired value for the related parameters such as acceleration and speed gt The values of most parameters does not need to be sent again before each motion The SC will use the current value of each parameter when a new motion is commanded gt Sometimes we use a semicolon mark between to commands This is simply to save space The user can use the in all commands or use none Point To Point PTP MM 0 SM 0 PTP Motion Description In this mode the controller calculates a standard smoothed trapezoidal profile from the current position to a user specified target position using a user specified acceleration and speed The profile is called trapezoidal since the velocity command has a trapezoidal or triangular for short distances shape The user can select to smooth the profile in order round the sharp trapezoidal or triangular corners If smoothing is used then the Control and Robotics Solutions Ltd 5
131. Manual and Commands Reference EC Code Name Error Description CAN_BAD_SPECIAL This error code is issued when a CAN message size in the special download array feature differs from 1 4 or 8 CAN_REMOTE_TIMEOUT The SC AT family controllers has the ability to send via macro CAN strings to remote units If the remote unit does not reply within a given timeout 1 second this error is issued PARAM_EXPECTED This error is issued when a command requiring a parameter is issued with out one Please check the relevant command keyword reference for more information about the command s parameter lic GN el cia oe i NN RR RN E ites eee MMMEMNMEEE BAD PARAM SYNTAX This error is issued when the wrong parameter is attached to a clause ARRAY PARAM Not Used 46 DOWNLOAD OVERFLOW This error is issued in the following cases The macro buffer during the download macro exceeds the maximum macro size 2 Anindex overflow occurred in the special CAN download buffer sequence 4 NEEDS MOTOR ON This error is issued if the condition for the specific clause is having the motor On while the clause was issued when motor is OFF 8 NEEDS MOTOR OFF This error is issued if the condition for the specific clause is having the motor Off while motor is ON having the motion On while motion is Off NEEDS MOTION OFF This error is issued if the condition for the specific clause is having the motion Off while motion is On
132. Master Encoder Axis Definition ons we Yes Motor Fault Reason f 0 25 wr Ye Magnetic Location Position s2147000909 The A1 array was supported in firmware versions prior to 2 3 It is now obsolete and replaced by the CA Control Parameters Array Please see below The CA array controls advanced features of the controller real time servo loop Although not restricted by the interpreter module allows range is 2 147 000 000 the specific limitations of each element in the array should be checked in the A1 command reference and in the Control Filter chapter in this User s Manual 10 The EA array element s range is restricted by the ECAM mode support Please refer to the relevant command s references EA ECAM Motion Mode Description for more information The GP parameter defines the Command Interpreter Axes Groups GP is a non axis related array parameter Each element relates to a group GP 1 defines the A group GP 2 defines the B group etc GP 1 and GP 2 are non saved to the Flash memory GP 3 and GP 4 deafening the C and D groups are saved to the Flash Please see the GP keyword reference for more information ML Magnetic Location Used for SIN Commutation algorithm See ML command reference for more information See also MP Magnetic pitch 10 4 Control and Robotics Solutions Ltd Key Axis Descript
133. Mode YEA 1 1 YEA 2 1 Set ECAM Start and Wrap Indexes to 1 i e AR 1 YEA 3 13 Set ECAM End Index to 13 i e AR 13 YEA 4 10000 Set ECAM Gap to 10 000 counts YEA 5 1 Set ECAM Number of Cycles to 1 YEA 7 0 Set Normal Master Init Position The Master position at BG will be used as the Master Init Position XAR 1 0 XAR 2 0 Initialize the ECAM Table AR 1 to AR 13 XAR 3 1000 XAR 4 2000 XAR 5 3000 XAR 6 4000 XAR 7 5000 XAR 8 5000 XAR 9 4000 XAR 10 3000 XAR 11 2000 XAR 12 1000 XAR 13 0 YME 0 Set Y Master Axis As X Y will follow X YBG Begin the motion for Y axis Control and Robotics Solutions Ltd Revision 3 10 January 2005 In this example the ECAM Gap is 10 000 counts referring to the master s X axis position while the distance between each two table points is O or 1 000 counts referring to the slave s Y axis position As a result when the X and Y axes will move the speed of the Y axis will be exactly 1 10 that of the X axis The users can of course set any table data such as SIN tables to create circular motions or any other arbitrary profile 5 5 1 3 Monitoring a Position Based ECAM Motion Please refer to section 5 1 3 above 5 5 1 4 Stopping a Position Based ECAM Motion As noted above ECAM motion stops when the actual ECAM number of cycles equals EN when EN gt 0 ECAM is an infinite motion if EN 0 When EN gt 0 and the actual number of cycles equals EN the axis
134. OT versions will support download firmware at 115 200 also Control and Robotics Solutions Ltd 2 f 2 7 1 Revision 3 10 January 2005 SC AT Family Controllers Document Version 3 10 January 2005 This version 3 10 of the User s Manual now supports the SC AT controller family currently the following products e Supporting SC AT 2M F W Version 101 A e Supporting SC AT 4M F W Version 300 A The following corrections and additions are included in that version of this User s Manual e Correct Mistake in CA 14 was printed in section 6 9 Filter Gain Scheduling by mistake The PID 2 filter duration is set by CA 4 The User s Manual was updated to correct this mistake e Correct mistake in PA Parameters Array The PA parameters array is and always was an axis related array parameter and not as previously stated e The ZI array is specifically documented in this version Please refer to the ZI parameter in section 10 This document version does not omit any features that are supported in the SC AT 4M but specifies if the feature is not supported by the SC AT 2M Also differences in bit configurations may exist between both the SC AT 4M and the SC AT 2M platforms These differences are specifically specified SC AT 4M Differences From Previous SC 4M SA Version 2 05 The SC AT 4M product is a new hardware version of the SC AM SA controller The new version includes a more powerful CPU core and some h
135. Parameter is 07 to e PG ERR PULSE POL PARAM NOT VALID This error is issued by PQ 1 Enable Compare Function if the Pulse Polarity Parameter defined by PG i 7 is out of its range The allowed range for the Pulse Polarity Parameter is 07 Or eI PG ERR PD PARAM NOT VALID This error is issued by PQ 1 Enable Compare Function if the Distance Parameter defined by PG i 2 is out of its range Out of range values for Distance are Oinall modes Out of 32 767 range in Mode 0 Not equal 1 or 1 in Modes 2 and 3 PG_ERR_PS_PE_PARAM_NOT_VALID This error is issued by PQ 1 Enable Compare Function if the Start Point or End Point Parameters defined by PG i 3 and PG i 4 are not valid These parameters are validated only in Modes 2 and 3 see specific operation mode description for more details about limitations on PStart and PEnd QW_AXIS_OUT_OF_RANGE This error is issued if the Axis which is derived from the parameter to the QW command is out of range QW_CODE_OUT_OF_RANGE This error is issued if the Code which is derived from the parameter to the QW command is out of range QW_BIT_OUT_OF_RANGE This error is issued if the Bit which is derived from the parameter to the QW command is out of range 73 QW LOGIC OUT OF RANGE This error is issued if the Logic which is derived from the parameter to the QW command is out of range QW INTERNAL This error is issued if an internal
136. Phase 2 current command is increased gradually In this case in 250 Isb steps 0 8 of the full current command each 250msec apart This is done to avoid abrupt jump in motor location if its initial position is far from the magnetic 0 stable equilibrium point mainly near the 180 un stable equilibrium point During the gradual increase of the Phase 2 current command we jitter Phase 1 current command TC in the range of 500 Isb 1 5 of the full current command This is done since if the initial start point is near the 180 un stable equilibrium point reference to Phase 2 the current flowing through Phase 1 will not produce any effective force In this case the motor can be stuck in its un stable eq Point and wrong initialization phase can be assumed If a small current command to Phase 2 is also applied the motor will be forced out of its un stable eq Point and will settle at the stable point for correct initialization Once motor is near its stable eq Point referenced to Phase 2 Phase 1 command is reduced to zero TC 0 The final current commands when the motor is held in its stable equilibrium point is 8 000 Isb 25 of the full current command in Phase 2 AO 8 000 and zero current command in Phase 1 TC 0 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Note that actual current command values as well as other initialization process parameters such as the magnetic pitch Phase
137. Range 1 8 000 000 Syntax XER 8000000 Set X Axis ER to 8 000 000 ZER Report value of ER for Z axis AER 2000 Set ER 2000 for all axes Examples See Also PS DP PE 10 50 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 27 FF Feed Forward Gains Purpose FF controls the Velocity and Acceleration Feed Forward Gains The SC AT control filter structure supports Velocity and Acceleration references feed forward gains The following is supported under firmware Version 2 03 and later gt Command Acceleration Feed Forward Acc FF is supported in both PID and PIV close loop modes The Acceleration Feed Forward gain is controlled by the FF 2 parameter FF 2 0 means no acceleration feed forward is used The Acceleration road Forward Gain FF 2 is working on the profile acceleration in counts sec 2 units gt Command Velocity Feed Forward Vel FF is currently supported in PID close loop control mode only The Velocity Feed Forward gain is controlled by the FF parameter FF 1 FF 0 means no acceleration feed forward is used The Velocity Feed Forward Gain FF is working on the profile velocity in counts sample time units In both cases the resulted Feed Forward value is added to the filter command output in DAC LSB units Note that the PIV control scheme has an inherent internal velocity feed forward path with unity gain see Figure 6 1 Position Over Velocity Loop PIV Control S
138. See Syntax above and Section 8 4 Auxiliary Analog Input Interfaces above in this User s Manual for more information See Also AD AF AG AS and Section 8 4 Auxiliary Analog Input Interfaces above in this User s Manual for more information Control and Robotics Solutions Ltd 10 19 SC AT Software User s Manual and Commands Reference 10 5 7 AO Analog Output Auxiliary Purpose Set Auxiliary Analog Output value The SC controller has an auxiliary analog output for each axis The SC 4M has a total of 8 analog outputs 4 are used as standard servo loop commands and 4 are used as an Auxiliary Analog Outputs The SC AT 2M has 2 auxiliary analog outputs With the AO parameter the user can control the auxiliary analog output value AO 32767 means 10 Volts output AO 32767 means 10 Volts output AO 0 means 0 Volts output polarity depends on DAC Outputs Polarity bit in CG In the SC AT 2M when an axis is configured to work with analog output command auxiliary analog outputs are assigned as driver commands On the SC AT 2M note that the AO command is applicable only in standard commutation cases Any axes working in Sinusoidal commutation uses its a auxiliary analog output as the command for Phase 2 See more details in chapter 8 5 of this User s Manual The AO parameter is NOT saturated by the controller Attributes Type Parameter Axis related Yes Array No Assignment Yes
139. Status top be 0 endwhile XQH Stop the program See Also BG AB KR MS IP Control and Robotics Solutions Ltd 10 127 SC AT Software User s Manual and Commands Reference 10 5 70 SR Status Register Purpose The SR Status Register is a read only parameter holding information on the current axis status Currently SR should only be used to inquire the In Target bit condition of the axis Other status bits might be supported in the future The In Target status is indicated in bit 6 1 based i e 0x20 Hex of SR For a complete description of In Target Status bit operation please see the TR and TT parameters The SR parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range O N A Syntax XSR Report value SR for X axis ASR Report value SR for all axes Examples The following simple example demonstrates how initialize a PTP motion in X axis then to wait for end of motion monitoring MS and In Target condition monitoring SR XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25
140. T 4M Motor Is Stuck if The motor current command reaches its peak limit saturated by TL without any encoder movement less then 2 counts sample time for a period of second When the condition is met the controller automatically disables the faulted axis This is an axis related fault of course The motor stuck error condition is operational whenever an axis is enabled in close loop operation mode The protection is not active in the open loop modes The protection is operational at all times There is no way to disable this protection Motor Stuck fault is reported by MF 4 Software Protections Non Fault Conditions The following software protections are managed by the SC AT without generating fault condition This means that the servo axis stays enabled even though the protection may be active FPGA Version During the controller boot process the firmware reads the FPGA version and verifies that the current version matches the firmware version An Error is indicated if the version dose not match The error is reported in 8 blinks of the CPU Led during the boot process The controller firmware and FPGA versions are reported using the BVR command please see BVR command reference It is strongly recommended to avoid this error Please consult C amp RS in any case that an FPGA version error is detected CAN Hardware Initialization Failure During the controller boot process the firmware initializes the CAN hardware In cas
141. TICK MOTION MODES reete oe e coe Pr eto Ne PY ER Coe ERA SERE ANNE cuacveuviascveubedesvendess th ER spans 5 14 5 7 1 Velocity Based Joystick Motion Mode eese eene enne enne eene nennen 5 14 5 7 2 Position Based Joystick Motion Mode esee eene 5 14 5 8 POSITION STEP MOTION MMz8 SM 0 OR SME 1 ccecssccesssececeeseececsscceceesneeecseaeeecseeeeeessneeecneaeees 5 15 2 04 DD scriptiofiz cra ER SG UMEN EUREN de ba uae O EA AE a E aE ENEN 5 15 23 6 2 Starting a Step Motion saco om e eR havea bug be ai Cuts eei eee ee ee laeta 5 15 5 6 3 Monitoring and Stopping a Step Motion essent eene eene nenne nennen nenne 5 15 5 9 PROFILE SMOOTHING IN THE SC AT CONTROLLERS FAMILY eese enne enne nene en nennen 5 16 THE CONTROL FILTER He Sara 6 1 6 1 GENERAL nee EVER PEE TERMINER ETE ae nega YER EVEN Toe te ee ee AER ERE E E TREE PERS e Rn 6 1 6 2 LINEAR PID AND PIV FILTER EQUATIONS eese eene ennt eeth nnns seen en nete nnns sess eterne nasse seen teta nan 6 1 6 2 k Standard PID Filter Mode isis dece ee Re ELE ORE SY Ee SU E ER AE Ceu 6 1 6 2 2 PIV Filter Modes Severe Nea nd aav 6 1 6 2 3 Position Error Calculation ssia aa E enne ennt eene een enses entras esee tras enne E E 6 3 6 3 HIGH 2 ORDER FILTERS c cccssssssssscscscssssescsecscscvssecsesesscscvssecsesessceevssssscsessceevssecsesesssscnssessssesesesnssassees 6 3 6 4 OUTPUT COMMAND AND D2A GAIN
142. Table 31 Communication and Program Error Codes 11 6 Control and Robotics Solutions Ltd
143. The TD parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 100 000 000 Syntax XTD 8 192 Set 1 Second Delay for X Timer XTD Report the value of XTD BTD 8192 Set 1 Second Delay for both timers Examples The following code example set the X Timer to 1 Second delay and then wait for the timer to reach zero count This is a simple way to implement a 1 second delay function XTD 8192 Set X Timer to 1 Second Q while XTD 0 Waits for XTD to become zero endwhile 10 136 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Another way to generate a 1 second delay is to use TD as above but then wait for TD to reach a zero value using the QW command define TimerX XTD define WaitTimerX XQW 107000 TimerX 16384 Set XTD 8192 WaitTimerX Waits for XTD to become zero See Also The SC AT Script Programming User s Manual Control and Robotics Solutions Ltd 10 137 SC AT Software User s Manual and Commands Reference 10 5 75 TL Torque Limit Analog Command Saturation Purpose The TL parameter limits the value of the analog output command to the servo amplifier In applications where a current loop driver is used most cases the TL limit actually limits the mot
144. This may cause a small velocity drift motion AD can be used to define a range at which the analog input will be read as zero avoiding any undesired motion In case a simple analog input reading is required set parameters as follows AD 0 AS 2047 AG 1 and AF 0 This will provide a standard reading of 2047 for an input of approximately 10 v As noted the dead band function is not implemented in firmware revision 2 05 C This will be included in future revisions Control and Robotics Solutions Ltd 8 5 8 5 1 Revision 3 10 January 2005 Support for DC Brushless Motors Sin Commutation SC AT 4M Only General Background In an ideal DC servomotor the motor s torque or force in linear motors is linearly proportional to the motor s current and is given by the following simple equation Tm Kt x Im where Tm Is the Motor s torque or force Kt Is the motor torque or force constant Im Is the motor equivalent DC current For DC type servomotor it is assumed of course that the motor current vector is ideally perpendicular to the magnetic field at all times If the current vector is parallel to the magnetic field the motor will produce no torque at all like in stepper operation mode Any deviation in the orthogonality of the current vector in relation to the magnetic field can be considered as a disturbance or non linearity of the motor s torque constant parameter Kf This disturbance is in g
145. This speed is kept constant until the motion is stopped by a user command In case of an ST Stop command the controller calculates a deceleration profile using the user specified deceleration DC The motion s direction is set according to the sign of the SP Speed parameter 5 3 2 Starting a Jog Motion Communication Clauses Description MO 1 Enabling the servo loop motor on MM 1 SM 0 Setting Jogging motion mode AC 500000 Assigning a value for the acceleration counts sec DC 200000 Assigning a value for the deceleration counts sec Used when stopped or when changing SP on the fly DL 1000000 Assigning a value for the Limit DC counts sec WWz0 Defines no smoothing SP 50000 Assigning a value for the speed counts sec BG Begin the motion 5 3 3 Monitoring a Motion Please refer to section 5 1 3 above 5 3 4 Stopping a Motion 5 6 A Jogging motion is theoretically an infinite motion It stops only as a result of a user command or due to some fault limitation or protection A Jogging motion can be stopped by the following communication clauses Communication Clauses Description AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed MO 0 Disables the motor effectively stopping any motion Of course any software or hardware fault limitation or protection will also immediately abort or stop the motion depending on the fa
146. Y Event source is DIN3 2 0011 Y Event source is DIN4 3 0100 Y Event source is DINS 4 0101 Y Event source is DING 5 0110 Y Event source is DIN7 6 0111 Y Event source is DIN8 7 1000 Y Event source is DIN FAST 9 8 1001 Y Event source is DIN FAST 10 9 1010 Y Event source is INDEX Y 10 1011 Y Event source is INDEX X 11 e Bit 12 selects the polarity of the Y axis capture event Bit 12 2 0 Select Normal Positive Pulse Polarity Bit 12 1 Select Inverted Negative Pulse Polarity e Bits 31 13 Reserved Should be 0 for future compatibility 8 26 Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 3 3 Configuring Fast Digital Inputs for the Capture Function The SC AT 4M controller board supports the first four 4 of its general purpose inputs DInpl DInp2 DInp3 and DInp4 as Fast Inputs By default Fast Inputs are NOT enabled but rather the standard isolated Input interface is installed In order to enable Fast Inputs the electrical interface should be modified and then the software must be configured to read the Fast Inputs This section describes the required operations to support Fast Inputs on the SC AT 4M controller Please refer to the SC AT 4M Hardware User s Manual for further information about the SC AT 4M hardware interfaces Note Fast and Standard Inputs are using different physical electrical path to the SC AT
147. ZI is usually used in script programs in order to define the remote unit s addresses The ZI array is an axis related array with size of 2x12 elements Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the ZI array is 1 12 Remote Transmit Address The remote Remote Transmit Address The remote message is sent from the SC AT 2M message is sent from the SC AT 2M on this address for macro X on this address for macro Y Remote Receive Address The remote Remote Receive Address The remote message is received in the SC AT 2M message is received in the SC AT 2M on this address for macro X on this address for macro Y 3 Addiion CAN TA Address J O 4 Additional CAN RA Address EDBConfiguation 6 Bufferl Array Code Buffer Array Code 8 Bufferl Current Index Buffer CurrentIndex p Ber Increment Value ufi pncrement Value ___ ig 0 SSS SS pO ee The ZI keyword has the following attributes Attributes Type Parameter Axis related Yes Array Yes size 2 12 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 100 000 100 000 10 156 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Syntax Examples Please refer to Please see SC AT Advanced Multi
148. actual controller position Encoder Value The user can also set as desired value to the current position define the current position as Note that setting the position value is valid only when not in motion Setting the PS will immediately set the DP desired position to the same value The PS command is restricted to No Motion condition Trying to change PS value while motion is in progress will generate an EC NEEDS MOTION OFF error 50 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions Needs Motion Off Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XPS 0 Set X Axis Position encoder to 0 ZPS Report value of Z axis position encoder APS 0 Set PS 0 in all axes Reset All Axes Examples The following example shows resetting the X axis position to O and then initiate a normal motion in X axis from Position 0 to Position 100 000 XMO 1 Enables the X Motor XPS 0 Set X axis encoder Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See Also DP MM ER Control and Robotics Solutions Ltd 10 1
149. alue of DC for Z axis ADC 240000 Set DC 250 000 in all axes Examples The following code example shows starting a motion in Z axis from Position 0 to Position 100 000 using Speed Acceleration and Deceleration values ZMO 1 ZPS 0 Enables the Motor and Set Position 0 ZMM 0 ZSM 0 Set Normal Point To Point Motion Mode ZAP 100000 Set Next PTP absolute location to 100 000 counts ZAC 250000 Set Acceleration to 250 000 ZDC 500000 Set Acceleration to 500 000 ZSP 25000 Set Speed to 25 000 ZBG Start a Motion See Also AC DL SP BG Control and Robotics Solutions Ltd 10 39 SC AT Software User s Manual and Commands Reference 10 5 19 DF Down Load Firmware 10 40 Purpose Down loads new firmware version to the controller New Firmware should be down loaded to the controller using the Shell utility application ONLY WARNING Users under any circumstances should NOT use the DF command directly from a terminal interface Attributes Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Syntax Examples See Also Command No Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 20 DL Limit Deceleration Purpose The Limit Deceleration value used by the profiler whenever one of the limits is detected H W or S W to stop from any speed t
150. ardware and software improvements The SC AT 4M is 100 hardware and software compatible to the SC 4M SA multi axes servo controller The main S W enhancements in the SC AT AM are e Download FPGA The SC AT AM and SC AT 2M products now support the downloading of FPGA code to the controllers flash memory Please refer to the SC AT Shell manual for further information e Fast IO Resistors Configuration The SC AT 4M Fast I O resistors configuration was changed Please see section 8 3 3 2 and 8 2 6 2 below for more information e Master Slave Support Support for New BASE FPGA version was added This includes the new Master Slave Initialization support as Master Default Please consult C amp RS sales for more information about this option Control and Robotics Solutions Ltd 2 11 SC AT Software User s Manual and Commands Reference 2 7 2 SC AT 2M Differences From Previous SC 4M SA Version 2 05 2 12 Main Modifications Differences between the SC AT 4M and the SC AT 2M Groups The SC AT 2M no longer supports the A C D groups and the option to assign different axes per group The only group that is supported in the SC AT 2M is the B group which includes both of the axes X and Y Data Recording Variables The RV keyword in the SC AT 2M is no longer an axis related normal keyword The RV keyword in the SC AT 2M is a one dimensional array with the size of 8 each array element reflecting a different vector
151. aring motion is stopped by a user ST command or by other faults like hardware or software Limits the slave axis will start to decelerate using the relevant Deceleration parameters DC for normal Stop commands ST and DL for Limit Stop conditions In this case of course the axis is loosing the master s tracking gt In Gear Motions WW the smoothing parameter must be 0 since the slave is directly following the master DP according to the equation described above WW different from 0 will not effect normal tracking but will cause a position step command when a Stop command is given gt Like in all other motions an AB abort motion command will result in immediate stop of motion without any deceleration profile gt Due to an implementation limitation currently only when X is following Y one 1 sample time delay 61 micro sec inSC AT 4M and 122 micro sec in SC AT 2M will be present in the generated slave axis X reference profile related to the master profile Y Control and Robotics Solutions Ltd Revision 3 10 January 2005 5 4 1 2 Starting a Position Based Gearing Motion Communication Clauses Description YMO 1 Enabling Y Axis servo loop motor on YMM 2 YSM 0 Set Y axis to Position Based Gear Mode YME 0 Set Y Master Axis As X Y will follow X YFR 1 048 576 Set Following Ratio to Lig YBG Start Y Motion Following the X axis In this example Y axis is comman
152. ates the relevant digital output pin number relating from DOutl to DOut8 Each one of the outputs can be assigned to any of the axes Compare Modules The first two bits of OM 1 0 select the source axis for the compare output One of four options is possible as follows 0 0 Select X Compare Source for Output i 0 1 Select Y Compare Source for Output i 1 0 Select Z Compare Source for Output i 1 1 Select W Compare Source for Output i OM 2 Is the output mode selection bit defining whether the output is assigned to a standard output controlled by OP or an output of a compare function 0 defines a standard output 1 defines a compare function output When the mode select bit is cleared 0 then the source selection bits are ignored These bits control the configuration of digital inputs 1 through 3 respectively as standard or FAST INPUTS Bit 27 is not in use and should be left 0 Each bit set to 1 defines usage of a Fast Digital Input When set to 0 the standard input is used Please note that in order to set FAST INPUTS special Hardware configuration is also required Please refer to the SC AT 4M Hardware User s Manual and to the section describing Advanced Features Capture Options in this User s Manual see section 8 2 7 2 Reserved These bits are currently not used and should be left 0 for future compatibility Table 24 SC AT 4M XOM
153. ation The same digital input line can be used to synchronously Capture location of both axes at once Although each one of the controller s digital inputs can be used as a Capture input in the current hardware version only two 2 digital inputs DInp9 DInp10 are supported as fast TTL inputs As normal inputs are optically isolated using standard inputs for Capture introduces a delay of a few microseconds Fast inputs are TTL based so no delay is present 8 3 2 Operating the Position Capture and Relevant Keywords The Capture function is independent to any other operation mode of the controller The operation of Position Capture is very simple The user only needs to set the Capture source signal configuration word and the controller will automatically Capture positions whenever the Capture source pulse is detected There is no special activation command for the Capture function nor any special error codes related to it The following dedicated Keywords are used to configure and work with the Capture function e XN Capture Index counter e XC Last Capture Position e YOM Configure the Capture Signal source for all axes In the following sections the usage of these keyword is explained 8 3 2 1 The Capture Events Counter XN Each time the hardware Captures Latches a new location the total number of Capture events XN is incremented by 1 The user can reset this variable to 0 and monitor its value to
154. ble options However the controller can optionally support any special output pulse sequence This requires dedicated custom technical support and should be discussed with Control and Robotics Solutions Ltd if relevant Typical applications are printing for example but not limited to which may be developed as a custom option In general the SC AT controllers support 4 modes of Compare Events Generation e Mode 0 Fixed GAP incremental Distance 16 Bit e Mode 1 Fixed GAP incremental Distance gt 16 Bit e Mode 2 32 bit Arbitrary GAP location tables e Mode 3 32 bit Arbitrary GAP location tables using the FPGA RAM In order to operate the Position Compare feature there are few dedicated parameters and a new command that control its operation In the following sections the operation of each one of the supported Compare Function modes is explained Mode 0 Fixed GAP Incremental Distance 16 Bit In this mode the controller is programmed with the desired start point PStart desired end point PEnd and desired incremental GAP Distance The first pulse will always be generated at the exact Start Position PStart The hardware then automatically increments or decrements see explanation below the next compare point by the Distance value and so on until the PEnd 1s reached The first pulse is thus generated at Position PStart the second is generated at Position PStart Distance the next one will be at
155. by modifying OP value or with the OC and OS Output Clear and Set Bit commands will only modify the value of OP but will not affect the actual hardware output pins XOM 44 The following assignment set only Digital Output 1 DOutl to be assigned to X Axis Compare All other digital outputs as standard normal outputs controlled by the OP parameter XOM 4 Control and Robotics Solutions Ltd Revision 3 10 January 2005 The following assignment set only Digital Output 1 DOutl to be assigned to Y Axis Compare All other digital outputs as standard normal outputs controlled by the OP parameter XOM 32 The following assignment defines the X Axis Capture Source to be the X Encoder Index Input YOM 32 The following example demonstrates simultaneous independent usage of X and Y axes axes Compare and Capture functions e The X axis is configured to generate Compare pulses on DOutl and assuming that DOutl is connected by external wiring to Dinl the X Capture function is programmed to latch the Compare locations e The Y axis is configured to generate Compare pulses on DOut2 and assuming that DOut2 is connected by external wiring to Din2 the Y Capture function is programmed to latch the Compare locations Set Dinl and Din2 as Fast Inputs and program X Compare to DOut1 and Y Compare to DOuQ The resulted value is 2 2542 2443248 4 is set to IO MODE O0 XOM 50331692 Set IO_MODE_0 YOM
156. cal end of travel limits There are more efficient methods that implements phase initialization with much smaller rotor movement few electrical degrees only These methods involve monitoring the initial phase and closing a loop to minimize the magnetic alignment movement An automatic Phase Initialization Process method that keeps small magnetic alignment movement will be presented in future firmware versions of the SC 4M servo controller Control and Robotics Solutions Ltd 8 39 SC AT Software User s Manual and Commands Reference 8 5 2 5 Analog Commands in SIN Mode and Open Loop Operation NC 8 40 The SC 4M has 8 analog command outputs all 16 bit resolution In normal mode SIN commutation disabled the 4 main analog outputs DAC 1 4 are used as the servo drive commands and the 4 auxiliary analog outputs DAC 5 8 are used for general purposes The NC and TC parameters allow direct control over the 4 main DAC outputs of the controller in Open Loop mode when control loop is disabled The AO parameter allows direct control over the 4 auxiliary DAC outputs regardless of the NC state Note that After power up the controller is always initialized to close loop operation mode NC 0 When SIN mode is disabled NC 1 enables open loop operation TC can be set in the range of 32 767 to set the main analog command outputs in the range of 10v Similarly AO can be set i
157. cally finished when the desired position the motion profile not the actual motor position reaches the desired target position At this time the Motion Status MS is read as 0 and the controller is ready for a new motion or a new motion mode The EM End Motion parameter is set to 1 indicating normal end of motion A PTP motion can be also stopped by the following communication clauses Communication Clauses Description AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration to zero speed MO 0 Disables the motor effectively stopping any motion Of course any software or hardware fault limitation or protection will also immediately abort or stop the motion depending on the fault or limitation type The Last motion end reason can be monitored with the EM parameter 5 1 5 On The Fly Parameters Change 5 2 5 4 The following parameters can be modified on the fly during an active PTP motion Communication Clauses Description SP Starts an acceleration or deceleration toward the new SP value AC DC DL Defined new Accelerations and Decelerations for the current motion RP Changes motion including direction to move toward the new AP AP DP RP value RP can be modified even during deceleration to the previous target position and can be modified to any value independent of the current position AP Changes motion including direction to move toward the new AP AP can be
158. cheme Structure directed to the Velocity loop error junction This is an essential implementation issue to allow 0 position error during constant speed motion profile The user can not change the gain to this feed forward path nor disable it Future firmware versions may also support velocity feed forward to the DAC command in PIV mode Please see chapter 6 above The Control Filter for more information Attributes Type Parameter Axis related Yes Array SC AT AM Yes size 4 2 SC AT 2M Yes size 2 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 65 536 Control and Robotics Solutions Ltd 10 51 SC AT Software User s Manual and Commands Reference 10 52 Syntax XFF 2 200 Set X Axis Acceleration FF to 200 ZFF 1 Report value of Vel FF for Z axis AFF 0 Set Velocity FF 0 for all axes AFF 1 20 Same as AFF 0 Set Velocity FF 0 for all axes AFF 2 0 Set Acceleration FF 0 for all axes Examples See Syntax Above See Also Please see chapter 6 above The Control Filter for more information Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 28 FR Following Ratio 10 5 28 1 FR Following Ratio For The SC AT AM Purpose FR is the Following Ratio gain for gearing motion modes MM 2 MM 3 Gearing or electronic gearing motion is referred to a motion mo
159. ck condition as part of its real time servo loop in close loop mode only Motor Stuck condition is defined as a saturated servo command with 0 velocity measurement If this condition is permanent for 4 seconds consecutive 65536 servo sample the axis is disabled A new MF value is defined for that purpose Please see the MF command references DAC Offset Command A new DAC Offset command is now available The DO command can be used to calibrate the analog output offset value DO is applied in LSB units The range of the new DO command is 232767 The value of DO is saved to the flash memory and is restored on each power up Note that DO has an effect whenever the system is powered on regardless to the Motor On MO and NO Control NC states Please see the DO command reference for more information Repetitive Point To Point A change was made in the Repetitive Point To Point motion mode behavior MM 0 SM 1 In case that the initial requested motion distance is 0 the controller will not start any motion sequence If during Repetitive motion sequence a non normal end of motion reason is observed EM 1 the Repetitive motion sequence is aborted For example if Limits are detected etc Status Indication LEDs The SC 4M SA has only 2 Status Indication LEDs D1 FPGA Led and D2 CPU Led The FPGA Led now holds the internal hardware ABORT inhibit condition Whenever the H W detects an ABORT
160. condition all drivers are disabled the FPGA LED is Off The FPGA Led is On only when there is NO Abort condition The CPU Led behavior reflects various internal S W condition states Please see the SC 4M SA relevant documentation for more information Control Filter Parameters Naming Conventions Change There are few naming conventions change implemented in the SC 4M SA firmware 2 03 and above Please see chapter 6 in this User s Manual for more information about the control filter structure and parameters In general the A1 array was replaced by CA Control Parameters Array The new relevant parameters names are gt KP 2 2 PID filter Prop Gain Replacing A1 1 gt KI 2 2 PID filter Integ Gain Replacing A1 2 gt KD 2 2 PID filter Deriv Gain Replacing A1 3 gt CA 4 2 PID filter Duration Replacing A1 4 gt FF 2 Acc Feed Forward Gain Replacing A1 14 gt CA 7 2 Order Filter a0 Replacing A1 7 gt CA S 2 Order Filter b1 Replacing A1 8 gt CA 9 2 Order Filter b2 Replacing A1 9 gt CA I3 2 Order Filter Enable Disable flag Replacing A1 13 Control and Robotics Solutions Ltd 2 5 SC AT Software User s Manual and Commands Reference 2 3 2 6 gt CG Bit 3 Set PID Control Mode Replacing A1 6 e MD PWM Command Resolution The SC AM SA has a new 32 kHz PWM command in
161. d for X and Y axes using a master DP follow method The FR Following Ratio parameter is using a 32 bit 8 24 format scaling resolution to allow ratios of up to x 256 and Tienie Please refer to the Gearing Motion Mode Command Reference Manual for more information Control and Robotics Solutions Ltd Revision 3 10 January 2005 2 5 F W Version 205 C SC AM SA Boards Oct 2003 Version 1 03 of this user s manual describes the changes related to the SC 4M SA firmware revision 2 05 C Dated 30 10 2003 Release 2 05 C of the SC 4M SA was initiated by C amp RS in order to enhance the controller s general purpose Analog Inputs to support 12 bit A2D s The new version fully support both the standard 10 bit and enhanced resolution 12 bits A2D devices As both A2D devices are hardware compatible this firmware version fully support both H W configurations without any special definitions for the SC 4M SA Boards Hardware Revision 1 0 Some analog input parameters ranges were changed to support the higher resolution Please see the relevant section in this User s Manual for more information about Analog Inputs Support on the SC 4M SA There are no other changes associated with this firmware revision New revision Firmware Name Code FW 2 05 C Revision Release Date 30 October 2003 The following changes were made in Release Version 2 05 C of the SC AM SA Servo Controller e Enhanced A2D s Resolution Support The standard Analog
162. d to follow the X axis reference position with ratio of 1y 16 Note that usually when an axis is intended to operate in gear mode the following axis is first being enabled and enters motion BG and only afterwards the master axis is commanded to move Starting a gearing motion BG with MM 2 where the master axis is already in motion will result in velocity command step to the following axis 5 4 1 3 Monitoring a Position Based Gearing Motion Please refer to section 5 1 3 above 5 4 1 4 Stopping a Position Based Gearing Motion As noted above Gear motion is theoretically an infinite motion It stops only as a result of a user command or due to some fault limitation or protection A Gear motion can be stopped by the following communication clauses Communication Clauses Description AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed Note that immediately after issuing the ST command the slave axis stops following the master and starts an autonomous stop profile motion towards zero speed MO 0 Disables the motor effectively stopping any motion Of course any software or hardware fault limitation or protection will also immediately abort or stop the motion depending on the fault or limitation type Note In gear motion any fault condition acting on the master axis will not directly effect the following slave axis This means that the
163. de where an axis follows another axis position with a pre defined fixed ratio Currently the SC AT 4M supports position gearing motion mode for X and Y axes only FR defines the slave s axis following ratio in relation to the Master s axis ME reference position DP The FR Following Ratio parameter is using a 32 bit 8 24 format scaling resolution to allow ratios of up to x 128 and x i672 16 FR can be any number in the range of 2 147 000 000 2 147 000 000 FR is an integer number scaled to 8 24 format I e FR 16 777 216 means following ratio 1 0 Please see section 5 4 above Gearing Motion Modes for more information about Gearing Motion Mode operation Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 16 777 216 Range 2 147 000 000 Syntax XFR 16 777 216 Set X Axis Gear Ration to 1 1 YFR Report Gear Ratio of Y axis AFR 8 388 608 Set Gear Ratio for all axes Examples See syntax examples and section 5 4 above See Also ME MM and section 5 4 above Gearing Motion Modes for more information Control and Robotics Solutions Ltd 10 53 SC AT Software User s Manual and Commands Reference 10 5 28 2 FR Following Ratio For The SC AT 2M 10 54 Purpose The FR parameter is used as the Following Ratio gai
164. default normal close loop operation In order to switch to Open Loop mode the user should switch the motor off set MO 0 for the relevant axis then set the value of NC to 1 NC 1 and then switch the motor ON back again After MO 1 with NC 1 by default the analog output value commend is 0 to avoid motor motion TC is set automatically to zero when MO 1 In this state the user can control the actual analog output value using the TC Torque Command parameter keyword It should be noted that in Open Loop mode the actual analog command is still limited by the TL Torque Limit parameter Also the control 2 order filter may be used to monitor its operation and actual effect on the analog output value The operation of the filter can of course be disabled by an appropriate flag see 2 order filter definitions in this User s Manual The user can choose to record the actual Driver Command PO value In case the 2 order filter is enabled the actual value recorded is the step response of the filter If no 2 order filter is used the actual value recorded will be equal to the value commanded by TC In any case the value is saturated by TL NC can also be used for the special SIN commutation operation mode to allow phase initialization process of brushless DC motors For a complete description of the NC parameter options for SIN commutation support please see section 8 5 2 5 above
165. diately disabled e When downloading a new user program in one of the channels the other channel is blocked for the same operation Other communication with the second channel is fully functional e When uploading large arrays in one channel other channels will be blocked until the upload operation is completed Controller Communication Language Definitions General In the following sub sections the controller basic communication language is defined It should be noted that the same Language Syntax Rules applies regardless of the command source which can be one of RS 232 Communication CAN bus Communication Possible other future supported communication links and the Internal script program engine When a new command is received from either one of the channels described above its source is recorded for later reference and the command itself is passed to an internal software module The Command Interpreter which checks its syntax and if a valid command is detected executes the command 4 3 2 Language Notations The communication keywords are divided into two groups of Keywords e Parameters Keywords e Command Keywords Control and Robotics Solutions Ltd 4 21 SC AT Software User s Manual and Commands Reference The execution time of a parameter keyword is minimal and usually negligible few micro seconds at most The execution time of a command may be longer for example save parameters or upload list da
166. ds esee 10 11 Tabl 10 Profecton KeyWords serve oue IM dott atta Und Coe nese 10 11 Table 17 General Purpose Related Keywords ete tnnt tete to nesecc ended 10 11 Table 18 End Of Motion Reason EM Codes sss eene nennen 10 49 Table 19 Motor Fault Cause Reasons MF Codes sees 10 74 Table 20 Motor Fault Cause Reasons MF Codes in SC AT 2M sse 10 76 Table 21 Extended Motor Fault Cause Reasons MF Codes in SC AT 2M 10 77 Table 22 MS Motion Status Parameter Bits Description eeseeeeeere 10 83 Table 23 OM I O Mode Configuration Functionality Definitions sss 10 89 Table 24 SC AT 4M XOM IO MODE 0 Bits Configuration Description 10 90 Table 25 SC AT 4M YOM IO MODE Bits Configuration Description 10 91 Table 26 OM I O Mode Configuration Functionality Definitions esses 10 94 Table 27 SC AT 2M XOM IO MODE O0 Bits Configuration Description 10 94 Table 28 SC AT 2M YOM IO MODE 1 Bits Configuration Description 10 95 Table 29 SC AT 4M to Host CAN VR Version Report Message Format 10 143 Table 30 SC AT 2M to Host CAN VR Version Report Message Format 10 145 Table 31 Communication and Program Error Codes
167. e It is required that enabled Recorded Vectors will be orderly arranged This means that after the first NULL RV all following axes RV s should be 0 e Most of the variables are axis related variables This means for example that the user can select to record for each recorded vector the value of XPS YPS etc e Please see the RV parameter keyword reference in section 10 5 66 in this User s Manual for specific details about all possible RV values Control and Robotics Solutions Ltd 8 5 SC AT Software User s Manual and Commands Reference 8 1 2 6 The Recordings Data Array DA 8 1 2 6 1 DA Array in SC AT AM On the SC AT 4M DA is an internal temporary data array used for the Data Recording logging Note that this array is a temporary array and is not saved to the Flash memory When the controller power is off all data in the DA will be lost The data in the DA array is arranged in a simple logical order For each sample point DA contains the recorded variables according to the natural order XRV YRV etc The size of DA in the SC AT 4M is 100 000 points 8 1 2 6 2 DA and AR Arrays in SC AT 2M On the SC AT 2M the data recording array DA size is 16 000 points but the recording length is limited to 15 000 points only The general purpose array AR size is 1 000 points and overlaps the DA array in its first 1 000 points This means that DA 1 1000 AR 1 1000 To avoid over running t
168. e User s Manual and Commands Reference 10 5 39 LD SV Load and Save Commands Purpose LD and SV are the Load from FLASH memory and SAVE to Flash Memory commands The LD and SV commands are used to load and save the controller parameters and script program from and to the board Flash memory The LD and SV commands can only be issued while all motors are in disable mode in MO 0 SV should be issued only when the system is not in motion The SV command can receive the following parameters ASV Save AII Parameters and Script Program to Flash Memory ASV 1 Save Only the Controller Parameters to the Flash Memory ASV 2 Save Only the Script Program to the Flash Memory The LD and SV commands has the following attributes Attributes Type Command Axis related No Array Assignment Command Allows Parameter Yes See SV Command Above Scope All Restrictions All Motors Must be Off Save to Flash Default Value Range Syntax XSV Save all Parameters and Script Program to Flash Memory XSV 1 Save Only Parameters to Flash Memory XSV 2 Save Only the Script Program to Flash Memory BLD Load Parameters and Script Program from Flash Memory Examples See Syntax Above See Also 10 70 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 40 LL Low Software Limit Purpose LL is the Software Low Position Limit
169. e digital output word This is required for example when only a certain bit is need to be set without the other bits changed Using the OS Output Set Bit command saves the user from first reading the value of OP setting one of its bits using a logical operator and then re assign OP read modify write When accessing the output port bits from two separate script tasks this is necessary otherwise the value of OP can be wrong The OS Output Set Bit command must receive a parameter indicating the specific bit to set currently 1 8 Calling the command without a parameter will generate an EC PARAM EXPECTED EC 38 error Calling the command with an out of range parameter will generate an EC PARAM OUT OF RANGE EC 34 error Attributes Type Command Axis related No Array No Assignment Command Allows parameter Must have Bit 1 8 Scope All Restrictions None Save to Flash Default Value Command Parameter Range 1 48 Syntax XOS 1 Sets the first bit LSB Bit 0 in OP to 1 XOS 8 Sets the last bit MSB Bit 7 in OP to 1 Examples XOP 0 Clears ALL digital outputs to Low 0 XOS 1 Set the first bit LSB Bit 0 in OP to 1 OP 1 XOP 0 Clears ALL digital outputs to Low 0 XOS 8 Sets the last bit MSB Bit 7 in OP to 1 OP 128 See Also OC OL OP 10 100 Control and Robotics Solutions Ltd Revision 3 10 Jan
170. e execution or gt in case of any error in the execution of the command clause command was not executed In the later case a dedicated parameter EC Error Code will hold the code of the last communication error In cases where the last error was generated in a user script program another dedicated parameter holding the last program error code is updated QC Program Error Code For a complete description of all currently supported error codes please refer to chapter 11 later on in this User s Manual Notes e An empty command clause is a legal do nothing or Ping command e The prompt is sent only after the clause execution have been completed Examples The italics strings are the SC responses to the Host computer The blanks are only for the clarity of the example and the send get timing Control and Robotics Solutions Ltd Revision 3 10 January 2005 Setting SP Speed of X axis to 10 000 XS P 10000 7 XS P 100 007 gt Echo only if EO 1 Response always sent Setting AC Acceleration of X and Y by default to 10 000 BAC A Echo only if EO 1 Response always sent Reporting the value of the Z axis SP Axis Z is supported in the SC AT 4M only ZS P CR ZS P CR 10000 gt Echo only if EO 1 Response always sent Control and Robotics Solutions Ltd 4 27 SC AT Software User s Manual and Commands Reference Reporting the value of the SP for X and Y by default
171. e other are currently not used All internal and not used attributes are given for reference purpose only and are designated in font Attribute values are also used internally by the controller Firmware and are given for reference purpose only In the table below the abbreviation KW stands for Keyword Where Need is used this means that in order for the clause to be executed correctly the condition defined there should be met For example the command BG Begins a new motion needs of course its relevant motor to be ON i e Enabled Attribute Definition Attribute Attribute Description Value CPA MOTOR ON 0x00000001 Needs Motor ON CPA MOTOR OFF 0x00000002 Needs Motor OFF CPA MOTION ON 0x00000003 Needs Motion ON CPA MOTION OFF 0x00000004 Needs Motion OFF CPA PARAM IS READ ONLY x00000010 Parameter is Read Only CPA PARAM IS ARRAY x00000020 Parameter is Array CPA_PARAM_ SAVED TO FLASH 0x00000030 Parameter is Saved to Flash oo CPA PARAM SPECIAL REPORT 0x00000300 Parameter Has Special Report Function Control and Robotics Solutions Ltd 10 1 SC AT Software User s Manual and Commands Reference Attribute Definition Attribute Attribute Description Value CPA PARAM SPECIAL ASSIGN 0x00000400 Parameter Has Special Assign Function CPA COMMAND ALLOWS PARAM 0x00001000 Commands Allows a Number Parameter CPA COMMAND ALLOWS STRING PARAM 0x00002000 Commands Allows a string Parameter
172. e relevant bit value of OP When an output pin is assigned to a position compare event function its state is controlled by the compare logic hardware and is not affected by the digital output word OP In the SC AT 4M only the first 4 outputs can be assigned as compare outputs In the SC AT 2M only Dout5Fast and Dout6Fast can be assigned as compare outputs It should be noted that when an output is assigned to a compare event only its physical logic level is affected The value of OP is not changed and does not reflect in this case the actual hardware pin state The next two sections define how to assign digital outputs to the compare function and how to support fast TTL electrical interface 8 2 6 1 Assignment of a Digital Output to a Position Compare Event The SC AT Hardware supports assignment for any of its 8 actual physical digital output pins as standard outputs or as a position compare function output The digital outputs are configured using the IO MODE 0 select word currently assigned using the XOM parameter please see the OM keyword reference in this user s manual for further information This is a 32 bit array word defined as follows 8 2 6 1 1 SC AT AM IO MODE 0 XOM Keyword 3l 30 29 28 Configure DRV FLTSRC Fast Inputs Selection Control and Robotics Solutions Ltd Revision 3 10 January 2005 Each digital output can be assigned as follows using a 3 bit con
173. e that there is a problem in the CAN hardware initialization process an error is reported by 16 blinks of the CPU Led during the boot process The controller then continues the boot process and can still communicate in RS 232 Please consult C amp RS in any case that an FPGA version error is detected Control and Robotics Solutions Ltd Revision 3 10 January 2005 e Hardware and Software Motion Limits The controller software continuously checks both the hardware and software limits Whenever a limit is detected any ongoing motion is stopped Hardware limits are actual hardware signal lines Software limits are low and high position values beyond and above which the error is asserted An FLS Forward Hardware Limit or High S W Limit will stop positive motions only towards increasing position value An RLS Reverse Hardware Limit or Low S W Limit will stop negative motions only towards decreasing position value During Limit stop condition the controller uses the DL Deceleration on Limit value for the deceleration profile e Torque Limit The torque limit protection is continuously monitoring the motor command value and limits the maximal current or torque if current driver is used command As noted above the Driver command limitation has two different parameters TL which is the ultimate command saturation limit and IS which can separately from TL limit the Integral value This is needed in some cases to improve dynamic
174. e the CG command reference in this User s Manual for full description of all bits The CG bits are CG Bit 0 0 Based Inverse Motor Command Main DAC and PWM CG Bit 1 0 Based Inverse Encoder Direction CG Bit 2 0 Based Configure Axis as SIN commutated for SIN motors CG Bit 3 0 Based Use PID control when set PIV control when not set CG Bit 4 0 Based Inverse Auxiliary Motor Command Aux DAC only CG Bit 5 0 Based Enable Encoder Protection as Driver Fault CG Bit 6 0 Based Invert DRV FLT Signal Logic VVVVVVV New Encoder Protection Features The SC 4M SA firmware now fully supports two encoder protection schemes These are i Encoder Quadrature error and ii Encoder dis connected error Encoder Quadrature error is detected when both A Control and Robotics Solutions Ltd Revision 3 10 January 2005 and B are changed in the same clock Encoder disconnected error is detected when A A or B B for 4 consecutive servo samples The user can select to enable or disable the Encoder protection logic by setting or clearing bit CG 5 When enabled both protection schemes are operational Note that both errors are reported as Driver Faults with new special Motor Fault condition values Please see chapter 7 below in this user s manual for more information See also CG and MF command references Motor Stuck Protection The controller now checks for a Motor Stu
175. ectrical physical configuration to bypass the digital inputs isolation Control and Robotics Solutions Ltd 8 27 SC AT Software User s Manual and Commands Reference In the SC AT 4M Controller Fast Inputs are configured by removing 0Q resistors R114 R117 R128 R131 and re installing them in R7 R14 R15 R12 for inputs 1 2 3 and 4 respectively Standard Inputs are configured by removing 0Q resistors R7 R14 R15 R12 and re installing them in R114 R117 R128 R131 for inputs 1 2 3 and 4 respectively Notes e If standard input interface is used Capture might not work properly for short input pulses It is recommended to work with Fast Inputs configuration e When Capture is based on a digital input which is connected to one of the controller s Fast Outputs when Compare and Capture are operated simultaneously Fast Inputs and outputs MUST be used since the Compare Pulse might be to short e The resistors indicated above for the fast and standard interface options MUST not be installed simultaneously Electrical damage might be caused to the SC 4M board if not done so e Please refer to the SC AT Hardware User s Manual for further information about the SC AT hardware interfaces 8 3 4 Position Capture Events Examples 8 3 4 1 SC AT 4M Position Capture Events Examples 8 28 The following example demonstrates usage of the Capture and Compare functions The X axis is programmed to generate Compare pul
176. ed Upon receiving an RS command the controller resets itself Save Parameters and Macro The QS and SV commands are now unified to SV that saves both parameters and the script The SV command can receive a parameter 1 or 2 to indicate whether the parameters only or script only are to be saved SV without any parameter saves both Axes Group Definition Array A new array parameter GP is used to assign axes groups This replaces the previous functionality of the GA parameter Please see GP command reference for more information The A pre fix e g APS is now initialized by default after power up to access only axes X Y Z and W Axes Related Parameters Size Attribute Many parameters are now updated to reflect their true size Most of the parameters now refer to axes X Y Z W only There are still some parameters with full 10 axes relation e g RV etc Please see the parameters list in this User s Manual sections 10 2 belowand 10 3 below for more information Remote CAN Access The controller now fully support all remote CAN messages command formats Please see the command references for ZA ZR ZC ZS and ZM commands Download Array Buffer by CAN A new protocol was added to support fast Buffer array assignment In this mode the controller receives a start index parameter and then au
177. eeeceenes 2 10 2 1 SC AT FAMILY CONTROLLERS DOCUMENT VERSION 3 10 JANUARY 2005 sees 2 11 2 71 SC AT 4M Differences From Previous SC 4M SA Version 2 05 sse 2 11 2 72 SC AT 2M Differences From Previous SC 4M SA Version 2 05 sse 2 12 3e GLOSSARY sicssaseceessisesscsta ctaedicakesvtacesacesanssesnsscaatsevansseacsogessessaavecscuscadennteabeasoonssudsnseaseswssogetessbassonosetaeaosanese en 3 14 4 COMMANDS SYNTAX AND PROTOCOLS u ssscssssssssscsssccssscssscsssssssscssssesssssssssssssssssessssessssssscoes 4 20 4 1 GENERAL T 4 20 4 2 SUPPORTED COMMUNICATION PROTOCOLS esses entere en ren rennen inner sr en tense nennen nnns 4 20 4 2 1 Simultaneous Communication Channels Operation Support eese 4 21 4 3 CONTROLLER COMMUNICATION LANGUAGE DEFINITIONS esee enne nennen nennen enne 4 21 43de s Genera 1 EMEN 4 21 4 3 2 Language Notations aissi est e Ea E RETE ous etri e ATES ENT OAKEN ETNEA Eea 4 21 4 3 3 Controller Language Syntax asis aine AAN A aea i E TOEN EEE aT eaa TiSi 4 24 5 MOTION MODES P 5 1 5 1 POINT TO POINT PTP MM 0 SM0 e e S nnne tese r E instan Si 5 1 Oud PT PEMONON DeseripliOn s et e dete ree e e ings A vetoes ye eh ee ined 5 1 22 Starting a PLP Motion co p aite Pr epet ii ur bres a tbe e arsit uit 5 2 DAD Monitoring MOONS sez i ea e Rer ee PEE E aE PER B TEE eee Gassebeudsaa
178. efer to the DA keyword 10 5 16 2 below The ECAM Gap EG EA 4 must be gt 1 Note that practically this number must be much larger then 1 usually larger then 100 The ECAM Gap EG EA 4 must be lt 32 767 The ECAM Number Of Cycles EN EA 5 must be gt 0 A New End Of Motion Reason was added EM EM BAD PROFILE PARAM 9 is now used to indicate bad ECAM parameters that are encountered during ECAM motion A new Array code for EA is implemented for the CAN bus interface The EA CAN Array Code is 22 The difference between each two consecutive AR points must be within the range of 32767 No check is done and in case of values out of range unexpected motions may happen It is important to understand that ECAM mode uses the AR table data as a relative trajectory reference based on the initial position of the axis before starting the ECAM motion This means that usually the first value in the ECAM table is 0 otherwise jump in the motion profile will be resulted After the number of requested ECAM cycles EN has been completed the motion is aborted and DP is set to the end point value of this cycle Initial DP AR EE Note that an ABORT command is used not STOP This is to ensure that the final DP value will match the ECAM table value It is the user s responsibility to ensure that the Control and Robotics Solutions Ltd 5 11 SC AT Software User s Manua
179. elements Using the RV array the user may select the data member to be recorded for each one of the 8 data recording vectors XRV 1 controls Vector 1 XRV 2 controls Vector 2 and so on The user can select one of 51 internal data members for each vector In general the user can select one of 20 axis specific currently 11 available and 9 reserved data elements for each axis and 10 global registers In the following list all options for RV are defined In the table below i indicates the requested axis in zero based form X axis is defined by i 0 Y axis is defined by i 1 o JNoe Empy 0 Ix 20 11 Auxiliary Velocity 1x20 12 30 Axis Related Reseved 42 Output Port OP fk 4351 Reserved c Attributes Type Parameter Axis related No Array Yes size 1 8 Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 211 Control and Robotics Solutions Ltd 10 121 SC AT Software User s Manual and Commands Reference Syntax XRV 1 20 Set X axis RV to 0 no recording XRV 1 Report value of RV 1 Examples See section 8 1 in this User s Manual for further information See Also BR DA RG RL RR 10 122 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 67 SM Special Motion Mode Attribute Parameter Purpose Defines an enhancement to the standard P
180. elocity Scaling gain supported in SC AT 2M Table 2 Control Filter Parameters Please see sections 10 4 2 2 below and 10 5 below in this User s Manual for full description of the entire filter related parameters 6 10 Control and Robotics Solutions Ltd Revision 3 10 January 2005 FAULTS PROTECTIONS AND LIMITS The SC AT controller s include various protection mechanisms and status report parameters which ensure safe operation and easy troubleshooting The protective mechanisms are divided into two groups Protections and Limitations Protection refers to a detection of a fault condition and the response to this condition generally disabling the servo Limitation refers to an algorithm which continuously monitors and limits saturates a value avoiding it from reaching a fault condition Faults represent the list of conditions which are detected and responded to with a proper protection function Some of the protections are implemented directly by the HW ensuring safe fast and immediate response while some are implemented by software providing user control of the protection behavior All the detected faults cause an immediate servo off condition Analog and PWM signal commands are reset to 0 voltage or 0 PWM and the drivers are immediately disabled The faults which are detected by the SC AT controller s are External driver fault via the Fault input Abort emergency switch input This fault cause im
181. ence 10 5 5 AG Analog Input Gain Purpose Set the Analog Input Gain Please see the AT Analog Input command reference for complete information about Analog Input interfaces support Attributes Syntax XAG 10 ZAG AAF 1 Examples Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Parameter Yes All None Yes 0 524 288 524 288 Set X Axis AG 10 Report value of AG for Z axis Set AG 1 to all axes See Syntax above See Also AD AF AL AS 10 18 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 6 Al Analog Input Purpose Report the analog input value The analog input value is calculated and reported by the software variable AI according to the following equation AI Floor Ainp x ADHWGain AS x AG x2 AS The Analog Offset parameter is in the range of 0 4095 Nominal value of AS 2047 will result in a nominal AI reading of 0 Using the AG and AF parameters for scaling the user can define any practical desired range for the AI reading value Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows Parameter Scope All Restrictions None Save to Flash Default Value Range Syntax AAI Report value of AI for all inputs 1 through 4 Examples
182. eneral a SIN function of the rotor position in reference to the magnetic poles location of the motor In DC Brush type motors it is the brush collector sometimes referred to as the commutator that mechanically distributes the motor current among the rotor windings in order for the armature current vector to remain perpendicular to the stator magnetic field regardless of the actual rotor position In traditional 3 Phase brushless DC motors BLDC the current commutation is done electrically by the driver based on coarse position sensors Hall Effect Sensors This commutation method is referred to as Hall Bases Trapezoidal or 6 Step commutation The Hall effect sensors can locate the relative rotor position in reference to the absolute magnetic poles within 6 segments 60 each for a complete 360 of the magnetic cycle or pitch In standard Trapezoidal or 6 Step commutation the current flowing through the 3 motor phases is constant during each full 60 segment Typically in each segment the current flows through 2 phases only while the third phase has 0 current It is a common standard in this method that the motor s driver receives a single 10v current command from the servo controller and based on the motor Hall Effect Sensor signals generates all 3 phase currents according to the correct sequence The main shortcoming of this method is that motors operating in Trapezoidal commutation shows a very non linear torque con
183. er RG Please see the RG keyword reference section 10 5 61 below for more information about upload data recording data delays in CAN bus operation 8 1 2 2 1 RG Parameter SC AT AM The recording GAP RG defines an integer number gap in 61 uSec servo sample intervals between each two consecutive recording sample points RG is used to allow data sampling at a slower rate then the servo sample rate When RG 1 the data sampling rate equals the servo sample rate of 16 384 points sec When RG 2 recorded data will be sampled every second servo sample i e at a rate of 8 192 points sec RG 16 will result in data sample rate of 1 024 points sec and so on Control and Robotics Solutions Ltd 8 3 SC AT Software User s Manual and Commands Reference 8 1 2 2 2 RG Parameter SC AT 2M The recording GAP RG defines an integer number gap in 122 uSec servo sample intervals between each two consecutive recording sample points RG is used to allow data sampling at a slower rate then the servo sample rate When RG 1 the data sampling rate equals the servo sample rate of 8 192 points sec When RG 2 recorded data will be sampled every second servo sample i e at a rate of 4 096 points sec RG 8 will result in data sample rate of 1 024 points sec and so on 8 1 2 2 3 RG 2 Recording Upload Delay When uploading large data buffers in CAN bus the SC AT controllers can ge
184. er This value is used to set the motion profile acceleration value in PTP JOG etc Motion modes The Acceleration value is defined in units of counts sec All Acceleration Deceleration parameters in the SC 4M has a 256 counts sec resolution Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 512 120 000 000 Syntax XAC 1000000 WAC 1000000 Set X Axis AC 1 000 000 Set W Axis AC 1 000 000 ZAC Report value of AC for Z axis AAC 240000 Set AC 250 000 all axes Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 using Speed and Acceleration values XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See Also DC DL SP BG Control and Robotics Solutions Ltd 10 15 SC AT Software User s Manual and Commands Reference 10 5 3 AD Analog Input Dead Band Purpose Set the Analog Input Dead Band range Please see the AT Analog Input command reference for complete information about Analog Input int
185. er block is filter high order low pass filter gt PO is the final control loop output This value is converted to the analog output command for the external driver using the 16 bit DAC in the system U can also be written in a Z transform transfer function equation as follows parra ee a MEL E 256 256 65536 1 z 6 2 2 PIV Filter Mode In Close Loop operation in PIV mode the control loop structure can be considered as divided into two separated loops An external position loop cascaded over an internal velocity loop Similar to the PID mode the linear Velocity loop PI control filter output is fed into the 2 order filter if it is enabled and then passes the final output saturation for the DAC Control and Robotics Solutions Ltd 6 1 SC AT Software User s Manual and Commands Reference 6 2 The Velocity loop linear PI filter in PIV mode is shown in Figure 6 3 B above The linear filter equations in that mode are PE DP PS VC PE x KP DP DP x65536 VE VC PS PS x65536 VE x VE x KD VE x 65536 PO Sat TL U x SecondOrderFilter KIX SVE i 0 where DP PS and PE are the desired position actual position and position error similar to PID mode KP is the position loop gain gt KT is the velocity loop Integral term gain KD is the velocity loop overall gain multiplier VC is the velocity loop reference command Note that VC includes an in
186. er can be assigned with a new value ONLY if its related motor is disabled The assignment can not be executed if the motor is enabled e Motion Should be ON 0x00000004 The requested command or parameter assignment can be executed only if a motion is currently being executed e Motion Should be OFF 0x00000008 The requested command or parameter assignment can be executed only if there is no current motion For example the Motion Mode MM parameter can not be changed during motion e Parameter is Read Only 0x00000010 A Read Only parameter can only be inquired for its value The user can not assign values for Read Only parameters For example DP the current reference Desired Position value is a read only parameter and can not be directly assigned a new value by the user e Keyword Source MUST be an internal program 0x00100000 The keyword can only be used from an internal script program For example the RT return from subroutine command can only be called from with in a program subroutine e Keyword Source MUST be external Communication 0x00200000 The keyword can only be used from an external communication link For example the QD download a new program command can only be called from an external communication link e Keyword Source MUST be RS 232 Communication 0x00400000 The keyword can only be called from an RS 232 link For example downloading new Firmware is supported ONLY in RS 232 mode e Keywo
187. er defines the End Position PEnd in encoder counts for the compare function Beyond this location the compare function will be automatically disabled For Modes 2 and 3 this parameter defines the End Index End in the AR compare position table corresponding to the last compare point The last compare point will be at the encoder location defined by AR End PG i I5 Pulse Width This parameter defines the pulse width ignoring PG 1 6 PGf i 5 0 Pulse Width 1 clock of 15 nano sec PG i 5 21 Pulse Width 1 92 n Sec PG i 5 22 Pulse Width 3 84 n Sec PG i 5 2 255 Pulse Width 489 6 uSec Max Value PG I6 Mode Not used in the SC AT 2M PG i 7 Pulse Polarity This parameter defines the compare pulse polarity mode PGf i 7 0 Defines Normal Positive Pulse PG i 7 1 Defines Inverted Negative Pulse PG i I8 Not Used Should not be assigned to any value for future compatibility Table 4 PG Array in SC AT 2M Compare Function Parameters Description Control and Robotics Solutions Ltd 8 13 SC AT Software User s Manual and Commands Reference Notes 1 In the table above 1 represents the selected axis 2 In Incremental modes Modes 0 and 1 since the hardware automatically increments the compare match register the actual compare condition is valid for only 2 basic H W clock cycles 66 MHz 3 In the SC AT 2M the PG i 6
188. erence position In standard Profiler based motions e g Point to point Jog etc DP actually holds the Profiler position output value Upon completing a standard Point to Point motion DP holds the last value of AP used for that motion In other motion modes DP can be updated by other references Analog input in Joystick mode tables in ECAM mode other axes in master slave modes etc When an axis servo loop is disables MO 0 DP is continuously updated by the servo loop real time process to the value of PS current encoder reading so the position error PE is 0 by definition Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope Restrictions Save to Flash Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax ZDP Report value of Z axis DP ADP Report value of DP to all axes Examples See Also AP PS PE 10 46 Control and Robotics Solutions Ltd 10 5 23 EA ECAM Parameters Array Purpose Revision 3 10 January 2005 The EA array elements control the operation of the ECAM Motion mode supported by the SC AT controllers Please see section 5 5 above ECAM Motions in this user s manual for full description of all EA array elements purpose and limitations The EA array parameter has the following attributes Attributes Syntax XE
189. erfaces support Note Current firmware revision does not support dead band in the analog input interface Although the AD parameter is fully supported by the communication interface it has no other effect Analog Input value always assumes AD 0 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 10 Range 0 2 407 Syntax XAD 10 Set X Axis AD 10 10 LSB of the Analog Input ZAD Report value of AD for Z axis AAD 0 Set AD 0 to all axes No Dead Band Examples See Syntax above See Also AF AG AI AS 10 16 Control and Robotics Solutions Ltd 10 5 4 AF Analog Input Gain Factor Purpose Set the Analog Input Gain Factor Multiplier Revision 3 10 January 2005 Please see the AI Analog Input command reference for complete information about Analog Input interfaces support Attributes Syntax XAF 2 ZAF AAF 0 Examples Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Parameter Yes Set X Axis AF 2 Gain factor is 1 4 Report value of AF for Z axis Set AF 0 to all axes Gain Factor 1 1 See Syntax above See Also AD AG AI AS Control and Robotics Solutions Ltd 10 17 SC AT Software User s Manual and Commands Refer
190. erformances only and then use the KP gain to control the position loop gain and resulted bandwidth Control and Robotics Solutions Ltd Revision 3 10 January 2005 6 2 3 Position Error Calculation 6 3 In both PID and PIV modes the basic position error is computed and reported using the PE variable This is a read only parameter updated by the real time control loop and computed by PE DP PS where as noted above DP PS and PE are the desired position actual position and position error all in encoder count units The position error is always 0 by definition whenever the servo is off MO 0 since the servo controller automatically updates the current desired position DP to be equal to the actual position PS During all Servo ON modes MO 1 in both open and close loop cases the real time control loop checks the current position error value PE and compares it to the maximum allowed position error ER Whenever PE ER the real time loop automatically disables the motor and indicates the error reason as High Error fault In the SC AT family controllers the maximum ER value can be as high as 8 000 000 counts High 2 Order Filters The SC AT controller s family include a digital second order filter Note The 2 order filter is present in all control scheme structures i e PID PIV and Open Loop see figures Figure 6 1 Position Over Velocity Loop PIV Control Scheme Structure and Fig
191. ervo Interrupt and updates the parameter accordingly This parameter is updated irrelevant to the fact if the Velocity Dual Loop Mode is enabled Please refer to the CG parameter The Velocity dual loop uses XP for the dual loop feedback Please refer to FR 2 regarding the ratio between the main and Aux Encoders Note This option is currently supported in the SC AT M only Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XXP 0 Set X Axis Aux Position encoder to 0 YXP Report value of Y axis Aux position BXP 0 Set PS 0 for both axes Examples See Also PS XV 10 152 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 85 XV Auxiliary Encoder Velocity Supported in the SC AT 2M ONLY Purpose This parameter consists of the Auxiliary Encoder Velocity Please note the velocity is the delta of the Auxiliary encoder position from the previous servo loop Interrupt In the SC AT 2M the sampling time is 8 192 Hz Therefore if for instance the delta from the previous Servo Loop Interrupt is 4 then the velocity is 4 8192 32768 counts sec The XV keyword has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter
192. es The following assignment set All digital outputs as standard normal outputs controlled by the OP parameter XOM 0 The following assignment set Digital Output 5 DOut5 to be assigned to X Axis Compare Digital Output 6 DOut6 to be assigned to Y Axis Compare In this MODE accessing the bits 5 and 6 of OP by modifying OP value or with the OC and OS Output Clear and Set Bit commands will only modify the value of OP but will not affect the actual hardware output pins XOM 9 The following assignment set only Digital Output 5 DOut5 to be assigned to X Axis Compare All other digital outputs as standard normal outputs controlled by the OP parameter XOM 1 Control and Robotics Solutions Ltd Revision 3 10 January 2005 The following assignment set only Digital Output 5 DOutl to be assigned to Y Axis Compare All other digital outputs as standard normal outputs controlled by the OP parameter XOM 2 The following assignment defines the X Axis Capture Source to be the X Encoder Index Input YOM 10 The following example demonstrates simultaneous independent usage of X and Y axes axes Compare and Capture functions e The X axis is configured to generate Compare pulses on DOut5 and assuming that DOut5 is connected by external wiring to Din9 the X Capture function is programmed to latch the Compare locations e The Y axis is configured to generate Compare pulses on DOut
193. es Example See Also CG KP KD and Chapter 6 above The Control Filter Control and Robotics Solutions Ltd 10 67 SC AT Software User s Manual and Commands Reference 10 5 37 KP Control Filter Proportional Term Gain Purpose The KP parameter is used to set the control filter algorithm position loop proportional term gain in PID control mode and position loop overall gain in PIV control mode The KP parameter is an array parameter with the size of 4 x 2 i e for each axis X Y Z W KP 1 and KP 2 are available The first element KP 1 or KP see note below set the normal filter gains while the second element KP 2 set the gain for the Gain Scheduling algorithm Please see section 6 9 above for more information about Filter Gain Scheduling Note The SC AT command interpreter supports for backward compatibility access to any array parameter first element as a non array element This means that for example XKP is identical to XKP 1 Attributes Type Parameter Axis related Yes Array Yes size 4 2 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 767 Range 0 2 147 000 000 Syntax XKP 16384 Set X Axis KP 16 384 XKP 1 16384 Same as XKP 16384 Set X Axis KP 16 384 XKP 2 30000 Set X Axis KP 2 30000 for Gain Scheduling ZKP Report value of KP for Z axis AKP 100000 Set KP 100
194. es Latches a new position the total number of Capture events XN is incremented accordingly The user can reset this variable to 0 and monitor its value to wait for a Capture event within a script program This can be used for example to signal events to a host computer whenever a Capture event is sensed XN is an axis related parameter keyword Each axis holds its own Capture index counter On the SC AT 4M only 4 axes are supported so accessing XN with axes identifiers higher then W has no meaning On the SC AT 2M both axes are supported XN has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 Syntax XXN Reports the X axis Capture Events Number YXN 0 Reset Y axis Capture Event counter Examples Please refer to section 8 3 4 in this user s manual for Capture Function operation examples See Also XC Capture Function Description section 8 2 7 2 Control and Robotics Solutions Ltd 10 151 SC AT Software User s Manual and Commands Reference 10 5 84 XP Auxiliary Encoder Position SC AT 2M Only Purpose This command reports the position of the Auxiliary Encoder The user can also set as desired value to the current position define the current position as This position is read every S
195. es The SC AT 4M support 2 Virtual axes U and V The virtual axes are used for special features like multiple axes synchronized motions Master Slave etc Windows Shell C amp RS provides an enhanced Windows 9x or Program NT 2000 XP application program named AT Shell for SCShell easy and fast interface with the SC AT family controllers Using the AT Shell starting up or verifying a new idea concept is just few mouse clicks away Currently not supported in the SC AT 2M controller Control and Robotics Solutions Ltd 3 19 SC AT Software User s Manual and Commands Reference 4 4 1 4 2 COMMANDS SYNTAX AND PROTOCOLS General This chapter mainly focuses on the SC AT communication syntax including response to commands clauses and errors The various communication protocols are briefly presented for reference only see section 4 2 below as they are fully covered in the SC AT Communication Protocol User s Manual The command syntax shall define the syntax for the SC AT 4M controller In case there is a difference between the AT 4M and the AT 2M controllers a separate explanation or section shall be included for the SC AT 2M controller case Supported Communication Protocols The SC AT currently supports two basic communication protocols and channels e ASCII based RS 232 e Binary CAN bus Using separate hardware interface layers the RS 232 and CAN bus communication links and their protocols are compl
196. ess SIN commutation mode supported by the SC AT 4M special features MP holds the position value in encoder units of a full 360 magnetic degrees of the motor The actual number should match the Motor manufacturer data and the specific encoder resolution used in the application MP is used in conjunction with the Magnetic Location angle ML of the motor to derive the 2 SIN commands for sinusoidal commutated brushless drivers For example in a high resolution linear motor stage with magnetic pitch of 32 mm and a linear 1 micron resolution encoder the magnetic pitch is 32 000 counts MP 32 000 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions Needs Motor Off Save to Flash Yes Default Value 0 Range 0 2 147 000 000 Syntax XMP 275000 Set X Axis Magnetic Position to 275 000 encoder counts YMP Report value of Y axis Magnetic Pitch Examples See Also PS ML and section 8 5 above for more information about SIN commutation 10 82 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 47 MS Motion Status Purpose The MS Motion Status parameter holds information on the current motion status of specific axes This is a read only axis related parameter When an axis is not in motion its MS parameter is 0 by definition i e all bits are cleared whether a motion did not start at a
197. etection logic TR is used in conjunction with TT the Target Time and the Status register SR parameters During operation while an axis is enabled MO 1 and not in motion MS 0 the real time control loop continuously checks the position error PE and when ABS PE lt TR for at least TT Target Time sample times a dedicated bit in SR is set to high logic 1 The In Target logic is usually used to let a host application or a script program to monitor end of motion condition and waiting for the axis to reach the desired target position within a specific defined error The TR parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 2 Range 0 32 767 Syntax XTR 10 Set X Target Radius to 10 counts ZTR Report value of Z Target Radius ATR 20 Set All Axes Target Radius to 20 counts Examples See the SR Status Register Command reference See Also SR TT Control and Robotics Solutions Ltd 10 139 SC AT Software User s Manual and Commands Reference 10 5 77 TT Target Time Purpose The TT parameter defines the Target Time in servo sample units for the In Target detection logic TT is used in conjunction with TR the Target Radius and the Status register SR paramete
198. etely independent from one another and can be used simultaneously excluding few special cases as described in section 4 2 1 below Process ASCII RS 232 Messages Process Binary CAN Messages Firmware l Main Idle Loop Process Internal Scripts Programs Figure 4 1 Communication Channels Handling within the Firmware Main Idle Loop 4 20 Control and Robotics Solutions Ltd 4 2 1 4 3 4 3 1 Revision 3 10 January 2005 As shown in Figure 4 1 the servo controllers firmware main loop is continuously monitoring both communication channels handling incoming messages separate from one another This is possible in the SC AT firmware and syntax architecture as almost all keywords and commands are executed immediately without blocking any other process The complete bits and bytes comprehensive description of each one of the protocols is fully given in the SC AT Communication Protocol User s Manual Simultaneous Communication Channels Operation Support As discussed above both communications protocols can operate simultaneously without any interference This is possible in the SC AT architecture as almost all keywords and commands are executed immediately without blocking any other process However there are some special cases where a special operation in one channel can block the other These cases are e When downloading new firmware in RS 232 Supported ONLY in RS 232 all other channels are of course imme
199. eter limits the output value of the Integral Term only when working in Close Loop mode in PID or PIV control schemes IS limits ONLY the integral term saturation and not the actual final control output which is limited by the TL parameter The purpose of IS is to allow different saturation limits to the Integral and control output This is needed in some cases to avoid overshoots Please look in this User s Manual under The Control Filter chapter 6 for further information The range of IS is 1 32 767 IS 1 practically disables Integral term in the control filter IS232 767 is full range 100 integral saturation Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 763 Range 1 32 767 Syntax XIS 16384 Set X Axis IS 16 384 50 of Max Range ZIS Report value of IS for Z axis AIS 32767 Set IS 32 767 in all axes 100 limit Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 10 000 but with the PID Integral term saturated to 25 XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 10000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XIS 8192 Limit
200. f Syntax XIL Report IL value non axis related AIL Report IL value non axis related XIL 15 Inverts the logic of DINI DIN2 DIN3 DIN4 Examples See Also CG IP 10 60 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 33 IP Input Port 10 5 33 1 IP Input Port SC AT AM Purpose Read the digital Input Port bits of the SC AT 4M servo controller The IP parameter is continuously updated by the real time servo loop to reflect the value of all digital input bits of the controller IP reports both the uncommitted digital inputs Digital Inputs 1 16 as well as all the committed digital inputs i e limit switches driver faults and Abort input The SC AT 4M support the following digital inputs uncommitted and committed according to the order as listed IP Bit 0 Based H W Signal IP Bit 0 Based H W Signal and Hex Value Name Functionality and Hex Value Name Functionality 0 0x0000 0001 Digital Input 1 Dinl 16 0x0001 0000 X Axis RLS 1 0x0000 0002 Digital Input 2 Din2 17 0x0002 0000 X Axis FLS 2 0x0000 0004 Digital Input 3 Din3 18 0x0004 0000 Y Axis RLS 3 0x0000 0008 Digital Input 4 Din4 19 0x0008 0000 Y Axis FLS 4 0x0000 0010 Digital Input 5 Din5 20 0x0010 0000 Z Axis RLS 5 0x0000 0020 Digital Input 6 Din6 21 0x0020 0000 Z Axis FLS 6 0x0000 0040 Digital Input 7 Din7
201. fault to be the DRV_FLT signal source Please see the XOM command update description below in this section for more details on the new configuration bits New definition for the DRV_FLT Logic Signals Due to an enhancement made in the FPGA encoders fault logic protection the DRV_FLT logic configuration bit was removed from its previous definition Bits 24 25 26 27 zero based in IL to new bits in CG Please see new CG bits command update description below in this section and the CG and IL command references in this User s Manual Updated Hardware I O s Configuration OM Command The FPGA now support some new I O modes configuration bits These are now reflected in new bits in the XOM IO MODE 90 configuration word It is now a full 32 bit filed word The new SCAM Shell supports an easy to use configuration dialog for all I O configuration bits for more information please see the OM command reference The new bits are YOM Bit 27 0 Based S W Configure Digital Input 4 as a fast input YOM Bit 28 0 Based Select X Axis Driver Fault Source for MD X YOM Bit 29 0 Based Select Y Axis Driver Fault Source for MD Y YOM Bit 30 0 Based Select Z Axis Driver Fault Source for MD Z YOM Bit 31 O Based Select W Axis Driver Fault Source for MD W VVVVV New bits in CG Axis Configuration Parameter The CG Axis Configuration command was updated with some new bits Please se
202. figuration field OM In the table above i indicates the relevant digital output number from 1 8 OM i 1 0 The first two bits of OM select the source axis for the compare output One of four options is possible as follows 0 0 Select X Compare Source for Output i 0 1 Select Y Compare Source for Output i 1 0 Select Z Compare Source for Output i 11 Select W Compare Source for Output i OM i 2 Is the output mode selection bit defines whether the output is assigned to a standard output controlled by OP or an output of a compare function 0 defines a standard output 1 defines a compare function output When the mode select bit is cleared 0 then the source selection bits are ignored OM through OM s are using bits 0 23 of the IO MODE 0 word Other bits of IO MODE 0 are used for IO MODE 90 27 24 These bits control Fast Digital Inputs assignment Please see section 8 3 3 below and the OM keyword reference in this user s manual for further information IO MODE 90 31 28 NEW feature in version 2 03 and later versions only These bits are used to configure Driver Fault Signals source for MD drivers operation Please see the OM keyword reference in this user s manual for further information 8 2 6 1 2 SC AT 2M IO MODE 0 XOM Keyword As noted above in the SC AT 2M only Dout5Fast and Dout6Fast can be assigned as compare outputs Digital output can be as
203. fined as follows 8 3 2 3 1 SC AT 4M IO MODE 1 YOM Keyword The IO MODE 1 register is divided into 4 bytes each one configuring the Capture Event Source for a separate axis The LS Byte controls the X Axis Capture Event configuration and the MS Byte controls the W Axis Capture Event configuration respectively The order of Bits in Each Byte is identical for all axes The Bit order in each Byte is described below e Bits 3 0 selects the number of digital input to be used as a capture input trigger source for that axis Bits 3 0 0 Select Digital Input 1 DInpl Can be a Fast Input Bits 3 0 1 Select Digital Input 2 DInp2 Can be a Fast Input Bits 3 0 22 Select Digital Input 3 DInp3 Can be a Fast Input Bits 3 0 23 Select Digital Input 4 DInp4 Standard Isolated Input Only Bits 3 0 15 Select Digital Input 15 DInp15 Standard Isolated Input Only e Bit 4 selects weather the general purpose Digital Inputs are used i e DInpl to DInp16 or weather the dedicated inputs are used i e XRLS XFLS etc For a complete list of all dedicated inputs please see the IP keyword reference Dedicated IP bits starting from Bit 16 zero based as X RLS and so on Bit4 0 Select General Purpose Digital Inputs Bit4 1 Select Dedicated Digital Inputs e Bit 5 select whether the capture is on one of the inputs defined by Bits 4 0 or on this axis Encoder Index Input Bit5
204. following axis remains linked to the master DP regardless of the master s motion status or motor status For example if a master axis is disabled due to a high error condition its motor will be turned off but the following axis will still be in motion condition and will keep following the disabled axis encoder even after it is stopped 5 4 1 5 On The Fly Parameters Change An axis during gear motion is not effected by any of the normal profiler motion parameters e g SP AC etc Control and Robotics Solutions Ltd 5 9 SC AT Software User s Manual and Commands Reference Although the following ration FR can be modified during motion it is not recommended to do so as this will result in a position and possibly also velocity reference steps 5 4 2 Velocity Based Gearing MM 3 5 5 Note This mode is currently not fully implemented ECAM Motions 5 5 1 Position Based ECAM MM 5 SM 0 5 5 1 1 Description 5 10 Position based ECAM Electronic CAM is a unique motion mode that allows one axis to follow a motion of another axis based on a user defined position location table Currently F W Revision 2 05 D the SC 4M SA support position based ECAM motion mode for X and Y axes only The SC AT support master reference position DP based ECAM motion In this mode the position profile is taken from a set of values from the AR array actually performing a user defined contour The time scale i
205. function for the specified axis The command validates correct parameter PG for the specific requested mode In any case that one of the command s parameters is out of range the command will return an error prompt gt or will generate a script Run Time Error if called from within a script macro program The relevant error code flags EC or QC will be updated to reflect the error cause 8 14 Control and Robotics Solutions Ltd Notes Revision 3 10 January 2005 e The user should be aware that not all conditions for a correct operation of the Compare Function could be validated during command initialization For example the minimal distance between each two consecutive points in the AR table in Modes 2 and 3 cannot be tested as the limitation depends on the actual motion speed It is the user s responsibility to specify correct parameters values for each operation mode Please refer to the specific mode description section defining operation limitations in each mode The error codes generated by the PQ command are presented below 8 2 5 4 Dedicated Error Codes related to the Compare Function Operation As explained in the previous section in case that the PQ command fails to validate one of its parameters the command will return an error prompt gt or will generate a script Run Time Error if called from within a script macro program The relevant error code flags
206. functions See also I O functions Group parameters for the Position Compare Events Function operation Enable Disable Position Compare Events Function Command for a specific axis Capture Location The XC parameter holds the last captured position of Compare Function Parameters Array size 10 x 8 This array defines the PQ an axis Capture Events Counter This parameter is automatically incremented by the firmware on each Capture Event Table 13 Special Encoder Interface Related Keywords 10 4 2 5 Analog and Digital I O Function Keywords AD j AnalgDeadBand AF Analog Input Gain Factor S O AI Analog Input AS Analog Input Offset S O AO Auxiliary Analog Outputs Command _ _ DO Analog Output DAC Offset configure the Compare and Capture functions See also Special Encoder interface functions Output Set Bit Table 14 I O Functions Related Keywords Bel Set I O Modes Hardware Configuration This keyword is used to Currently Not Yet Supported in the SC AT 2M Firmware Currently Not Yet Supported in the SC AT 2M Firmware 10 10 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 4 2 6 Communication and Configuration Keywords RA CANBus Receiving CAN Address o TA CAN Bus Transmitting CAN Address Table 15 Communication and Configuration Keywords 10 4 2 7 Protection Keywords IS Integral Term Sa
207. g the NC YNC 0 Restore Close loop mode See Also TC TL 2 order filter definitions Data Recording and section 8 5 2 5 above Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 49 OC Output Clear Bit Command Purpose The OC command Clears Set to 0 a specific Bit in the digital Output Port word Unlike the OP parameter that only allows simultaneous access to all the output bits the OC command allows bit wise clear operations on the digital output word This is required for example when only a certain bit is need to be cleared without the other bits changed Using the OC Output Clear Bit command saves the user from first reading the value of OP clearing one of its bits using a logical amp operator and then re assign OP read modify write When accessing the output port bits from two separate script tasks this is necessary otherwise the value of OP can be wrong The OC Output Clear Bit command must receive a parameter indicating the specific bit to mask currently 1 8 Calling the command without a parameter will generate an EC PARAM EXPECTED EC 38 error Calling the command with an out of range parameter will generate an EC PARAM OUT OF RANGE EC 34 error Attributes Type Command Axis related No Array No Assignment Command Allows parameter Must have Bit 1 8 Scope All Restrictions None Save to Flash Default Value
208. h axis However if electronic Sinusoidal Commutation see definition below is used each axis operating in this mode uses 2 x 10 v analog commands In this case no Auxiliary Analog Output is available for that axis Analog Commands The SC AT 4M support as a standard 2 x Analog Output Scaling Interfaces for each axis Total of 8 x 10 v 16 bits resolution The SC AT 4M also support 4 x PWM outputs for special drivers interfaces Each PWM interface is 12 bits resolution The SC AT 2M support 2 x Analog Output Interfaces for the X Y axes 10 v Q 12 or 13 bits resolution The SC AT 2M also support PWM commands at 12 bits resolution To avoid loop and command gain differences the standard S W interface for ALL command both Analog and PWM outputs is fixed at 16 bits i e 32767 bits for 10 v command and 32767 bits for 10 v command 3 14 Control and Robotics Solutions Ltd Analog Outputs Auxiliary Clause Clause Assignment Clause Command Clause Report Clause Terminator Command Interpreter Communication Protocol Communication Syntax Language Syntax Revision 3 10 January 2005 On the SC AT 4M when not using sinusoidal commutation drivers the auxiliary analog output 10 v 16 bits can be used as a general purpose analog output On the SC AT 2M when not using analog commands as driver commands the auxiliary analog output 10 v 12 or 13 bits can be used as a ge
209. he AR array when data recording is initiated the data recording starts from DA 16 000 and ends at DA 1001 depending on the RL This implementation allows special applications to define large AR arrays by accessing DA at locations higher then 1 000 for ECAM usage etc In all normal applications when using AR in its defined limits i e 1 1000 no overlap will occur even when the full data recording buffers are used 8 1 3 Data Recording Support on the SC AT 4M 2M Shell 8 6 As noted above the SC AT 4M 2M shell GUI application fully supports all the Data Recording features of the SC AT controllers The user can select the recorded variables configure recording length initiate recording process and view the resulted graphs in our advanced Data Viewer application Please refer to chapter 9 later on in this User s Manual for more information about the SC AT 4M 2M Shell application GUI support for Data Recording Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 2 Position Compare Events Position compare events is a hardware supported feature of the SC AT controller s family encoder interface that provides the ability to generate accurate hardware pulses based on comparing the actual encoder position with pre defined values When a compare condition is satisfied a hardware pulse is automatically generated by the controller and is directed to one of the digital outputs of the SC AT Controller
210. he analog command signals is filtered with a 2 order low pass filter at 310 Hz Please refer to the specific product hardware user s manual for further information regarding analog output electrical interface characteristics Control and Robotics Solutions Ltd 6 5 6 6 Revision 3 10 January 2005 PWM Command Format As noted in the previous section the SC AT controllers provides in addition to the analog servo command interfaces also PWM commands for the Mini Drivers interfaces both SC AT 2M and SC AT 4M and for the integrated driver interface SC AT 2M Only This is relevant for the following configurations gt SC AT 4M PWM command outputs for PMD 1M Mini Drivers gt SC AT 2M PWM command outputs for PMD 1M Mini Drivers gt SC AT 2M PWM command outputs for the PD AT 2M Integrated drivers When using the SC AT PWM outputs the electrical command interface bypasses the Analog DAC circuits The SC AT servo controller s command the driver with direct digital PWM and Direction lines In this case the SC AT hardware automatically generates the PWM and Direction command from the upper 12 bits 11 sign of the DAC command The resulted PWM frequency is approximately 32 kHz The command gain in that case is still the same as in the DAC case the gain is normalized internally by the hardware gt A full 32767 LSB command generates a 100 PWM signal with Dir gt A scale 16384 LSB command genera
211. he compare function The first compare pulse will always be at exactly that point For Modes 2 and 3 this parameter defines the Start Index Start in the AR compare position table corresponding to the first compare point The first compare point will be at Control and Robotics Solutions Ltd 8 11 SC AT Software User s Manual and Commands Reference Array Element Function Description the encoder location defined by AR Istart PG i 4 PG i I5 End Point Pulse Width For Modes 0 and 1 this parameter defines the End Position PEnd in encoder counts for the compare function Beyond this location the compare function will be automatically disabled For Modes 2 and 3 this parameter defines the End Index End in the AR compare position table corresponding to the last compare point The last compare point will be at the encoder location defined by AR End This parameter defines the pulse width when PG i 6 1 PG i 5 20 Pulse Width 1 94 uSec PG i 5 21 Pulse Width 7 75 uSec PG i 5 22 Pulse Width 15 5 uSec PG i 5 23 Pulse Width 248 23 uSec Was 3 9 PG i 6 Pulse Width Mode This parameter defines the compare pulse width mode PG i 6 0 Specify that the compare output will be active as long as the compare condition is satisfied PGf i 6 1 Specify that the compare output will be active as long as the compare condition is satisfied fo
212. he controller Scripts or Macro A dedicated digital input whose source is typically the motor s driver It is used to inform the SC AT about a driver s malfunction for which the SC AT needs to inhibit the driver and to abort all motion activities The SC AT executes an internal firmware BIOS to perform all its tasks From time to time new firmware versions are released corrections of problems new features etc New firmware version will be supplied by C amp RS or be available from our web site The SC AT together with the SCShell enables the downloading of a new version via the RS232 ONLY line The advantages of this process over older EPROM replacement method are clear The SC AT 4M includes a I6M bits FLASH memory for its firmware parameters and user program The SC AT 2M includes a 2M bits FLASH memory for its firmware parameters and user program The FLASH memory is in principal similar to an EEPROM memory Control and Robotics Solutions Ltd Revision 3 10 January 2005 The FLASH memory enables the downloading of a new firmware version Host A computer terminal PLC or any other device which may send communication clauses to the SC AT via one of its communication links Identifiers Axes The SC AT Commands Syntax always requires an axis identifier before the keyword itself If a Keyword attribute is non axis related any axis identifier is legal and will have the same result The Command In
213. he order as listed and Hex Value Digital Input 1 Dinl Digital Input 2 Din2 Digital Input 3 Din3 Digital Input 4 Din4 Digital Input 5 Din5 Digital Input 6 Din6 Digital Input 47 Din7 Digital Input 8 Din8 H W Signal 8 0x0000 0100 Digital Input 49 Din9 9 0x0000 0200 Digital Input 410 Din10 10 0x0000 0400 X Axis External Fault Input 11 0x0000 0800 Y Axis External Fault Input 12 0x0000 1000 X Axis Internal Fault Input 13 0x0000 2000 Y Axis Internal Fault Input 14 0x0000 4000 X Index 15 0x0000 8000 Y Index Notes Name Functionality IP Bit 0 Based and Hex Value Name Functionality 16 0x0001 0000 17 0x0002 0000 18 0x0004 0000 19 0x0008 0000 v Axis FLS 20 0x0010 0000 21 0x0020 0000 22 0x0040 0000 23 0x0080 0000 24 0x0100 0000 X Axis Driver Fault Result After Driver Fault Source logic CG Mux 25 0x0200 0000 Y Axis Driver Fault Result After Driver Fault Source logic CG Mux 26 004000000 0 O 27 0x0800 0000 28 0x1000 0000 ABORT Input 29 0x1000 0000 31 0x4000 0000 e Bits 0 9 of IP are the uncommitted Digital Inputs e Bits 16 19 of IP are the RLS and FLS Limit Switch flags of axes X and Y e RLS and FLS stand for the Reverse Back Limit Switch flag inputs and the Forward Front Limit Switch flag inputs Control and Robotics Solutions
214. herent not controlled by the user velocity command feed forward element represented in the second equation above by DP DP 1 gt VE is the internal velocity loop error The velocity loop feedback is currently used as a simple numeric derivative of the position reading represented in the third equation above by PS PS Both VC and VE are internal software variables and can not be accessed from the communication gt U is the Velocity PI filter output TL is the output command saturation value The 2 order filter block is filter high order low pass filter gt PO is the final control loop output This value is converted to the analog output command for the external driver using the 16 bit DAC in the system The filter equations in this case can also be written in a Z transform transfer function equation as follows U PE KP 0 27 x65536 x KD x H 65536 1 z Please note that here the final close loop transfer function has the same structure as in the PID case 2 zeros and an integral but with different parameters scaling and with an isolated parameters form This can be considered as a more convenient filter form as one can note that the filter has 2 zeros separately effected by KP and KI an integral and total loop gain KD actually the velocity loop gain Another benefit in that form is that one can operate the close loop system with KP 0 no position feedback to tune the velocity loop p
215. igital encoder location The later method is of course much more reliable accurate and does not require a dedicated analog position sensor cost money for that purpose As all modern servo control systems usually use an incremental encoder feedback sensor deriving the true rotor position with high accuracy is natural The main issue to take care of is the initial magnetic angle offset due to the use of an incremental encoder rather then an absolute one after power up the system does not know its true absolute position Please refer to the next section for more discussion about magnetic offset phase initialization In Sinusoidal Commutation it is the servo controller who is responsible for the continuous phase currents distribution An internal software algorithm takes the servo loop current command and generates two phase commands according to the following equation Ia I xsin Ib I xsin o 120 where I Is the total armature current command the servo loop output la Is the current command for motor phase a Ib Is the current command for motor phase b and o Is the magnetic position of the armature relative to the magnetic poles Control and Robotics Solutions Ltd Revision 3 10 January 2005 As shown above in this mode the controller provide 2 separate current commands a and b each one standard 10v format for each channel operating in SIN commutation The analog commands are issued from the SC AT 4M
216. ion Command Purpose The AB Abort command aborts any motion immediately without any profile The motion will be stopped abruptly in the next servo interrupt following the Abort command The AB command should be used in emergency cases only Normally the ST or KR commands should be used to stop any type of motion Note that if an Abort command is issued when a motor is moving at high speed the servo loop may be disabled due to high error Attributes Type Command Axis related Yes Array Assignment Command Allows Parameter No Scope All Restrictions None Save to Flash Default Value Range Syntax XAB Aborts X Motion AAB Abort motion of All axes Examples The following code example shows starting a normal motion in X axis from Position 0 to Position 100 000 and then aborting the motion XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion XAB Will immediately abort the X motion See Also BG ST KR ER Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 2 AC Acceleration Purpose The normal Acceleration value to cruise velocity in all motion modes that use the internal Profil
217. ion Restrictions Word Rela ted Lom Ye Moronmos Morno Yes Motor On Enable Disable we Yes Magnetic Bch Seo ME see foomars Yer ws Yes Motion Sams None No oP No SwGeOupuPot noe Ne EA Yes General Purpose Parameter Array None Yes Pe ves Postion nor no Control Drive Command Ces Ye Desde Nx N6 Receiving CAN Address Rt Ne Recording Legh None Ye R Ye Next Relative Position Targa Non Ne PRR No Recording Status None No Sw Ye Special motion mode No Motion Yes S Yes Speed For Profiler Motions None Yes Ss Yes Status Register None wo 7A No Transmiting CAN Addres None Ye mb Yes 32 Bit Timer Down Parameter None No mk Yes TargetRadius None Yes mr Yes Targo Time None Ye vo No Vector Deceleration None Yes wr Yes Wait time for Repetitive PIP None Ye m Ye Smoothing Factor None Yes xN Yes Number of Capture Events None No DE E a a NUNT Revision 3 10 January 2005 Assignment 2 147 483 648 L ee eem 39x30 2147000000 Po 8 000000 Le eren Eon a RR p ooo Oo 22447000000 9 0 100000 se ae e foes o 30 000 000 0 8 388 607 o 022047 0 eee Ee 100 000 000 0 32 767 0 32 767 32 767 100 000
218. ions Save to Flash Default Value Range Revision 3 10 January 2005 Command Yes Must Have Number 0 or 1 All See Above The command syntax is as follows see also syntax definitions above XPQ 1 YPQ 1 WPQ 0 ZPQ 0 Examples Enable Compare Function for X Axis Enable Compare Function for Y Axis Disable Compare Function for W Axis Disable Compare Function for Z Axis Please refer to section 8 2 7 in this user s manual for Compare Function operation examples See Also PG Compare Function Description section 8 2 Control and Robotics Solutions Ltd 10 107 SC AT Software User s Manual and Commands Reference 10 5 58 PO PID Output Purpose PO is a read only parameter reflecting the actual servo driver command value In close loop operation PO is the actual servo control output In open loop operation PO equals the TC command Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions Save to Flash Default Value Range 32 767 32 767 Syntax XPS Report PO value for X Axis APS Report PO value for all Axes Examples See Also TC and Control Loop Description in section 6 above 10 108 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 59 PS Position Encoder Position Purpose This command reports the
219. is saturated reaching TL for more then 0 5 seconds and no motion is detected 0x40 MF_ENC_ERR_1 Fault cause by an encoder QUAD Error If Encoder Error Detection is enabled 0x80 MF ENC ERR 2 Fault cause by an encoder Disconnected Error If Encoder Error Detection is enabled Table 19 Motor Fault Cause Reasons MF Codes Note The MF ENC codes can be OR ed with the MF DRV FLT when asserted These are the MF parameter attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range See Above 10 74 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Syntax XMF Report Motor Fault for X axis AMF Report value of MF for all axes Examples See Also EM and Section 7 2 above for more information about software generated faults Control and Robotics Solutions Ltd 10 75 SC AT Software User s Manual and Commands Reference 10 5 42 2 MF Motor Fault Reason in SC AT 2M Controllers 10 76 Purpose MF is a read only parameter reporting the last motor fault reason MF is automatically updated by the real time controller firmware As actual Motor Faults always causes an MO 0 condition Motor Disable the purpose of the MF parameter is to latch the cause of the last fault since when the motor is disabled usually the
220. is the actual algorithm that calculates new reference points to the servo loop according to the selected Motion Mode A characteristic of the SC AT family that enables the modification of most of its parameters even when they are active For example the PID parameters can be modified while the motor is in servo loop motor is on A unique characteristic of the SC AT is that all except profile smoothing of its motion parameters such as speed acceleration deceleration distance etc can be modified on the fly under almost any conditions The Capture Position feature supported by the new SC AT family products is the ability of the encoder interface hardware to capture latch the exact encoder location when a pre defined Input or encoder Index is detected The Capture hardware can latch encoder position when counting at ANY encoder speed The Capture mechanism can be programmed to latch encoder positions based on a user defined digital input or encoder index pulse The Compare Position feature supported by the new SC Control and Robotics Solutions Ltd Revision 3 10 January 2005 Events AT product is the ability of the encoder interface hardware to compare the actual encoder hardware counter value to a pre defined user register value and to generate a H W pulse when there is a condition match The basic compare mechanism can work at ANY encoder speed Compare mechanism can be operated as a fixed GAP auto increment condi
221. is version 300 Indicates the FPGA version 3 00 250 Indicates the Macro Buffer size in kBytes 250 KBytes VVVVV Please Note Firmware version must comply to FPGA versions Downloading firmware versions without prior authorization from C amp RS is not allowed and might result in a malfunctioning un expected results board In CAN bus communication the standard VR report has the following syntax Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Type FW Ver FW Ver Num FPGA Reserve Macro Macro Number Hi Low Axes Version d Size Hi Size Low Table 29 SC AT 4M to Host CAN VR Version Report Message Format The VR Version Report command also supports receiving a parameter as part of the command syntax Calling VR without any parameter is fully compatible to previous revisions version report format indicated above However the controller now also support the following additional version reports gt AVR Reports Boot and Single or Dual Flash Devices gt AVR 2 Reports Firmware Major and Minor Versions with its release Date and Time gt AVR 3 Reports the FPGA Version AVR I CAN Format Byte 0 Single Or Dual Flash 0 1 Respectively Byte 1 Product Version High Byte Byte 2 Product Version Low Byte Control and Robotics Solutions Ltd 10 143 SC AT Software User s Manual and Commands Reference Byte 3 Boot Version High Byte Byte 4 Bo
222. isions version format regardless of the command parameter New Enhanced Down Load Buffer Mode EDB A new Enhanced Down Load Buffer Mode EDB is now supported as an option This is an enhancement to the SC 4M and SC 2M old DownLoadBuffer DB command to allow fast and large data blocks transfer from a host PC to the controller In this mode the controller is continuously listening to a new dedicated CAN address and monitors all messages received in it According to a new set of parameters the controller then stores the incoming data in the relevant buffers and auto increment the store location for one or two buffers separately The new EDB mode is supported in CAN communication only In order to avoid initialization problems and fully backward support any existing application the EDB mode is always DISABLED after power up In order to activate the new EDB mode a host system must initialize the mode Please refer to the EDB Command Reference description for full information on how to initialize and use the EDB mode function Change in ZI parameters Range To support the new EDB mode parameters range ZI commands range was extended to 100 000 was 0 to 2048 Care should be taken when using with ZM ZA ZR ZC Commands as they DO NOT check the range of the used ZI used as CAN Send Get Addresses The user must initialize valid and correct in range CAN address Modify Gearing Motion Mode Gearing Motion Mode MM 2 is now fully supporte
223. ithout any frequency limitations Notes 3 and 4 above regarding the limitations of operation in Mode 0 directions are also relevant in this case This mode is not supported in the current Firmware version 8 2 3 Mode 2 32 Bit Arbitrary Tables Mode 2 allows the user to define an array of 32 bit position locations to specify arbitrary compare locations In Mode 2 the user fills in the desired compare locations to the general purpose array AR In the SC AT 4M Up to 10 000 compare points may be defined currently limited by the size of the AR array In the SC AT 2M Up to 1 000 compare points may be defined currently limited by the size of the AR array The user then defines the Start and IEnd indexes index entries on the AR array from which the compare locations will be taken The Distance parameter needs to be defined as 1 for positive motions and 1 for negative motions Operation in Mode 2 has the following limitations 1 In this mode the controller real time firmware code is responsible for table points location increment This implies a practical limitation on the position distance in encoder count units between each two consecutive table points depending on the actual motion speed The limitation requires that the resulting max arbitrary location compare pulse frequency will be smaller then 8 192 Hz in the current product firmware version 2 In any case regardless of the motion direction
224. l and Commands Reference ECAM profile includes the deceleration part to avoid sudden abort of motion when the number of cycles is completed As noted above ECAM uses the general purpose AR array for Table Input data In general the Master Based ECAM works only for positive and monotonous motion of the master axis If the master moves in a negative direction use the relevant CG configuration bits to inverse its direction Unexpected motions can happen if the master does not perform positive motion However within an ECAM cycle the master can stop and even invert its motion direction without any problems as long as the master does not move below the Start ES and above the End EE locations Another limitation is that the master axis should not perform more than a complete ECAM cycle during the time between two consecutive samples 61 us However this limitation can be normally ignored since it practically means bad ECAM parameters setup In ECAM Motions WW the smoothing parameter must be 0 since the axis is using the table locations as a reference 5 5 1 2 Starting a Position Based ECAM Motion 5 12 The following code sequence will initiate an ECAM motion of Y axis with X being the master The ECAM motion is a triangular profile from 0 to 5000 and back to 0 Communication Clauses Description YWWz0 YMO 1 Enable Y Axis servo loop motor on No Smoothing YMM 5 YSM 0 Set Y axis to Position Based ECAM
225. lear this bit to change the encoder reading direction When set to 0 the default polarity is non invert When set to 1 the default polarity is invert 2 Reserved Should be left 0 3 Use This bit configures the servo loop control scheme to PID PIV PID or PIV Please see section Control When set to 0 PIV control scheme is used Scheme When set to 1 PID control scheme is used 4 Reserved Should be left 0 3 Enable This bit Disables when set to 0 or Enables when set Encoder to 1 the Hardware Encoder Error detection feature Error Note that when enabled the controller will force Driver Detection Fault condition when encoder error is detected This option must be used with encoders having electrical differential interface only When single ended encoders are used this bit must be disabled Please see section 7 2 2 above for more information about Encoder Error Detection features of in the SC AT 6 Reserved Should be left 0 7 Use This bit configures whether an additional auxiliary Auxiliary encoder is used as velocity feedback for dual loop Encoder configuration see also section 6 7 above Feedback Control and Robotics Solutions Ltd 10 33 SC AT Software User s Manual and Commands Reference CG Bit Function Description Zero Based When set to 0 do not use aux encoder feedback When set to 1 use aux encoder feedback 8 Invert This bit controls the Auxiliary encoder
226. ll or ended due to any reason The MS parameter is a bit field array Each bit represents a certain motion status More then one bit can be high i e logically 1 during a motion sequence MS is most commonly used to monitor end of motion condition Another way to monitor end of motion is to use the extended WAIT commands QW Please see the SC AT Macro Scripts Language features User s Manual for more information The following table describes the current supported MS bits MS Code MS Hex Description Value N_MOTION 0x00000001 Whenever this bit in 1 the axis is in Motion MS_I MS_IN_STOP 0x00000002 This bit 1 when the axis is stopping due to user command or any other non normal stop condition such as Limit etc S_I Reserved Reserved MS IN WAIT REP 0x00000040 This bit indicates that the axis is waiting for the Wait Time to elapse in Repetitive PTP motions 7 0x00000080 Not Used In This Version Table 22 MS Motion Status Parameter Bits Description The MS parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 N A Control and Robotics Solutions Ltd 10 83 SC AT Software User s Manual and Commands Reference Syntax XMS Report value MS for X axis AMS Report va
227. llowed by the width option defined by PG 1 5 See note regarding compare pulse with in the notes below PG i 7 Pulse Polarity This parameter defines the compare pulse polarity mode PGf i 7 0 Defines Normal Positive Pulse PG i 7 21 Defines Inverted Negative Pulse PGTi 8 Not Used Should not be assigned to any value for future compatibility Table 3 PG Array in SC AT 4M Compare Function Parameters Description Notes 1 In the table above 1 represents the selected axis 2 In Incremental modes Modes 0 and 1 since the hardware automatically increments the compare match register the actual compare condition is valid for only 2 basic H W clock cycles 66 MHz so practically if the pulse mode parameter is set to 0 PG 1 6 20 the resulted compare pulse width will be 33 nano sec If PG 1 6 21 the resulted compare pulse width is exactly defined by PG i 5 as specified above 3 In the arbitrary table supported modes Modes 2 and 3 the controller real time software is responsible for updating the compare match registers As a result the compare pulse width may be longer then requested The start point of the pulse will however always match the exact compare point without any delay The Pulse Width selection bits were modified in revision 2 03 in the SC AM SA 8 12 Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 2 5 2 The PG Ar
228. lted The final DAC commands is always protected from roll over beyond 16 bit value Please see more information about calibrating analog commands offset in SIN commutation mode in section 8 5 2 6 above DO is an axis related parameter and controls the offset of the various analog outputs as follows XDO Setthe Analog Offset of the Main X Analog Command Channel YDO Setthe Analog Offset of the Main Y Analog Command Channel ZDO Setthe Analog Offset of the Main Z Analog Command Channel WDO Setthe Analog Offset of the Main W Analog Command Channel EDO Set the Analog Offset of the Auxiliary X Analog Command Channel FDO Setthe Analog Offset of the Auxiliary Y Analog Command Channel GDO Setthe Analog Offset of the Auxiliary Z Analog Command Channel HDO Setthe Analog Offset of the Auxiliary W Analog Command Channel Control and Robotics Solutions Ltd Attributes Syntax XDO 100 EDO 100 ZDO ADO 0 Examples Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Revision 3 10 January 2005 Parameter Yes All None Yes 0 32 767 32 767 Set X MAIN DAC DO 100 Offset 30 5 mv Set X AUX DAC DO 100 Offset 30 5 mv Report value of AS for Z axis Set DO 0 to all axes no analog output offset See Syntax above See Also TC AO and section 8 5 2 6
229. lue MS for all axes Examples The following simple example demonstrates a repetitive motion in the X axis not using the internal Repetitive PTP mode but rather by a simple script that polls the MS to check end of motion and to initiate a backward motion and so on XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 4X START Label for REP PTP Motion XAP 100000 Set Next PTP absolute location to 100 000 XBG Start a Motion while XMS 0 Wait for End Of Motion in X XMS 0 endwhile XAP 0 Set Next PTP absolute location to 0 XBG Start a Motion while XMS 0 Wait for End Of Motion in X XMS 0 endwhile XJP X_START See Also BG EM MM SM TR TT 10 84 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 48 NC No Control Set Open Loop Mode Purpose The NC parameter keyword set the controller to open loop mode In this mode the user can command a direct analog output command to the controller Analog Command Acmd output bypassing the PID PIV controller filter Please refer to the TC command for further information The value of NC is not saved to the Flash memory and each time the controller boots up the value of NC is set to 0 by
230. lutions Ltd 10 117 SC AT Software User s Manual and Commands Reference 10 5 65 RS Reset Controller Command Purpose The RS command can be used to reset the controller software RS causes the SC AT micro processor to enter a software reset state and completely re init the controller software After Reset the entire controller parameters and script program will resume their boot up values The AUTOEXEC will start running like in power up condition The RS command has the following attributes Attributes Type Command Axis related No Array Assignment Command Allows Parameter No Scope All Restrictions All Motors Must be Off No Program running Save to Flash Default Value Range Syntax XRS Will Reset the SC AT controller Examples See Also 10 118 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 66 RV Data Recording Recorded Variables 10 5 66 1 RV Data Recording Recorded Variables For The SC AT 4M Purpose RV Recorded variables is an axis related parameter selecting the data member to be recorded for each one of the 10 data recording vectors XRV control Vector 1 YRV control Vector 2 and so on VRV control Vector 10 The user can select one of 211 internal data members for each vector In general the user can select one of 20 axis specific currently 9 available and 11 reserved data elements for each axis and
231. mediate disable of ALL motors High position error Encoder signal error Two types of encoder error detection are supported see below e Motor Stuck condition In addition to the faults described above the SC AT controllers also include the following protections Verification of correct firmware and FPGA versions after power on Forward limit switch Stop any on going motion in the relevant direction Reverse limit switch Stop any on going motion in the relevant direction High position software limit Stop any on going motion in the relevant direction Low position software limit Stop any on going motion in the relevant direction The SC AT controllers include the following limitations e The peak driver command is limited usually to limit the max current command to the motor when a current driver is used Driver command limitation has two different parameters TL which is the ultimate command saturation limit and IS which can separately from TL limit the Integral value This is needed in some cases to improve dynamic responses It should be noted that the value of TL Control and Robotics Solutions Ltd 7 1 SC AT Software User s Manual and Commands Reference overrules the value of IS please see chapter 6 for further details about the control filter structure In the following sections a more detailed description of the faults protections and the controller response in each case is given 7 1 Dri
232. mily that allows the user to record internal controller variables store them in local temporary arrays and upload them to a host computer using either one of the controller s communication channels The user can of course access the recorded buffers from within a script program if required Data recording significantly improves the control filter adjustment process control parameters tuning application debugging and monitoring and troubleshooting The SC AT has new improved outstanding Data Recording capabilities including the following SC AT 4M SC AT 2M Simultaneous recording of up to 10 Simultaneous recording of up to 8 internal controller variables internal controller variables Up to a total of 100 000 data recording Up to a total of 15 000 data recording points The user can select to record 10 points The user can select to record 8 vectors 10 000 sample points each 1 vectors 1 875 sample points each 1 vector 100 000 sample points or any vector 15 000 sample points or any other combination other combination Selection of more then 150 internal Selection of more then 40 internal variables for each recorded vector variables for each recorded vector More then 100 spare variables to select More then 50 spare variables to select from for future firmware usage are from for future firmware usage are already supported in the existing Data already supported in the existing Data Recording interface Recording i
233. mmand Immediately SUD any motion ME Acceleration value in counts sec for all Profiler based motions Next Absolute Position for PTP Motions RC EM Begins a new Motion Command EA _ ECAM Motion Parameters Array SS EM __ LastEnd of Motion Reason FR _ _ Gearing Mode Following Ratio O Z o o O BE Geo UC T a Master Encoder Definition for ECAM and Gearing Motion Modes et Define he nex Motion Moda eg PTD JOG s 08 MS Motion Status Definition RP Next Relative Position for PTP Motion SM __ Defines Special motion modes Repetitive etc SP Defines Cruise Speed in counts sec for all Profiler based motions ST Stop MotionCommand WT Defines delay in units of iss sec for repetitive PTP motions WW Profile Smooth Factor parameter 10 8 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Vector Acceleration for XY Vector Motions Vector Deceleration for XY Vector Motions Vector Limit Deceleration for XY Vector Motions Vector Speed for XY Vector Motions Table 10 Motion and Profiler Related Keywords 10 4 2 2 Control Filter and Real time Servo Loop Keywords DP DesiredPosition Holds the actual Position Reference ER MaxalowedPostionEmor FF Acceleration and Velocity Feed Forward Gains lt me NETT Control Filter Integral Term Gain ux EM Con
234. mode See Also CG NC TL 2 order filter definitions Data Recording and section 8 5 2 5 above for more information about SIN commutated brushless motors operation and open loop commands in the SC AT 4M Control and Robotics Solutions Ltd 10 133 SC AT Software User s Manual and Commands Reference 10 5 74 TD Timer Down 10 5 74 1 TD Timer Down For The SC AT 4M Purpose The TD parameter is an internal timer counting down towards 0 The timer can be set to any value from 0 to 100 000 000 When reaching a count of 0 the timer stops TD should be used by user programs to generate delays or count time The TD parameter is always reset to 0 after boot TD is an axis related parameter There are 10 different internal timers that can be accessed by the user XTD YTD ZTD WTD ETD FTD GTD HTD UTD VTD There is no actual relation between XTD to the X axis Each timer can be used by any program The TD timers count in the servo sample rate i e 16 384 counts per second The TD parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 100 000 000 Syntax XTD 16384 Set 1 Second Delay for X Timer ZTD Report the value of ZTD ATD 16384 Set 1 Second Delay in all timers Exa
235. mote Receive Address The remote message is received in the SC AT 4M on this address for macro Y Remote Receive Address The remote message is received in the SC AT 4M on this address for macro Z Remote Receive Address The remote message is received in the SC AT 4M on this Configuration Array Code EDB Error Status EDB Receiving CAN Address Control and Robotics Solutions Ltd Bufferl Axis Code Bufferl Current Index Bufferl Increment Value Buffer2 Array Code Buffer2 Axis Code Buffer2 Current Revision 3 10 January 2005 The ZI keyword has the following attributes Attributes Type Axis related Array Assignment Command Allows parameter Scope Restrictions Save to Flash Default Value Range Syntax Examples See Below See Also Parameter Yes Yes size 10 4 Yes All None Yes 0 100 000 100 000 Please see SC AT Advanced Multi Axes Servo Controller Script Programming Language and the Integrated Development Environment User s Manual Remote CAN Control and Robotics Solutions Ltd 10 155 SC AT Software User s Manual and Commands Reference 10 5 86 2 ZI CAN Array SC AT 2M Purpose ZP holds various CAN related parameters These parameters are used in numerous cases 1 CAN remote unit addresses 2 EDB modes 3 Additional Transmit and receive addresses For CAN remote unit addresses
236. motion for both axes From this point the two axes performs normal independent motion according to their MM and SM parameters While this is a very simple and predictable behavior it has a disadvantage that the axes are not truly linked together For example a fault in one axis will not have any effect on the other Future firmware versions will include advanced fully synchronized multiple axes vector motion Attributes and Syntax Except from being non axis related parameters the VA Vector Acceleration VD Vector Deceleration and VS Vector Speed are analogues to the axis specific parameters AC DC and SP and has similar attributes Examples The following example will start a common XY vector motion BMO 1 BMM 0 BSM 0 BVS 100000 B VA 1000000 B VD 1000000 XAP 50000 YAP 600000 BBG 1 Se Also AC DC DL SP MM and chapter 5 above 10 142 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 79 VR Get Version Command 10 5 79 1 VR Get Version Command For The SC AT 4M Purpose The VR command retrieves the controller Firmware and FPGA versions The standard Version Command response report in RS 232 communication protocol has the following syntax SC 4M P 300 4 300 250 The following interpretation is applicable SC 4M FP Indicates the new SC AT 4M product code 300 Indicates that Firmware Version 3 00 1s installed 4 Indicates that this 1s a 4 ax
237. mpatible with the SC 2M servo controller syntax Vector motion is initialized in the SC AT by issuing a BBG 1 command BBG command with a parameter equals to 1 When a BBG 1 command is executed the controller first computes the Vector Distance and Vector Angle base on the X and Y motion distance components The vector distance is not directly defined along the vector but instead it is defined as its X Y components The desired motion distances for the X and the Y axes are defined normally using AP or RP The desired distance along the X axis is XAP XDP and YAP YDP for the Y axis The DP value represents the desired current position before the motion while AP is the desired target position The Vector Distance and Angle are computed as follows Vector Distance SQRT XAP XDP YAP YDP Vector Angle ATAN YAP YDP XAP XDP Once the Vector Angle is determined it is used to compute the accelerations decelerations and speeds projection on both X and Y axes as follows XAC AVA SIN Vector Angle XDC AVD SIN Vector Angle XDL AVL SIN Vector Angle XSP ASP SIN Vector Angle YAC AVA COS Vector Angle YDC AVD COS Vector Angle YDL AVL COS Vector Angle YSP ASP COS Vector Angle In the next phase of the BBG 1 command both the X and Y axes are commanded for synchronized motion based on the AC DC DL SP parameters computed above The actual axis s
238. mples For specific examples regarding usage of the AR array for 32 bit tables definition for Compare Events please see section 8 2 in this User s Manual for more information See Also Compare Functions 10 22 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 9 2 AR General Purpose Array For The SC AT 2M Purpose AR is a user general purpose array The AR array is a non axis related array with size of 1 000 elements Each element in the array is a LONG format number which can be assigned with any value at any time Currently AR is also used internally by the Compare mechanism to define user 32 bit tables for the compare mode For further information please see section 8 2 3 in this User s Manual The index range of the AR array is 1 1 000 Since AR is non axis related accessing XAR YAR BAR etc actually access the same array element Please also refer to the DA array for further information regarding the AR parameter 10 5 16 2 below Attributes Type Parameter Axis related No Array Yes size 1 1 000 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XAR 1 0 Set AR 1 0 ZAR I Report value of AR 1 AAR 300 1000 Set AR 300 1 000 Examples For specific examples regarding usage of the AR array f
239. mples The following code example set the X Timer to 1 Second delay and then wait for the timer to reach zero count This is a simple way to implement a 1 second delay function 10 134 Control and Robotics Solutions Ltd Revision 3 10 January 2005 XTD 16384 Set X Timer to 1 Second Q while XTD 0 Waits for XTD to become zero endwhile Another way to generate a 1 second delay is to use TD as above but then wait for TD to reach a zero value using the QW command define TimerX XTD define WaitTimerX XQW 107000 TimerX 16384 Set XTD 16384 WaitTimerX Waits for XTD to become zero See Also The SC AT Script Programming User s Manual Control and Robotics Solutions Ltd 10 135 SC AT Software User s Manual and Commands Reference 10 5 74 2 TD Timer Down For The SC AT 2M Purpose The TD parameter is an internal timer counting down towards 0 The timer can be set to any value from 0 to 100 000 000 When reaching a count of 0 the timer stops TD should be used by user programs to generate delays or count time The TD parameter is always reset to 0 after boot TD is an axis related parameter There are 2 different internal timers that can be accessed by the user XTD and YTD There is no actual relation between XTD to the X axis Each timer can be used by any program The TD timers count in the servo sample rate i e 8 192 counts per second
240. ms such as high position error motor stuck conditions encoder faults etc Please see chapter 7 below in this User s Manual for more information 6 13 Summary of all Control Filter Related Parameters The following table summarizes all servo loop related parameters of the SC AT controller s family supported MO Motor ON Enables MO 1 Disables MO 0 the servo loop No Control Enables NC 1 Disables NC 0 Open Loop Mode Torque Limit Limits the D2A command All modes IS Integral Term Saturation of PID and PIV control filters PO The final control filter output command value DO The control filter offset calibration parameter oo o o Control and Robotics Solutions Ltd 6 9 SC AT Software User s Manual and Commands Reference CG Bit3 Configuration Bit controlling PID if 1 or PIV if 0 modes p Proportional term PID gain and PIV mode position loop gain Integral term PID gain and PIV mode velocity loop g g Derivative term PID gain and PIV mode velocity loop overall gain KP Gain when gain scheduling is active KI 2 KI Gain when gain scheduling is active KD Gain when gain scheduling is active Gain scheduling period 2 order filter AO gain 2 order filter B1 gain 2 order filter B2 gain CA 13 2 order filter Enable if 1 Disable if 0 flag Velocity Feed Forward Gain Acceleration Feed Forward Gain me Dual Loop Feedback V
241. n all axes Control and Robotics Solutions Ltd 10 123 SC AT Software User s Manual and Commands Reference Examples The following code example shows starting a Normal Non Repetitive motion in X axis from Position 0 to Position 100 000 XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion The Next example shows starting a Repetitive motion in X axis from Position 0 to Position 100 000 same motion parameters as above using WT Wait delay between the motions XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 0 XSM 1 Set Repetitive Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XWT 16384 Set 1 second delay between motions XBG Start a Motion See Also MM WT AB ST KR MO 10 124 Control and Robotics Solutions Ltd 10 5 68 SP Speed Purpose Revision 3 10 January 2005 The Speed of the profile in PTP motions and the Jogging speed in Jogging motions The Speed value is defined in units of
242. n for Gearing motion modes FR 1 MM 2 MM 3 and is also the ratio between the Main Encoder and the Auxiliary encoder in the Auxiliary Encoder FR 2 Velocity feedback mode Please refer to the CG parameter for information about how to enable dual loop mode FR i 1 Following Ratio gain for Gearing motion modes MM 2 MM 3 FR 2 Ratio between the Main Encoder and the Auxiliary encoder i refers to Axes X or Y Gearing or electronic gearing motion is referred to a motion mode where an axis follows another axis position with a pre defined fixed ratio Currently F W Revision 2 05 B the SC AT 4M supports position gearing motion mode for X and Y axes only FR i 1 defines the slave s axis following ratio in relation to the Master s axis ME reference position DP The FR Following Ratio parameter is using a 32 bit 8 24 format scaling resolution to allow ratios of up to x 128 and x 16777216 FR i 1 can be any number in the range of 2 147 000 000 2 147 000 000 FR is an integer number scaled to 8 24 format I e FR 16 777 216 means following ratio 1 0 Please see section 5 4 above Gearing Motion Modes for more information about Gearing Motion Mode operation FR i 2 Defines the ratio between the Main Encoder and the Auxiliary encoder whereas FR i 2 65 536 means ratio is 1 0 Please see section 6 7 above for more information about Dual Loop Operation in the SC AT
243. n the range of 32 767 to set the auxiliary analog commands in the range of 10v When SIN mode is enabled the Main and Auxiliary DAC outputs are used to drive motor Phases A and B respectively In this case SIN mode is Enabled NC has few possible modes of operation as described below e NCz 0 Close Loop The axis is configured for close loop operation Phase A and B commands are issued according to the normal SIN commutation equation given in section 8 5 2 above e NC 1 Open Loop Desecrate Phase Commands TC directly set the Main DAC command and AO directly set the Auxiliary DAC command TC and AO can be set independently This mode is used during the phase initialization process to fix the rotor in a known equilibrium point position see homing example below liu TC Ib AO Command e NC 2 Open Loop SIN Commutation BLDC Mode In this mode TC is set as the equivalent vector current command and the controller performs the SIN commutation projection according to the Magnetic Location p ML MP x 360 This mode can be used to provide normal open loop current command only after phase initialization process is completed la command E TC x sin g Ib TC xsin g 120 Command In this mode when TC is constant the motor will produce a constant torque or force according to T I x Kt and will start to accelerate Control and Robotics Solutions Ltd Revision
244. neral purpose analog output A single complete independent communication statement that can be interpreted and evaluated Each clause consists of keywords and operators and is terminated by a terminator to identify end of clause A communication statement sent by a host and instructs the SC to assign a value to a specified parameter A typical assignment clause consists of Keyword value terminator A communication statement sent by a host and instructs the SC to perform a specified command process A command clause consists of Keyword terminator A communication statement sent by a host and instructs the SC AT to report the value of a specified parameter A typical report clause consists of Keyword terminator A character that identifies end of communication clause It can be lt CR gt or in the communication from a host to an SC or gt in the opposite direction all for the RS232 line The Commands Interpreter is an internal software module of the SC AT firmware responsible for interpreting Clauses sent to the controller The Command Interpreter handles all commands passed to the SC AT The low level hardware and software definition of a communication channel In RS232 for example it includes the baud rate handshake options parity etc The rules that define the correct sequence of characters that may create a valid communication clause Control and Robotics Solutions Ltd 3
245. nerate high loads on the CAN bus network Depending on the PC load and type of CAN board on high buffers upload some CAN messages can be lost In order to avoid this problem the SC AT controllers can add delays between CAN messages during data recording upload The Delay is set by RG 2 and is given in servo sample time multipliers RG 2 0 means no delay RG 2 21 means sample time delay this is 61 micro sec on the 4M and 122 micro sec on the 2M and so on Usually a delay of 3 5 samples is sufficient for most cases 8 1 2 3 Select Recording Length Parameter RL RL defines the number of data points per sampled vector This number defines the final size of each recorded vector 8 1 2 3 1 RL Parameter SC AT AM RL can be up to 100 000 if only one vector is selected to be recorded or up to 10 000 if all vectors up to 10 are selected for recording For example when RG 16 and RL 10 000 each vector will be 10 seconds long Note that the SC AT 4M 2M Shell software automatically appends a time vector to any recording file 8 1 2 3 2 RL Parameter SC AT 2M RL can be up to 15 000 if only one vector is selected to be recorded or up to 1 875 if all vectors up to 8 are selected for recording For example when RG 8 and RLz1 875 each vector will be 2 seconds long Note that the SC AT 4M 2M Shell software automatically appends a time vector to any recording file 8 1 2 4 Report
246. nload new Firmware Internal Use Only Yes Kill stop repetitive PTP motions None No Load all parameters from Flash Memory AIl Macro Programs Stooped No Send RS 232 Message From Macro Program Only Set an output Bit set bit High None Yes Activate Disables Compare Mode None No Download Macro Program Internal Use Only Yes Kill all motions and Programs S W Reset Controller Communication Only All Motors are disabled and rograms are stopped None Internal Use Only Internal Use Only From Program Only From Program Only From Program Only None Yes Stopanpmoion No Save all parameters from Flash Memory All programs are stopped Yes No No No Yes No No No No Yes No Yes No Yes No No No No No OC OS Table 7 SC Commands Keywords List 10 3 Parameters Keywords List The following table describes alphabetical list of all the SC parameters Note The following list DOES NOT include any script programming related parameters Please refer to the SC AT Macro Scripts Language features User s Manual for further reference on Script Program related functions All parameters are represented in signed long 32bit format Some parameters may be restricted to a positive only value Grayed parameters are not operational in the current released firmware version 7 Not Supported in the SC AT 2M Controller Control and Robotics Solutions L
247. nterface Fast sampling rate of up to 61 uSec per Fast sampling rate of up to 122 n Sec per Control and Robotics Solutions Ltd 8 1 SC AT Software User s Manual and Commands Reference 8 1 1 sample point for all selected vectors The SC AT 4M supports Data Recording at the servo sampling rate of 16 384 Hz The user can of course choose to collect data samples at a slower rate using the Recording Gap parameter see below sample point for all selected vectors The SC AT 2M supports Data Recording at the servo sampling rate of 8 192 Hz The user can of course choose to collect data samples at a slower rate using the Recording Gap parameter see below Optional advanced triggering options This option is not supported by the standard firmware version of the controller Please consult Control and Robotics Solutions Ltd for more information In the next sections the operation of Data Recording in the SC AT controller s firmware is explained Operating Data Recording in the SC AT Controller s Family The SC AT controllers firmware code supports Data Recording using the following Keywords e Begin Stop Data Recording command e Data Recording Configuration Parameters Q Select Recorded variables parameter Q Select Recording Length parameter Q Select Recording GAP parameter e Report Recording Status parameter e Data Recording Array Normally the user should not use these pa
248. ntgeannasebeasnant 5 2 34 4 Stopping a Motion rn adr Ee HE PR rh s UR bet be ete ra pressed 5 4 DAS On The Fly Parameters Change i o tpe Ratte repete eoe peer 5 4 5 2 REPETITIVE POINT TO POINT REP PTP MM 0 SM 1 sese eene enne 5 4 5 3 JOGGING JOG MM 1 SM 0 cccccccscssscesscesecssecssecssccssecsecessseesesssesseessceseceascssecnsecsaccsaccaeceseeeeteseees 5 6 d Control and Robotics Solutions Ltd Revision 3 10 January 2005 DO DescrHiptionzuiie d RB Aba ED E n e REUS 5 6 2 3 2 lt Starting a Jog Motion d d dotted tanga buss oe Ree LR ERR EUR EE ete get ER Eee ERU 5 6 20 3 3 Monitoring AU Mollon x a ed de tte icu de bap lads E EI e oad candy E RR E HORE HE TEE EE U 5 6 SIA Stopping d Motion ii eae rede e oi ee Re e ie e PEE ERR REI 5 6 2 85 59 On The Fly Parameters CHANG Criss dette obe Re ee HERE e e e TRE RESET 5 7 5 4 GEARING MOTION MODES E 5 7 23 4 1 Position Based Gearing MM Z2 ee tte sente nee ae endo nie io Ye oo ante guae eer vn 5 7 3 4 2 Velocity Based Gearing MM3 is ee ee Ree erbe ia oa oos Ee ge e ee edere ora un 5 10 5 5 ECAM MOTIONS ori Gusts hebr E Eee UE RE EE e nb oie abe ate eer pP Ue cie ib v tue aee ue S 5 10 5 5 1 Position Based ECAM MM 5 SM O sssssssssesssseeseseeeennen enne en nennen enne ener tenen nenne inneren en 5 10 5 6 SEARCH INDEX iere e rte sexe debet ons Re er ases de vue aee RE Nee e Ee EORR PEE EN EEE 5 14 5 7 JOYS
249. ntrollers SC AT 4M and SC AT 2M Table 1 This User s Manual Revision History Control and Robotics Solutions Ltd c SC AT Software User s Manual and Commands Reference CONTENTS Table of Contents CONTENTS err D TABERE OR CONTENTS 2 Scene nta dud UM Mu es M ME tn Le D TSP OR TABLES asuaan ott du Menta LT DM ate AM en EADEM E H LISTOPTIGUBESA Cet sno Gatti me P tuin eto bee ab a nde i H Dez INTRODUCTION Pm 1 1 2 REVISIONS HISTORY ssissicccssccssssascctesessacsessosstsocnsocssevesansocessecdecesvesdesssbocseenaseeteessbacsensasectessesasseasosussoesasenses 2 1 2 1 F W VERSION 1 43 JULY 2002 sceccccccessessccscccecscssnscsuccsecscssnsnnueesecscesssneesscescesessscauecescssesnseesecsecsces 2 1 2 2 F W VERSION 203 SC 4M SA BOARDS APRIL 2003 c cccccccssssssececececsessnnececececsessnaececceeceesenssaeeeeeens 2 1 2 2 1 SC 4M 8A Release Version 2 03 Modifications Description eese 2 2 2 F W VERSION 204 SC 4M SA BOARDS MAY 2003 cc cccccccccsssssstcecececsessaececececsessaesecececeesenssaeeeeeens 2 6 2 4 F W VERSION 205 B SC 4M SA BOARDS AUG 2003 ccccccccesssssececececsesssececececsensaeseceeeceesesssaeeeeeens 2 7 2 5 F W VERSION 205 C SC AM SA BOARDS OCT 2003 sess ener enean nennen 2 9 2 6 F W VERSION 205 D SC AM SA BOARDS DEC 2003 cccsessscececeesessscecececeesesssseceeeceesenseaee
250. o 0 speed This value is used to set the motion profile Limit Deceleration value in PTP JOG etc Motion modes The Limit Deceleration value is defined in units of counts sec Limit Deceleration in the SC AT has a 256 counts sec resolution Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 512 120 000 000 Syntax ADL 2000000 Set DL 2 000 000 in all axes XDL Report value of DL for X axis Examples The following code example shows starting a motion in Z axis from Position 0 to Position 100 000 DL is set to 2 000 000 counts sec x 10 of AC and DC so when the HL High S W Limit will be detected at 50 000 counts the servo controller will stop the motion with deceleration of 2 000 000 counts sec ZMO 1 ZPS 0 Enables the Motor and Set Position 0 ZMM 0 ZSM 0 Set Normal Point To Point Motion Mode ZAP 100000 Set Next PTP absolute location to 100 000 counts ZAC 200000 ZDC 200000 Set AC DC 200 000 ZDL 2000000 Set Limit Deceleration to 2 00 000 ZHL 50000 Set Z High S W Limit to 50 000 counts ZSP 25000 Set Speed to 25 000 ZBG Start a Motion See Also AC DC SP HL LL BG Control and Robotics Solutions Ltd 10 41 SC AT Software User s Manual and Commands Reference 10 5
251. obotics Solutions Ltd 2 1 2 2 Revision 3 10 January 2005 REVISIONS HISTORY This chapter describes the updates made by each firmware revision modification low level controller software F W Version 1 43 July 2002 e Version 0 0 Creation of this User s Manual First release of the SC AM Product and its reference manual F W Version 203 SC AM SA Boards April 2003 e Version 1 0 of this user s manual describes the changes related to the SC 4M SA Firmware Version 2 03 release e The SC 4M SA is a new hardware board version of the basic SC 4M board It includes a smeller and more efficient hardware design and also some performance enhancement features e The SC AM SA F W Version 2 03 release includes New Boot that support force down load firmware using the on board dip switches Dip SW 2 gt New FPGA code version designated as Version 200 gt New Firmware code version designated as Version 203 e Users should be aware that since this version includes a new Boot sector upgrade of old SC 4M SA versions requires modifying both the Boot and FPGA sectors to be done in C amp RS e The user can verify the correct Firmware and FPGA versions using the BVR Report Version command The controller respond to this command with the following string SC 4MSA 203 4 200 250 The following interpretation is applicable SC 4MSA Indicates the new SC 4M SA product code 203 Indicates that Firmware Version 2
252. ode when NC 1 and MO 1 In Open loop mode the value of TC is directly forwarded to the controller Analog Command Acmd output bypassing the PID PIV controller filter Please refer to the NC command for further information on how to enter Open Loop mode The value of TC is not saved to the Flash memory After MO 1 with NC 1 by default the analog output value commend is 0 to avoid motor motion TC is set automatically to zero when MO 1 It should be noted that in Open Loop mode the actual analog command is still limited by the TL Torque Limit parameter Also the control 2 order filter may be used to monitor its operation and actual effect on the analog output value The operation of the filter can of course be disabled by an appropriate flag see 2 order filter definitions in this User s Manual The user can choose to record the actual Driver Command PO value In case the 2 order filter is enabled the actual value recorded is the step response of the filter If no 2 order filter is used the actual value recorded will be equal to the value commanded by TC In any case the value is saturated by TL The value range of the TC parameter is 16 bit reflecting the controller extended analog command resolution This means that setting TC 32767 will command an analog command of 10 volts while setting TC 32767 will command an analog command of 10 volts TC 0 will of course set analog
253. og Input Gin neu no C b et aq yere rend 10 18 10 5 6 ALS ANGIOG NPU PE 10 19 10 5 7 AO Analog Output Auxiliary eese eee tenente eterne eene ener 10 20 10 5 6 AP Absolute POSTON s e eic ee eC RR EU CEN REIR dove duos eave stu degener 10 21 10 5 9 AR General Purpose Array a iet treat PE ate ere PAD ped 10 22 10 5 10 AS Analog Input Offset trece ee Pei a pie ep rte P rie pda 10 24 10 5 11 BG Begins a new Motion Command essere enne ener trennen enne 10 25 10 5 12 BR Begin Recording Commoand eese eerte 10 27 10 5 13 CA Special Control Parameters Array eerte nennen eene 10 28 J0 5 14 CB CAN Baud Rate uu sare e e PATER b E gre epe rie pes 10 30 J0 5 15 CG Axis Configurdtion iare ra ee Era E Gr t Re aai akiai 10 31 10 5 16 IDA Data Recording Array 4 i o Pn RT e AD Oe pA ANERER 10 36 J0 5 17 DB Down Load Buffer eae gae br er Re e eri sr pis 10 38 10 5 18 DC Decelerati n z ie e C PO i ETE GERE ER REED E te NER ERE EIER 10 39 10 5 19 DF Down Load Firmware eese eee e eee eese a nannten tentent a EAR nena 10 40 10 20 DL Limit Deceleration tee P HG dre Er Re ea eite e ue HR 10 41 10 53 21 DO Analog DAC Offset aE aE ien re entiers re Sepe be rer Rp iE AA 10 42 10 5 22 DP Desired Position ie tite eee Ee in inea sean E EiT Ee ar Se K eaS ieoi 10 46 10 5 25 EA ECAM Parameters Array
254. oint To Point Motion Mode MM 0 Currently the following Special Modes are supported e SMz0 No Special Mode e SM 1 Repetitive Motion Repetitive Point to Point When the controller is in MM 0 PTP and SM 1 the motion will be Repetitive This means that the axis will be commanded to perform a PTP motion to the specified absolute position and then after the motion is completed and a user specified delay WT is expired a new motion is automatically initiated to the starting position AP is updated to this value When the later motion is completed and the WT delay is finished the cycle starts again This back and forth motion is repeated until stopped by one of the following clauses AB abort ST stop KR Kill repetitive and MO 0 e Future Firmware Versions may extend the functionality of the controller special motion modes using additional SM values Although the command interpreter allows values of SM up to 8 currently values above 1 should not be assigned The SM command is restricted to No Motion condition Trying to change SM value while motion is in progress will generate an EC NEEDS MOTION OFF error 50 Attributes Syntax XSM 1 ZSM ASM 0 Type Axis related Array Assignment Command Allows Parameter Scope Restrictions Save to Flash Default Value Range Parameter Yes All Needs Motion Off Yes 0 0 8 Set X Axis SM 1 Report value of SM for Z axis Set SM 0 i
255. on about the compare feature in this user s manual The Recording Gap parameter RG is now a 1 x 2 array RG or RG 1 is the recording Gap RG 2 defines a delay for upload Recording data buffers in CAN bus mode only Please see the RG command reference for more information The RL Recording buffer Length defines the number of max recorded data points per vector It can be 15 000 points for one vector or 1 750 for 8 vectors and anything in between Please see the RL command reference and the section Data Recording in this User s Manual for more information Control and Robotics Solutions Ltd 10 7 SC AT Software User s Manual and Commands Reference 10 4 Keywords List Functional Groups The following section describes the SC Keywords list ordered in functional groups 10 4 1 Keywords Group Description The following Keyword Groups are distinguished e Motion and Profiler Related Keywords e Control Filter and Real time Servo Loop Keywords e Data Recording Related Keywords e Special Features Interface Function Keywords e O Function Keywords e Script Programming Keywords e Configuration and Protection Keywords e General Keywords 10 4 2 Keywords Groups The following list describes all the SC Keywords excluding Script Programming Keywords divided to the logical groups indicated above 10 4 2 1 Motion and Profiler Related Keywords AB Abort Co
256. on 5 16 Indicates the Macro Buffer size in kBytes 16 kBytes VVVVV Please Note Firmware version must comply to FPGA versions Downloading firmware versions without prior authorization from C amp RS is not allowed and might result in a malfunctioning un expected results board In CAN bus communication the standard VR report has the following syntax Byte Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Type FW Ver FW Ver Num FPGA Reserve Macro Macro Number Hi Low Axes Version d Size Hi Size Low Table 30 SC AT 2M to Host CAN VR Version Report Message Format The VR Version Report command also supports receiving a parameter as part of the command syntax Calling VR without any parameter is fully compatible to previous revisions version report format indicated above However the controller now also support the following additional version reports gt BVR 1 Reports Boot and Single or Dual Axes Controller Version gt BVR 2 Reports Firmware Major and Minor Versions with its release Date and Time gt BVR 3 Reports the FPGA Version In current firmware version special VR requests are supported on the SC AT 2M in RS 232 only Control and Robotics Solutions Ltd 10 145 SC AT Software User s Manual and Commands Reference 10 146 The VR command has the following attributes Attributes Syntax XVR XVR 2 Examples Type Axis
257. on 3 10 January 2005 10 V 4M 16bit Acceleration Feed Forward Analog Voltage Command Interfaces Velocity Feed Forward Open Loop Open Loop Operation Command TC Mode Switch NC Analog Driver Command DC Brush or Brushless Motion Velocity 2 Ord 16 Bit DACS Filter e ample i j omman Profile i file PI Filter Dac Gain Auxiliary Generator E 5 i Analog Interface or g Brushless 2 Saturation i Phase d Sinusoidal Command Commutation Interface Position SC AT2M Auxiliary B Motor and Encoder Dual Loop Option Load System SC AT 2M i Encoder Gain Encoder Velocity 1 z 1 l Counts Second Enc Gain Encoder Encoder Position PS Counts Electro Mechanical System Figure 6 1 Position Over Velocity Loop PIV Control Scheme Structure Control and Robotics Solutions Ltd 6 1 SC AT Software User s Manual and Commands Reference a z t 10 V 16 Bits Analog Voltage Acceleration Feed Forward Command Interfaces Velocity Feed Forward j Open Loop Open Loop Operation Command TC Mode Switch NC Analog Driver Command DC Brush or Brushless Command Interface or Brushless 2 Phase Sinusoidal Command Commutation Interface Profile Generator PID Filter Motion Position 2 Ord 16 Bit DACS Filter E Dac Gain Auxiliary Analog t Command Motor and Load System Encoder Position PS Counts j Encoder Gan l
258. or the Y axis Bit order within this field is similar in all axes Bits 23 16 of IO MODE 1 control the Capture Event Source for the Z axis Bit order within this field is similar in all axes Bits 31 24 of IO MODE 1 control the Capture Event Source for the W axis Bit order within this field is similar in all axes Table 25 SC AT 4M YOM IO MODE 1 Bits Configuration Description Control and Robotics Solutions Ltd 10 91 SC AT Software User s Manual and Commands Reference 10 92 The OM parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 124 000 000 2 124 000 000 Syntax XOM 0 Reset IO MODE O register XOM Report Value of IO MODE O XOM 0 Reset IO MODE 1 register XOM Report Value of IO MODE 1 Accessing OM with other axes identifiers has no effect and should be avoided for future compatibility Examples The following assignment set All digital outputs as standard normal outputs controlled by the OP parameter XOM 0 The following assignment set Digital Output 1 DOutl to be assigned to X Axis Compare Digital Output 2 DOut2 to be assigned to Y Axis Compare and All other digital outputs as standard normal outputs controlled by the OP parameter In this MODE accessing the two low bits of OP
259. or 32 bit tables definition for Compare Events please see section 8 2 in this User s Manual for more information See Also Compare Functions Control and Robotics Solutions Ltd 10 23 SC AT Software User s Manual and Commands Reference 10 5 10 AS Analog Input Offset Purpose Set the Analog Input Offset Please see the AT Analog Input command reference for complete information about Analog Input interfaces support Attributes Syntax XAS 0 ZAS AAS 2047 Examples Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 2 047 Range 0 4 095 Set X Axis AS 0 no offset Report value of AS for Z axis Set AG 2047 to all axes See Syntax above See Also AD AF AG AI 10 24 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 11 BG Begins a new Motion Command Purpose The BG command begins a new motion according to the current motion mode Please see chapter 5 in this User s Manual for further information about supported Motions Modes The BG command allows receiving an argument parameters The parameter may be omitted to start a normal single axis motion or currently in this version be used 1 to initiate a common X Y vector motion In the SC AT 2M if the motion mode is Point To Point MM 0 and the motion is in to
260. or any general purpose The DA and the AR arrays both share the same memory space AR is limited to 1 000 from the communication only but can be further used in order to access parameters with indexes larger than 1 000 via DA The actual size of DA is 16 000 but recordings are limited to 15 000 The data recordings are performed from the end of the DA vector while ECAM PixGen use the standard AR parameter from the beginning Attributes Type Parameter Axis related No Array Yes size 1 16 000 Recordings limited to 15 000 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XDA 1 0 Set DA 1 0 XDA 1000 Report value of DA 1 000 YAR 300 1000 Set DA 300 1 000 Examples See Also UD Data Recording RG RL RV RR BR and section 8 1 2 above See also section 8 1 2 6 2 above for more information about the DA and AR arrays in the SC AT 2M Control and Robotics Solutions Ltd 10 37 SC AT Software User s Manual and Commands Reference 10 5 17 DB Down Load Buffer 10 38 The DB command provides an efficient fast download of large array buffers in CAN Bus Only The SC AT 4M support an additional Extended Down Load Buffer Mode EDB that allows downloading data in fast format also in CAN only to two arrays simultaneously Both the DB and EDB modes suppo
261. or current TL saturates the analog output command in both Close Loop NC 0 and Open Loop NC 1 2 3 operation modes Please look in this User s Manual under The Control Filter chapter 6 for further information The range of TL is 0 32 767 TL 0 disables the analog command output to 0 volts TL 32 767 is full range 100 command i e 10 Volts Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 32 763 Range 0 32 767 Syntax XTL 16384 Set X Axis TL 16 384 50 of Max Range ZTL Report value of TL for Z axis ATL 32767 Set TL232 767 in all axes 100 limit Examples The following code example enables Open Loop mode on Y axis but limits the Max analog command to 5 Volts YMO 0 Must Disables the Motor before changing the NC YNC 1 Set NC 1 to indicate Open Loop for that axis YMO 1 Set MO 1 for Y Again YTL 16384 Set Command saturation to 5 Volts YTC 16384 Set command value to 50 5 Volts YTC 32767 Set command value to 100 10 Volts but TL will actually limit the actual outout value to 5 Volts See Also NC TC IS 10 138 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 76 TR Target Radius Purpose The TR parameter defines the Target Radius in Encoder counts for the In Target d
262. osition is a special parameter related to Brushless SIN commutation mode supported by the SC AT 4M special features ML holds the magnetic angle of the motor from 0 when ML 0 to 360 when ML MP and is used to derive the 2 SIN commands for sinusoidal commutated brushless drivers ML the magnetic location is similar to PS the encoder position except that its value is modulated by the MP Magnetic Pitch value ML can be set to any value in the range of 0 ML lt MP When the position PS is changed by the encoder movement ML is updated also 1 1 relation to PS However unlike PS when the position increases beyond the value of MP or decreases below 0 ML is modulated wrapped to keep the 0 to 360 range ML is usually set by the user or a script program during the phase initialization process of a brushless sin commutated motor Altering ML value during motion or after the phase initialization process in a sin commutated motor is a serious error and can cause unexpected abrupt motions Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions Needs Motion Off Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XML 150000 Set X Axis Magnetic Position to 150 000 encoder counts YML Report value of Y axis Magnetic Location Examples
263. osition Over Velocity Loop PIV Control Scheme Structure directed to the Velocity loop error junction This is an essential implementation issue to allow 0 position error during constant speed motion profile The user cannot change the gain to this feed forward path nor disable it Future firmware versions may also support velocity feed forward to the DAC command in PIV mode Open Loop Operation The SC AT controllers support a dedicated Open Loop operation mode In this mode the user can directly set the value of PO without the close loop control filter and regardless of the system position readings or the position or velocity errors This mode should be used very carefully since the motor is not under close loop control in that case Note that although under open loop mode the high position error protection mechanism of the controller is still active see section 6 2 3 above TL always saturates the command even when operating in open loop mode The method to activate this mode is to use the NC parameter to disable the close loop operation set NC 1 in Motor Off and then set Motor ON and to use the TC Torque Command parameter to set the desired PO value The actual PO value will be equal to PO TC DO Since the offset DO is always added to PO Control and Robotics Solutions Ltd Revision 3 10 January 2005 As the 2 order filter is applied also under open loop mode it is possible to record the step response
264. ot Version Low Byte Byte 5 0 Byte 6 0 Byte 7 0 AVR 2 CAN Format Byte 0 0 Byte 1 Product Version High Byte Byte 2 Product Version Low Byte Byte 3 Product Minor Version Byte 4 0 Byte 5 0 Byte 6 0 Byte 7 0 AVR 3 CAN Format Byte 0 0 Byte 1 Product Version High Byte Byte 2 Product Version Low Byte Byte 3 Altera Version High Byte Byte 4 Altera Version Low Byte Byte 5 0 Byte 6 0 Byte 7 0 The VR command has the following attributes Attributes Type Command Axis related No Array Assignment Command Allows Parameter Yes See Above Scope All Restrictions None Save to Flash Default Value Range Syntax XVR Standard Version Report XVR 2 Reports Firmware Major and Minor Versions with its release Date and Time RS 232 only Examples See Syntax Above See Also 10 144 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 79 2 VR Get Version Command For The SC AT 2M Purpose The VR command retrieves the controller Firmware and FPGA versions The standard Version Command response report in RS 232 communication protocol has the following syntax SC AT 2M 101 2 5 16 The following interpretation is applicable SC AT 2M Indicates the new SC AT 2M product code 101 Indicates that Firmware Version 1 01 is installed 2 Indicates that this is a 2 axis version 5 Indicates the FPGA versi
265. ot according to the defined syntax for the specific array Please note ALL start array indexes are 1 AND NOT 0 NOT IN SCOPE Not Used BAD NUMBER RANGE This error code is issued if an assignment clause is not in the 3 BAD ARRAY INDEX This error is issued if a clause includes an array variable and the index of the array variable is not in the correct range range for the specific variable READ ONLY This error code is issued if an assignment clause was issued on a Read Only keyword 7 NOT AN ARRAY This error code is issued if a clause consists of array referral on a keyword that is NOT an array This is detected in the Control and Robotics Solutions Ltd 11 1 SC AT Software User s Manual and Commands Reference EC Code Name Error Description Val following matter 1 An Open Parenthesis appears in the clause after the Keyword Or at all 2 Digits appear immediately after the keyword in a clause Md E MERE ARRAY Not used lsc se This error code is issued if the string sent by RS 232 exceeds the maximum of 128 characters 13 TOO LARGE NUMBER This error code is issued if the clause being interpreted includes an assign command with more than 12 digits WRONG MOTION PARAM This error code is issued if during a motion the controller detects wrong motion parameters This can happen for example if during ECAM motion bad ECAM data or wrong motion of the master axis is detected Please see ECAM motion mode descri
266. p in v units but are also a function of a set of scaling and offset parameters as explained below The following figure shows a schematic block diagram of the Analog Input Software Parameters Software H WA2D Gain 2047 10 Figure 8 1 Analog Input Scaling Block Diagram Note On the SC AT 4M the analog inputs are sampled at the servo sampling rate 16 kHz In the SC AT 2M the analog inputs are sampled at 1kHz each input is sampled every 8 Servo cycles For a complete description of the Analog Inputs Hardware circuits please refer to the SC AT products Hardware User s Manuals reference The analog input value is calculated and reported by the software variable AI according to the following equation Control and Robotics Solutions Ltd 8 33 SC AT Software User s Manual and Commands Reference 8 34 AI Floor Ainp x ADHWGain AS x AG x 2 Notes e Floor x truncates any non integer value to an integer value towards minus infinity e Ainp x A2DHWGain is in the range of 10v analog input result in nominal A2D reading of 0 Ov analog input result in nominal A2D reading of 2047 and a 10v analog input result in nominal A2D reading of 4095 e AS The Analog Offset parameter is in the range of 0 4095 e Note that AS is decremented from the actual positive A2D reading value so for example in order to nominally achieved a symmetric AI reading the value of AS should
267. pare pulse source for each encoder independently from other channels 8 3 1 Capture Modes 8 3 1 1 SC AT 4M Capture Modes When operated on the Index pulse the Capture uses the internal Index signal to latch the position In this mode each axis can capture the position based only on its own Index pulse When based on digital inputs the user can select any one of the 32 digital input lines general purpose and dedicated inputs to be the Capture pulse source for any axis without any limitation The same digital input line can be used to synchronously Capture location of all axes at once Although each one of the controller s digital inputs can be used as a Capture input in the current hardware version only the first three 3 digital inputs DInpl DInp2 DInp3 are supported as fast TTL inputs As normal inputs are optically isolated using standard inputs for Capture introduces a delay of few microseconds Fast inputs are TTL based so no delay is present 8 3 1 2 SC AT 2M Capture Modes When operated on the Index pulse the Capture uses the internal Index signal to latch the position In this mode each axis can capture the position based on its own Index pulse and the latter axis as well When based on digital inputs the user can select any one of Control and Robotics Solutions Ltd 8 23 SC AT Software User s Manual and Commands Reference the 10 digital input lines to be the Capture pulse source for any axis without any limit
268. pecific AC DC DL SP are being overwritten by the BBG 1 Note that in this case the BBG 1 command must be use BBG XBG 1 or YBG 1 will start a motion in X or Y only with unexpected motion parameters and should be avoided Control and Robotics Solutions Ltd 10 141 SC AT Software User s Manual and Commands Reference The BBG 1 function calculates new values to the above parameters independently of the Motion Mode and the Special Mode parameters As a result a vector motion will be created for all motion modes which use the above parameters including Jogging Point To Point Repetitive Point To Point etc Motion modes which do not use the above parameters such as ECAM will not be affected by the 1 parameter BG 1 However the above parameters will be anyhow recalculated and overwritten The user can still modify all parameters which supports on the fly modification such as SP However it will affect each axis independently and will cause a motion not along the originally desired vector VA VD VL and VS can still be modified on the fly but will have no effect since these parameters are used only for the pre calculation within the BBG 1 command function Note that in the current implementation the controller does not remember that it is in vector common motion The BBG 1 performs a pre calculation which prepare the SP AC DC and DL parameters of both axes for a synchronized motion along the vector and initiate a
269. phase initialization processes Notes e Both the Main and Auxiliary DAC commands can be inverted by the hardware using the dedicated configuration bits in CG please refer to the CG command reference for more information about CG bits When the Main or Aux DAC commands are inverted the effect on both TC and AO should be considered carefully when operating in SIN mode Switching only one phase command direction in SIN mode can effectively change the commutation sequence and take the motor out of its phase initialization point If motor direction is to be inverted both the Main and Aux channels should be inverted e When the SIN mode commutation enable flag is ON CG 2zero based 1 and the motor is disabled MO 0 the real time servo loop automatically reset the value of AO Phase B command to zero so any assignment to AO has no effect 8 5 2 6 Analog Offset Calibration In the discussion and SIN mode equation presented above it is clearly assumed that the command amplitude at peak Sin level of 1 is identical for both motor phases In the presents of an analog offset on either Phase A or B commands motor performance can dramatically deteriorate due to increased force ripple during rotor movement The analog offset will directly effect the phases current balance and will increase the overall total motor ripple forces The following equation simply explains this condition Con
270. phase response much smaller phase lag up to very high frequencies The user can of course always use the digital 2 order control filter and locate it wherever needed for a specific application The user should be aware that DAC output values are 10 volts in the short time between power up and firmware boot process It is obligatory to use Control and Robotics Solutions Ltd Revision 3 10 January 2005 the Inhibit signals which are h w protected for disable on power up to avoid undesired system motion 44 Auxiliary I O s The new SC 4M SA board design has a special Auxiliary I O s connector exporting 44 additional I O s from its Main FPGA Although these I O s and currently not supported by the standard firmware they can be used for customization purposes Please contact C amp RS for more information on this option Force Down Load Firmware The SC 4M SA now support a force down load firmware option In case a download firmware process fails for example if power supply is disabled during download process occasionally the controller might enter an un defined state Although rare this can sometimes happen In order to recover from such conditions the user can force the controller to enter a down load firmware process immediately after power up by setting dip switch 2 to on Please see the DF command for more information on down load firmware process Reset Controller A new RS Reset Controller function was add
271. ple demonstrates operation of the Y axis compare in table Mode 2 Initially the controller is programmed to execute a motion from 0 to 4000 counts with the compare table initialized to generate pulses at locations 1500 2000 2250 2375 When motion is terminated a backward motion is programmed to generate pulses at the exact same locations but when moving in the opposite direction Control and Robotics Solutions Ltd 8 21 SC AT Software User s Manual and Commands Reference 8 22 Disable any active compare for Y Axis VEOMA Configure Digital Outputs 1 and 42 to be assigned to X Y Compare outputs All other outputs are standard Outputs x XOM 9 DOUWES 1S 2X DOMES 1S 0 Initialize Y axis Motion Parameters and reset position YAC 1000000 YDC 1000000 YSP 100000 YPS 0 YMO T YAP 4000 Initialize the Compare Function and Table Points Note that Table points MUST be INVERTED YPG1 2 Set Mode 0 YPG2 1 Set Compare Direction POSITIVE YPG3 1 Set Compare Start Index AR 1 YPG4 4 Set Compare End Index AR 4 YPG5 2 Set Pulse Width 3 9 uSec YPG7 0 Set Pulse Polarity to Normal Positive X YAR1 1500 YAR2 2000 YAR3 2250 YAR4 2375 YAR1 2375 YAR2 2250 YAR3 2000 YAR4 1500 YEOH Activate X Compare Function Y fSuEeuE MOCO ane Wee ico enel E Nae 3t wd YBG while YMS 0 Weie ror Diel Que Mice sL ei endwhile 4
272. polarity Users Auxiliary can set or clear this bit to change the Auxiliary encoder Encoder reading direction Feedback When set to 0 do not invert aux encoder When set to 1 invert aux encoder 9 Analog Selects 12 or 13 bit AO Analog Output resolution Command Resolution When set to 0 12 bit AO is used BitO When set to 1 13 bit AO is used Please note this bit controls the Analog Output resolution regardless of the driver command type 10 Analog Currently Not Used Should be left 0 Command Resolution Bit 11 Reserved Should be left 0 12 15 Driver Type The following driver types are supported 0 LSD_0_4 LSD 0 4 Amp current limitation 1 LSD 12 LSD 1 2 Amp current limitation 2 LSD 30 LSD 3 0 Amp current limitation 3 PMD IM PMD 1M Brush Brushless driver 4 PD AT 2M BRUSH PD AT 2M Brush mode 5 PD AT 2M BRUSHLESS PD AT 2M Brush less mode 6 EXTERNAL External Driver 7 EXTERNAL INV DRV FLT External Driver inverted fault logic 8 15 Reserved should be left 0 Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Needs Motor Off Save to Flash Yes Default Value 0 Range 0 65535 10 34 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Syntax XCG 0 Set X Axis CG 0 YCG Report value of CG for Y axis BCG 72 Set CG 8 for both axes Both in PID Mode Examples
273. port up to 10 recorded vectors of up to 10 000 points each to a total of 100 000 data points overall Future firmware versions may support longer vectors length when fewer vectors are selected The overall data recording time is RL x RG 16 384 in sec units Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows Parameter Scope Al Restrictions None Save to Flash Yes Default Value 1 Range 1 100 000 Syntax XRL 1000 Set Recording Length to 1 000 XRL Report value of RL Examples See section 8 1 in this User s Manual for further information See Also BR DA RG RR RV 10 114 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 62 2 RL Data Recording Length For The SC AT 2M Purpose The RL Recording Length parameter controls the number of data points to be collected to the recording buffers during data recording process and as a result the overall recording time The RL parameter defines the number of points per vector If RL 1000 this means that for each selected vector to be recorded 1 000 data points will be collected The total number of points collected in the recording process is RL x Number of Recorded Variables Currently the SC AT 2M support up to 8 recorded vectors of up to 1 875 points each to a total of 15 000 data points overall Future firmware versions may support longer vectors length when
274. profiler motion parameters e g SP AC etc Changing any of the ECAM motion parameters has no effect once motion has been started Control and Robotics Solutions Ltd 5 13 SC AT Software User s Manual and Commands Reference 5 6 5 7 Search Index The SC AT controllers do not have a special dedicated motion mode for search index The user can however use the advanced fast capture support of the SC AT hardware to latch index location at exact 1 count accuracy at any motion type and speed Please refer to section 8 2 7 2 below for full information and examples on how to use the Capture option to latch index location Joystick Motion Modes 5 7 1 Velocity Based Joystick Motion Mode 5 7 1 1 Description This mode is very similar to the Jogging mode However instead of jogging in the user specified SP value the jogging speed is taken from the analog input assuming it is connected to a Joystick or any other source of analog voltage The analog input parameter AI is used instead of SP All other parameters AC DC etc are used exactly as for Jogging mode Note This mode is currently not fully implemented 5 7 2 Position Based Joystick Motion Mode 5 7 2 1 Description 5 14 This mode is very similar to the standard PTP mode However instead of using the user specified Absolute Position AP parameter as the target position this modes uses the Analog Input AI parameter as its target position Since a
275. ption for more information WRONG RECORD PARAM This error code is issued if the number of recording points exceeds the size of the DA array be started only when previous recording session was terminated Note that the controller does not check if previous buffers were uploaded or not Issuing a Begin 16 STILL RECORDING This error code is issued when the user sends a Begin Recording Command BG or BG 1 while Data Recording is still in process i e RR 0 Data Recording can Recording command always overrides old data d is FULL This error code is issued once a macro source clause included a push command once the stack was full The push command can be to one of the following stacks 1 Number Stack As a result of a number push command The number stack size is 15 2 Program Stack As a result of a Call command The Program s Stack size is 15 STACK EMPTY This error code is issued once a macro source clause included a pop command once the stack was empty The pop command can be to one of the following stacks 1 Number Stack As a result of a number pop 11 2 Control and Robotics Solutions Ltd Revision 3 10 January 2005 EC Code Name Error Description Val command 2 Program Stack As a result of a Return command NOT ENOUGH ARG Not Used 23 DIVIDE BY ZERO This error code is issued once a macro source clause included a division operator to a denominator with the value
276. r should note that when PS is updated the value of XC is meaningless The Capture feature implementation does not support hardware or software buffers Whenever a Capture is detected the last value of XC is overwritten and lost As indicated above XC is an axis related parameter keyword Each axis holds its own Captured Position Location value On the SC AT 4M only 4 axes are supported so accessing XC with axes identifiers higher then W is meaningless On the SC AT 2M Both axes are supported XC has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment No Command Allows Parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XXC Reports the Last Captured position of X axis YXC Reports the Last Captured position of Y axis WXC Reports the Last Captured position of W axis BXC Pushes the last X and Y Captured positions to the Stack top Examples Please refer to section 8 3 4 in this user s manual for Capture Function operation examples See Also XN Capture Function Description section 8 2 7 2 10 150 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 83 XN Capture Events Counter Purpose The XN parameter is used in conjunction with the Capture function to report the number of Capture Events Each time the hardware Captur
277. rameters and command directly since all the Data Recording features of the SC AT are fully supported by the SC AT 4M 2M Shell application GUI With few mouse clicks the user can select the recorded variables initiate recording process and view the resulted graphs in our advanced Data Viewer application Please refer to chapter 9 later on in this User s Manual for more information about the SC AT 4M 2M Shell application GUI support for Data Recording However from time to time the user may choose to directly use Data Recording low level keywords bypassing the GUI This may be useful for example to initiate a data recording process from within a script program in order to synchronize the Data Recording process with a machine sequence The next sections fully describe the SC AT firmware Data Recording interfaces 8 1 2 Data Recording Keywords This section describes the Data Recording keywords of the SC AT controller s family 8 1 2 1 Begin Stop Data Recording Command BR 8 2 Using this Command the user can start or stop data recording process The command only set internal flags that start the real time recording process The command does not Control and Robotics Solutions Ltd Revision 3 10 January 2005 check validity of recorded vectors whatsoever except for no current on going recording process see error code description below The command syntax is as follows XBR Optional Parameter where e X is an axis
278. ransmitting address is CAN address which the controller responds to in any case a CAN message is received the receiving address is defined in the RA parameter The CAN Transmitting Address must be saved to the flash memory and the controller must be reset in order to change the CAN settings Changing RA TA will immediately re init the CAN hardware to take the requested effect Care should be taken as changing RA TA while working in CAN bus will stop the communication with the PC The parameters must still be saved to the FLASH as in previous revisions in order to be valid after boot A new error codes EC HW INIT ERROR 297 was added to indicate a CAN hardware initialization error In the SC AT 2M in addition and independent to the standard RA and TA CAN addresses listens and transmits on additional addresses Please see the ZI keyword for more information Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 2 Range 0 2047 Syntax XTA 2 Set CAN TA 2 XTA Report value of TA Examples See Also CB RA ZI Control and Robotics Solutions Ltd 10 131 SC AT Software User s Manual and Commands Reference 10 5 73 TC Torque Command Purpose The TC parameter keyword is used to set the Servo Analog Command value to a user specified value when operating in Open Loop m
279. ray SC AT 2M The PG array elements controls the operation of the compare function PG is an axis related array sized 2 x 8 Each axis has 8 parameters controlling the compare operation as described below Array Element PG iJ 1 Function Operation Mode Description This parameter controls the compare function mode of operation PG i 1 20 Defines Compare Mode 0 PG i 1 1 Defines Compare Mode 1 Optional PG i 1 22 Defines Compare Mode 2 PG i 1 23 Defines Compare Mode 3 Optional PGI i 2 Distance and direction For Modes 0 and 1 this parameter defines the auto increment distance In Mode 0 this parameter should be limited to 32 767 excluding 0 In Mode 1 this parameter can be any number in the 32 bit range excluding 0 For Modes 2 and 3 this parameter should be 1 for positive motions incrementing position motions and 1 for negative motions decrementing position motions PGI i I3 Start Point For Modes 0 and 1 this parameter defines the Start Position PStart in encoder counts for the compare function The first compare pulse will always be at exactly that point For Modes 2 and 3 this parameter defines the Start Index Start in the AR compare position table corresponding to the first compare point The first compare point will be at the encoder location defined by AR start PGI i 4 End Point For Modes 0 and 1 this paramet
280. rd Source MUST have all internal programs halted 0x10000000 The keyword can only be executed when all internal user programs are halted For example the LD command Load from flash can be called only in that case Parameter values always have a minimum and maximum value for assignment clauses Most parameters are saved to FLASH Few are initialized to default non active values on power on reset or load from FLASH events 4 3 2 4 Axes Identifiers and Groups The SC AT family controllers support Group Definitions for Axes Identifiers The SC AT controller language syntax requires an axis identifier before any Keyword When a specific axis identifier is given the command interpreter will interpret the clause and will act upon the specific axis only In order to let the user perform an action on more then one axis simultaneously for example reporting position of all axes at once the notation of Group Axes Identifiers is supported by the SC AT command interpreter SC AT 4M There are 4 Axes Groups supported by the SC AT 4M These are A B C and D By default the A group stands for ALL axes and the B group defines X and Y axes sub Control and Robotics Solutions Ltd 4 23 SC AT Software User s Manual and Commands Reference group For example issuing the following assignment APS 0 set the position of all axes to 0 while BPS 0 set only the X and Y axes position to 0 When
281. re End Position XPG5 3 Set Pulse Width 3 9 uSec XPG6 1 Set Pulse Width Mode Use width Parameter XPG7 0 Set Pulse Polarity to Normal Positive 3 PO IL Activate X Compare Function Start X Y motion and enter a Loop to wait for the Compare Pulses Pulses are counted and after 100 the loop ends BXN 0 XIA1 0 XZ1I1 3 Remote MSG sent to CAN Address BBG XCAPI1 Q while XXN XIA1 Wait for Next Event endwhile XIA1 XXN XIA1 XIA1 1 Increment counter BXC XZM 2 Send Last Event if XIA1 gt 100 Check Imexol CXowm oli 3L XJP XCAPI Qendif XJP XCAPI1 XCAPIEND XZM END XQH Program Done Note that since X and Y Capture occurs simultaneously we check only XXN to detect next event Control and Robotics Solutions Ltd 8 29 SC AT Software User s Manual and Commands Reference The next example demonstrates simple usage of the Capture mechanism to latch the Index location of the X axis This can be combined in a simple Homing process to perform exact Index based homing process This can be done at any motion speed It is recommended to check that only One Index was found usually in Rotary Motors to avoid full motor revolution homing index error Initialize X axis Motion Parameters and reset position XAC 100000 XDC 100000 XDL 100000 XSP 10000 XPS 0 XMO 1 XAP 10000 y Configure IO MODE 1 Use X Axis Compare on Index y YOM 32 Set IO MODE 1
282. re aen been Pene PARERE NER 10 101 1035 33 SPE PositlomErrOF ee SOR HR ade aa te pr ise Ere ARE ree a Pu ERR CES 10 103 10 5 56 PG Position Compare Parameters Array essere eene eene enne 10 104 10 5 57 PQ Compare Function Activate Disable Command eee 10 106 10 5 58 PO PIDVOWIDUE is tr rt etate RET OU Met aged REESE step eei 10 108 10 5 59 PS Position Encoder Position eese esee eene ener entente 10 109 10 5 60 RA CAN Receiving Address esee eere nre nennen eene trennen 10 110 10 5 61 RG Daia Recording GAP sie Dt Reo tef aS ctu pend 10 111 10 5 62 RL Data Recording Length esee ener rennen netten 10 114 10 5 09 RP Relattve Positioh x ei ete eere ete Renee i aeo E epo it uten eee e 10 116 10 5 64 RR Data Recording Status eese eene tnnt nr anaE nennen eene trennen 10 117 10 5 65 RS Reset Controller Command eese eee tenete nein eene ettet 10 118 10 5 66 RV Data Recording Recorded Variables eese 10 119 10 5 67 SM Special Motion Mode Attribute Parameter eee 10 123 10 5 68 SP Speed ise eee pte HEP See Eie eb iet pi 10 125 10 5 60 ST Stop Motion Commuand eese eene nnne nenne trennen enne neen eene trennen 10 126 10 5 70 SR Stat s Register ea ee oer eerte Iob te rob Eee der ee opt Sani 10 128 10 5 71 SV Save Command i
283. recess esee eese testes enata tuse ta suns ta an 11 1 Control and Robotics Solutions Ltd g SC AT Software User s Manual and Commands Reference List of Tables Table 1 This User s Manual Revision History eese enne enne enne enne c Table 2 Control Filter Pardimetets s s ose od ees nem atout eut oi eae ast 6 10 Table 3 PG Array in SC AT 4M Compare Function Parameters Description 8 12 Table 4 PG Array in SC AT 2M Compare Function Parameters Description 8 13 Table 5 Error Codes Generated by the PQ Compare Function sees 8 15 Table 6 SC AT Keywords Attributes and Restrictions 10 2 Table 7 SC Commands Keywords LIS iic cet teo pecie I aestate late rese del cde ettn des 10 3 Table 8 5C Parameters Keywords List 12 b eodera Sie edle tdem dt iden utn 10 5 Table 9 SC Parameters Keywords List eerie esta Seas n TR TU Yo Poe e rese E ao 10 7 Table 10 Motion and Profiler Related Keywords eeesessseeeeeeeeeeneeen 10 9 Table 11 Control Filter and Real time Servo Loop Related Keywords 10 9 Table 12 Data Recording Related Keywords eese enne 10 9 Table 13 Special Encoder Interface Related Keywords eese 10 10 Table 14 I O Functions Related Keywords eese ene 10 10 Table 15 Communication and Configuration Keywor
284. recommended to check that only One Index was found usually in Rotary Motors to avoid full motor revolution homing index error Initialize X axis Motion Parameters and reset position XAC 100000 XDC 100000 XDL 100000 XSP 10000 XPS 0 XMO 1 XAP 10000 y Configure IO MODE 1 Use X Axis Compare on Index y YOM 10 Set IO MODE 1 X Compare on Index M Start X motion and enter a Loop to wait for the Index Pulse XXN 0 XBG while XXN gt Wait for Next Index endwhile Index is found Stop the motion The Index location is stored in XXC Stop the program y XST XQH 8 32 Control and Robotics Solutions Ltd Revision 3 10 January 2005 8 4 Auxiliary Analog Input Interfaces The SC AT 4M has four 4 general purpose analog inputs The SC AT 2M has two 2 general purpose analog inputs Analog inputs are nominally 10v and are converted using 12 bits A2D s in the SC AT 4M and 10 or 12 bits A2D s in the SC AT 2M When working with 10 bit A2D s at least 2 LSB s noise 4 bits i e 8 bits p t p noise level should be expected This can be reduced by lowering the effective resolution to 10 bits by using Gain Factor GF gt 2 see exact AT computation formula below The analog input values as can be reported by the AI parameter XAI YAI in the SC AT 2M and XAI YAI ZAI WAT in the SC AT 4M are of course a function of the analog input voltage Ain
285. red There are no sharp corners in the generated velocity profile The resulted acceleration profile not shown in the graph is of course continuous and dose not have any sudden step changes 5 16 Control and Robotics Solutions Ltd Revision 3 10 January 2005 IS Solutions Data Viewer ww12sampleforum sdy OF xi File View Window Zoom Objects Analyze Help obj Obj VA sjaja ajaja RAE spp s n ww12sampleforum sdv Untitled Untitled ee 2 eee rer 0 546875 d 0 548828 Veldtt 99940 XVRefdtt 4 Figure 5 1 Typical motion profile with full smoothing Control and Robotics Solutions Ltd 5 17 SC AT Software User s Manual and Commands Reference 5 18 Figure 5 2 below shows the same motion profile with no smoothing at all implemented in the profile Note the sharp trapezoidal velocity profile the upper window in red The resulted acceleration profile not shown in the graph is clearly not continuous and includes 0 time acceleration changes jerks Note also the resulted actual motor velocity seen slightly overshooting in this case in both constant speed and zero speed settlings the blue actual motor speed graph overshooting the red desired speed graph in the upper window EF Solutions Data Viewer wwsampleforum sdy Iof x File View Window Zoom Objects Analyze Help a Sf alai Bae alaaa lt r r
286. resolution which also implies non linear quantization effect gt Non Linear Gain Scheduling Please see next section for more information 6 9 Filter Gain Scheduling The SC AT software has a built in control filter gain scheduling logic The gain scheduling may be used in order to improve the settling performances of a system mainly to reduce settling times This is simply done by changing the PID or PIV filter constants KP KI KD for a short period of time after a motion is completed The user can define the period after previous end of motion condition in which the gain scheduling is effective The following parameters can be used by the user in order to operate the gain scheduling feature gt KP 2 is the parameter replacing KP KP 1 when gain scheduling is active gt KI 2 is the parameter replacing KI KI 1 when gain scheduling is active gt KD 2 is the parameter replacing KD KD 1 when gain scheduling is active gt CA 4 is the gain scheduling period in servo sample time note differences in SC AT 2M and SC AT 4M sampling times 16k in 4M 8k in 2M The gain scheduling is active i e KP 2 KI 2 KD 2 are used after a motion is fully completed Motion Status bits are Not In Motion for a period of CA 4 sample times If before that a new motion has begun the gain scheduling is immediately disabled To disable the gain scheduling the user can simply set KP 2 KP KI 2 KI KD 2 KD
287. responses It should be noted that the value of TL overrules the value of IS please see chapter 6 for further details about the control filter structure The TL saturation limit is operational is all enabled motor states both open and close loop modes 7 4 Special Handling of Software Limits In the SC AT 2M when a Begin Motion command BG is issued in PTP mode MM 0 beyond a software limit the BG command with fail with a new error code type EC 53 SW LIMIT ERROR The new error code is generated during the BG command and only in PTP motion mode When a SW LIMIT ERROR is generated command will not start This behaviors is different from previous implementations that checked for S W limits only during motion This new protection will also be implemented in future firmware versions of the SC AT 4M Control and Robotics Solutions Ltd 7 5 8 1 Revision 3 10 January 2005 ADVANCED FEATURES The SC AT presents numerous important new and advanced features over the previous SC 2M products family This chapter describes the following SC AT advanced controller features e Data Recording e Advanced Encoder Interfaces Compare Events e Advanced Encoder Interfaces Capture Events e Auxiliary Analog Interfaces e Support for DC Brushless Motors Sin Commutation in SC AT 4M only e Dynamic Error Mapping Correction Data Recording Data recording is a very powerful feature of the SC AT controller s fa
288. ription Defines the DOut5 Fast output source 00 As normal Output 0 01 From compare X 1 10 From compare Y 2 Defines the DOut6 Fast output source 00 As normal Output 0 01 From compare X 1 10 From compare Y 2 These bits are currently not used and should be left 0 for future compatibility Table 27 SC AT 2M XOM IO MODE O0 Bits Configuration Description 10 94 Control and Robotics Solutions Ltd Revision 3 10 January 2005 IO MODE 1 YOM The following table describes the IO MODE 41 bits order and specific description Bits 3 0 of IO MODE 1 controls the Capture Event Source for the X Axis The following bit order definitions applies 0000 X Event source is DINI 0 0001 X Event source is DIN2 1 0010 X Event source is DIN3 2 0011 X Event source is DIN4 3 0100 X Event source is DINS 4 0101 X Event source is DING 5 0110 X Event source is DIN7 6 8 0111 X Event source is DIN 7 1000 X Event source is DIN FAST 9 8 1001 X Event source is DIN FAST 10 9 1010 X Event source is INDEX X 10 1011 X Event source is INDEX Y 11 Select Input polarity for Axis X 0 set Normal pulse polarity 1 set Inverted pulse polarity These bits are currently not used and should be left 0 for future compatibility Bits 11 8 of IO MODE 1 controls the Capture Event Source
289. rrected by a value that is taken from the correction table When current position does not match an exact table point linear interpolation is performed between two consecutive table points Outside of table range the last error correction value will be used This option is not yet fully supported by standard firmware revisions Please consult C amp RS sales for more information Control and Robotics Solutions Ltd Revision 3 10 January 2005 SC AT AM 2M SHELL SOFTWARE The SC AT 4M 2M Shell Software and Integrated Scripts Development Environment are fully documented in a separate User s Manual Please refer to the SC AT 4M 2M shell and IDE User s Manual document Control and Robotics Solutions Ltd 9 1 Revision 3 10 January 2005 10 KEYWORDS REFERENCE This chapter describes the SC AT controller keywords supported by the controller Firmware As discussed in section 4 3 2 of this user s manual the controller Language defines two groups of Keywords e Parameters Keywords e Command Keywords As noted there each parameter owns a set of internal attribute flags defining the behavior of the Interpreter Module in response to each keyword received like whether the Keyword is Axis Related or not is the Keyword is a parameter or command and much more 10 1 Keywords Attribute Reference The following table describes the SC AT Keywords Attributes List Please note that some of the attributes are internal only while som
290. rrently 16 384 Hz additional pulses might be generated beyond location PEnd In any case all pulses will be disabled no later then 61 uSec after PEnd is passed SC AT 2M Although in this mode the hardware is responsible for the exact compare triggering it is the controller real time software firmware that manages the end point monitoring i e disabling the compare pulse output when PEnd is passed As a result although the actual pulse frequency is not limited if the resulting pulse frequency is higher then the servo sampling rate currently 8 192 Hz additional pulses might be generated beyond location PEnd In any case all pulses will be disabled no later then 122 uSec after PEnd is passed 2 As noted the value of Distance is limited to 32 767 excluding 0 Although the parameter itself is not range protected the compare function enable command validates all parameters and issues a dedicated error code if any of the parameters 1s out of range 3 The Compare function works correctly ONLY if the sign of Distance corresponds to the direction of motion and to PStart and PEnd definitions This means that for Distance 0 the user MUST specify PEnd PStart and the motion direction MUST be positive i e from lower encoder count to higher encoder count For Distance 0 the user MUST specify PEnd PStart and the motion direction MUST be negative i e from higher encoder count to lower encoder count 4 If the abo
291. rror Codes 53 54 55 56 in the Error Codes description under section 11 below Script QW Keyword The QW keyword was modified slightly in order to support the SC AT 2M script Please refer to the SC AT Script manual Control and Robotics Solutions Ltd Revision 3 10 January 2005 Begin Motion BG Command Into a Software Limit If a BG command in Motion Mode Point To Point is initiated into a software limit The resulted AP is in to the low or high limits then an error is returned and an Error Code is set Please refer to HL and LL in this user manual section 10 This option will be supported in the SC AT 4M in the future Get Version VR Parameter The VR supports different parameters and options Please refer to the VR parameter in section 10 This option is also supported by the new SC AT 4M firmware Download FPGA The firmware and the SC AT 4M 2M shell now supports the downloading of FPGA to the SC AT boards both 2M and 4M support this option Please refer to the SC AT Shell manual for further information This option is also supported by the new SC AT 4M firmware CAN Addresses Additional CAN Transmit and Receive Addresses The SC AT 2M in addition and independent to the standard RA and TA CAN addresses listens and transmits on additional addresses Please refer to the ZI parameter in section 10 This option will be supported in the SC AT 4M in the future Compare
292. rs During operation while an axis is enabled MO 1 and not in motion MS 0 the real time control loop continuously checks the position error PE and when ABS PE lt TR for at least TT Target Time sample times a dedicated bit in SR is set to high logic 1 The In Target logic is usually used to let a host application or a script program to monitor end of motion condition and waiting for the axis to reach the desired target position within a specific defined error The TT parameter has the following attributes Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 2 Range 0 32 767 Syntax XTT 160 Set X Target Time to 160 samples 10 msec in the SC AT 4M and 20 msec in the SC AT 2M ZTT Report value of Z Target Time ATT 656 Set All Axes Target Time to 60 samples Examples See the SR Status Register Command reference See Also SR TR 10 140 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 78 VA VD VS Vector Motion Parameters Purpose The VA Vector Acceleration VD Vector Deceleration and VS Vector Speed are used for the special X Y Vector motions Vector motions are supported by the SC AT for execution of synchronized X and Y motions The Vector motion syntax is fully co
293. rt auto increment of the array index meaning that the user only provides initial start index and then only sends the data For a complete description of the DB and EDB mode operation please see the following reference SC AT Advanced Multi Axes Servo Controller Communication Protocols User s Manual Document Revision 1 0 Dated November 2003 Reference SC AT Users Manual Ver 300J doc Important Note The DB command is no longer supported in the SC AT 2M as it is a subset of the EDB mode Control and Robotics Solutions Ltd 10 5 18 DC Deceleration Purpose Revision 3 10 January 2005 The normal Deceleration value from cruise velocity towards Zero speed in all motion modes that use the internal Profiler This value is used to set the motion profile deceleration value in PTP JOG etc Motion modes The Deceleration value is defined in units of counts sec Deceleration in the SC AT has a 256 counts sec resolution The SC AT servo controllers support different deceleration values for normal deceleration and Limits H W or S W deceleration See the DL parameter Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 100 000 Range 512 120 000 000 Syntax XDC 1000000 Set X Axis DC 1 000 000 WDC 1000000 Set W Axis DC 1 000 000 ZDC Report v
294. s The SC AT 2M data recording capabilities allows collecting data at the servo loop rate i e 8 192 per second However since currently the recording buffers are limited to 1 875 data points to each vector up to 8 vectors simultaneously at 8 192 points per second this would have limited the recording time to less then 1 second In order to allow longer recordings RG is defined For example if RG 8 i e a data point is collected to the recording buffer each 8 servo cycles i e at a rate of Imsec per point recording of up to 10 seconds is possible and so on Attributes Type Parameter Axis related No Array Yes Size 2 Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 1 Range 1 16 384 Syntax XRG 1 Set Recording Gap to 1 XRG Report value of RG Examples See section 8 1 in this User s Manual for further information See Also BR DA RL RR RV 10 112 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 61 3 RG 2 Data Recording Upload Delays Purpose The RG 2 Recording Upload Delay parameter controls the number of servo cycles delay between each two consecutive CAN messages during Upload Recording Data in CAN bus operation mode When uploading large data buffers in CAN bus the SC AT controllers can generate high loads on the CAN bus network Depending on the PC load and type of CAN board on
295. s i e equal to the distance between N S N poles and not N S only 8 5 2 3 The Actual Magnetic Location ML 8 38 The magnetic pitch MP defined above is a constant number per application used by the controller to know how many counts are in 360 of the magnetic cycle As noted above this parameter should be set once and does should not change during system operation During operation in order to compute the instantaneous projection of the current command to the phase currents Ja and Ib as noted by the equation in section 8 5 2 above the true magnetic location angle should be known at all times A new real time parameter ML Magnetic Location holds this position in encoder count units ML is continuously updated by the real time code to reflect any change in the encoder position but unlike the main encoder counter reading PS the ML is always held in the range of 0 lt ML x MP If position is incremented above the value of MP more then 360 or decrements below 0 ML is automatically modulated to remain in the 0 XML SMP range The true magnetic location angle is computed as follows j ML 360 P As noted like the true encoder position PS ML is continuously updated by the real time code at all times while the controller is operating ML is however not effected when PS value is changed Users can set a value to ML in the range of 0
296. s instead of Time as for Time based ECAM see MM 4 the master DP Desired Position value The active master Axis can be selected from any of the 4 available encoder inputs axes X Y Z W in SC AT 4M and X Y Main and Auxiliary in SC AT 2M using the ME Master Encoder command A new Array Parameter EA ECAM Parameters Array Size 4 8 in SC AT 4M and 2 8 in SC AT 2M was added to support the new ECAM motion mode EA 1 ES ECAM Start Index Points to the first point in AR to be used for the ECAM EA 2 EW ECAM Wrap Index Points to the first point in AR to be used for ECAM cycles following the first cycle EA 3 EE ECAM End Index Points to the last point in AR to be used for the ECAM EA J EG ECAN Gap Defines the master distance in counts related to the master encoder between two consecutive AR points EA S EN ECAM Number Of Cycles Defines the actual number of ECAM cycles to be executed If 0 ECAM is performed infinite number of cycles until stopped If EN gt 0 the axis will perform EN complete ECAM cycles EA G6 ED ECAM Interpolation Mode Defines the method used to interpolate the position profile commands with an EG period between each two consecutive AR points Currently only linear interpolation is supported EP should be always set to 0 Control and Robotics Solutions Ltd Revision 3 10 January 2005 EA 7 M
297. s string or numbers separated with a comma In case of a parameter keyword the command clause may be a report or a set parameter clause A report parameter value command clause includes only the parameter keyword with index in square brackets for arrays A set parameter value command clause includes the parameter keyword with index in square brackets for arrays and the value The parameter value is a decimal long integer and in text format printable characters Control and Robotics Solutions Ltd 4 25 SC AT Software User s Manual and Commands Reference Notes e Blanks tabs and new line characters are received echoed but ignored e Back spaces are handled Examples XSP CR Report parameter clauses YSP XAR 5 CR YSP 10000 Set parameter clauses BAC 1000000 CR BAR 3 2345 XBG CR Commands AST YQE HOME_X Command to execute a subroutine named HOME X using the Y script engine 4 3 3 2 SC To Host 4 26 Each character including blanks tabs new line and terminators are echoed as is unless otherwise is selected by the user EO command Echo On Off In case of a report parameter clause the reported value is sent back to the host decimal long integer text format in RS 232 and binary format in CAN bus After handling each command clause a prompt is sent back to the host computer The prompt is gt in case of a successful command claus
298. s enabled based on the encoder position 3 Use This bit configures the servo loop control scheme to PID PIV PID or PIV Please see section Control When set to 0 PIV control scheme is used Scheme When set to 1 PID control scheme is used 4 Invert Aux This bit controls the Auxiliary DAC polarity command DAC Aux servo driver analog command output AO Command When set to 0 the default polarity is invert i e AO 32767 will result in an analog command voltage of 10v When set to 1 the default polarity is non invert i e AO 32767 will result in an analog command voltage of 10v Control and Robotics Solutions Ltd 10 31 SC AT Software User s Manual and Commands Reference CG Bit Function Description Zero Based 5 Enable This bit Disables when set to 0 or Enables when set Encoder to 1 the Hardware Encoder Error detection feature Error Note that when enabled the controller will force Driver Detection Fault condition when encoder error is detected This option must be used with encoders having electrical differential interface only When single ended encoders are used this bit must be disabled Please see section 7 2 2 above for more information about Encoder Error Detection features of in the SC AT 4M 6 Invert This bit controls the logical polarity of the Driver Fault DRV FLT digital input Note that previews firmware versions Logic supported this feature in the high IL bits A
299. s encoder Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAP 100000 Set Next PTP absolute location to 100 000 counts XAC 250000 Set Acceleration to 250 000 XDC 500000 Set Acceleration to 500 000 XSP 25000 Set Speed to 25 000 XBG Start a Motion See Also DP RP PS BG Control and Robotics Solutions Ltd 10 21 SC AT Software User s Manual and Commands Reference 10 5 9 AR General Purpose Array 10 5 9 1 AR General Purpose Array For The SC AT AM Purpose AR is a user general purpose array The AR array is a non axis related array with size of 10 000 elements Each element in the array is a LONG format number which can be assigned with any value at any time Currently AR is also used internally by the Compare mechanism to define user 32 bit tables for the compare mode For further information please see section 8 2 3 in this User s Manual The index range of the AR array is 1 10 000 Since AR is non axis related accessing XAR YAR AAR etc actually access the same array element Attributes Type Parameter Axis related No Array Yes size 1 10 000 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XAR 1 0 Set AR 1 0 ZAR 1 Report value of AR 1 AAR 300 1000 Set AR 300 1 000 Exa
300. s lastly disabled MF 0 Motor was not disabled MF 1 Driver s fault Fault input MF 2 Abort input emergency stop MF 3 High position error IPEI gt ER MF 4 Motor Stuck Condition MF 265 Encoder Quad Error MF 129 Encoder Dis Connected Error MS A bitwise code describing the current motion status Bit 0 In motion Bit 1 In stop Bit 2 In acceleration Bit 3 In deceleration Bit 4 Waiting for input to start motion Bit 5 In PTP stop decelerating to target Bit 6 Waiting for end of WT period SR A bitwise code describing some controller statuses Currently only Bit 5 zero based is reported Other bits may be used in the future and should not be assumed to have any pre defined value Bit 5 In target EM A code describing the cause for last end of motion EM 0 Motion is still active EM 1 Normal end of motion EMz2 Forward limit switch FLS EM 3 Reverse limit switch RLS EM 4 High software limit PS gt HL EM 5 Low software limit PS lt LL EM 6 Motor was disabled check MF EM 7 User command ST or AB EM 8 Motor off by user MO 0 This bit indicates that the motion profile has been finished and that the absolute position error IPEI is smaller than the target radius TR for at least target time TT consecutive samples each 61 us Control and Robotics Solutions Ltd 5 3 SC AT Software User s Manual and Commands Reference 5 1 4 Stopping a Motion A PTP motion is automati
301. s of Signal firmware version 2 03 and on the Driver Fault Logic Polarity is defined by CG bit 6 This bit controls the Driver Fault polarity in both standard and MD driver s configurations Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows Parameter Scope All Restrictions Needs Motor Off Save to Flash Yes Default Value 0 Range 0 127 Syntax XCG 0 Set X Axis CG 0 ZCG Report value of CG for Z axis ACG 72 Set CG 8 in all axes All in PID Mode Examples See Also 10 32 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 15 2 CG Axis Configuration for the SC AT 2M Purpose CG is an axis related parameter defining specific axis configuration CG Currently supports 16 configuration bits Bit 0 to bit 15 as described in the following table future firmware versions may support more configuration bits CG Bit Function Description Zero Based 0 Invert Main This bit controls the MAIN Servo Driver command Servo polarity main servo driver analog or PWM command Driver output TC Command When set to 0 the default polarity is invert i e TC 32767 will result in an analog command voltage of 10v When set to 1 the default polarity is non invert i e TC 32767 will result in an analog command voltage of 10v 1 Invert Main This bit controls the encoder polarity Users can set or Encoder c
302. se see section 6 9 above for more information CA I 5 6 Not Used Should be 0 for future compatibility CA i 7 9 2 Order These 3 parameters control the servo loop 2 order Filter filter operation Filter Gain Filter Bandwidth and Q Parameters factor or damping amp Please see section 6 9 above for more information CA i 10 12 NotUsed Should be 0 for future compatibility CA i 13 2 Order This parameter Disables if 0 or Enables if 0 Filter the servo loop 2 order filter operation Enable Bit For future compatibility the value of CA 1 13 should only be set 0 for Disable and 1 for Enable Please see section 6 9 above for more information about the 2 order filter operation and dynamic filter 10 28 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Array Function Description Element equations CA i 14 16 Not Used Should be 0 for future compatibility Note About CA Parameters Range The CA array is not range checked by the communication interface This means that any valid number in the 32 bit range 2 147 000 000 can be set to any of the CA parameters This however should be carefully avoided Users MUST comply to the parameters range setting as defined in the table above for each specific parameter Attributes Type Parameter Axis related Yes Array SC AT 4M Yes size 4 16 SC AT 2M _ Yes size 2 16 Assignment Yes
303. ser s manual describes the changes related to the SC 4M SA firmware revision 2 05 B Dated 5 8 2003 Release 2 05 B of the SC 4M SA was initiated by C amp RS in order to enhance the software features of the controller and fix some known bugs This release version does not include or involve any hardware modifications and is applicable for the SC 4M SA Boards Hardware Revision 1 0 New revision Firmware Name Code FW 2 05 B Revision Release Date 5 August 2003 In general Firmware Revision 2 05 B only enhances the features of the SC 4M SA firmware options Other then fixing a bug in the QW command and slightly altering the behavior of the RA TA commands see description below the new release is fully backward compatible with older revisions The following changes were made in Release Version 2 05 B of the SC 4M SA Servo Controller e Fix Bug in Macro QW Command Due to a bug in the axes attributes interpretation logic the QW Conditional Wait Command was working only on X axes related conditions This bug was fixed in revision 2 05 e Support Read Write Hardware Access Two new commands XW XR where implemented to allow Read Write Access to selected controller H W registers Please refer to the XW XR Command Reference Manual for more information Users should avoid using these functions without prior consulting with C amp RS technical support e Modify CAN RA TA Parameters Behavior The RA TA parameters CAN bus address settings
304. ses on fixed GAP The pulses are directed to Fast Digital Output 1 It is assumed that DOut 1 is physically connected to DInp 1 Axes X and Y are then programmed to Capture their locations on each Compare pulse The Captured X position should be identical to the desired Compare position The Captures Y position reflects the Y axis location when X was commanded to generate the Compare pulse The captured positions are then sent through the CAN bus to a host computer The Compare GAP is programmed to 200 encoder counts while motion is at 100 000 counts sec The resulted Compare frequency is 500 Hz This application can be used when an X Y scan is made and in order to know the exact planar location of the system on each compare pulse Control and Robotics Solutions Ltd Revision 3 10 January 2005 Disable any active compare for X Axis XPO 0 Configure IO MODE 0 DOut 1l assigned as X Compare and DInp 1 h eus Weisic Output OM 4 7 224 17113221 Configure IO MODE 1 X Y use DInp l as their Capture Source XOM 16777220 Seti IO _ IMO YOM 0 Set IO MODI y m an m a O i X Y Use DInp 1 for Capture Initialize X Y axis Motion Parameters and reset position BAC 1000000 BDC 1000000 BDL 1000000 BSP 100000 BPS 0 BMO 1 BAP 150000 y Initialize the X Compare Function XPG1 0 Set Mode 0 XPG2 200 Set Compare Distance XPG3 10000 Set Compare Start Position XPG4 100000 Set Compa
305. signed as follows using a 3 bit configuration field OM as shown in the table above and the bit description below BITS 1 0 Defines the DOUTS Fast Output source 00 Standard Output controlled by OP 01 Output from compare channel X 10 Output from compare channel Y 11 Currently unused for future purposes BITS 3 2 Defines the DOUT6 Fast Output source 00 Standard Output controlled by OP 01 Output from compare channel X 10 Output from compare channel Y 11 Currently unused for future purposes Control and Robotics Solutions Ltd 8 17 SC AT Software User s Manual and Commands Reference 8 2 6 2 Electrical Configuration for Fast Digital Outputs All standard digital outputs of the SC AT 4M board are optically isolated and buffered by the hardware design However as noted this standard electrical interface does not allow fast pulses to be transported For that purpose the SC AT 4M board design support an optional electrical configuration to bypass the digital outputs isolation and buffering This is supported only for the first 4 digital outputs DOut1 DOut2 DOut3 and DOut4 In the SC AT 4M Controller Fast Outputs are configured by removing OQ resistors R161 R162 R165 R166 and re installing them in R268 R265 R266 R267 for outputs 1 2 3 and 4 respectively Standard Outputs are configured by removing 0Q resistors R268 R265 R266 R267 and re installing them in R161 R162 R
306. specific Please see the SC4M Macro Scripts Language features Users Manual for full information about program execution and their error codes For a full list of ALL supported communication error codes please see chapter 11 later on in this User s Manual Attributes Type Parameter Axis related No Array No Assignment Yes 0 only Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 100 Syntax XEC 0 Reset value of EC XEC Report value EC Examples See Also QC in SCAM Macro Scripts Language features User s Manual 10 48 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 25 EM End of Motion Reason Purpose EM is a read only parameter reporting the last end of motion reason EM is automatically updated by the real time controller firmware The following End of Motion reasons are currently reported EM EM Code Description Value M IN MOTION In motion or After Boot up M NORMAL Last Motion ended Normally Last Motion ended due to Hardware FLS Last Motion ended due to Hardware RLS Last Motion ended due to Software HL Last Motion ended due to Software LL Last Motion ended due to Motor Fault check MF USER STOP Last Motion ended due to User Stop ST or AB MOTOR OFF Last Motion ended due to Motor Off MO 0 BAD PROFILE PARAM Last Motion ended due to Bad ECAM Parameters 0 B
307. stant with high ripple disturbance torques forces at constant input currents Control and Robotics Solutions Ltd 8 35 SC AT Software User s Manual and Commands Reference Being directly related to the rotor magnetic position the disturbance torque frequency depends on the motor velocity and can have a dramatic effect on overall system performances as the bandwidth of this disturbance can span over a frequency range from 0 to hundreds of Hz From the servo controller aspect both DC Brush type and DC Brushless BLDC motors working in trapezoidal commutation method are similar 8 5 2 Sin Commutation in BLDC Motors 8 36 In order to overcome the main shortcoming described above a continuous Sinusoidal Commutation is used In this method instead of fixing the motor phase currents throughout the 60 segments the currents are continuously sin based function changed over the full 360 magnetic cycle In this case the motor torque constant can be near ideal with only negligible disturbance torques left mainly due to lower magnitude second order non linearities which are not under the scope of this discussion In order to operate a 3 Phase BLDC motor in sinusoidal commutation method an accurate position of the magnetic rotor location is necessary i e the absolute rotor position in relation to the magnetic cycle This can be achieved by using an analog position sensor or more naturally by using the system d
308. stop immediately using ABORT Command setting DP to the last table value relatively When EN 0 in order to stop the ECAM motion users should use the STOP or ABORT commands In general like any other motion an ECAM motion can be stopped by the following communication clauses Communication Clauses Description AB Aborts the motion immediately DP remains as its last value ST Stops the motion with deceleration using DC to zero speed Note that immediately after issuing the ST command the slave axis stops following the master and starts an autonomous stop profile motion towards Zero speed MO 0 Disables the motor effectively stopping any motion Of course any software or hardware fault limitation or protection will also immediately abort or stop the motion depending on the fault or limitation type Note Like in Gearing motions in ECAM motion also any fault condition acting on the master axis will not directly effect the following slave axis This means that the following axis remains linked to the master DP regardless of the master s motion status or motor status For example if a master axis is disabled due to a high error condition its motor will be turned off but the following axis will still be in motion condition and will keep following the disabled axis encoder even after it is stopped 5 5 1 5 On The Fly Parameters Change An axis during ECAM motion is not effected by any of the normal
309. supported in the current Firmware version 8 2 5 Compare Function Parameters Activation and Error Codes The SC AT uses a new special array PG abbreviation stands for Pixel Generation Parameters to control the Compare function operation and a new activation command PQ This section describes the option defined by each parameter and the command syntax 8 2 5 1 The PG Array SC AT AM The PG array elements controls the operation of the compare function PG is an axis related array sized 10 x 8 Each axis has 8 parameters controlling the compare operation as described below Array Function Description Element PG i 1 Operation This parameter controls the compare function mode of Mode operation PG 0 Defines Compare Mode 0 PG iJ 1 1 Defines Compare Mode 1 Optional PG i 1 22 Defines Compare Mode 2 PG i 1 23 Defines Compare Mode 3 Optional PG i 2 Distance For Modes 0 and 1 this parameter defines the auto increment and distance direction In Mode 0 this parameter should be limited to 32 767 excluding 0 In Mode 1 this parameter can be any number in the 32 bit range excluding 0 For Modes 2 and 3 this parameter should be 1 for positive motions incrementing position motions and 1 for negative motions decrementing position motions PG i 3 Start Point For Modes 0 and 1 this parameter defines the Start Position PStart in encoder counts for t
310. t Hardware Most although not all motion systems have mechanical RLS FLS end of travel stops especially with linear load motion In order to prevent the load from hitting these stops an The SC AT 2M does not support configurable Axis groups Control and Robotics Solutions Ltd 3 17 SC AT Software User s Manual and Commands Reference 3 18 Limits Software HL LL Motion Modes Motion Profiling Motion On The Fly Changing Position Capture Events Position Compare electronic device switch is located before each stop Reversed and Forward to detect this situation These switches are connected to the SC AT s RLS and FLS digital inputs Reverse Limit Switch and Forward Limit Switch When the SC AT detects an active state at one of these inputs it stops any motion toward the related direction Similarly to the hardware limits RLS and FLS above the SC supports software limitation for motion range HL High Limit and LL Low Limit defines a position range in which the SC AT operates normally Whenever the motor s position exceeds this range the SC AT stops any motion to the related direction Motion Mode defines the method in which the SC AT calculates the desired position command as a function of time The SC AT supports various motion modes The basic modes are listed below Point To Point PTP Jogging ECAM Gearing Step Repetitive Step and PTP Motion Profiling
311. t ete die retine ete iot ee beg eaei neinei Sasi 10 130 10 5 72 TA CAN Transmitting Address eese entente trennen eene eee 10 131 10 5 73 PO Torque Command iie tdi retinere leq eee beg en ee opti Sani 10 132 10 574 TD Tne Ps DOW eine o ret C Ia tee ER CERT INE casncwasdecubebsacsayssceaaeeeas 10 134 10 5 75 TL Torque Limit Analog Command Saturation eese nennen 10 138 10 5 76 TR Target Radius acte tia ette ere io reb teh epe er eee eias 10 139 LOD T De SET Target Time ua eate ote e rra RE ERROREM e Fes PE eee Ea eEE UI 10 140 10 5 78 VA VD VS Vector Motion Parameters eese eene nemen 10 141 10 5 79 VR Get Version Commuand esee ener nennen eren isosti entente teen 10 143 10 5 80 WT Wait Period ide RP eret gr ettet re tee pe aen 10 147 10 5 81 WW Profiler Smooth Factor eese eene nennen eene eerte 10 149 10 5 82 XC Last Capture Position Latch eese eene entrent rennen 10 150 10 5 83 XN Capture Events Counter sisses iniaiaiai eterne nennen trennen eren ren eene tnter nnne 10 151 10 5 84 XP Auxiliary Encoder Position SC AT 2M Only 10 152 10 5 85 XV Auxiliary Encoder Velocity eese eene nennen ren eerte 10 153 10 5 86 ZI CAN Array scettr e deer e a efe est d ee dre p Renten De e Pei Rn 10 154 11 COMMUNICATION AND PROGRAM ERROR CODES
312. ta Below please find the definitions of each Keyword type group 4 3 2 1 Parameters Keywords Parameters can always report their value generally reflecting the value of an internal software or hardware register and in most cases can be assigned with a value There are some read only parameters that can not be assigned with a new value For example the AJ Analog Input value is a read only parameter There are some parameters that when assigned with a new value can also modify the values of other parameters For example when modifying the PS Current Encoder Position Value of an axis the DP The current position command reference or Desired Position is also modified to the same value to avoid positioning errors 4 3 2 2 Command Keywords Command Keywords always initiates a process start a motion save parameters begin internal script program execution etc Commands does not report a specific register values and in general does not assign any specific register values though they can internally modify values of more then one register For example the BR Begin Recording command will of course modify the value of the RR Recording Status register The LD Load from Flash command will of course modify values of almost ALL registers Commands can receive a parameter actually an argument which effects the command process For example the command to execute a program QE can receive a label s
313. ta Recording GAP For The SC AT AM Purpose The RG Recording Gap parameter controls the number of servo cycles interval Gap between each two consecutive recorded data points The SC AT 4M data recording capabilities allows collecting data at the servo loop rate i e 16 384 per second However since currently the recording buffers are limited to 10 000 data points to each vector up to 10 vectors simultaneously at 16 384 points per second this would have limited the recording time to less then 1 second In order to allow longer recordings RG is defined For example if RG 16 i e a data point is collected to the recording buffer each 16 servo cycles i e at a rate of Imsec per point recording of up to 10 seconds is possible and so on Attributes Type Parameter Axis related No Array Yes Size 2 Assignment Yes Command Allows Parameter Scope All Restrictions None Save to Flash Yes Default Value 1 Range 1 16 384 Syntax XRG 1 Set Recording Gap to 1 XRG Report value of RG Examples See section 8 1 in this User s Manual for further information See Also BR DA RL RR RV Control and Robotics Solutions Ltd 10 111 SC AT Software User s Manual and Commands Reference 10 5 61 2 RG Data Recording GAP For The SC AT 2M Purpose The RG Recording Gap parameter controls the number of servo cycles interval Gap between each two consecutive recorded data point
314. td 10 3 SC AT Software User s Manual and Commands Reference 10 3 1 SC AT 4M Parameters Keywords List Ar Oboe A5 Yes Analog InputDead Band ar Ye Analog mput Gain Factor Analog Input Gain La yes aig i Vas Auxiliary Analog Output Value ESE p Nen ole Postion Target aR No General Purpose Array AS Ye Analog Input Offset DA No Data Recording Array Deceleration Value counts s D Limit Deceleration counts s DO Yes DAC Analog Offset Desired Position EA Yes ECAM Motion Parameters Array Last Communication Error Code Ew Yes Last End OF Motion Reason ER Yes MaxPostionEmorLimi T FF Yes Acc and Vel Feed Forward Gam FR Yes Following Ratio for Gearing T 7A No Indirect Access Index Array 7 No GehpuPont 1s Yes integral Saturation Limit KD Yes PID Differential Gain T KI Yes PID Integral Gain KP Yes PID Proportional Gain T Read Reset Assignment Ta Val i Range eta po BUE 512 120 000 000 pn ho Le a pa 512 12000000 512120000000 Ce pam o 2 147 000 000 4x8 0 100 foss y O 1 800000 4x2 0 655356 52147000000 1x4 1 103 Sa E 7187 000 0001 0 16 777 215 0 536 870 911 32 767 2 147 000 000 wm Yes
315. terface for the MD drivers The command value is automatically derived from the upper 11 bits of the DAC command value e New SC 4M Shell Application The SC 4M Shell application was updated to support the new features of the SC AM SA Please consult C amp RS for updated Setup utility for the new Shell application F W Version 204 SC 4M SA Boards May 2003 Version 1 02 of this user s manual describes the changes related to the SC 4M SA firmware revision 2 04 The following changes were made in Release Version 2 04 of the SC AM SA Servo Controller e Motor Stuck Protection Change Protection Timing Delay In F W Revision 2 03 the Motor Stuck Protection was initially implemented with delay time of 4 seconds consecutive 65536 servo sample In F W revision 2 04 and later revisions the Motor Stuck Protection delay was reduced to 0 5 seconds e New Special Open Loop Mode NC 3 for X and Y Axes When working with SIN commutated motors it is required to operate the motor in open loop during motor PHASES initialization in a stepper operation mode In this mode the motor SIN phase angle command can be initialized by a user defined parameter and is not effected by the actual Magnetic Location Please see the NC command reference and section 8 4 below in this User s Manual for more information Control and Robotics Solutions Ltd Revision 3 10 January 2005 2 4 F W Version 205 B SC 4M SA Boards Aug 2003 Version 1 03 of this u
316. termined position for example by feeding the two motor phases directly As constant DC current feeds two motor phases motor torque is a known sinusoidal function of rotor electrical angle The Sinusoidal motor torque curve on one electrical revolution has two zero crossing points one of them represents a stable equilibrium and the other a non stable one Note that the equilibrium point is a location where the motor produces zero force regardless of the current that flows through its phases 90 from that point the motor force is at its maximum peak for a given current This is where we ideally want to be at all times during normal operation in SIN mode In the SC AT 4M servo controller when the stable equilibrium point is found the magnetic location offset from that point should be set to 90 or 270 electrical degrees ML 6 stable EQ Point 4 x MP For the above technique a worst case magnetic alignment movement from a random initial rotor position to a stable state is one half of electrical revolution 180 electrical degrees or MP 2 This worst case is achieved if initial rotor position almost coincides with a non stable equilibrium point We suppose that a motor is not stuck near or at a non stable equilibrium position it is theoretically possible for relatively high Coulomb friction The Phase Initialization Script Example shown below demonstrates how to deal with both coulomb friction and mechani
317. terpreter ignores the axis identifiers of non axis related keywords Identifiers Group The SC AT Commands Syntax support the concept of Axes Axes Group identifier definition An Axes Group allows the user to define an arbitrary sub set of controller axes to be acted upon Like in normal axes identifiers the Command Interpreter ignores the Group Identifier of non axis related keywords The SC AT 4M supports up to 4 axes Groups identifiers A B C D The A and B Groups always have the default of All and Both X and Y assignments after power up The SC AT 2M supports the B Both group identifier only Inhibit Output A dedicated digital output of the SC AT one for each axis which is used to enable disable an external motor s driver The inhibit output reflects the state of the MO parameter Incremental Encoder A standard position sensor used as a position feedback in conjunction with motors and servo systems A special SC AT hardware circuit uses the encoder s signals to continuously sense the motor load position and speed and to accordingly control the motor motion Keyword A token consisting of 2 characters which identifies a unique SC AT s command or parameter Keyword Attributes Each Keyword of the SC AT has one or more attributes The Keyword attribute tells the command Interpreter how to be treated For example a Keyword can be an axis related Keyword related to an axis or Global Keyword Limi
318. tes a 50 PWM signal with Dir gt A 0 command generates a 0 PWM signal with Dir gt A scale 16384 LSB command generates a 50 PWM signal with Dir gt A full 32767 LSB command generates a 100 PWM signal with DIR For a complete description of the relevant product command electrical interfaces characteristics please refer to the specific product s hardware user s manual Encoder Gain The SC AT counts quadrature encoder pulses This implies a feedback gain For example a typical rotary system with an encoder of 1000 ppr mounted on the motor s axis the encoder s gain is as follows Enc Gain 4 1000 2x counts rad Control and Robotics Solutions Ltd 6 5 SC AT Software User s Manual and Commands Reference 6 7 6 8 6 6 Dual Loop Operation In SC AT 2M The SC AT 2M controllers support an option to use a secondary encoder as a velocity loop feedback in PIV mode operation please see Figure 6 1 In this mode the SC AT 2M auxiliary encoder inputs supported when using the SC AT 2M CB are used to measure the inner loop position and velocity and the velocity feedback is used for the PIV internal velocity loop Please see the SC AT 2M hardware users manual for more information regarding the SC AT 2M auxiliary encoders support This option allows better close loop performances when systems with motor and resonant load structures are present In that case usually an addi
319. tion or variable GAP tables See specific chapter later on in this User s Manual for further information Scripts or Macro The SC AT 4M controller supports up to 10 simultaneous Programming internal programs The SC AT 2M supports up to 2 simultaneous internal programs Also referred to as Scripts or Macro programs Internal programs are used for tasks like Homing an axis or other user defined low level servo tasks The new SC AT family controllers are provided with an advanced SDI Software Development Environment including very powerful debugger and editor utilities making Scripts programming and debugging an easy task Sinusoidal Electronic Sinusoidal Commutation is refereed to the Electronic ability of the controller to electronically and continuously Commutation control DC brushless motors phases commutation Currently Supported In brushless type motors there are 2 main techniques for in SC AT 4M Only phase commutation The traditional Trapezoidal commutation usually done within the analog motor driver and Sinusoidal commutation In Sinusoidal commutation the motor phase currents are changed continuously as a function of the motor magnetic angle In Electronic Sinusoidal Commutation the controller generates the 2 phase current commands to be used by a special motor driver as a function of the encoder feedback reading eee ewe C MEMOG Rr XYF GAWUG 20252 0 Oo XRG4 M lol SW Yonne AE WES Virtual Ax
320. tion calls itself again to complete the initialization process once again It is assumed that the second time the function is executed no hardware limits will be sensed Error recovery tests can be added to avoid staying locked within an infinite loop in case of un expected problems For example the second call to the main function should not try to re call itself again For the sake of code simplicity and clarity error recovery tests are not implemented in the examples below Users can of course include them for more robust software application interfaces Control and Robotics Solutions Ltd 8 43 SC AT Software User s Manual and Commands Reference SIN Mode Phase Initialization Process for a Linear Motor COMM_X XMO 0 XPS 0 Disable Motor and Set Zero Position XMP 32000 Set Magnetic Pitch XCG XCG 4 Enable SIN Commutation Mode in CG XNC 1 XAO 0 Switch to Open Loop Desecrate phases XER 64000 Increase Error for the process XMO 1 Enable the motor Excite Phase 2 XAO gradually While doing so jitter Phase 1l to avoid stick in 180 dead lock non stable equilibrium point for templ 250 templ lt 6000 templ temp1 250 XAO templ Set Phas 2 command XTC 500 Jitter Phase 1 500 lsb TimerX 4000 WaitTimerX 1 4 Sec delay templ temp1 250 Increase Phas 2 command XAO templ XTC 500 Jitter Phase 1 500 lsb TimerX 4000 WaitTimerX 1 4 Sec delay endfor XAO 8000 Hold Phase 2 at 25 of
321. tion for Gearing and ECAM motion modes Gearing and ECAM are motion modes where an axis follows another axis position with a pre defined fixed ratio in Gearing or using user defined position tables in ECAM The ME parameter defined the master axis for that purpose Note The master axis can be in Motor On or Off i e MO 1 or MO 0 states In the later case the Master s DP PS so using a disabled axis as a master axis will provide true encoder position tracking ME defines which axis is the Master axis for a given slave motion The ME parameter can be any valid physical axis as described below e SC AT 4M Controllers On the SC AT 4M Controllers the ME parameter can be any valid physical axis ME 0 for X ME for Y a ME 2 for Z a ME 3 for W e SC AT 2M Controllers On the SC AT 2M Controllers the ME parameter can select between the following encoder inputs ME 0 for X Axis Encoder ME 1 for Y Axis Encoder ME 2 for X Auxiliary Encoder Input ME 3 for Y Auxiliary Encoder Input D D D D Please see sections 5 4 above and 5 5 above for more information about Gearing and ECAM Motion Modes operation Attributes Type Parameter Axis related Yes Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 0 3 10 72 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Syntax XMM 7
322. tion to 250 000 XDC 500000 Set Acceleration to 500 000 Control and Robotics Solutions Ltd 10 79 SC AT Software User s Manual and Commands Reference 10 80 XSP 25000 Set Speed to 25 000 XBG Start a Motion The following code example shows starting a Jog motion in the Y axis using SP 50 000 counts sec Negative Motion YMO 1 YPS 0 Enables the Motor and Set Position 0 YMM 1 YSM 0 Set Normal JOG Motion Mode YAC 250000 Set Acceleration to 250 000 YDC 500000 Set Acceleration to 500 000 YSP 50000 Set Speed to 50 000 YBG Start a Motion The next example shows a STEP motion in X axis from Position 0 to Position 100 Note that in STEP motions there is no profile so AC SP DC may not be set When the BG command is issued the reference position of the relevant axis is set immediately to the value of AP Note that MM 8 can be combined with SM 1 to generate repetitive STEP motions XMO 1 XPS 0 Enables the Motor and Set Position 0 XMM 8 XSM 0 Set Normal STEP Motion Mode XBG Start a Motion See Also SM BG WT MO and chapter 5 above in this User s Manual for further information about the supported motion modes Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 45 MO Motor ON Enable Disable the Servo Loop Purpose Set Motor On or Off MO 0 will turn the relevant motor off disabling the motor driver
323. tional motor encoder is used to close a motor velocity loop and the main load encoder is used to close the outer position loop When operating this mode the user must scale the inner loop encoder velocity usually motor encoder to the outer position loop encoder velocity This is achieved by the FR 2 parameter The scaling of FR 2 is 1 65 536 This means that for a 1 1 ratio FR 2 should be set as follows FR 2 265536 Scaling can be done by using the data recording interface to record main and auxiliary encoder positions and calculating the ratio between them The Dual loop operation mode is operated by setting Bit 7 zero based of CG Please see the CG and FR keywords Sections 10 5 15 2 and 10 5 28 2 below for more information Note that for each axis the dual loop structure always use the auxiliary encoder input of the specific axis i e X auxiliary for X and Y auxiliary for Y Non Linear Elements The actual control filter structure includes the following non linearity s gt The filter command output is saturated to the value the TL Torque Limit parameter The output command saturation is active at all times in all modes The software range limit for TL is 0 32 767 in DAC LSB units When working in close loop operation only in both PID and PIV modes the filter Integral term output is also saturated to the value the IS Integral Saturation parameter The software range limit for IS
324. tomatically increments the index with each coming data Very high download data rates can be achieved in that way Please see DB command reference for more information Data Recording The controller now support up to 100 000 data points in a single data vector or up to 10 vectors 10 000 data points each any other combination that does not exceeds 100 000 points is valid A new parameter RG 2 that controls the Data Recording Upload buffer rate is now available to overcome PC CAN bus interface cards rate limitations For more information please see section 8 1 below Control and Robotics Solutions Ltd 2 3 SC AT Software User s Manual and Commands Reference 2 4 Fast I O Support The SC 4M SA support 4 Fast digital outputs and 4 Fast digital Inputs only 3 Fast inputs were supported in the SC 4M The necessary H W configuration replacing 0 Ohm resistors was slightly modified different resistors names Please see sections 8 2 6 2 below and 8 3 3 2 below and the H W user s manual for more information Software configuration bits to support the additional fast input support were also added see the YOM command update description below in this section New definition for MD Drivers Fault Source The SC 4M SA now enables the user to define the source of the Driver Fault signals By default the main DRV_FLT signals on the main 64 pins connector are used as Driver Faults The user can now define the MD Driver
325. tring argument indicating the name of the subroutine to execute e g XQE HOME Command s parameter can be a string see above or a number The command s ee 99 parameter is separated from the command itself using a comma character 4 3 2 3 Keywords Attributes and Restrictions 4 22 Each Keyword has attributes defining it and restrictions that must be satisfied in order to accept the command clause The Command Interpreter module checks the restrictions before actually executing the command or making a parameter assignment For parameters the restrictions relate only for assignment since reporting is always valid For a complete list of ALL attributes and restrictions please refer to section 10 1 Keywords Attribute Reference Restrictions for both parameters and commands may be one or more of the following list the restriction attribute value is given for reference see section 10 1 Keywords Attribute Reference for more information e None No restriction is applicable e Motor Should be ON 0x00000001 The requested command or parameter assignment needs an enabled motor For example the BG begin motion command must have its related motor enabled in order to be executed successfully Control and Robotics Solutions Ltd Revision 3 10 January 2005 e Motor Should be OFF 0x00000002 The requested command or parameter assignment needs a disabled motor For example the CG axis configuration paramet
326. trol Filter Proportional Term Gain Actual servo loop Position Error ActualservoloopPosiionEmor E Uu Pn Position Holds the actual encoder position value a Inegra Tem Saturation of PID and IV comme O SR StausRegistr S O MO MotorON Enables MO 1 Disables MO 0 the servo loop NC No Control Enables NC 1 Disables NC D Open Loop Mode TC Torque Command in Open Loop mode Torque Limit Limits the D2A command All modes TR Target Radius OTT Target Time o Table 11 Control Filter and Real time Servo Loop Related Keywords 10 4 2 3 Data Recording Related Keywords BR BeginDataRecording DA j DataRecording Array size 1 x 100 000 Set Recording length buffer length RR Report Recording Status Set the recorder variables Table 12 Data Recording Related Keywords Control and Robotics Solutions Ltd 10 9 SC AT Software User s Manual and Commands Reference 10 4 2 4 Special Features Interface Function Keywords General purpose Array size 1 x 10 000 This array is also used for 32 bit locations table definitions in Mode 2 and Mode 3 of the Position Compare Events Function Magnetic Pitch for SIN Commutated Brushless Motors MP Magnetic Location for SIN Commutated Brushless Motors Set I O Modes Hardware Configuration This keyword is used to configure the Compare and Capture
327. trol and Robotics Solutions Ltd 8 41 SC AT Software User s Manual and Commands Reference la I xsin Q Offset Ib I xsin o 120 It is thus very much recommended to tune the analog offset to as near as possible to zero level when working in SIN mode commutation with BLDC motors On the SC 4M new hardware revisions the analog offset value is kept to a minimum level by using accurate analog circuits 0 1 However offset can still appear on the analog Main and Aux commands The DO DAC Offset command should be used to eliminate the analog offset completely Please see the DO command reference for more information 8 5 2 7 Phase Initialization Script Routine Examples 8 42 In this section an example is given to demonstrate a phase initialization process for a linear motor stage application with SIN commutation mode operation The application uses an X axis high resolution linear motor stage with a linear 1 micron resolution encoder The motor s magnetic pitch is 32 mm i e 32 000 counts MP 32 000 The initialization point is at 90 i e ML 24 000 The main initialization script routine is COMM_x The routine initializes global parameters such as the magnetic pitch SIN Enable mode bit etc and then gradually increases Phase 2 current command AO Note that this process is done in open loop mode NC 1 to allow separate desecrate phase command for each one of the phases
328. turation of PID and PIV control filters see control filter Torque Limit Limits the D2A command All modes High Software Limit Motor Fault Reason Report Table 16 Protection Keywords 10 4 2 8 General Keywords AR General purpose Aray size x 10 000 O DA Data recording Array can also be used for GP size 1 x 100 000 IA Indirect Access General Purpose Array PA General Purpose Parameters Array RS S WResetControllerCommand VR GetFirmware Version Command Table 17 General Purpose Related Keywords Control and Robotics Solutions Ltd 10 11 SC AT Software User s Manual and Commands Reference 10 4 2 9 Programming Keywords 10 12 The SC AT servo controllers have a powerful script engine that allows running up to 10 SC AT 4M or 2 SC AT 2M programs simultaneously at very fast rates Combined with our Integrated Script Development and Debugging Environment IDE the SC AT s internal programming engine provides endless capabilities for user application development starting from simple homing routines up to full machine sequences management For complete description User s Manual and Commands Reference of the SC AT s scripting capabilities please see the SC AT Macro Scripts Language features User s Manual Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 Keywords List Alphabetical List The following section presents the SC
329. two axes values This limitation is currently implied due to the 8 bytes basic CAN message format This limitation may be removed in future firmware versions SC AT 2M There is 1 Axes Group supported by the SC AT 2M B This group defines X and Y axes sub group For example issuing the following assignment BPS 0 set the position of both axes to 0 The B group is un configurable and obviously does not the GP keyword for group configuration 4 3 3 Controller Language Syntax In the following section the general Language Syntax of the SC AT family servo controller s software is presented Please note that while the discussion below mostly refers to the RS 232 ASCII protocol the CAN bus protocol is logically similar For further references regarding the full RS 232 and CAN bus binary protocols please refer to the SC AT Communication Protocol User s Manual 4 3 3 1 Host to SC Each keyword consists of two upper case letters Some of the parameters are defined as arrays These parameters are always referred to with their two letters keyword and with an index number within a square brackets e g AR 2 4 24 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Each command clause is terminated with a terminator character which may be one of CR or 5 Each command clause is preceded with an axis identification letter to identify the axis to which the command clause is addressed to
330. uary 2005 10 5 54 PA Parameters Array 10 5 54 1 PA Parameters Array SC AT 4M Purpose PA is a user general purpose parameters Array PA can be used during script program development for any purpose The PA array is an axis related array with size of 10x200 elements Each element in the array is a LONG format number which can be assigned with any value at any time The index range of the PA array is 1 200 As noted PA is a user general purpose array and is not used anywhere by the controller s firmware code unless the user has included a reference to it within a script program Attributes Type Parameter Axis related Yes Array Yes size 10 200 Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash Yes Default Value 0 Range 2 147 000 000 2 147 000 000 Syntax XPA 1 0 Set XPA 1 0 ZPA 10 Report value of ZPA 10 APA 100 1000 Set for all axes PA 100 1 000 Examples See Below See Also Please see SC AT Advanced Multi Axes Servo Controller Script Programming Language and the Integrated Development Environment User s Manual Section 3 5 Variables And Indirect Addressing Control and Robotics Solutions Ltd 10 101 SC AT Software User s Manual and Commands Reference 10 5 54 2 PA Parameters Array SC AT 2M Purpose PA is a user general purpose parameters Array PA can
331. ult or limitation type Control and Robotics Solutions Ltd Revision 3 10 January 2005 5 3 5 On The Fly Parameters Change The following parameters can be modified on the fly during an active Jogging motion Communication Clauses Description SP Starts an acceleration or deceleration toward the new SP value The New SP value can have a different sign from the previous SP value AC DC Will affect any following motion toward a new SP value 5 4 Gearing Motion Modes 5 4 1 Position Based Gearing MM 2 5 4 1 1 Description Gearing or electronic gearing motion is refer to a motion mode where an axis follows another axis position with a pre defined fixed ratio The SC AT 4M and SC AT 2M supports position gearing motion mode for X and Y axes only The position gearing is implemented based on a master DP follow method In this method the follower axis is slaved to a user selected Master Axis Desired Position i e The Master s DP not its actual encoder position PS This method allows to perform very accurate multiple axes vector motions with one axis being used as a master while other axes can be slaved to it s reference position i e to the master s theoretical profiler output Note The master axis can be in Motor On or Off i e MO 0 states In the later case the Master s DP PS so using a disabled axis as a master axis will provide true encoder position tracking The FR Following Ratio parameter
332. ure 6 2 The user can test the operation of the filter in open loop and actually record the step response of the filter This can be done when the 2 order filter is enabled by switching to Open Loop mode NC 1 issue a torque command TC XX and record the Driver Command signal The filter can be enabled or disabled using a special dedicated new parameter CA 13 When CA 13 0 the 2 order filter is disabled in all modes gt When CA 13 1 the 2 order filter is enabled in all modes The 2 order filter equations are E U xa 1 b xY b XY or Y a xU b xY b xY where gt U and Y are the filter input and output signals and Control and Robotics Solutions Ltd 6 3 SC AT Software User s Manual and Commands Reference 6 4 6 4 gt a0 b1 b2 are the filter constants The filter parameters are user defined and are set in by a special set of dedicated new parameters CA 7 CA 8 and CA 9 with the following scaling gt CA 7 a0 x 65536 x 16384 gt CA 8 bl x 65536 gt CA 9 b2 x 65536 With the new SC AT 4M 2M Shell the user can easily and automatically set filter variables The Shell provides a utility that converts standard Frequency and Damping values to the controller filter form parameters scaling The Shell is using a standard Z transform for the conversion Output Command and D2A Gain According to the specific controller type and operation mode the control filter o
333. ut port 8 OP controls simultaneous access to all the Output Port word bits at one assignment In order to access one bit at a time Set or Clear a specific bit the new SC firmware includes 2 new commands OS That Set to 1 logic a specific output bit and OC That clears to 0 logic a specific output bit Please see OS and OC references The user can also control the actual H W logic level of each output bit using the OL Output Logic parameter OP is non axis related so axis preceding character has no effect Attributes Type Parameter Axis related No Array No Assignment Yes Command Allows parameter Scope All Restrictions None Save to Flash No Default Value 0 Range 0 255 Syntax XOP 0 Set the Output Port to 0 all bits cleared AOP Report value of OP the output port word XOP 255 Set ALL digital outputs to High 1 logic 10 98 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Examples See Also OC OL OS XOM Control and Robotics Solutions Ltd 10 99 SC AT Software User s Manual and Commands Reference 10 5 53 OS Output Set Bit Command Purpose The OS command Sets Set to 1 a specific Bit in the digital Output Port word Unlike the OP parameter that only allows simultaneous access to all the output bits the OS command allows bit wise set operations on th
334. utput is converted to an analog driver command or PWM signals The SC AT controllers family support the following command types and resolutions gt SC AT 4M Main Analog Commands D2A s are 16 bits resolution gt SC AT 4M PWM command outputs for Mini Drivers in 12 bits resolution gt SC AT 2M Analog Commands are 12 13 bits resolution s w configurable gt SC AT 2M PWM command outputs in 12 bits resolution To avoid loop and command gain differences the standard S W for both the SC AT 4M and SC AT 2M in all drive types and operation modes support interface for ALL command types both Analog and PWM outputs in fixed 16 bits resolution i e 132 767 bits for 10 v or 100 PWM command and 32 767 bits for 10 v or 100 PWM command An additional fixed gain is implied by this conversion This gain is Command DAC Gain 10 v 32767 LSB Since a command output of 32767 the maximum command value for the SC AT generates the full scale analog command of 10 v In addition to that on the SC AT 4M the analog command electrical output circuit includes a first order low pass filter with a cross over frequency of 2000 Hz The purpose of that filter is to reduce high frequency power supply noises and its effect on the close loop system performances should be negligible In any case this filter can be removed in case this is specifically required for custom applications On the SC AT 2M controllers t
335. value for the acceleration counts sec DC 500000 Assigning a value for the deceleration counts sec DL 1000000 Assigning a value for the Limit DC counts sec WWz0 Defines no smoothing SP 50000 Assigning a value for the speed counts sec AP 100000 Assigning an absolute target position counts RP 30000 or assigning a relative value for the target position BG Begin the motion 5 1 3 Monitoring Motions 5 2 During and after an active motion the motion status can be continuously monitored using the following parameters Please note that these parameters reflect the internal controller status regardless of the motion mode and are relevant in all motion modes described below in this chapter The user can of course choose to record any of these variable and many others using the internal Data Recording capability Please refer to the chapter dealing in Data Recording features of the SC AT controllers in this User s Manual see section 8 1 Control and Robotics Solutions Ltd Revision 3 10 January 2005 Communication Clauses Description PS Reports the current actual motor position counts VL Reports the current actual motor speed counts sec DP Reports the current desired position counts PE Reports the current position error DP PS counts MO Reports the current motor status Should be normally 1 for motor on Will be O off only in case of fault during the motion MF A code describing why the motor wa
336. ve conditions are not met the compare pulses will be generated in unexpected positions 8 2 2 Mode 1 Fixed GAP incremental Distance 16 Bit This operation mode is similar to Mode 0 i e fix automatically incremented or decremented GAP except that it allows Distance values to be larger then 16 bit Actually any Distance number value in the 32 bit range excluding 0 can be used in this mode However since the compare point increment or decrement in this mode is managed by the controller real time firmware code the max possible compare pulse frequency is limited to 1 2 of the servo sampling rate i e max 8 192 Hz in the SC AT 4M controller and to 4 096 Hz in the SC AT 4M controller The user is recommended to work in this mode in cases where the required incremental GAP is absolutely grater then 32 767 encoder counts If the required distance is absolutely smaller then 32 767 counts Mode 0 should be used Control and Robotics Solutions Ltd 8 9 SC AT Software User s Manual and Commands Reference It should be noted that when working in Mode 1 for Distance 32 767 counts the Max possible pulses frequency is anyhow limited by the max supported encoder speed For example when moving at 30 000 000 counts sec if the required distance is 32 768 counts the resulted frequency is anyhow only 30 000 000 32 768 915 Hz So practically using either Mode 0 or Mode 1 all possible incremental GAP distances are covered w
337. ver Faults and Abort Input Driver fault is a condition indicating that something is wrong with the motor power driver connected to the controller The driver fault is an actual hardware signal line that the driver outputs This signal is continuously monitored by the controller real time servo loop at the main control sample rate 16 kHz in the case of the SC AT 4M or 8 kHz in the case of the SC AT 2M If the real time software detects that this line is active the servo loop axis related to the relevant faulted driver is immediately disabled There is a separate independent driver fault input line for each one of the controller axes When an axis is disabled by a driver fault the controller automatically switches to Servo Off MO 0 condition in that axis In this condition the controller s driver inhibit output is activated and the analog or PWM command lines are immediately switched to 0 value The user can switch the actual logic of the driver fault line separately for each axis This enables to support any type of driver fault electrical and logic interface active high or active low Please see the CG axis configuration word for more information An Abort condition fault is generated when the general purpose ABORT input line is activated Unlike driver faults the Abort input is a single common input line that causes disable of all the controller axes Being a general Emergency input the fault condition generated by an
338. wing example shows performing a 100 counts step followed by a 100 counts step XMO 1 Enables the X Motor XPS 0 Set X axis encoder Position 0 XMM 0 XSM 0 Set Normal Point To Point Motion Mode XAC 90000 XDC 90000 Set AC DC 90 000 XSP 25000 Set Speed to 25 000 XRP 100 Define a 100 counts step XBG Start a Motion XRP 100 Define a 100 counts step XBG Start a Motion See Also DP AP PS BG 10 116 Control and Robotics Solutions Ltd Revision 3 10 January 2005 10 5 64 RR Data Recording Status Purpose RR is a read only parameter indicating the recording process status When new recording begins after BR command is issued RR is internally set to the value of RL During the data recording process RR is automatically decremented by 1 for each data point collected to all buffers This practically happens every RG servo cycles When RR equals 0 data recording has terminated and the recorded data can be uploaded When RR gt 0 data recording upload is denied Attributes Type Parameter Axis related No Array No Assignment No Command Allows Parameter Scope All Restrictions None Save to Flash No Default Value Range 1 10 000 Syntax XRR Report value of RR Examples See section 8 1 in this User s Manual for further information See Also BR DA RG RL RV Control and Robotics So

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