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1. Milnor version o o o ojo rjo o o t tv smces Complete version showed ojojo o ojo 1 D t o 400 macso ee t o 22 18 Macisoo o o o oj1jo o i 1 0 sensa MACSO0 For a fully specification including subversion and options concerning the actual motor connected see the Motor type register Notes Values in brackets is 0 if the product contains an older processor type TT2461 01GB Example A MIS231 with the firmware version 1 7 will have the value Hex 0x401 7 Decimal 16407 or Binary 0100 0000 0001 0111 150 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 534 amp MIS43x Registers 8 3 3 Mode Reg cme Di 0 1 2 3 11 Description Controls the operating mode of the motor The following modes can be selected 0 Passive Velocity mode 2 Position mode 3 Gear mode 3 Zero search type 14 Zero search type 2 15 Safe mode Passive mode 0 In this mode the motor current is turned off and the motor will not react to any position velocity commands Velocity mode 1 When the motor is in velocity mode the controller accelerates the motor to the velocity in V SOLL V SOLL can be changed at any time and the move will decelerate accelerate accordingly It is permissible to change A SOLL and V START during a movement but the
2. Minor version o o o ojo r o o o t 17 smces Complete version showed ojojo o ojo 1 D 400 MACA0 inser C A Vaca olofolololololm ro ee ojojojo o 1 o t o 22 18 Macisoo o o o oj1jo o t 1 0 sensa macsooo For a fully specification including subversion and options concerning the actual motor connected see the Motor type register Notes Values in brackets is O if the product contains an older processor type TT2461 01GB Example A MIS231 with the firmware version 1 7 will have the value Hex 0x401 7 Decimal 16407 or Binary 0100 0000 0001 0111 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 3 2 MIS 3x Registers 8 2 3 Mode Reg ee 0 1 2 3 11 Description Controls the operating mode of the motor The following modes can be selected 0 Passive Velocity mode 2 Position mode 3 Gear mode 13 Zero search type 4 Zero search type 2 15 Safe mode Passive mode 0 In this mode the motor current is turned off and the motor will not react to any position velocity commands Velocity mode 1 When the motor is in velocity mode the controller accelerates the motor to the velocity in V SOLL V SOLL can be changed at any time and the move will decelerate accelerate accordingly It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the
3. Zero search with index pulse only MISxxxHexx Index pulse range 1 rev of motor If the MIS motor is equipped with the single turn H2 encoder option it is also possible to use the index pulse of the encoder This gives a more precise zero position than just run ning for a sensor The accuracy of the sensor signal depends on how far the sensor is lo cated from the measuring item and on the velocity The index pulse can be used with or without the sensor This must be defined on the advanced tab If the MIS motor is set to use the index pulse the MIS motor always runs to the sensor first and then the index pulse The sensor must be placed at the right position This can be done using MacTalk Select the type of sensor movement to be used in the main tab screen In the advanced tab choose not to start the program automatically after reset Then select Save in Flash Go to the Test tab and press Start Zero Search The motor now rotates at the zero search velocity towards the sensor and when this has been found the motor continues to the index pulse The circle at the Test tab indicates the location of the index pulse according to the sensor The index pulse must be in the green area If the index pulse is in the red area the sensor must be moved slightly and the procedure repeated JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43
4. NM AAD A GJ e e e e e e e Ul e NOM Oo Ov O UJ N UJ N e o O O O U1 M TT T Non programmable motors 060606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 rogrammable motors 60606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 enera escription 0606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 VI Hardware Intelligent products Lee ee eee ee eee eese eese eese esses ones ower Supply 060606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 On Inputs 06006000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 nalogue Inputs 0 06 06060060060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000099 9 User Outpu
5. ecce ecc c e e e e ccoo ecce ecce ecce e e e e ccoo ccoo ccoo e e e e e e e e e 210 214 218 223 23 238 249 e e e e e 250 252 256 259 260 261 262 263 264 265 267 270 27 273 274 275 276 277 278 279 280 28 282 283 285 286 296 306 307 308 309 311 316 317 318 CE Declaration of Conformity sisssceccsssssessscescssasesdeessossscsasoess cbosdessscenssessieadossvsnssdedsecessee SLO 0 ANDRE EET ANI I AA E E Oo EO JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Introduction MIS34x family MIS340 shown MIS23x family MIS232 shown TI2317 01GB This user manual describes the set up and usage of the following products Complete motors with build in controller or driver e Types MIS231 MIS232 and MIS234 NEMAQ23 sizes e Types MIS340 MIS341 and MIS342 NEMA34 sizes e Types MIS43x NEMA43 sizes only limited supported in this manual Stand alone electronics without motor e Types SMD73 and SMD74 drive PCB without intelligence not programmable Types SMC75 and SMC85 controller PCB with intelligence fully programmable All the quickstep motors are available as a fully programmable product with a wide range of features also covering a
6. Reg Name Size Access Range Default Unit Description MacTalk name 126 TURNTABLE 16bit R W Special Configures the motor to Turn table mode M ODE operate in one of three Turn Table modes O disabled linear position 1 Only move in positive direction 2 Only move in negative direction 3 Take shortest route Enables Register 127 127 TURNTABLE 32bit R W Steps Size of the Turn Table whenin Turn table size SIZE turntable mode enabled by register 126 129 NL MASK 16bit R W lO Input mask for Negative limit Dedicated inputs M ask input Negative limit input 130 PL MASK 16bit R W lO Input mask for Positive limit Dedicated inputs 131 Reserved 16bit R W 132 HOME Input mask for home sensor Dedicated inputs M ASK M ask input Home input 133 CAN 16bit R W Used for dynamically selectable PDO21Reg1 register access through PDO21 134 CAN 16bit R W Used for dynamically selectable PDO21Reg2 register access through PDO21 135 INPUT_ 16bit R W IO Input mask for the digital inputs IOx digital input FILTER Mask with input filter Bits set use the filter enabled M ASK input filter time in register 136 bits clear use a fixed update time of 100 us Reg Name Size Access Range Default Unit Description MacTalk name 136 INPUT_ 16bit R W 5 ms The number of milliseconds the Input filter time FILTER filtered digital inputs must be CNT stable before accepting a change 137 I
7. Count Receive PDO Setup Transmit PDO Setup Manufacturer Specific Profile Specific Interface Profile User SDO List MODE_REG V SOLL V SOLL MODE REG MODE REG MODE REG P SOLL P_SOLL V S LL V SOLL 1 0 1 2000 0700 200 0 C8 D 0 0 2 0 2 3 0 3 200 0 C8 0 0 0 20000 0 4 20 100 0 64 V S LL 30000 0 7530 P SOLL 0 2012 20000 0 4 20 amp Read User SDOs Write User 500 Send command to node Start Pre operational Stop Reset Close WEEEEEELELEELEELELE 4 Select here on the the manufacturer specific register 5 Select thereafter the object 0x2012 Object 0x2012 contains the motor parameters JVL CanOpen Explorer IbiVersion Node ID 5 Sync Time 50 Enable Sync Stop Guard time EDS File smc 5 eds Load 200 Enable guarding Stop Communication MessagelD Length Data Count Receive PDO Setup Transmit Setup EL Manufacturer Specific _ xBO Number of entries 253 O FD Sub 0 01 PROG VERSION 0 0 0 Sub 0x02 MODE REG 0 0 0 Sub 0x03 P SOLL 0 0 0 Sub 0x04 Parameter 4 0 0 0 Sub 0 05 V SOLL 0 0 0 Sub 0x06 SOLL 0 0 0 Sub 0x07 RUN CURRENT 0 0 0 Sub 0x08 STANDBY TIME 0 0 0 Sub 0x09 STANDBY CUR 0 0 0 Sub 0x04 P IST 0 0 0 Sub 0 0 Parameter 11 0 0 0 Sub 0 0 15 0 0 0 Sub 0 00 V START 0 0
8. e e e e e e ecc c ecc c ecce ecc c ecc c ecc c e e e e e ecc c ecc c ecc c ecc c ecc c e e e e e ccoo ccoo c oo c oo ccoo e e e e e e ccoo ccoo ccoo ccoo ccoo e e e e e e ecc c ecc c ecc c ecc ecc c ecc c e e e e e e ecce ecce ecc ecce ecce ecce e e e e e e ecce ecce ecce ecce ecce ecce e e e e e e ecc ecc ecce ecc ecce ecce e e e e e e ccoo ecce ecce ecce ecce ecc e e e e e e ccoo ccoo ccoo ecc e e e e e e ccoo ccoo ecce ecce ecce ecce e e e e e e ecce ecce ecce ecc ecce ecce e e e e e e e e e e e ccoo ccoo ecc ecc ecce e e e e e ecc ecc c ecc c ccoo ccoo e e e e e ecce ecc ecce ecce e e
9. details of CANOpen Theory Table for upload and download SDO protocol continued a gt Reened 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be downloaded Byte 4 contains the Isb and byte 7 contains the not used Heserved for further msb always 0 use always 0 e 1 s 1 d contains the data of length 4 n to be download ed the encoding depends on the type of the data referenced by index and sub index Download 0 s 0 d is reserved for further use 0 s 1 d contains the number of bytes to be uploaded Byte 4 contains the Isb and byte 7 contains the msb e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data ref erenced by index and sub index not used Reserved for further always 0 use always 0 Abort SDO transfer protocol SDO tasks which the SMC75 controller cannot process are responded to using an abort SDO protocol If the module does not respond in the expected time the CANopen mas ter also sends an abort SDO The following figure shows an abort SDO transfer protocol Client Server Server Client Request Indication TTIO90GB There are various abort codes in CANopen These are listed in the table below Abort code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO Protocol timed out 0504 0001h Client server command specified not valid or unknown 0504
10. i281 Postion Limit min _ Description Position limit for movement in the negative direction The motor can be configured to stop automatically when it reaches this position 122 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 24 Max P IST Reg Name Size Access Range Default Unit MacTalk name 20 MAK PLIST Geyer 0 Postion Limit Max _ Description Position limit for movement in the positive direction The motor can be configured to stop automatically when it reaches this position 8 2 25 Acc_Emerg Reg Name Size Access Range Default Unit MacTalk name Description The motor will use this acceleration during an emergency stop 8 2 26 Err Bits 35 ERR BITS 16bit RW 0 Special Emos Description Error bits Bit 0 General error Will always be set together with one of the other bits Bit Follow error Bit 2 Output driver error Bit is set if one of the outputs is short circuited Bit 3 Position Limit error Bit 4 Low bus voltage error Bit 5 Over voltage error Bit6 Temperature too high 90 C Bit 7 Internal error Self diagnostics failed If any of these bits are set the motor is in a state of error and will not move until all the errors have been cleared Some of the errors can be cleared by writing zero to this reg ister Other errors will requir
11. 67 O0x00433 MIS230 Steppermtor 68 O0x0044 MIS233 1 Steppermetor 69 O0x0045 85 Onlycontollrnomoor 80 0x0050 O 5340 Stepprmoo J8 Ox051 5341 Stepprmoto 82 0x02 MIS342 Steppermto 83 0x053 O 84 mss Stepper motor e 06 Steppermotor 90 OSA _____ MIS512 future product This value is read only and is programmed into the motor during manufacturing JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 141 3 2 MIS23x Registers 8 2 86 Serial Number Size Access Range Default Unit MacTalk name Status Bar Description The serial number of the motor This value is read only and is programmed into the motor during manufacturing 8 2 87 Checksum Reg Name Size Access Range Default Unit MacTalk name 194 CHECKSUM 32bt 1 965535 Description Firmware checksum This value is read only and is programmed into the motor during firmware update 8 2 88 Hardware Rev E M a HARDWARE_REV 16bit 0 65535 Minor ro on otor 416384 Description The revision of the hardware This value is read only and is programmed into the motor during manufacturing 142 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers
12. Standby time rz2esce Current overview Mszs wem _ Mss Wswo _ If a MIS232 motor is used and the current is set to 3000 mA the motor will be able to deliver a torque of 1 6 Nm at low speed If the current is set to 1000 mA the motor will be able to deliver 0 53Nm See Run Current page 118 for information about Running Current and Standby Current page 119 for information about Standby Current 64 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 e 5 2 1 Auto Correction Auto correction Auto Correction is used in motors with a built in encoder only It is only used in position mode to re try a movement if the decoder position is too far from the target after the pulse generator has stopped moving the motor this will happen for instance if the movement was physically blocked the torque of the motor was insufficient or a bad val ue for start velocity or acceleration were used It might also be used to handle occasional mechanical oscillations The AutoCorrection system will first wait unconditionally for a certain time to allow the initial movement to settle mechanically before testing for the target position It will then attempt a normal movement using the same values for velocities and acceleration as the movement that failed It will continue until the encoder position is within the target win dow or the selected number of retries has expired Note that Aut
13. gt 1 1 42 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 6 Cables for the MISS4xxxxQ6xxxx The following cables equipped with M12 connector can be supplied by JVL MIS34x Connectors Description JVL Order no mn iy n CN2 CN3 CN4 i 12pin 8pin 5pin Female Female Female RS485 Interface cable Connects directly from the MIS motor to a S 4 5 RS485 comport RS485 M12 1 5 8 Length 5m 197 inch USB to RS485 Converter To be used if RS485 COM port is avail RS485 USB ATC 820 Cable 5 5mm with M12 male 5 connector loose wire ends 0 35mm 22AWG and foil screen WI1000 M12MSTOSN Length 5m 197 inch Same as above but 20m 787 11000 12 5 20 Cable with M12 male 8 pin connec tor loose wire ends 0 35mm WI1000 M12M8TO5N 22AWG and screen Same as above but 20m 787 inch WI1000 M12M8T20N Cable with M12 male 12 pin connector loose wire ends 0 22mm 24AWG and screen WI1009 M12M12TOSN Length 5m 197 inch Pf x ff Same as above but 20m 787 inch WI11009 M12M12T20N Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector WI1000 M12FCAP1 IP67 protection cap for M12 f male connector WI1000 M12MCAP1 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 43 CN2 fr EN CN3 Ethernet In
14. MC M123 pcs 3m power cable PG12 8 female 5485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 MD M123 pcs 3m power cable PG12 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 R1 Radial connection M12 2 pcs 5 pin male power 8 pin female RS485 4IOA on 2 sides High volume SMC75 R2 Radial connection M12 2 pcs 5 pin male power 8 pin female RS485 41OA on 2 sides 1 50 pcs SMC75 C1 2 pcs PG12 cable Clands M12x1 5 and no cable mounted side mounted only MIS231 C2 2 pcs PG12 cable Clands M12x1 5 and 5m power and IO cable with shield mounted Side mounted C3 2 pcs PG12 cable Clands M12x1 5 and power and IO cable with shield mounted Side mounted C6 CANOPEN 2 pcs PG12 cable Clands M12x1 5 and 2m power and IO cable with shield mounted Side mounted WO 2 pcs PG12 cable Clands M12x1 5 and no cable mounted Rear end mounted W1 2 pcs PG12 cable Clands M12x1 5 and 1m power and 1m IO cable with shield mounted Rear end mounted W2 2 pcs PG12 cable Clands M12x1 5 and 5m power and 1m IO cable with shield mounted Rear end mounted FP MIS34x 4 pcs M12 5 pin male power 8pin female RS485 12 female IO 5 pin male B Profibus DP Q6 MIS34x 4 pcs M12 5 pin male power 8pin female RS485 12 female IO 5 pin female A CANopen Q9 MIS34x 4 pcs M12 5 pin male power 8pin female 5485 12 female IO 8 pin male SSI 105 6 Q5 MIS34x 4 pcs M12 5 pin male power 8pin female RS485 1
15. Indication Indication TT1083GB Where s is the state of the NMT slave s NNT state Operational Pre operational t is the toggle bit It alternates between 2 consecutive responses from the NMT Slave The value of the toggle bit of the first response after the guarding protocol becomes ac tive is 0 The Toggle Bit in the guarding protocol is only reset to 0 when the NMT message Reset Communication is passed no other change of state resets the toggle bit If a response is received with the same value of the toggle bit as in the preceding re sponse then the new response is handled as if it was not received Heartbeat With the Heartbeat protocol a Heartbeat Producer cyclically sends its communications state to the CAN bus One or more Heartbeat Consumers receive the indication The relationship between producer and consumer is configurable via the object dictionary The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer time If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be generated JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 247 10 6 IMore details of CANOpen Theory Heartbeat producer Heartbeat consumer COB ID 700h Node ID Request 6 0 Indication S Heartbeat Heartbeat producer time consumer time Request Indication Heartbeat consu
16. Loe py fo aE LI rp HERR TE H BEEE nee E y E fee eee MACIDE j bh a fumo ei Gea ene fhe ee JEP ma COH ee Vae penis a SA CE HUM dye Pumas Tia tf pam Page ned band Dera pm ds al maia T send prar a ar l aen j Wad unti ith acta pc gin bisa Cape ie 1500 we 200 Fae 2 OB ee ee ed fe dus Mon amp Me Adonai paeem Tu Sape MACIORV we Cac sum DEED Progra ret hane Dere rs ngos 1 Signe Parum Ww unti ehh 2 Move Fef dat 10006 Cove ecc RENNA vet 20900 J Wer 500 4 Set ft 4 impit 7 1 n n 1 u m i Ito Cem OR te LE do Hmm 1 0t y Continued JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 4 How to build a program OE ES ET Noname File View Motor MACOO RxP Setup Updates Help Now the program is running o P bo 3 ab D continuously The actual program DES je Open Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor line which is executed is shown by the small red
17. MIS430 48V MIS430 80V Speed RPM MIS432 motor torque versus speed and supply voltage Torque Nm Torque 92 P HB L Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 1500 48V 1500W regulated PSU Power supply PSU80 4 80V 400W unregulated PSU Room temperature 25 C MIS432 24V MIS432 48V 5432 80V 100 200 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 Speed RPM 2470 01 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Only MIS23x 56 4 mensions Physical D Physical dimensions MIS231 MIS232 and MIS234 12 5 12 5 1 9920 16211 e 8 1 0 025 e Lo WO D gt lt 1 SI J9ujo 5 ui suoisuoauiip seuou 66 0 0 01 08 861 90 9 0 YS L 9 019 9 09 9 9 91 9 9 811 ZE SIIN sz olse 9 rg Slor L 8 0 96 LECSIIN 219000 01 0 0 0 510 2 1820010 yeys Buipnjour ujBue 7 ui6ue1 ed 1010N 267 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 0 118 CVE SIIN 104 Heys 0 1 0 0 004 0 9 OVE SIIN 104 YEUS Only MIS34x L100 C
18. synchronization Object X X _ emergency Object X X Network 7 10 6 7 Error Control Services Two possibilities exist for performing Error Control Node Guarding Life Guarding Heartbeat Node Guarding Life Guarding With Node Guarding the CANopen master sends each slave an RTR telegram Remote Transmit request with the COB ID 1792 700h node ID Using the same COB ID the slave responds with its communications state i e either Pre Operational Operational or stopped The CANopen slave also monitors the incoming RTR telegram from the master The cycle of the incoming RTR telegrams is set using the Guard Time Object The number of RTR telegrams which can fail at a maximum before the slave initiates a Life Guarding event is defined using the Life time factor object The Node Life Time is calculated from the product of the Guard Time and Life Time Fac tor This is the maximum time that the slave waits for an RTR telegram The figure below shows a Node Guarding Life Guarding protocol 246 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 details of CANOpen Theory COB ID 700h Node ID Request Remote transmit request Indication Response COB ID 700h Node ID Remote transmit request Indication Request Confirmation Response Node Guarding event Life Guarding event
19. 543 Registers 9 e NA nw some see uw no m NA us scono sw ew o M ws sm a D NA uo INDEX_OFFSET sm n o1 Ses Tes CENE Bit explanation default When set to non zero selects to start the switch away from the MacTalk protocol and start the Modbus protocol This field is not current used The motor always uses the binary Modbus RTU 1 Modbus ASCII format D3 D2 O No parity 1 Odd Select the parity bit value Select the same format as the Modbus client PLC parity 2 Even parity HMI or PC uses 3 2 is read as bits 3 through 2 D4 0 7 data bits 1 8 data bits Number of data bits in a byte Modbus RTU always uses 8 bits per byte D5 0 1 stop bit 1 2 stop bits Select the number of stop bits Select the same format as the Modbus client PLC HMI or PC uses Advanced Zero 0031 06 Unused reserved for future purposes HOME BITS 32bit R W Reserved 32bit SETUP BITS 32bit IOSETUP 32bit TURNTABLE MODE 32bit TURNTABLE SIZE 32bit NL MASK 32bit PL MASK 32bit R W Don t start program after power up Invert motor direc tion R W Special External Encoder Enable DSP 402 Support Auto encoder synchronize R W Special Inputs Outputs R W Special Turn Table Mode R W Steps Turn Table Size Dedicated Inputs R W IO Mask Negativ
20. M12 Connector WI1008 not available WI1008 WI1008 solder terminals M12F5SS1 M12M5SS1 M12M8SS1 WI1000 WI1009 WI1005 WI1009 M12 Cables 5m M12F5TO5N M12M17TO5N M12M8V M12M8V05N M5V03N Connector layout 4 lO 1 NEN Lo EC IT Eo l A1 RS422 Eo l B1 RS422 Eo l Eo l Eo l lo EN EN Eo l Eo l lo ECC Eo l QE NENNEN Eo l Eo l E Eo 0 kc E p W11008 Wl1008 W11028 not available M12M5SS1 M12F8SS1 M12F5SS1 W11006 Wl1000 WI11026 Wl1046 M12F5 M12F8TOBN M12 F5SOR M12M4S05R 5 5 5 pin Female 4 pin Female 1 2 2 1 PWR CN1 e 4 3 3 4 CN2 8 pin Female 5 pin Male 1 2 2 1 8 7 3 6 4 3 4 5 12 pin Female 8 pin Male 1 2 2 1 10 8 9 3 3 7 8 4 12 11 17 pin Female 2 TT2323 01GB 34 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 2 11 2 How to connect MIS34x CN2 CN3 RS485 IN OUT i J i RS485 I O PWR CN1 umm CN4 Power input RS485 I O Backup optional TT2332 01GB cdr MIS34xxxxG5xxxx connector description The MIS34x offers robust MI2 connectors which makes it ideal for automation applica tions The MI2 connectors offer solid mechanical protection and are easy operate Following scheme gives the relevant information about each connector a
21. PDO SDO EMCY NMT and heartbeat use the header frame for communication on the CANopen bus JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 213 10 2 Connection and setup of the CAN bus 10 2 1 Connecting the SMC75 Controller to the CAN bus Before you connect the Controller SMC75 to the CAN bus the Baud rate the Node ID and the termination must be selected On the serial bus it is possible to set a transmission speed Baud rate of max 1000 Kbit s and a min of 10 Kbit s The Baud rate depends on the cable length and the wire cross section The table below gives some recommendations for networks with less than 64 nodes Recommended bus cable cross sections are according to CIA BusDistance Cross sec Terminator Baud rate tion mm Ohms The bus wires may be routed parallel twisted and or shielded depending quirements The layout of the wiring should be as close as possible to a single line struc ture in order to minimize reflections The cable stubs for connection of the bus node must be as short as possible especially at high bit rates The cable shielding in the housing must have a large contact area For a drop cable a wire cross section of 0 25 to 0 34 mm would be an appropriate choice in many cases For bus lengths greater than km a bridge or repeater device is recommended Galvanic isolation between the bus nodes is option
22. Reg Name Size Access Range Default Unit Description MacTalk name 161 Reserved 164 165 OPTIONS 16bit 0 65535 This register contains Tooltip on motor BITS information about what options that are avaible Bit 0 7 defines the options avaible in the hardware or licensed Bit 8 15 defines the options aviable in the firmware Bit 0 8 CanOpen fieldbus Bit 1 9 DeviceNet fieldbus 166 FBUS_ The nodeid on the CanOpen Fieldbus Node Id NODEID fieldbus interface 167 FBUS BAUD 16bit R W 16bit R W Fieldbus Baud rate The baudrate used on the CanOpen fieldbus interface 0 1000 kbit s 800 kbit s unsupported 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s 20 kbit s 10 kbit s TT2456 01GB Co MD UI B WN I Reg Name 168 CAN Error Counters Size Access Range 0 65535 Default Unit MacTalk name Counts Description Two separate counters for the numbers of errors detected on the CAN line durig reception and reception Useful for evaluating the noise levels and cable cabling quality 169 Reserved 170 EXT ENCODER This register counts the encoder External encoder input on INL HN2 The type of input is selected with SETUP BITS bit 243 Counts 172 EXT 16bit Counts This register is updated with the External encoder ENCODER 16 5 velocity of the external encoder Velocity VEL
23. There are two standard methods to map the PDOs in CANopen static mapping and dy namic mapping In static PDO mapping all PDOs are mapped in accordance with some fixed non modifiable setting in the relevant PDO In dynamic PDO mapping the setting of a PDO can be modified It is also allowable to have a flexible combination of different process data during operation The SMC75 controller uses only static mapping SDO Service Data Objects SDO can access all entries in the object directory but they are normally used in the ini tialization during the boot up procedure Some SDOs characteristics are Confirmed transfer of objects Data transfer exchange is always non synchronous Values greater than 4 bytes are transferred Normal transfer Values not more than 4 bytes are transferred Expedited transfer Basically an SDO is transferred as a sequence of segments Prior to transferring the seg ment there is an initialization phase where client and server prepare themselves for transferring the segment For SDOs it is also possible to transfer a dataset of up to four bytes during the initialization phase This mechanism is called an expedited transfer Download SDO protocol The download SDO protocol is used to write the values of the object directory into the drive JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 24 10 6 242 details of CANOpen Theory Client Reque
24. 125 kbit s 100 kbit s 50 kbit s 20 kbit s 10 kbit s 0 2 3 4 5 6 7 8 8 3 96 Ext Encoder Reg Name Size Access Range Default Unit MacTalk name Description This register counts the encoder input on INI IN2 The type of input is selected using SETUP BITS bit 2 3 78 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp 543 Registers 8 3 97 Ext Encoder Vel _ oe 15 _ 215 Counts External Encoder Description This register is updated with the velocity of the external encoder input The velocity is measured every l6ms JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 79 180 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Building Sequential Programs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 181 9 1 Getting started with programming When using the SMC75 almost any kind of program can be created using a set of user friendly icons Make the required choice on the Programming tab amp MacTalk Noname Fie View Motor Programming Setup Updates Hep ESTO MACDO Ay Procramesable Choose here to make new program Hes pogas AE use both absolute enc Program Optionally uploads the actual program Upload bom module Use ihis to upl
25. 15 2 MIS3S4 43 SMC6 amp 5 Registers detailed 26 TEMP 32bit R 2 27 Temperature measured inside Temperature uses offset the motor See the detailed description for information on the value scaling en 27 ee 28 MIN P IST 32bit RW 2 27 1 Steps 29 e 30 IST 32bit RW 2 27 1 Steps 31 e 32 EM ERG 1 500 000 5 Accelearion to use when Error acceleration performing an emergency stop when an error has occurred 33 IN POSITION 32bit Steps Selects how close the internal WINDOW encoder position must be to P_SOLL to set the InPhysical Position status bit and prevent furtherAutoCorrection 34 IN POSITION 32bit R W 0 100 0 Counts The number of times to attempt COUNT AutoCorrection A value of zero disables AutoCorrection TT2404 01GB 35 ERR BITS 32bit R W Special Error bits Errors Bit 0 General error always set together with another error bit Bit 1 Follow error Bit 2 Output driver error Bit 3 Position Limit error Bit 4 Low bus voltage error Bit 5 Over voltage error Bit 6 Temperature too high Bit 7 Internal error Self diagnotics failed Bit 8 Encoder lost position Bit 9 Reed sensor counting error Bit 10 No comm to encoder Bit 11 External encoder error 0 36 WARN BITS 32bit R W Special Warning bits Warnings Bit 0 Positive limit active Bit 1 Negative limit active Bit 2 Positive limit has been
26. CJ 14 14 1 14 2 14 3 14 4 15 15 1 15 2 15 3 15 4 15 5 15 6 15 7 15 8 15 9 15 1 16 7 CANopen Introd cti n aU General information about CANopen Connection and setup of the CAN bus Using CanOpenExplorer Objects the 05301 standard Objects used in the DSP 402 standard More details of CANOpen Theory Stand alone electronics Step motor drivers SMDxx Step motor controllers SMCxx How to connect the motor How to connect in general Quick Start SMC75A1MxAA ecccc ecccc ecco Technical Data MIS23x Technical Data MIS34x Technical Data SMC75 Technical Data Torque Curves Physical Dimensions Trouble shooting guide onnection to other Equipment onnecting SMI30 SMC35 to MIS SMC75 C C C C onnecting MISxx SMC75 to SMD73 onnecting MISxx SMC75 to SMD41 onnecting MISxx SMC75 to MACOO Bx onnection to PLC PC Boards
27. JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 199 9 7 Graphic programming command reference 9 7 15 Wait for an input combination before continuing multiple inputs Icon AI Dialogue Input type Operand t Single f And fe Or Cancel i 7 Input 1 Don t care High High High High High High High High High High Input 2 Don t care Input 3 Don t care Input 4 Don t care Input 5 Don t care Input Don t care Input 7 Don t care my Input 8 Don t care Matar error Don t care MN NE NE NE NM M NM NM es MN NE NE NM NM M NM E ese In position Don t care Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to Don t care are not tested The inputs are tested with 30 microsecond intervals 200 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 16 Set a register in the MIS
28. e e ccoo ccoo ccoo e e e e ccoo ccoo ccoo ccoo e e e e ecce ecce ecce ecce e e e e ecce ecce ecce e e e e ecce ecce ecc ecc c ecce ecce e e e e e e ccoo ccoo ecc ecce ecce ecce e e e e e e ccoo ccoo ccoo ccoo e e e e e e ccoo ccoo ccoo e e e e e e ecc cc ecce ecce ecce ecce ecce ecce ecc ecce ecce ecce e e e e e e e e e e ecce ecce ecce ecce ecce ecce ecc ecc ecc ecce e e e e e e e e e e ccoo ccoo ccoo ccoo ecce ecc c ecc c ecce ecco e e e e e ecce ecce ecc ecc ecce e e e e e e e e e e ecce ecce ecc ecc ecc e e e e e ecce ecce ccoo ccoo e e e e
29. ecc ecce ecce ecc ecce ecce ecce ecce e e e e e e e e e e e e e e Accessories 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 Cables Power Supplies Brakes and shaft reinforcement Gear and brake mounting instruction Appendix 5 MIS23x amp SMC75 Registers detailed MIS34 43 SMC85 Registers detailed Velocity accuracy Command timing More about program timing Motor Connections Serial communication MIS Ordering Information SMC75 85 Ordering Information MST Motor Ordering Information e e e e e e ecc c ecc c ecc c ecco e e e e ccoo ccoo e e e e ecc c ecc c ecc c ecc c e e e e ccoo ccoo ccoo e e e e ccoo ccoo ccoo e e e e ccoo econ ecce ecce e e e e ccoo e e e e ccoo ccoo ccoo e e
30. 0 13 14 15 32bit R W Controls the operating mode of the motor 0 Passive 1 Velocity mode 2 Position mode 3 Gear mode 11 Stop used internally 13 Zero search type 1 14 Zero search type 2 15 Safe mode don t set directly The desired position When in position mode the motor will move to this position This value can be changed at any time Current M ode Position TT2440 01GB Reg Name V SOLL Size Access Default Unit 16bit Range 1023 1023 Description The maxium allowed velocity When in velocity mode the motor will run constantly at this velocity Specify a negativ velocity to invert the direction This value can be changed at any time The acceleration decelleraion ramp to use If this value is changed during at movement it will first be active when the motor stops or changes direction A value of 105 21000 RPM s MacTalk name M ax velocity Acceleration RUN CURRENT 5 87 mA Current to use when the motor is running Running Current 10 12 STANDBY _ TIME STANDBY CURRENT P IST V IST ms 16bit 0 511 32bit 2 2 1 131 511 500 R W 1 65535 R W 0 511 R W 1 65535 R RPM 16bit 0 1023 Number of milliseconds before changing to standby current 5 87 mA The standby current Standby Current Steps The actual position This value Actual position can be
31. 2014h sub89 2014h sub90 2014h sub 91 2014h sub 92 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 227 10 4 Objects in the 05301 standard Transmit PDO 24 With this PDO the value of the analogue inputs 4 8 can be read Bye f Data ANALOGUE5 ANALOGUE6 ANALOGUE7 ANALOGUE8 Object 20141 sub 93 2014h sub 94 2014h sub 95 2014h sub 96 Transmit PDO 25 With this PDO the motor status inputs and last error can be read This PDO also supports asynchronous transmission If this PDO is in asynchronous mode it will be transmitted every time the run status or inputs are changed Bye 0 m2 Data Motoreror Res Res Res Object 2014h sub 18 2014h sub 35 o 10 4 7 Beckhoff support The SMC75 supports running CAN with Beckhoff PLC In this mode 4 receive and transmit PDO s are enabled from startup and are configured as 1 4 10 0x800000xxx NOT ENABLED 10 0x000000xxx ENABLED 10 4 8 setup Beckhoff mode Normally each selected PDO needs to be enabled after power up and initialization but in Beckhoff mode PDO 1 4 is automatically enabled at power up The 2 dynamic registers are put into PDOA Default the 16 bit register is set to 35 motor error and the 32 bit register is set to 170 external encoder To setup and use the Beckhoff mode enabl
32. Example V START 100 V SOLL 200 MODE REG The motor will accelerate from 100 RPM to 200 RPM V SOLL is now changed to 50 The motor will decelerate to 100 RPM and continue at 100 RPM V SOLL is now changed to 50 RPM The motor will stop and start at 50 RPM 8 2 13 GEAR1 Description When the gear mode is active the input from the external encoder is multiplied by GEARI and divided by GEAR2 Example GEARI 1600 GEAR2 2000 If 2000 steps are applied to the input the motor will turn revolution If one step is applied the motor will not move but the remainder will be 0 8 If another step is applied the motor will move step and the remainder will be 0 6 If another step is applied the motor will move step and the remainder will be 0 4 And so on 8 2 14 GEAR2 Description The denominator of the gear factor See GEARI for details 8 2 15 Encoder Pos Reg Name Size Access Range Default Unit MacTalk name ENCODER POS aera Steps Encoder poston _ Description Ifthe internal encoder option is installed this register shows the position feedback from the encoder This value is initialized to zero at power up and modified by the firmware when a zero search is performed The value can be used internally by the AutoCorrec tion system to retry a movement in position and gear modes 120 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x R
33. Integrated Stepper Motors MIS23x 34x 43x 63 5 1 Adjusting the motor current The current supplied to each of the step motor s phases can be adjusted for standby and running currents by changing the values of standby and running currents under Driver parameters in the MacTalk program The register is also accessible in general through the serial interface Driver parameters Running Current 3 00 RMS Standby Current 0 75 ARMS Standby time 5t ms The electronics automatically switches between the two currents by detecting the pres ence of step pulses If a rising edge is detected at the step clock the Move current is selected If no rising edge is detected during the period specified by Standby time at the step clock input the current is automatically switched back to Standby current Values for the two currents are typically adjusted so that the Operating Current is signif icantly higher than the Standby Current since the motor must be supplied with more power to drive its load during acceleration and constant operation than when it is sta tionary Note that the maximum Standby Current normally will be set to 5096 or lower of the maximum current for the actual driver type The only overriding consideration that must be made in the adjustment of motor phase currents is that the thermal output of the mo tor must not exceed the maximum operating temperature of the step motor ex 7
34. Only PCB AC Noconnectorboard and no housing Only PCB With CAN Open AD and no nousing Only PCB With Devicenet M1 M12 1pcs 5pin male SMD73 pulse direction driver M2 M122 pcs M3 M123 pcs M4 M123 pcs M5 M12 4 pcs M6 M124 pcs M7 M124 pcs M8 M12 4 pcs M9 M12 4 pcs MA M123 pcs MB M124 pcs MC M123 pcs MD M123 pcs 5 pin male power 8 pin fernale RS485 4IOA SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin female RS485 SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 8 pin female 5V serial IOA5 8 SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin female RS485 8 pin female 5V serial IOA 5 8 SMC75 CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male CAN SMC75 DeviceNet 5 piri male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male DEVICE SMC75 SSI CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin male IOA 5 6 5 pin male CANOpen SMC75 SSI 5 pin male power 8 pin female RS485 1 4 8 pin male SSI IOA 5 6 5 pin female RS485 SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin male CAN SMC75 5 pin male power 8 pin fernale RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 3m power cable PG12 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 3m power cable
35. Reserved 223 204 CANopen_ 32bit Data increments by one every 1 ms Debug data for CANopen communications unused through FW version 3 08 NOTE Register 224 through 255 are currently used to hold the configurations for analog input filtering of 101 8 These data should be accessed indirectly via the AFZUP xxx registers because registers 224 255 may be moved to another locaion in future firmware versions 224 Reserved 255 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x TT2459 01GB 295 15 2 MIS3S4 43 SMC85 Registers detailed PROG_ M ajor 16 The firmware version The Bit 14 Status bar VERSION Minor is set to indicate that the type is a 16384 stepper motor controller while 17 2 14 bits 19 14 ae set to the specific motor type where 17 means SM C85xx MODE REG 0 1 2 13 Controls the operating mode of Current M ode the motor 0 Passive 1 Velocity mode 2 Position mode 13 Zero search type 1 P SOLL 27 27 The desired position When in Position position mode the motor will move to this position This value can be changed at any time Reserved intended for 64 bit P_SOLL hi word V_SOLL 3 000 00 0 01 The maxium allowed velocity M ax velocity 3 000 00 When in velocity mode the motor will run constantly at this velocity Specify a negativ velocity to invert the direction This value can be changed at a
36. User Manual Integrated Stepper Motors MIS23x 34x 43x 10 2 Connection and setup of the CAN bus 10 2 6 SMC75 connectors rear plate layout The MIS motors offer IP67 protection and MI2 connectors which make them ideal for automation applications where no additional protection is desired The MI2 connectors offer solid mechanical protection and are easy to unplug The connector layout PWR Power input M12 5 pin male connector Description P Main supply ground Connect with pin 5 re Main supply ground Connect withpin 3 5 Note P and P are each available at 2 terminals Ensure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector BUS1 CAN open interface M12 5 pin male connector Signal name Shield for the CAN interface internally con m E nected to the motor housing CAN V Reserved for future purpose do not connect CAN GND CAN interface ground CAN H CAN interface Positive signal line CAN L CAN interface Negative signal line JVL Cable WI1000M12 Isolation F5A05N group Cable user Isolation supplied group 1 2 BUS2 CANopen interface M12 5 pin female connector Signal name Shield for the CAN interface internally connected to the IO I Os and R485 interface M12 8 pin female connector JVL Cable Signal name Description WI1000 M12 Isolation M8A05N group Cable S
37. User Manual Integrated Stepper Motors MIS23x 34x 43x 14 4 14 4 1 Gear and brake mounting instruction Mounting a gear or a brake at the motor When a gear or a brake is to be mounted on the front end of a motor it is very important that this is done in the right way since a wrong way of mounting may have fatal influence at lifetime of the motor or gear brake and performance Please follow this instruction step by step to make sure that the mounting is done with a good result otep 1 Make sure that the shaft collar is oriented correctly in order to assure that the right tension around the motor shaft is possible Hint Tighten the shaft collar gently just to keep it in the right position The inner and outer slit is NOT aligned Make sure they are aligned as shown at right illustration The inner and outer slit is aligned as they should Step 2 Mount the gear or brake at the motor but make sure to fasten the 4 shaft bolt first before fastening the shaft collar Its recommended to use Locktite 278 in the threats to make sure that the bolts stay in place Do NOT tighten the shaft collar Flange bolts properly mounted before the flange bolts are tightend and tightend pns GE JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 283 14 4 Gear and brake mounting instruction 284 otep 3 Final stage Fasten the shaft collar with a torque of according to the scheme below Pleas
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39. ere essc megan The progress counter will now rise from 0 to 100 Step 3 x Select firmware Show all files When the download process is finished the status pame ves 2 5 Firmware MACDO FSx shows Done SMETS SMETS MIS2ON SMC 75 CAN SMC75 MIS23 SMC85 firmware SMC85 MIS34x MIS 43x SMC85 firmware SMC85 MIS34x MIS 43x SMC85 firmware SMC85 MIS34x MIS 43x SMC85 firmware reed test SMC85 MIS34x MIS 43x MACOO MIS34 El EtherNetlP Current version 1 14 Loading version SMC85 firmware Version 2 00 Status Done View Relase notes Step 4 The on line information shown in the lower right corner of the MacTalk main window will now show the complete type of firmware and version The firmware update is now fully completed Please remember that the settings of the motor is set back to default But can be reinstalled by opening the user setup file made initially in this opdate sequence TT2343 01GB Hint Some older products may not start after pushing the start button showed above If this is the case simply swich off power wait 5 seconds and reapply power The update should now start JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6l 62 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Description of functions JVL Industri Elektronik A S User Manual
40. missa Unie Holding Torque 29 30 61 99 Nm mem os oe ow 14 27 40 wm me wenemumo weermems 0 Leg oe ues i9 5374 i560 mm imen mae m em om wm no mo Shaft nial play Max 0 08 450 fad 0 mm _ Max radial force 75 20mm from fange 22 omm rom fangs Max axial force __ Cd MN weight o9 12 27 42 58 k 1 3 1 Basic modes functions in the QuickStep motor The QuickStep motor offers the following functions Mode Description registers can be setup Motor shaft can be turned by hand The motor velocity can be controlled using MacTalk software or by setting register 5 SOLL using serial or program commands Position The motor position can be controlled using MacTalk or by setting register 3 P_SOLL using serial or program commands The motor position and velocity can be controlled by pulse and direction or encoder signals at the inputs IN1 and IN2 The gear ratio can be set to a large ratio by using register 14 GEAR1 and register 15 GEAR2 10 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Hardware Intelligent products This chapter ONLY covers intelligent products which are based on either the SMC75 or SMC85 stepper controller The following pages explains how the I O Power supply Interface etc can be connected and us
41. 0 User SDO List Sub Ox0E Parameter 14 0 0 0 Sub OxOF Parameter 15 0 0 0 Sub 0x10 ENCODER_POS 0 0 0 Sub 0x11 Parameter 17 0 0 0 Sub 0x12 INPUTS 0 0 0 Sub 0x13 OUTPUTS 0 0 0 Sub 0x14 FLWERR 0 0x0 Sub 0x15 Parameter 21 0 0 0 Sub 0x16 FLWERAMAX 0 0 0 Sub 0x17 Parameter 23 0 0 0 Sub 0 18 COMMAND 0 0 0 Sub 0x19 STATUS BITS 0 0x0 Sub 0x14 TEMP 0 0 0 a E Sub 0 1 Parameter 27 0 0 0 m Sub Ox1C MIN P IST 0 0 0 Read User SDOs Write User 500 Sub 0 10 Parameter 29 0 0 0 MODE REG V SOLL V SOLL MODE REG MODE REG MODE REG P SOLL P SOLL V SOLL V SOLL V SOLL P SOLL 1 0 1 2000 0 7D0 200 0 C8 D 0x0 2 0x2 3 0 3 200 0 C8 D 0x0 20000 4E 20 100 0x64 30000 0 7530 20000 0 4 20 WEEEEEEELELELELELE JL Ind Gylden V Corel GRAFIK JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 219 10 3 Using CanOpenExplorer 6 Point to the sub register 0x02 which is the register that determines in which mode the motor will operate TTIIO2GB JVL CanOpen Explorer PIE Ibiversion Node ID 5 Sync Time 50 Enable Sync Stop Guard time EDS File smc 5 eds Load 200 Enable guarding Stop Communication MessagelD Length Data Period Count_ Receive PDO Setup Transmit PDO Setup Manufacturer Specific 02012 Motor
42. 1023 1023 Zero Search Velocity Description The velocity used during zero search Set a negative velocity to search in the negative direction 124 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 31 Home mode 8 Aem Rang Ui waa HOMEMODE 1600 RW 0 13 14 Zero Search Mode Description Selects the zero search that should start on power up A value of 13 will use sensor type while a value of 14 will use sensor type 2 8 2 32 Absolute encoder position name Encoder Description This is the absolute magnetic encoder position It is only a single turn value in the range 0 to 1599 Please notice that this value is extract ed from the physical internal encoder which have an resolution of 0 1023 counts 10 bits therefore some values are truncated to the nearest count The background for doing this truncation is to align the operation range of the internal encoder to the motors physical resolution 1600 mini steps per rev 8 2 33 SSI encoder value Reg Name Size_ Access Range Default Unit MacTalk name a7 ABSENCODERSS r amp b R o to2 o si Encoder value _ Description This is the actual encoder position data received from the external SSI encoder This value is typically gray coded The firmware offers the possibility to do the Gray conversion but requires that some RxP programming is done as th
43. 32bit R W R W 32bit RW 0 1 8 32768 32715 0 4094 1 4095 Special 4095 1 221 mV 15 2 MISS4 43 SMC85 Registers detailed Bits 0 7 Index 1 8 of the analog N A handled on input whose ConfM in M ax the Filter Setup M axSlope and filter values to screen load into the corresponding AFZUO xxxregisters for read back Bit 15 gets set after the registers have been updated Minimum confidence limit for analog inputs M aximum confidence limit for analog inputs Confidence M in Confidence M ax 2 4095 4095 1 221mV Maximum slope limit for analog Max Slope inputs i 0 65535 0 32676 of new un Special 0 Bitmask Special Filter on the Filter Setup screen Individual status bits for 5096 of N A shown samples outside confidence limits graphically high 8 bits and 5096 of samples violated the slope limit low 8 Filter value for analog inputs bits SSI setup bits Bit 0 4 No of data bits Bit 5 7 No of samples Bit 8 15 SSI clk frequency Bit 16 28 Max sample deviation Bit 29 31 Read retries SSI Encoder setup TT2408 01GB Pulse signal Direction signal Bits 0 7 Outputs for Pulse out Bits 8 15 Outputs for Direction out Register 109 PulseDirM ode enables these outputs in modes 1 and 2 NOT supported in SM C85 yet Selects if the pulse and direction signals should be used only internally in the motor 0 e
44. 34x 43x 6 4 Example 1 Example 2 Gear Mode Encoder quadrature input An external encoder feeds the MIS The I O type is set to Pulse in put and Input type is set to Quadrature in order to decode the encoder signal The encoder is connected to the 2 pulse input termi nals See also How to connect the pulse source page 95 The resolution of the external encoder is 500 ppr The MIS motor it self has 600cpr MIS23x or 409600 cpr MIS34x and MIS43x If this application requires that the MIS motor rotates rev each time the external encoder has rotated rev the Input parameter is set to 500 external encoder and the Output parameter is set to 1600 MIS23x or 409600 MIS34x or MIS43x Now the ratio between the external encoder and the MIS motor will 1 1 Ensure the Profile data is set to proper values in order not to limit motor operation unintentionally Pulse and direction input A traditional step motor system with separate driver and motor is re placed by the integrated MIS motor meaning that the MIS motor re ceives a pulse and direction signal which is a very common signal format in step motor applications The I O type is set to Pulse input and Input type is set to Pulse direction in order to decode the input signal The pulse signal is con nected to the 2 pulse input terminals See also How to connect the pulse source page 95 The MAC motor is replacing a step motor system with 400
45. 8 2 89 Max_Voltage Sue Access Range Uni T MacTalk name Tooltip on Description The maximum allowed voltage on the bus If the bus voltage exceeds this value the mo tor will enter an error state This value is read only and is programmed into the motor during manufacturing It re flects the rating of the hardware components Supplying a higher voltage can damage the electronics components permanently If in doubt it is strongly recommended to first supply 24 Volts and connect the motor to MacTalk In MacTalk this value can be read by holding the mouse cursor over the image of the motor in the lower right of the main win dow 8 2 90 Available IO Reg Name Size Access Range Default Unit MacTalk name 158 AVAILABLE IO tbt PRO to MASK Description Defines what that are available on the connector This value is read only and is programmed into the motor during manufacturing Service personnel may ask for this value to identify the type of connector board mounted on the motor The values are not documented here 8 2 91 Bootloader Ver Size Access Range Default unn Major 16 BOOTLOADER 16bit 0 65535 Minor Tooltip on VER Motor 16384 Description The version of the boot loader This value is read only and is programmed into the motor during manufacturing 8 2 92 Not saved Reg Name Size Access Range Default Unit MacTalk name 160 NOTSA
46. Analogueinputs 0 5VDC Input General The 0 5V Analogue Inputs are used for example when the Controller is operated as a stand alone unit In this kind of application it can be an advantage to use a potentiometer joystick or other device for adjusting speed position acceleration etc In these modes of operation the motor is controlled to produce a velocity or position etc which is determined by and proportional to the voltage applied to the Analogue Input The Analogue Inputs share a common internal supply with the GND and P terminal and are not optically isolated from all other inputs and outputs The Analogue Inputs are pro tected against voltage overload up to 30V peak and have a built in filter which removes input signal noise See Analogue input filters page 20 Always use shielded cable to connect the source used to control an Analogue Input since the motor etc can easily interfere with the analogue signal and cause instability The Controller is equipped with 8 analogue to digital converters ADC which convert the detected analogue signal level The ADCs have a resolution of Obit In order to use the Analogue Inputs as 0 20 mA inputs a 250 1 resistor must be connected between IO 1 8 and GND Please notice The number of available terminals available may vary de pending at which motor type you are using Please the chapter Connector over view for the MIS23x page 32 or Connector overview for the
47. I 1 2V in theory so 48V 441 6 approximately due to component tolerances etc Please observe that CVI measurements are only available from HW Rev 1 7 and up The HW rev can be observed in the tooltip over the motor displayed in MacTalk 8 2 76 Acceptance count 140 Acceptance Count 16bit 16bit 10000 PEE Acceptance Count Description Acceptance Count selects the number of times the Acceptance Voltage must be meas ured after power up before the flash erase operation is started When using values 1 8 or 12 for register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds The flash memory sector holding the absolute position information is erased at startup to save critical time when the absolute information is about to be saved to flash memory again This register selects when to consider the startup as completed and supply voltage as sta ble 138 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 77 Save threshold voltage CE TUNE D EN Threshold 16bit 16bit Save Threshold Voltage Voltage Description When voltage drops below the selected value the absolute position information and oth er information is instantly saved to flash memory Save Threshold Voltage selects the voltage threshold that will trigger the flash save op eration and stop all other motor operation When register 142 has t
48. If not the sensor has to be adjusted 58 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 4 1 Using the MacTalk software 4 1 9 Scope Function The Scope function is an excellent and necessary function for testing a new application or finding errors in an existing system The Setup has to be selected to set up the Scope function correctly before use Most reg isters in SMC75 can be selected for viewing different trigger functions can be selected saving and loading scope pictures is possible etc w Moter Programmi g Setup Helo Be y Mote w v lt prr n 3 ab o Save Sever fash Qesetposbon eros Fite setup COM Man UO Setup Regitets Advanced Tess Scope Psogrmming Scope preliminary this luncsion s sil under development Sampled deta Scaing Sist 2300 mt 25 0 made Actual velociy 0 50 RPH Jey amp bot on 500 0 C 100 Setup 5ample setup Trig type Single move Distance 10000 Counts Forward and backward move Max distance 5000000 Counts Manual C Regsler condhian 12 Actual velocity gt 10 REM Edge tngged Bitcondiion In position C High Low Time Samples 512 Total sample tme 512 me Trg poit sebup gt Time belore me Time after 512 ms Charrels Channel 1 Channel 2 Chanel3 Nee ts Channel 4 None Color JVL Industri Elektro
49. Integrated Stepper Motors MIS23x 34x 43x 187 9 5 General programming hints When programming and saving programs the following hints may be useful to ensure that the program behaves as expected When transferring the program to the module it is saved permanently in memory and the program will be executed each time the motor is switched on 2 Before beginning to program ensure that the basic parameters for controlling accel eration torque safety limits etc are set to proper values When saving the program on the hard disk or to floppy disc all of these basic parameter settings will be saved together with the program as a complete motor setup package 3 A program line can be edited by double clicking on the command text 4 When the cursor is placed on top of the command icon an edit menu will be shown by right clicking 188 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 6 Command toolbox description The toolbox used for programming covers 4 different command types The basic idea of the commands is to provide easy access to the most common functions of the motor Some functions may seem to be missing at first glance but the buttons Set register in the QuickStep motor or Wait for a register value before continuing give direct access to 50 registers in the basic QuickStep motor such as the gear ratio or the actual torque register In total this gives a very powerful program
50. Number of times the Output Driver Error was set since the last Error Reset com mand V3 Number of times the Position Limits Exceeded Error was set since the last Error Reset command V4 Number of times the Low Bus Voltage Error was set since the last Error Log Reset command V5 Number of times the Over Voltage Error was set since the last Error Log Reset command V6 Number of times the Temperature Error was set since the last Error Log Reset command V7 Number of times the Internal Error was set since the last Error Log Reset com mand V V 2 The command 266 will set all error timestamps and all error counters to zero All commands are entered in register 24 or in the Command field in Mactalk Test Command JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Additional information saved when position backup is activated Error tracking where the number of times each type of error has occurred since the last reset error operation is remembered together with a timestamp for the last time the er ror occurred The timestamp is in Run seconds Monitoring of total run time in seconds called Run Seconds Counting of the number of times Anew PLC program has been saved motor parameters have been saved 9 3 3 The Flash backup feature support in MacTalk All setup values are accessible from MacTalk Flash Backup Acceptance Count 10000 Times Accepta
51. Only gt 50pcs order x I INm 2 1 6Nm 3 2 5Nm z 6 35mm shaft 3 10 0mm shaft only if x 3 NO No encoder H2 built in encoder CVO Out 32 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 10 2 M12 connectors M12 connectors layout and pin locations 5 pin female 5 pin male All connectors Front view TT2143GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 33 2 11 1 Connector overview for the MIS34x QUICKSTEP CANopen 551 Encoder Profibus Ethernet Connector Female Male 8Pin Male 5Pin Female Overview 5Pin i Connector ID PWR CN1 MIS34xCyyQ5zz85 8IOA Prefered type MIS34xCyyP6zz85 CAN open MIS34xCyyQ9zz85 SSI input MIS34xCyyExzz85 Ethernet CN2 amp CN3 CN2 amp CN2 amp CN3 MIS34xCyyFBzz85 Bluetooth MIS34xCyyFPzz85 Profibus n2 M12 Pin4 cVi iz 28VDCJIO3 Ao RS485 GND canh GND 2 M12 Pint P 12 80VDC M12 Pin2 M12 Pin P GND 102 BO 85485 103 0 99485 12 5 P GND 1 85422 GND BO RS485 CANL B Data In SHIELD M12 Pin6 04 JAO RS485 104 E M12 Pin7 M12 Pin8 CN M12 Pin9 M12 Pin10 A RS422 M12 Pint1 p 2 4 ex 5 M12 Pin12 M12 Pin13 7 M12 14 M12 Pin15 4 110 A0 RS485 M12 Pint6 M12 Pin17 BO RS485
52. Pn 64 Reg 65 Vn 32bit R W 0 3000 00 0 01RPM 8 Velocity registers Velocity n Vn 72 73 An 32bit R W 1 500 000 Acceleration n An 76 77 Tn 32bit R W 0 1533 511 Current n Tn 80 81 Analog 1 221 mV The voltage on inputs 1 to 8 after N A 88 Filtered being filtered in firmware See the AFZUP_ xxx registers for filter parameters 5V is equal to a value of 4095 Filtered values planned but not supported yet 89 Analoginput 32bit R 0 4095 1 221 mV The unfiltered voltage on inputs 1 N A 96 to 8 5V is equal to a value of 4095 97 BUSVOL 32bit R 0 4095 Bus voltage 98 MIN BUSVOL 32bit R W 0 4095 15 in bus voltage 99 ENCODER 32bit R 0 10 Tooltip on motor TYPE 100 AFZUP Write 32bit R W 0 Special Bits 0 7 Bitmask for which of the N A handled on Bits analog inputs that will use the the Filter Setup current value of the screen ConfM in M ax M axSlope and Filter registers Bit 15 Set when values have been copied and used TT2407 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 299 101 102 103 104 105 106 107 108 109 112 115 AFZUP ReadIndex AFZUP Conf Min AFZUP Conf M ax AFZUP M axSlope AFZUP Filter FilterStatus SS Setupl PulseDirM ask PulseDirM ode SettlingTime SS Setup2 SAM PLE1 4 _ 32bit 32bit
53. R KS Mm m LN o Al 0 gt Motor 6 35 shaft flying leacls SMD73 driver MIS 232 x 3 Mi E 30 D Motor 10mm shaft M12 SMD73 Motor 6 35mm shaft SMC7 5 3 pcs M12 connectors sel oT Tiel Dee MIS 234 A Motor 10mm shaft SMC75 4 pcs M12 connectors CANopen MIS 232 A v uo a Motor 6 35mm shaft SMC75 4 pcs M12 connectors DeviceNet Encoder H2 option MIS 340 B 5 Mi NO 41 Motor 14 0 mm shaft 1 pcs M12 connector 80V driver MIS 342 B 5 M7 NO 76 Motor 14 0 mm shaft 4 pcs M12 connectors 80V controller DeviceNet Encoder H2 option 3t End of number No more letters or number should be added Note 1 For orders less than 10 pcs use controller SMG75 instead allowing current and gear ratio to be freely programmed 316 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 9 SiVIC75 85 Ordering Information SMC Stepmotor controller 75 Version SARMS 12 48VDC with 8IOA and optional CANopen DeviceNet and encoder 85 Version 1 A B C 1 SMC75 E selection chart Intelligent controllers Revision Sep 2010 2 160VDC with 8IOA and optional CANopen DeviceNet and encoder PCB 3ARMS default PCB 6ARMS 9ARMS Hardware version 1 2 Hardware version 2 default M1 to M7 and Wx are housing version with 1 additional M12 5 pin male connector for the motor output mounted in side of the box AA Noconnectorboard and no housing
54. RUN CURRENT 100 will set the running current to 0 59A RMS 8 2 8 Standby Time 8 STANDBY TIME 16bit 1 65535 Standby Time Description This register sets the standby time This time is the time from the last step has been performed until the current changes from running to standby When a new request for a move is received the current changes from standby to running with no delay Example STANDBY TIME 200 will result in the controller switching to the standby current after 200ms 118 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 9 Standby_Current Name Sie Access Range Defaut Unit MacTalk name STANDBY _ CURRENT set rw 0 511 LN 5 87 mA Standby Current Description This register set the standby current for the motor 5 1 1 is the maximum possible value corresponding to 3A RMS The standby current is active when the motor has stopped and the specified Standby time has elapsed See Standby Time page 18 When the STANDBY CURRENT is changed the new motor current will be set instantly Example STANDBY CURRENT 50 will set the running current to 0 29A RMS 8 2 10 P IST e Per GG __ Stops Actual Poston _ Description This register shows the actual position of the motor This is updated each time the motor makes a step If P_IST is changed when in position mers a gear mode the motor will move until P IST P SOLL When IST reach
55. Save in flash and reset Production test do not use Init SSI encoder feature Read SSI encoder N A 258 259 266 267 268 210 300 320 321 Status bits Run Bit 0 Status Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Reserved AutoCorrection active In Physical Position At veloctiy In position Accelerating Bit 6 Decelerating Bit 7 Zero search done Bit 8 15 Reserved JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x TT2443 01GB 287 15 1 MIS23x amp SMC75 Registers detailed Reg 26 2 Name TEMP Reserved Unit 2 27 uses offset Size Access 16bit R Range Default MacTalk name Temperature Description Temperature measured inside the motor See the detailed description for information on the value scaling 28 30 32 33 34 MIN P IST MAX P IST ACC EMERG IN POSITION WINDOW IN POSITION COUNT R W R W 0 R W 1 65535 10000 0 32bit 32bit 221 231 1 160 9 54 5 16bit R W 0 65535 Counts 0 Steps Negative software position limit Position limit min 271 231 1 Positive software position limit Position limit max Accelearion to use when Error acceleration performing an emergency stop when an error has occurred Selects how close the internal 0 65535 5 Steps encoder position must be to P SOLLto set the InPhysicalPosition status bit and prevent furtherAutoCorrec
56. d E Ethernet Out PWR CN1 um NM CN Power input D M RS485 I O Backup optional TT2335 01GB cdr 2 11 7 MIS34xxxxExxxxx connector description Hardware wise all the MIS34x motors with the Ethernet option are equal and offer the connectivity shown in the table below The following Ethernet protocols are supported in this moment MIS34xxxxEPxxxx ProfiNet MIS34xxxxEIlxxxx EtherNetIP MIS34xxxxECxxxx EtherCAT MIS34xxxxELxxxx Ethernet POWERLINK MIS34xxxxEMxxxx Modbus TCP Following Ethernet protocols are supported in the near future MIS34xxxxESxxxx Sercos Ill he MIS34x offers robust MI2 connectors which makes it ideal for automation applica tions The MI 2 connectors offer solid mechanical protection and are easy operate Following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available The connector layout PWR CN1 Power input M12 5pin male connector JVL Cable WI1000 Isolation ipti M12F5TxxN group Main supply 12 80VDC Connect with pin 2 Main supply 12 80VDC Connect with pin 1 PP Main supply ground Connect with pin 5 LONE Control and user output supply 12 30VDC DO NOT connect gt 30V to this terminal Main supply ground Connect with pin 3 Note P4 and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2
57. the motor will switch to that mode Also one of the passive motor registers will be activated in the sense that its value will be written to the corresponding active motor register which actually controls motor behaviour In the example above the value in register no 65 VI will be written to register no 5 V SOLL Move operations will then take place at that velocity 204 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 23 Send FastMAC command macro command Icon bam Dialogue Made Command LK Passive OK Velocity NOF Cancel Reset error f Position P_SOLL 0 and IM POS 0 P_IST 0 Command P_FNC 0 and IN_POS 0 V SOLL 0 amp nii n Function If Mode is set to Command the motor does not necessarily change mode but it can be commanded to carry out a series of predetermined operations Describing all of the FastMAC commands is beyond the scope of this section but for example using a single command it is possible to activate four different sets of registers each controlling position velocity acceleration torque load factor and in position window For further details refer to section 4 5 7 of the MAC user manual 9 7 24 Binary command Icon S Dialogue Enter binary code Binary cade ceca Function MacTalk SMC75 programs are sent to the motor in a compact binary fo
58. 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 243 10 6 details of CANOpen Theory 0800 0022h SA cannot be transferred or stored to the application because of the present device Object dictionary dynamic generation fails or no object dictionary is present e g object 0800 0023h den dictionary is generated from file and generation fails because of a file error 10 6 5 SYNC Synchronisation Object A SYNC producer sends the synchronization object cyclically a broadcast telegram The SYNC telegram defines the basic clock cycle of the network The time interval of the SYNC telegram is set using the object Communication Cycle period 1006h In order to obtain a precise accurate cycle between the SYNC signals the SYNC telegram is sent with a high priority identifier This can be modified using the object 1005h The SYNC transfer applies the producer consumer push model and is non confirmed SYNC Producer SYNC Consumers Request T q Indication TTIO9IGB The SYNC does not carry any data L 0 The identifier of the SYNC object is located at object 1005h 244 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 10 6 6 details of CANOpen Theory
59. 19 When the encoder option is installed this register shows the encoder deviation from the calculated position P IST Fiwerrmax CoN oO ae Description 156 The maximum allowed value in FLWERR before an error is triggered If FLWERRMAX 0 the error is disabled See register 35 Err Bits page 123 for a description of the error bit JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 534 amp MIS4Sx Registers 8 3 20 Command 0 127 256 Description Used to issue commands to the motor 0 128 are the normal FastMac commands The values 128 255 are reserved Command 256 will activate a new baud rate on the serial ports and command 257 will synchronize the internal encoder position to the actual motor position 8 3 21 Status bits Reg Name Size Access Range Default Unit MacTalk name 25 STATUSBITS 32bt n Speci RunStatus Description Status bits Bit Reserved Bit AutoCorrection Active Bit 2 In Physical Position Bit 3 At velocity Bit 4 In position Bit 5 Accelerating Bit 6 Decelerating Bit 7 Zero search done Bit 8 11 Reserved Bit 12 General Error Same as register 35 bit 0 Bit 13 15 Reserved Actual run status bits for the motor 8 3 22 Temp LU 2 uses Description Temperature measured inside the motor electronics The approximate temperature i
60. 2 9 2 5 1 Serial interfaces overview Serial interfaces The Controller has 2 serial interfaces e RS485 A and B balanced for up to 32 units in multi axis applications and MODBUS communication Standard e CANbus CANopen DS 301 DSP 402 e DeviceNet under development CANbus and RS485 can be used at the same time Please notice The number of available terminals available may vary de A pending at which motor type you are using Please the chapter Connector over view for the MIS23x page 32 or Connector overview for the MIS34x page 34 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 25 2 6 1 26 RS485 Interface RS485 General description when using a QuickStep motor The RS485 interface offers eoram Reda network With Lx QuickStep 1 x MAC140 and 1 x MAC800 nication compared to the mounted with M ACOO B1 B2 or B4 modules RS232 interface Up to 32 Central Make sure that all Power supply motors can be connected to controller involved units are connected to the same Q the same interface bus for example a PC potentia E e Opto isolation 5 g o 10 When connecting the RS485 572 interface to a central control ler the following rules must d be followed QuickStep motor or SM C75 Controller Address Use twisted pair cable 85485 2 Use shielded cable Nm Interface Power 3 Make sure that the GND is Supply al
61. 200 _ Common mode range Min 2uS t 4 Min 209 7 to 12 maximum RS422 outputs balanced Channel A A k 1 Channel B B 0 Ch Ais 90 degree ahead Ch B is 90 degree ahead Step occurs on each which will cause the motor which will cause the motor transition on either 1T2467 01GB to move CW to move CCW the A or B channel 98 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 4 6 4 8 Gear IMode Principle of gear mode As mentioned on the previous pages the motor will follow the input signal synchronously to a certain extend according to the gear ratio setup There are however a few other parameters which are vital for success in the actual application These parameters are Velocity The value of the velocity register will be respected at any time when the motor is in gear mode Therefore care must be taken if this is set lower than the equivalent speed of the external source producing clocks to the gear input since it will be a limiting factor Acceleration Similar to the velocity register the acceleration setting will be respected at any time and if set lower slower speed rise time than the external source producing the clocks it will start to be a limiting factor Below can be seen an example of the relation between applied clocks and the actual mo tor movement when having velocity and acceleration set to low values Relation between input and the mot
62. 240 A compact switch mode power supply with 240W output power at 48VDC The power supply is UL and CSA approved It is protected against overvoltage overtem perature and short circuit or overload of the output The power supply can either be mounted on a DIN rail or wall mounted See also the data sheet LD0047 which can be downloaded from www jvl dk Other power supplies JVL offers a wide range of power supplies in the power range 45W to 5kW with output voltages 24 and 48VDC They all uses switch mode technology in order to minimize physical dimensions and for easy adaptation to mains voltages in the range 90 to 240VAC The product range covers the following types PSUO5 045 PSU24 075 PSU24 240 PSU48 240 PSU48 800 PSU48 1000 PSU48 1 500 See also the data sheet LD0058 overview LD0053 detailed which can be down loaded from www jvl dk JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 28 14 3 Brakes and shaft reinforcement 2 brake units are available for the MIS23 1 and MIS232 motors MIS234 has a 10 mm out put shaft and the MAB23 can therefore not be mounted The MAB23x 01 offers a I 0mm output shaft and MAB23x 02 offers a 6 35mm output shaft Both types be mounted directly on all the MIS231 MIS232 motors and require 24VDC applied to release the motor See also the data sheet LD0055 xx which can be downloaded from www jvl dk 282 JVL Industri Elektronik A S
63. 38400 baud 57600 baud 115200 baud 230400 baud 460800 baud 921600 baud 147 TX DELAY R W The time to wait before the Transmit delay response is transmitted The unit corresponds to the time of one bit at the current baud rate 148 GROUP ID 16bit R W 0 255 The group id of the motor Group Id 149 GROUP SEQ 16bit R 0 255 The last received group write N A sequence 150 MY ADDR 16bit R W 0 254 The motor address M otor address Reg Name Size Access Range Default Unit Description MacTalk name 151 MOTORTYPE 16bit The motor type Status bar 65 MIS231 66 MIS232 67 MIS234 152 SERIAL 32bit The serial number of the motor Status bar NUM BER 154 CHECKSUM 32bt R 0 665535 JFirmwarecheksum 156 HARDWARE 16bit R 0 65535 The revision of the hardware Tooltip on motor REV Minor 16384 157 MAX 16bit R The maximun allowed voltage Tooltip on motor VOLTAGE on the bus If the bus voltage exceeeds this value the motor will go in error 158 AVAIBLE IO 16bit Defines what IO that are avaible N A on the connector programmed during manufacturing 159 BOOT 16bit 0 65535 The version of the bootloader Tooltip on motor LOADER VER 16 Minor 16384 160 NOTSAVED lobit 0 65535 This register is not used N A internally but will always be 0 after poweron Please notice that M acTalk uses this register 293 15 1 MIS23x amp SMC795 Registers detailed
64. 55 V Tx output source current mA Rx input low level 0 5 0 9 V RS422 Input leakage current 0 7 mA Output Va VA 50 ohm 0202 5 0 V Output source current RS485 pL eres Ce Input Va_ VB_ a 2 V Output source current 60 mA CAN ISO 11898 24V Input VcAN H 1 Dominant 0 9 5 Output VcAN H VcAN 1 Dominant 1 5 3 0 Output VcAN VCAN 1 Recessive 50 264 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 4 Torque Curves 12 4 1 MIS2 3x and MIS34x Torque curves Below the torque performance for both motor families is Shown As it can be seen the supply voltage have a significant influence at the torque performance at higher speeds Please make sure to use a supply voltage which is appropriate for the actual application Also make sure that the supply voltage is stable without too much ripple since voltage dips can cause the motor to stall and loose position MIS231 232 amp 234 motor torque versus speed and supply voltage Torque Nm 3 5 Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 240 48V 240W regulated PSU Room temperature 20 Torque oz in o MIS234 48V MIS234 24V MIS232 48V MIS232 24V MIS231 48V O MIS231 24V Speed RPM MIS340 341 amp 342 motor torque v
65. A S User Manual Integrated Stepper Motors MIS23x 34x 43x 89 6 1 Passive Mode 6 1 1 Passive Mode After power up the controller will start up in passive mode This means that it is possible to communicate and read write to from registers but no current is supplied to the mo tor It should thus be possible to turn the motor shaft as no voltage is connected to the motor If there is encoder feed back the encoder counter will always register the cor rect position Startup made fe Passive Velocity Postion Bear iw Change actual made Profile data velocity 250 APH Start velocity 100 RPM Acceleration 1250 x RPMS Driver parameters Running Current 3 00 SAMS Standby Current 0 75 A RMS Standby time FOO ms 90 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 2 Velocity Mode 6 2 1 Velocity Mode In this mode the QuickStep motor controls the motor velocity via the Max Velocity set ting This mode is typically used for simple tasks or for applications in which an overall unit such as a PC board or PLC controls velocity and positioning Startup mode Passive wv Change actual made Position Gear Profile data velocity Start velocity 4cceleration Driver parameters Running Current Standby Current Standby time JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 6 3 Posit
66. A special high temperature Poly carbon mono fluoride lithium cell is used as backup for the absolute multi turn encoder Compared to standard cells this one has extremely good performance at high temperatures up to 125 degrees Celsius Normal lithium cells self discharge very rapidly just being exposed to a temperature of 60 degree celsius The retention time of the position when the motor is not supplied is better than 10 years This depends of how long time the motor is in use and the temperature The self discharge at 85 degrees celsius 185 degrees Fahrenheit is 696 per year and 2 per year at 40 degrees celsius 104 degrees Fahrenheit Concerning the retention time there is no big difference if the motor is in use at a high temperature or it is powered down low temperature The absolute multi turn encoder s current consumption from the battery when the mo tor is not externally powered is max 1 5 The curves below shows what is considered as a worst case scenario for the retention time The curves are based on 40 and 85 degree celsius 108 185F without any exter nal power applied to the motor meaning that the internal battery have to supply cur rent to the encoder circuitry all the time The current consumption of the encoder circuitry is however not dominant compared to the internal leakage current in the bat tery Hints to optimise the battery lifetime Avoid to place the motor in an environment with high tempera
67. Also a good solid ground wire between the motor and the source is recommended since any differences in the potential between the pulse source and the motor can affect the motor movement General guidelines concerning the O s are given in the following chapters Inputs page 16 or General page 24 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 4 Gear Mode 6 4 6 Signal function and timing only MIS23x The description below shows how to connect the pulse source when using the pulse and direction format Also the timing is shown Please be aware that if the indicated minimum timing is not respected the motor may loose some of the step clocks and the position of the motor will end up being out of synchronism with the pulse generator Pulse and direction format Timing and how to connect PLC or Pulse MIS23x Generator or SMC75 non J Step clock Output Direction Output Note screen only PNP source or connected signal source Push Pull outputs Level definitions Min 5uS Min 5uS Logic 0 2 lt 1 0V Logic 1 gt 2 8V 1 Step clock lO1 pe 101 0 Step occurs on the Min 2 5uS Min 2 5uS leading flank Motor moves CW when Direction 102 717222222 The Direction signal must stay stable and well defined TT2172GB in the indicated period while the clock has a rising edge The description below shows how to connect
68. Description The actual motor type Please notice that this register is in common for all motor families and sizes from JVL The list show all available types including versions with build in brake extension B This description primary covers the SMC85 and the MIS34x family At these products the Motor type register is 32 bits On other motor types such as the MIS23x Nema 23 size the register is only 16 bits but the least significant 6 bits are still having the same function The motor type register will contain the following values de pendent at the actual motor type Sewemtr 6 Mis230 Stepprmoo 68 0x0044 seopermoor 69 Sucss ony controller no motor 80 oxoos0 mss T Steppermotor a oos mss T Stepper motor 0x082 ms342 T Stepper motor e3 ooo mss T Stepper motor _ oxo T Stepper motor _ 5 0 mss T Stepper motor ooo Stepper motor This value is read only and is programmed into the motor during manufacturing JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 175 8 3 MIS34dx amp 543 Registers 8 3 86 Serial Number m Description The serial number of the motor This value is read only and is programmed into the motor during manufacturing 8 3 87 Checksum Reg Name Size Access Range Default Unit MacTalk name 154 CHECK
69. Hereby declare that Product No MIS231 232 and 234 Name Integrated Hybrid stepper motor Type Series from Al to A6 incl subversions is in conformity with DIRECTIVE 2004 108 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 5 december 2004 on the approximation of the laws of the Member States relating to electromagnetic compatibility was manufactured in conformity with the following national standards that implements a harmonised standard EN 61800 3 Adjustable speed electrical power drives systems part 3 EMC product standard including specific test methods Maj 2013 Bo V Jessen Technical Director JVL Industri Elektronik A S LX0020 02GB 320 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 16 CE Declaration of Conformity EU Declaration of Conformity Manufacturer Company Name Address Telephone E mail Web Hereby declare that Product No Name Sub types is in conformity with JVL Industri Elektronik A S Blokken 42 DK 3460 Birker d Denmark 45 45 82 44 40 jvi jvl dk www jvl dk MIS340 MIS341 MIS342 Integrated Stepper Motor Cl2wwnnnyx85 or Cl4wnnnyx85 ww connector configuration nnn internal option module yx optional encoder options DIRECTIVE 2004 108 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 5 december 2004 on the approximation of the laws of the Member States relating to electromagnetic comp
70. IO 5 pin female A CANopen 17 female IO 2x 4 pin male D Ethernet Ethercat Ethernet Fowerlink 17 female IO 2x 4 pin male D Ethernet Ethernet IP 12 female EP MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Frofinet FB MIS34x 4 pcs M12 5 pin male power EL MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D MIS34x 4 pcs M12 5 male power 3pin female 5485 12 female IO Antenna Wireless Bluetooth 3pin female RS485 12 female IO Antenna Wireless _AN AA No magnetic chip Only specified if more to follow H2 Magnetic encoder feedback 256x4 pulses rev Only SMC75 SMC85 MIS23x and MIS34x H3 Absolute multiturn encoder magnetic feedback Only SMC85 and MIS34x A1 03 SMC Examples SMC SMC SMC SMC SMC SMC SMC 85 75 75 75 75 75 75 gt gt gt gt gt Q6 AC H1 AA H2 AC H2 M7 Me He AA At 5 pin Molex mctor connector mounted on same side as other connectors Cable leright in m Only Wx models Mounted with 1 pcs WGO09xx and 1 pcs WG10xx Steppermotor controller only PCB No housing ancl No encoder chip Steppermotor controller only PCB CAN Open No housing and encoder chip Stepper motor controller only PCB with magnetic encoder chip type H2 mounted No housing Stepper motor controller only PCB with Fieldbus CANopen and magn
71. If input 7 is to be used for the Negative Input Limit write 26 64 to this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 169 8 3 MIS34x amp MIS4Sx Registers 8 3 67 PL Mask Reg Name Size Access Range Default Unit MacTalk name Dedicated Inputs Positive Limit Input Description Selects which one of the eight IO pins to use for the dedicated function of Positive Posi tion Limit Exactly one bit must be set the pin must be configured in register 125 as an input Example If input 8 is to be used for the Positive Input Limit write 27 128 to this register 8 3 68 Home Mask Reg Name Size Access Range Default Unit MacTalk name Dedicated inputs Description Selects which one of the eight IO pins to use for the dedicated function of Home Input Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 2 is to be used for the Home Input write 21 2 to this register 8 3 69 CAN Setup1 133 CAN Setup 32b RW 32bt 35 32 bit Register Description Register 33 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register 133 10 will transfer register 10 P IST actual position 32bit value in PDO22 or PDO4 8
72. If the motor is powered down or reset the saved setup will be used Reset position Resets the position counter to 0 The content of the position counter can be monitored in the right side of the main screen as Actual position Clear errors Clears all the errors if any Please note that if an error is still present the motor will remain in the actual error state Reset motor Reset the motor Same as performing a power off on operation Filter Setup For specifying the filter setup of the analogue inputs STOP motor Stops the motor immediately using a controlled deceleration ramp and puts the motor into passive mode If a program is present this is stopped as well This button shall be considered a functional stop button and is available using the keyboard shortcut CTRL F8 Pressing the Stop button will immediately stop the motor by changing the currently running mode to passive using a fast controlled deceleration curve Using a quickstep motor or a module that enables the user to execute RxP programs this execution is also halted to prevent the motor from starting up if a startup mode is setup from a program Warning Do not consider this button as an appropriate Emergency stop Al ways fit an Emergency stop circuitry to your motor setup MacTalk Address Only if more than one motor is connected to the same interface The address specified in this field will determine which motor is communicated with JVL I
73. Iw Disable intr when reading 551 The SSI encoder value is sampled by typing in the 321 into the command field This can also be done from an RxP program or the serial interface from a master control ler connected to the RS485 interface Field Number of Data bits Selects the number of data bits in each SSI transfer The valid range is O to 31 corre sponding to to 32 data bits Set this value according to the actual SSI device connected Please consult the data sheet for the actual SSI device concerning which value to be used Field Clock frequency Selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Set this value according to the actual SSI device connected Please consult the data sheet for the actual SSI device concerning which value to be used Field Prepare time Clk to Data Selects the prepare time in micro seconds at the start of an SSI transfer corresponding to time tl please see The SSI interface principle of operation page 76 The valid range is 0 to 255 corresponding to to 256 micro seconds Field Disable intr when reading SSI Because of the special timing requirements of the SSI standard it is sometimes required to disable all interrupts in the quickstep processor This must be done in order to prevent false encoder data when reading because of other processes in the processor absorbing time during the SSI read cycle To disabl
74. JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Setup Updates New program Program setup Program information Print program Clear program TT2189GB Setup Updates Hep 2 MacTalk Address All T Saven flash Resetposition Oesrerrors Reset motor Main 1 0 Seip Registers Advanced Tests Programming Module Checksum 3490 Program Step ro EE Status Running 1 2 3 4 5 6 Pause Use this botton if the program must be paused By paused means that actual program line executed is temporary paused When paused the single step feature can be used to debug the program tas Save n fash Reset poster Oer cece hian LA Samum Pagers Adiresi fest Pagg BACIU H snb VEI T Im poi ibl le ase bao abend ant Mme posting Stop 1 REM Demonstration 2 Set outputs 2 high a 3 Move Rel dist 40 4 Wait 500 ms 5 Set outputs 2 low an p 6 Jump to 2 183 9 3 Programming menu The menu found at the top of the main window gives access to the following options Setup Updates New program Described elsewhere in this chapter Program setup Upload program Upload the program from the module to MacTalk Program information Print program Clear program m Program Source Shows the memory usage if the program compiled 4 source program and
75. MIS23x 34x 43x 221 10 3 222 Using CanOpenExplorer The button Read User SDOs will read all of the type objects in the user SDO list This is useful for updating a large number of values in the EDS view The button Write User SDOs will write all of the W type objects in the user SDO list This is useful for automated testing Entries can be deleted from the user SDO list by selecting them with the mouse and pressing the delete key The sync Time field top right sets the time in milliseconds for the SYNC messages to be sent out SYNCS can be started and stopped using the buttons Enable Sync and the Stop button to the right The Guard Time field below the Sync Time field works like SYNC just for the Guarding message The close button exits the program after saving the list of user SDOs which will be au tomatically reloaded at the next program start JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 10 4 1 Objects in the 05301 standard DS301 specified Communications objects The 05301 specified Communications objects are shown in the table below To obtain the default value in CanOpenExplorer press R on the keyboard and the actual value will be shown Index Read m hex Data Type only Description Contains information about the Device type 1000 UNSIGNED32 X 0x40192 device type See note at top of next page Mandatory This is the mapping error regi
76. MIS34x page 34 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 19 e 3 2 3 2 20 Analogue Inputs Analogue input filters The Intelligent MIS motors have 8 general purpose I Os that can be used as both digital inputs digital outputs and analogue inputs When an I O is configured to be an input it simultaneously has both a digital value high or low and an analogue value in the range 0 00 to 5 00 Volts Input voltages higher than 5 0 Volts will be internally limited and read as 5 00 Volts The inputs use a resolution of 10 bits which means that in the raw motor units a value of 5 00 Volts reads out as the value 1023 This gives a resolution of 5 00 1023 4 8876 mV per count The eight values from the analogue inputs are maintained by the SMC75 firmware in the registers 89 96 as raw unfiltered values with the fastest possible update frequency and additionally in the registers 81 88 as filtered values The firmware does not use any of the values for dedicated functions It is always up to the program in the motor to read and use the values The analogue filtered values are typically used to suppress general noise or to define how quickly the input value is allowed to change or in some cases to limit the input voltage range A typical example is an analogue input that is connected to a manually controlled potentiometer so an operator can regulate the speed of the machine by turning a
77. NMT Network Management services The Network Management is structured according to nodes and follows a master slave structure NMT objects are used for executing NMT services Through NMT services nodes are initialised started monitored reset or stopped All nodes are regarded as NMT slaves An NMT slave is uniquely identified in the network by its Node ID NMT requires that one device in the network fulfils the function of the NMT master The NMT master controls the state of the NMT slaves The state attribute is one of the values Stopped Pre operational Operational Initialising The module control services can be performed with a certain node or with all nodes simultaneously The NMT master con trols its own NMT state machine via local services which are implementation dependent The Module Control Service except Start Remote Node can be initiated by the local ap plication A general NMT protocol NMT master NMT Slave s 0 2 CS Node ID Request Indication COB ID 0 Indication Indication TT1082GB Where CS is the NMT command specified The Node ID of the NMT slave is assigned by the master in the Node Connect protocol or 0 If 0 the protocol addresses all NMT slaves Operation Start Remote Node Enter Pre Operational Reset Communication Start Remote Node This is an instruction for transition from the Pre Operational to Operational communi cations state The drive
78. Relation between limit switch inputs and the motor behaviour Velocity unsigned Motor stop after limit switch activation Moving away from the limit switch Position Negative Limit switch activated Positive Limit switch activated here when motor moves here when motor moves in negative direction positive direction CD When the motor has passed the point where the limit switch is activated the motor is stopped The stop may cause an error which is determined by the setting Disable Error on travel limit placed at the main tab in MacTalk which may require an extra procedure before motion of the motor is possible again When not disabled default The motor will stop with an infinitive high deceleration The motor will go to passive mode and stay in passive mode The error need to be cleared and a mode have to be re entered in order to move the motor in the opposite direction away from the limit point When disabled The motor will stop No error is reported and the motor can immidately be moved in the opposite direction without further action 2 When the motor is commanded to move in the opposite direction away from the limit switch the normal acceleration setup is used Please notice that if the activated limit switch has caused an error then remember to clear the error register before the motor can be set back in normal operation TT2472 01GB 84 JVL Industri Elektronik A S User Manual Inte
79. Reserved Reserved Res Res Hes Object_ 20i4n subi9 226 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 10 4 6 Objects in the 05301 standard Transmit PDOs The PDOs 1 20 are reserved for use with DSP 402 All of the transmit PDOs support synchronous transmission PDO 25 also supports asyn chronous transmission From firmware V2 8 some new features has been developed in the CanOpen support From MacTalk both a 6 bit and 32 bit user selectable register can be setup to be trans mitted in PDO22 when using DSP 301 Register 10 is selected as 32 bit xy FD 22 PDO4 Beckhalf Register setup thatis P IST actual position 32 bit Register 10 10 P 5 8 Register 5 is selected as 16 bit that is V IST actual velocity TT2266GB Transmit PDO 21 With this PDO the actual position can be read Byte Jo 1112 1 da 5 J6 7 Data PIST amp h JVIST Motremr 2014h sub 35 Transmit PDO 22 With this PDO the actual velocity can be read Bee p B n ppp Data vist Reserved Reserved Reserved Res Res Res User selectable 16 bit User selectable 32 bit register exc 2014h sub 12 register exc ENCODER POS SIATUSBITS register16 register 25 Transmit PDO 23 With this the value of the analogue inputs 1 4 can be read Bye gt p b pe m Data ANALOGUE ANALOGUE2 ANALOGUE3 ANALOGUEA4 Object
80. SMC75 SMD41xx or SMD42xx O1 Pulse I8 Direction O2 Direction 9 Step clock GND 110 GND 276 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 4 Connecting MISxx SMC75 to MACOO Bx The stepper motor MIS23x and Controller SMC75 can also be connected with the MACOO B MACOO B2 and MACOOB4 Expansion Modules See the MAC motor manual chapter 4 2 10 for further information MIS23x or SMC75 22 GND JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 277 13 5 Connection to PLC PC Boards 278 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 14 Accessories The following accessories are available for the MIS motor series JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 279 14 1 Cables 280 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 14 2 14 2 1 14 2 2 14 2 3 Power Supplies PSUOO PD1 Combined power dump resistor and capacitor unit For a complete power supply sys tem only a transformer with a secondary winding supplying 32VAC is required For systems with up to 5 8 QuickStep motors this unit can serve as a central power dump unit The capacitor offers an efficient and economical way of storing the energy returned from the motors during deceleration of high inertias See also www jvl dk PSU48
81. See also the sections on FastMac commands 8 3 36 An Reg Name Size Access Range Default Unit MacTalk name 73 76 1 500000 1000 RPM s Acceleration n An Description These four general purpose Acceleration registers are referred to as Al A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on Fast Mac commands 8 3 37 Tn Reg Name Size Access Range Default Unit MacTalk name 77 80 0 511 587mA Current n Description These four general purpose Torque registers are referred to as Tl T4 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands They select the current in the motor windings used during movement JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 161 8 3 MISS4x amp MIS4Sx Registers 8 3 38 Analogue Filtered Se a ee 81 88 Analogue Filtered 32bit R 0 1023 4888mV Description These eight registers hold the software filtered analogue value of each of the eight O s IO to IO 8 Their values are updated every ten milliseconds See the AFZUP xx reg isters 100 106 for the filter parameters Important Also read the section on analogue filters in this manual To use the unfiltered values of the inputs
82. Settling Time ae 21 3 etween retries Description When the internal encoder option is installed and register 34 InPositionCount is non zero so AutoCorrection is enabled the value in this register defines how many millisec onds to wait after each movement attempt before testing whether the encoder position is within the target window as defined in register 33 This waiting time is often necessary to allow mechanical oscillations to die out 8 3 54 SSI_SETUP2 MacTalk Range name 25bit 100kHz frequency pre Prepare time SSI Setup2 32bit R W 16 bit pare time Clk to Data 100us Description Register 1 l SSI Setup2 16 bits The low byte selects the prepare time in micro sec onds at the start of an SSI transfer corresponding to tl in the figure The valid range is to 255 corresponding to to 256 microseconds 8 3 55 Sample 1 4 Tros Trete ust eestor Description Up to four registers can be set up to be sampled into buffers for diagnostic purposes These registers define which registers are sampled All of the registers 1 255 can be sampled A value of zero in any of these four registers will cause the corresponding sample buffer to contain zeroes See registers 16 119 for more information on the sampling system Most users will use MacTalk to handle sampling 8 3 56 Rec Cnt 116 REC 32bt Rw j A Description This value specifies the number of samples
83. This also means that if V SOLL is changed to a value below V START while the motor is in motion the motor will decelerate to V START and run at that velocity Example V START 10000 100 RPM V SOLL 20000 200 RPM MODE REG The motor will accelerate from 100 RPM to 200 RPM V SOLL is now changed to 5000 50RPM The motor will decelerate to 100 RPM and continue at 00 RPM V SOLL is now changed to 50 RPM The motor will stop and start at 50 RPM 8 3 13 GEAR1 e ee GEAR 215 1 00 Description When the gear mode is active the input from the external encoder is multiplied by and divided by GEAR2 Example GEARI 1600 GEAR2 2000 If 2000 steps are applied to the input the motor will turn revolution If one step is applied the motor will not move but the remainder will be 0 8 If another step is applied the motor will move step and the remainder will be 0 6 If another step is applied the motor will move step and the remainder will be 0 4 And so on 8 3 14 GEAR2 GEAR 215 218 000 Description The denominator of the gear factor See GEARI for details 8 3 15 Encoder Pos ETE Ee ERT UREN ET Description If the internal encoder option is installed this register shows the position feedback from the encoder This value is initialized to zero at power up and modified by the firmware when a zero search is performed The value can be used internally by the AutoC
84. Unit___MacTaik name MacTalk N A handled on the Description When changing values for the analogue input filter parameters this register is used in combination with registers 02 106 First all of the registers 102 106 must be loaded with the values to be used for one or more analogue input filters Then the lower eight bits in this register are set to select which inputs the parameters in registers 102 106 should control The firmware will detect this and copy the parameter values from registers 102 106 to internal storage Once this has been completed the firmware sets bit 15 in this register to show that registers 102 106 are free to receive new values for programming the remaining inputs with other filter parameters To use the same filtering for all analogue inputs this register can be loaded with 255 hex FF 8 2 44 Afzup Readindex Reg Name Size Access Range Default Unit MacTalk name 0 1 8 N A handled on the AFZUP Read Index 16bit R W 32768 Special Filter Setup screen 32775 Description This register makes it possible to read back the analogue input filter parameters for one analogue input at a time To select a new input write a value of to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used by that analogue input 8 2 45 Afzup ConfMin oe Re E0770
85. Up to 32 MAC and QuickStep RS485 and CANopen Devicenet on the same network Many tocal I O operation Many local IO TT2259GB PWR 5 pin male RS485 5 pin female CAN 5 pin male 4 8 female 5 8 8pin female SSI 8 pin male Versions with positioning and speed control Quick Step MI2 Power 1 4 105 8 RS485 CANopen SSI Encoder Function Connector Male 5pin RS485 Female 8pin Female 5pin DeviceNet Male 8pin overview Female 8pin Male 5pin 75 a RS485 410 MIS23xAzM6yy75 MIS23xAzM7yy75 MIS23xAzM9yy75 M12 Pin M12 Pin 2 lO M12 Pin 3 MI2 Pin 4 CVI 12 28VDC GNDIO MI2 Pin 5 P GND RS485 A RS485 d O 2 RS485 8lO 2 F485 810 CANopen RS485 X X DeviceNet RS485 8IO X te o x pox S X 55 60 IO5 Zero lO5 5485 CAN SHLD setting IO6 Counting A RS485 CAN V Direction RS485 CAN GND Clock _ CAN H aletlet 9 9 e OP OP x x A N X Not used B Data in ee AC Cvo ovo WI 1008 WI 1008 WI 1008 WI1008 MI2M8SSI MI2MSSSI MI2FS5SSI MI2MBSSI WI 1000 WI 1000 WI 1006 WI 1000 MI2M8TO5N MI2M5TO5N MI2F5S05R MI2M8TO5N Not used MI2 Pin 6 DENEN MI2 Pin 7 HEN MI2 Pin 8 HEN MI2 connector WI1008 WI1008 solder terminals MI2F5SSI MI2MS8SSI MI2 cables 5m WI1000 WII000 I2F5TOSN MI2MS8TOSN
86. X wwwividk _ SENE Dau O SSS Dgtaimus UNSGNEDG x Digtalowpus x outputs Physical outputs 6 1 UNSIGNEDS2 Bt mass 2 T o Abortconnedion code 6007 o NIEGERIG Emrcde amp 93F UNSGNEI6 Cowowod 0 Seuwod feon o x Quick stop opon code eosa o _ Modes oL operation o NNIEGERQ Modes oL operation display o x Profile Position parameters o o stud vae o INTEGER x Target poston eoa o INEGER2 Software poston imt eoD o x 2 Min position limit Max position limit Max motor speed 600 UNSGNED2 Profile velocity o UNSGNED Profile acceleration o UNSIGNED JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard Index Type Read mme men indo _ Quick stop deceleration _ 6085 _ Moon profile type eose NTEGER Profie velocitymode 6069 Velocity vale __ o INTEGER2 x NTEGER MEN 8 m LN mcg Homeofset jo _ Homing method __ Jo Homme spes 6090 fo 3 UNSINEDS Homing speeds
87. active Bit 3 Negative limit has been active Bit 4 Low bus voltage Bit 5 Reserved Bit 6 Temperature has been above xx TT2405 01GB 298 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MIS34 43 SMC85 Registers detailed 37 STARTMODE 32bit 0 1 2 3 The motor will change to this Startup mode mode after powerup This is also the mode that is used after a zero search is completed See ODE REG for a list of possible modes 38 P HOME 32bit R W 2 27 1 Steps The found zero point is offset Zero search 39 Reseved J oo o o o o o 40 V HOME 32bit mee o 0 01 RPM The velocity to use during zero Zero search 3000 00 search Set a negative velocity to velocity m mL search in the negativ direction 41 T HOME Lus should start on powerup 43 P REG P 32bt R W 18 0 Planned Not supported yet 44 V REG P 32bit R W 18 0 j Planned Notsupportedyet 45 AREGP 32bit_ 14 0 Planned Notsupportedyet 46 AbsEncPos 32bit R 0 409600 Steps The position last read from the internal magnetic encoder This is the absolute single turn position 47 EXTENCODER 32bit 215 215 1 Counts The value from an external SSI Encoder value 48 Reserved gt __ NENNEN MEMEMEMEEMMMMEEMEMMV 49 Pn 32bit R W SUD 231 231 1 0 Steps 8 Position registers Position n
88. are only avaible when the CanO pen option is installed and only used for DSP 402 NOTE CANopen and thus also DSP 402 is NOT supported in SM C85 yet Object 6040 subindex O Object 6041 subindex O Object GOGO subindex O Object 6061 subindex Object 607A subindex Object 6064 subindex Object GOFF subindex O Object 606C subindex Object GOFE subindex 1 Low 16bit Object GOFD subinde x 1 Low 16bit 15 2 MIS34 43 SMC85 Registers detailed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x TT2418 01 GB 305 15 3 Velocity accuracy 15 3 1 15 3 2 306 Velocity acuracy only MIS 3x When setting a velocity in V SOLL the motor will not run at that exact velocity The exact velocity can be calculated with the following formula 93750 t 1 196 93750 V SOLL resulting velocity Note The Round function rounds the number to the nearest integer Also note that the lowest possible velocity is 1 43 RPM and the highest is 1023 RPM Velocity accuracy only MIS34x 43x The velocity can be set in steps of 0 01 RPM and the accuracy of the velocity is better than 200 ppm quartz controlled JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 4 Command timing Each command has a certain execution time The specified execution time in the following table is the maximum execution time if not us
89. arrow Main Registers Advanced Filter parameters Tests Scope MACOO AxP MAC D R Programmable Module Checksum 3025 Transfer Start Sta 4 Single Step Status Paused 1 2 Move Rel dist 10000 Counts 1500 RPM s vel 2000 RPM By choosing the Pause button the 3 Wait 500 ms program is paused After it is paused 4 Set output 1 high it is possible to single step through each program line which can be a 5 Jump to 1 useful feature to debug the program 6 since the action in each line can be 7 closely observed s 3 When the program is finished it can be saved on the harddisc or floppy E ii b o File View Motor MACOO RxP Setup Updates Help disc Please be aware that when M sn Open Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor saving the program it is the complete i program including the overall setup Main Registers Advanced Filter parameters Tests Scope MACOO AxP of the motor such as servofilter I O Programmable setup etc Everything is stored in a file Transfer amp Stat Sta Single Step ial with the extension MAC Later it can be opened and restored in the motor 1 Wait until input 5 high 2 Move Rel dist 10000 Counts acc 1500 RPM s vel 2000 RPM 3 Wait 500 ms 4 Set output 1 high 5 Jump to 1 TT0985GB JVL Industri Elektronik A S User Manual
90. be edited without any interruption in the motor 54 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Using the software The following MacTalk view is presented MacTalk C Documents and Settings he Skrivebord WMaF s WWaAc140_MaC Motor Setup Updates Open Save Save in flash Reset postion Clear errors Reset motcee Filter setup STOP Motor scan Man Regler Fite Tests Scope Startup mode Passive lv Change actual mode C Ansogue velocity beth desdband C Ansoque velocty gear C Velocty analoque torque C Ansoque torque dreci C Ansogus to position Q V Eno handing Follow eno Function emor Position limit min Position max Eno accelen V Ingo Outputs 7 Iwert Output 1 01 D drerit Outpet 2 02 1 0 Type Serial Dats x edes Status Motor status fv fy fv Go Online Fc Funchon care Actual molor torque Moter load mean 4 Regenesaeve Ind 1 Input Supply vollage 25 3 Vols Analogue mut U 28 Vols Errore Profile date V Zmo seach velocty 2000 2000 RPM Zen search mode Dit sbled sj Arrriershon sea 100 RPMS Usemndex aller zero seach Zero search positon 0 Courts Torque 300 X Load 10000 H Una E Zero search torque 73 V Motion parameters Poesticn 0 70000 Counts Y Underveltage handing Min volt 15 Vor In postion window 100
91. be specified as a non integer number of revolutions After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 201 9 7 Graphic programming command reference 9 7 18 Wait for a register value before continuing Dialogue Register condition Ma 10 Actual position Operator EE Cancel Value 0 Revs Function Tests a register in the motor against a specified value and waits until the specified condition is met The value can either be entered as native motor units or can be entered as generic engineering units The dialogue above provides an example register no 10 P IST or Actual position depending on your preference must be less than 0 revolutions before the program will continue The position that the register is tested against can be specified as an integer number of encoder counts or can be specified as a non integer number of revolutions 9 7 19 Save position Dialogue Register 1 Register 3 Function Saves the current position from register no 10 P IST to one of three locations in the user memory area The saved position s can then be used whenever a position or distance is needed in a move command 202 JVL Industri Elektronik A S User Manual Integrated Ste
92. by VL so that together they form a closed unit in which the power driver and controller are mounted inside the motor The advantages of this solution are e De central intelligence e Simple installation No cables between motor and driver e EMC safe Switching noise remains within motor Noise can however be introduced in the DI DO Compact Does not take space in cabinet Low cost alternative to separate step or servo motor and driver In the past decade pulse direction interfaces have be come increasingly popular for the control of step and servo motors This is due to the fact that pulse direction signals provide a simple and reliable interface which is 0096 digital precise and offers immediate response When a pulse is sent the motor instantaneously moves step forward For example if the motor has a resolution of 200 steps revolution it will move 1 8 degrees By changing the frequency of the applied pulse signal it is possible to ac celerate the motor By counting the number of pulses the motor s po sition can be determined without any error what soever The direction input is used to determine the motor s direction of rotation JVL s QuickStep motors with pulse direction interface offer the fol lowing advantages Very simple technology that is easy to under stand and apply High stability and low cost because the tech nology is simple with few components Only one cable with 4 wires is req
93. corresponds to the time of one bit at the current baud rate Many PLCs and communications processors require a minimum delay after they have sent a command to the motor before they are able to receive the response 8 3 82 Group Reg Name Size Access Range Default Unit MacTalk name 148 GROUP ID 32bt 0255 Group ig SS Description The group ID of the motor The motor will accept data from a group write command only if the group ID number in the command matches this number The idea is that several motors can have the same group ID so they can be updated with new register values in parallel to save transmission time 8 3 83 Group Seq Reg Name Size Access Range Default Unit MacTalk name ue eroue seo n Description The last received group write sequence 174 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 534 amp MIS4Sx Registers 8 3 84 My Addr Reg Name Size Access Range Default Unit MacTalk name MY_ADDR 0 254 P MotorAddress Description The motor address Data communicated over the serial interface will only be accepted if the address byte in the command is either equal to this value or has the value 255 which means broadcast to all motors 8 3 85 Motor type Reg Name Size Access Range Default Unit MacTalk name 151 MOTORTYPE 32bt PR Status Bar
94. emergency stop Gear mode MACmotor protocol so MACmotor and Quickstep motors can be connected on the same RS485 bus Command for easy PLC PC setup and communication Power supply 2 48VDC Fixed 1600 pulses rev Built in 6Bit processor SMC75 and 32Bit Uprocessor SMC85 with 8 In Out that can be configured as inputs PNP out puts or analogue inputs 5V serial and RS485 interface for set up and program ming MODBUS interface 9 6 to IMb communication Driver technology is improved as com pared to SMD73 and supply voltage is 2 48VDC When used with the QuickStep motor or mounted on any other step motor the ad vantages of the controller are De central intelligence e Simple installation No cables between motor and driver e EMC safe Switching noise remains within motor Compact Does not take space in cabi net Low cost alternative to separate step or servo motor and driver Stall detect by means of magnetic encoder with resolution of up to 1024 pulses rev H2 option Absolute multi turn encoder for keep ing the position permanent also during power down H3 option e Interface possibilities From PC PLC with serial commands via 5V serial or RS485 e Pulse direction input Encoder output e CANopen DeviceNet e 81 0 5 28VDC that can be configured as Inputs Outputs or analogue inputs Future option for Profibus DP Ethernet Bluetooth and Zigbee wireless JVL Indu
95. entries such as Unsigned8 Boolean Integer32 the value of the sub index is always zero For complex object dictionary entries such as arrays or records with multiple data fields the sub index refers to fields within a data structure pointed to by the main index Index counting starts with one The 05 30 I standard constitutes the application and the communications profile for a CANopen bus and is the interface between the devices and the CAN bus It defines the standard for common data and parameter exchange between other bus devices and it controls and monitors the devices in the network The table below lists some of the com munications profile objects Data Parameter Special Transfer Transfer functions PO _ Process Data Objects eo __ Senco Data je a o aw The access from the CAN network is done through data objects PDO Process Data Ob ject and SDO Service Data Object Boot up telegram After the initialization phase a CANopen slave logs on with a boot up message The node address of the slave is contained in this This allows a CANopen master to know which slaves are connected to the network The protocol uses the same identifier as the error control protocols See the figure below NMT Master NMT Slave COB ID 700h Node ID Indication Request 0 TTIO85GB One data byte is transmitted with value O JVL Industri Elektronik A S User Manual Integrated Stepper M
96. input The velocity is measured every 16ms 173 Reserved lobit 179 294 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp SMC75 Registers detailed Display Reg Name Size Access Range Default Unit Description MacTalk name The following parameters are only avaible when the CanOpen option is installed and only used for DSP 402 180 ControlWord lobit R W 0 65535 0 Object 6040 subindex 0 181 StatusWord lobit R 0 65535 0 Object 6041 subindex 0 182 ModeOfOperation 16bit R W 0 255 0 Object 6060 subindex 0 183 ModeOfOperation 16bit 0 255 0 Object 6061 subindex 0 184 186 TargetPosition W 271 231 1 R R 2 2 1 188 TargetVelocity R W C2 EC SD 190 ActualVelocity R 257 2 1 1 0 0 Object 6064 subindex 0 0 Object 606C subindex 0 Object 607A subindex 0 192 0 Object 60FE subindex 1 Low 16bit 194 Digitallnput 32bit R 0 65535 0 Object 60FD subindex 1 Low 16bit end of CANopen DSP402 section Reg Name Size Access Range Default Unit Description MacTalk name 196 InternalCV 32bit Diagnostics data for the internal stepper pulse 198 DecSteps 32bit Diagnostics data for the internal stepper pulse generation 200 ControlBits 32bit Diagnostics data for internal operation 202 Ticks 32bit 0 277 1 Counts Free running counter that 206
97. microprocessor and the larger MIS34x MIS43x and the SMC85 are based on a 32 bit microprocessor there are some minor differences between the mentioned product families To avoid any misunderstandings this chapter is therefore divided into 2 sections Chapter 8 2 is containing the register descriptions for MIS23x and SMC75 Chapter 8 3 is containing the register descriptions for MIS34x MIS43x and SMC85 Please notice An detailed register overview for all MISxxx and SMCxxx products exist in the appendix MIS34 43 SMC85 Registers detailed page 296 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 1 MIS23x and SMC75 Register Overview a 0 1 2 3 peso ses St a 6 asor RW 1655 19 954RPWs Acceleration LI INNEN NAR m Tine STANDBY CURRENT 0 511 5 87 mA peu Current PIST 32bit mw Steps uin Actual Position Position GEAR tebi 1600 Output 2000 Encoder position e eon sm mw w ms pe o o spat ms aeoo E mes EXCEL ER p ae a lels pensis le JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x II 3 2 MIS23x Registers Reg Name Sts Range Uni T MecTslk nam
98. mode JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 87 5 7 IMechanical Zero search 5 7 1 Zero search Input Any of the 8 inputs can be used as Home input for the zero search function A zero search occurs when the Controller receives the seek zero search command by changing Mode Reg Section 8 2 3 page 116 The Home Input can be set from MacTalk or via register Home_Mask Section 8 2 68 page 36 It is possible to see when a zero search is finished by reading a bit in Status bits Sec tion 8 2 21 page 122 88 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Modes The QuickStep motor offers the following modes of operation Passive The motor will be in a completely passive state but communication is active and internal registers can be set up Velocity The motor velocity can be controlled using MacTalk software or by setting register 5 V SOLL using serial or program commands Position motor position can be controlled using Mac Talk software or by setting register 3 P SOLL using serial or program commands Gear The motor position and velocity can be controlled by pulse and direction or encoder signals at INI and IN2 The gear ratio can be set to a large ratio using register 14 GEARI and register 15 GEAR2 Zero search type and type2 Searches for sensor to define a zero position Reference point JVL Industri Elektronik
99. motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until P IST P SOLL The movement will follow the profile specified by V SOLL A SOLL and V START P SOLL can be changed at any time and the motor will move accordingly V SOLL can also be changed during a movement It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be active 116 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS 3x Registers Gear mode 3 The GEAR mode works as position mode but has an additional feature The input on the external encoder is multiplied with GEAR I GEAR2 and added to SOLL Any remain der of the result is saved and used next time the external encoder changes The result is that this mode can be used as an electronic gear When using gear mode it is not recommend to set V START below 10 rpm This can gives problems at low speeds because the motor will lag behind when doing the first step It will then accelerate in order to catch up NOTE Time from the first input pulse to the first step is typically 30
100. motor will always move to a new position by turning in a negative direction In mode 3 the motor will move in the direction that takes the smallest number of steps to reach the new position Note that the motor will not move at all if the new position in register P SOLL is either negative or larger than the value of register 127 Turntable Size 8 2 65 Turntable Size L seen Thee Tavs ut Tera nme Description lf turntable mode is selected in register 126 the number of steps needed for a full revo lution of the turntable is set in this register Note that the register P SOLL must always have a value between zero and the value in this register minus one Negative values are not allowed for P SOLL or Turntable Size 8 2 66 NL Mask ee ee Dedicated Inputs Description Selects which one of the eight IO pins to use for the dedicated function of Negative Po sition Limit Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 7 is to be used for the Negative Input Limit write 26 64 to this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 135 3 2 MIS23x Registers 8 2 67 PL Mask Reg Name Size Access Range Default Unit MacTalk name Dedicated Inputs Positive Limit Input Description Selects which one of the eight IO pins to use for the dedicated function of Positive Posi tio
101. operation of the SSI function when NOT using MacTalk below descr covers all MIS and SMC products Following lines describe how to access relevant registers when having a SSI device con nected When reading the data from the SSI device the data will be places as a signed 32 bit inte ger in register 47 shortly after the read command have been executed The time before data is present can be calculated after following formular Total time from the read command 321 is executed until valid data is present is equal Time Prepare time timer 1 Clock frequency Number of Data bits 1 Exampel Encoder used have following setup Prepare time 100 0 0001 sec Clock frequency lOkHz 10000Hz Number of data bits 25 0 0001 1 10000 25 1 0 0027 sec 2 7ms Note only for MIS34x MIS43x and SMC85 If noise have affected the signal the time before valid data is presented will be longer Depending on the specific setting for the data validation function The position data from the encoder is presented in register 47 as shown below Register 47 EXTENCODER External encoder data Signed 32 bit integer 31 30 29 28 27 26 25 2423 22 21 20 19 1817 1615 1413121110 9 87 6 5 4 3 2 1 0 a Position data available as a signed 32 Bit integer TT2482 01GB A few differences exist between the product families concerning following registers MIS23x SMC75 Register description Register 107 SSI
102. program will run until the selected program Single Step position is reached Internal communication error has occurred This cannot happen on SMC75 gt Starting Program ne nen is being prepared After this is completed the state will change Flash Error The program data is corrupted Flash Checksum Error The program data checksum is incorrect JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 315 15 8 MIS Ordering Information QuickStep MISxxx Motor Integrated Stepper motor Part number system x9 9 S N 38 S GU p P ge SF PK KKK MIS 2931 A 1 ms 75 amp amp D 3 Revision Nov 2010 B001 custom made for customer See special folder 01 to 31 Standby current ratio 03 1 3 standby current D 24V NPN inputs E 24V PNP inputs F 5Vinputs xx specifiy mA 100 phase See SMD73 datasheet No driver 1 1 step with 200step rev motor 200 pulses rev 1 2 step with 200step rev motor 400 pulses rev 1 4 step with 200step rev motor 800 pulses rev 1 5 step with 200step rev motor 1000 pulses rev 1 8 step with 200step rev motor 1600 pulses rev Normal No coating Standard KIT Kit for MIS23xxM5 with all cables and PA0160 test IO boks M Coating of PCB 73 SM73 driver 15 28VDC Pulse and direction driver Only orders more than 10 pcs See notet 74 SMD74 Driver 12 48VDC based on SMD73 technology but up to 48VDC supply voltage 75 SMC75 con
103. remarks is downloaded into the module Program Source REM Same as above but without remarks Sizes Program only Program Source REM Same as above but without source Program only program and remarks Program information General Information Checksum Checksum 600 Shows the checksum of the complete Lines 1 program downloaded into the module Program type Absolute and relative The checksum is unique and can be used to verify whether the program in the module matches the original program or not Lines The number of program lines used in the source program MacTalk Mode Specify the program type actually used Setup Skip initialization advanced Settings Bypasses internal initialization routines after powerup Skip initialization advanced Only for very special use Cancel Transfer settings Program Source Remarks Program Source Remarks Default Choosing this will transfer everything down into the Program Source module memory This can be an advantage if remarks and source program must be uploaded to MacTalk later Program Source Same as above but without remarks Program only Only the compiled program is transfered TT2173GB C Program only 184 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 4 How to build a program When choosing New program in the Programming menu or entering MacTalk for
104. simple pulse and direction interface The smaller quickstep motors size MIS23x are also available as a non programmable and more simple version with pulse and direction inputs for applications which are price sensitive Examples of motors and stand alone electronics MIS342 and MIS340 MIS232 MIS230 234 Standard version with step and direction input Standard version SM C85A1 t troll MIS340 Step motor controller ii i sh E with Bluetooth Step motor driver TT2319 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 1 1 Non programmable motors MIS231 Stepmotor with pulse and direction input TT2322 01GB The QuickStep series of Stepper motors with inte grated electronics represents a major step forward All the necessary electronics in a stepper system are in tegrated in the motor itself In the past a traditional motor system has typically been based on a central controller unit located remote from the motor This configuration however has the disad vantage that installation costs are a major part of the to tal expense of building machinery The basic idea of the QuickStep motors is to minimize these costs but also to make a component that is much better protected against electrical noise which can bea typical problem when using long cables between the controller and motor The stepper motor encoder and electronics are spe cially developed
105. steps per revolution which means that when the pulse source produce 400 pulses it expects the MIS motor to rotate one revolution The MIS motor itself has 600 MIS23x or 409600 cpr MIS34x and MIS43x If this application requires that the MIS motor rotates revolution each time 400 pulses are received the Input parameter is set to 400 since the MIS motor interpret every rising edge at the ap plied pulse signal as one count step The Output parameter is set to 1600 MIS23x or 409600 MIS34x or 43x since this is the number of counts steps on one revolution Now the MIS motor will move revolution for every 400 pulses that are applied to the pulse input Ensure the Profile data is set to prop per values in order not to limit motor operation unintentionally The following table can be used as guide for setting up typical gear ra tios Pulse and direction gear ratio setup Commonly used ratios Applied number of pulses clocks Input Output n c desired MIS motor revolution register register a s JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 101 6 5 Zero search modes 6 5 1 Mechanical zero search modes In all positioning systems there is a requirement to be able to find a mechanical zero po sition after the system is powered up or at specific times during operation For this pur pose the MIS motor offers 2 different Zero search modes which can be selec
106. terminals and thereby avoid an overload of the connector Continued next page 44 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 How to connect MIS34x CN2 Ethernet In port connector M12 4pin female connector D coded JVL Cable Isolation Signal WIl1046 group name Description 12 45058 See note CN3 Ethernet Out port connector M12 4 pin female connector coded JVL Cable Isolation Signal WI11046 group name Description M12M4S05R see note Tx1 N Ethernet Transmit channel 1 negative terminal Rx1_N Ethernet Receive channel 1 negative terminal CN4 RS485 I O Backup option connector M12 17pin female connector Signal WI1009M12 group name Description M17TxxN see note 02 vO channel 2 Gan be used as inputor ouput 3 White Ji _ VO channel 3 Can be used as input or output 4 1 _ fs Pk t VOchanel4Canbeusedasimutoroupu 6 Yeow _ Go RS422 I O terminal A 7 B1 RS422 O terminal B Supply output Connected internally to the CVI terminal in the PWR connector 1 DO NOT connect gt 30V to this terminal 2 vO channe 8 Can be used as input or output 4 BrowniGreen 1 _ GND Only for motors installed with the H3 option ab EXTBACKUP solute multi turn encoder 16 1 This terminal can be connected to a
107. that the position interval under normal operation is always convenient values from 0 to x instead of a mixture of negative and positive values This can hap pen if the zero point sensor is placed a long distance away from the normal position ing interval or inside the normal positioning interval lf an automatic move to an initial position is desired after a power up zero search The offset value must be specified in the Zero search position field The complete zero search will be performed in the following order The zero search is started either automatically power up or initiated by command from the serial interface 2 The basic Zero search is completed and the position counter is set to the value spec ified in the Zero search position field 3 Ifthe zero search position value is different from position the motor will now move to position 0 4 zero search is now complete and the motor will switch to normal operation i e the mode selected in the Start up mode field in the main window The illustration below shows the complete zero search cycle The motor will always go to position O after a complete Zero search is done this causes the motor to move the difference between 0 and the value specified in the The speed and acceleration Zero search position field is set to the general setting Velocity in MacTalk under Profile data Zero search in progress velocity etc depends on the actual
108. the pulse source when using the quadra ture format Also the timing is Shown Please be aware that if the indicated minimum tim ing is not respected the motor may loose some of the step clocks and the position of the motor will end up being out of synchronism with the pulse generator Quadrature format Timing and how to connect Incr Encoder MIS23x or other source or SMC75 A Channel A Output Channel B Output e Note screen only PNP source or connectedon signal source Push Pull outputs Step occurs on each transition on either Min Min the A or B channel SUS 5 5 v vvv v Channel A 101 v y y y Min 24S e Min 24S Channel B 102 LL 77 SS Ch A is 90 degree Ch B is 90 degree Level definitions ahead which will ahead which will Logic 0 lt 1 OV cause the motor cause the motor 2464 01 to move CW to move CCW Logic 1 gt 2 8V JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 97 6 4 Gear Mode 6 4 7 Signal function and timing only MIS34x and MIS43x The description below shows how to connect the pulse source when using the pulse and direction format Also the timing is shown Please be aware that if the indicated minimum timing is not respected the motor may loose some of the step clocks and the position of the motor will end up being out of synchronism with the pulse generator Pulse and direction format Timing and how t
109. to take for each of the sampled registers selected in registers 1 12 115 This value must never be set larger than the value in the read only register 1 19 Sampling will stop automatically after the specified number of samples has been taken 166 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp MIS4Sx Registers 8 3 57 S Time PIOS S TIME 32i RW Description This value selects the time in milliseconds between samples of the registers selected in registers 112 115 8 3 58 S Control LUI m Lus S coNTROL sao nw j Description This value controls the sample system It can assume three different values A value of zero is set by the firmware after all sampling has completed A value of one will initialize the sample system A value of two will start a new sample sequence and set this register to zero at comple tion The sampled values are read back using the command hex 53 SMC75 READSAMPLE 8 3 59 Buf Size Reg Name Size Access Range Default Unit MacTalk name pue n Description This read only register contains the maximum length of the sample buffers used to sam ple the registers selected in registers 112 115 Register 16 should never be set to a value higher than the value in this register 8 3 60 Index Offset 120 INDEX OFFSET 32bit R 0 1599 Steps Tests Description This register ca
110. values are not updated automatically To update place the cursor at the specific register value to the left of the box for new values and click Otherwise they only update at motor reset or power up JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 57 4 1 Using the MacTalk software 4 1 7 Advanced Screen If it is desired to run the motor in the opposite direction it can be done by marking Invert motor direction 7 ar S rl When this field is marked the motor runs to the AP Actual position from the encoder position when the motor goes from passive to position mode Remove the mark in this field and the motor will start the program at start up Here it is possible to select different ways of running a turntable and define number of steps It is possible to have a certain number of motors doing the same by giving them the same group id TI2184GB 4 1 8 Test Screen Tem Mtoe Poe Sri Une en aerem b W 9 8 hirer Roactccaten FERT 170 Sete Plagaten Advanced Taris Pagana zen Seach Ennscefssop posce wi Inda pornon Ther cacher dich deben unacceptable Lane Doc Sens dog pool This screen is used for adjusting the Zero search sensor to the correct position when us ing the index pulse of an encoder The index pulse should be in the green area
111. voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V Register 141 Save Threshold Voltage selects the voltage threshold that will trigger the flash backup save operation and stop all other motor operation When register 142 has the value 12 the scaling unit of register 141 is the same as register 97 Bus Voltage 1023 I11 4V The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V Register 139 Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing flash memory after power up The scaling unit is the same as register 141 Register 140 Acceptance Count selects the number of times the Acceptance Voltage must be measured after power up before the flash erase operation is started When using values 1 8 or 12 for register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds Register 124 SetupBits selects to use Flash based Absolute Multi turn Encoder func tionality when bit is set JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 67 9 3 9 3 2 68 Absolute position back up Reading the Flash Backup data The Er
112. where the load is placed at the shaft with reference to the flange of the motor The curves are based on a continous speed of 3000 RPM If the speed is lowered the lifetime will increase inversly proportional Example A motor is having a radial load of 200N placed with center 15 mm from the flange According to the curve the lifetime will be 15 050 hours at 3000 RPM If the speed is lowered to 300 RPM 10 times lower than the curve is specified at the lifetime will increase 10 times giving a total of 150 500 hours of operation Expected ball bearing life time V S distance Life time hrs 40000 Axial shaft load 35000 30000 25000 20000 15000 an 10000 300N 5000 400N SOON 15 20 25 Distance pilot surface mm 112485 016B 270 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 7 Trouble shooting guide 12 7 1 Problems related to communication with the motor Problem RS232 MacTalk is not communicating with the motor The status at the bottom of the screen shows No Connection but the power LED on the motor is lit and the serial cable is connected Action Check that the correct COM port is selected in the MacTalk Setup menu Check using Control Panel System Hardware Device Manager Ports COM amp LPT Check that the connection to the motor is made according to specifications If only one motor is us
113. zero search mode t t Zero search After the basic zero search has Actual position counter started been done the actual position counter is now zero position O is set to the value specified in the Zero search complete Zero search position register Vy Zero search Zero search mode Power up Senkor ty Use index after zero search Zero search position 10000 10000 Counts Zero search velocity 140 140 RPM TT2171 02GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 105 6 5 6 5 8 106 Zero search modes Zero point offset Example Setup done before start Zero search velocity 128 rpm Zero search position 10000 counts onnec tion of JVL and MAE Connec tion of JVL and MAE tors parallel Type MIST23x 7 4 wire motors Type MST17x MsT3 x and ee XXXX XXxx xxtf and HY 2O0O xxxx xxx x White 17 xx folie 1 7 Red White Yellow White Connec tion of JVL and MAE c a gt motors serial Type MIST23x onnection of ebotronics motor MST34x and my ee XXOCX Xc x Type SIVIxxx x xx x 8 terminals Red White Yellow White z e 2 SM87 SM107 168 x xx 4 smMise x xx Connection of MAE motor unipol Connection of Zebotronics motor Type HY200 1 xxx xxxxxG Type SIVIxxx x xx x 4 termina Is Motor in unipolar model G wires
114. 0 kbit s unsupported kbit s 250 kbit s 125 kbit s 100 kbit s kbit s 20 kbit s 10 kbit s 166 FBUS 32bit R W 0 255 The nodeid the CANopen Fieldbus Node Id ONADUBRWNEFO M oduleType Tells which type of module is connected to the 1M bit s M odbus channel 02No module EXT This register counts the encoder External encoder ENCODER input on IN1 HN2 The type of input is selected with SETUP BITS bit 243 EXT Counts 16 This register is updated with the External encoder ENCODER ms velocity of the external encoder Velocity VEL input The velocity is measured every 16ms TT2417 01GB 304 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 180 181 182 183 184 185 186 187 188 189 190 X91 1902 193 194 ControlWord StatusW M odeof Operation M odeofoper ationDisplay Target Position Reserved Actual Position Reserved Target Velocity Reserved ActualVelocity Reserved Digital Outputs Reserved Digitallnput B2bit R W B2bit R 32bit R W 32bit R B2bit R W Eo T 32bit R __ eee 32bit R7W e as 32bit R __ NN B2bit R7W PT B2bit R O 65535 O 65535 O 65535 0 255 0 255 27 02 3 x Jal Sr ed a 2 31 NEN cw jet 2 O 65535 O 65535 The following parameters
115. 000000000000000000000000000000000000000000000000000000 M IS23x Registers 060606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 IS3 x amp IS 3x Registers 606060600060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 6 Building Sequential Programs LON 2 Getting started e a EROR Programming Mal Program Ing enu 6 060606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 9 184 to build a progra e 06060606060606000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 185 ey seneral programming NINES 25 Command toolbox description simeoni sen haa Re eo en nae Graphic programming command reference cccesssssssenececceceeeeessseeessecccceececcecceesesssssseceesesessssssssssstteeeeeee LIQ JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 0 5555656 ll 12 1 12 2 12 3 12 4 12 5 12 6 12 7 w w w
116. 00000000000000000000000000000000000000000000000000000000000000000000000000000 iti Limi 83 osition l Its 0606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 M Zero searc 606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 88 M ere RENTA TON Tcp P M 9 assive ode 060606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 0 ositioning Gear lode 606060600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 93 Zero search modes 06060606000600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 102 Error Handling HL A Registers e ed ntro uction to registers 60606006000000000000000000000000000000000000000000000000000000000000000000000
117. 01GB action For further information about the internal registers that are behind the fields in MacTalk see also MIS23x Min P IST page 122 and Max P IST page 123 MIS34x 43x Min P IST page 157 and Max P IST page 158 86 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 6 5 6 4 5 6 5 Position Limits Limit Error handling A bit will be set in the Controller s warning register if either the NL PL NLS or PLS has been activated or are active See Warn Bits page 124 MIS23x and Warn Bits page 159 MIS34x and MIS43x Bits 0 and 2 are common for PL and PLS Bits and 3 are common for NL and NLS The motor will stop and activate an error when reaching a limit When a limit error is active the motor is forced into passive mode and further movements are impossible To reset the error press the Clear Errors button in MacTalk Clearing errors automatically also clears warnings too Limit handling optional only for MIS34x 43x The MIS34x and MIS43x motors can be configured to stop and stay in the current mode when reaching a limit This can be done by setting the DisableErrorOnTravelLimit bit in the SETUP BITS register See Setup Bits page 168 When the NoErrorOnPositionLimit bit is set the motor decelerates with the Error de celeration on travel limits in all modes and on position limits in velocity mode The nor mal acceleration is used on position limits in position and gear
118. 04 will indicate node 4 Set the Node ID field top centre to that value 4 Ensure that the correct EDS file is loaded The program loads a hard coded default file either smc75 eds or mac00 fc eds It is also possible to load another EDS file by writing the file name in the EDS file field top centre and pressing the load button Note that the EDS view large centre left panel will add the new file at the bottom but will not clear any existing file s that are loaded Normal operation will be to select an object in the EDS view pane and press either R for read or W for write Pressing R should read the value successful if no error pops up Pressing W for write will pop up a small window in which the present value is displayed in both decimal and hex It is then possible to write a new value either in decimal or hex using a Ox prefix such as 0x185 to enable the first TPDO on node 5 by clearing the high bit If the Add to list checkbox is checked the object will be added to the user SDO list as a write SDO Pressing A performs a read and adds it to the user SDO list pane low er right as a read SDO The SDOs in the user SDO pane can be rearranged by dragging them with the mouse Double clicking on a user SDO list will execute the operation either reading or writing The bus state can be changed using the NMT buttons lower left e g to Operational to enable PDOs JVL Industri Elektronik A S User Manual Integrated Stepper Motors
119. 1 Unsigned 16 bit integer 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Disable Clock frequency Reserved Number of interrupts x 10kHz databits Register 111 SSI SETUP2 Unsigned 16 bit integer 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Wait time Prepare time TT2484 01GB 1uS n 1 5 n 74 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 4 SSI encoder sensor interface MIS34x MIS43x SMC85 These products offer a more advanced SSI implementation with a data validation func tion This requires more parameters to be set up before an SSI transfer Register 107 551 SETUP1 Unsigned 32 bit integer Read Max sample deviation Clock frequency Number Number of retries 1 8191 x 10kHz of databits 2 samples Register 111 SSI SETUP Unsigned 32 bit integer 31 30 29 28 27 26 25 24 23 22 21 2019 1817 1615 1413121110 9 87 6 5 4 32 10 Not used reserved Prepare time Gray to i o Bin converter Activator Set to 1 for Gray to bin TT2483 01GB Set to 0 for no conversion JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 75 5 4 SSI encoder sensor interface 9 4 5 The SSI interface principle of operation When the differential lines are used for SSI the Al lines work as a clock signal to the encoder while the B signals work as a data signal from the encoder to t
120. 10mm Shalt IP67 motor and housing and rea end IP67 only MIS234 1 USA producent udg et 2 Taiwan leverand r TECO 3 leverand r Fulling 6 Taiwan leverand r TECO men produce ed pa TECO fabrik i Kina M1 M12 connector WO PG16 and no cable W1 PG16and 2m cable Special connector side mount 8 Lead wire l ngde 300 mm M4 8 Lead wire l ngde 400 mm L3 4 Lead wire laengde 300 mm L4 4 Lead wire l ngde 400 mm magnetic chip Only specified if more to follow H2 Magnetic encoder feedback 256x4 pulses rev Only SMC75 SIVC85 MIS23x and MIS34x E1 Incremental encoder 200 ppr with index puls HEDS series 4 6 Ampere phase 0 6 Ampere phase 3 0 Ampere phase 2 0 Ampere phase 9 0 Ampere phase PA Planet gear model A 36mm 36JX30K til Nema23 PB Planet gear model B TA Toothwheel gear WA Wormgear 5 18 udveksling 232 a sj Mt 20 5 18 Examples MST 176 Husk mellem rum hvis ikke brugt A 16 3 L3 AA 3 0 Steprnotor NEMA2S with housing 318 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 319 16 CE Declaration of Conformity EU Declaration of Conformity Manufacturer Company Name JVL Industri Elektronik A S Address Blokken 42 DK 3460 Birkered Denmark Telephone 45 45 82 44 40 E mail jvI jvl dk Web www jvl dk
121. 24V Stepclock PNP NPN Step and direction Encoder Optional TT2178 02GB 11 1 2 Driver Connections Versions with pulse and direction control Connections for versions with M12 connector See also SMD73 74 data sheet P SMD73 18 28VDC P SMD74 18 48VDC 51 Ground xx 05 for 5 metre and 20 for 20 metre cable Versions with cable glands and 5 m cable Redo P SMD73 18 28VDC or SMD74 18 48VDC Shield Signal ground JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 251 11 2 252 Step motor controllers SMCxx The compact step motor controller SMC75 is designed for positioning and speed control of stepper motors SMC75 is a PCB with di mensions 5 x5 mm and mounted with SMD electronics on both sides It is mounted directly in the housing of the JVL QuickStep motors MIS 231 232 and 234 forming a complete integrated step motor It may also be used with other types of step motors according to customers requirements The basic features of the controller are Serial RS485 or 5V serial position control ler Position controller with graphic program ming e Option for CANbus CANopen DS 301 DSP 402 or DeviceNet under develop ment Adual supply facility is available so that position and parameters are maintained at emergency stop Gear mode e MACmotor protocol so MACmotor and Quickstep motors can be connected on the same RS
122. 3 70 CAN Setup 2 134 Setup 32b Rw 32bit 170 32 bit Register Description Register 34 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register 33 5 will transfer register 5 V IST actual velocity 32bit value in PDO22 or PDO4 170 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS43x Registers 8 3 71 Input Filter FILTER LIS digital input Description This register controls filtering of each of the eight IO pins that are used as digital inputs If the bit corresponding to the input number is set in this register the input value will be filtered to a new logical level is only accepted after that level has been measured on the hardware pin for the number of milliseconds specified in register 36 If the bit is not set the input will be updated directly from the hardware value every 100 microseconds Please read the section on Digital Input filters in this manual 8 3 72 Input Filter Cnt eee FILTER_ Description The filtering of all of the eight digital inputs is controlled by the value in this register together with register 35 The input must be sampled at the same value for the specified number of milliseconds in this register to be accepted as the new filtered value See also the section on Digi
123. 3 RPM Serial communications on the RS 485 line can load the motor up to 196 at 19 200 baud which is insignificant but at the maximum baud rate of 921 600 the communications can load the motor up to 4596 which would result in an of 60 us When CANopen firmware is installed the basic MLT will change from 30 to 90 Us with no communications When loading the CANbus with communications the MLT can rise significantly For ex ample when using seven transmit PDOs with an event timer value of ms and a CANbus link speed of 500 kbits s the can rise to 150 200 us Also using RS 485 communi cations at high baud rates can result in even longer MLT values However this scenario is very unlikely Note In applications where program timing is critical tests must be performed to ensure that timing is satisfactory when communication is running according to conditions used in production JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 6 Connection of JVL and MAE motors parallel Type MST23x MSTS3S4x and HY200 xxxx xxx x8 Black Black White Connection of JVL and MAE motors serial Type MST23x MST34x HY200 xxxx xxx x8 Black Black White Orange White_ Red White Yellow Yellow White Connection of MAE motor unipol Type HY200 1xxx xxxxx6 Motor in unipolar model 6 wires White Green White Red Motor Connections Connection of JV
124. 3x 3 2 MiS23x Registers 8 2 97 Ext Encoder Vel Size Access Range Default Unit MacTalk name EXT_ L o 16bit 215 215 1 Counts External Encoder VEL 16ms Velocity Description This register is updated with the velocity of the external encoder input The velocity is measured every 6ms JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 145 8 3 534 amp MIS43x Registers 8 3 1 MIS34x 543 and SMC85 Register Overview ERE Range Default Unit MacTalk name enero am x mm 1 23 The overall Mode Reg 32bit E mode of the Current Mode CNN ENT to um V SOLL 32bit 300000 100 RPM 0 01 RPM Max velocity 3000 RPM A SOLL 1 1 500 000 000 1000 RPMs Acceleration STANDBY TIME 32bit 1 65535 m Standby Time STANDBY UN CURRENT 32bit EXCEL NN 0 1533 LEN 5 87 mA P Current PIST 32bit 291 291 1 231 1 Comts Actual Position Position 3 000 00 to sios moe lue Ls enconer Pos Ww temen CMM ra i DEN LEN HEC MEE Mz le Lew RN EN I FLWERRMAX 32bit E um MR UE Follow Error Max STATUSBITS 32bit GH Ema mw cer 2 0 a ES 257 2 27 TEMP 32bit uses Temperature offset 7 Reserved __ E Gs _ _ ooo 146 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS
125. 4 UNSINEDB X 2 Velociy encoderiaciorNumeraor 6094 1 UNSIONEDS VelociyencoderiaciorDivsor 6094 2 UNSIONEDS2 _ Acceleration factor 67 UNSINEDB X 2 Acceleration factor Numerator 6097 1 UNSINEDS2 Acceleration factor Divisor S07 2 UNSINEDS _ 10 5 2 Factors Position factor The position factor is the relation between the user unit and the internal position unit steps The position factor is automatically calculated when the feed constant Object 6092h and gear ratio Object 609 Ih are set Example MIS232 Motor with a 3 5 1 gear box is connected to a belt drive The diameter of the drive wheel is 12 4 cm The unit of position is required to be in millimetres The perimeter of the drive wheel is 389 56mm 124mmYbpi The parameters should be set as follows Object Value 60914 subindex 1 Gear ratio Motor revolutions 6091 subindex 2 Gear ratio Shaft revolutions 6092 subindex 1 Feed constant Feed 38956 6092 subindex 2 Feed constant Shaft revolutions 234 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard Velocity encoder factor This factor is used to convert the user unit into the internal unit RPM The factor is adjusted with the object 6094h Example 1 An MIS232 has 600 counts revolution We want the user unit of veloci
126. 485 bus Command for easy PLC PC setup and communication Power supply 12 48VDC Fixed 1600 pulses rev e Built in processor with 8 In Out that can be configured as inputs PNP outputs or analogue inputs 5V serial and RS485 inter face for set up and programming e MODBUS interface 9 6 to Mb communication Driver technology is improved as com pared to SMD73 and supply voltage is 2 48VDC Control voltage 2 28VDC When used with the QuickStep motor or mounted on any other step motor the ad vantages of the controller are e De central intelligence Simple installation No cables between motor and driver e EMC safe Switching noise remains within motor Compact Does not take space in cabi net low cost alternative to separate step or servo motor and driver Stall detect by means of magnetic encoder with resolution of up to 1024 pulses rev e Interface possibilities to the SMC75 controller From PC PLC with serial commands via 5V serial or RS485 e Pulse direction input Encoder output e CANopen DeviceNet e 81 0 5 28VDC that can be configured as Inputs Outputs or analogue inputs Future option for Profibus DP Ethernet Bluetooth and Zigbee wireless JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 2 Step motor controllers SMCxx 11 2 1 Block diagram Positioning Speed Control Main supply SMC75 or SMC85 Controller P 12 48V SM
127. 4x 43x 40 l Please use KXXX instead CN4 PWR CN1 Future option Power input CN3 3 7 CN2 RS485 I O 1 C RS422 1 0 TT2334 01GB cdr 2 11 5 MIS34xxxxQ6xxxx connector description Please notice The Q6 connector version is absolete Please use the Q5 version instead The MIS34x offers robust MI2 connectors which makes it ideal for automation applica tions The MI2 connectors offer solid mechanical protection and are easy to operate The following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available The connector layout PWR CN1 Power input M12 5pin male connector JVL Cable WI11000 Isolation Signal name Description M12F5TxxN group Main supply 12 80VDC Connect with pin 2 1 Main supply 12 80VDC Connect with pin 1 Control and user output supply 12 30VDC DO NOT connect gt 30V to this terminal Main supply ground Connect with pin 3 PP Main supply ground Connect with pin 5 Note P and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 41 CN2 RS485 IN OUT I O M12 12pin female connector JVL Cable Isolation Signal
128. 4x amp 543 Registers Le a a MAK PAST yea Steps Poston uit wx IN POSITION IN POSITION Bit explanation default rw J Jo seoa wamns staamooe RW __ 0 omme _ i Zero Search 31 31 V_HOME 32bit R W 1023 1023 50 RPM _ Velocity _ R W 0 13 14 lo Zero Search Mode HOMEMODE 32bit Absolute Encoder Position 281 231 1 6 7 8 40 41 ABSENCODER 32bit 47 EXTENCODER 32bit 42 46 E FANE DI RW AnalogFitered si R ors o NA 8896 Analoginput o R Jasem NA suvo R BsVoae ree WNBUSVOL sai RW oros 15 109mV vin Bus Vorage _ 100 AFZUP_WriteBits 32bit 101 AFZUP Read Index 102 AFZUP Conf Min 32bit 103 AFZUP Conf Max 32bit 104 AFZUP Max Slope 32bit AFZUP Filter 32bit N A handled on the N A handled on the Special Filter Setup screen R W 0 1022 Lo 4 888 mV Confidence Min R W 1 1023 1023 4 888 mV Confidence Max R W 2 1023 1023 4 888 mV Max Slope th R W 1 64 64 64 of new Filter on the Filter sample setup screen N A shown Settling time 1 Settling Time 32bit R W 0 32676 o fms 111 SSI_SETUP2 32bit R W 105 106 107 10 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 14 8 3 MISS4x amp
129. 60us if not on standby 72 102us if on standby Zero search type 1 13 When the operation mode is set to 13 the controller will start the search for the zero point See Sensor type Zero search page 104 for details Zero search type 2 14 When the operation mode is set to 15 the controller will start the search for the zero point See Sensor type 2 Zero search page 104 for details Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE REG 2 will set the motor in position mode When P SOLL is changed the motor will move to this position with the specified max velocity V SOLL and accel eration A SOLL Writing MODE REG 3 will start a zero search for a sensor When the search is com pleted the MODE_REG will automatically be changed to the mode specified in START MODE 8 2 4 P_SOLL Reg Name Size Access Range Default Unit MacTalk name _ 3 Psou ea do Sepe Postion _ Description The desired position When in position mode the motor will move to this position This value can be changed at any time The maximum possible position difference is 231 1 If relative movement is used the P_SOLL will just wrap at 231 1 and the motor will move correctly Please note that the turntable function changes the behaviou
130. 7 female IO 5 pin female A CANopen EC MIS34x 4 pcs M12 5 pin male power 17 female 10 2x 4 pin male D Ethernet Ethercat EL MIS34x 4 pcs M12 5 pin male power 17 female 10 2x 4 pin male D Ethernet Powerlink EP MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Profinet FB MIS34x 4 pcs M12 5 pin male power 8pin female 5485 12 female EW MIS34x 4 pcs M12 5 pin male power 8pin female RS485 12 female 6 35mm shaft and IP42 Round shaft 6 35mm shaft and IP65 motor shaft and body IP66 Rear erid and connector and special painting 10 0 mm shaft and IP42 10 0mm shaft and IP65 motor shaft and body IP66 Rear erid and connector and special painting 14mm shaft and IP42 14mm shaft and IP65 motor shaft and body IP66 Rear end and connector and special painting 8mm shaft 52mm long for HFOS worm gear IP42 6 35mm shaft with D cut and IP42 5 00 mm shaft with D cut and IP42 10 7 00mm shaft 45 5 mm long for Dunker flange and IP42 11 6 35mm shaft Black painted and rubber sealing in rear end IP65 Shaft end IP42 12 9 53mm shaft D snape Black painted Shaft end IP42 Only MIS34x 13 9 53mm shaft D shape Black painted Shaft end IP42 Rear end shaft 10mm 30mm long D shape Only MIS34x 14 14mm with 5x5 key shaft painted Shaft end IP42 Only MIS34x 15 14mm with 5x5 key shaft painted Shaft end IP42 Rear end shaft e10mm 30mm long D shape Only MIS34x 16 5 00
131. 7777 102 AFZUP Conf Min 16bit RW 01022 o 4888 Confidence Min Description The minimum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value is less than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of zero in this register will effectively disable the minimum confidence check 128 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 46 Afzup_ConfMax i Coe CO aE me 103 AFZUP_Conf Max 1 1023 1023 4 888 mV Confidence Max Description The maximum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value is larger than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of 1023 in this register will effectively disable the maximum confidence check 8 2 47 Afzup MaxSlope 104 AFZUP Max Slope 2 1023 1023 4 888 mV Max Slope Description The maximum slopes per sample for analogue inputs are set and read back using this register in combination with the read and write command registers 100 and 101 If a new raw sample value on an analogue input lies farther from the
132. 8T20N Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen WI1009 M12M17505N Length 5 197 on Junction box for splitting the 17 pin PA0190 O connector into 4 independant con X nectors Include also 9 LED s for monito ring the I O status and com munication Cable length 0 5m 20 inch Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 E female connector WI1000 M12FCAP1 IP67 protection cap for M12 _ male connector WI1000 M12MCAP1 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 37 2 11 How to connect MIS34x 2 11 4 Drawing and description of PAO190 Junction box that splits the connects the signals the MIS34x CN4 17 pin I O con nector into 4 individual connectors giving an easy and more flexible installation Usage hints The LED s will only work with a MIS motor where the OUT and IO is supplied from the CN4 connector See also the I O description for the module If a cable is connected to the BYPASS then the Communication pins and GND must be properly connected to valid signals pins 2 15 17 AND COM must not be used In other words use EITHER the BYPASS OR the COM connector Not both 36 0mm 1 42 inch 54 0mm 2 126 inch gt C 5 Mounting holes 2x O4x8mm 90 16x0 32i
133. 9mV Trigger point for under voltage Min bus voltage BUSVOL 99 ENCODER 16bit R Internal encoder resolution Tooltip on motor TYPE 100 AFZUP_ 16bit R W Special Bits 0 7 Bitmask for which of N A handled on WriteBits the analog inputs that willuse the Filter Setup the current value of the screen ConfM in M ax axSlope and Filter registers Bit 15 Set when values have been copied and used 289 15 1 MIS23x amp SMC75 Registers detailed Reg Name Size Access Range Default Unit Description MacTalk name 101 AFZUP_ 16bit R W 0 1 8 Special Bits 0 7 Index 1 8 of the N A handled on ReadIndex 32768 32715 analog input whose the Filter Setup ConfM in M ax M axSlope and screen filter values to load into the corresponding AFZUO xxx registers for read back Bit 15 gets set after the registers have been updated ConfM in mV analog inputs ConfM ax mV analog inputs axSlope mV inputs 105 AFZUP_ l6bit R W 1 64 64 64th of Filter value for analog inputs Filter on the Filter Filter new Setup screen sample 106 FilterStatus 16bit 0 65535 0 Individual status bits for 50 of N A shown samples outside confidencxe graphically limits high 8 bits and 5096 of samples violated the slope limit low 8 bits Reg Name Size Access Range Default Unit Description MacTalk name 107 SSI Setupl 16bit R W bitmask Bits 4 0 Selects SSI frame length c
134. AN bus Covers also the wiring of the CAN bus See section 10 2 1 to section 10 2 6 Using CanOpenExplorer See section 10 3 1 to section 10 3 3 Survey of Communication specific objects and manufacturer specific objects in the DS30 I standard Communication objects consist of the general information about the settings in the module while the Manufacturer specific objects consist of the settings of input output and the motor parameters This section also covers the settings of the transmit and receive PDOs in the module See section 10 4 1 to section 10 4 6 Survey of objects which are used in the DSP 402 standard See section 10 5 1 to section 10 5 7 Section with more detailed explanations of the CANopen theory particularly 05 301 See section 10 6 1 to section 10 6 7 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 209 10 1 General information about CANopen 10 1 1 10 1 2 10 1 3 210 Introduction A CanOpen option is available for the SMC75 When this option is installed the SMC75 includes a CANopen slave Through the CANopen slave all the registers of the SMC75 can be accessed The SMC75 implements an object dictionary that follows the CiA DS 301 standard The SMC75 contains a number of statically mapped PDOs that can be used to access the most common registers It also supports the DSP 402 motion profile standard and the motor can be controlled using this as we
135. ARTMODE 32bt RW ff Startup Mode Description The motor will switch to this mode after power up This is also the mode that is used when a zero search has been completed See Mode Reg page 116 for a list of possible modes 8 3 29 P Home Reg Name Size Access Range Default Unit MacTalk name i R W Zero Search Position Description The zero point found is offset with this value 8 3 30 V Home RA SE Description The velocity used during zero search Set a negative velocity to search in the negative direction JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 159 8 3 MIS34x amp MIS4Sx Registers 8 3 31 Home mode We ms Sue Aes ange Dim Un earam HOMEMODE 32bit RW 0 13 14 Lo Search Mode Description Selects the zero search that should start on power up A value of 13 will use sensor type while a value of 14 will use sensor type 2 8 3 32 Absolute encoder position LOU MEN WI T Unit MacTalk name H2 Absolute Encoder Description Description for the H2 encoder option This is the absolute magnetic encoder position this is only a singlet turn value and the resolution is I Obit That is 360 degree 1023 count approximately 0 35 degree 8 3 33 SSI encoder value 47 EXTENCODER 32bit R 28 9394 0 SSI Encoder Value Description This is the actual encoder pos
136. AWG and screen WI1009 M12M17S05N Length 5 197 i ch Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 d female connector WI1000 M12FCAP1 IP67 protection cap for M12 2 male connector WI1000 M12MCAP1 46 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 12 2 12 1 LED indicators at the MIS34x Indicator LED s description for products with Ethernet This description covers all MIS34x products with build in Ethernet such as MIS34xCxxECxx MIS34xCxxElxx MIS34xCxxELxx MIS34xCxxEMXxx MIS34xCxxEPxx The LED s are used for indicating states and faults There is one power LED two link activity LED s one for each Ethernet connector and 2 status LED s Indicator overview General status indicator Power indicator Line activity indicator CN3 Error indicator Line activity indicator CN2 TT2337 01GB LED indicator descriptions LED Text Colour Constant Constant Double Triple off on flash flash No valid Ethernet L2 Green Ethernet lis nep connection connected No valid Ethernet Green Ethernet is oo m connected Booting Power is Power is ap applied to G Power is not plied to both module but reen motor and no communi module cation with motor Notes Blinking Flashing with equal on and off periods of 200ms 2 5Hz Single flash Repeating on for 200ms and off for 1s Doubl
137. An overall method for communication test page 218 The PC must be provided with a CANopen communications module EDS Electronic data Sheet In order to give the user of CANopen more support the device description is available in a standardised way and gives the opportunity to create standardised tools for config uration of CANopen devices designing networks with CANopen devices and managing project information on different platforms The EDS file are ASCII coded Setting the node id and baud rate The node id is set using MacTalk It is located in register 162 The baud rate is also set using MacTalk and is located in register 163 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 215 10 2 Connection and setup of the CAN bus 10 2 5 Bus termination In order to guarantee correct operation of the CAN bus bus terminating resistors must be provided at both ends of the bus cable CAN bus connectors The SMC75 does not use 9 pin D sub connectors and none of the cables JVL supplies are provided with a 9 pin D sub connector but the PIN configuration is also shown in the table below Optional CAN ext supply The figure below shows the 9 pin D sub and 5 pin style connectors 5 pin style connector 9 pin D sub connector 2 12345 3 4 4 4 2 6789 9876 Male front view Female front view Male front view Female front view TT1096GB 216 JVL Industri Elektronik A S
138. Block description Block name Protected Example Description 52h 52h 52h This will always be 0 because this is the Address Ves 05h FAh RegNum 5 Dr s be the same as es _ The length will always be 128 so 64 SON aD registers is read in each block E8h 17h O3h FCh The data read from the registers 15 7 4 Write Register Using this command a register can be written Controller sends SMC75 Response Write Address HegNum Len Data End Block description Block Name Protected Example Description ss E8h 17h O3h FCh Data 1000 The data to write to the register AR Command termination th Tin Th Accept from SMC75 15 7 5 Enter safe mode When this command is sent the SMC75 switches to safe mode In safe mode no pro gram or commands can enable the motor The mode can only be exited using either an Exit safe mode or Reset command Controller sends SMC75 response lt EntSafe gt lt Address gt lt End gt Block description Block Name Protected Example Description 54h 54h 54h Enter safe mode command 07h F8h Address 7 The address of the SMC75 ith Tin TIR Accept from SMC7S 15 7 Serial communication 15 7 6 Exit safe mode 312 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x When this command is sent the SMC75 switches back to normal mode Controller sends
139. C75 P 12 80V SMC85 1 8 step Driver 1600 step rev CVI 12 28V logic Switchmode Power Power supply connector P Ground 9 Supply Fuse 750 Output source pe High speed 16 SMC75 digital logic 32Bit SMC85 array Microprocessor Digital with IN8 Analog 8 Integrated Flash RS485 driver oo 2 BS 09 Optional Tranciever Field Bus Encoder Optional Multifunction I O Interface Optional TT2140GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 253 11 2 Step motor controllers SIVICxx Step Motor Controller SMC75 is a mini step driver with fixed 1600 pulses rev which has been designed for driving step motors with phase currents of up to 3 Amp phase RMS The Controller SMC75 is available in 2 different versions for various applications It is built into the QuickStep Integrated Step Motors but for OEM and low cost applications it can be delivered as a PCB or in its own housing with 12 connectors For easy mount ing and service the version with M12 connectors is recommended A version with cable glands can be used for high volume and low cost applications Order no PCB BOX CANopen RS485 Cable u fe ge mT Tr SMC7SAIWO Other combinations and features are also possible for OEM use See Connector over view for the MIS23x on page 32 for further inform
140. Courts fv Undereokage gt Set enor b fv Undereoltage gt Go to passive Invert motor direction Undervolage gt Set velocity to 0 Resrcrorize position aller passive mode Comenurecetion addiecs 25 In posin court 3 Working offline Press the Online button to re establish commurication with motor As seen in the bottom info line the motor is disconnected and the file data is currently present in Mactalk To re establish communication with the motor simply press the Go Online button and if any data has been changed a warning box appears enabling the user to save current data before re establishing communication with the motor as this will overwrite existing data in MacTalk If data is changed in MacTalk the user is warned that current data in MacTalk may be overwritten and needs to be saved The following warning box is presented Warning New motor has been detected and all userdata is about to be uploaded Do vou want to save current userdata in Mactalk TT2328 01GB Choosing No will immediately upload all motor data pressing yes will save all data in the open file JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 55 4 1 4 1 4 4 1 5 56 Using the MacTalk software Main Screen v bar Jak Honera Mi Vae Pa D i ton uw c lL Dom aem fae np Rand p
141. DC The overall earthing of the system must be done at a central point close to the power supply 2 1 10 Dimensioning power supply and fuse only MIS34x motors The power supply must be dimensioned according to the actual motor size The size of the pre fuse also depends on the actual model of the MIS motor Use the following table to select the power supply and fuse ratings Desired voltage Supply Fuse size Supply Fuse size Supply Fuse size rating rating rating 24VDC 120W T6 3A 200W T6 3A 250W T10A 48VDC 240W T6 3A 350W T6 3A 500W T10A 80VDC 450W T6 3A 600W T6 3A 700W T10A Recommended PSU24 240 PSU24 240 PSU24 240 power supply PSU48 240 PSU48 240 PSU80 4 PSU80 4 PSU80 4 Please notice that the specified wattage values are worst case values at maximum torque See also the appendix which shows the standard power supplies that JVL offers 2 1 11 General power supply description The supply voltage at the main power P terminals can be chosen in the range 12VDC to 80VDC nominal However the maximum performance is based on a 80V DC supply A lower voltage will decrease the speed torque performance See also the torque curves the appendix Section 12 4 page 265 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 2 2 Inputs 2 2 1 Inputs The Quickstep motors has 8 inputs outputs IO s that each can be set individually to in put output or analogue input 0 5VDC via MacTalk or s
142. Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 229 10 4 Objects in the 05301 standard 10 4 10 Beckhoff transmit PDO setup Transmit PDO With this PDO the actual position can be read Bye Jo Ji 2 5 j 6 7 Data P IST VIST Object 2012h sub 10 2014h sub 12 2014h sub 35 Transmit PDO 2 With this PDO the value of the analogue inputs 4 can be read Bye 2 j Jj f7 Data ANALOGUE ANALOGUE2 ANALOGUE3 ANALOGUE4 Object 2014h sub 89 2014h sub 90 2014h sub91 2014h sub 92 Transmit PDO 3 With this PDO the value of the analogue inputs 4 8 can be read Bye p b p p p p Data ANALOGUES ANALOGUES ANALOGUET ANALOGUES Object _ 2014 sub 93 20141 sub 94 2014h sub 95 2014h subes Transmit PDO 4 With this PDO the actual velocity can be read Bye p h p p p p br _ Data vist Resewed Reserved Reserved Res Res Res User selectable 16 bit User selectable 32 bit register exc 2014h sub 18 register exc ENCODER POS STATUSBITS register16 register 25 230 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard 10 5 1 DSP 402 Support Introduction The SMC75 supports the DSP 402 standard from CiA http www can cia com Please refer to this standard for details of the functions The DSP 402 is only a standard proposal
143. First the data byte is transmitted and then an inverted version 255 x is transmitted The easiest way to become familiar with the registers and MacTalk communication is to use the MacReglO program This program lists all of the registers and the serial com mands sent and received can be monitored 15 7 1 Supported commands 11 Acknowledge 15 7 2 Read register This command can read a register All registers are read as 32 bit If the register is only 6 bit the high part must be discarded Master sends SMC75 Response lt Read gt lt Address gt lt RegNum gt lt End gt lt Write gt lt MAddress gt lt RegNum gt lt Len gt lt Data gt lt End gt Block description Protected Example Description This will always be 0 because this is the lt MAddress gt OOh FFh Address 0 addresseatihemaster Yes 05h FAh RegNum 5 the same as 04h FBh Len 4 The length will always be 4 E8h 17h 03h FCh Data Yes 00h FFh 0OOh FFh The data read from the register Data 1000 AAR Command termination lt RegNum gt JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 311 15 7 communication 15 7 3 Read register block Using this command it is possible to read 64 consecutive registers at once SMC75 Response lt ReadB gt lt Address gt lt RegNum gt lt End gt lt Write gt lt MAddress gt lt RegNum gt lt Len gt lt Data gt lt End gt
144. IS23x Registers 8 2 71 Input Filter FILTER LIS digital input Description This register controls filtering of each of the eight IO pins that are used as digital inputs If the bit corresponding to the input number is set in this register the input value will be filtered to a new logical level is only accepted after that level has been measured on the hardware pin for the number of milliseconds specified in register 36 If the bit is not set the input will be updated directly from the hardware value every 100 microseconds Please read the section on Digital Input filters in this manual 8 2 72 Input Filter Cnt eee FILTER_ Description The filtering of all of the eight digital inputs is controlled by the value in this register together with register 35 The input must be sampled at the same value for the specified number of milliseconds in this register to be accepted as the new filtered value See also the section on Digital Input Filters in this manual 8 2 73 Inpos Mask Reg Name Size Access Range Default Unit MacTalk name Dedicated Outputs Description Selects which one of the eight pins to use for the dedicated function of In Position Output Exactly one bit must be set and the pin must be configured in register 125 as an output The In Position output will then be set after a movement has completed Example If output is to be used for the In Position Output w
145. Integrated Step Motors QuickStep MIS231 MIS232 MIS234 MIS340 MIS341 MIS342 MIS430 and MIS432 Including Step Motor Controller SMC75 5 85 User Manual JVL Industri Elektronik A S LB0053 21GB Revised 11 th November 2014 Important User Information AN Warning AN The MIS and SMC series of products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Please contact your nearest JVL representative for technical assistance Your nearest contact can be found on our web site www jvl dk Copyright 1998 2014 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Furthermore JVL Industri Elektronik A S assumes no liability for printing er rors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Blokken 42 DK 3460 Birkered Denmark Tif 45 45 82 44 40 Fax 4 45 45 82 55 50 e mail jvi jvl dk Internet http www jvl dk Contents e w N gt e NON CON BDUABRWN N
146. Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 26 Calculator options Dialogue Velocity Reg 5 Velocity Reg 5 1 Register listing and naming f Numbered list with lang MacTalk names t Simple list with short Firmware names Function The options tab contains various settings that affect the operation of the Calculator command Calculation precision is currently preset to 32 bit precision and cannot be changed This is not an error and should not be reported Register listing and naming provides an alternative method of entering data into the dialogue by selecting Simple list with short firmware names Instead of selecting for example 3 Requested position to access register no 3 you can simply type P_SOLL If you wish to enter a constant you simply enter the digits the dialogue will not mistake the constant for a register number If you are in doubt about a register name look at the expression in the caption of the dialogue box A recognized register name will appear in the expression An unrecognized register name will appear as a zero You can switch between the two methods of data entry at any time JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 207 9 7 9 7 27 Graphic programming command reference Jump according to a comparison Icon ALS Dialogue Function Reg 5 Reques
147. L and MAE 4 wire motors Type MST17x and HY200 xxxx xxx x4 Black White 17xx Orange um Z Yellow 17xx Red Red 17xx D o A Yellow Blue 17 Connection of Zebotronics motor Type SMxxx x xx X 8 terminals 1 Brown SM87 SM107 168 x xx2 SM56 x xx Connection of Zebotronics motor Type SMxxx x xx X 4 terminals TT0005 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 309 15 6 Motor Connections Connection of Vexta motor Connection of Phytron motor Type PH2xx xxx Type ZSx xxx x x Red Motor in unipolar model 6 cables Black Yellow Connection of Vexta stepmotor Type PH2xx xxx Black Black White A EN Orange White A Orange LS 0 9 NO lu Yellow White TT0006 310 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 7 Serial communication This section describes control of the SMC75 motor via the serial interface RS232 RS485 The communication is not made in ASCII values and it is thus not possible to use pro grams like Hyper terminal to control the motor The interface is RS232 compatible and uses 8 data bits and no parity The SMC75 motor is completely controlled by reading and writing to registers The registers are numbered 1 255 The width of the registers is 16 bits or 32 bits To protect communication from errors the data is transmitted twice
148. N DSP402 Support Auto encoder synchronize and po others lisETUP _ Inputs Outputs TURNTABLE Dedicated Inputs NL MASK 16bit IO Mask Negative Limit In put Dedicated Inputs EMEN inputs 133 Bem ff INPUT FILTER lOx digital input I Elm 16bit Rw 5 ms Input filter time CNT Dedicated Outputs ERROR MASK Mask Dedicated Outputs 139 S LL LL 144 PNEW NEW 32bit Counts aho a a Pw o 5 o Pw o R o LEN RW E tor Ades JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 113 3 2 MiS23x Registers SERIAL HARDWARE _ _ 16 on Tooltip on BOOTLOADER Major 16 n on Em eon wat v 161 me 1 OPTION BITS 16bit R 0 65535 Tooltip on motor FBUS_NODE ID 16bit moo 0 255 5 Fieldbus Node ID Fieldbus Baud LEI RENI E RR EXT E 18 915 LII Encoder The following parameters are only available when the CanOpen option is installed and only used for DSP 402 Name Size Access Range Default Unit Description L180 ContolWordd ie RAW 0655 o Objeci6040 subindexO Bi Status Word 065535 o Object 6041 subindex 0 ZEN SER DR hi jme 183 Mode Of Operation 16bit 0 255 Object 6061 subindex 0 Display m 231 Target Position 32bit Ob
149. NPOS ae ee Output mask for In position Dedicated outputs M ASK M ask output In position 138 ERROR ae 7g Output mask for error output Dedicated outputs M ASK M ask Error 139 FBU_ 16bit R W Dependson Flash Backup system Voltage to OkVoltage Input consider the system powered up 140 FBU_ 16bit R W 0 2 1 10000 Counts Flash Backup system Number OkCount of times the voltage must have been measured to be above FBU_OkVoltage to consider the system powered up and enable shutdown saving 141 FBU_ 16bit R W Dependson Flash Backup system Voltage to SaveVoltage FBU Input trigger saving of positions and other data into flash and then halt 142 FBU Input 16bit R W 0 12 Flash Backup system Seelcts which analog input to use to measure FBU voltages 143 Reserved 16bit R W 292 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp SMC795 Registers detailed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Reg Name Size Access Range Default Unit Description MacTalk name 144 P NEW R W Used with FastM ac commands N A 23 and 24 for changing both the actual and requested position in one operation either absolute or relative 146 BAUD RATE R W The baud rate on the serial Baud rate port 9600 baud 19200 baud default
150. OB ID register is sub in dex Ih and the value range of this register is UNSIGNED32 The PDOs are enabled when bit 31 is O and is disabled when bit 31 is l Receive PDOs The 1 20 are reserved for use with DSP 402 The following receive PDOs are available Receive PDO 21 This PDO can be used to update the position velocity and acceleration The data in the PDO is written directly to the position register and if the motor is in position mode it will start moving to that position JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 225 10 4 Objects in the DS301 standard The table below shows default values of the COB ID Access Type Description i ie COB ID Nodeid 0x80000200 24 1 COB ID Nodeid 0x80000500 LEE COB ID Nodeid 0x80000480 1 Transmit Nodeid 0x80000480 ee o T3 I2 I3 14 I5 T7 Baa o VSOL ASOL _ Receive PDO 22 With this PDO it is possible to update the running current and operating mode cye o p 2 3 14 8 6 7 Data RUN OURRENT MODEREG ect 2o1ansuo7 erans __ Receive PDO 23 This PDO can be used to issue a Motor command Bye 0 z Jj 2 pB jb 6 7 Data MotorCommand Reserved Reserved Reserved Res Res Res Object eran sues Receive PDO 24 This PDO updates the outputs Be p b p p pr Data Reserved
151. Opening a file 54 Operating modes 10 89 93 102 106 190 236 Gear mode 101 Optical isolation 17 19 24 Option Bits 144 178 Ordering Information 316 Outputs 121 156 Encoder 28 Error output 27 In position 27 In pyhsical position 27 Pulse Direction 28 SMC75 special outputs 27 SMC75 user outputs 23 p P terminal 12 P Home 124 159 P Ist 119 121 139 154 156 173 22 7 230 P New 126 139 161 173 P Soll 10 65 89 207 226 229 P terminal 12 Parallel connection of motor phases 257 258 Parallel connection of motors 258 Passive mode 90 PDOs 210 225 227 237 240 241 Phases 257 PL positive limit 83 PLC systems 27 PLC PC 278 Pn 126 161 PNP output 17 Position factor 234 Position limit min and max 107 Position mode 10 Positioning mode 92 Positioning Speed Control 8 9 252 253 Positive limit 83 Power Supplies 281 Power Supply Capacitor 12 Power supply Grounding 13 15 Power supply SMC75 12 Profile position mode 236 Prog Vers 115 150 181 Program comments 190 Program jumps 197 198 201 208 Program status and command 314 Programming 181 208 PSUO5 045 281 PSU24 075 281 PSU24 240 281 PSU48 1000 281 PSU48 1500 281 PSU48 240 281 PSU48 800 281 Pull up resistor 17 Pulse Direction driver 6 250 Pulse direction outputs 28 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 327 17 Index PulseDirMask 130 165 PulseDirMod 130 165 Q Quick start 260 Quick
152. PG12 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75 R1 Radial conriection M12 2 pcs 5 pin male power 8 pin female RS485 4IOA on 2 sides High volume SMC75 R2 Radial connection M12 2 pcs 5 male power 8 pin female RS485 4IOA on 2 sides 1 50 pcs SMC75 C1 2 pcs 1 C2 2pcs C3 2pcs 2 cable Clands M12x1 5 and no cable mounted side mounted only MIS231 2 cable Clands M12x1 5 and 5m power and IO cable with shield mounted Side mounted 2 cable Clands M12x1 5 and 1m power and IO cable with shield mounted Side mounted C6 CANOPEN 2 pcs PG12 cable Clands M12x1 5 and 2m power and IO cable with shield mounted Side mounted WO 2pcs W1 2pcs 2 cable Clands M12x1 5 and no cable mounted Rear end mounted 2 cable Clands M12x1 5 and 1m power and 1m IO cable with shield mounted Rear end mounted W2 2 pcs PG12 cable Clands M12x1 5 and 5m power and IO cable with shield mounted Rear end mounted FP MIS34x 4 pcs M12 5 pin male power female RS485 12 female IO Q6 534 4 pcs M12 5 pin male power 3pin female RS485 Q9 534 4 pcs M12 5 pin male power Q5 MIS34x 4 pcs M12 5 pin male power EC MIS34x 4 pcs M12 5 pin male power EI MIS34x 4 pcs M12 5 pin male power IO 5 pin male B Profibus DP IO 5 pin female A CANopen 3pin female 5485 12 female IO 8 pin male SSI IC5 6 3pin female RS485 17 female
153. S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 10 4 3 10 4 4 10 4 5 Objects in the 05301 standard Object dictionary Index Read hex Type only Description Motor pa rameters 2012 Unsigned8 x 254 Subindex count Access to the 32 bit motor regis n Unsigned32 ter n Motor pa rameters 2014 Unsigned8 x 254 oubindex count Access to the motor register n n Unsigned16 but as 16bit Writing to these objects in CANopenExplorer is done by pressing W on the keyboard when the register in folder Manufacturer is selected Reading is done by pressing R Object 2012h Motor parameters With this object all the registers of the MIS motor can be accessed All the registers are accessed as 32 bit When reading and writing to l6 bit registers the values are automat ically converted in the module Object 2014h Motor parameters 16 bit Works as 2012h but the parameters are accessed as 6 bit If writing to 32bit param eter the 6 bit value will be treated as signed Enable and Disable PDOs In the CANOpen profile it is only possible to have four transmit and four receive PDOs enabled at the same time In the SMC75 controller all PDOs are disabled when the mod ule is booted up The user must choose which PDOs the application will use and enable these To enable or disable a PDO it is necessary to write to the MSB bit 31 in the PDO COB ID entry in the PDO communication parameter Record The C
154. SMC75 response lt ExitSate gt lt Address gt lt End gt Block description Block Name Protected Example Description lt ExitSate gt 99h 95h 55h Exit safe mode command O7h F8h Address 7 The address of the SMC75 Tih 11h 11h Accept from SMC75 15 7 7 Write to flash This command writes the register values to flash memory The values will then be re tained after a power down The command will only work if the motor is in Safe mode After the command is executed the motor will reset The response will only be trans mitted if the command failed e g if the motor is not in safe mode Controller sends SMC75 response lt WriteFlash gt lt Address gt lt End gt Block description Block Name Protected Example Description lt WriteFlash gt 56h 56h 56h Write to flash command Beh 07h F8h Address 7 The address of the SMC75 AA ih 11h Tih Accept from SMC75 15 7 8 Reset controller This command resets the SMC75 No response will be transmitted from the SMC75 Controller sends SMC75 response lt Reset gt lt Address gt lt End gt Block description Block Name Protected Example Description 57 57 57 07h F8h Address 7 The address of the SMC75 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 313 15 7 Serial communication 15 7 9 Group write register Using this command it is possible to write a register in several
155. SMC75s with one com mand The command includes a sequence number which must be changed for each write This is used so that the same command can be written several times to ensure that all con trollers received it The last received sequence id can be read in register 148 Controller sends SMC75 Response lt GWrite gt lt Group gt lt Sequence gt lt RegNum gt lt Len gt lt Data gt lt End gt None Block description Block Name Protected Example Description 05h FAh RegNum 5 The register number to write to 02h FDh Len 2 The number of data bytes E8h 17h O3h FCh Data 1000 The data to write to the register AAR Command termination 15 7 10 Program status and command Using this command different actions can be executed The command also returns some information about the program state The table below shows the possible commands Com mand Description SSS No operation 1 1 Smpogamexewlon 5 2 Stpprgramexeulon OC Pause program execution O S Start Ad End Ad Run the program until the program pointer is outside the area dress dress Start Address End Address 16bit 16bit Then the program is paused Reserved Size 16 bit flash for a new program Data 1 specifies the size of the program in ikar ou Modifies the outputs The bits set in the Set outputs data will be set and cleared 5 Set outputs
156. SUM 32bt 1 0655385 o do Description Firmware checksum This value is read only and is programmed into the motor during firmware update 8 3 88 Hardware Rev Sie Access Range Default Unt Major 16 F HARDWARE REV 32bit 0 65535 Minor Tooltip on Motor 416384 Description The revision of the hardware This value is read only and is programmed into the motor during manufacturing 176 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS4Sx Registers 8 3 89 Max Voltage Sue Access Range Dotaut Tunit T MacTalk name Tooltip on Description The maximum allowed voltage on the bus If the bus voltage exceeds this value the mo tor will enter an error state This value is read only and is programmed into the motor during manufacturing It re flects the rating of the hardware components Supplying a higher voltage can damage the electronics components permanently If in doubt it is strongly recommended to first supply 24 Volts and connect the motor to MacTalk In MacTalk this value can be read by holding the mouse cursor over the image of the motor in the lower right of the main win dow 8 3 90 Available IO 158 AVAILABLE IO R J OMAK Description Defines what that are available on the connector This value is read only and is programmed into the motor during manufacturing Service personnel may ask for this value to identify the type
157. Speed _ EN GO NEMLMUNNU Homing speeds Speed _ 6099 UNSIGNED32 during search for zero Homing acceleration 609A UNSIGNED32 aom Position notation index 6089 INTEGER8 NEN Position dimension index 608A NEN Velocity notation index 608B Velocity dimension index 608C UND Acceleration notation index 608D Acceleration dimension index 608E Position encoder resolution 608F Position encoder resolution 608F Encoder increments Position encoder resolution 608F 2 Motor revolutions Velocity encoder resolution 6090 on UNSIGNED8 Velocity_encoder_resolution_ 6090 UNSIGNED32 Encoder_increments_per_second Velocity_encoder_resolution__ 6090 2 Motor revolutions per second 6091 o UNSIGNEDS Gear ratio Motor revolutions 6091 a ot UNSIGNED32 2 Gear ratio Shaft revolutions 2 NSIGNED32 Feed constan 6o92 o UNSIGNEDS UNSIGNED8 INTEGER8 ro UNSGNEDS UNSIGNED32 UNSIGNED32 2 UNSIGNED32 1 2 1 1 1 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 233 10 5 Objects used in the DSP 402 standard o ea a hex only Feed constant Feed 6092 1 UNSIONED32 _ _ Position fado 6038 UNSGNEB X 2 Position factor Numerator 6099 1 UNSIGNEDS2 Position factor Feed comam 6093 2 UNSIGNEDS2 Veodencoderiao 6
158. Step motors 10 R Read register 311 Read register block 312 Receive PDOs 225 237 Register overview 110 Registers 109 114 117 124 128 131 138 147 149 152 159 163 166 172 A Soll 118 153 191 195 226 229 Acc Emerg 123 158 Afzup_ConfMax 129 164 Afzup_ConfMin 128 163 Afzup MaxSlope 129 164 Afzup Readlndex 128 163 Afzup WriteBits 128 163 An 126 161 AnalogFiltered 127 162 Analogln 127 162 Available lO 143 177 Bootloader Ver 143 177 Busvol 127 162 Checksum 142 176 Command 122 157 Encoder Pos 120 155 Encoder Type 128 163 Err Bits 24 123 158 Error Mask 137 171 Ext Encoder 144 178 Ext Encoder Vel 145 179 Fbus Baud 144 178 Fbus Nodeld 144 178 FilterStatus 129 164 Flwerr 121 156 Flwerrmax 121 156 GEARI 10 89 117 120 152 155 GEAR2 10 117 120 152 155 Group ld 140 174 Group Seq 140 174 Hardware Rev 142 176 Home Bits 133 167 Homemode 125 160 Input Filter Cnt 137 171 Input Filter Mask 137 171 Inputs 121 156 losetup 121 134 156 168 Max P Ist 123 158 Max Voltage 143 177 Min Busvol 127 162 Min P Ist 122 157 Mode Reg 88 116 151 221 226 229 Motortype 141 175 My Addr 141 175 NL Mask 135 169 Notsaved 143 177 Option Bits 144 178 Outputs 121 156 P Home 124 159 P Ist 119 121 139 154 156 173 227 230 P New 126 139 161 173 P Soll 10 65 89 207 226 229 Pn 126 161 Prog vers 115 150 181 PulseDirMask 130 165 PulseDirM
159. The pulse and direction signals used to control the motor directly attached to the SMC75 board can also be optionally output to digital outputs and used to control other step per motors The value in this register selects one of three operating modes Mode 0 in which the pulse direction signals are used only internally to control the motor attached directly to the SMC75 board Mode in which the signals are not used internally but output to the digital outputs selected in register 109 Mode 2 where the signals are used both internally and sent out on the digital outputs See register 109 PulseDirMod page 130 for more information 8 2 52 PulseDirMod eS INNEN Pulse Direction Description When enabled by register 108 this register defines which of the eight digital outputs are used to transmit the pulse and direction signals The lowest eight bits select which outputs will carry the pulse signal while the highest eight bits select the outputs that carry the direction signal More than one output can be selected for each type of signal but the MacTalk program supports only one output for each signal The outputs selected here must be manually configured to operate as outputs using register 125 lOsetup page 134 130 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 53 Settling Time ep 13 etween retries Description When the internal encoder opt
160. This is also the mode that is used after a zero search is completed See also M ODE REG reg 1 for a list of possible modes 38 P HOME 32bit R W PO SE The found zero point is offset Zero search with this value position 40 V HOME l6bit R W 1023 1023 50 The velocity to use during zero Zero search velocity search Set a negative velocity to search in the negativ direction 41 Reserved 42 HOMEMODE 16bit R W 0 13 14 Select the zero search that Zero search mode should start on powerup 43 Reserved 45 46 AbsEncoder 16bit 0 1023 Counts Last value read from the built in Abs Encoder Pos absolute magnetic encoder Position 47 SSI Data 32bit Depends on Counts Last value read from an external SSI Encoder Value SSI encoder SSI encoder using the RS422 interface 64 Reg Name Size Access Range Default Unit Description MacTalk name 65 Vn lobit R W 0 1023 8 Velocity registers Velocity n Vn 12 73 An 16bit R W 1 65535 4 Acceleration registers Acceleration n An 16 71 Tn R W 5 87 mA 4 Run current registers Current n Tn 80 81 Analog R 4 888mV The voltage on inputs 1 to 8 N A 88 Filtered after being filtered in firmware See the AFZUP_ xxx registers for filter parameters 5V is equal to a value of 1023 89 Analoglnput R 4 888mV The unfiltered voltage on inputs N A 96 1 to 8 5V is equal to a value of 1023 97 BUSVOL R 109mV Bus voltage Bus voltage 98 MIN R W 10
161. VED 065535 NA Description This register is not used internally but will always be 0 after power on Please note that MacTalk uses this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 143 3 2 MIS23x Registers 8 2 93 Option_Bits 165 OPTION BITS 16bit R 0 65535 Tooltip on motor Description This register contains information about what options are available Bit 0 7 defines the options available in the hardware or licensed Bit 8 15 defines the options available in the firmware Bit 0 8 CanOpen fieldbus Bit 1 9 DeviceNet fieldbus 8 2 94 Fbus Node Id Reg Name Size Access Range Default Unit MacTalk name i66 FBUS NODE ID 0255 Fieldbus Node iD Description The node id on the fieldbus interface 8 2 95 Fbus Baud Reg Name Size Access Range Default Unit MacTalk name Fieldbus Description The baudrate used on the fieldbus interface 1000 kbit s 800 kbit s unsupported 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s 20 kbit s 10 kbit s 0 2 3 4 5 6 7 8 8 2 96 Ext Encoder Reg Name Size Access Range Default Unit MacTalk name Description This register counts the encoder input on INI IN2 The type of input is selected using SETUP BITS bit 2 3 144 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 4
162. a types but are specific to a particular device Index 1000 1 FFF The communication Profile area contains the parameters for the communication profile on the CAN network These entries are common to all devices Index 2000 5FFF The manufacturer specific profile area for truly manufacturer specific functionality 238 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 10 6 2 details of CANOpen Theory Index 6000 9FFF The standardised device profile area contains all data objects common to a class of de vices that can be read or written via the network The drives profile uses entries from 6000h to 9FFFh to describe the drive parameters and the drive functionality Within this range up to 8 devices can be described In such a case the devices are denominated Mul ti Device Modules Multi Device Modules are composed of up to 8 device profile seg ments Using this feature it is possible to build devices with multiple functionality The different device profile entries are shifted with 800h A 6 bit index is used to address all entries within the object dictionary In the case of a simple variable this index references the value of the variable directly In the case of re cords and arrays however the index addresses the whole data structure To allow indi vidual elements of structures of data to be accessed via the network a sub index has been defined For single object dictionary
163. al 10 2 2 Mecessary accessories for SIMC75 Controller The EDS file for the SMC75 is available for download at JVL s web site http www jvl dk under the downloads menu Field bus Interface Specifications Files EDS means Electronic Data Sheet This file contains the information about SMC75 settings that are required to configure the setup and program in the master The SMC75 is a slave module on the CAN bus The master can for example be a PLC or a PC If you are using a PLC as master then make sure it is provided with a CANopen commu nications module and that the correct programming tools are available For support of the PLC master the PLC vendor is recommended If you are using a PC as master JVL provides some tools that can help when installing and using the SMC75 Controller 214 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 2 Connection and setup of the CAN bus 10 2 3 10 2 4 The latest firmware for the SMC75 is available at JVL s web site under the menu down loads firmware In the site s programs menu the software CanOpen Explorer is also available but note that this is not a free ware program Please contact your JVL repre sentative for further information CanOpen Explorer can be used to load the EDS file and operate with the motor The CanOpenExplorer software must use a special dongle for communication with the PC For further information about the dongle see
164. alculator options 207 CANA 213 CANB 213 CAN bus connectors 216 CANopen 25 32 110 144 178 209 228 230 248 254 308 CAN bus connectors 216 CanOpen Explorer 215 218 222 Communication test 218 Connecting the SMC75 Controller to the CAN bus 214 05 301 210 05 301 device profiles 238 DSP 402 210 Node id and baud rate 215 PDOs 210 slave 210 CanOpen 114 149 CANopen network 210 Capacitor 12 CE requirements 256 320 Checksum 142 176 CiA 05 301 standard 210 CiA membership 210 Clear errors 53 COB ID 213 226 229 Command 122 157 Command timing 307 Conditional jump multiple inputs 198 Conditional jump single input 197 Confidence alarms 21 Confidence check 20 Connecting the SMC75 Controller to the CAN bus 214 Connection of motor 257 256 Connection of motor phases 258 Connections Driver 7 251 MI2 7 251 MIS23x 33 Motor 257 SMC75 255 Connectors 35 37 41 46 217 MI2 35 37 41 46 217 Control voltage 13 15 CVI control voltage 13 15 D Declaration of Conformity 320 Digital inputs 18 Dimensions 267 Direction inputs 94 Download SDO 241 Driver connections 7 251 05 301 210 223 05301 specified Communications objects 223 DSP 402 114 149 DSP 402 210 DSP 402 Support 231 E EDS file 214 EMCY 224 Emergency object 224 Enable and Disable PDOs 225 Encoder outputs 28 Encoder Pos 120 155 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 325 17 Index Encod
165. alk aaa a a t e ac alk software 06060606000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 52 low to update lac alk 060606000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 60 e OW to update t e motor firmware 606060600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 61 Description Of fUncti nsS sccis eR Adj hem 64 Justing t e otor current 6060606000600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 uto Correction 0606060600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 65 SO ute position 7 SSI encoder sensor interface 0606060606060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 9 0 bsolute ulti turn Encoder 606060600000000000000000000000000000000000000000
166. amples within the last second were slope limited JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 129 3 2 MIS23x Registers 8 2 50 551 SETUP1 Name Size Access Range Default Unit MacTalk name 25bit 100kHz frequency pre SSI Setup 16bit 16Bit pare time 100us Number of data bits Clock frequency Disable interrupts when Reading SSI Description This register contains status bits for the analogue input filters The lowest eight bits hold Register 107 SSI Setupl 16 bits The low byte selects the number of data bits in each SSI transfer The valid range is 0 to 31 corresponding to to 32 data bits The high byte selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Due to the nature of the firmware timing some timing jitter can occur while reading SSI data Some encoders doesnt allow this or run with a very tight bit timing so that the firmware timing jitter causes trouble To prevent this interrupts during SSI reading can be disabled by setting the MSB of the high byte In this way the timing is strictly control led If the timing isn t critical and the motor velocity is high we recommend that the in terrupts isn t disabled 8 2 51 PulseDirMask Reg Name Size Access Range Default Unit MacTalk name PulseDirMask 16bit R W 0 65535 Bit mask Pulse signal Direction signal Description
167. and might be changed in the future JVL there fore reserves the right to change future firmware versions to conform to new versions of the standard Not all of the functionality described in DSP 402 is supported but all mandatory func tions are supported The following operation modes are supported Profile position mode Velocity mode e Zero Search mode Preconditions The start mode of the motor must be set to passive No power up zero searches must be selected When using the DSP 402 mode manipulating parameters with object 2012h or 2014h can corrupt the behaviour of the DSP 402 functions Also be aware that manipulating pa rameters in MacTalk should be avoided when using DSP 402 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 23 232 10 5 Objects used in the DSP 402 standard Supported objects The following table gives the additional object dictionary defined for DSP 402 support alo hex only Dwie LLL Moore _ UNSGNEDI6 x 9 Motor_catalog number 6409 o VISIBLE STRING X SMC7 Motor manufacturer 944 o VISBLE STRING X JVLAS _ motor catalog address 6405 0 VISIBLE STRING X wwwividk _ Supported drve modes 62 0 UNSIGNED32 Dre catelog number 6 0 VISIBE STRING X smee Dive manufacturer 6 0 VISILE STRNG X drive catalog address 6505 0 VISIBLE STRING
168. antly Example RUN CURRENT 100 will set the running current to 0 59A RMS 8 3 8 Standby Time 8 STANDBY TIME 1 65535 Standby Time Description This register sets the standby time This time is the time from the last step has been performed until the current changes from running to standby When a new request for a move is received the current changes from standby to running with no delay Example STANDBY TIME 200 will result in the controller switching to the standby current after 200ms JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 153 8 3 534 amp MIS4Sx Registers 8 3 9 Standby_Current Name sze Access Range Defaut Unt MacTalk name STANDBY CURRENT sm 0 511 LN 5 87 mA Standby Current Description This register set the standby current for the motor 511 is the maximum possible value corresponding to 3A RMS The standby current is active when the motor has stopped and the specified Standby time has elapsed See Standby Time page 118 When the STANDBY CURRENT is changed the new motor current will be set instantly Example STANDBY CURRENT 50 will set the running current to 0 29A RMS 8 3 10 P IST Reg Name Size Access Range Default Unit MacTalk name Description This register shows the actual position of the motor This is updated each time the motor makes a step If P IST is changed when in position man or gear mode the
169. ash memory sector after power up The scaling unit is as follows 1023 111 4V this is of cause a theoretical value and will greatly depends on which input that is used setup using register 142 Due to the HW variation on inputs different threshold values must be used The follow ing table will indicate which values to be used in combination with which input that is used For 1 1 8 Filtered or non filtered an analogue voltage of 0 5V is sampled Anything above this will result in a 5V reading IOI IO8 5V 1023 Counts For Bus voltage and the CVI selection the scaling is as follows 1023 I 1 2V in theory so 48V 441 6 approximately due to component tolerances etc Please observe that CVI measurements are only available from HW Rev 1 7 and up The HW rev can be observed in the tooltip over the motor displayed in MacTalk 8 3 76 Acceptance count 140 Acceptance Count 32bit 32bit 10000 PEE Acceptance Count Description Acceptance Count selects the number of times the Acceptance Voltage must be meas ured after power up before the flash erase operation is started When using values 1 8 or 12 for register 142 the count is in units of 245 microseconds When using values 81 88 the count is in units of 10 milliseconds The flash memory sector holding the absolute position information is erased at startup to save critical time when the absolute information is about to be saved to flash memory again This register select
170. ate for Clear outputs 8bit Bbit Example The data 0x06 0x01 sets output 2 3 and clears output 1 The command number is placed in the first command data byte Data Data 2 are placed in the following command data bytes Controller sends SMC75 Response lt PStat gt lt Address gt lt Len1 gt lt Data1l gt lt End gt lt PStat gt lt MAddress gt lt Len2 gt lt Data2 gt lt End gt 314 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 7 Serial communication Block description Block Name Protected Example Description MAddress Yes 00h FFh Address 0 ee ae this is the 08h F7h Len 8 The length of the return data O9h F6h Program state OOh FFh 00h FFh Pro gram pointer OOh FFh Stack pointer lt Data2 gt Yes OOh FFh Data returned from SMC75 OOh FFh Program check sum 80h 7Fh Inputs OOh FFh Outputs AAh Command termination The returned data has the following format Dataoffset Size Descripion eon Program state See table below for states 3 Program checksum This checksum is calculated when the program 4 16 bit is started 6 few Output status Program states Program state Description 0 Passive The program execution is stopped This state is only entered shortly at power up The program execution is running A single step is in progress The
171. atibility Was manufactured in conformity with the following national standards that implements a harmonised standard EN 61800 3 Adjustable speed electrical power drives systems Part 3 EMC product standard including specific test methods May 2012 Bo V Jessen Technical Director JVL Industri Elektronik A S LX0023 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 321 322 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 17 Index JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 323 324 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 17 Index A A SOLL 118 153 191 195 226 229 Abort SDO 243 Acc Emerg 123 158 Acceleration factor 235 Address CANopen 213 Address MacTalk 53 ConfMax 129 164 Afzup ConfMin 128 163 Afzup Filter 129 164 MaxSlope 129 164 Afzup ReadIndex 128 163 Afzup WriteBits 128 163 An 126 161 Analog input filters 20 AnalogFiltered 127 162 Analogln 127 162 Analogue inputs 19 Auto correction 65 Available 143 177 Baud rate 122 140 157 174 215 260 262 263 308 Binary command 205 Bipolar motors 257 Boot up telegram 239 Bootloader Ver 143 177 Brakes and shaft reinforcement 282 Busvol 127 162 Cables 37 43 46 280 Cabling 214 256 Calculator basic 206 C
172. ation The box version which is built into a black aluminium casing provides a very robust construction that is insensitive to mechanical vibration and electrical noise The advantage of using a ministep driver instead of a conventional full step or half step driver is that mechanical resonance problems are significantly minimised Resonance most often occurs at slow motor speeds and results either in loss of motor torque or the appearance of significant harmonics The principle of the ministep technique is to drive the motor using a sinusoidal current in the interval between 2 physical full steps This re duces the step velocity between each step and thus damps any resonance significantly Comparison between ministep and full step Resonance during full step operation Position Current 9 9 Full steps 150 Overshoot 6 5 4 3 2 1 4 Full steps Both 2 phase and 4 phase step motors can be connected to the Controller which utilises the Bipolar Chopper principle of operation thus giving optimum motor performance 254 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 2 Step motor controllers SMCxx 11 2 2 SMIC75 Connector overview The connections to the various connectors of the SMC75 PCB board is shown below Note that GND and P are connected together internally SMC75 Circuitboard fs m p a o j 106 User IO 108 RS485 RS422 B1 C
173. ative 302 JVL Industri Elektronik A S User Manual TT2413 01GB Integrated Stepper Motors MIS23x 34x 43x 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 BAUD RATE TX DELAY GROUP ID GROUP SEQ MY ADDR M OTORTYPE SERIAL NUM BER Reserved CHECKSUM Reserved HARDWARE REV MAX VOLTAGE MAX CURRENT AVAIBLE 10 BOOTLOADER VER NOTSAVED 32bit 32bit 32bit 32bit 32bit 32bit 32bit 32bit 32bit 32bit 32bit 32bit 32bit O 4 UJ C R W 0 5 The baud rate on the serial port 9600 baud 19200 baud default 38400 baud 57600 baud 115200 baud 230400 baud 460800 baud 921600 baud R W 0 255 The group id of the motor used for the GroupWrite telegram on the M acTalk protocol GroupWrite not supported on SM C85 yet R 0 255 The last received group write sequence part of the M acTalk serial protocol GroupWrite not yet supported on SM C85 R W 0 254 The motor address Used on the Motor address M acTalk serial protocol R 80 83 The motor type 80 SM C85 81 MIS340 82 MIS341 83 MIS342 R BENE The serial number of the motor R 0 65535 Firmware checksum E il R 0 65535 m M ajor 16 The revision of the hardware Minor R 0 100 VDC Volt Bit 15 0 Max voltage on bus 0 9000 If the bus voltage e
174. backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V 8 3 79 P New Reg Name Size Access Range Default Unit MacTalk name Du yg Cms NA _ Description This register can be used to change both of the registers P SOLL and P IST in one op eration This can be used to correct or offset the current position without performing a movement The register value can be copied to P IST and P SOLL using FastMac com mand 23 or it can be added with sign to both of these registers using FastMac command 24 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 173 8 3 MIS34x amp MIS43x Registers 8 3 80 Baud Rate Description The baud rate on the serial port 9600 baud 19200 baud default 38400 baud 5 600 baud 15200 baud 230400 baud 460800 baud 921600 baud The firmware wil automatically update the baud rate after this value is changed over the serial interface RS485 once the motor has finished transmitting all data bytes that are queued 8 3 81 Tx Delay 147 TX DELAY 1 255 Transmit Delay Description The time to wait before the response is transmitted The unit
175. ble that many samples have their value limited This is not necessarily an error in itself but can be a sign of a fault causing a noisy signal or it can be a sign that the Max Slope limit is set too low which can have implications if the analogue voltage is used to control the mo tor speed torque etc To help troubleshooting in cases like this each input has a status bit that is set if at least half of the new samples during the last second were limited by the Max Slope setting The status bits are updated once per second Example of analogue input filter operation Note that even though the examples use units rather than Volts decimal values are used since the motor uses a much higher resolution internally to store the units Also note that as long as the slope limitation is in effect the result will keep a constant slope even when using a filter When the slope limitation is no longer in effect the filter will cause the value to approach the final result more slowly as it approaches the result Confidence Min 0 Confidence Max 500 Max Slope 10 Filter 8 Old filtered value 0 1 100 Confidence OK slope limit to 0 10 10 result 10 8 64 0 56 64 1 25 units Sample 2 100 Confidence OK slope limit to 1 25 10 11 25 result 1 25 8 64 1 25 56 64 2 5 units Sample 3 100 Confidence OK slope limit to 2 5 10 12 5 result 12 5 8 64 2 5 56 64 3 75 units Sample 4 800 C
176. bles The screen must be connected Control voltage to common ground at Only MAC50 141 with the power supply B2 or B4 Optional 5 MIS23x QuickStep motor or SM C75 Controller Power Supply Control Voltage TT2220GB 2 1 7 Select Your Power Supply only MIS23x motors We recommend the use of 48VDC or the highest possible voltage to supply the motor As seen in the chart below it is clear that the torque below 100 RPM is independent of supply voltage But above 300 500 RPM the torque at 24VDC is half compared to the torque at 48VDC Additionally higher voltage gives better current and filter regulation and thereby better performance If there is a tendency for motor resonance a lower supply voltage can be a solution to the problem 14 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 1 Power Supply Only MIS34x 2 1 8 Control Voltage CVI only MIS34x motors The control voltage should be in the range 2 28VDC and is used to supply the micro processor circuit internal functions in general and the user output driver 1 8 To ensure that position and parameters are maintained after an emergency stop the control voltage should be maintained under a stop situation where the P main power is disconnected Warning Control voltage higher than 30VDC will damage the controller 2 1 9 Power Supply Grounding It is recommended that the housing is connected to ground or common 0 V
177. can only send and receive process data when it is in the Opera tional state Stop Remote Node This is an instruction for transition from either Pre Operational to stopped or from Op erational to Stopped In the stopped state the nodes can only process NMT instructions Enter Pre Operational This is an instruction for transition from either Operational or Stopped state to Pre Op erational In the Pre Operational state the node cannot process any PDOs However it can be parameterized or operated via SDO This means set point can also be entered JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 245 10 6 More details of CANOpen Theory Reset Node This is an instruction for transition from the Operational Pre Operational or Stopped states to Initialization After the Reset Node instruction all objects 1 O00h 9FFFh are re set to the Voltage On stage Reset Communication This is an instruction for transition from Operational or Stopped to Initialization After the Reset Communication instruction all communication objects 1000h FFFh are re set to the initial state In the various communication states nodes can only be accessed via CAN Open using specific communication services Further the nodes in the various states only send spe cific telegrams This is clearly shown in the following table Initializing Pre Operational Operational Stopped 9o 0 0x x j
178. ce it is recommended that a capacitance of minimum is connected to the power supply It should be mounted as close as possible to the motor Similarly it is recommended that 0 75mm cable is used to connect the power supply to the Controller If the Controller supply voltage falls below OV the internal reset circuitry will reset the driver Provision should therefore be made to ensure that the supply volt age is always maintained at a minimum of 2V even in the event of a mains voltage drop The Controller is protected against incorrect polarity connection but not over voltage Warning Power supply voltage higher than 50VDC will cause damages JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 1 Power Supply Only MIS23x 2 1 3 Control Voltage CVI only MIS23x motors The control voltage should be in the range 2 28VDC and is used to supply the micro processor circuit internal functions in general and the user output driver 1 8 To ensure that position and parameters are maintained after an emergency stop the control voltage should be maintained under a stop situation where the P main power is disconnected Warning Control voltage higher than 30VDC will damage the controller Control circuit supply current CVI versus voltage mADC 200 150 100 50 0 10 TT2325 01GB 2 1 4 Power Supply Grounding It is recommended that the housing is connected to gro
179. ch sensor is activated the A TH motor decelerates and starts to move in Zero search position Counts the reverse direction with 1 64 of Zero search Velocity When the edge of the Zero search sensor is passed the motor stops and the zero position is found Velocity V Zero search Zero search mode Power up Sensor ty ero search velocity Acceleration specified by the general acceleration Zero search position is an optional parameter under the Profile offset See description in LU data in MAC Talk other chapter Zero search velocity defines the velocity used during Zero search Sensor i The sign of the specified velocity status Zero search In this example the defines the Zero search direction started active sensor level __ is set to high Home Torque 1 Time Time T72187 02GB The Zero sensor must be connected to a user input For connection information see In puts page 16 Hint Make sure the acceleration deceleration is set to an appropriate value which stops the motor when the Zero search switch is detected but before mechanical collision 104 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 5 6 5 7 Zero search modes Making a Zero point offset Common for all the zero search modes it is possible to optionally define the zero point as a value other than zero position 0 When is it useful to use the zero point offset If itis required
180. changed at any time The current velocity Standby Time Actual velocity 286 TT2441 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x SMC75 Registers detailed Reg Name Size Access Range Default Unit Description MacTalk name 14 GEARI Output 15 GEAR2 Input 16 ENCODER_ 32bit R W 2 2 1 Steps If the encoder option is Encoder position POS d m installed this show the position feedback from the encoder 18 INPUTS R Special The current status of the digital Inputs inputs 19 OUTPUTS R W Special The current status of the digital Outputs outputs can be written to change the outputs 20 FLWERR 2 2 093 Steps When the encoder option is Follow error installed this show encoder deviation from the calculated position IST 22 FLWERRMAX 275 2 1 The maximun allowed value in Follow error max FLWERR before an error is triggered If FLWERRM AX 0 the error is disabled Tr24420108 Reg Name Size Access Range Default Unit Description MacTalk name 24 COMMAND 16bit 25 STATUSBITS FastM ac commands 0 127 Other 256 Used to issue commands to the motor 0 128 is the normal FastM ac commands where only a subset is implemented in SM C75 Commands 256 Activates new Baudrate 257 Synkronize position with encoder Calibrate internal encoder Reserved do not use Reset
181. changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until IST P SOLL The movement will follow the profile specified by V SOLL A SOLL and V START P SOLL can be changed at any time and the motor will move accordingly V SOLL can also be changed during a movement It is permissible to change A SOLL and V START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A SOLL and V START will be active JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 8 3 MIS34x amp 543 Registers Gear mode 3 The GEAR mode works as position mode but has an additional feature The input on the external encoder is multiplied with GEARI GEAR2 and added to SOLL Any remain der of the result is saved and used next time the external encoder changes The result is that this mode can be used as an electronic gear When using gear mode it is not recommend to set V START below 10 rpm This can gives problems at low speeds because the motor will lag behind when doing the first step It will then accelerate in order to catch up NOTE Time from t
182. ched its final target position within the given position window Each time the motor has done a movement the Actual position counter and the En coder position counter is compared If the difference without sign is within the value specified in the In position window as shown below no further action is taken If the difference is larger than the value in the In position window the motor will try to correct the position by doing a new motor movement The Max number of retries is the number of times the motor will try to correct the position and the Settling time be tween retries is the time the motor will wait between each retry dp MacT ak Version 1 50 49 w 23 2 GG osition Clear errors Reset motor Filler setup STOP Mo ogramming Y Ener handing Follow error 0 z Counts Position limit min of Counts Position limit max 0 MEN Counts Error accelerabon 10000 ger RPM S Min bus voltage 15 z Volts V Zero zsarch Zero seaich mode Disabled Use index after zero search Zeto search postion 0 Counis An autocorrection after end movement is performed if the difference between the Zero search velocity 50 RPM actual position and the encoder position 7 Aukoconec on is more than the value specified in this field In position window 20000 Counts Pate es ri aa T _ The max number of autocorrection per movement is specified here Settling me between ieties 700 me Upda
183. creen Some standard cables with M12 connector offer a screen around the cable This screen on some cables is fitted to the outer metal at the M12 connector When fitted to the SMC75 controller this means that the screen will have contact with the complete motor housing and thereby also the power ground main ground Cable user Isolation supplied group 2 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 217 10 3 Using CanOpenExplorer 10 3 1 The CanOpenExplorer program The CanOpenExplorer is a program that was developed for internal use only especially in production but the program offers features that are very convenient and which make it very easy to start up the MIS motor when this is supplied with an SMC75 CANopen Controller module The program can write and send SDOs PDOs SYNC and heartbeat messages and also can read EDS files 10 3 2 An overall method for communication test Depending on the type of master and software solution available the following compo nents must be available PLC with a CANopen module and software that can communicate with this module The CANopen module must be connected to a CAN bus as shown in section 10 2 6 To set up the master download the EDS file from the JVL web site see section 10 2 2 This file contains all register set up data for the SMC75 Control ler For details of the node ID and the Baud rate see section 10 2 4 The power
184. ct to the slope limitation it is combined with the last filtered value by taking a part of the new sample and a part of the old filtered value adding them together and writing the result back to the final destination register one of the registers 81 88 For instance a filter value of 14 would take 14 64 of the new sample plus 50 64 of the old value A filter of 64 would simply copy the new sample to the rule thus disabling the fil tering This completes the filtering of the analogue inputs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x e 3 Analogue Inputs Confidence alarms If either of the Confidence Min or Confidence Max limits is used it may be possible that no new samples are accepted which means that the filtered value will never change even though there is a change in the input voltage For instance if the Confidence Min limit is set to 2 0 V and the actual input voltage is 1 50 V the filtered value may continue to read out 0 00 V or the last value it had before exceeding the confidence limits To help troubleshooting in cases like this each input has a status bit that is set if at least half of the new samples during the last second lie outside either confidence limit It is not possible to see which of the confidence limits is violated The status bits are updated once per second Slope alarms If the Max Slope limit is used by setting its value lower than 1023 it may be possi
185. ction or supervise the network de vices The application layer makes it possible to exchange meaningful real time data across the CAN network The format of this data and its meaning must be known by the producer and the consumer s There are encoding rules that define the representation of values of data types and the CAN network transfer syntax for the representations Values are represented as bit sequences Bit sequences are transferred in sequences of octets byte For numerical data types the encoding is with the lowest byte first Every object is described and classified in the object dictionary or index and is accessible via the network Objects are addressed using a 6 bit index so that the object dictionary may contain a maximum of 65536 entries Supported by Index Hex MACOO FC2 FCA 0001 001F Static data types 4 0020 003F Complex data types 05 Manufacturer specit Data Typs _ FO060 0FFF Reservedtorturervse O _ Reservedtorturheruse SSS _ Index 0001 001F Static data types contain type definitions for standard data types like boolean integer floating point etc These entries are included for reference only they cannot be read or written Index 0020 003F Complex data types are predefined structures that are composed out of standard data types and are common to all devices Index 0040 005F Manufacturer specific data types are also structures composed of standard dat
186. d 1106 Digital Input Filter enabled Important information Each of the 8 pins can be defined as inputs or outputs The ac tive digital input level for each input is also defined in the above screen Furthermore it is possible to set up a filter for each input to avoid noise interfering with the program The inputs for Home Negative Limit and Positive Limit are selected here Advanced settings 17 Motor setup Invert motor direction Auto encoder synchronize V Program l Dont start program on power up Vy Zero Search Change direction on position limit Find opposite side of sensor 4 1 switch Vy Turn table TT2478 01GB Select this if it is desired to change direction when the limit switch is met Otherwise the motor will make a mechanical collision The final zero search point is found on the back side of the zero search sensor instead of the front side Ignore the physical sensor connected to an input but simply use the actual position as zero resets the actual position counter or look only for the index pulse and use this as zero point if enabled in general zero search setup area There are several ways to perform a Zero search Start from both sides of the reference sensor in a system with limit switches without JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x havin
187. d in which case the effective slope lim itation will be divided by the filter ratio A value of 1023 will effectively disable slope Im itation 8 3 48 Afzup Filter Size Access Range Default Unit MacTalk name 641 of new Filter on the Filter dala 2297 aw fise ja f sample setup screen Description The final filtering of new samples on the analogue inputs can be selected using this regis ter in combination with the read and write command registers 100 and 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply replaces the old value 8 3 49 FilterStatus ee shown Description This register contains status bits for the analogue input filters The lowest eight bits hold confidence errors for each of the eight inputs while the highest eight bits hold the status of their slope errors The filter status is updated each second The confidence error bit will be set if more than half of the samples within the last second fell outside either of the confidence limits The slope errors will be set if more than half of the samples within the last second were slope limited 164 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp 543 Registers 8 3 50 SSI SETUP1 Name Size Acces
188. d extreme temperatures The absolute multi turn option offers the following main features Encoder Resolution 409 600 counts per revolution displayed internal 1024 cpr Accuracy 0 196 of full scale Repeatability 0 1 of full scale Position range 5245 to 5245 motor revolutions 2 31 motor counts Motor Resolution 409 600 counts per revolution standard As seen above the motor resolution is much higher than the encoder resolution The en coder option is however mostly used for stall detection at the motor motor loose its po sition and for this situation the encoder will be adequate since the motor can only stall in multiples of a 1 50 shaft revolution corresponding to 7 2 mechanical degrees JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 77 9 9 Absolute Multi turn Encoder 5 5 2 How to Preset the encoder position After installing the motor it is normally desired to make an alignment of the encoder po sition which represent the Actual position compared to the actual physical position of the motor and its load This operation is recommended to do in the following manner Set the motor in a known position 2 Insert the corresponding position value as shown below 3 Press the Set position button to preset the new position value 4 The encoder position and all other relevant position registers are now preset with the new value No further action is needed The mot
189. d registers selected in registers 12 115 This value must never be set larger than the value in the read only register 1 19 Sampling will stop automatically after the specified number of samples has been taken JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 131 3 2 MIS23x Registers 8 2 57 S Time PLN ERI DINER AD S TIME Rw Description This value selects the time in milliseconds between samples of the registers selected in registers 112 115 8 2 58 S Control Reg Size Access Range Default Unit MacTalk name us sconrror ew Description This value controls the sample system It can assume three different values A value of zero is set by the firmware after all sampling has completed A value of one will initialize the sample system A value of two will start a new sample sequence and set this register to zero at comple tion The sampled values are read back using the command hex 53 SMC75 READSAMPLE 8 2 59 Buf Size Reg Name Size Access Range Default Unit MacTalk name pue eur size _ ju Description This read only register contains the maximum length of the sample buffers used to sam ple the registers selected in registers 112 115 Register 16 should never be set to a val ue higher than the value in this register 8 2 60 Index Offset 120 INDEX OFFSET 16bit R J 0 1599 Steps Tes
190. d shaaft 6 35mm shaft and IP65 motor shaft and body IP66 Rear and connector and special painting 10 0 mm shaft and IP42 10 0mm shaft and IP65 motor shaft and body IP66 Rear erid and connector and special painting 14mm shaft and IP42 14mm shaft and IP65 motor shaft and body IP66 Rear end and connector and special painting 8mm shaft 52mm long for HFOS worm gear IP42 6 35mm shaft with D cut and IP42 9 5 00 mm shaft wit D cut and IP42 10 7 00mm shaft 45 5 mm long for Dunker flange and IP42 11 6 35mm shaft Black painted and rubber sealing in rear end IP65 Shaft end IP42 12 9 53mm shaft D shape Black painted Shaft end IP42 Only MIS34x 13 9 53mm shaft D snape Black painted Shaft end IP42 Rear end shaft 910mm 30mm long D shape Only MIS34x 14 14mm with 5x5 key shaft Black painted Shaft end IP42 Only MIS34x 15 14mm with 5x5 key shaft Black painted Shaft end IP42 Rear end shaft 10mm 30mm D shape Only MIS34x 16 5 00 mm round shaft IP42 17 9 53mm shaft D shape Black painted Shaft and rear end IP65 Only MIS34x 18 9 53mm shaft D snape Black painted Shaft and rear end IP65 Rear end shaft 910mm 30mm long D shape Only VIS34x 19 14mm with 5x5 key shaft Black painted Shaft and rear end IP65 Only MIS34x 20 14mm with 5x5 key shaft Black painted Shaft and rear end IP65 Rear end shaft 10mrn 30mm long D shape Only MIS34x 21 16mm with key 5x9mm only for 23 19mm with key 6x20mm only for MIS43x MST42x 23
191. dWINd80 ZLW 211H a vt ZOI Lig b eut ND t SavSMWHcEESH W SerSuxeceesy 4 9 coreane xj sarSuxiccesy c IOVINIV 1 amp diagoa O F AAA Sole SIN Dw JTW SIIN POENI E LOO03 1 35 23 4480 2 LIN 21LT1H Oleh er Aoqiow Zr HO LP 9sn Jaula ere pasn aq jou 1snui zr ONY LOULNI r O 2 Loew ALG Lz Suid seus pije paqoauuoo2 Auadoud aq snw SIN VW TIWN SIN OWN pue suid uat Li o paj2euuoo si S qe e y LCO3 4 35 d AlMd a0 Z LWN 241H jajou eBesp er LOI TIYIN 35 ddd3d L ZLItN 217H E uonduasap eiihidit Ziui 211H Lf dmesogsss cr 1 anpow ung payddns DL ZFS OI pue 190 TOY suojoud 20 BOL Lb ML DN SI UWA OM EOIENI WM 5 0371 gt 1 jarou aBiesn dsk 00 ftw z 10 LOULNI E i LEXI 01 LEH JA LUI ral TG OEB zen MAOTA eC DL ZH TAO SBPSHxHCECSH OADM LU T U 9PSH U CHEECSH SIM DTA SA Sy LED SIM DYA AOTEA O SIN DA SSVdA8 wi 996 S SIW O VW 0 2 OAD LG Diagram of the internal details in the PAO190 Junction Box JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 3
192. der should result in one motor revolution the Input must be set to 2000 and the Output tol600 If the motor must run 5 revolutions because there is a gear with a reduction of 5 1 the output must be set to 5x1600 8000 instead Only MIS23x SMC75 Start velocity is not used in this mode and the digital input filter is not used in this mode at input and 2 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 93 6 4 Gear Mode 6 4 2 Signal formats supported If gear mode is selected an external pulse source can control the position of the motor Following 2 formats are supported in all the MIS motors I Pulse and direction control One input is applied with a pulse signal Each rising edge at this input will cause the motor to move with a certain ratio length according to the gear registers input and output described at the previous page see Section 6 4 1 page 93 A secondary input controls in which direction the motor moves 2 Quadrature control When selecting this format 2 square wave signals channel A and B 90 degree phase shifted is applied to 2 inputs Each transition count at the A or B channel will cause the motor to move with a certain ratio length according to the gear registers input and output described at the previous page see Section 6 4 1 page 93 The formats can be selected in MacTalk at the I O setup tab WENN NU Mov to setup the Input format Jpdates H
193. dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command 197 9 7 Graphic programming command reference 9 7 12 Conditional jump multiple inputs Icon E Dialogue Input type Operand t Single f And fe Or Cancel i 7 Input 1 Don t care High High High High High High High High High High Input 2 Don t care Input 3 Don t care Input 4 Don t care Input 5 Don t care Input Don t care Input 7 Don t care my Input 8 Don t care Matar error Don t care oe NE NE NE NM M NM NM es MN NE NE NM NM M NM E ese In position Don t care Function lests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to Don t care are not tested After pressing the OK button the dialogue wil
194. e MAX PST yea 0 Seb Poston uit wax IN POSITION N NbOM wo omes s sem o IN POSITION Zero Search 40 V HOME 16bit R W 1023 1023 50 RPM _ Velocity ninh ENCODER TYPE 16bit 100 AFZUP_WriteBits 16bit N A handled on the Filter Setup screen N A handled on the R Special La R ee pr 16bit R W R W 0 1022 R W 1 1023 1023 R W 2 1023 1023 e AFZUP Read Index Special Filter Setup screen 102 AFZUP Conf Min 16bit 103 AFZUP Conf Max 16bit 104 AFZUP Max Slope 16bit 4 888 mV 4 888 mV 4 888 mV Confidence Min Confidence Max Max Slope 64 of new Filter on the Filter idi sample setup screen N A shown FilterStatus 16bit graphically Reserved PulseDirMask 16bit R W 0 65535 PulseDirMode 16bit R W 0 2 Settling Time 16bit R W 0 32676 Reserved Pulse signal Bit mask Direction signal Pulse Direction mode T D co Settling time between retries 105 106 107 108 109 110 11 1 12 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers Seg Rone See ams uei Un eciakrems 112 a oo oo mo BIEN INE a Zero L tstart program after power up Invert motor direc tion External Encoder SETUP BITS 16bit Special Enable CA
195. e Limit In put Dedicated Inputs R W Positive Limit Input IO Mask 1 1 1 1 1 1 1 1 1 R W 1 R Dedicated inputs i Home Input IO Mask digital input R W filter enabled IO Mask R W 3 1 1 Input filter time 1 Dedicated Outputs MASK n Position 22 23 24 25 26 27 29 30 31 32 35 36 37 38 Dedicated Outputs 1 Error IO Mask 48 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS4Sx Registers 139 see p rs p i IM PNEW NEW 32bit 291 291 1 251 1 Comts His enum ark sen s Hs ws Group nw oss ws sea oss COo o m o wo mwar sme RW MeAdkes _ isi morae sex SmwBar _ SERIAL mem _ HARDWARE _ n 16 on BOOTLOADER Major 16 ae on 161 PL el Fieldbus Baud uius we tet CENE RR RE 170 _ EXT ENCODER 32bit e eo Counts External Encoder Encoder EXT _ 18 915 EI Encoder The following parameters are only available when the CanOpen option is installed and only used for DSP 402 Reg Name Access Range Default Unit Description 180 ControWord 32bi RW 06535 0 ObjectS040subindexO ii Sei 085535 o object 6041 sub
196. e all interrupts in the processor while reading the encoder value simply check this box The SSI encoder reading is supported in QuickStep firmware from V2 7 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 7 5 4 SSI encoder sensor interface MIS34x MIS43x SMC85 The interface for these devices is different primarily because of the data validation func tion Mac Talk Advanced tab 8 stion ClearErrors Reset Filter setup Stop F8 Test Jommand 0 SSI encoder value Command 321 for sample SSI Encoder value 0 Counts SSI Encoder setup Number of Data bits G Clock frequency x 10kHz 4 Prepare time to Data Max sample deviation Number of Samples 2 Samples Read Retries 8 Retries Absolute position gt er loss Field Number of Data bits Selects the number of data bits in each SSI transfer The valid range is to 31 Set this value according to the actual SSI device connected Please consult the data sheet for the actual SSI device concerning which value to be used Field Clock frequency Selects the maximum clock speed in units of 10 kHz The valid range is to 255 corre sponding to 10 kHz to 2 55 MHz Set this value according to the actual SSI device connected Please consult the data sheet for the actual SSI device concerning which value to be used Field Prepare time Cl
197. e flash Two flashes with a period of 200ms followed by 1s off period Triple flash Two flash es with a period of 200ms followed by 1s off period Flickering Rapid flashing with a period of approximately 50ms 10 Hz JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 47 48 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 Hardware Non intelligent products JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 49 Please contact your JVL distributor for further information 50 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Using MacTalk JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 4 1 Using the MacTalk software Setup save open System control Error Handling Motor status The complete setup Use these buttons to save data Use these fields to define error This field shows the can be either saved permanently reset the motor etc limits for the position range etc actual motor load or reloaded from a position and speed etc file using these buttons Run status Shows what the status of Startup mode Rete caedem ad iei Lem the motor is The Bus voltage The basic functionality eines Om aue of for the motor and the tempe of the unit is T n rature of the driver is also shown setup in this field a m Ri
198. e hardware fixes or intervention such as allowing the motor cool down or adjusting the power supply voltage JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 123 3 2 MIS23x Registers 8 2 27 Warn Bits 36 WARN BITS 16bit RW Ft Specal Warnings Description Warning bits Bit 0 Positive limit active This bit will be set as long as the positive limit is active Bit Negative limit active This bit will be set as long as the negative limit is active Bit 2 Positive limit has been active Bit 3 Negative limit has been active Bit 4 Low bus voltage Bit 5 Reserved Bit 6 Temperature has been above 80 These bits provide information on both the actual state and remembered state of the end position limits the supply voltage and the temperature These are used for diagnostic purposes as well as handling position limit stops also after the motor may have left the end position mechanically 8 2 28 Start mode 37 STARTMODE 16bit RW O0 Startup Mode Description The motor will switch to this mode after power up This is also the mode that is used when a zero search has been completed See Mode Reg page 116 for a list of possible modes 8 2 29 P Home Reg Name Size Access Range Default Unit MacTalk name i R W Zero Search Position Description The zero point found is offset with this value 8 2 30 V Home 40 V HOME 16bit
199. e maximum slippage error is not supported in this mode 10 5 6 Zero Search mode Using this mode different Zero Search sequences can be initiated The standard Zero Search modes from 1 34 are supported Before starting the Zero Search the inputs must be configured properly using MacTalk or parameters 125 129 1 30 132 236 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 Objects used in the DSP 402 standard 10 5 7 Supported PDOs Receive PDOs 6040 Contro Controls the state machine a zn 6041h Status word 6041h Status word 6061h Modes of operation display 6041h Status word 606Ch Velocity actual value es Yes 6041h Status word No 6064h Position actual value NO 6041h Status word Yes 60F Dh Digital inputs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 237 10 6 details of CANOpen Theory 10 6 1 CANopen DS 301 device profiles Standardized devices in CANopen have their characteristics described in a device profile For each device profile particular data and parameters are strictly defined Data and pa rameters are known as objects in CANopen Objects perform all processes in CAN open they can perform various tasks either as communications objects or as device spe cific objects where they are directly related to the device A communication object can transport data to the bus control and establish conne
200. e notice that it can be fatal not to use the specified torque since the shaft may slip over time and cause a position offset Use a precise torque wrench to fasten the screw in the shaft collar Gears Product type to be mounted HTRGO5 MAC050 to MAC141 06 35 shat 5Nm HTRGOS MIS230 233 26 35 5 HTRGO6 MACO50to MAC141 06 35 shaf 5Nm HTRGO6 MAC400 402 014 shat diNm HTRGO8 MIS340 341 09 53 shat 5Nm HTRGO8 MIS340 342 012 shat 8Nm HTRGO8 MAC800 19 shat TiNm HTRG10 MAC800 19 shat amp TiNm Brakes Product type to be mounted Used with motor type Torque F1 MAB23x MACO50 to MAC141 26 35 shaft 3Nm MAB23x MIS230 233 26 35 shaft 3Nm O MAB34x MIS340 341 29 53 shaft 5Nm JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 Appendix JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 285 15 1 MiIS23x amp SMC75 Registers detailed MacTalk name Status bar Default Unit i M ajor 16 Minor Name Size 1 PROG _ VERSION Description The firmware version The Bit 14 is set to indicate that the type is Access Range 16384 SM C75 3 MODE REG P SOLL 0 1 2 3 11
201. e the Beckhoff support from MacTalk and press the Save in flash button V Fieldbus interface LanUpen Made ID 5j CanUpen Baud rate FOO kbit s Enable Can pen DSF 402 Support gt Use Beckhoff CAN configuration 2267 228 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 4 Objects in the DS301 standard 10 4 9 Beckhoff receive PDO setup The table below shows default values of the COB ID Access Type Description COB ID Nodeid 0x00000200 BE COB ID Nodeid 0x00000180 COB ID Nodeid 0x00000300 C i Temm Noded bO00080 fw h Temm Noded b000380 vw _ Nodei ox00000460 vw Receive PDO ye o 2 3 4 8 6 7 Das PSOL o ASOL _ Object 202hsub3 2014n sub5 2014h sune _ Receive PDO 2 With this PDO it is possible to update the running current and operating mode ewe 9 1 2 3 14 8 6 7 Baa RUNGURRENT MODEREG Object 201m sub eorn subg Receive PDO 3 This PDO can be used to issue a Motor command Bye pi pp 1 pkp Data Motor Command Reserved Reserved Reserved Res Res Res ject oran suo Receive PDO 4 This PDO updates the outputs 7 Reserved Reserved Res Res Object mwmsbis l JVL Industri
202. ection Using serial connection of the phases a motor provides the same performance up to I kHz as parallel connection but using only approximately half the current This can in fluence the selection of Controller model and enables a Controller rated for a lower mo tor current to be used See illustration on previous page If the phases of a 4 phase step motor are connected in series the motor s rated phase current should be divided by 1 41 For example if the rated current is 4 2A the maxi mum setting of the Controller phase current must not exceed 3 A when the motor phas es are connected in series Parallel Connection With parallel connection of motor phases a motor will provide better performance at frequencies greater than kHz compared to serially connected phases but requires ap proximately twice the current This can influence the choice of Controller since it is nec essary to select a Controller that can supply twice the current used for serial phase connection See illustration on previous page When the phases of a 4 phase motor are connected in parallel the specified rated cur rent of the motor must be multiplied by a factor of 1 41 For example if the rated current is 2 0A the maximum setting of the Controller phase current must not exceed 2 83A when the phases are connected in parallel It should be noted that the lower the self induction of the motor the better since this influences the torque at high speeds T
203. ed Please notice that the SMC75 controller PCB is used in all the MIS23x motors and the SMC85 controller PCB is used in all the MIS34x motors JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 1 2 1 Power Supply Only MIS23x 2 1 1 2 1 2 12 General Aspects of Power Supply only MIS23x motors Powering of the Controller is relatively simple To ensure that powering of the Controller is as simple as possible only a driver and con trol voltage are connected to the Controller Internal supply circuitry ensures the correct supply voltages for the driver control circuits etc The motor can be operated with the same power supply if using 12 28VDC for both Driver and control voltage Often a higher voltage than 28VDC is desired as main supply since the motor have a better torque performance at higher speed In this case a separate control supply CVI must be used with max 28VDC MIS23x Power Supply Main Power Supply 12 48VDC P Main supply Control Voltage 12 28 VDC CVI Control circuit supply TT2159GB NB for actual connections see drawing Step motor controllers SMCxx page 252 Main Power Supply P only MIS23x motors The Driver section requires a supply voltage in the range 2 48VDC nominal It is strong ly recommended to use a voltage as high as possible since it will give the best torque per formance of the motor at high speeds For optimum performan
204. ed on the RS232 bus must be shorted to TX otherwise com munication can be very unstable Ensure that a firmware update has not been interrupted before the communication problem was observed If such an update is aborted interrupted it must be restarted and completed before the internal processor is back to normal and can handle com munication JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 271 272 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 1 Connection to other Equipment The SMC75 can be connected to other JVL products These connections are described in the following chapter JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 273 13 1 Connecting sMI30 SMC35 to MIS SMC75 The SMI3x or the SMC35B can control the MIS SMC75 in gear mode Pulse and direction are send from SMi3x to control position and speed To do this some parameters in both the SMI3x and SMC35B must be set up correctly In the SMI3x the definition of the number of pulses per revolution PR can be selected freely So normally it is recommended to set 1600 The SMI3x has inputs from ex ternal drivers for alarm and in Position signals If these are not connected set 5 0 and 6 0 The SMC75 must also be configured correctly The mode must be set to Gear Mode Reg 2 3 If gear factor input and gear factor outp
205. eger Inputs r ER The status of the digital inputs Profile Data nie een are shown her and the analogue value All the main para MES un s pin E Outputs meters for control m ios m LUI The status of the outputs ing the motor behaviour ne MU n ama cae vty Ean are shown here and can are setup in this field a uim be activated by the cursor A Errors Driver Parameter vem If a fatal error occurs These fields are used to define standby running current information will be displayed here Warnings Gear Factor Here different warnings are shown The gear ratio can be entered here Help Line Left area If parameters entered Zero Search Autocorrection Communication are outside their normal Allthe parameters parameters used The actual address of the values errors are shown here regarding the position to get the correct position motor can be entered here Right area Here it is possible to zero search can if it is a motor with encoder see if a motor is connected be specified here the type version and serial no Motion Parameters The distance the motor has to run is entered here 4 1 1 MacTalk introduction The MacTalk software is the main interface for setting up the MIS motor for a specific application The program offers the following features Selection of operating mode of the MIS motor Changing main parameters such as speed motor c
206. egisters 8 2 16 Inputs OPE LINPUTS lebt PR Special Inputs Description This register shows the status of the digital inputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSET UP See Osetup page 134 Bits 8 15 are not used and will always be 0 The inputs can be filtered or unfiltered See Input Filter Mask page 137 Note that all of the inputs have a digital state and an analogue value at the same time This register shows their digital state only Note that the digital inputs can be filtered by set ting bits in register 135 Input Filter Mask page 137 Be 7 6 J5 Ja hB 0052 JE J J9 Function 108 107 06 ios 04 IO3 IO 8 2 17 Outputs Reg Name Size Access Range Default Unit MacTalk name s ouruTs wet nw oupus o Description This register shows the status of the outputs Bit 0 7 shows whether IO 1 8 is active or inactive The active level can be set using IOSETUP See Osetup page 134 Please note that the output driver for each output also has to be enabled This is also done using IOSETUP The register can be changed in order to change the status of the outputs 8 2 18 Flwerr Ss a m rwemn faze _ _ Folow Enor Description When the encoder option is installed this register shows the encoder deviation from the calculated p
207. el inputs but is a pure software limitation Default for both parameters is 0 meaning that the feature is disabled Notice that if one of the parameters are different from 0 both values are activated Positive Position Limit PLS When the motor is moving in a positive direction in position mode or gear mode the mo tor will stop at Position Limit Max In velocity mode the speed will internally be set to 0 when passing Position Limit Max causing the motor to decelerate and stop Negative Position Limit NLS When the motor is moving in a negative direction in position mode or gear mode the motor will stop at Position Limit Min In velocity mode the speed will internally be set to 0 when passing Position Limit Min causing the motor to decelerate and stop JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 85 5 6 Position Limits The illustration below shows how the software limits take effect at the motor move ment Relation between software limits and the motor behaviour Velocity unsigned Velocity Mode Position and Gear mode Position Position Limit minimum Position Limit Maxium ep 0 Function when motor is in Position mode or Gear mode The motor will decelerate according to the general acceleration deceleration setting and stop at the limit point Moving backwards from the stop point is done similarily The stop may cause an error which is determined by the set
208. elp MacT alk Version 1 50 62 4 Filter setup FixP programming V Dedicatated Inputs Home input Input 4 Negative Limit input Disabled Positive Limit input Disabled External Encoder Disabled ap lt lt Select input format here Disabled Quadrature is typically used for incremental V Dedicatated Outputs Quadrature encoders and supports a 2 channel 90 degree In position Pule Direction phase shiftet signal The direction is defined by the polarity on the phase shift In physical position Disabled Pulse direction is typically used as format in Error Disabled stepper motor systems ON ONE A pulse signal is applied to one input and the Mirection mode Intemal gt direction to another input TT2463 01GB 94 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 4 Gear Mode 6 4 3 How to connect the pulse source The present firmware require that the external pulse source is applied to specific inputs These inputs differ from motor family to motor family Other input options are under development The external source must be connected to the following inputs Channel A 101 101 Channel B 102 102 6 4 4 Single ended signals only MIS34x and MIS43x If the external encoder signals are only available as single ended and with voltage levels up to CVO typical 24V it is possible to use IO2 3 as inputs To make this change a small R
209. er Type 128 163 End of travel inputs 83 Enter safe mode 312 Err Bits 24 123 158 Error acceleration 107 Error Control Services 246 Error handling 107 Error output 27 Error Mask 137 171 Errors clearing 53 Exit safe mode 312 Expansion modules MACOO BI B2 B4 36 37 42 43 45 46 Ext Encoder 144 178 Ext Encoder Vel 145 179 F Factors 234 Fbus Baud 144 178 Fbus Nodeld 144 178 Fileering 20 Filters 30 53 Filters analog input 20 FilterStatus 129 164 Flash 53 Flwerr 121 156 Flwerrmax 121 156 Follow error 107 Function description 101 Fuse dimensioning 13 15 G Galvanic isolation 17 19 24 Gear mode 93 101 Gear ratio 101 GEARI 10 89 117 120 152 155 GEAR2 10 117 120 152 155 217 Ground 17 Grounding 35 41 44 217 Grounding power supply 13 15 Group write register 314 Group Id 140 174 Group Seq 140 174 H Hardware Rev 142 176 Heartbeat 246 247 Home input 88 Home sensor 104 Home Bits 133 167 Homemode 125 160 Homing mode 236 In physical position output 27 In position output 27 Index Offset 132 167 Indexer SMI30 277 Inpos Mask 137 171 Input Filter Cnt 137 171 Input Filter Mask 137 171 Inputs 121 156 Analogue 19 Digital 18 End of travel 83 Home 88 Multifunction I O 101 Pulse inputs 101 Quadrature input 101 SMC75 16 Step pulse and direction 94 Interface RS485 26 losetup 121 134 156 168 IP67 37 43 46 217 J Jump 197 J
210. ersus speed and supply voltage Torque oz in Torque Nm 10 Power supply PSU24 240 24V 240W regulated PSU Room temperature 20 Power supply PSU80 4 80V 400W unregulated PSU 1400 1300 1200 1100 e MIS342 80V MIS342 24V MIS341 280V MIS341 24V MIS340 280V G MIS340 24V 1000 900 800 700 600 500 400 300 200 100 0 2500 Speed RPM 112223 02GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 4 12 4 2 266 Torque Curves MIS430 MIS432 Torque curves Below the torque performance for the MIS43x families is shown As it can be seen the supply voltage has a significant influence at the torque performance at higher speeds Please make sure to use a supply voltage which is appropriate for the actual application Also make sure that the supply voltage is stable without too much ripple since voltage dips can cause the motor to stall and loose position MIS430 motor torque versus speed and supply voltage Torque Nm Torque 9z in 12 Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 1500 48V 1500W regulated PSU Power supply PSU80 4 80V 400W unregulated PSU Room temperature 25 C MIS430 24V
211. es 2 1 it will wrap around to 2 Please note that the turntable function changes the behaviour of P IST See Turntable Mode page 135 Example IST 1000 P SOLL 1000 P IST is set to 500 The motor will move 500 steps for ward and P IST will again be 1000 8 2 11 V IST 12 V IST 16bit R 0 1023 Actual Velocity Description This register shows the actual velocity of the motor The velocity is positive when run ning in a positive direction and negative when running in a negative direction Example If V SOLL 400 and a movement of 10000 steps is done V IST will be 400 during the move and when the move is complete V IST will be O JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 119 3 2 MIS23x Registers 8 2 12 V_START 1 V START t6bi 41 1023 Start Velocity Description The start velocity The motor will start the acceleration at this velocity It will also stop the deceleration at this velocity If is lower that V START the motor will not accelerate at all but start to run at V SOLL instantly The motor will actually start the movement with an internal V START V SOLL If V START is changed during a movement it will first be active when the motor stops or changes direction This also means that if V SOLL is changed to a value below V START while the motor is in motion the motor will decelerate to V START and run at that velocity
212. etic encoder chip type H2 mounted No housing Stepper motor controller in a box with connector M7 and Devicenet Stepper motor controller in a box with connector M6 and Canopen and H2 magnetic sensor Stepper motor controller on ly PCB without Canopn without enc chi with special Molex connector JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 317 15 10 MST Motor Ordering Information Quickstep MST motor selection chart alal palad emo MST Motor Stepmotor with housing but without electronics IP55 81 82 110 111 114 170 171 172 173 174 175 176 230 231 232 234 340 341 342 432 5138 NEMA11 1 2 stack 32mm NEMA11 1 stack 32mm NEMA11 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 1 2 stack NEMA 17 0 8Nm NEMA23 stepmotor NEMA23 stepmotor NEMA23 stepmotor NEMA23 stepmotor NEMA34 stepmotor NEMA34 stepmotor NEMA34 stepmotor NEMA43 stepmototor NEMA51 stepmototor For 3 0Amp driver controller and motor 200step rev For 6 0Amp driver controller and motor 200step rev For 9 0Amp driver controller and motor 200step rev For 12 0Amp driver controller and motor 200step rev For 3 0 Amp driver controller and rnotor 400step rev For 6 0 Amp driver controller and rotor 400step rev Fo gt 9 0 Amp driver controller and rnotor 400stsp rev 6 35mm shaft and IP42 Roun
213. f the digital outputs can be written to change the outputs When the encoder option is installed this show encoder deviation from the calculated position IST NEN The maximun allowed value in FLWERR before an error is triggered If FLWERRM AX 0 the error is disabled HEN 20 FLWERR 21 Reserved 22 FLWERRMAX 23 Reserved 24 COMMAND FastM ac commands 0 127 Used to issue commands to the motor 0 128 isthe normal FastM ac commands where only a subset is implemented in SM C85 NOTE that not all supported commands are listed here since some are only for factory use Other Continued next page TT2402 01GB User Commands 256 Activates new Baudrate 257 Synkronize position with encoder 259 266 Reserved do not use 267 Reset 268 Save in flash and reset 269 Save in flash and continue 270 300 Production test do not use 321 Read SSI encoder value 322 Read SSI encoder value and convert from Gray code to binary 25 STATUSBITS 32bit R Special Status bits Run Status Bit 0 Reserved Bit 1 AutoCorrection active Bit2 In Physical Position Bit 3 At veloctiy Bit 4 position Bit5 Accelerating Bit 6 Decelerating Bit 7 Zero search done Bit8 PassWord lock Bit 9 Magnetic encoder error Bits 10 15 Reserved TT2403 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 297
214. for faster updates but with no noise immunity use registers 89 96 instead Analogue In page 127 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 3 39 Analogue In 89 96 Analogue Input 32bit R 0 1023 14 888 mV Description These eight registers hold the unfiltered analogue value of each of the eight I Os IO to IO 8 Their values are updated approximately every 182 micro seconds To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead Analogue Filtered page 127 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 3 40 Busvol TG Te a CDESENS 97 BUSVOL 32bit R 0 1023 109 mV Bus Voltage Description The supply voltage inside the motor is continually measured and stored in this register This value is the basis for the warnings and errors of Low Bus Voltage and Over Voltage 8 3 41 Min Busvol 98 MIN BUSVOL 0 1023 109mV Min Bus Voltage Description Trigger point for under voltage 162 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp MIS4Sx Registers 8 3 42 Encoder_Typ ENCODER TYPE 32bit R oo FT Tooltip on motor 8 3 43 Afzup WriteBits Peg Name Sze Access Range Default Unit___MacTaikname MacTalk name N A handled on the Description When changing values for the analogue input filter parameters this register is used in combinati
215. g position limit problems to go to the opposite side of the sensor and use this position as zero position use a position limit as reference position In this case the zero search position must be be different from or the motor enters passive mode ignore the reference switch input and use the actual position or index pulse as zero position before using the zero search position 103 6 5 Zero search modes 6 5 5 Sensor type 1 Zero search Sensor type zero search is carried out according to the following illustration Y Zero search Select the mechanical zero Zero search mode Power up Sensor ty search mode using this field The position is sampled in the exact 10000 10000 Counte position where the sensor was 3 activated The motor the decelerates RPM and moves the reverse distance back to the position where the sensor was activated Velocity Zero search position is an optional offset See description in other chapter Zero search velocity defines the velocity used during Zero search Zero search The sign of the specified velocity Sensor status started defines the zero search direction 1 Time TT2175 02GB The Zero sensor must be connected to a user input For connection information see Inputs page 16 6 5 6 Sensor type 2 Zero search Sensor type 2 zero search is carried out according to the following illustration Select the mechanical Zero search format in this menu When the zero sear
216. ges Very simple technology that is easy to under stand and apply High stability and low cost because the tech nology is simple with few components Only one cable with 8 wires is required so cabling costs are a minimum e controller in the control cabinet All positioning and control is performed by the PLC so there is no duplication of software or cabling e Option Build into housing IP67 protection class for use in demanding environments Thermally protected against current overload and short circuit e Reacts instantaneously The motor starts within microseconds e 5V or 24V PNP NPN inputs ensure compatibil ity with any controller Step resolution of 200 400 800 1000 or 1600 pulses revolution SMD73 family Supply voltage 18 28 VDC SMD74 family Supply voltage 18 48VDC For special versions please contact your nearest JVL distributor For further information on the pulse direction driver see also SMD73 74 Data sheet and Technical Note JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 1 Step motor drivers SIVIDxx 11 1 1 Block diagram Pulse Direction Version SMD73 74 SMD73 or SMD74 Driver i Bus Supply 200 400 800 8 28VDC SMD73 0 5 1000 1600 step 2 pha 18 48VDC SMD74 Driver Ground O 9 gt Phase _ gt Power supply connector High speed digital logic 5V to
217. gnation 28 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Special Connections QuickStep motor MIS23 AICINO75 Motor with 2 cable glands 12 out of the side for low cost applications where a short total length is required Can also be delivered with 5m cables as MIS231A1C2N075 Option for IP65 Pinno eC eo 9430 0 9 10 Nous Connector J4 Function Colour Grey Pink Not used ee Function Colour Notused Cable WG1005 for MIS231A1C2N075 and mounted cable on MIS23 lal CINO075 Power Cable Connector J2 Function Colour O Z lt O Peo Re ov PGND Black Screen JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 29 2 9 1 2 9 2 2 9 3 2 9 4 2 9 5 30 Handling noise in cables About noise problems The MIS family of motors eliminates the traditional problems with noise from long motor cables that emit noise and feedback cables that are sensitive to noise from external sources However it is still necessary to be aware of noise problems with communications cables and the 8 general purpose inputs and outputs Whenever a digital signal changes level quickly a noise spike is generated and is trans ferred to the other wires in the same cable and to a lesser degree to wires in other ca bles located close to the cable with the switching s
218. grated Stepper Motors MIS23x 34x 43x 5 6 Position Limits 5 6 3 Software Position Limits These limits are software limits and are can optionally be used to prevent the motor to move outside a certain position range in cases where for example faulty position com mands are send to the motor or similar cases How to setup the Position limits Offine Programming Setup Updates Help MacTalk Version 1 50 69 Save Filter setup STOP Mc Ress t postion 1 0 Setup Reaisters Advanced Tests FixP programming Startup mode V Error handling v Passive v Change actual mode Follow error Counts Veloci i ios Position min 1000000 1000000 Counts Gear Position init max 1000000 1000000 Counts eee Error acceleration velocity 100 00 RPM Min bus voltage 0 Volts 1 00 f RPM z V Zero search Arrali sann 5 Zero search mode Disabled TT2473 01GB Start velocity Select the negative and or positive limit s in these fields CAUTION Please notice that the motor may start to move if the position limits are changed after a situation where they have been passed and have forced the motor to stop Its recommended to set the motor in passive mode before changing the limits in order to avoid personal injuries The limits has the same function as the physical End of trav
219. h can be set individually to input out put or analogue input 0 5V via MacTalk or software commands This means that it for ex ample is possible to have 4 inputs 3 outputs and one analogue input pending at which motor type you are using Please the chapter Connector over Please notice The number of available terminals available may vary de A view for the MIS23x page 32 or Connector overview for the MIS34x page 34 input output functional diagram Internal p Processor Overcurrent protection Digital output H K Digital input B 101 to 108 Analog input o 1nF 10kOhm e Outputs are Source PNP outputs and 5 28VDC compliant e No galvanic isolation Short circuit to ground protected that shuts down all outputs and sets Error bit in software e In Position and Error signal can be selected to be on any outputs to 8 e Optional Encoder outputs e 75 to 350 mA output current that depends on number of outputs activated and on duty cycle See diagram e Internal ground clamp diodes TT2160 02GB Allowable output current as a function of duty cycle Number of outputs conducting simultaneously 8 7 6 5 4 2 8 l N Collector Current mA d 40 50 6 80 Duty Cycle 9 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 23 2 4 2 4 2 2 4 3 24 User Outputs Output circuit PNP o
220. he controller MISxxx SMCxx The figure above shows the SSI protocol principle The clock line is normally high When a reading is requested the clock goes low for tl micro seconds see illu above to allow the encoder to sample and prepare a value On the first rising edge of the clock 1 no sampling is done but on the second rising edge of the clock 2 the first data bit is read from the data line Shortly after reading the bit value the MISxxx SMCxx will set the clock high and execute another cycle where the data bit is sampled just before each rising clock After the last data bit has been sampled the clock stays high 76 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 9 Absolute Multi turn Encoder 5 5 1 Introduction MIS34x motors equipped with the optional absolute multi turn encoder H3xx option offer the possibility to keep track of the position regardless if power is connected or not When this option is present a mechanical zero search is only necessary one time after installation and the system will keep track of the actual motor position at any time after wards The encoder is based on a magnetic principle which do not offer the same resolution and precision as the more expensive optical based solutions It do however offer the advan tage to keep track of the position without power applied The magnet principle is also much more tolerant to mechanical stress such as shock an
221. he first input pulse to the first step is typically 30 60us if not on standby 72 l02us if on standby Zero search type 1 13 When the operation mode is set to 13 the controller will start the search for the zero point See Sensor type Zero search page 104 for details Zero search type 2 14 When the operation mode is set to 15 the controller will start the search for the zero point See Sensor type 2 Zero search page 104 for details Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE REG 2 will set the motor in position mode When P SOLL is changed the motor will move to this position with the specified max velocity V SOLL and accel eration A SOLL Writing MODE REG 13 will start a zero search for a sensor When the search is com pleted the MODE REG will automatically be changed to the mode specified in START MODE 8 3 4 P SOLL Reg Name Size Access Range Default Unit MacTalk name 3 aey sem Postion Description The desired position When in position mode the motor will move to this position This value can be changed at any time The maximum possible position difference is 231 1 If relative movement is used the P SOLL will just wrap at 231 1 and the motor will move correctly Plea
222. he torque is proportional to the current supplied to the motor The applied voltage is regulated by the Controller so that the phase current is adjusted to the selected value In practice this means that if a motor with a large self inductance e g I100mH is used the Controller cannot supply the required phase current at high speeds high rotational frequencies since the output voltage is limited JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 4 How to connect in general 11 4 1 MIS23x M12 connections MI2 connectors 5 pin female 5 pin male 8 pin male 2 4 6 5 All connectors Front view TT2143GB Example of SMC75 controller connections 4 RS485 5 pin female l OI 4 8 pin female o4 5 pole connector C Pino Colour inno ti Bow White 3 Be a NEN NNNM Colour code for standard cables JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 259 11 5 11 5 1 260 Quick Start SMC795A1IVIxXAA 1 5 pin male 5 pin female white 3 blue 8 black 4 2 4 2 p 4 re grey 5 3 8 pin female iin 8 CVO me 1 101 Due 7 104 yellow D ww 4 GND Getting started with the SMC75A1MxAA and MacTalk Connect the cables and Power supply as shown above Use RS485 M12 1 5 5 cable if the PC has an RS485 i
223. he value 12 the scaling unit of register 141 is the same as register 97 Bus Voltage 1023 111 4 The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V The scaling of this value follows the one of the Acceptance Voltage register 139 8 2 78 Analogue input selection C R CUNUNUNU Analogue Input Analogue Input Description Analogue input selection selects which analogue input to use for measuring the power supply It can be to 8 for analogue inputs IO to IO8 using the unfiltered values for fast response 81 to 88 for analogue inputs IOI to 108 using the filtered values for noise immunity 12 for the bus voltage used for motor supply and finally 13 for measurement from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When running the motor from 48 Volts this is not allowed and can damage the controller board if voltage exceeds 30V 8 2 79 P New Reg Name Size Access Range Default Unit MacTalk name Du yg Cms NA _ Description This register can be used to change both of the registers P SOLL and P IST in one op eration This can be used to correct or offset the current position wit
224. hout performing a movement The register value can be copied to P IST and P SOLL using FastMac com mand 23 or it can be added with sign to both of these registers using FastMac command 24 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 39 3 2 MiS23x Registers 8 2 80 Baud Rate Description The baud rate on the serial port 9600 baud 19200 baud default 38400 baud 5 600 baud 15200 baud 230400 baud 460800 baud 921600 baud The firmware wil automatically update the baud rate after this value is changed over the serial interface RS485 once the motor has finished transmitting all data bytes that are queued 8 2 81 Tx Delay 147 TX DELAY 1 255 Transmit Delay Description The time to wait before the response is transmitted The unit corresponds to the time of one bit at the current baud rate Many PLCs and communications processors require a minimum delay after they have sent a command to the motor before they are able to receive the response 8 2 82 Group Reg Name Size Access Range Default Unit MacTalk name 148 GROUP ID tbt 0255 o l Gropa SS Description The group ID of the motor The motor will accept data from a group write command only if the group ID number in the command matches this number The idea is that several motors can have the same group ID so they can be updated with new register values in pa
225. ic array tt 5V to 24V Stepclock COR PNP NPN Direction 9 Selector Step and direction Encoder Output Optional TT2178 02GB 1 1 2 Driver Connections Versions with pulse and direction control Connections for versions with M12 connector See also SMD73 data sheet W125 pin male Description JVL cable WHIODOMIZFSTXxN RF o Be o o 1 foeon Bak s smao oy xx 05 for 5 metre and 20 for 20 metre cable Versions with cable glands and 5 m cable Colour Code Description Rea Black Shield Signal ground JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 7 1 2 Programmable motors MIS232 with controller The compact step motor controller SMC75 and SMC85 is designed for positioning and speed control of stepper motors SMC75 is mounted directly in the housing of the JVL QuickStep motors MIS 231 232 and 234 and SMC85 is mounted in the MIS34x and MIS43x forming a complete integrated step motor They may also be used with other types of step motors according to customers requirements The basic features of the controller are Serial RS485 or 5V serial position control ler Position controller with graphic program ming Option for CANbus CANopen DS 301 DSP 402 or DeviceNet under develop ment A dual supply facility is available so that position and parameters are maintained at
226. if IO1 is activated Input or output 102 is lit if IO2 is activated Input or output Text in inverse is relevant when PA0190 is used with the MIS34x motors BYPASS 17 pin Female 11 10 16 9 17 8 15 7 6 14 Pin no Funct Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 Pin 14 Pin 15 Pin 16 Pin 17 Body Notes lO1 GND lO2 lO3 B1 104 A1 1 CVO A1 lO5 lO6 IO7 lO8 5 Color Brown Blue White Green Pink Yellow Black Grey Red Violet GY PK RD BU WH GN BN GN RS485 B Green Ext Backup YE BN RS485 A GND 101 8 lO1 lO2 lO3 Ext Backup lO6 lO5 GND CVO GND Brown Color White Brown Green Yellow Grey Pink Blue Red TT2476 01GB Colors shown are based on the JVL standard cables type COM connection 8 Pin Male cable Wl1000 M12M8TxxN BYPASS connect 17 Pin Male cable WI1009 M12M17TxxN 101 connection 8 Pin Female cable Wl1000 M12F8TxxN 102 connection 8 Pin Female cable Wl1000 M12F8TxxN JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 39 How to connect MIS34x 2 11 t c I aw o gp uci XC uoo ny LAR Je FIDE SE aver 06L0Vd Len ELAS 92 2 011292071 TT3090 01GB diri wa rxs t LOWINIV E CIN 0 paroouio2 0d 1003 4 38
227. if you specify an acceleration motor register no 6 A SOLL will be overwritten with the acceleration value specified If the Wait for in position option is checked the program will wait until the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless given other instructions by the 194 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 8 Move Sensor Dialogue Mowe type Relative Relative velocity change at distance Cancel Relative set outputs Absolute General parameters Sensor parameters Distance 0 Counts Safety distance 0 Counts Acceleration 0 RPHM s Input conditionis Velocity 0 RPM 3 Enter in velocity or acceleration to use the current velocity or acceleration Function Performs a movement in the direction specified until an input condition is satisfied The motor then moves the distance specified before stopping The motor will not move farther than the Safety distance specified regardless of whether the input condition is satisfied The distances are measured in encoder counts and can either be entered directly or taken from three memory registers in the user memory area For further info
228. ignal A typical example is when a digital output from the MIS motor changes from low to high to drive a relay If this digital output signal is transmitted in a multi wire cable together with the RS 485 signals there is a high risk that the RS 485 signal will be affected to the extent that the communication will fail and require software retries If communication is used during operation and operation includes either digital input sig nals or digital output signals some precautions must be taken to avoid noise problems The following sections describe a number of measures which can be taken to solve noise problems In most installations no special measures will be required but if noise prob lems are experienced and or must be avoided it is highly recommended the instruc tions below are followed Use short cables The shorter a cable is the less noise problems it will induce Be sure to keep the cables as short as possible Instead of curling up the cables cut them off at the minimum re quired length Use separate cables Avoid running digital signals in the same multi wire cables as RS 485 communication sig nals On some models of the MIS motors the same connector contains both RS 485 signals and I O signals typically the I Os 1 4 In many applications far from all inputs and outputs are used If only up to four I Os are required consider using only I Os 5 8 which are typically available via another connector on the mo
229. index 0 183 Mode Of Operation 32bit Lr 255 Object 6061 subindex 0 Display me 231 Target Position 32bit Object 607A subindex 0 a TN 231 186 Actual Position 32bit Object 6064 subindex 0 ES D _ 188 Target Velocity 32bit R W Object 60FF subindex 0 m 231 Actual Velocity 32bit Object 606C subindex 0 Te a subindex 1 Gotb subindex 1 e os a ini f cessas jo JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 49 8 3 MISS4x amp 543 Registers 8 3 2 Prog Vers MacTalk name PROG VERSION Status bar Description The firmware version The Bit 14 is set to indicate that the type is SMC75 SMC85 Bit 0 3 is the minor version and bit 4 12 is the major version Bit 3 is set if the actual firmware is a beta version not officially released Bit 14 to 23 indicate the overall motor type For specific motor type see also the register Motor type page 175 Detailed description of the individual bits PROG_VER register register 1 bit 0 to 15 31 explanation Reserved Motor major type Firmware Firmware Firmware value may change Beta bit Major version Minor version optional Bit 0 15 exist in MIS23x and MIS34x Set if firmware is not an official Bit 16 31 exist only in MIS34x release Example sper pn s n vera Rm 05 ojojo o ojojo ojo o MAcos0 to 141 o ofofofofofofofofol
230. ing CANopen serial com munication and the motor is disabled The actual execution may be faster Icon Execution time us IEEE RN Remarks Move relative no velocity no acceleration RN amp on Conditional jump register 210 120 180 30 30 120 oet position Send fast MAC command 30 30 1 The time for all move commands is shown without waiting for in position JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 307 15 5 308 IMore about program timing The firmware is structured so that one program instruction is executed for each pass of the main loop which takes approximately 30 microseconds us without CANopen without serial communications and when the motor is not running The Main Loop Time is termed MLT in the following text A single program line in MacTalk can generate more than one instruction For example assigning a constant value to a register uses two instructions First load the value to the internal stack and then Store from the stack to the target register The above table in sec tion 15 4 reflects this operation The main loop time will vary depending on a number of factors The motor velocity the serial communications speed and load whether CANopen is installed and the CANopen communications speed and load Simply running the motor will load the motor up to 17 so the MLT becomes 37 Us at full speed 102
231. input lamp and the ana logue value will be shown The upper value is the actual value and the lower value the filtered value JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 4 1 Using the MacTalk software 4 1 6 Register Screen Die Motor Progamming Setup Lpdetes bs Open Man 110 Setup Advanced Tests Y Positions Postion P1 Potion 2 FP Posten 3 P3 Poison 4 Poon 5 PS Purdon Posion 7 P7 Posion 8 Velooties Velocity 1 fv1 Velocity 2 2 Velocity 3173 Velocity 4 4 5 Velocity 6 Velocty 7 7 Velocity 8 Courts Courts Couris Courts Courts Courts Louris Louris RPM RPM RPM RPM RPM _ RPM RPM a Save flash Reset postion Clear errors Scope Prog sms Acceleration aon Al ation 2 0 2 won 3 3 Ducem ion 4 954 V Running cunerts 1 11 2 12 Cunent 3 T3 Cumere 4 T4 Bus voltage P lemperyure vous 87654321 87654321 sternal E nicoder E eternal E Viekocdy Enon 25 Vols 45 c OO Vols 0 0 Volts 0 Darts D Couris s These registers can be used with FastMac commands For example the motor can run to position P2 using velocity V2 acceleration deceleration A2 running current T2 using only a one byte command These
232. ion is installed and register 34 InPositionCount is non zero so AutoCorrection is enabled the value in this register defines how many millisec onds to wait after each movement attempt before testing whether the encoder position is within the target window as defined in register 33 This waiting time is often necessary to allow mechanical oscillations to die out 8 2 54 551 SETUP2 MacTalk Range name 25bit 100kHz frequency Prepare time SSI Setup2 16bit R W 16 bit pare time Clk to Data 100us Description Register l 551 Setup2 16 bits The low byte selects the prepare time in micro sec onds at the start of an SSI transfer corresponding to tl in the figure The valid range is to 255 corresponding to to 256 microseconds 8 2 55 Sample 1 4 Description Up to four registers be set up to be sampled into buffers for diagnostic purposes These registers define which registers are sampled All of the registers 1 255 can be sampled A value of zero in any of these four registers will cause the corresponding sam ple buffer to contain zeroes See registers 16 1 19 for more information on the sampling system Most users will use MacTalk to handle sampling 8 2 56 Rec Cnt Reg Name Size Access Range Default Unit MacTalk name pue meccwr _ nw d d Description This value specifies the number of samples to take for each of the sample
233. ioning Mode 6 3 1 Positioning Mode In this mode the QuickStep motor positions the motor via commands sent over the se rial interface Various operating parameters can be changed continuously while the mo tor is running This mode of operation is used primarily in systems where the Controller is permanently connected to a PC PLC via the interface This mode is also well suited for setting up and testing systems The mode is also used when programming is done Startup made Passive Velocity Iw Change actual made Profile data Max velocity 250 RPM Start velocity 100 RPM T Acceleration 1250 RPMS Driver parameters Running Current 3 00 RMS Standby Current 75 RMS Standby time AO ms Motion parameters Position 0 EZ Counts 92 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 4 6 4 1 Gear Mode Gear Mode In this mode the QuickStep motor functions as in a step motor driver The motor moves one step each time a pulse is applied to an input Velocity acceleration and deceleration are determined by the external frequency but can be limited and controlled by the QuickStep motor In addition the QuickStep motor also provides a facility for electronic gearing at a keyed in ratio in the following intervals MIS23x 1 32767 to 32767 MIS34x MIS43x 1 2147483647 to 2147483647 1 9 Main parameters used in Gea
234. is a requirement for some Beckhoff PLCs including the TwinCat softPLC Bit 15 Reserved unused at this time 8 2 63 lOsetup ee MacTalk 125 IOSETUP tehit 101 Special Iputs Outputs Description This register controls the eight IO s to Ol 8 These pins can be used either in input mode as combined digital and analogue inputs or used in output mode as digital out puts The lowest eight bits in this register can be used to individually invert the active lev el of the digital inputs The highest eight bits are used to select the corresponding pin as an output 134 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 64 Turntable Mode a 113 RNTABLE _ Description In turntable mode the motor controls the revolution of a turntable that has the number of positions specified in register 127 Turntable Size This means the same position will be reached after rotating this number of steps in either direction This register selects one of three modes that define how the motor should move to a new position when the P SOLL register is changed If the value of this register is zero the motor will not operate in turntable mode In mode 1 the motor will always move to a new position by turning in a positive direc tion So to move one step backwards it must instead move Turntable Size steps forward In mode 2 the
235. is feature is only available as a RxP program command Example An SSI encoder is chosen using 25 bit data We want to sample and convert the SSI data value from register 47 and put the convert ed value into Register 61 P2 To get the actual value from the SSI encoder we use a special command 321 The new data is placed in register 47 Now we want to convert the data from Gray code to con ventional binary format To do this we use a Binary command instruction The command is OxOC 124 From register Ox2F 47d To register Ox3D 614 25bits 0 19 25d Get the actual value from b Set special Command to 321 the SSI encoder d 8 Binary command Ox0C x2F x3D x19 lt Convert from binary TT2268GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 125 3 2 MiS23x Registers 8 2 34 Pn Reg Name Size Access Range Default Unit MacTalk name Position n Pn Description These eight general purpose position registers are referred to as P8 and can be used to make absolute or relative movements in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands and the P NEW register description P New page 139 8 2 35 Vn Reg Name Size Access Range Default Unit MacTalk name 65 72 0 1023 Velocity Vn Description These eight general purpose Velocity regi
236. is less than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of zero in this register will effectively disable the minimum confidence check JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 163 8 3 MISS4x amp MIS4Sx Registers 8 3 46 Afzup_ConfMax Red eee 103 AFZUP ConfMax 32bit 1 1023 1023 4 888 mV Confidence Max Description The maximum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value is larger than the value in this register it is simply discarded and the filtered input value in registers 81 88 will not change A value of 1023 in this register will effectively disable the maximum confidence check 8 3 47 Afzup MaxSlope 104 AFZUP Max Slope 32bit 2 1023 1023 4 888mV Max Slope Description The maximum slopes per sample for analogue inputs are set and read back using this register in combination with the read and write command registers 100 and 101 If a new raw sample value on an analogue input lies farther from the previous filtered val ue in registers 81 88 the new sample will be modified to lie at most MaxSlope units from the filtered value This is used to suppress noise and limit acceleration Note that the value is optionally filtered after being slope limite
237. ister Error_Mask Section 8 2 74 page 137 The Driver s Error Output enables a PLC or other equipment in a motion control system to verify that the Driver is functioning correctly Under normal operation the Error Output has a status of logic but if the Driver is short circuited or the temperature exceeds 85 degrees Centigrade the Output is switched to logic 0 2 7 2 In Position Output In Position Output can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register 137 bit 0 7 InPos Mask Section 8 2 73 page 137 When the motor is running the output will be inactive When the motor is at stand still the output will be active 2 7 3 In Physical Position Output In physical position can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register 137 bit 8 15 InPos Mask Section 8 2 73 page 137 This signal is used together with MIS motors with an internal or external encoder for po sitioning This signal can be selected to be continuously updated and will then indicate if the motor is inside the In Position Window all the time If continuous update of the In Physical Position is not selected and the autocorrection is used this signal is changed after a move and when a check has been made of the posi tion after the settling time between retries if the motor is inside the In Position Win dow In Physical Pos
238. it 4 Ignore switch Used for searching only for index Tests Advanced Zero search 0 Special Bit 0 Invert direction Bit 1 Don t start program after power up Bit 2 3 Encoder input type Bit 4 Enable DSP 402 support Bit 5 Synchronize to encoder after passive Bit 6 In phys Position Bit 7 Encoder A out Bit 8 Encoder B out Bit 9 Encoder out Bit 10 Transfer encoder to P IST Bit 11 Multiturn Bit 12 KeepExtEncoder Bit 13 KeepSSlValue Bit 14 Use Beckhoff Bit 16 ExtEncoderDirection Bit 17 Disable Error on Travel limit Bit 0 7 sets the 1 0 active level Bit 8 15 enables the 1 0 as an output 0 Special TT2410 01GB 0 Invert motor direction 1 Don t start program after power up 2 3 0 Disabled 1 Quadrature 2 Puls direction 17 No error if position limit is detected Inputs Outputs JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x TT2411 01GB 301 128 129 130 131 132 133 134 TURNTAB _ 32bit R W Special M ODE TURNTAB_ 32bit R W Steps SIZE Reserved C a ea NL MASK 32bit IO M ask Input mask for Negative limit input M ask Input mask for Positive limit input __ _ SERERE SON MASK 32t Reserved HOME MASK 32bit R W 15 2 MISS4 43 SMC6 amp 5 Registers detailed Configures the motor to operate Turn table mode in one of three Tu
239. ition Example Actual Position In Position In Phys Position w update w Update IPVA 1 IPVV 50 IPWE5 Settling time ZZ p See also Cable WG1005 for MIS231A1C2NO075 and mounted cable on MIS231alCINO75 Power Cable page 29 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 27 2 7 Special Outputs 2 7 4 Pulse Direction Outputs Any number of the outputs can be configured to follow the pulse and direction signals used internally in the motor This can be used for accurate synchronization of two or more motors Driver Motor TT2230 02GB See the register description for registers 108 and 109 in PulseDirMask page 130 and Pul seDirMod page 130 2 7 5 Encoder Outputs only from version 2 0 If the motor is equipped with a built in encoder it is possible to obtain the incremental signal and the index pulse out on the user outputs Please note that the voltage typically is 24VDC PNP Therefore a resistor to ground should be connected A 2 channel encoder with 256 pulses revolution will give a total of 024 pulses revolution If a magnet is mounted on the rear end of the motor shaft and this is placed in close dis tance to the SMC75 1023 pulses rev incremental B index signal will be avail able on 3 of the output pins Encoder position will also be available at an internal register and can be used in a PLC program Output Encoder desi
240. ition P SOLL a physical In Po sition Also bit will be set when AutoCorrection is active Higher layer software can use this bit to detect when AutoCorrection has either completed or given up e Register 124 SetupBits bit can be set to have the firmware maintain the InPhysi cal Position bit in register 25 all the time also during a movement If this bit is not set the InPhysicalPosition bit will only be maintained after the motor has stopped moving Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 65 5 2 66 Auto Correction Register 137 INPOS Mask is used to select the outputs to reflect the status of the two bits InPosition bit 4 in the STATUSBITS register and InPhysical Position bit 2 inthe STATUSBITS register The 8 lowest bits will select the mask for InPosition and the 8 highest bits will select the mask for InPhysicalPosition Any combination of bits can be set to have zero one or more outputs reflect each of the two InPosition bits The MacTalk program only supports setting a single output for each bit however since this is the normal case JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 3 9 3 1 Absolute position back up The absolute position backup system is activated when a voltage goes under a preset val ue Then all absolute multi turn information is saved to flash at once All data are then
241. ition data received from the external SSI encoder Some encoders output Gray coded values The firmware offers the possibility to do the Gray code to binary conversion before updating the EXTENCODER register with the actual position Example An SSI encoder outputs the position in binary We want to sample and update the EXT ENCODER register 47 without any conversion This can be done by use command 321 If the SSI encoder outputs the position in Gray code the value can be converted to binary before updating the EXTENCODER register by using command 322 instead For further description of the external encoder interface using SSI format please consult The SSI interface principle of operation page 76 160 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp MIS4Sx Registers 8 3 34 Pn n R W Position n Description These eight general purpose position registers are referred to as P8 and can be used to make absolute or relative movements in several different ways either from the user program or via the serial interfaces See also the sections on Fast Mac commands and the NEW register description P New page 139 8 3 35 Vn 30000 UE Description These eight general purpose Velocity registers are referred to as VI V8 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces
242. ject 607A subindex 0 a EM 231 186 Actual Position 32bit Object 6064 subindex 0 188 Target Velocity 32bit R W 1 Object 60FF subindex 0 99 ost 190 Actual Velocity 32bit 1 Object 606C subindex 0 m Object 60FE subindex 1 cesses o flow tent Object 60FD subindex 1 iiid osses 114 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS23x Registers 8 2 2 Prog Vers MacTalk name PROG VERSION Description The firmware version The Bit 14 is set to indicate that the type is SMC75 or SMC85 Bit 0 3 is the minor version and bit 4 12 is the major version Bit 3 is set if the actual firmware is a beta version not officially released Bit 14 to 23 indicate the overall motor type For specific motor type see also the register Motor type page 141 Detailed description of the individual bits PROG VER register register 1 bit O to 15 31 explanation 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 1413 12 11 10 9 8 7 6 5 4 3 2 1 0 p vb Reserved Motor major type Firmware Firmware Firmware value may change Beta bit Major version Minor version optional Bit 0 15 exist in MIS23x and MIS34x Set if firmware is not an official Bit 16 31 exist only in MIS34x release Example EO RD ee 2 05 ojojo o ojojo oj o o 5 ro o o o o o o oJo 1t
243. k to Data A typical SSI device needs a so called prepare time to sample the position data before transfer This field is dedicated to type in the prepare time in micro seconds at the start of an SSI transfer The valid range is to 255 corresponding to to 255 micro seconds Set this value according to the actual SSI device connected Please consult the data sheet for the actual SSI device concerning which value to be used Field sample deviation Selects the maximum allowed deviation between two samples The valid range is to 8191 This function is ment to be an extra safety to avoid invalid reading of position data caused by noise influencing the signal Please bear in mind that if the external SSI device is tracking the position of something that moves the value and thereby the deviation from one sample to the next can be significant 72 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 4 SSI encoder sensor interface Field Number of Samples Selects the number of samples in each SSI measurement If all samples stay below the Max sample deviation value described earlier in this text no retry is required If one pair of samples fails the whole measurement fails and a retry is attempted if allowed ac cording to the Read Retries parameter Field Read Retries Selects the number of retries before time out and reporting an error The MIS34x MIS43x and SMC85 ha
244. knob In many environments this setup is subject to noise which could make the motor run unevenly and cause too sharp accelerations or decelerations when the knob is turned The filter functions supported in the SMC75 firmware always use three different steps Confidence check First the raw input value is compared to two Confidence limits Confidence Min and Confidence Max If the new value is either smaller than the Confidence Min limit or larger then the Confidence Max limit it is simply discarded not used at all and the value in its associated register is unchanged This is done to eliminate noise spikes Confidence limits can only be used if not all of the measurement range is used Values of 0 for Confidence Min and 1023 for Confidence Max will effectively disable the confidence limits Slope limitation After a new sample has passed the Confidence limit checks its value is compared with the last filtered value in its associated register If the difference between the old and the new value is larger than the Max Slope Limit the new value is modified to be exactly the old value plus or minus the Max Slope Limit This limits the speed of change on the signal Since the samples come at fixed intervals of 0 mS it is easy to determine the number of Volts per millisecond A value of 1023 will effectively disable slope limitation Filtering After a new sample has both passed the confidence limits checks and has been validated with respe
245. l Purpose Party Mode Addresses Stall Detection Position maintenance Find Index Thermal Operating Temperature 0 45 C ambient A warning message is generated if the internal temperature passes 80 C The motor is set in passive mode if the temperature passes 90 C and an error message is generated 262 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 2 MISS4x Technical Data Voltage Range Nominal 12 80VDC absolute max 90VDC ripple free Min voltage 8VDC without ripple Main Supply Volt Current consumption Power supply current requirements 5 max Actual power supply currents will depend on voltage and load When motor is in Passive mode the current consumption is lt OmARMS 24VDC supply age terminal Voltage Range Control voltage input to maintain power to the internal control circuitry including output driver and Control Voltage f ate CVI terminal eed back circuits and interface all except the motor power for turning the motor Nominal voltage range 2 28VDC Minimum 8VDC and Maximum 32VDC Typical 45mA 224 0VDC when motor is in passive mode and none of the I O s are connected Holding torque Nm Oz In 3 0 424 6 1 863 9 0 1274 Inertia kgcm Oz In Sec 1 4 0 0198 2 7 0 0381 4 0 0 0564 Weight kg Ib 2 05 4 52 3 13 6 9 4 2 9 26 Max axial shaft force I I5N Max radial shaft force 180N applied 12 5mm f
246. l assure that the motor follows each clock with a very narrow timing and no delays This solution must be used if the master that produces the clocks do generate the full motion profile with acceleration to a desired top speed and make sure to decelerate and hit target Relation between input and the motor behaviour when setting the velocity and acceleration registers to high values Motion speed and acceleration deceleration controlled by the master only and not the motor 1 step In total 80 steps received Acc and vel envelope much larger than source Velocity Motor Velocity Slave 0 1 step Motor steps counts In total 80 steps moved Motor Direction CCW Position Target Motor position Slave Minimum position error 0 Time 1 The master that produce the input clock to the motor takes care of producing acceleration Since the acceleration register in the motor is set to a high value it will not limit the demanded acceleration 2 Similar as during acceleration the velocity register have been set to a high value and do not cause any limitation of what is demanded from the master producing the input clocks 3 Same relation as during acceleration The motor will reach target 80 counts exactly without any overshoot or time delay compared to the master position TT2469 01GB 100 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x
247. l disappear and the mouse cursor will change The next program line that you click on will then become the destination of the jump command 198 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 13 Wait for x ms before continuing Dialogue Wait Time Cancel Function Causes the program to pause for a number of milliseconds before continuing The maximum pause that can be specified is 65535 milliseconds The minimum pause that can be specified is 0 milliseconds Note that this command overwrites Timer in the RxP module s memo 9 7 14 Wait for an input combination before continuing single input Icon Dialogue t Multiple Cancel Input Input candition Input f Low Input 2 High Input 3 Falling Edge Input 4 Rising Edge Input 5 Input 5 Input Input 8 Motor Error x x M A In Position Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Single the command will wait for one of four things to happen on the specified input that the input tests as high that the input tests as low that the input transitions from high to low Falling Edge or that the input transitions from low to high Rising Edge The input is tested with 30 microsecond intervals
248. letime N A 118 S CONTROL 16bit R W 0 Controls the sample system N A 119 BUF SIZE 16bit R The number of samples the N A buffer can hold unused as of FW version 3 09 120 INDEX_ 16bit R The position of the zero sensor Tests OFFSET relative to the encoder index This is set after a zero search where the index is used 121 Modbus 16bit R W bitfields Selects configuration of the Setup M odbus protocol that can be used instead of the M acTalk protocol Reg Name Size Access Default Unit Description MacTalk name 122 HOME BITS 16bit R W Special Bits to control homing Advanced Zero Bit 0 Search for index search Bit 1 Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Use Limit switch as sensor Bit 4 Ignore switch Used for searching only for index 123 Reserved l6bit Reserved N A 124 SETUP BITS 16bit Sepcial Bit 0 Invert direction Don t start program Bit1 Don t start program after after power up power up Invert motor Bit 3 2 Select encoder input type direction 0 2 Disabled External Encoder Quadrature Enable CanOpen 2 Puls direction DSP 402 Support Bit 4 Enable DSP 402 support Auto encoder Bit 5 Synchronize to encoder after synchronize passive 125 IOSETUP 16bit LERNEN Special Bit 0 7 sets the I O active level Bit 8 15 Inputs Outputs enables the 1 0 as an output TT2451 01GB 29 15 1 MIS23x amp SMC795 Registers detailed
249. ll The SMC75 Controller is designed to be used on a CANbus CANopen 05 301 and CANopen DSP 402 Do not use the module together with CANKingdom or DeviceNet CiA membership CiA CAN in Automation is a non profit society The object of the society is to promote CAN Controller Area Network and to provide a path for future developments of the CAN protocol CiA specifications cover physical layer definitions as well as application layer and device profile descriptions In order to receive the CAN standard is it necessary to obtain CIA membership The membership fee depends on a company s number of employees Membership runs from January I5 until December 3 1 and is renewed automatically unless cancelled in writing by the end of a calendar year Companies applying for membership after July 15 50 of annual membership A PDF application form can be downloaded from http www can cia org cia applica tion html Note Once you have received a license from CIA standards will be sent on a CD and are downloadable via member login All of the CiA specifications can be ordered from the following URL www can cia org downloads ciaspecifications CANopen network The CAN bus is a serial bus with multi master capabilities where different products from different manufacturers can communicate with each other These include for example devices such as PLCs motors sensors and actuators Some message types have higher priority and are
250. lock Number of Data bitcount frequency and interrupt bits Clock bits 14 8 control Frequency Disable clockfrq interrupt when Bit 15 reading SSI disable interrupt 108 PulseDir 16bit R W 0 65535 0 Bitmask Bits 0 7 Outputs for Pulse out Pulse signal M ask Bits 8 15 Outputs for Direction Direction signal out Register 109 PulseDirM ode enables these outputs in modes and 2 109 PulseDir lobit R W 0 2 Selects if the pulse and Pulse Direction M ode direction signals should be used mode only internally in the motor 0 externally only 1 or both internally and externally 2 Enables register 108 PulseDirM ask 110 SettlingTime 16bit R W 0 32676 Number of milliseconds to wait Settling time after an AutoCorrection between retries attempt before testing for the position being withing the target window cdd 290 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS2 3x amp 5 75 Registers detailed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Reg Name Size Access Range Default Unit Description MacTalk name 111 SSI Setup2 16bit R W bitfields Bits 7 0 Selects SSI prepare time and Prepare time prepare wait time Clk to Data time Bits 15 8 wait time 112 SAMPLE1 4 16bit R W Select what register s to N A sample 115 117 S TIME 160 R W 1 ms Samp
251. lute encoder position to IST at power up Bit 11 Multiturn Automatically transfer the encoder adjusted saved IST to actual P IST at power up Bit 12 KeepExtEncoder Do not zero the external encoder count on startup Bit 13 Bit 4 Bit 15 Reserved for future use Bit 16 ExtEncoderDirection Bit 17 DisableErrorOnTravelLimit Bit 31 18 Do not use Reserved for future use These individual bits are used to control various functions in the firmware Bits marked in grey are not fully available consult JVL 8 3 63 lOsetup Reg Name Size Access Range Default Unit MacTalk name 25 ioserup sabi nw Specia inputsiOutputs _ Description This register controls the eight IO s to Ol 8 These pins can be used either in input mode as combined digital and analogue inputs or used in output mode as digital out puts The lowest eight bits in this register can be used to individually invert the active lev el of the digital inputs The highest eight bits are used to select the corresponding pin as an output 168 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS4Sx Registers 8 3 64 Turntable Mode ee a ed RNTABLE _ Description In turntable mode the motor controls the revolution of a turntable that has the number of positions specified in register 127 Turntable Size This means the same position will be reached after ro
252. mer time Heartbeat Event TT1084GB Where r is reserved always 0 s is the state of the Heartbeat producer NNT state o _ Only one communication monitoring service may be activated This is either Node Guarding Life Guarding or Heartbeat If the Heartbeat Producer Time is configured on a device the Heartbeat Protocol begins immediately If a device starts with a value of the Heartbeat Producer Time different from 0 the Heartbeat Protocol starts with the state transition from Initialising to Pre operational In this case the Bootup Message is regarded as the first heartbeat message If the Heartbeat producer time is not O the heartbeat pro tocol is used In the SMC75 none of the error control mechanisms is enabled when the modules are started up because if there is any fault in the system it is impossible to contact the mod ule After the module has started up and there is communication between the master and the slave activate the required error control mechanism in the object Dictionary See section 10 4 1 248 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 Stand alone electronics JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 249 11 1 SM D73 74 Step motor driver Ie e E a ci a F i p trl The internal electronics of the QuickStep series of Step per motor
253. ming tool since gt 95 of a typical program can be built using the simple command icons while the remaining 596 is typically achieved by accessing the basic motor registers directly The following gives a short description of all 14 command icons Peak Torque Shaded area short term only Average Torque Nm MSE400 Torque versus speed Oz Inch MSE800 Torque versus speed Oz Inch 1000 2000 3000 4000 5000 RPM 1000 2000 3000 4000 5000 RPM 5 Torque versus speed Oz Inch MSE3K0 Torque versus speed Oz Inch 1000 2000 3000 4000 5000 RPM 1000 2000 3000 4000 5000 RPM TT1003GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 189 9 7 Graphic programming command reference 9 7 1 Enter your own remarks Icon Dialogue Enter remark Ld Remark Function Inserts a remark comment in the source code The program line will not do anything but can make the source code easier to read This can be very important if other programmers have to review or work on the code or if the orogram is only worked on infrequently 9 7 2 Set operation mode Icon Dialogue Set mode Mode Passive Velocity t Position Function Sets the operating mode of the motor When the program encounters a program line with this c
254. mm round shaft IP42 17 9 53mm shaft D shape Black painted Shaft and rear IP65 Only MIS34x 18 9 53mm shaft D shape Black painted Shaft and rear end IP 65 Rear end shaft 10mm 30mm long D shape Only 534 19 14mm with 5x5 key shaft painted Shaft and rear end IP65 Only MIS34x 20 14mm with 5x5 key shaft B ack painted Shaft and rear end IP65 Rear end shaft 10 30mm long D shape Only MIS34x 21 16mm with key 5x9mm only for 22 19mm with key 6x20mm only for MIS43x MST42x 23 10mm Shatt IP67 motor and housing and rea end IP67 only MIS234 Driver 3 0A phase Motor 3Amp and 200step rev Driver 6 0A phase Motor 6 and 200step rev Driver 9 0A phase Motor and 200step rev Driver 12 0A phas3 Motor 12Amp and 200step rev Driver 3 0A phase Motor 3Amp and 400step rev Driver 6 0A phase Motor 6Arm p and 400step rev Driver 9 0A phase Motor 9Arm p and 400step rev Driver 12 0A phas3 Motor 12Amp and 400step rev Driver 4 6A phase Motor 6Arm p and 200step rev only MIS23x 230 NEMA23 stepmotor 231 NEMA23 stepmotor 232 NEMA23 stepmotor 234 NEMA23 stepmotor 340 stepmotor 341 stepmotor 342 NEMA34 stepmotor MIS Motor Integrated Stepper 1 E Ri IO Antenna Wireless Bluetooth l El MIS34x 4 pcs M12 5 pin male power 17 female IO 2x 4 pin male D Ethernet Ethernet IP l IO Antenna Wireless LAN
255. motor Icon ne Dialogue Heg Ma 3 Requested position Value WS Function Sets a register in the motor to a specified value The register is selected from a list of known user accessible registers The value can either be entered as native motor units or it can be entered as generic engineering units The dialogue above provides an example register no 3 P SOLL or Requested position depending on your preference can either be set to an integer number of encoder counts or it can be set to a non integer number of revolutions 9 7 17 Jump according to a register in the MAC motor Icon p Dialogue Register condition Reg Mo 1 0 Actual position Operator Equal Cancel Value o Revs Function Tests a register in the motor against a specified value before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program The value can either be entered as native motor units or it can be entered as generic engineering units The dialogue above provides an example register no 10 P_IST or Actual position depending on your preference must be equal to 0 revolutions if the jump is to be executed The position that the register is tested against can be specified as an integer number of encoder counts or can
256. motor will move until P IST P SOLL When IST reaches 2 1 it will wrap around to D Please note that the turntable function changes the behaviour of P IST See Turntable Mode page 135 Example IST 1000 P SOLL 1000 P IST is set to 500 The motor will move 500 steps for ward and P IST will again be 1000 8 3 11 V IST Reg Name Size Access Range Default Unit MacTalk name 1 30000 Description This register shows the actual velocity of the motor The velocity is positive when run ning in a positive direction and negative when running in a negative direction Example If V SOLL 40000 400 RPM and a movement of 10000 steps is done V IST will be 40000 400 RPM during the move and when the move is complete V_IST will be 0 154 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MISS4x amp 543 Registers 8 3 12 V START Reg Name Size Access Range Default Unit MacTalk name 1 30000 10000 Description The start velocity The motor will start the acceleration at this velocity It will also stop the deceleration at this velocity If is lower that V START the motor will not accelerate at all but start to run at V SOLL instantly The motor will actually start the movement with an internal V START V SOLL If V START is changed during a movement it will first be active when the motor stops or changes direction
257. mr les H T 185 9 4 186 How to build a program 5 Press the second button to create the second program line 6 Choose the movement type needed Relative Move x counts forward with reference to the actual position Absolute Move to the x position with reference to the zero search position The relative move command just entered is converted into a program line Multiple program lines are entered by the user forming the last part of the program Now the program is finished Press the Transfer amp Start button Now the program will be transfered and stored permanently in the module The program will be executed immidiately TT0984GB fern em inii ta E be n E d as te DELI E pean Cmm ere asi cto Free COP arae ius hape Nike pape Lope MACOS Pa Vesp acris Tre l Puas minie canh num paare need Dera 1 Erhai Roma Ta Porra hed oli iam amp Es aji dicha maim TEID Cori V digit end equat ebat rales eni gp Censo acc 1900 PENA TTG St wen 1 i Ai Rad asd F A T iS legitur m pwr
258. n The motor can however operate in a positive direction even if the NL Input is activated Below is shown how to select the desired input s to be used for the limit switch es Notice that the inputs default are set to disabled Its also possible to select only one input for one of the directions and keeping the opposite input disabled Please use the general chapter I O Setup tab page 56 for setting up the active level op tional input filter etc How to select the input s for the End of Travel Limit MacTalk Noname Elle View Motor Programming Setup Updates Help MacTalk Version 1 50 53 E i Ir E is amp p th 3 E lesetpostion Clearemars Reset motor egisters Advanced Tests FixP programming T Inputs Uutputs V Dedicatated Inputs 101 Active level High Home input 102 Active level High Negative Limit input Input 1 103 Active level High Positive Limit input Input 2 M 104 Active level High External Encoder Disabled un IOS Active level High Y Dedicatated Outputs jer In position Disabled TT2471 01GB Select the negative and or positive limit input s in these fields JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 83 5 6 Position Limits The following illustration shows the timing and motor behaviour when the limit switch inputs are activated
259. n Limit Exactly one bit must be set the pin must be configured in register 125 as an input Example If input 8 is to be used for the Positive Input Limit write 27 128 to this register 8 2 68 Home Mask Reg Name Size Access Range Default Unit MacTalk name Dedicated inputs Description Selects which one of the eight IO pins to use for the dedicated function of Home Input Exactly one bit must be set and the IO pin must be configured in register 125 as an input Example If input 2 is to be used for the Home Input write 21 2 to this register 8 2 69 CAN Setup1 133 Setup 1600 RW 16bit 35 32 bit Register Description Register 33 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register 133 10 will transfer register 10 P IST actual position 32bit value in PDO22 or PDO4 8 2 70 CAN Setup 2 Ch oo een 134 CAN Setup2 16bit 16bit 170 16 bit Register Description Register 34 holds the user selectable l6 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register 33 5 will transfer register 5 V IST actual velocity l6bit value in PDO22 or PDO4 136 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 M
260. n be selected to receive the absolute value of the internal encoder where the Zero search home position was found during Zero Search This is selected by bit O Use Index in register 122 It requires that the internal encoder option is installed 8 3 61 Home Bits Reg Size Access Range Default Unit MacTalk name Advanced Zero Description Bit 0 Search for index Bit Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Use Limit switch as sensor Not available in MIS34x and MIS43x Bit 4 lgnore switch Used for searching only for index Contains configuration bits that define how Zero search should be carried out JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 167 8 3 MISS4x amp MIS4Sx Registers 8 3 62 Setup Bits Name Size Access Range Default Unt MacTalk name Don t start program af ter power up Invert motor direction SETUP BITS 32bit Special External Encoder Support Auto encoder synchronize etc etc se below Description 0 Invert direction Bit not start program after power up Bit 3 2 Select encoder input type 0 Disabled Quadrature 2 Pulse direction Bit 4 Bit 5 Synchronize to encoder after passive Bit 6 InPhysPosMode If set recalc InPhysPos continuously If 0 only after stop Bit Bit 8 Bit 9 Bit 10 EncoderToP IST Automatically transfer the abso
261. n degrees Celsius is calculated from the value in this reg ister using the formula Tc 2 27 Value 8 3 23 Min_P_IST Reg Name Size Access Range Default Unit MacTalk name Description Position limit for movement in the negative direction The motor can be configured to stop automatically when it reaches this position JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 157 8 3 MISS4x amp MIS4Sx Registers 8 3 24 Max P IST Reg Name Size Access Range Default Unit MacTalk name Geyer Postion Limit ax _ Description Position limit for movement in the positive direction The motor can be configured to stop automatically when it reaches this position 8 3 25 Acc_Emerg Reg Name Sze Access Range Default Unit name 32 ACC_EMERG 1 500000 10000 RPM s Error Acceleration Description The motor will use this acceleration during an emergency stop 8 3 26 Err Bits 35 ERR BITS 32b RW Special Emos Description Error bits Bit 0 General error Will always be set together with one of the other bits Bit Follow error Bit 2 Output driver error Bit is set if one of the outputs is short circuited Bit 3 Position Limit error Bit 4 Low bus voltage error Bit 5 Over voltage error Bit6 Temperature too high 90 C Bit 7 Internal error Self diagnostics failed Bit 8 Encoder Lo
262. n external supply Connect to ground if not used RS485 A RS485 interface Leave open if unused White Grey Note Isolation group indicate which terminals circuits that a galvanic connected to each other In other words group 1 2 3 and 4 are all fully independently isolated from each other Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply T lt JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 45 2 11 8 Cables for the 534 The following cables equipped with M12 connector can be supplied by JVL MIS34x Connectors Description JVL Order no Tto CN2 CN3 CN4 i 5pin 8pin 17pin Female Female Female RS485 Interface cable Connects directly from The MIS motor to a RS485 comport RS485 M12 1 5 17S Length 5m 197 inch Cable 5 5mm with M12 male 5 pin connector loose wire ends 2 0 35mm 22AWG and foil screen WI1000 M12MSTOSN Length 5m 197 inch USB to RS485 Converter To be used if no RS485 COM port is avail RS485 USB ATC 820 ble Cable 5 5mm with M12 male D coded 4 pin connector loose wire ends 0 35mm 22AWG and foil WI1046 M12M4S05R screen Length 5m 197 inch Cable 25 5mm with M12 male D coded 4 pin EC and RJ45 Wl1046 M12M4S05 connector NRJ45 Length 5m 197 inch Cable with M12 male 17 pin connector loose wire ends 0 22mm 24
263. nacknowledged A PDO producer sends its PDO to the PDO consumer There can be 0 or more consumers in the network For receive PDOs the SMC75 Controller is the consumer and for Transmit PDOs the producer The following figure shows a Write PDO service PDO Producer PDO Consumers Request Indication Proces data TT 1086GB 240 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5 10 6 4 details of CANOpen Theory Read PDO service The read PDO service is an acknowledged service One of the several PDO consumers send an RTR message to the network After it has received the RTR message the PDO producer sends the requested PDO This service is used for RTR queries Using this ser vice an actual value can be interrogated independently of the selected cycle time The following figure shows a read PDO service PDO Producer PDO Consumers Indication Request Response Confirmation Proces data TT1087GB PDO identifier In the CAN Open profile it is only possible to have four transmit and four receive PDOs enabled at the same time In the SMC75 controller all PDOs are disabled when the mod ule is booted up The user must choose which PDOs the application will use and enable these The PDO configuration can be seen either in the EDS file or in the CanOpen Explorer program where the communication and the mapping parameters are shown
264. name Description WI1009M12 group M17TxxN see note PRS422 VO temna n o I O channel 1 be used as input or output RS422 1 0 terminal B1 I O channel 2 be used as input or output I O channel 5 Can be used as input or output CVO Supply output Connected internally to the CVI terminal in the PWR connector DO NOT connect gt 30V to this terminal I O channel 6 Can be used as input or output 10 lO7 channel 7 Can be used as input or output 11 Grey pink 1 I O channel 8 Can be used as input or output 12 Red blue 1 CN3 5485 I O connector M12 8pin female connector JVL Cable Isolation Signal name Description WI1000 M12 group O2 I O channel 2 Can be used as input or output ii 1 2 D 1 1 1 Brown Green Yellow 1 RS422 I O terminal 1 Ground intended to be used toghether with the GND other signals in this connector M8TxxN See note 1 5422 terminal A1 1 1 1 1 CN4 Future option M12 5pin female connector JVL Cable Isolation WI1009M12 group Signal name Description M17TxxN see note Not defined Note Isolation group indicate which terminals circuits that a galvanic connected to each other In other words group 1 2 3 and 4 are all fully independantly isolated from each other Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply 1 2 3 4 5 7
265. nce count Register 140 Acceptance voltage 0 81 Volt Acceptance voltage Register 139 Save threshold voltage 0 67 Volk Save threshold voltage reg 141 Analog Input Selection Disabled Input selection Register 142 Value of P 5T after powerup Absolute Singletum Encoder SetupRegister Register 124 Absolut Multtun Encoder TT2265GB The QuickStep series offers many ways of position control using encoders From firm ware V 2 6 SSI standard encoder is supported and linear absolute positioning is possible using a SSl encoder JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 69 5 4 SSI encoder sensor interface 5 4 1 General information on how to connect the SSI device The SSI interface is based on 2 differential lines Both lines are available in the MI2 con nectors and are named 1 Al and BI 4 wires In order to see the exact physical location of the signals please consult the pages Connector overview for the MIS23x page 32 and Connector overview for the MIS34x page 34 The function of the signals is as follows Line Al and Al transmit a clock signal to the SSI device Line and B receives the data stream from the SSI device 5 4 2 Setup and operation of the SSI function when using MacTalk When using the MacTalk Windows program supplied by JVL the following descriptions must be used There are a few differences be
266. nce features and characteristic of the CAN protocol are de scribed below Message oriented protocol The CAN protocol does not exchange data by addressing the recipient of the message but rather marks each transmitted message with a message identifier All nodes in the network check the identifier when they receive a message to see whether it is relevant for them Messages can therefore be accepted by none one several or all participants Prioritisation of messages As the identifier in a message also determines its priority for accessing the bus it is pos sible to specify a correspondingly rapid bus access for messages according to their im portance Especially important messages can thus gain access to the bus without a prolonged wait time regardless of the loading on the bus at any instant This characteristic means that important messages are transmitted with high priority even in exceptional situations thereby ensuring proper functioning of a system even dur ing phases of restricted transmission capacity JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 211 10 1 General information about CANopen Multi Master capability Bus access rights are not issued by a mean level control unit bus master per network Instead each network node can start to send a message with equal rights as soon as the bus has become free If several participants access the bus at the same time an arbitra tion p
267. nch 2x 4 8mm 0 16 0 32inch 77 0mm 8 031 inch 112 0mm Y 4 409 inch 118 0mm TT3088 01GB 4 64 6inch 38 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 How to connect MIS34x Terminal and LED description of the 90 Junction box COM 8 pin Female Pin no Func Color Pin 1 104 White Pin2 RS485 A Brown Pin3 RS485 B Green Pin4 GND Yellow Pin5 RS485 B4 Grey Pin6 RS485 A Pink Pin 7 107 Blue Pin8 amp 108 Red GND 102 8 pin Male Funct Color Pin 1 104 White Pin2 107 Brown Pin3 108 Green Pin4 Ext Backup Yellow Pin5 106 Grey Pin6 105 Pink Pin7 GND Blue Pin8 CVO Red GND LED explanations RX is lit if data is rec eived or transmitted at the RS485 line TX is lit if data is trans mitted or received at the RS485 line 103 is lit if IO3 is activated Input or output 104 is lit if 104 is activated Input or output Text in NON inverse must be used when 190 is used with the MACOO Ex41 Ethernet modules Cable from Motor with 17 pin Male connector The screen is connected to lt lt GN D main ground Signals and colors like the BYPASS cable POWER is lit if terminal CVO is supplied 105 is lit if IO5 is activated Input or output lO6 is lit if IO6 is activated Input or output 101 is lit
268. nd the pins wire colours and a short description of the signals available The connector layout PWR CN1 Power input M12 5pin male connector JVL Cable WI1000 Isolation Signal name Description M12F5TxxN group 1 Main supply 12 80VDC Connect with pin 2 Main supply 12 80VDC Connect with pin 1 Control and user output supply 12 30VDC DO NOT connect gt 30V to this terminal Main supply ground Connect with pin 3 Note P4 and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector PP Main supply ground Connect with pin 5 Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 35 CN2 RS485 IN OUT M12 5pin female connector JVL Cable Isolation WI1000 M12 group M5TxxN See note Brown White Blue Black Signal name GND Ground intended to be used toghether with the other signals in this connector Description 5 Grey CN3 RS485 I O connector M12 8pin female connector JVL Cable Isolation WI1000 M12 M8TxxN White Brown group See note White Ji oo Bow fi Gem fi Gy Pi Be fi Signal name Description I O channel 1 Can be used as input or output I O channel 2 Can be used as input or output I O channel Can be used as i
269. ndustri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 53 4 1 Using the MacTalk software 4 1 3 Saving or opening a setup file to from disc The complete motor setup can be saved to disc or opened from disc and transferred to the motor The setup files can be saved anywhere View Motor Offine on the hard disc or a floppy disc Saving and opening a file over a net oen work is also possible woe Save As The setup files use the extension MAC By default the setup files are saved in the same directory in which MacTalk itself is also installed 1 Demot MAC 2 Demo3 MAC Io Other directories can be selected 3 Demo2 MAC 4 Demol MAC C Analogue velocity gear In case a motor is present and a disc file is opened the user is prompted for keeping the connection or going offline and displaying the file content The following message box appears Warning The selected Filedata is about to be transfered to the motor and existing user data in the motor Will be overwritten Continue with transfer Transfers Data to the motor Going off line and displays and displays the data in the data in MacTalk Mac Talk afterwards If the user decides to go offline the following text box is presented Information i The motor will now be disconnected 2 and the userdata can be edited without changes in Ehe motor Pressing OK disconnects the motor from the PC application and all data can
270. nik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 59 4 2 How to update MacTalk MacTalk can be updated directly from the internet at any time It is recommended always to use the latest version of MacTalk since it support the latest features and bugs may have been found and corrected Below is shown how to make an update of MacTalk Step MacTalk ES Choose the Update MacTalk in the Updates menu SUE Updates Help L e Man 2 I MacTalk updater x Current MacT ak version 1 49 Mac Talk will now check if newer version exist on the JVL server If a newer version exist it will automatically be downloaded and the release notes can be seen in the window Release notes Version 1 50 Build 49 New features and Improvements Now supports Ethemet connection to the 00 Ethernet EthemetiP and ProfiNetis supported For more details please find the Ethernet module manual www jvl dk Now supports the embedded feature in the MAC400 4 This feature requires firmware version 2 05 or greater and either the MACOO BE41 or the MACOO Px module Now supports tha 20 ModbusTCP module register lists are updated to include all registers in the MA Status Downloading release notes from the Internet New ak veson Step 3 x Press the Download amp Install button to download Release note
271. nput or output 3 Ground intended to be used toghether with the GN p other signals in this connector O O O Green 1 2 D Yellow RS485 B RS485 interface Leave open if unused RS485 A RS485 interface Leave open if unused lO4 I O channel 4 Can be used as input or output Grey Pink Blue 1 2 3 4 5 7 CVO Supply output Connected internally to the CVI terminal in the PWR connector DO NOT connect gt 30V to this terminal USB interface Supply input 5VDC nominal CN4 RS485 I O BackUup option connector M12 17pin female connector JVL Cable Isolation WI1009M12 group M17TxxN see note Signal name Description I O channel 1 Can be used as input or output Ground intended to be used toghether with the other signals in this connector Brown G Blue White Green Pink Yellow Black Grey 1 2 I O channel 2 be used as input or output 3 I O channel Can be used as input or output 4 5 i 7 B CVO Supply output Connected internally to the CVI termi nal in the PWR connector DO NOT connect gt 30V to this terminal rice iOchammeiSCanbeusedasimputoroupu 14 1 GND Only for motors installed with the H3 option absolute EXTBACKUP multiturn encoder This terminal can be connected to 16 SalloW BTOWh 1 an external supply Connect to ground if not used RS485 A RS485 interface Leave open if unused White grey Note Isolation g
272. nterface or use the converter RS485 USB AT C 820 if the PC has a USB interface Please note that other models use an 8 pin female connector and therefore use R 485 M 2 1 5 8 cable 2 Switch on the SMC75 3 Start MacTalk and wait 5 seconds until it automatically is connected to the motor If no connection occurs check the serial cables and the Mactalk set up The Baud rate should be 19200 and the correct com port selected 4 When a connection has been established key in values of running current and standby current under Driver Parameters Remember to press Enter after each parameter is keyed in Actual motor values can be seen to the left of the input field 5 Set Startup mode to select Position to enable the motor driver There should now be current in the motor phases Depending on the standby current the motor shaft will be fixed Some current regulation noise should be heard from the motor 6 The motor and l O status can be seen to the left under Status 7 At Motion Parameter key in 1600 counts at Position The motor will now turn one revolution at the speed specified by Max Velocity JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 Technical Data JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 261 12 1 MIS23x Technical Data Main Supply Volt Voltage Range 12 to 48VDC age P Current consumption Powe
273. nufacturer s specifications TT2207GB 11 3 2 Connection of Step Motor Various types of step motor are available 2 phase Bipolar 4 connectors 2 4 phase Bipolar Unipolar 8 connectors 3 4 phase Unipolar 6 connectors Note that Type 3 motors indicated above Unipolar motors produce 4096 less torque This motor type can be used with success but is not recommended if a 4 or 8 wire motor is available instead This section will not describe the unipolar type further 2 phase or 4 phase motors can be connected to the Controllers as follows 2 phase Motors 4 wires This type of motor can be directly connected to the Controller s motor terminals The Controller current adjustment must not exceed the manufacturer s specified rated current for the motor 4 phase Motors 8 wires This type of motor can be connected to the Driver in one of the following two ways Serial connection of phases 2 Parallel connection of phases Selection of serial or parallel connection of the motor phases is typically determined by the speed requirements of the actual system If slow speeds are required typically less than kHz the motor phases can be connect ed in serial For operation at higher speeds greater than kHz the motor phases can be connected in parallel JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 257 11 3 11 3 3 11 3 4 258 How to connect the motor Serial Gonn
274. ny time Example The value 25000 selects 250 RPM TT2400 01GB R W 1 500 000 The acceleration decelleraion Acceleration ramp to use If this value is changed during at movement it will first be active when the motor stops or changes direction RUN 0 1533 Current to use when the motor is Running Current CURRENT running STANDBY 1 65535 Number of milliseconds before Standby Time TIME changing to standby current STANDBY The standby current Standby Current CURRENT P IST The actual position This value Actual position can be changed at any time 11 Reserved qoo ooo o 32bit R FM MN 0 01 RPM The current velocity Actual velocity 3000 00 1 00 0 01 RPM The start velocity The motor will start the acceleration at this velocity 14 1 32bit R W 215 215 1 1600 Counts The multiplier of the gear factor 15 GEAR2 32bit R W 215 215 1 2000 Counts The divider of the gear factor W 27 27 1 16 ENCODER 32bit R Steps If the encoder option is installed Encoder position POS this show the position feedback from the encoder 17 Reserved S S A TT2401 01GB 296 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 2 MIS34 43 SMIC85 Registers detailed 18 INPUTS 32bit R Special The current status of the digital Status bar inputs 19 OUTPUTS 32bit R W Special The current status o
275. o connect Incremental MIS34x encoder or similar Twisted pair cable with screen recommend or SMC85 ron PR Tas X _ OO aa ad RS422 inputs balanced internal Control A 51 M Note screen only Step occurs on the leading flank E Min 400nS Min 400nS Level definitions 1 Logic 0 Diff lt 200mV Step clock A1 Logic 1 Diff gt 200mV Common mode range Min 200nS Min 200nS 5 to 12V maximum UA VLA UA CCW when low 0 pom The Direction signal must stay stable and well defined TT2466 01GB in the indicated period while the clock has a rising edge R5422 outputs balanced connectedon signal source The description below shows how to connect the pulse source when using the quadra ture format Also the timing is Shown Please be aware that if the indicated minimum tim ing is not respected the motor may loose some of the step clocks and the position of the motor will end up being out of synchronism with the pulse generator Quadrature format Timing and how to connect Incremental MIS34x encoder or similar Twisted pair cable with screen recommend or SMC85 rom MPOOQOOOOL anis En Control A balanced 2j XYPOOOOOOOT M Note screen only connected on signal E source Min Min SUS SUS Level definitions l T Logic 0 Diff lt 200mV Tow Logic 1 Diff gt
276. oCorrection will only start after the value of the SOLL register is changed In other words changing P SOLL not just writing the same value again will reload the maximum number of retries and set the Auto Correction Active status bit The Auto Correction Active status bit will remain set until either the position is within the target window or the max number of retries has been exhausted Also note that if the motor is used to control other motors by sending out the pulse and direction signals on digital outputs any extra movements caused by AutoCorrection will send out additional steps to the other motors Registers affected e Register 33 IN POSITION WINDOW specifies how many steps from the target position the encoder must report before AutoCorrection is attempted e Register 34 IN POSITION COUNT specifies the maximum number of retries A value of 0 zero effectively disables AutoCorrection e Register 110 SETTLING TIME specifies the number of milli seconds to wait after a movement before testing the encoder position against IN POSITION WINDOW In the present firmware versions SETTLING TIME will be used in AutoCorrection mode only e Register 25 STATUSBITS will still set bit 4 after the pulse generator has output all the pulses to reach the target position a theoretical In Position In AutoCorrection mode bit 2 will be set to reflect if the internal encoder position is within IN POSITION WINDOW steps from the target pos
277. oad program presiousky previously stored in the module TT2188GB After making one of these 2 choices the program window will be opened 182 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Programming Main window The main window for creating a new program or editing a program is shown below Programming menu Main menu for creating a new program Verifying program size and other basic details for the SMC75 Controller SMC75 Status texts The message Program not transferred means that there is a difference between the program seen on the screen and the actual program in the module This can happen if the program have been edited but not transferred Status Running or Stopped refers to the program in the module S MacTalk Nonan File View Motor Open Transfer amp Start Will transfer the complete program and start it Use Stop or Pause to stop it 3 Seve MACO0 Rx Programmable Stop Use this botton if the program must be stopped Program lines Each Botton represent a program line By pushing the botton a com mand can be entered at the program line Setting 5 advanced Transfer setting R Program Source ema C Progam Snurce C F Syam arh Upload program Soa Program Souce FEM Progam Source Program hema iomar heck gum Lire Progam type Abeclube endl veloc
278. od 130 165 Register descriptions 111 117 124 128 131 138 152 159 163 166 172 Register overview 112 114 147 149 Run Current 118 153 226 229 Serial Number 142 176 Setup Bits 133 144 168 178 Standby Current 119 154 Standby Time 118 153 Startmode 124 159 Statusbits 65 122 157 Temp 122 157 Tn 126 161 Turntable Mode 135 169 V Home 124 159 V Ist 119 154 227 230 V Soll 10 89 118 153 191 195 204 221 226 229 306 V Start 116 117 120 151 152 155 Vn 126 161 Index Offset 132 167 Remarks 190 Inpos Mask 137 171 Reset controller 313 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 328 17 Index Reset motor 53 Reset position 53 Resistors termination 30 Resonances 254 RS232 RS485 311 RS485 interface 26 Run Current 118 153 226 229 S Save in flash 53 Save position 202 Saving a file 54 Scope function 59 Screened cable 256 SDO Service Data Objects 241 Send FastMAC command 204 205 Serial communication 311 Serial connection of motor phases 257 256 Serial connection of motors 258 Serial Number 142 176 Set a register in the MIS motor 201 Set operation mode 190 Set outputs 196 Set position 203 Setup Bits 133 144 168 178 Short block length 212 Slope alarms 21 Slope limitation 20 SMC35 274 SMC35B 274 SMC75 8 9 252 253 274 276 CANopen slave 210 Inputs 16 SMC75 analogue inputs 19 SMC75 c
279. of connector board mounted on the motor The values are not documented here 8 3 91 Bootloader Ver Size Access Range Default umn Major 16 a BOHEOADER C 0 65535 Minor 16384 Description The version of the boot loader This value is read only and is programmed into the motor during manufacturing 8 3 92 Not saved 160 NOTSAVED 0 065535 10o NA Description This register is not used internally but will always be 0 after power on Please note that MacTalk uses this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 177 8 3 MISS4x amp MIS4Sx Registers 8 3 93 Option_Bits 165 OPTION BITS 32bit R 0 65535 Tooltip on motor Description This register contains information about what options are available Bit 0 7 defines the options available in the hardware or licensed Bit 8 15 defines the options available in the firmware Bit 0 8 CanOpen fieldbus Bit 1 9 DeviceNet fieldbus 8 3 94 Fbus Mode Id Reg Size Access Range Default Unit MacTalk name i66 FBUS NODE ID 0255 Fieldbus Node iD Description The node id on the fieldbus interface 8 3 95 Fbus Baud Reg Name Size Access Range Default Unit MacTalk name Fieldbus Description The baudrate used on the fieldbus interface 1000 kbit s 800 kbit s unsupported 500 kbit s 250 kbit s
280. oftware commands See Using MacTalk page 51 for setup This means for example that it is possible to have 4 inputs 3 outputs and one analogue input pending at which motor type you are using Please the chapter Connector over Please notice The number of available terminals available may vary de A view for the MIS23x page 32 or Connector overview for the MIS34x page 34 Input output functional diagram Internal p Processor Overcurrent protection Digital output H K Digital input ie 101 to 108 Analog input 1nF 10kOhm 1 TT2160 02GB 2 2 2 General Input features Inputs are TTL to 28VDC compliant Over current protection and thermal shut down 10 kOhm input resistance No galvanic isolation Zero search input can be selected to any input to 8 Digital filter can be enabled for each input selectable from 0 to 00ms If disabled the response time is 0Qus e Analogue filter can be selected for all analogue inputs Only MIS23x e High speed incremental counter on Input and Input 2 e High speed Pulse direction on Input and Input 2 for gear mode e Positive and negative limit can be selected to any input to 8 only MIS23x l6 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 2 Inputs Note that End of travel inputs 1 8 and HM share a Select external common ground GND or internal power All three ground terminals GND and supply to sens
281. oldered between the two wires carrying A and B Use individually shielded cables In some installations it will be necessary to have RS 485 signals in the same multi wire cables as fast switching digital signals In addition to keeping cable lengths to a minimum and using termination resistors high quality cables where each wire is shielded from the other wires in the cable should be used This is typically done using a metal foil wrapped around each wire These types of cables are more expensive but the overall cost and noise immunity requirements may justify the solution instead of splitting cables Use simple shielding Using cables with only a single shield shared by all the signal wires will also improve noise problems to some degree but will not guarantee completely stable operation for mixed signal cables If a cable carries only RS 485 or only digital I O this simple and inexpensive form of shielding is recommended JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 10 1 Connector overview for the MIS23x 1t MIS23xAZNRyy75 MIS23xAZNByy75 MIS23xAzMMyy75 RS485 serial communication RS485 serial communication in RS485 serial communication and few local I O network Up to 32 MAC and QuickStep and many local I O on the same network Few local I O MIS23xAzMByy75 MIS23xAzMByy75 MIS23xAzMSyy 75 RS485 serial communication in MIS23xAZM7yy75 RS485 SSI encoder Few local I O network
282. ommand the motor s operating mode will be set to the specified mode This allows you to use different operating modes in different parts of the program For a detailed description of the individual operating modes refer to section 3 1 Basic modes functions in the QuickStep motor page 10 9 7 3 Move operations Icon mode is described in its own section below The Move command is very flexible with five different operating modes Each 190 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 4 Move Relative Dialogue Mowe type Relative C Relative velocity change at distance Cancel C Relatiwe set outputs Absolute Sensor General parameters Distance Jr Counts Register 1 Acceleration Register 2 Register 3 Velocity 0 RPM Wall Far in position m Enter in velocity or acceleration to use the current velocity acceleration Function Performs a movement relative to the current position The distance moved is measured in encoder counts and can either be entered directly or taken from three registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if y
283. ommunication Multifunction I O Ground GND Ground GND RS232 5V RS422 optional Tx Multifunction I O AUN gt UJ m e Recommended connectors Molex or equivalent from CViLux Crimp contact 50079 8000 x 10 Housing 10 pin 51021 1000 x 1 J5 or 1 XI 4 P CViLux Main power J1 Generation 2 connector Crimp contact Cl44T011PEO x 10 Housing 10 pin Cl4410 S000 x 1 25 CVI Control voltage input Optional 3 K P Main ground Recommended connectors Recommended connector Molex or equivalent from CViLux CViLux Housing Crimp terminals Crimp contact 50079 8000 x 6 Crimp contact Cl44T011PEO x 6 Molex 09 91 0300 Molex 08 50 106 112152 02GB Housing 6 pin 51021 0600 x 1 Housing 6 pin CI4406 S000 x 1 Nylon UL94V 0 Pitch 3 96mm The figure below shows the generation 2 connector for future or special purposes Please contact JVL for further information Generation 2 interface User I O Devicenet sense Encoder outputs SQPOFQ 36S2 B 1 Plastron Precision co Ltd Female header TT2221GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 255 11 3 How to connect the motor ony smc 11 3 1 256 L StepMotor Terminate screen only at SMC75 TT2168GB Cabling For SMC75 controllers that supply a phase current in the range 0 to 3 A it is recom mended that 0 5mm cable minimum is u
284. on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 193 9 7 Graphic programming command reference 9 7 7 Move Absolute Dialogue Mowe type Relative Relative velocity change at distance Cancel C Relative set outputs Sensor General parameters Position o Counts Acceleration o RPMs Velocity o RPM Wall Far in position m Enter in velocity or acceleration to use the current velocity acceleration Function Moves to an absolute non relative position The position is given in encoder counts and can either be entered directly or can be taken from one of three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also
285. on with registers 02 106 First all of the registers 102 106 must be loaded with the values to be used for one or more analogue input filters Then the lower eight bits in this register are set to select which inputs the parameters in registers 02 106 should control The firmware will detect this and copy the parameter values from registers 102 106 to internal storage Once this has been completed the firmware sets bit 15 in this regis ter to show that registers 102 106 are free to receive new values for programming the remaining inputs with other filter parameters To use the same filtering for all analogue inputs this register can be loaded with 255 hex FF 8 3 44 Afzup Readindex LA 1 8 E handled on the AFZUP Read Index 32bit R W 32768 Special Filter Setup screen 32775 Description This register makes it possible to read back the analogue input filter parameters for one analogue input at a time To select a new input write a value of to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used by that analogue in put 8 3 45 Afzup ConfMin 102 AFZUP Conf Min 0 1022 0 4888mV Confidence Min Description The minimum confidence limits for analogue inputs are set and read back using this reg ister in combination with the read and write command registers 100 and 101 If a new raw sample value
286. onfidence error keep old value result 3 75 units and so on until the result gets 95 0 units Sample 78 100 Confidence OK no slope limitation needed result 100 8 64 95 56 64 95 625 units Sample 79 100 Confidence OK no slope limitation needed result 100 8 64 95 625 56 64 96 171875 units Sample 80 100 Confidence OK no slope limitation needed result 100 8 64 96 171875 56 64 96 65 units Sample 81 100 Confidence OK no slope limitation needed result 100 8 64 96 65 56 64 97 07 units JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 21 2 3 Analogue Inputs Sample 82 100 Confidence OK no slope limitation needed result 100 8 64 97 07 56 64 97 44 units Sample 83 100 Confidence OK no slope limitation needed result 100 8 64 97 44 56 64 97 76 units The following samples produce the following results ending up with the input value 100 0 98 04 98 28 98 49 98 68 98 85 99 00 99 12 99 23 99 33 99 41 99 48 99 55 99 60 99 65 99 70 99 74 99 77 99 80 99 82 99 84 99 86 99 88 99 90 99 91 99 92 99 93 99 94 99 95 99 95 99 96 99 96 99 97 99 97 99 98 99 98 99 98 99 98 99 99 99 99 100 0 22 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 4 User Outputs 2 4 1 User outputs The MIS motors has 8 inputs outputs IO s that eac
287. onize Synchronize to encoder after passive Bit 6 InPhysPosMode Bit 7 EncoderAout If set to the l O 6 pin will output the quadrature A signal from the internal magnetic encoder and not be available for normal digital operation Bit 8 EncoderBout If set to 1 the 7 pin will output the quadrature B signal from the internal magnetic encoder and not be available for normal digital operation Bit 9 Encoderlout If set to the l O 8 pin will output the Index signal from the internal magnetic encoder and not be available for normal digital I O operation Bit 10 EncoderToP IST Activate the function that initializes both Register 10 IST and register 16 Encoder Pos to the value from register 46 AbsEncoderPos at start up in stead of initializing them to zero Bit Multiturn Bit 12 KeepExtEncoder Do not zero the external encoder count in register 70 External Encoder on startup but use the value loaded from flash memory Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 133 3 2 MIS23x Registers Bit 13 KeepSS Value Do not zero the SSI encoder count in Register 47 551 Data on startup but use the value loaded from flash memory Bit 14 UseBeckhoff When set changes the initial configuration of the CANopen PDOs The main change is that four selected RxPDs and four selected TxPDOs are enabled dur ing startup which
288. onnector 255 SMC75 Power Supply 12 SMC75 special outputs 27 SMC75 user outputs 23 5 041 276 SMD73 275 276 Pulse Direction driver 7 251 SMI30 274 277 Special outputs SMC75 27 Specifications 262 264 267 Standby current 64 Standby time 64 Standby Current 119 154 Standby Time 118 153 Startmode 124 159 Statusbits 65 122 157 Step pulse and direction inputs 94 Step pulse inputs 94 SYNC Synchronisation Object 244 T Technical Data 262 264 267 Temp 122 157 Temperature protection 27 Termination 214 216 Termination resistors 30 Tn 126 161 Torque 64 258 Transmit PDOs 227 237 Trouble shooting 271 Turntable Mode 135 169 U Unconditional jump 197 Unipolar Motors 257 Upload SDO protocol 242 User outputs 23 V V Home 124 159 V Ist 119 154 227 230 V SOLL 204 V Soll 10 89 118 153 191 195 204 221 226 229 306 V Start 116 117 120 151 152 155 Velocity accuracy 306 Velocity encoder factor 235 Velocity mode 10 91 236 Vn 126 161 Voltage Overload 19 W Wait for x ms before continuing 199 Wait for a register value before continuing 202 Wait for an input combination before continuing multiple inputs 200 Wait for an input combination before continuing single input 199 Write Register 312 Write to flash 313 2 Zero search 203 Zero search mode 102 106 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 329
289. or behaviour when setting the velocity and acceleration registers to low values Motion speed and acceleration deceleration controlled by the motor and NOT the master All clocks received at a fixed rate No acc speed or decel control is included In total 80 steps received Velocity Motor Velocity ae 1 step Motor steps counts In total 80 steps moved Motor Direction CCW Position Target Motor position Slave 0 Time D The input clock demand a prompt high speed but the motor has to respect the setting in the acceleration register and limit the speed increase vs time As result the motor will slip behind were it is supposed to be 2 Even the fact that the motor has slipped behind during acceleation it still has to respect the setting in the velocity register V SOLL register and limit the speed accordingly 3 The motor calculate continuously on the fly the necessary deceleration length and starts decelerating according to the the setting in the acceleration register The motor will reach target 80 counts exactly without any overshoot TT2468 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 99 6 4 Gear Mode As an alternative to the previous illustration the full control can be done by the master by setting the velocity and acceleration registers to a significant higher value than the equivalent value of the clock source which wil
290. or will remember this change also during power off oelect the Absolute positioning tab MS Mac Talk Noname File View Motor Programming Setup Updates Help MacTalk Version 1 50 56 A t G o 9 b b Open Save Save in flash Reset position Clear errors Reset motor Filte Main 140 Setup Registers Advanced Tests Programming ProfiNet Absolute encoder position 2147493648 0 2147483647 3 Encoder position 20049 Change encoder position New encoder position Set position Information When the position reaches the limitation in the position register the bar turns red to indicate that the position wall wrap within a short distance Special care on the position handling needs to be taken when wrapping has occured The position registers 32bit signed and the motor resolution is 409600 counts rev This limits the travel distance to appx 5243 motor revolutions in each direction First the new value that the encoder must be preset to must be typed here Secondly press Set position in order to TT2339 01GB preset the encoder counter with the new value 78 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 9 Absolute Multi turn Encoder 5 5 3 Position Auto correction This feature is only active when the motor is in position mode The auto correction feature is only used when the motor has stalled and not rea
291. orrec tion system to retry a movement in position and gear modes JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 155 8 3 8 3 16 MIS34x amp MIS4Sx Registers Inputs a ICI S 1 INPUTS PR Specia Inputs Description This register shows the status of the digital inputs Bit 0 7 shows whether IO 1 8 is 8 3 17 active or inactive The active level can be set using IOSETUP See Osetup page 134 Bits 8 15 are not used and will always be 0 The inputs can be filtered or unfiltered See Input Filter Mask page 137 Note that all of the inputs have a digital state and an analogue value at the same time This register shows their digital state only Note that the digital inputs can be filtered by set ting bits in register 135 Input Filter Mask page 137 Be 7 J J5 J4 hB h2 JE Function 108 107 06 ios 104 IO Outputs Reg Name _ Access Range Default Unit MacTalk name pig OUTPUTS js ew special oupus Description This register shows the status of the outputs Bit 0 7 shows whether IO 1 8 is active or 8 3 18 inactive The active level can be set using IOSETUP See lOsetup page 34 Please note that the output driver for each output also has to be enabled This is also done using IOSETUP The register can be changed in order to change the status of the outputs Flwerr Description 8 3
292. ors MIS23x 34x 43x 4 3 How to update the motor firmware The firmware in the motor can be updated directly from the internet at any time by using MacTalk It is recommended always to use the latest version of the firmware available for the actual MIS motor used since it will contain the latest features and bugs may have been found and corrected Below is shown how to make an update of the firmware Notice that the screen dumps below is based on the update of a MIS34x but could be any other size of MIS motor Step The firmware update will erase the existing user setup of the motor Use the Save button to save l the existing setup before updating the motor Len ete teh CS MacTalk Honame View Motor Programming Setup Updates MacTalk Veron 1 5049 Then choose the Update Firmware in the Man 1 0 Seu Fegeters Advanced Updates menu v Step 2 The first list shown is only the newest firmwares a related to the actual motor connected BAT 25 Me It may also contains encoder and or Ethernet saath a A LL mre gt SML SCH Ss 3o MES dT firmware if these features are present SM COS ferme SMC3S MIS MW MISA femara Ire tesi SI C85 HIS Mk MIS Aik To see all files also older versions enable the p x checkbox Show all files ione Select the desired firmware SMCxxx firmware Sla 24 Press Start to download the selected firmware View Belse res
293. ors are connected together or similar Inductive sensor or similar This diagram is used if an NPN output is connected Inductive sensor or similar TT2161CB 2 2 0 General The Controller is equipped with a total of 8 digital inputs Each input can be used for a variety of purposes depending on the actual application Each of the inputs can be detect ed from the actual program that has been downloaded to the Controller or via serial commands The Inputs are not optically isolated from other Controller circuitry All of the Inputs have a common ground terminal denoted GND Each Input can operate with voltages in the range 5 to 30VDC Note that the Inputs should normally be connected to a PNP output since a positive current must be applied for an input to be activated Note that CVO is available as CVI on the I O connectors This provides the facility that local sensors can be supplied directly from the controller 2 2 4 Connection of NPN Output If an Input is connected to an NPN output a Pull Up resistor must be connected be tween the Input and the supply See the illustration above The value of the resistance used depends on the supply voltage The following resistances are recommended Supply Voltage Recommended Resistance R 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x I7 2 2 5 18 Input
294. osition P IST 8 2 19 Flwerrmax a Ne a Description The maximum allowed value in FLWERR before an error is triggered If FLWERRMAX 0 the error is disabled See register 35 Err Bits page 123 for a description of the error bit JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 12 3 2 MIS23x Registers 8 2 20 Command cm ae 0 127 256 Description Used to issue commands to the motor 0 128 are the normal FastMac commands The values 128 255 are reserved Command 256 will activate a new baud rate on the serial ports and command 257 will synchronize the internal encoder position to the actual motor position 8 2 21 Status bits Reg Name Size Access Range Default Unit MacTalk name 25 STATUSBITS tebit PRO Run Status Description Status bits Bit 0 Reserved Bit AutoCorrection Active Bit 2 In Physical Position Bit 3 At velocity Bit 4 In position Bit5 Accelerating Bit 6 Decelerating Bit 7 search done Bit 8 15 Reserved Actual run status bits for the motor 8 2 22 Temp ae cd 2 27 uses Description Temperature measured inside the motor electronics The approximate temperature in degrees Celsius is calculated from the value in this reg ister using the formula Tc 2 27 Value 8 2 23 Min_P_IST Reg Name Size Access Range Default Unit MacTalk name
295. ote regarding device type index 1000 The device type register is composed of 2 6 bit registers One register describes which device profile the module supports and the other states which type of motors the mod ule supports and possible I O module The default value 0192h denotes that the DSP402 Device profile is supported and the value 0004h denotes that the SMC75 Controller supports stepper motors 10 4 2 Emergency object The EMCY emergency object is used to transfer an error message to the CANopen master or also to another node which can process the error message The reaction on the emergency object is not specified An emergency object is transmitted only once per error event The SMC75 supports the EMC object Emergency The following error codes can be generated Error code 1001 Generic error Motor error Error code 1002h Generic error Position error Error code 003h Generic error Follow error Error code 1004h Generic error Low Transmit PDO25 Use Transmit PDO25 in asynchronous mode to read the status of the error In the SMC75 no error control is enabled when the modules are started up because if there is any fault in the system it is impossible to get in contact with the module After the module has started up and there is communication between the master and the slave turn on the required error control mechanism in the communication objects see section 10 4 1 224 JVL Industri Elektronik A
296. otors MIS23x 34x 43x 239 10 6 More details of CANOpen Theory 10 6 3 PDO Process Data Object PDO Performs real time transfers and the transfer of PDOs is performed without a protocol PDOs are used in two ways for data transmission and for data reception PDOs can bundle all objects from the object data directory and a PDO can handle max 8 bytes of data in the same PDO The PDO can consist of multiple objects Another PDO characteristic is that it does not reply when it is receiving data in order to make data transfer fast It has a high priority identifier PDO connections follow the Producer Consumer model whereby a normal PDO con nection follows the Push model and an RTR connection the Pull model Objects are mapped in a PDO This mapping is an agreement between the sender and receiver regarding which object is located at which position in the PDO This means that the sender knows at which position in the PDO it should write data and the receiver knows where it should transfer the data to that is received The PDOs correspond to entries in the Device Object Dictionary and provide the inter face to the application objects Data type and mapping of application objects into a PDO are determined by a corresponding PDO mapping structure within the Device object Dictionary The number and length of PDOs of a device are application specific and must be specified within the device profile Write PDO service The Write PDO service is u
297. ou specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command If the Wait for in position option is checked the program will wait until the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless given other instructions by the JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 191 9 7 Graphic programming command reference 9 7 5 Move Relative velocity change at a distance Dialogue Mowe type C Relative Cancel Relative set outputs Cancel Absolute Sensor General parameters Change velocity parameters Distance 0 Counts Distance o Counts Acceleration 0 RPM s New velocity 0 RPM Velocity 0 RPM 7 Enter Qin velocity acceleration to use the current velocity or acceleration Function Performs a relative movement and changes velocity at a specified distance before reaching the new position The distances are measured in encoder counts and can either be entered directly or taken from three memory registers in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set posi
298. owders Cee pipa Peep SOF Mem COP biam C aman Petes amp Scacced tari vor arl Er Chp achani mede Faces ical ran Petree inel ium Core accum nare 7 Pale dta Mars acr vae Vna micis l et micis Tee snack dea mecs modes Es ipa Pa sauce probes Tum im De ume md 35 j Pena Cani r aam rede E BTE 542231 a T a This field shows the register values cane em oni Cun Tiat d 5 T E 3 z L in the controller _ Fatman inm i ad mehr oes e daa mhi b Here it is possible to key in new values After pressing enter the value will be transferred to the motor and thereafter be read again from the controller and be shown at point a Because of digitalizing of the keyed in value the returned value in a can be By pressing the unit field it is possible to change between internal unit in the control different from the value in b ler and the unit shown to the user E g If user unit for current is ARMS and the internal unit is 5 87mA 300ARMS cor respond to 51 units Not all registers have different internal and user unit Speed for example is alway specified in RPM TT2182GB 1 0 Setup tab Active level can be 2 Martak Hoana Fh fee Petr Peugaeewg gen pee cho
299. parameters Sub 0x00 Number of entries 253 O FD SIO 0x03 P_SOLL 0 0x0 Sub 0x04 Parameter 4 0 0 0 Sub 005 V SOLL 0 0x0 Sub 0x06 4_SOLL 0 0 0 Sub 0x07 RUN CURRENT 0 0 0 Sub 0x08 STANDBY TIME 0 0x0 Sub 0x09 STANDBY CUR 0 0 0 Sub 0x04 P IST 0 0 0 Sub 0 0 Parameter 11 0 0 0 Sub Ox0C V IST 0 0 0 Sub 0 00 V START 0 0 0 User SDO List Sub Ox0E Parameter 14 0 0 0 Sub OxO0F Parameter 15 0 0 0 Sub 0x10 ENCODER_POS 0 0 0 Sub 0x11 Parameter 17 0 0 0 Sub 0x12 INPUTS 0 0x0 Sub 0213 OUTPUTS 0 0x0 Sub 0x14 FLWERR 0 0x0 Sub 0x15 Parameter 21 0 0 0 Sub 0x16 FLWERRMAX 0 0 0 Sub 0x17 Parameter 23 0 0x0 Sub 0218 COMMAND 0 0 0 Sub 0219 STATUS BITS 0 0 0 0 2012 02012 02012 02012 0 2012 0 2012 02012 02012 0 2012 0 2012 1 0 1 2000 0 7D0 200 0 8 0 3 200 0 8 0 0 0 20000 0 4E 20 100 0x64 0 2012 30000 07530 02012 20000 054 20 8 Sub 01 TEMP 0 0 0 IT m Sub 0 1 Parameter 27 0 0 0 zm Sub 0 1C MIN P IST 0 0 0 Read User SDOs Write User 500 Sub 0 10 Parameter 29 0 0 0 ESS SSS 2 os Soe 4 Enc d ORMEN m Not v IWL Ind C fi GRAFIK Press W on the keyboard The following screen appears Write Value Object Indes 052012 Sub Index 0502 Value jw Add to list Cancel 7 Type 02 in the window and press OK 8 Click on the s
300. pper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 20 Set position Dialogue Register 1 Register 3 Function Sets the current position stored in register no 10 P IST to one of three position values stored in the user memory area This is the reverse of the Save position command 9 7 21 Zero search Dialogue search Mode f Sensor type 1 zero search t Sensor type 2 zero search Function Initiates a zero search The program waits until the zero search has completed before proceeding to the next command For a detailed description of how to set up a zero search refer to Zero search modes page 102 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 203 9 7 Graphic programming command reference 9 7 22 Send FastMAC command change mode and activate register Icon T Dialogue Made Register Humber Passive Position Humber Cancel t Velocity Velocity t Command Torque Load f Positian t Acceleration position window Function FastMAC commands are also sometimes referred to as FlexMAC commands The advantage of these commands is a very low communication overhead FastMAC FlexMAC commands are described in detail in section 4 5 7 of the MAC user manual JVL publication no LB0047 20GB However a brief summary is in order If Mode is set to Passive Velocity or Position
301. previous filtered val ue in registers 81 88 the new sample will be modified to lie at most MaxSlope units from the filtered value This is used to suppress noise and limit acceleration Note that the value is optionally filtered after being slope limited in which case the effective slope limitation will be divided by the filter ratio A value of 1023 will effectively disable slope limitation 8 2 48 Afzup Filter 7 7 th AFZUP Filter 16bit 64 of new Filter on the Filter sample setup screen Description The final filtering of new samples on the analogue inputs can be selected using this regis ter in combination with the read and write command registers 100 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply replaces the old value 8 2 49 FilterStatus shown Description This register contains status bits for the analogue input filters The lowest eight bits hold confidence errors for each of the eight inputs while the highest eight bits hold the status of their slope errors The filter status is updated each second The confidence error bit will be set if more than half of the samples within the last second fell outside either of the confidence limits The slope errors will be set if more than half of the s
302. r Mode Ele View Motor Programming Setup Updates 1 d F e 0 wc p Open Save Saveinflash Reset Main vo Setup Registers Advanced Tests F Startup mode Passive C Velocity C Position f Gear Select gear mode here Change actual mode V Profile data Max velocily 100 00 f RPM Start velocity 10 00 RPM Acceleration 1000 RPM S Make sure that all these parameters are set to proper 7 Ditver parameters values in order not to cause any limitations in the Running Curent 3 00 f ARMS motors ability to move Standby Current 0 75 ARMS Standby lime 500 ms WV Gear actor Input 2000 Pulses amp Insert the resolution for the pulse source in this field Output 1600 Pulses amp Insert the resolution for the motor in this field M Molon nn Notice that if other ratios than 1 1 between pulse EM 0j Iv source and motor is desired either the input and or output value must be scaled to match the desired ratio This value reflect the target position P SOLL which is controlled directly from the pulse source This value should normally match the actual position unless the motor has stalled or some of the motion parameters TT2462 01GB have been set to a limiting value Example A MIS23 I motor has a resolution of 600 steps rev and an encoder is connected which has a resolution of 2000 counts rev 500 pulses per rev If one revolution of the enco
303. r of P_SOLL See Turntable Mode page 135 Example If P SOLL 800 and then P SOLL is set to 800 the motor moves one revolution forward If P IST 231 100 2147483548 and P SOLL is set to 231 100 2147483548 the motor will move 200 steps in the positive direction JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 17 3 2 MiS23x Registers 8 2 5 V SOLL 5 V SOLL 16bit 1023 1023 Description The maximum velocity allowed When in velocity mode the motor will run constantly at this velocity Specify a negative velocity to invert the direction This value can be changed at any time Example V_SOLL 250 will limit the velocity to 250 RPM 8 2 6 A SOLL Reg Name Size Access Range Default Unit MacTalk name Description The acceleration deceleration ramp to use If this value is changed during at movement it will first be active when the motor stops or changes direction Example A SOLL 105 will set the acceleration to 1000 RPM s 8 2 7 Run Gurrent RUN CURRENT 160 0 511 5 87mA Description This register sets the running current for the motor 5 1 1 is the maximum possible cur rent corresponding to 3A RMS The running current is active when the motor is running and after it stops until the specified standby time has elapsed See Standby Time page 118 When the RUN CURRENT is changed the new motor current will be set instantly Example
304. r supply current requirements minimum 2A recommended Please refer to the power supply chapter The actual power supply currents will depend on voltage and load 12 to 28VDC maintains power to control output driver and feed back circuits only when the supply voltage is removed If no motor connected or passive mode 00mA Control Voltage Range Note Battery supply 2VDC is also possible since a supply down to 7 8VDC is possible in case of CVI low battery Please make sure that no voltages below this point is present since the processor will reset restart if dips exist at the supply PMISBI MI232 S234 Max axialshaftforee m e _Max radial shaft force o o 20N appl 20mm from flange ET Communication 2 6 to 921 6 Kops Type Optional CANopen DSP402 V2 0 DS301 VS3 0 2 0B Active Node Guarding heartbeat SDOs PDOs Static mapping Motion MEE Number of settings Configuration Steps per revolution N00 Internal magnetic absolute rev poo SewpeReduon WM option H2xx Steps per Revolution 1024 256 Lines Position Encoder 32 Bi Edge Rate Max 27 280 kHz 143 to 1023 RPM RPM 5 Accel Deceleration 3x10 RPM s 9 54 RPM s Electronic Gearing Range Resolution Threshold 0 00003 to 32768 32 Bit External Clock In Software x gt lt lt gt AND OR NOT I amp General Purpose I O Functions Moving Fault genera
305. rallel to save transmission time 8 2 83 Group Seq LT ANNE eee ANO ue seo r Joes va Description The last received group write sequence 140 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 84 My Addr Reg Name Size Access Range Default Unit MacTalk name MY_ADDR 0 254 Motor Address Description The motor address Data communicated over the serial interface will only be accepted if the address byte in the command is either equal to this value or has the value 255 which means broadcast to all motors 8 2 85 Motor type LY ANE 4 3L 5 3 4 4 7 151 MOTORTYPE tebit PR G4xx Status Bar Description The actual motor type Please notice that this register is in common for all motor families and sizes from JVL The list show all available types including versions with build in brake extension B This description primary covers the SMC75 MIS231 232 and 234 where the Motor type register is only 16 bits On other motor types such as the MIS34x Nema 34 size the register is 32 bits but the least significant 16 bits are still having the same func tion The motor type register will contain the following values dependent at the actual motor type SMCTS controller no motor 64 0 0040 MiS231 Stepper motor 65 Mis232 Stepper motor 66 0x0042 MIS234 Steppermotor
306. rch mode will be executed every time the MIS motor is powered up if no pro gram is started up Ifa program has been made and is running the Zero search command must be executed within the program to execute a Zero search The MIS motor s zero search facility is very flexible The inputs for reference and limit switches must be set up correctly before use The active levels must also be set up correctly 102 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 6 5 6 5 3 6 5 4 Zero search modes Set up the l O s for zero search S MacTalk Nona Li File View Offline RaP Setup Updates Help i gave Save in Reset position LiearrTors V Dedicatated Inputs Home input Limit input TOS Active level Positive Limit input 104 Active level External Encoder 105 Active level 7 Dedicatated Outputs 106 Active level n pun 107 Active level En 108 Active level PulseDirecbon made Pulse signal rection signal V Input filters Input filter IO1Type lt Negative limit input setup putt 4 Positive limit input setup Make sure to set the selected input s used for zero search and limit switches as input 7 101 Digital Input Filter enabled 102 Digital Input Filter enabled Digital Input Filter enabled 1104 Digital Input Fiter enabled 1105 Digital Input Fiter enable
307. re a message is sent A simplified CANopen message could be as in the figure below 11 bit Header Data frame TT1093GB The two bit fields Header and Data form the simplified CANopen message The l bit Header is also designated as the identifier or as the COB ID Communication Object identifier 212 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 1 General information about CANopen JVL uses the bit format type CAN A but not the 29 bit format type CAN B The COB ID carries out two tasks for the controller communications object Busarbitration Specification of transmission priorities Identification of communications objects The COB ID comprises two sections Function code 4 bits in size 0 15 Node address Node ID 7 bits in size 0 127 The function code classifies the communications objects and controls the transmission priorities Objects with a small function code are transmitted with high priority For ex ample in the case of simultaneous bus access an object with the function code before an object with the function code 3 Node address PIRE is sent Every device is configured before network operation with a unique 7 bit long node ad dress between and 127 The device address 0 is reserved for broadcast transmis sions in which messages are sent simultaneously to all devices
308. recalled from flash memory at startup and the motor has the absolute position information saved at power down The input on which the voltage drop is monitored is selected between all standard I O s the P 12 48V power supply MIS23x or 12 80V MIS34x and a special input see the registers involved section later in this chapter When the operation is triggered the motor will not be able to work at all until the power has been cycled off and on again It is required that the supply control voltage drops relatively slowly to allow time to save the values to flash memory This can be secured by adding if necessary a large capacitor on the CV supply voltage and powering on off the external power supply on the AC side Beside the position information also error tracking information is saved This is very help ful for later troubleshooting Registers involved Register 142 Analogue Input Selection selects which analogue input to use for meas uring the power supply It can be to 8 for analogue inputs IO to 108 using the unfiltered values for fast response 81 to 88 for analogue inputs IO to 108 using the filtered values for noise immunity 12 for the 12 48V 1 2 80V MIS34x power supply P and finally 13 for a special input developed for this feature alone from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus
309. rite 20 to this register 8 2 74 Error Mask Reg Size Access Range Default Unit MacTalk name Description Selects which one of the eight IO pins to use for the dedicated function of Error Output Exactly one bit must be set and the pin must be configured in register 125 as an output The Error Output will set be set when any error is set See register 35 Err Bits page 123 for more information on errors Example If output 3 is to be used for the Error Output write 22 4 to this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 137 3 2 MiS23x Registers 8 2 75 Acceptance voltage a ae 1 Acceptance Description Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing the used flash memory sector after power up The scaling unit is as follows 1023 111 4V this is of cause a theoretical value and will greatly depends on which input that is used setup using register 142 Due to the HW variation on inputs different threshold values must be used The follow ing table will indicate which values to be used in combination with which input that is used For 101 108 Filtered or Non filtered an analogue voltage of 0 5V is sampled Anything above this will result in a 5V reading IOI IO8 5V 1023 Counts For Bus voltage and the CVI selection the scaling is as follows 1023
310. rmat which is then interpreted by the SMC75 s firmware The existing set of graphic commands covers most situations but when special needs arise anything that can be done with SMC75 programs can be done with a binary command If special needs arise that are not covered by the other commands contact JVL for assistance JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 205 9 7 Graphic programming command reference 9 7 25 Calculator basic Dialogue Velocity Reg 5 Velocity Reg 5 1 69 Velocity Reg 5 e3 WeleitvReg5 zl ED z E zl Function Performs a calculation using register values constants and the four basic arithmetic operations and The result is stored in a register Arithmetic operations take place in the order that they are specified Operands arguments can be either integer constants or registers The caption of the dialogue box shows the resulting expression in traditional infix format It is continuously updated as you type in the expression Note that if you write a value to a register using this command that value is always measured in native motor units Conversion from generic engineering units is only supported for the commands Set a register in the MAC motor Jump according to a register in the MAC motor and Wait for a register value before continuing 206 JVL Industri Elektronik A S User Manual
311. rmation on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 195 9 7 Graphic programming command reference 9 7 9 Set outputs Dialogue t Multiple Output Na state Cancel Output 1 Low Output 2 High Output 3 t Low pulse ms a m Z Dutput 4 m High pulse Output 5 Output 6 Output 7 Output 8 Output type t Single Outputs Cancel Output 1 Don t care Output 2 Don t care Output 3 Don t care Output 4 Don t care Output 5 Don t care Output Don t care Output 7 Don t care E NM NE NE NEM NE DE Output 8 Don t care Function Sets one or more outputs When setting a single output you can set it to high low or you can specify the length in milliseconds of a pulse to send out on that output When setting multiple outputs you can specify whether to set each output high low or leave it in its curren
312. rn Table modes 0 disabled linear position 1 Only move in positive direction 2 Only move in negative direction shortest route Enables Register 127 Size of the Turn Table when in Turn table size turntable mode enabled by register 126 Dedicated inputs Negative limit input Dedicated inputs Positive limit input Input mask for home sensor Dedicated inputs input s each bit set select which Home input I O 1 8 to use 135 136 137 138 139 140 141 142 143 144 145 INPUT FILTER 32bit INPUT FILTER 32bit 5 ms _CNT M ASK a Ld M ask iint MASK 32bit a Mask Output mask for error output 2412 01 Input mask for the digital inputs with input filter Bits set use the digital input filter enabled input filter time in register 136 bits clear use a fixed update time of 100 us The number of milliseconds the filtered digital inputs must be stable before accepting a change Output mask for In position output Input filter time Dedicated outputs In position Dedicated outputs Error See Voltage mec pu mo o Count fee mu Voltage Resurinput 32 bit m CviVoltage i Reserved uu Used with FastM ac commands 23 N A and 24 for changing both the actual and requested position in one operation either absolute or rel
313. rocess allocates each participant the bus access right in line with the priority of the message they want to send at that particular moment Each participant can therefore communicate directly with every other participant As the transmission of a message can be initiated by the message source itself then in the case of event controlled transmis sion of messages the bus is only occupied when a new message is on hand No loss bus arbitration As the bus is accessed at random under the CAN protocol it is possible that several par ticipants try to occupy the bus at the same time In other random bus access routines this causes the destruction of suppressed messages In order to solve such a bus access conflict a repeated occupation of the bus is required using an appropriate triggering strategy The CAN protocol therefore deploys a routine to ensure that the message with the highest priority at any given time is sent without any destruction of message contents Short block length The maximum data length of a CAN message is limited to 8 bytes This data length is usu ally sufficient to transmit the information occurring in the lowest field area ina CAN mes sage 10 1 5 Header A CAN message transmits the communications object and a variety of management and control information The management and control information bits are used to ensure error free data transmission and are automatically removed from the received message and inserted befo
314. rom shaft end Analogue Input Resolution 12 Bit E eee O o o o Gerard Communication 9 6 to 921 6 kbps Type Optional Ae DEPO L0 022010330 _ DSP402 V2 0 DS301 VS3 0 2 0B Active Isolation Open Loop Configuration option H2 ox option H3xx 5 Accel Deceleration 3x10 RPM s 9 54 RPM s Electronic Gearing Range Resolution Threshold 0 00003 to 32768 32 Bit External Clock In Math Math Functions x gt lt lt gt AND OR XOR amp tions Moving Fault general Purpose PartyMode Addresses Stall Detection Position maintenance Find Index Operating storage temp Ambient 0 to 40 C 32 104 F 20 to 85 C 4 to 185 F Humidity 90 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 263 12 3 SMC75 Technical Data Only SMC7S 12 3 1 SMC75 Technical data Power supply Condition P supply current No load CV CV supply current Unconnected I O V for CAN 4 5 5 5 5 V User outputs O1 08 o o o o Output source current pr channel CV 24VDC 8 sourcing 75 mA 4 sourcing 100 mA sourcing 350 mA Output sink current 0 mA Output voltage User inputs 11 18 _ Sd Input impedance 10 kOhm Voltage applied to any input 0 5 22 V Analogue input nominal 0 5 0 V Logic RS232 GV Tx output low level 0 45 V Tx output high level 4 4
315. ror tracking and diagnostics counters can be copied to the general purpose regis ter 1 8 and VI 8 by writing to the Command register 24 This can also be done by writ ing the value into MacTalk Command field on the Advanced tab and pressing Enter Saved positions Run Seconds and counters A command value of 260 will result in Last saved values of the Actual Position P IST P2 Total number of times motor has been powered down P3 Total number of seconds the PCB has been running with a valid CV supply voltage P4 Total number of times a PLC program has been uploaded P5 Total number of times the motor parameters have been saved to flash button in MacTalk P6 Last saved external encoder value P7 Last saved SSI encoder value V3 Last saved Encoder position internal magnetic encoder A command of 265 will result in P Last timestamp in Run Seconds the Follow Error was set P2 Last timestamp in Run Seconds the Output Driver Error was set P3 Last timestamp in Run Seconds the Position Limits Exceeded Error was set P4 Last timestamp in Run Seconds the Low Bus Voltage Error was set P5 Last timestamp in Run Seconds the Over Voltage Error was set P6 Last timestamp in Run Seconds the Temperature Too High Error was set P7 Last timestamp in Run Seconds the Internal Error memory test error was set Number of times the Follow Error was set since the last Error Reset command
316. roup indicate which terminals circuits that a galvanic connected to each other In other 1 ND 2 3 jm 4 1 A n Violet A words group 1 2 3 and 4 are all fully independantly isolated from each other Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply 36 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 3 Cables for the MISS4xxxxQ5xxxx The following cables equipped with M12 connector can be supplied by JVL MIS34x Connectors Description JVL Order no CN2 CN3 CN4 i 5pin 8pin 17pin Female Female Female RS485 Interface cable Connects directly from the MIS motor to a S 4 5 RS485 comport RS485 M12 1 5 5 Length 5m 197 inch RS485 Interface cable Connects directly from the MIS motor to a _ 4 R RS485 comport RS485 M12 1 5 8 Length 5m 197 inch USB to RS485 Converter To be used if RS485 COM port is avail RS485 USB ATC 820 ble Cable 5 5mm with M12 male 5 pin connector loose wire ends 0 35mm 22AWG and foil screen W1I1000 M12MSTOSN Length 5m 197 inch o OX same as above but 20m eri Same as above but 20m 787 inch Wmooo MizMST2ON Wmooo MizMST2ON M12M5T20N Cable with M12 male 8 pin connec X tor loose wire ends 0 35mme WI1000 M12M8TO5N 22AWG and screen Same as above but 20m 787 inch WI1000 M12M
317. s the selected latest MacTalk Version 1 50 Build 43 New features and Improvements The progress counter will now rise from 0 Now supports Ethernet connection to the MACOD Exx Ethemet to 100 Curent MacTalk version 1 49 EthemetlP and ProfiNet is supported For more details please find the Ethernet module manual on www jvl dk Now supports the embedded feature in the MAC400 This feature requires firmware version 2 05 or greater and either the MACUU B41 or the 0 madule Now supports MACOU EMx Modbus TCF module FaF register lists are updated to include all registers in MA Downloading release nobez from Ihe Internet Hew MacTalk wersion I Step 4 When the download process is finished the status shows Update ready Press in order to start the new version of MacTalk Update ready The new version is downloaded MacTalk wil now dose and the new version wil start in a few seconds Step 5 After MacTalk have restarted the version number of the new MacTalk can be observed in the top of the screen File View Motor Programming Updates Help MacT Veron 1 50 43 ll amp t S Save in fash Reset postion Cee emors Remet motor EE TM a Advanced Programming 60 The complete update is finished TT2342 0I GB JVL Industri Elektronik A S User Manual Integrated Stepper Mot
318. s Digital inputs features All of the eight I O signals can be used as digital inputs The sampled and possibly filtered value of each input is stored in the Input s register reg 18 Unlike the analogue inputs there is only one value for each digital input so it must be configured to be either unfil tered or filtered Unfiltered high speed digital inputs are sampled every 100 uS micro seconds Filtered digital inputs are sampled every milli second and the filter value can be set in the range 0100 mS so the filtered input must be sampled to have the same logical value for that number of samples in a row Once an input has changed state after passing the filtering it will again take the same number of samples of the opposite logical level to change it back For example if the filter is set to 5 mS and the start value is 0 zero the input will remain at zero until three samples in succession have been read as one If the signal immediately drops down to 0 again it will take three samples of zero in suc cession before the register bit gets set to zero Note that filtering of the digital inputs does load the micro controller so if filtering of the digital inputs is not needed ALL the inputs can be selected as high speed to reduce the load JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x e 3 2 3 1 Analogue Inputs PC card or Note screen only Potentiometer tosignal source
319. s Range Default Unt MacTalk name 25bit 100kHz frequency pre SSI Setup 32bit 16Bit pare time 100us Number of data bits Clock frequency Disable interrupts when Reading SSI Description This register contains status bits for the analogue input filters The lowest eight bits hold Register 107 SSI Setupl 16 bits The low byte selects the number of data bits in each SSI transfer The valid range is 0 to 31 corresponding to to 32 data bits The high byte selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Due to the nature of the firmware timing some timing jitter can occur while reading SSI data Some encoders doesn t allow this or run with a very tight bit timing so that the firmware timing jitter causes trouble To prevent this interrupts during SSI reading can be disabled by setting the MSB of the high byte In this way the timing is strictly control led If the timing isn t critical and the motor velocity is high we recommend that the in terrupts isn t disabled Register 108 and 109 below is not supported in the existing firmware but will be supported soon 8 3 51 Pulse signal Reg Name Size Access Range Default Unit MacTalk name Pulse Direction JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 165 8 3 MIS34x amp MIS43x Registers 8 3 53
320. s MIS23x 34x 43x 107 108 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Registers JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 109 8 1 110 Introduction to registers All of the motor registers can be accessed either through the RS485 interface or over CANopen When accessing registers over CANopen they are mapped to object indexes 2012 and 2014 hex with the sub index equal to the register number 1 255 Use index 2012 for the 32 bit registers and index 2014 for the 6 bit registers For example to access register 3 P SOLL use index 2012 subindex 3 To access reg ister 5 V SOLL use index 2014 subindex 5 This is described in more detail in CAN open Introduction page 209 All of the registers can be accessed over CANopen with the same Read Write access re strictions as when using the RS485 interface Some registers are tagged as R for Read only There are different reasons for this such as protecting the serial number from being changed or indicating that the value in regis ters such as analogue Inputs will never be read by the motor but always overwritten us ing the latest sampled values In the following sections and examples position velocity and acceleration values are based on a 200 step motor running with 1 8 steps having 600 increments per revolution in total Due to the fact that the MIS23x and SMC75 is based on a 6bit
321. s a build in data validation function which automati cally compares the current sample with the previous and makes sure that the deviation is within the Max sample deviation limit Number of samples determines how many samples one measurement contains If the measurement fails a retry is attempted if number of retries has not exceeded the Read Retries value Sample x Sample x 1 lt Max sample deviation OK Sample x Sample x 1 gt Max sample deviation ERROR If the number of retries has exceeded the Read Retries value and the measurement still reports an error the reading will be discarded and SSI Encoder value still shows the last correct measurement An error bit will be set in the ERR BITS register 34 on position 11 MacTalk will report this error Outputs lS W uu la Eneeedt elecib External encoder error 0 Counts 0 Counts s v Warnings Y TT2481 01GB Additional hardware settings Some LIKA SSI encoders offer 2 additional hardware settings for instance Zero Setting and Invert Counting Direction These settings can be controlled by having user I O 5 and 6 set as output Consult the datasheet for the specific encoder to read more about the behaviour of these settings and to make sure they are available JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 73 5 4 SSI encoder sensor interface 5 4 4 Setup and
322. s is available as stand alone boards to be used with any stepper motor which require a motor current in a reasonable range within what the board can handle The 2 available boards available are the SMD73 and SMD74 which are both non programmable drivers for stepper motors The 2 drivers have the following main specifications SMD73 18 28VDC supply motor current 0 3 0ARMS per motor phase e SMD74 18 48VDC supply motor current O 3 0ARMS per motor phase For applications with higher torque performance at higher speeds In the past decade pulse direction interfaces have be come increasingly popular for the control of step and servo motors This is due to the fact that pulse direction signals provide a simple and reliable interface which is 100 digital precise and offers immediate response When a pulse is sent the motor instantaneously moves step forward For example if the motor has a resolution of 200 steps revolution it will move 8 degrees By changing the frequency of the applied pulse signal it is possible to ac celerate the motor 250 SM D73 74 Bottom side Step motor drivers SIVIDxx MST001 Motor mounted with SMD73 TT2324 01GB By counting the number of pulses the motor s po sition can be determined without any error what soever The direction input is used to determine the motor s direction of rotation JVL s QuickStep motors with pulse direction interface offer the fol lowing advanta
323. s not valid after a firmware update please follow the chapter How to Preset the encoder position page 78 5 Finally press the Clear Error button in the main toolbar in order to clear any errors caused by the update 82 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 6 Position Limits 5 6 1 Position limitation features The MIS motor family offers 2 different methods of limiting the movement of the motor In some applications it may be fatal or critical if the position of the motor passes a certain mechanical position range The 2 methods are as follows e End of Travel Limit Inputs Limit switch inputs for detecting the physical position of the mechanics Software Position Limits Limits in software to prevent the motor to move outside a certain position range The next pages describe the function and how to use these 2 methods 9 6 2 End of Travel Limit Inputs Any of the 8 general inputs IO to 108 can be used as limit inputs The input can be set from MacTalk or via register NL Mask page 135 or PL Mask page 136 Positive limit PL Activation of the Positive limit PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Negative limit NL Activation of the Negative limit NL Input will halt motor operation if the motor is mov ing in a negative directio
324. s when to consider the startup as completed and supply voltage as sta ble 172 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS43x Registers 8 3 77 Save threshold voltage 717 8 EN Threshold Save Threshold Description When voltage drops below the selected value the absolute position information and oth er information is instantly saved to flash memory Save Threshold Voltage selects the voltage threshold that will trigger the flash save op eration and stop all other motor operation When register 142 has the value 12 the scaling unit of register 141 is the same as register 97 Bus Voltage 1023 111 4 The register 142 has the values of 1 8 or 81 88 the scaling unit of register 141 is the same as registers 81 96 1023 5 0V The scaling of this value follows the one of the Acceptance Voltage register 1 39 8 3 78 Analogue input selection ea Analog Input Analog Input Description Analogue input selection selects which analogue input to use for measuring the power supply It can be to 8 for analogue inputs IO to 108 using the unfiltered values for fast response 81 to 88 for analogue inputs IO to 108 using the filtered values for noise immunity 12 for the bus voltage used for motor supply and finally 13 for measurement from HW rev 1 7 and up Any other value will disable the flash
325. se note that the turntable function changes the behaviour of P SOLL See Turntable Mode page 135 Example If P SOLL 800 and then P SOLL is set to 800 the motor moves one revolution forward If P IST 231 100 2147483548 and P SOLL is set to 231 100 2147483548 the motor will move 200 steps in the positive direction 152 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp MIS4Sx Registers 8 3 5 V SOLL es 2 30000 E Description The maximum velocity allowed When in velocity mode the motor will run constantly at this velocity Specify a negative velocity to invert the direction This value can be changed at any time Example V SOLL 25000 will limit the velocity to 250 RPM 8 3 6 A SOLL 6 A SOLL 1 500000 1000 RPM s Description The acceleration deceleration ramp to use If this value is changed during at movement it will first be active when the motor stops or changes direction Example A SOLL 100 will set the acceleration to 100 RPM s 8 3 7 Run Gurrent RUN CURRENT 0 511 5 87mA Description This register sets the running current for the motor 5 1 1 is the maximum possible cur rent corresponding to 3A RMS The running current is active when the motor is running and after it stops until the specified standby time has elapsed See Standby Time page 118 When the RUN CURRENT is changed the new motor current will be set inst
326. sed to connect the motor to the controller 0 7 5mm is recommended Motor cable lengths should not exceed 10 metres because of impedance loss It is possi ble to use longer cables but motor performance will decrease Cables should be securely connected since a poor connection can cause heating and de struction of the connector Similarly tinned conductors should be avoided Important To minimise spurious noise emission from the motor cables and to fulfil CE require ments shielded cable must be used If shielded cable is not used other electronic equipment in the vicinity may be adversely affected The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector Note also that the connector s life time is reduced by repeated connecting disconnecting since the contact resistance of the pins is increased Note that P is connected to the chassis and functions as the main ground on the Con troller See also Motor Connections Section 15 6 page 309 which describes how various models of motor should be connected to the Controller JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 3 How to connect the motor Serial connection of phases Velocity Current for Serial or Parallel connection ero motor 4 2A settting x 1 41 4 2 x 1 41 25 9 Nominal current per phase in accordance with ma
327. sen to high or Ser 4 low on inputs gt us lam law Beet ote Ce eet gets hei 0 Dedicated Inputs meta Selection of Inputs for Selection for Inputs ber E ent T HM NL and PL HM NKL and PL Diam z Lit external encoder 2 also be selected here ENRE Selection of output for Disi bal defined as either quadrature ee ue x nmt E In Position and Errors PUER Tes T pulse direction type xi ES Uus TELLETT Status of the inputs Selection if it shall S M E s LLL Status of the outputs be Inputs or Outputs D ey mr con te D Laghi epa matid Dedicated Outputs eit bea c he eat Selection for outputs In position 7 mM indi oui i dA Bega For eatin In Physical Position Error Tn d pa Far output It can also be selected Werne if the pulses generated shall be used internally externally or both and which output should be used for pulse and direction signals Input filters Selection if lO s Filter time constant can be adjusted here Here the filter for the shall use filters The same value is used for all inputs if filter TT2183GB digital inputs can be selected inputs are enabled The analogue value of certain inputs can be read Click at the
328. sent first for time critical applications New devices can easily be inte grated on an existing bus without the need to reconfigure the entire network The de vices are connected through a 2 wire bus cable with ground and data is transmitted serially JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 1 10 1 4 General information about CANopen Terminator Terminator CAN H CAN Node i CAN Node CAN Node master slave Slave CAN network CAN_L mosoos CANopen general information CANopen is a CAN based higher level protocol The purpose of CANopen is to give an understandable and unique behaviour on the CAN network The CAN network is the hardware level of the system and CANopen is the software level CANopen is based on the communication profile described in CiA 05 301 and specifies all of the basic com munication mechanisms CiA 05 301 contains message types on the lowest software level The DSP 402 CAN open standard defines the device profile and the functional behaviour for servo drive controllers frequency inverters and stepper motors The DSP 402 constitutes a higher software level and it uses the 05 301 communication but makes the device independ ent of the manufacturer Not all JVL functionality is available The CANbus with real time capabilities works in accordance with the ISO 1898 stand ard The major performa
329. so connected 4 Ensure that all units have a proper connection to safety ground earth in order to refer to the same potential Address 2 5 The last unit in each end of 85485 the network must be termi Interface nated with a 120 Ohm re sistor between A and B Supply Control voltage 6 Ensure that the supply lines Only MACSO 141 with d ce 2 4 are made individually in or der to reduce the voltage drop between the motors MAC800 7 Central Controller RS485 i ms Address 3 interface p 85485 If available it is strongly rec Interface ommended a type with op 32VDC tical isolation is used Supply Mains 230VAC lt lt Up to 32 M ain supply Motors 21816 Opto isolation is recommended lt The last unit in each end of the line must be terminated The MACOO B1 B2 and B4 contain this feature See the individual module descriptions The QuickStep motor does not have a resistor built in the resistor has to be mounted externally for instance in the M 12 connector Each unit connected must be setup with an address via The M acTalk program If only one unit is connected no address is needed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 7 Special Outputs 2 7 1 Error Output Error output can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in reg
330. st Confirm TT1088GB Indication reserved Response Upload SDO protocol The upload SDO protocol is used to read the values in the object directory of the drive Client Request Confirm TT1088GB Indication Response Table for upload and download SDO protocol 9 sc m Je s m 1 Initiate down load request 2 Initiate upload request 3 Initiate download response 2 Initiate upload response Only valid if e21 and s 1 otherwise O If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain data Only valid if e 1 and s 1 otherwise O If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain data CCS Client command specified SCS Server commander specified Transfer type 0 normal transfer 1 expedited transfer Transfer type 0 normal transfer 1 expedited transfer Size indica tor O2data set size is not indicat ed 1 data set size is indicated Size indica tor O data set size is not indicat ed 1 data set size is indicated Multiplexer It repre sents the index sub index of the data to be transfer by the SDO Multiplexer It repre sents the index sub index of the data to be transfer by the SDO JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 5
331. st Position only valid for the Absolute Multi turn Encoder option Bit 9 Encoder Reed Error only valid for the Absolute Multi turn Encoder option Bit 10 Encoder Communication Error only valid for the Absolute Multi turn Encoder option If any of these bits are set the motor is in a state of error and will not move until all the errors have been cleared Some of the errors can be cleared by writing zero to this register Other errors will require hardware fixes or intervention such as allowing the motor cool down or adjusting the power supply voltage 158 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8 3 MIS34x amp 543 Registers 8 3 27 Warn Bits 36 WARN BITS 32bt RW Ft Specal Warnings Description Warning bits Bit 0 Positive limit active This bit will be set as long as the positive limit is active Bit Negative limit active This bit will be set as long as the negative limit is active Bit 2 Positive limit has been active Bit 3 Negative limit has been active Bit 4 Low bus voltage Bit 5 Reserved Bit 6 Temperature has been above 80 C These bits provide information on both the actual state and remembered state of the end position limits the supply voltage and the temperature These are used for diagnostic purposes as well as handling position limit stops also after the motor may have left the end position mechanically 8 3 28 Start mode 37 ST
332. ster Error and it is part of the emergency ob Register 1001 UNSIGNED8 ject If any of the sub indices are high an error has occurred See also section 10 4 2 Mandatory Lo fd Generic error Mandatory Lo S o j Jewm 0 o Lo 2 jvege Temperature 00 000 Communication Overrun Reserved Manufactor specific Reservation of PDOs Reserved numbers of PDOs Reserved numbers of syncPDOs Reserved numbers of asyncPDOs Manufactur VISIBLE er device Med STRING WEE die VISIBLE STRING version Manufactur er software version VISIBLE STRING Example Version x x JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 223 10 4 Objects in the 05301 standard Index Read hex Data Type only Description Informs about the Guard time in milliseconds Is only mandatory if Guard time 100 UNSIGNED16 the module does not support heartbeat Hetime Is the factor that guard time is multi factor 100D UNSIGNED8 plied with to give the life time for the node quarding protocol Heartbeat If the Heartbeat timer is not Identity Contain general information about lo Number of entries Mandatory Vendor ID contains a unique value UNSIGNED32 0x0117 allocated to each manufactor 117h is JVLs vendor ID Mandatory Product Code identifies a specific UNSIGNED32 0x0200 device version SMC75 has the code 200H N
333. sters are referred to as VI V8 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 2 36 An Reg Name Size Access Range Default Unit MacTalk name Description These four general purpose Acceleration registers are referred to as Al A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 2 37 Tn Reg Name Size Access Range Default Unit MacTalk name 77 80 0 511 587mA Current n Description These four general purpose Torque registers are referred to as 1 4 and can be used to change the velocity in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands They select the current the motor windings used during movement 126 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MiS23x Registers 8 2 38 Analogue Filtered oA MC ORL eT 81 88 Analogue Filtered 16bit R 0 1023 0 4888mV N A Description These eight registers hold the software filtered analogue value of each of the eight I Os to IO 8 Their values are updated every ten milliseconds See the AFZUP xx reg isters 100 106 for the filter parameters Impor
334. stri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 1 2 Programmable motors 1 2 1 Block diagram Positioning Speed Control MIS23x MIS34x MIS43x Integrated Stepper Motor Main supply SMC75 or SMC85 Controller P 12 48V SMC75 P 12 80V SMC85 Switchmode Driver Power connector 2 28V logic Power supply P Ground Supply Hi Output E source driver High speed 4 16 75 gt digital logic 2Bit SM array INI Analog is E icroprocessor Digital with IN8 Analog 8 Integrated Flash Digital 8 Optional Encoder EE O D op Optional Tranciever Field Bus Optional MIS23x H2 option 1024 cpr MIS34x and MIS43x H2 option 1024 cpr H3 option 65536 cpr Multifunction I O Interface Optional Optional MIS34x MIS34x Ethernet MIS43x Interface Ethernet connectors TT2140 02GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 1 3 General description The QuickStep motors are currently available in 6 different models divided in 2 families NEMA23 covers MIS231 MIS232 and MIS234 with holding torque ratings from 1 1 to 3 0 Nm and NEMA34 covers MIS340 341 and 342 The basic functions and I O features are the same for all models MIS43x models up to 25 0 Nm are under development Motor Type misi misma
335. supply must be connected to the motor as shown in section 10 2 6 PC PC with a CAN adaptor and software that can communicate with this module or if the CanOpen Explorer software is used the PCAN USB Dongle from Peak system that is connected to a USB port on the PC The Peak systems web site address is http www peak system com This includes a list of distributors To set up the master download the EDS file from the JVL web page see section 10 2 2 This file contains all register set up data for the SMC75 For details of the node ID and the Baud rate see section 10 2 4 The power supply must be con nected to the motor as shown in section 10 2 6 If CanOpenExplorer is used see the following method for testing the motor communication Install CanOpenExplorer Connect the motor to the USB port via the Dongle Connect power supply see section section 10 2 6 or section 2 Run the CanOpenExplorer program on the PC Select the correct node ID in the slave using MacTalk See section 10 2 4 2 Select the EDS file For all the MIS motors this file is SMC75 eds 3 Load the EDS file by pressing load 218 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 3 Using CanOpenExplorer TTIIOOGB JVL CanOpen Explorer BE Iblversion Node ID 5 Sync Time 50 Enable Sync Stop Guard time EDS File smc75 eds Cum D 200 ENTRE Stop Communication MessagelD Length Data
336. t 0 SCO O v9 O 1000 0 0 0 0 ro o 10 T oro ose 11990 o vL 6 1 osz ezeo 96 90106 LESIN r 0 66 sz amp 0 amp 6 6601076 ovesiN y Rear shaft lt 680 0 imensions 9 0 0 354 m 86 41 3 402 69 57 2 74 103 9 4 09 TS000 0 0 100 0 Physical D Physical dimensions MIS340 MIS341 and MIS342 10 03 0 395 t 12 5 2 12 5 Z1 SOE 800 2 TM PERENNE 200 4 lt 0 86 0 Sz TVESIW pue OVESIW 800 0 Z 0 48 010 ety Soe ZVESIW vO 0 O LT H 8E T JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 268 12 5 Physical Dimensions Only MIS43x 12 5 3 Physical dimensions MIS432 N e eo 5 x e 3 d e e LO EE D 4 m N e N N e N N 115 31 4 540 127 49 5 019 a e amp g 9 o o m Ke 109 86 4 325 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 269 12 6 Life time Only MIS34x 12 6 1 Life time of ball bearings in MIS34x The curve below can be used to determine the relation between the radial load at the motor output shaft and
337. t state 196 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 9 7 10 Icon Graphic programming command reference Unconditional jump Dialogue None After selecting this command the mouse cursor changes The next program line that you click on will become the destination for the jump Function 9 7 11 Jumps to another line in the program Conditional jump single input Icon X Function JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x t Multiple Cancel Input Input condition t Input 1 f Low Input 2 High Input 3 t Falling Edge Input 4 t Hising Edge Input 5 Input B Input 7 Input 8 Motor Error 2 x x n b In Position Tests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Single the command can test a single input for one of four possible conditions the input is low the input is high the input has transitioned to low Falling Edge or the input has transitioned to high Rising Edge If transitions are tested for the transition must have taken place during the last 30 microseconds After pressing the OK button the
338. tal Input Filters in this manual 8 3 73 Inpos Mask Reg Name Size Access Range Default Unit MacTalk name Dedicated Outputs Description Selects which one of the eight pins to use for the dedicated function of In Position Output Exactly one bit must be set and the pin must be configured in register 125 as an output The In Position output will then be set after a movement has completed Example If output is to be used for the In Position Output write 20 to this register 8 3 74 Error Mask Reg Name Size Access Range Default Unit MacTalk name Description Selects which one of the eight IO pins to use for the dedicated function of Error Output Exactly one bit must be set and the pin must be configured in register 125 as an output The Error Output will set be set when any error is set See register 35 Err Bits page 123 for more information on errors Example If output 3 is to be used for the Error Output write 22 4 to this register JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 171 8 3 MIS34x amp MIS4Sx Registers 8 3 75 Acceptance voltage Size Access Range Default Unit MacTalk name Acceptance rA Acceptance Voltage 32bit Rw 32bit Counts Voltage Description Acceptance Voltage selects the voltage threshold that defines when the power supply is ready to use for erasing the used fl
339. tant Also read the section on analogue filters in this manual To use the unfiltered values of the inputs for faster updates but with no noise immunity use registers 89 96 instead Analogue In page 127 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 2 39 Analogue In 89 96 Analogue Input 16bit__ R 0 1023 4 888 mV Description These eight registers hold the unfiltered analogue value of each of the eight I Os IO to lO 8 Their values are updated approximately every 182 micro seconds To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead Analogue Filtered page 127 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 2 40 Busvol i Ce eS 97 BUSVOL 16bit R 0 1023 109 mV Bus Voltage Description The supply voltage inside the motor is continually measured and stored in this register This value is the basis for the warnings and errors of Low Bus Voltage and Over Voltage 8 2 41 Min Busvol 98 MIN BUSVOL 0 1023 109mV Min Bus Voltage Description Trigger point for under voltage JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 127 3 2 MIS23x Registers 8 2 42 Encoder_Typ megane 8 Range TU ENCODER TYPE 16bt R 040 Tooltip on motor 8 2 43 Afzup WriteBits Peg Name Sre Access Range _ Defeutt_
340. tating this number of steps in either direction This register selects one of three modes that define how the motor should move to a new position when the P SOLL register is changed If the value of this register is zero the motor will not operate in turntable mode In mode 1 the motor will always move to a new position by turning in a positive direc tion So to move one step backwards it must instead move Turntable Size steps forward In mode 2 the motor will always move to a new position by turning in a negative direction In mode 3 the motor will move in the direction that takes the smallest number of steps to reach the new position Note that the motor will not move at all if the new position in register P SOLL is either negative or larger than the value of register 127 Turntable Size 8 3 65 Turntable Size ee T ILL RD MN Description lf turntable mode is selected in register 126 the number of steps needed for a full revo lution of the turntable is set in this register Note that the register P SOLL must always have a value between zero and the value in this register minus one Negative values are not allowed for P SOLL or Turntable Size 8 3 66 NL Mask ae ee Dedicated Inputs Description Selects which one of the eight IO pins to use for the dedicated function of Negative Po sition Limit Exactly one bit must be set and the pin must be configured in register 125 as an input Example
341. te the Physical Position bit continuously Communication Motor address 254 The settling delay time between the retries when doing autocorrection When selected the in position flag will realtime indicate if the motor is within the position window compared to a perfect move TT2338 01GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 79 9 9 9 9 4 80 Absolute Multi turn Encoder Operation of the encoder when NOT using MacTalk The following description is useful for reading the encoder or presetting a new encoder value if MacTalk is not used for the communication This could for example be when using one of the Ethernet options Reading the encoder position The encoder position is read from the register 46 AbsEncPos The value is scaled to match the motor resolution which means 409600 counts per motor revolution Presetting a new encoder position Write the new encoder value to register 144 P NEW and afterward write 316 into the register 24 Command reg Notice that this value must match the motor resolution which means 409600 counts per motor revolution Optionally the desired position value P SOLL andP IST can beset to the same position by writing the value 19 to the register 24 Command reg JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 9 9 9 9 Absolute Multi turn Encoder Position retention time
342. ted from the MacTalk main window or by sending a command via one of the serial interfaces Select the Zero search mode search using this field The selected format will Zero search mode Disabled E be used as follows Lee ince eter sera Immediately after ther motor is powered up 1000 1000 only the Power up Formats zero search position 5 If a search is initiated via the serial search velocity interface ero search ero search made 1 Disabled Use index ais Zero Power up Sensor type 1 ero search position Power Sensor tupe Aunts ero search velocity 140 10 2170 The menu offers 3 options Disabled default The Zero search is disabled Power up Sensor type The Zero search function will start seeking for Zero until an external sensor is activated The point at which the sensor is activated is defined as the zero Power up Sensor type 2 Like above Sensor type 1 but after the sensor is activated the direction of movement is reversed and the point at which the sensor is disabled is defined as zero The following sections explain in detail the functionality of the 2 fundamental Zero search modes 6 5 2 Starting a Zero search If the Zero search mode is set to Disabled no Zero search is done at any time unless writ ten in a program If one of the 2 modes Power up Sensor type or Sensor type 2 is selected the respective Zero sea
343. ted position T Operator gt Greater or equal Cancel Mo 1 Position Reg 2 Compares two registers with each other before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program Any two registers can be compared with each other but the command does not do anything beyond comparing the registers numerical values measured in native motor units To ensure that comparisons are meaningful it is preferable to compare registers that hold the same type of information in the same binary format In the example above two position registers are compared Both hold position information both are 32 bit wide and both measure position in encoder counts Such a comparison will always yield meaningful predictable results For other types of re ister sections 208 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 CANopen Introduction This chapter deals with JVL s Step motor controller SMC75 which is used with the MIS231 MIS232 and MIS234 motors on a CANopen network The chapter covers the following main topics General introduction a section with general information about CANopen See section 10 1 1 to section 10 1 5 Setting up the Baud rate node id and termination of the C
344. the first time programming can be started Press the button at line and a tool box will pop up ix De pem EAF php Hyd G W B bh D d Tam ent ape eee Cha mun ieee Mee hp CON Gam lm mamas Tum emp alos amma hing e Fas EGEAS Deb Pape ng ee emi ruined t Press the first button to create toh arm the first program line The Select command box will Lom cere M e depo 7 eS a ibo Tess iy Choose the desired command In this example it is desired to wait for an input to be activated before further program execution dba ED Ste CESTA GedF ee ab qd Choose to wait until input 5 is high and press OK ITE x De Bee Re Je pem mb gt Tesi lin ini pim anum aem ung flee Thee COP CER 4 bige Pie Aeon pete Tats rope HAC Me OE Fa ansia pend v me The command is inserted at the ED om previous selected program line a ee 8 a T a TT0983GB Continued JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x TI _ 311 idi s B ti
345. ting Disable Error on travel limit Placed at the main tab in MacTalk which may require an extra procedure before motion of the motor is possible again When not disabled default The motor will stop and an error is reported The motor will go to passive mode and stay in passive mode The error need to be cleared and a mode have to be re entered in order to move the motor in the opposite direction away from the limit point When disabled The motor will stop No error is reported and the motor can immidately be moved in the opposite direction without further action 2 Function when the motor is in Velocity mode The motor will move until it reaches the limit point whereafter it will decelerate with the Emergency deceleration and stop behind the limit point Moving backwards from the stop point is done similarily The stop may cause an error which is determined by the setting Disable Error on travel limit Placed at the main tab in MacTalk which may require an extra procedure before motion of the motor is possible again When not disabled default The motor will stop and an error is reported The motor will go to passive mode and stay in passive mode The error need to be cleared and a mode have to be re entered in order to move the motor in the opposite direction away from the limit point When disabled The motor will stop No error is reported and the motor can immidately be moved in the opposite direction without further TT2475
346. tion The number of times to attempt AutoCorrection A value of zero disables AutoCorrection TT2444 01GB Reg 35 Name ERR BITS Size 16bit Access Range Default Unit R W 0 Special MacTalk name Errors Description Error bits In general the motor will be set in passive mode if any error occur Bit 0 General error always set together with another error bit Bit 1 Follow error Bit 2 Output driver error Bit 3 Position Limit error Bit 4 Low bus voltage error Bit 5 Over voltage error Bit 6 Temperature too high Temperature has passed 90 C Internal error Self diagnotics failed Bit 7 36 WARN BITS 16bit R W 0 Special Warning bits Bit 0 Positive limit active Bit 1 Negative limit active Bit 2 Positive limit has been active Negative limit has been active Bit 4 Low bus voltage Bit 5 Reserved Bit 6 Temperature has been above 80 C Warnings Bit 3 TT2445 01GB 288 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 MIS23x amp SMC 75 Registers detailed JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Reg Name Size Access Range Default Unit Description MacTalk name 37 STARTMODE 16bit R W The motor will change to this Startup mode mode after powerup
347. tion commands Note that motor register no 5 V SOLL will always be overwritten with the value specified in the New velocity field Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acceleration value specified Register no 49 is always overwritten by this command This command always waits until the movement is finished before proceeding to the next line in the program 192 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 9 7 Graphic programming command reference 9 7 6 Move Relative set outputs Dialogue Move type Relative Relative velocity change at distance Cancel f Relative set outputs Output type Absolute Sensor General parameters Single Multiple Distance 0 Counts i Output Ma Output state Acceleration o RFM f Low Output 1 Velocity n RPM i 2 t High Output 3 Law pulse the current velocity acceleration Output 5 Output 6 D D D Enter 0 in velocity or acceleration to use t Output 4 t High pulse EN Output EI Function Performs a movement relative to the current position and sets one or more outputs when the operation is completed The distance moved is given in encoder counts and can either be entered directly or can be taken from one of three memory registers in the user memory area For further information
348. to be in mm s The parameters should be set as follows Object Name Calculated value Value 6097 subindex 1 Acceleration factor Numerator eee 53907 6097 subindex 2 Acceleration factor Divisor 954000 10 5 3 Changing operation mode Change of operation mode is only possible when the operation mode is not enabled There is one exception and that is when changing from Zero Search mode to profile po sition mode This is possible when the Zero Search sequence is completed and can be done even though the operation mode is enabled 10 5 4 Profile position mode This mode can be used for positioning in which a move profile can be set up The accel eration and maximum velocity can be programmed In this mode both absolute and relative movement is supported This is selected using bit 6 absolute relative in the status word lt is also possible to select different movement modes This is done with bit 5 change set immediately in the status word When this bit is 0 and a move is in progress the new set point is accepted but the new set point and profile are not activated until the previous movement is finished When this bit is the new set point is activated instantly and the motor will move to the new position with the new profile parameters 10 5 5 Velocity mode In this mode the motor runs at a selected velocity A new velocity can be selected and the motor will then accelerate decelerate to this velocity Th
349. tor Use filters If more than 4 I Os are needed consider using I Os 1 4 for inputs and I Os 5 8 for out puts It is normally possible to install a hardware filter on the digital input signals before they enter the cable With such a good filter noise on the RS 485 signals will not be a problem It is also possible to use filters on the outputs but it is more difficult It can be done by using short cables from the motor to the filters and then using longer cables from the filters to the output targets It may be easier to use a short cable from the motor to a splitter box and then split the I Os in one cable and the RS 485 signals in another cable Use termination resistors on the RS 485 signals RS 485 is typically used to connect a single master PC or PLC to one or more motors in a chain Both ends of the chain must have a 120 Ohms termination resistor connected between the A and B signals There is typically a terminating resistor in the master PC or PLC but there is no termination inside the motors Therefore an external resistor must be connected at the end of the cable out of the last motor in the chain If the last motor has no connection cable a connector with a resistor soldered between the A and B pins should be used JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 9 6 Handling noise in cables As an alternative a connector with a short cable can be used with the resistor s
350. troller with MAC protocol 12 48VDC and optional encoder 85 SMC85 controller 12 80V DC and new high resolution driver NO No feedback H2 Magnetic encoder feedback 256x4 pulses rev Only SMC75 SMC85 MIS23x and MIS34x Absolute multiturn encoder magnetic feedback Only SMC85 and MIS34x M1 M12 1pcs 5pin male SMD73 pulse direction driver M2 M122 pcs 5 pin male power 8 pin female RS485 4IOA SMC75 M3 M123 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 SMC75 M4 M123 pcs 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial 5 8 SMC75 M5 M12 4 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin female RS485 8 pin female 5V serial IOA 5 8 SMC75 M6 M12 4 pcs CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male CAN SMC75 M7 M12 4 pcs DeviceNet 5 pin male power 8 female RS485 IOA 1 4 8 pin female 5V serial IOA 5 8 5 pin male DEVICE SMC75 M8 M124 pcs SSI CANopen 5 pin male power 8 pin female RS485 IOA 1 4 8 pin male IOA 5 6 5 pin male CANOpen SMC75 M9 M12 4 pcs SSI 5 pin male power 8 pin female RS485 IOA 1 4 8 pin male SSI IOA 5 6 5 pin female RS485 SMC75 MA M123 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin male CAN SMC75 M12 4 pcs 5 pin male power 8 pin female RS485 IOA 1 4 5 pin male CAN 5 pin female CAN SMC75
351. ts Description This register can be selected to receive the absolute value of the internal encoder where the Zero search home position was found during Zero Search This is selected by bit O Use Index in register 122 It requires that the internal encoder option is installed 132 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 3 2 MIS 3x Registers 8 2 61 Home Bits Reg Size Access Range Default Unit MacTalk name HOME BITS 16bit R W Special Advanced Zero Search Description Bit 0 Search for index Bit Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Use Limit switch as sensor Bit 4 lgnore switch Used for searching only for index Contains configuration bits that define how Zero Search should be carried out 8 2 62 Setup Bits Size Access Range Default Unit MacTalk name Don t start program after power up Invert motor direc tion SETUP_BITS 16bit Special External Encoder Enable DSP 402 Support Auto en coder synchronize and others Description These individual bits are used to control various functions in the firmware Bit Invert motor direction Bit Don t start program after power Bit 3 2 Select external encoder input format type 0 Disabled Quadrature 2 Pulse direction Bit 4 Enable DSP 402 support 0 default disables DSP402 support Bit 5 AutoEncoderSynchr
352. ts 0 0606060600600600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 9 23 f 25 eria Inte aces OVel View 0 0 606 60690000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 9 RS 185 Interface 06060606060600600600600600600600600600600000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000099 9 26 S 2S pecia onnections 0 06 6060606000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 an Ing noise In Ca es 0 060606006000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 low to connect 1153 1x eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee eee 3 l In ICators at t e x Hardware Non intelligent products 49 Using MacT
353. tures 2 Settherunning and especially the standby motor current as low as possible in order not to heat up the motor unnecessarily 3 Keep the external power applied as much as possible Battery life time as function of temperature Batt level 96 _ Ns N eere A LLL L N A tt ff Scam NULL 8 9 10 11 12 13 14 15 16 17 18 19 20 Years JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 8l 9 9 Absolute Multi turn Encoder 5 5 6 Firmware Upgrade version 2 20 and earlier In MacTalk select Updates Update Firmware to open the Firmware Upgrade win dow Firmware Update Select firmware Version Hardware 5SMC35 firmware 5 534 1543 SMC85 MIS34 encoder firmware SMC85 Encoder Current version Loading version Status View Relase notes Start Exit new updates TT2340 01GB Important If the motor contains main firmware SMC85 firmware older than ver sion 2 00 it is necessary to update the encoder firmware before updating the main firmware SMC85 firmware See chapter How to update the motor firmware page 61 Updating the encoder firmware Select the latest version of SMC85 MIS34x encoder firmware 2 Press Start to begin loading the new firmware 3 When done press Exit and wait for the motor to restart After motor restart 4 Since the encoder position i
354. tween the different members of the MIS family MIS23x SMC75 No special setup is required A read command will simply take care of reading data from the SSI device if its connected as described above MIS34x MIS43x SMC85 These products offer a very flexible interface for connecting many different devices In order to setup these members for SSI support 2 codes need to be executed in a RxP program These 2 commands setup the RS485 interface covering the 4 lines to the SSI device for transmitting a clock and receiving data from to from the SSI device F MacTalk Noname File View Motor eRyP Setup Updates Help 6 OU b fw amp Open Save Save fash Resetposiion ClearErrors Reset Filter setup Man 1 5 Registers Advanced Tests eRxP amp RxF Module Checksum 1363 Stalus Stopped QU 1 Set Register 22310 24 e Set Register 222 to 4160 3 TT2479 01GB 70 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 5 4 SSI encoder sensor interface 5 4 3 MacTalk SSI Setup only MIS23x and SMC75 From MacTalk all configurations and settings are accessible Choosing the Advanced Tab gives access to the SSI encoder value and the SSI en coder setup SS encoder value Command 321 for sample 55 Encoder value 0 Counts 551 Encoder setup Number of Data bits zd Bits Clock frequency 4 Value Prepare time Clk to Data 150 us
355. ty to be in RPM This is the same as the internal unit The parameters should be set as follows Object Name Value 6094 subindex 1 Velocity encoder factor Numerator 1600 60944 subindex 2 Velocity encoder factor Divisor 1600 Example 2 We have an MIS232 that uses RPM as the internal velocity and the same belt drive as in the above Position factor example We want the user unit of velocity to be in mm s The parameters should be set as follows Object Name Calculated value Value 6094 subindex 1 Velocity encoder factor Numerator D 53907 6094 subindex 2 Velocity encoder factor Divisor 100000 Acceleration factor This factor is used to convert the user unit into the internal unit 9 54 RPM s The factor is adjusted with the object 6097h Example 1 We have an MIS232 with 1600 counts revolution We want the user unit of acceleration to be in RPM s The parameters should be set as follows Object Nam jValue 60974 subindex 1 Acceleration encoder factor Numerator 6097 subindex 2 Acceleration encoder factor Divisor 954 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 235 10 5 Objects used in the DSP 402 standard Example 2 We have MIS232 with 600 counts revolution and the same belt drive as the above Position factor example We want the user unit of acceleration
356. ub register 0x05 which is the register to choose the velocity the motor will use Press W on the keyboard type 100 in the window and press OK The value 100 is in RPM 9 Click on the sub register 0x03 which is the register to choose the distance the motor will run Press W on the keyboard type 20000 in the window and type OK The val ue 20000 is in Steps 220 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 10 3 10 3 3 Using CanOpenExplorer Now the motor shaft will rotate slowly until the motor has counted 20000 Encoder puls es If you want to stop the motor then click on sub register 0x02 and write 0 in the win dow and the motor will switch to passive mode If using other software the test could be described as using object 2012h Sub register Width Operation Value Set up the motor The motor rotates the O3h P SOLL 32 bit Steps desired numbers of 20000 encoder pulses Sets the motor 02h 05h 03h Returning the motor with higher velocity eme e 0m VSOL rem ReM Setsuptedesredvelciy 200h m eme mw oe meme How to use CanOpenexplorer After startup the name and details of the HW interface such as PCAN USB should ap pear upper left When you turn on a motor CAN node after having started CanOpenexplorer the Data Window large centre right will contain a message with the number 0x7xx where xx is the node ID For example 0x7
357. uired so cabling costs are a minimum No controller in the control cabinet All positioning and control is performed by the PLC so there is no duplication of software or cabling Robust IP67 connector and IP55 motor housing for applications in demanding environments Thermally protected against current overload and short circuit Reacts instantaneously The motor starts within microseconds 5V or 24V PNP NPN inputs ensure compatibil ity with any controller Step resolution of 200 400 800 1000 or 1600 pulses revolution Supply voltage 8 28VDC based on SMD73 Supply voltage 8 48VDC based on SMD74 Possibility for encoder feedback All the required electronics are integrated in the motor itself in a single compact unit The motor can be supplied with the connector either on the back or side of the housing M12 connector is standard but cable glands or DSUB connector can be deliv ered on request For further information on the pulse direction driver see also SMD73 Data sheet and Tech nical Note JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 1 1 Non programmable motors 1 1 1 Block diagram Pulse Direction Version SMD73 or SMD74 Driver Bus Supply 200 400 800 8 28VDC SMD73 9 J 1000 1600 step 18 48VDC SMD74 Driver Ground O gt gt gt Phase A _ gt Power supply connector PL High speed digital log
358. ump according to a comparison 208 Jump according to a register in the MAC motor 201 Jumps 197 198 201 208 L Life Guarding 246 M MI2 35 37 41 46 217 MI2 connector 7 251 23 01 282 MAB23x 02 282 MACOO B I B2 B4 Expansion Modules 36 37 42 43 45 46 MACOO B4 cables 37 43 46 MACOO BI B4 276 MacTalk 51 52 56 59 Main Loop Time 308 Max P Ist 123 158 Max Voltage 143 177 Min bus voltage 107 Min Busvol 127 162 Min P Ist 122 157 Ministeps 254 MIS23x connections 33 MLT 308 MODE REG 226 229 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 326 17 Index Mode Reg 88 116 151 221 226 229 Modes of operation 10 89 190 236 Gear mode 93 Passive mode 90 Positioning mode 92 Velocity mode 91 Zero search mode 102 106 Motor Connection 257 258 Motor Connections 309 Motor Phases 257 Motortype 141 175 Move Absolute 194 Move Relative set outputs 193 Move Relative velocity change at a distance 192 Move Relative 191 Move Sensor 195 Move current 64 Move operations 190 Multi Master capability 212 My Addr 141 175 N Negative limit 83 NL Mask 135 169 NL negative limit 83 NMT Network Management services 245 Node address 213 Node Guarding Life Guarding 246 Node id 215 Noise 256 Noise emission 256 No loss bus arbitration 212 Notsaved 143 177 NPN output 17 Object dictionary 225 Object dictionary defined for DSP 402 support 232
359. und or common 0 VDC The overall earthing of the system must be done at a central point close to the power supply 2 1 5 Dimensioning power supply and fuse only MIS23x motors The power supply must be dimensioned according to the actual motor size The size of the pre fuse also depends on the actual model of the MIS motor Use the following table to select the power supply and fuse ratings Desired voltage Supply Fuse size Supply Fuse size Supply Fuse size ae 219 48VDC 160W T6 3A 320W T10A PSU24 075 PSU24 240 PSU24 240 PSU48 240 PSU48 240 PSU48 240 power supply PSU40 4 PSU40 4 PSU40 4 Recommended See also the appendix which shows the standard power supplies that JVL offers 2 1 6 General power supply description The supply voltage can be chosen in the range 12VDC to 48VDC However the maxi mum torque is based on 48VDC A lower voltage will decrease the speed torque perfor mance and in general it is not recommended to run the motor at more than 300RPM if for example 24 is used as supply JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 2 1 Power Supply Only MIS23x Power supply connections to a MAC140 or a QuickStep motor Make sure that all Power supply involved units are connected to the same potential 12 48VDC DC e Bus voltage control voltage 12 28 140 Motor with MACOO B1 B2 or B4 Power Supply Allways use shielded ca
360. urrent zero search type etc Monitoring in real time the actual motor parameters such as supply voltage input status etc Changing protection limits such as position limits Saving all current parameters to disc Restoring all parameters from disc Saving all parameters permanently in the motor Updating the motor firmware or MacTalk software from the internet or a file The main window of the program changes according to the selected mode thus only showing the relevant parameters for operation in the selected mode The following pages describe the actual window for each mode and how the parameters affect MIS motor operation 52 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 4 1 4 1 2 Using the MacTalk software Toolbar description The toolbar at the top of MacTalk contains the most commonly used features t ga c a a 3 3 ets Al Open Save Save flash Reset position Clear errors Reset motor Filter setup STOP Motor COM scan Open Opens a setup file from disc and downloads the setup to the motor If no motor is con nected the setup is shown in MacTalk and can be edited and saved to disc again Save Saves the actual setup from the motor to a file If no motor is connected the actual off line settings including module setups and program are saved Save in flash The complete actual setup in the basic motor will be saved permanently in the flash memory
361. ut 1 then the motor will run at 100 rpm if velocity 100 the SMI3x SMC35B The connection between the SMI3x Indexer or SMC35B Controller should be made ac cording to the following diagram SMI3x SMC35B MIS 101 4 SMC75 Clk 2 e Dir 4 e e Gnd 5 ee TT2218CB The Controller SMC75 must be set to gear mode and the input and output for gear factor must be adjusted according to the actual application 274 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 2 Connecting MISxx SMC75 to SMD73 The MISxx SMC75 can control an external driver with pulse and direction signals for pre cise positioning and speed control The 8 outputs can be used to generate pulse direction for up to 4 drivers This can be used for accurate synchronization of two or more motors based on the same source sig nal Use MacTalk I O Setup to set up the outputs to pulse direction signals SMC75 SMD73 with PNP inputs O1 pulse O2 direction O3 pulse O4 direction IN2 IN2 mm O5 pulse Motor 3 O6 direction mne _ mm JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 275 13 3 Connecting MISxx SMC75 to SMD41 The MISxx SMC75 can control an external driver with pulse and direction signals for pre cise positioning and speed control MISxx or
362. utput NB For actual SMC75 connections see Step motor controllers SMCxx page 252 General The Controller is equipped with a total of 8 digital outputs Each output can be used for a variety of purposes depending on the Controller s basic mode of operation The Out puts are not optically isolated from other Controller circuitry The output circuitry is powered from the internal power supply CVI The output circuitry operates with volt ages in the range 5 28VDC Each output can supply a continuous current up to 350mA The outputs are all source drivers i e if a given output is activated contact is made be tween the control voltage CVI and the respective output terminal See above illustra tion Overload of User Outputs All of the outputs are short circuit protected which means that the program and the mo tor is stopped and the output is automatically disconnected in the event of a short circuit The output will first function normally again when the short circuit has been removed Note Do not connect a voltage greater than 30VDC to the CVI terminal as the output circuitry may be seriously damaged and the unit will require factory repair If one or more outputs are short circuited MacTalk will show Error Output Driver and Bit2 will be set in Err Bits Section 8 2 26 page 123 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x
363. x Error Handling Error Handling Use these fields to define error limits for the maximum follow error etc Error handling Follow error 0 Counts Position limit mirn 0 am Counts Position limit max Courts Error acceleration mE RPMS Min bus voltage ils am V alts TT2174GB The MIS motor contains 5 fundamental parameters which are used for protection related purposes They all have effect regardless of which mode of operation the motor is set to use Follow error Only for MIS with internal encoder Follow error is the difference between the target position and the encoder position The target position is the position generated Default is 0 Function disabled Position limit min and max Same as physical limit switches but implemented in software Default is 0 meaning that the feature is disabled If one parameter is different from 0 both values are activated Error acceleration If a fatal error occurs it can be convenient to use a controlled deceleration instead of a sudden stop If the inertia in the system is high and the mechanical parts are weak a sud den stop can cause damage and unintended behaviour Use this parameter to define the deceleration used during a fatal error Default is 0 meaning that the feature is disabled Min bus voltage This is the level of P at which the motor goes into error state low bus voltage JVL Industri Elektronik A S User Manual Integrated Stepper Motor
364. xP program is required in addition to the settings in Section 6 4 2 page 94 Signal formats supported MacTalk Noname File View Motor eRxP Setup Updates Help d 5 Saveinflash Resetpositon lt Res Filter setup Stop s Lommunicatuor Setundgs Main I O Setup Registers Advanced Tests amp RxP Absolute encoder eRxP Module Checksum 1431 Status Stopped e Set Register 223 to 4456448 3 Set Register 222 to 4150 G0392 10DK Continued next page JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 95 6 4 6 4 5 96 Gear Mode After this program has been executed the external source must be connected to the fol lowing inputs MIS34x and MIS43x motor family Quadrature format l O terminal Pulse direction format 1 O terminal Please note that the MIS motor family offers different connector configurations For specific details about at which connectors the I O terminals are available please con sult Connector overview for the MIS23x page 32 or Connector overview for the MIS34x page 34 General considerations concerning cabling It is strongly recommended that shielded cable is always used when connecting the ex ternal pulse source to the pulse input to ensure that no noise from the surroundings af fect the quality of the signal and worst case cause the motor movement to get affected
365. xceeeds this value the motor will go in error Bit 31 16 Full scale motor current in mARM S R M ask Defines what IO that are avaible on the connector programmed during manufacturing R 0 65535 D M ajor 16 The version of the bootloader Minor R W 0 65535 0 This register is not used internally but will always be 0 after power on Please notice that acTalk uses this register mARM S 1 R W 1 255 15 Bits The time to wait before the response is transmitted The unit corresponds to the time of one bit at the current baud rate 15 2 MIS3S4 43 SMC6 amp 5 Registers detailed Baud rate Transmit delay Group Id N A TT2414 01GB Status bar Status bar Tooltip on motor Tooltip on motor N A Tooltip on motor N A JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x TT2415 01GB 303 15 2 MISS4 43 SMC6 amp 5 Registers detailed 161 Reserved 164 165 OPTIONS _ 32bit R 0 655335 This register contains information Tooltip on motor BITS about what options that are available Bit O 7 defines the options available in the hardware or licensed Bit 8 15 defines the options available in the firmware Bit O 8 CANopen fieldbus Bit 1 9 DeviceNet fieldbus NODEID fieldbus interface 167 FBUS BAUD 32bit R W 0 8 2 The baudrate used on the Fieldbus Baud CANopen fieldbus interface rate 1000 kbit s 80
366. xternally only 1 or both internally and externally 2 Enables register 108 PulseDirM ask NOT supported in SM C85 yet Number of milliseconds to wait after an AutoCorrection attempt before testing for the position being within the target window AutoCorrection not supported in SM C85 yet SSI setup bits Bit 0 7 Prepare time Bit 8 Gray to bin conversion Select what register s to sample part of the sample scope function Pulse Direction mode Settling time between retries SSI Encoder setup N A 300 JVL Industri Elektronik A S User Manual TT2409 01GB Integrated Stepper Motors MIS23x 34x 43x 116 118 119 120 121 122 123 124 125 REC S TIME S CONTROL BUF SIZE INDEX OFFSET Reserved Zero_Search_ BITS SETUP_BITS IOSETUP ERR ACTION 32bit 0 1599 2 R W 32bit R W 32bit R W Number of samples to make part of the scope sample function 15 2 MIS34 43 SMIC85 Registers detailed scope sample function system The number of samples the buffer can hold Planned but not supported yet The position of the zero sensor relative to the encoder index This is set after a zero search where the index is used Bits to control Zero Search Bit 0 Search for index Bit 1 Change direction on limit Special Bit 2 Search for opposite side of Sensor Bit 3 Not available at M IS34x B

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