UNAX Ux4 Instruction Manual Multi-axis motion
Contents
1. Free programmable inputs if XENAX 3 resp XENAX 4 are not present 8 motion Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 PWR GND GND 5V NC NC NC NC Input 0 RO Input 1 R1 Input 2 R2 Input 3 R3 Input 4 XENAX 3 OUT 3 Input 5 XENAX 4 OUT 1 Input 6 XENAX 4 OUT 2 Input 7 XENAX 4 OUT 3 GND 5V controls exceptional motion controls 2 2 System cabling XENAX 1 UNAX XENAX MOTOR LINAX or XENAX 1 PLC VO Slave 1 ENCODER HALL rotative motor UNAX UNAX Front UNAX Under XENAX 4 UNAX UNAX Front XENAX MATOR LINAX or XENAX 4 PLC VO Slave 4 ENCODER HALL rotative motor UNAX Under ENCODER EXT Master Encoder PG COM 1 Serial RS232 MotionPerfect TCP IP WebMotion Gateway COM 2 Serial RS232 or Application MODBUS RTU Keypad SPS etc USER I O UNAX Digital I O UNAX USER I O 1 4 Digital I O XENAX Power 24VDC Note If the master encoder is connected ENCODER EXT connection XENAX 4 is not usable and must be disconnected exceptional motion controls 3 Development Environment Tools The following tools are involved into programming a UNAX system WebMotion Parameterisation and programming of XENAX slave servo controllers Motion Perfect 2 Integrated development environment for application programming of the UNAX multi axis motion coordinator in BASIC syntax2. Checking COM1 9600 7 2 e gt Controller MC224 COM1 version 1 66 found CAD to Motion EEE Saal Import of CAD files with DXF format ca Automatically conversion to BASIC code for UNAX application F ness A my Rart 39 2202 77 94 snd 39 5292 77 94nquence 4 C G o CAM Profile Generator a m e n File Edit Sector Options Help Tool to create CAM tables er et Distance 100 f Nomove CAM C CAMBOX 10 Connection of UNAX to laptop PC via Ethernet switch with normal network cable RJ45 For connection of the laptop PC directly to UNAX use a crossed cable RJ45 With newer network cards a crossed cable is not necessary any more LED status on Ethernet connector Colour LED left Colour LED right off no connection off no data orange 10Mbps orange half duplex green 100Mbps green full duplex IPCONFIG command in DOS window Check the TCP IP address range IP address of the PC must be in range of 192 168 2 xxx If necessary adjust IP address manually via network set up e g 192 168 2 200 xxx 001 255 address UNAX PING command in DOS window The IP address you will find at the back of UNAX If there is no answer check direct connection with a crossed cable If you do not know the IP address of UNAX you can look for it with the Devicelnstaller tool Make sure that the Ethernet connection is operational exceptional motion controls 4 Pr
3. ONAK SYS a 5 6 User I O UNAX Read inputs 500 warten auf systemtas MICROSTEP OFF Mikrostep Modus MERGE ON Fahrbefehle werden aneindandergereiht ohne Verzoegerungsrampen UNITS AXIS 0 16 Achsparameter Achse 0 setzen SPEED AXIS 0 20000 ACCEL AXIS 0 10000000 DECEL AXIS 0 10000000 UNITS AXIS 1 16 Achsparameter Achse 1 setzen SPEED AXIS 1 20000 ACCEL AXIS 1 10000000 DECEL AXIS 1 10000000 VR 0 0 alle Ausgaenge von USER I O UNAX loeschen VR 1 0 alle Inputs zu XENAX 1 2 loeschen VR 2 0 alle Inputs zu XENAX 3 4 loeschen VR 3 0 7 Seg Anzeige auf 0 setzen VR 10 state_reset Status der Applikation WHILE 1 1 HAUPTLOOP ON VR 10 GOSUB do_reset do_homing do_run do_stop VR 1 34 Input 2 setzen bei XENAX 1 2 gt Input Function EE ausloesen 0 alle Inputs zu XENAX 1 2 deaktivieren 1 VR 1 OR 11 Input 1 setzen bei XENAX 1 2 gt Input Funct PG1 Homing VR 1 AND SEE Input 1 loeschen bei XENAX 1 2 1 7 Seg Anzeige UNAX auf 1 setzen state_homing 3 VR 1 RETURN do_homing F N 8 ON AND IN 11 ON THEN Output 1 lesen von XENAX 1 2 Homing fertig DEFPOS 0 0 Homing abgeschlossen absolute Position in UNAX nullen WDOG ON Endstufe UNAX freischalten fuer Puls Richtungsansteuerung BASE 0 1 Defini
4. PIN 3 Unused PLC I O s from XENAX slave servo controller Note Description Input and Output is from XENAX s point of view Active low NPN open collect 50V 350mA freewheel diode Active low NPN open collect 50V 350mA freewheel diode Active low NPN open collect 50V 350mA freewheel diode Active low NPN open collect 50V 350mA freewheel diode Active low NPN open collect 50V 350mA freewheel diode Power supply voltage protected with 100mA poly switch With 24V supply usable for input signal level 2A 2A 250mA 24V Pull Down 24V Pull Down 24V Pull Down 24V Pull Down 24V Pull Down 24V Pull Down 24V Pull Down 24V Pull Down 2A 250mA 24V Input with 2 7 KQ pull down Ri 12 7 KQ o _ exceptional USER 1 01 4 Pin 1 Pin 2 Pin 3 Pin 4 yellow Pin 5 grey Pin 6 pink Pin 7 blue Pin 8 red Pin 9 black Pin 10 violet Pin 11 grey pink Pin 12 _ red blue Pin 13 white green Pin 14 brown green Pin 15 white yellow Pin 16 brown yellow Pin 17 Pin 18 Pin 19 Pin 20 Pin 21 white blue Pin 22 brown blue Pin 23 white red Pin 24 brown red Pin 25 white black Pin 26 brown black motion controls NC reserved for UNAX handshake NC reserved for UNAX handshake NC reserved for UNAX handshake Output 4 Output 5 Output 6 Output 7 Output 8 PWR GND GND 5V Input 9 Input 10 Input 11 Input 12 reserved for UNAX handshake reserved for UNA
5. amp Motion Perfect 2 Controller status C Fixed C Editable FF Drives Enabled m Axis status error gi Selected Program 4 aa eal Checking COM1 9600 7 2 e Free Memory i y Version 2 2 2 2 gt Controller Euro205x COM1 version 1 64 found M Motion Stop Cancel OK TECHNOLOGY Not Connected o Motion Perfect 2 Controller Program Tools External Options Window Help 2 0b aee aSa TS Controller status C Fred Editable I Drives Enabled Avis status error Run Program OK BR elected Program Er ET Free Memory 216048 M Motion Stop Euro205x COM1 F Beispiel_X _Tisch prj 7 28 UNAX systemtask is used for hardware control of UNAX Copy UNAX_SYS bas into project folder Load UNAX_SYS bas in menu Project Load Program File into the project With double click on UNAX_SYS the source code will be shown Note Please do not modify the file UNAX_SYS BAS lt is supported by JennyScience AG In the following chapters the application is build up step by step with the matching descriptions First step we add a new task into the project Click on the button to open the filedialog and create a new application task XY_TISCH BAS exceptional motion controls Include UNAX systemtask o Motion Perfect 2 Project Controller Program Tools External Options od Help 2b eA CEA Controller status C Fixed Editable i gt I Div
6. detailed information about installation and handling please see the manual MotionPerfect pdf on CD The UNAX multi axis motion coordinator is able to coordinate up to four axes The actual axis configuration is listed in the menu Controller enable features To enable additional axes up to 4 send the controller security code to Jenny Science Then you will get an activation code to enter in the menu Enable Enter Codes The programming language of UNAX is a BASIC Syntax with specific command set For detailed information please see the document Programming pdf and chapter 8 Trio Basic commands in full manual Each task writes the motion commands into an input buffer system of the motion profile generator MTYPE NTYPE PMOVE see TrioBasic commands To synchronise on a specific task program line the command WAIT IDLE is used For example set an output after a motion profile is finished exceptional motion controls 5 Programming the UNAX multi axis coordinator 5 1 Motion Perfect 2 Motion Perfect 2 5 2 Axis configuration Feature Enable Euro205x Features Axis 0 0 Stepper IV 4 Axis 1 1 Stepper F 5 Servo Axis 2 2 Stepper F 6 Setvo Axis 3 3 Stepper I Seyi Controller Security Code 361 6736 9400 0000 2425 Features shown greyed out may be enabled by purchasing and installing the appropriate feature enable code 5 3 BASIC command set 5 4 Tasks and motion profile generator
7. motion coordinator is able to control four digital inputs Input 1 4 of each connected XENAX slave servo controller This inputs must be defined as Input Functions on XENAX slave servo controller to take effect for detailed information see manual XENAX Recommended programming Initialisation of the XENAX slave servo axis HORM and motion to a defined start position IX HORM must be executed just once after switching on the servo controller The successful HORM sequence can be sent to UNAX via digital Output of XENAX slave servo controller Stop with Emergency Exit EE The power stage of XENAX slave servo controller will be switched off free programmable additional motion indexes for example Output Functions Each XENAX slave servo controller can send status information to the UNAX by three digital outputs Output 1 3 Examples Homing sequence done error position reached exceptional motion controls 4 8 Set up XENAX for operation with UNAX Operation mode stepper control Increment per Pulse count Together with the definition UNIT 16 into UNAX application all move commands into UNAX program are based on um units 1 INC 1 um Input Function 1 PG1 Input Function 2 EE Input Function 3 4 16 Integrated development environment for programming the UNAX multi axis motion coordinator Up to five multi threading tasks are programmable in Trio BASIC Syntax To get
8. nd a XENAX slave servo controller i f i i o r LINAX linear motor DESCRIPTION XENAX 1 XENAX 4 ENCODER EXT TCP IP COM1 COM2 XENAX 1 4 USER I O 1 4 USER_I O_UNAX PWR exceptional motion controls 2 Electrical Connections front L gr MESSER Puani peneana a en ea NEN EE NAN SENG LIENERT RINE ORO Sut ines ese XENAX 1 XENAX 2 XENAX 3 XENAX 4 ENCODER EXT TCPIIP COM A COM2 8 Pole Jack RJ45 with status LED i sa ae a ICE E d Man ks 8 Pole Jack RJ45 with status LED 8 Pole Jack RJ45 with status LED USB Type B USB Type B underside 26 Pole FCI connector for XENAX control 26 Pole FCI connector free PLC of XENAX 26 Pole FCI connector application free programmable 2 Pole WAGO power UNAX USER no 1 USER 110 2 USER 1 0 3 X USER 1 0 4 The two serial interfaces RS232 are wired to USB B connectors USB B COM connector connector PC Laptop Pin 2 Pin 3 Pin 3 Pin 2 Pin 4 Pin 5 Communication cable is part of shipment RJ45 Jack Description Pin 1 GND Pin 2 5V Pin 3 A Pin 4 B Pin 5 B Pin 6 A Pin 7 Z Pin 8 Z POWER Pin 1 white 0 GND POWER Pin2 brown 24VDC PLC connection via ribbon cable to XENAX slave servo controller Ribbon cables are part of shipment exceptional motion 2 1 Pin configuration COM 1 COM 2 PIN 1 PIN 4 ENCODER EXT PWR XENAX 1 4 PIN 1 controls PIN 2
9. 0 Distance 22000 Abs Rel Abs Input Function 1 PG1 Programm 1 Reset of XENAX slave servo controller is programmed as an Input function EE Emergency Exit The power stage is switched off Input Function 2 EE Emergency Exit UNAX must be able to detect axis errors Therefore the Output Function 2 Error of each XENAX slave servo controller must be supervised by UNAX Output Function 2 ERR Error To support the Pulse Direction interface of UNAX correctly XENAX slave controllers must be set into stepper mode control WebMotion menu setup general Mode 2 INC per Pulse 1 exceptional motion controls Homing Reset Error Parameterisation for UNAX operation 27 The programming of UNAX multi axis motion coordinator is supported by the integrated development environment Motion Perfect 2 For detailed information please see manual MotionPerfect pdf on CD The start screen of Motion Perfect 2 shows hardware and firmware identification of Euro205x board inside of UNAX In this case the communication is established and the tool ready for operation Otherwise check the cabling and baudrate settings Create a new Project folder in Project New project The project file has the extension prj exceptional motion controls 6 3 UNAX application Create new project n Motion Perfect 2 Project Controller Program Tools External Options Window Help ut BMERSmMEESHR e
10. CCEL AXIS 1 10000000 DECEL AXIS 1 10000000 VR 0 0 alle Ausgaenge von USER I O UNAX loeschen VR 1 0 alle Inputs zu XENAX 1 2 loeschen VR 2 0 alle Inputs zu XENAX 3 4 loeschen VR 3 0 7 Seg Anzeige auf 0 setzen VR 10 state_reset Status der Applikation WHILE 1 HAUPTLOOP ON VR 10 GOSUB do_reset do_homing do_run do_stop do_error WEND do_reset VR 1 34 Input 2 setzen bei XENAX 1 2 gt Input Function EE ausloesen WA 100 VR 1 0 alle Inputs zu XENAX 1 2 deaktivieren WA 1000 VR 1 VR 1 OR 11 Input 1 setzen bei XENAX 1 2 gt Input Function PG1 Homing WA 100 VR 1 VR 1 AND SEE Input 1 loeschen bei XENAX 1 2 VR 3 1 7 Seg Anzeige UNAX auf 1 setzen VR 10 state_homing RETURN do_homing F IN 8 ON AND IN 11 ON THEN Output 1 lesen von XENAX 1 2 Homing fertig DEFPOS 0 0 Homing abgeschlossen absolute Position in UNAX nullen WDOG ON Endstufe UNAX freischalten fuer Puls Richtungsansteuerung BASE 0 1 Definition der Achsgruppe fuer Fahrbefehle VR 10 state_run ELSE F IN 9 ON OR IN 12 ON THEN Output 2 lesen von XENAX 1 2 Achsfehler VR 10 state_error ENDIF ENDIF RETURN do_run F IN 9 ON OR IN 12 ON THEN Output 2 lesen von XENAX 1 2 Achsfehler VR 10 state_error ELSE F IN 0 ON THEN USER I O UNAX Eingang 0 Stoptaste gesetzt VR 10 state_stop ELSE VR 3 2 7 Seg Anzeige UNAX auf 2 setzen F IN 1 ON THEN USER I O UNAX Eingang 1 Kurvenform MOVEABS 0 0 CAD Kurv
11. ENAX slave servo controller Active channel is marked with green LED placed by XENAX 1 4 connector Channel CH5 Communication channel to internal Euro205x axis coordinator The connection from COM 1 to Euro205x will be interrupted Important The serial interface parameters of all involved devices must be identical XPort XENAX slave servo controller Euro205x For detailed information about XPort CP1 CP3 activation see the document XPort_User_Guide pdf page 45 The document is located on CD in the folder UNAX Programmierung Kanalselektion A delphi example application UNAXswitch exe with source code is also included exceptional 40 motion controls o exceptional motion controls 8 Frequently asked questions FAQ Are XENAX slave servo controllers used for the UNAX system compatible to standard versions of XENAX servo controllers Are this devices exchangeable Each standard XENAX servo controller includes a XPort TCP IP module The XENAX slave servo controller has just a RJ45 connector with proprietary pinout for UNAX communication and control Therefore the devices are not compatible and can not be exchanged Can UNAX be mounted displaced from the XENAX slave servo controllers We recommend strongly to mount the UNAX system according chapter 9 3 Drilling plan of electrical cabinet The cabling is adapted and the electromagnetic compatibility is noncritical Is it pos
12. HAX2 XENAXI ropie comi COM VETX f it it j t j i Ad XENAX L ENCODER EXT 44 o exceptional motion controls Notes This instruction manual contains copyright protected information All rights are reserved This document may not be in its entirety or partially copied duplicated or translated without the prior consent of Jenny Science AG Jenny Science AG grants no guarantee on or will be held responsible for any incidents resulting from false information Information in this instruction manual is subject to change Jenny Science AG Sandblatte 7a CH 6026 Rain Phone 41 0 41 455 44 55 Fax 41 0 41 455 44 50 www jennyscience ch info jennyscience ch Copyright Jenny Science AG 2012 45
13. NO Motion profile generator 17 Software task with defined user interface to control the hardware outputs of UNAX The control interface includes the global variables VR 0 3 see also document Programming pdf VR 0 USER I O UNAX VR 1 XENAX 1 2 VR 2 XENAX 3 4 VR 3 7 segment LED Important The command OP Output is reserved for the software task UNAX_SYS Do not use OP in the user application exceptional motion controls 5 5 System module UNAX_SYS bas 18 I O interface of UNAX freely programmable into user application Make sure that UNAX_SYS is running Output No Pin No VR 0 Bit No valency 1 1 0 1 2 2 1 2 3 3 2 4 A A 3 8 5 5 4 16 6 6 5 32 7 7 6 64 8 8 7 128 Output control works via global variable VR 0 Depending on output combination the sum of valency must be written into VR 0 Example 1 Set outputs 1 6 7 for a duty cycle of 10 ms VR 0 97 WA 10 VR 0 0 Example 2 Set output 4 only Output 4 means Bit Nr 3 of VR 0 so SET_BIT 3 0 in the same way CLEAR_BIT 38 0 in case to clear output Inputs 0 7 are mirrored in BASIC variable IN With the bit number as parameter test of a specific input is possible Example Program branch through logic combination of Input 3 Pin 20 AND Input 5 Pin 22 IF IN 3 ON AND IN 5 ON THEN GOTO inp_on ELSE GOTO inp_ off ENDIF Important If XENAX 3 is connected IN Bit 4 is used for UNAX handshake with XENAX sl
14. ON THEN Output 2 lesen von XENAX 1 2 Achsfehler VR 10 state_error ELSE F IN 0 ON THEN USER I O UNAX Eingang 0 Stoptaste aktiv VR 10 state_stop VR 10 state_run F RETURN da error VR 3 95 7 Seg Anzeige UNAX auf E setzen IF IN 2 ON THEN USER I O UNAX Eingang 2 Resettaste gedrueckt VR 10 state_reset ENDIF RETURN 6 4 Test the user application 3 exceptional motion controls 6 5 Completion commissioning A finished and tested program can be stored nonvolatile into the UNAX flash memory Bot Controler Program zu 5 Controller status C Fred Editable With task option Run at power up a task starts automatically after power up the UNAX system Set power up mode Program UNAX_SYS Set cursor on XY_TISCH_6 resp XY_TISCH in the program list press the right mouse button and set the checkbox Run at power up in dialog After power up the UNAX system the application starts automatically b T a lbh Ah Motion Stop 38 The UNAX system is designed to operate in standalone mode Synchronisation with host computers can be realised with different mechanisms Hardware handshake with digital I O The USER I O UNAX interface supports eight digital outputs and up to 8 digital inputs to trigger and control actions on the UNAX system Please take care about reservation of input channels in case of larger system configuration See also cha
15. VECIRC 0 0 0 10000 1 WAIT DLE ENDIF Kurvenform ENDIF Stoptaste RETURN 35 Stoptaste gesetzt Kurvenform Definition of an error state Check error state exceptional motion controls Complete application with error handling XY_TISCH_6 bas TKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK KKKKK KKK KKKKKKKKK KKK K KKK FH AK A FH FH A FF FH A KK TH A FF IK AK A A FH KA Programm Autor VAKKAKAKKKKAKKKKAKAKKKAKAKIKIK AK IK IK KH AH I NK IK AK IK A HK AK A IK A FH A FI A IK A HK AK A TI A HK AK KT A FH A KT A IK A FH AK AK IK A FH A KA KA KO Beispielapplikation XY Tisch Jenny Science AG CONSTANT state_reset 1 CONSTANT state_homing 2 CONSTANT state_run 3 CONSTANT state_stop 4 CONSTANT state_error 5 RUN UNAX_SYS WA 500 warten auf systemtask MICROSTEP OFF Mikrostep Modus MERGE ON Fahrbefehle werden aneindandergereiht ohne Verzoegerungsrampen UNITS AXIS 0 16 Achsparameter Achse 0 setzen SPEED AXIS 0 20000 ACCEL AXIS 0 10000000 DECEL AXIS 0 10000000 UNITS AXIS 1 16 Achsparameter Achse 1 setzen SPEED AXIS 1 20000 A
16. X start browser with URL http 192 168 2 100 Unax html Note The UNAX probably does not have the standard IP address 192 168 2 100 therefore the URL has to be adapted to the current IP address of UNAX If the IP address of UNAX is unknown the tool Device Installer is able to scan for it The two available axes into the UNAX system are shown on the start site with buttons XENAX 1 and XENAX 2 With the selection of an axis WebMotion looks like a peer to peer connection to a standard XENAX servo controller In the menu ident main the button exit returns to UNAX start site Each connected XENAX slave servo controller can be labelled with a user defined string The corresponding command is SID Servo IDentification entered in menu online control terminal see also Xenax manual chapter ASCII command set Example Define axis identification ACHSE X command SIDACHSE X exceptional motion controls 6 2 Parameterisation XENAX slave servo controller 26 The Homing Sequence has to be defined on both XENAX slave servo controller with Program 1 Afterwards index 1 drives to the absolute middle position of the LINAX stage assumption Linax LX 44 Output 1 indicates the completition of the homing sequence to UNAX Programm 1 Line 1 CO 1 Clear Output 1 Line 2 HORM Home Ref Mark Line 3 IX 1 Index 1 Line 4 SO Set Output 1 Index 1 Acceleration 1000000 Speed 1000
17. X handshake reserved for UNAX handshake reserved for UNAX handshake Input 5 Input 6 Input 7 Input 8 GND 5V UNAX I O s free programmable by application Active low NPN open collect Active low NPN open collect Active low NPN open collect Active low NPN open collect Active low NPN open collect Active low NPN open collect Active low NPN open collect Active low NPN open collect 24V 350mA freewheel 24V 350mA freewheel 24V 350mA freewheel 24V 350mA freewheel 24V 350mA freewheel 24V 350mA freewheel 24V 350mA freewheel 24V 350mA freewheel diode diode diode diode diode diode diode diode 24V Power supply voltage protected with 100mA poly switch usable for input signal level Free programmable inputs registration inputs for position detection with an external encoder 2A 2A 250mA 24V Rin 6 8k 24V Rin 6 8k 24V Rin 6 8k 24V Rin 6 8k 24V Rin 6 8k 24V Rin 6 8k 24V Rin 6 8k 24V Rin 6 8k 2A 250mA _ exceptional USER I O UNAX 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 Pin 18 Pin 19 Pin 20 Pin 21 Pin 22 Pin 23 Pin 24 Pin 25 Pin 26 white brown green yellow grey pink blue red black violet grey pink red blue white grey brown grey white pink brown pink white blue brown blue white red brown red white black brown black
18. X slave servo controller sets output function 1 HOME if the homing sequence is finished successfully The application has to wait until the homing sequence of XENAX 1 and XENAX 2 is finished wait_ho IF IN 8 OFF OR IN 11 OFF THEN GOTO wait_ho ENDIF Important If XENAX 3 is connected IN Bit 4 is used for UNAX handshake with XENAX slave servo controller Therefore USER I O UNAX input 4 is busy In the same way inputs 5 7 of USER I O UNAX are busy if XENAX 4 is connected exceptional motion controls Read outputs from XENAX slave servo controller 21 AN En Se SE ZZ Zu Ze Ze Ze Eu Ze exceptional motion controls Control 7 segment LED display The 7 segment display of UNAX is free programmable by the user application It can be used for application specific status information display 0 9 A F LED digits character VR 3 valu 0 9 0 9 A 10 B 11 C 12 D 13 E 14 F 15 segment control If value VR 3 gt 15 then segment control with offset value 16 is activated LED segment V blank segment F segment G segment E segment D segment C 16 segment B 32 segment A 64 point 128 VR 3 val 16 Examples Display VR 3 digit 5 5 character E 14 segment G 18 character P 119 22 COM 1 Internal connected to Euro 205x port 0 Serial ASCII command interface of Euro205x MotionPerfect2 interface All commands of TRIO BASIC command set can be used see docume
19. antronix com device networking utilities tools device installer html nn 92 168 2 155__ 00 20 48 87 D7 82___ Online 192 168 2 156 00 20 48 87 3D E6 Online Assignment Method Would you like bo specify the IP address or should the unit get its settings from a server out on the network amp Obtain an IP address automatically Assign a specific IP address B ck 12 AN Pye er Zu Ze EEE Ze exceptional motion controls 4 5 JAVA Plugin check In case of problems with the JAVA software you http www java com de download manual jsp can execute a check with the link on right side By selecting Verify now marked red on right your installed JAVA Plugin version will appear Aviah Operating Java Downloads for All Operating Systems s Windows Recommended Version 6 Update 6 i a Select the file according to your operating system from the list below to get the latest Java for your computer Apple Other Java Versions gt What is Java Downloads are subject to our license agreement Once you have installed Java on your computer you might be required to restart your browser You can verity that it has Deen installed correctly by clicking Verity Now below fs Windows XP Nista 2000 2003 Online Innen filesize 7 1 MB 3 gt opata ae restart your browser and Instructions verity Java has been installed correctly Typical download size is 7 1 MB which is the minimum download The size may incr
20. ar internal position counter of UNAX with DEFPOS 0 Drive the axis with the FORWARD or MOVE command to a specific position controlled by inputs for example Read out internal position counter of UNAX Teachpos MPOS Position values can be stored fixed into the flash memory of UNAX with the command FLASHVR A SE Sa FTE exceptional 42 motion controls exceptional motion controls The fourth axis does not work properly A UNAX standard system does not include four axes In general the fourth axis is defined as an external encoder input To use the fourth axis in stepper control mode the axis type must be set explicit into the user application ATYPE AXIS 3 1 See also chapter 5 9 External Encoder 43 Description Power supply Current consumption Interfaces Status display Input digital Output digital Outside dimensions Recommended system layout inside of electrical cabinet All screw thread M5 exceptional motion controls 9 Technical data 9 1 Electronics Firmware Data 24VDC 300mA Ethernet TCP IP integrated http Web Server 2 x RS 232 Development Environment Application Pulse Direction interpolator with fmax 2MHz Master Encoder 7 Segment LED Up to 8 x 24V Pull down free programmable 8 x 350mA 24V open drain free prgrammable 9 2 Dimensions UNAX Ux4 190 x 140 x 35 mm 9 3 Drilling plan of electrical cabinet XEWAX rn es rn es oe 3 XE
21. ave servo controller Therefore USER I O UNAX input 4 is busy In the same way inputs 5 7 of USER I O UNAX are busy if XENAX 4 is connected A Sa gt FTE exceptional motion 5 6 User I O UNAX Set Outputs Read Inputs 19 controls Each XENAX slave servo controller is connected via ribbon cable with UNAX multi axis motion coordinator Connector XENAX 1 4 on underside of UNAX Make sure that UNAX_SYS is running UNAX is able to control Input 1 4 of each connected XENAX slave servo controller So input functions on XENAX can be triggered from UNAX homing programs or indexes for example XENAX Nr Input Nr VR 1 Bit Nr valency 2 A 8 16 32 64 128 POD _ rODpDrD NOOR WN O XENAX Nr Input Nr VR 2 Bit Nr valency r 2 4 8 16 32 64 128 RwWNMD FWD NOOR WDM Oo Example Assumption Two XENAX slave servo controller XENAX 1 2 are connected with UNAX The homing function has to be triggered via Input 1 on each controller at the same time VR 1 17 WA 100 VR 1 0 In case of three XENAX slave servo controller XENAX 1 2 3 exceptional motion controls 5 7 XENAX handshake with UNAX Set inputs on XENAX slave servo controller 20 UNAX can read the digital outputs 1 3 of each connected XENAX slave servo controller XENAX Nr Output Nr IN Bit Nr 1 WONhM WwWN WwWNH WDPD ok oo Example Assumption Each XENA
22. com zip Sbda4d0b 4585c1c2 zip 00 http virtual cvut cz dynlab ab damping com zip com 2ip ad97ff5 18e71256 zip 01 14 04 12 07 PM NA http virtual cvut cz dynlab ab npnjcom zip damping jar 74cc2286 564928F8 01 01 70 01 00 01 14 04 12 07 PM N A http virtual cvut cz dynlab ab damping damping Doppler jar 7384a3F5 40F 1F5eb zip J 01 01 70 01 00 04 11 04 06 18 N A http www walter Fendt de phi4_jar Doppler jar Elektromotor jar 6020156a 193d 01 01 70 01 00 04 11 04 06 18 N A http www walter Fendt de ph14_jarfElektromotc EMwelle jar 308746b6 3ff3e2fl k N A http www walter Fendt de ph14_jar EMwelle jar epic jar 534a4912 18c4e03b zip 00 g http oak portal jippii net epic jar Fplotter jar 7125cb77 51b979d0 06 04 02 01 31 http www mathe online at fplotter fplotter jar gamesery pcomponent jar 774F 00 03 18 05 11 40 http oak portal jippii net pasimaailma gamesery GekoPendel jar 3a7513ed 1494 10KB tee NA http www walter Fendt de ph14_jar GekoPendel Generator jar 7b30dcla 7e2Zad7 18KB GraphContainer zip 62fec47 b 41 22KB 00 01 14 04 12 07 PM N A http virtual cvut cz dynlab ab damping GraphCo GraphContainer zip 694d7b51 2 22KB 01 01 70 01 00 O1f 14 04 12 07 PM N A http virtual cvut cz dynlab ab npn GraphContair gt The checkbox must be switched off m 14 exceptional motion control
23. d reference for detailed information WAIT IDLE Suspend program execution until the base axis has finished executing its current move and any further buffered move A exceptional motion controls Drive motion path of an 8 XY_TISCH_3 bas VKKKKKKKKKKKKKK KK KKK KK KKK KKK KK KKK KK KKK KKK KK KKK KK KKK KKK KK KKK KK KKK KKK FH A AI TI A AK A A FH A Programm Beispielapplikation XY Tisch Autor Jenny Science AG VKKKKKKKKKKKKKKKKKKK KK KKK KK KKK IK TH AH HK AK AK KH A AK TH A AH A AI TFA AK A I FA AI TA AI A A AI TFT AI AK A AI TFT A FI TA AI FH A AI TFT AI FH A A KH A CONSTANT state_reset 1 CONSTANT state_homing 2 CONSTANT state_run 3 RUN UNAX_SYS WA 500 warten auf systemtask MICROSTEP OFF Mikrostep Modus MERGE ON Fahrbefehle werden aneindandergereiht ohne Verzoegerungsrampen UNITS AXIS 0 16 Achsparameter Achse 0 setzen SPEED AXIS 0 20000 ACCEL AXIS 0 10000000 DECEL AXIS 0 10000000 UNITS AXIS 1 16 Achsparameter Achse 1 setzen SPEED AXIS 1 20000 ACCEL AXIS 1 10000000 DECEL AXIS 1 10000000 VR 0 0 alle Ausgaenge von USER I O UNAX loeschen VR 1 0 alle Inputs zu XENAX 1 2 loeschen VR 2 0 alle Inputs zu XENAX 3 4 loeschen VR 3 0 7 Seg Anzeige auf 0 setzen VR 10 state_reset Status der Applikation WHILE 1 1 HAUPTLOOP ON VR 10 GOSUB do_reset do_homi
24. e MOVE 5000 0 MOVE 0 8000 MOVE 5000 0 MOVE 0 4000 MOVE 5000 3000 MOVE 20000 0 MOVE 5000 5000 MOVE 0 10000 MOVECIRC 10000 0 5000 0 0 MOVECIRC 10000 0 5000 0 1 WAIT IDLE ELSE MOVEABS 0 0 8 Kurve MOVECIRC 0 0 0 10000 0 MOVECIRC 0 0 0 10000 1 WAIT IDLE ENDIF Kurvenform ENDIF Stoptaste ENDIF Achsfehler RETURN 36 If the user application is in error state switch 2 starts the reset sequence and restarts the application To test the application set the switches as follows switch 0 stop OFF switch 1 curve OFF switch 2 reset OFF Start the application see step 1 XY TISCH_1 bas Both LINAX axes execute the HORM sequence in addition to centering their Slides Afterwards the orthogonal axis executes a motion path like an 8 repetitively UNAX writes 2 into its 7 segment display the XENAX slave controllers 1 Set switch 1 curve to ON If the path 8 is finished the motion path changes to DXF imported sequence Set switch 0 stop to ON If the DXF motion path is finished the axes stop operating The UNAX writes 1 into its 7 segment display If an error occurs the application state changes to ERROR the UNAX shows E on display A signal pulse on switch 2 starts the reset sequence and restarts the application again exceptional motion controls do_stop VR 3 1 7 Seg Anzeige UNAX auf 1 setzen IF IN 9 ON OR IN 12
25. ease if additional features are selected O Windows XP Nista 2000 2003 Offline filesize 16 18 MB ri Solaris es Solaris 32 bit filesize 23 07 MB Instructions Verity Now O Solaris 64 bit EIEE A filesize 9 74 MB 23 07 MB 32 bit Sotaris Aller installing Java restart your browser and oO Solaris 86 filesize 17 55 MB Instructions verify Java has been The version of JAVA Plugin Software must be 1 4 or higher The verified JAVA version is the first figure after the dot The example on the right shows the TRESTII Veriied Java Version version 1 6 METS ME Congratulations RELIEF DRIVE You have the recommended Java insted you want to download Java for another comp easier stem see all Java downloads here If a lower version is installed it can be updated with a Java software download The current version of JAVA Runtime For updates on Java and Java enabled applications desktop and mobile please sign up for the java com newsletter a SUN RECOMMENDS Environment JRE IS also available on the Free eas ak an N ndm oaia at ou orts all kinds of e n C O S e d C D OpenOffice org cocumens Including Microsoft Office Acrobat PDF oa Open Document 13 E ow oN Y S GC EN C amp exceptional motion controls 4 6 Applet Cache To provide a correct loading procedure of Java Control Panel Allgemein Aktualisierung Java Sicherheit Erweitert WebMotion applet into the browser cach
26. es Enabled E 022 Debug Tools Windel Axis status error window Help OE e we gt Ww e v1 00 v1 01 gt T ple v1 03 Free Memory 212376 M Motion Stop 5 ISOSUB init outputs Ready Euro205x Comi F Beispiel_XY_Tisch prj Create application task o Motion Perfect 2 Project Controller Program ak o New Program Controller status Fixed Editable I Drives Enabled E Axis status error Run Program OK m Euro205x E UNAX_SYS alal a al Selected Program JUNAX SYS gt m P Free Memory 212376 alll Motion Stop Enter new program name Kr_ Tisch Cancel 29 The framework can be written into the program editor Note The program steps are included on CD in UNAX_Programmierung Beispielprogramm Beispiel XY_ Tisch The files can be loaded in the menu Project load program file Description RUN UNAX_SYS Make sure the systemtask UNAX_SYS is running before the control variables VR 0 3 are modified MICROSTEP OFF Defined for stepper control do not modify UNITS AXIS x 16 Setting needed for general UNAX distance unit of 1 um MERGE ON Merge of consecutive moves The axis will not ramp down to zero between the moves The functionality can disabled by MERGE OFF Start program Click on the red colored square of XY_TISCH resp XY_TISCH_1 if the color changes to green the ta
27. exceptional motion controls UNAX Ux4 Instruction Manual Multi axis motion coordinator for XENAX servo controllers Edition September 2012 XENAX 1 XENAX 2 XENAX 3 XENAX 4 ENCODER EXT TCPHP COM 1 COM 2 i DAARAAN Bam Compact multi axis motion coordinator with TCP IP web technology Commissioning and parameterisation of servo axes by web browser Axis coordinator free programmable in BASIC syntax for standalone applications This instruction manual describes the multi axis motion coordinator UNAX Ux4 with XENAX slave servo controller The document contains necessary information about commissioning set up electrical connections programming and error handling The operating system of the multi axis motion coordinator in addition to the axis user interface WebMotion is installed so the UNAX system is instantly ready to use We will gladly answer your questions you may have or supply additional information Alois Jenny Jenny Science AG exceptional General motion controls 1 System overview 2 Electrical Connections 2 1 Pin configuration 2 2 System cabling 3 Development Environment Tools 4 Programming XENAX slave controller 4 1 Ethernet connect 4 2 Test IP with gt IPCONFIG 4 3 Test connection with gt PING 4 4 IP address search change 4 5 JAVA Plugin check 4 6 Applet Cache 4 7 WebMotion 4 8 Set up XENAX for operation with UNAX 5 Programming the UNAX multi a
28. ication The file form_2_scal bas can be loaded directly into the project Axis definitions and UNAX specific code must be added afterwards The second possibility is to copy and paste the generated motion code into the user application Because we already have a software framework we decide to insert the code by copy and paste a exceptional motion before MOVECIRC 0 9999 0 0232 5 0 0 MOVECIRG 9 9996 0 05 55 0 1 new MOVECIRC 10 0 MOVECIRC 10 n CAD 2Motion File Plot Edit Tools Windows Help Clarita elele elele alelan controls StartSeq l A File F UNAX Schulung CAD form 8 Jan 2007 at 09 58 cadseql MOVEABS 0 0 MOVE 5000 0 MOVE 0 8000 MOVE 5000 0 MOVE 0 4000 MOVE 5000 3000 MOVE 20000 0 MOVE 5000 5000 MOVE 0 10000 MOVECIRC 10000 0 5000 aves FO WITT enayilstet Eid WO e FA UNAX Schulung CADi form_2_skal bas do_run F IN 0 ON THEN USER VR 10 state_stop ELSE VR 3 2 7 Seg Anzeige UNAX auf 2 setzen F IN 1 ON THEN USER I O UNAX Eingang 1 MOVEABS 0 0 CAD Kurve MOVE 5000 0 MOVE 0 8000 MIWEI 5000 0 MOVE 0 4000 MOVE 5000 3000 MOVE 20000 0 MOVE 5000 5000 MOVE 0 10000 MOVECIRC 10000 Uy 50 09 a 0 MOVECIREG 1 0000 0 3000 0 1 WALT IDLE ELSE MOVEABS 0 0 I O UNAX Eingang 0 8 Kurve MOVECIRC 0 0 0 10000 0 MO
29. ing functionality of java plugin must be switched off eve ae ner Anwendungsinfo Otherwise the loading procedure can be SER Die Netzwerkeinstellungen werden beim Aufbau einer Internet Yerbindung U n re a b 2 verwendet Java verwendet standardm ig die Netzwerkeinstellungen Ihres Webbrowsers Diese Einstellungen sollten nur erfahrene Benutzer ndern Netzwerkeinstellungen C Temporare Internet Dateien Einstellungen fiir temporare Dateien X Dateien die Sie in Java Anwendungen verwenden werden in einem speziellen Dateien l schen T T Open Java Control Panel with Ka sues ann aha ois rear ar Fr start systemcontrol classic view java meer Zu verwendender Unbegrenzt Dateien l schen Einstellungen Speicherplatz Maximum MB Jar Kompression 9 E a TENYA Jag temporary internet files setup Co treen ein z 2 change view to show applets Cache Anzeigeprogramm f r Java Applets a Oo 153 Datei Optionen i Hilfe Name 5 Letzte nderung version URL aidat jar 11e3e3e0 5a55a28d zip s 02 03 03 05 57 PM N A http ash portal jippii net olympic_CH_dejaidatfai a ATimePicker jar F9fa 71 1e6c37 01 01 70 01 00 11 22 03 12 08 http java arcadevillage com applets ATimePicker AxisCam pplet zip 42629e2c 56 01 01 70 01 06 06 05 04 11 PM http 192 168 2 151 java AxisCamApplet zip
30. ng do_run do_reset VR 1 34 Input 2 setzen bei XENAX 1 2 gt Input Function EE ausloesen 100 VR 1 0 alle Inputs zu XENAX 1 2 deaktivieren 1000 1 VR 1 OR 11 Input 1 setzen bei XENAX 1 2 gt Input Funct PG1 Homing WA 100 1 VR 1 AND SEE Input 1 loeschen bei XENAX 1 2 3 1 7 Seg Anzeige UNAX auf 1 setzen VR 10 state_homing do_homing F IN 8 ON AND IN 11 ON THEN Output 1 lesen von XENAX 1 2 Homing fertig DEFPOS 0 0 Homing abgeschlossen absolute Position in UNAX nullen WDOG ON Endstufe UNAX freischalten fuer Puls Richtungsansteuerung BASE 0 1 Definition der Achsgruppe fuer Fahrbefehle VR 10 state_run ENDIF RETURN do_run VR 3 2 7 Seg Anzeige UNAX auf 2 setzen MOVEABS 0 0 8 Kurve MOVECIRC 0 0 0 10000 0 MOVECTRE 0 0 0 10000 1 WAIT IDLE RETURN 32 exceptional motion controls Start Stop functionality XY_TISCH_4 bas VARKKKKKKKKKKKKKKKKK KKK KKK KK KKK KKK KK KKK KK KKK KKK KK KKK KK KKK KK KKK KK KKK KKK AK TFA AK A A KK The motion execution can be stopped by inputO ones rain ee pie KY Tiel Pin17 of USER I O UNAX interface Fees EEE TETEE OE o Ka a A AF EEE E L EFE E CONSTANT state_reset 1 IN returns the value of the digital inputs of the CONSTANT state_homing 2 CONSTANT state_run 3 UNAX CONSTANT state_stop 4 For detailed information see chapter RUN
31. nt CommandReference pdf Protocol Each response of Euro205x is terminated with CR LF gt gt Values of variables can be requested by prefix Examples Request global variable VR 5 VR 5 1 2345 CR LF gt gt Set global variable VR 3 with value 1 2 VR 3 12 Read axis 0 parameter acceleration BASE 0 ACCEL COM 2 Internal connected to Euro 205x port 1 This serial interface is free programmable by the application PRINT Send string INPUT Waits for a string to be received terminated with a carriage return lt CR gt Optionally MODBUS RTU can be defined with command SETCOM to connect adapted keypads or HMI see also document full manual6 7 pdf chapter 13 3 exceptional motion controls 5 8 COM 1 COM 2 Interface COM 1 COM 2 23 The UNAX application can read a master axis via external encoder connector The command MPOS returns the current encoder position Example CurrentPos MPOS AXIS 3 Note If less than four stepper axes are configured see chapter 5 2 axis configuration the fourth axis automatically works in ENCODER EXT mode ATYPE AXIS 3 3 Make sure that connector XENAX 4 is not connected lf the fourth axis is enabled the axis type must be set explicit into UNAX application with ATYPE AXIS 3 1 stepper axis exceptional motion 5 9 External Encoder 24 oo ENCODER EXT controls An easy example shows the basic mechanism
32. ntroller Program eo 2 A amp au amp Controller status Controller status C Fixed Editable C Fixed Editable IV DrivesEnabled IV DrivesEnabled Avis status error al al a Selected Program pets o gt T m P Free Memory 208194 M Motion Stop Tasks stopped 30 Anis status error al al a ol Selected Program tsH CS gt T F Free Memory 207063 M Motion Stop Tasks running AN J E N N Y E N 6 E U exceptional motion controls Reset Homing XY_TISCH_2 bas VAKKKKKKKKKKKKKKKKKK KKK KEK KKK KKK KK KKK KKK KK KKK KK KKK KKK KKK KK KK KKK KK KKK A TFA AK A A KH A KR The input function 2 of XENAX Slave servo Deeg eae Beispielapplikation XY Tisch controller IS defined as Emergency Exit EE ee ee Ana 40 Sun IENNERTOSESERETSSENSENN ER To trigger this reset function a signal pulse iS CONSTANT state reset 1 required on input 2 of both servo controllers CONSTANT state_homing 2 CONSTANT state run 3 RUN UNAX_SYS In the same way the homing sequence is w2 500 warten auf systemtask defined on input function 1 MICROSTEP OFF Mikrostep Modus MERGE ON Fahrbefehle werden aneindandergereiht ohne Verzoegerungsrampen See also chapter UNITS AXIS 0 16 Achsparameter Achse 0 setzen 5 7 XENAX handshake with UNAX Set Ale ax s o 10000000 DECEL AXIS 0 10000000 inputs on XENAX slave servo controlle
33. of programming a UNAX system The user gets a quick and efficient insight of the UNAX programming and is able to develop real applications with the aid of a substantial documentation The UNAX system includes two XENAX slave servo controllers with LINAX linear stages in XY cross table configuration XENAX 1 XENAX 2 axis X axis Y Three switches are connected to the USER I O UNAX interface switchO Pin 17 0 start I stop switch 1 Pin 18 O curve 8 1 CAD curve switch 2 Pin 19 1 reset Functionality of the program example After power ON of the UNAX system reset and homing sequence of both axes must be done The homing sequence includes the initialisation of the axis HORM as well as positioning the slide in middle position Afterwards the motion starts according selected curve through switch 1 0 curve of an 8 1 imported CAD curve Switch 0 stops the motion in middle position In case of an axis error display E on UNAX switch 2 starts the reset sequence and the application restarts again exceptional motion controls 6 Application example 6 1 Exercise switch 0 24VDC switch 1 switch 2 XENAX 2 axis Y Power ON switch 1 curve run gt axis error switch 0 switch 0 axis error HIGH 25 The parameterisation and programming of the XENAX slave servo controllers can be done centrally via integrated web application WebMotion inside of UNA
34. ogramming XENAX slave controller 4 1 Ethernet connect 4 2 Test IP with gt IPCONFIG Verhindungsspezifisches INS Suffix IP Adresse Autokonfiy gt 172 168 2 200 Subnetzmaske 255 255 255 0 Standardgateway 4 3 Test connection with gt PING Dokumente und Einstellungen ping 192 168 2 188 Ping wird ausgef hrt f r 192 168 2 188 mit 32 Bytes Daten 192 168 2 180 Bytes 32 Zeit lt ims TTL 64 192 168 2 168 pees Zeit lt ims TTL 64 192 168 2 188 Bytceo 32 Zeit lt ime TIL 61 Antwort von 192 168 2 188 Bytes 32 Zeit lt ims TTL 64 Ping Statistik f r 192 168 2 106 Pakete Gesendet 4 Empfangen 4 Verloren z Verlus a Zeitangaben in Millisek Minimum ms Maximum ms Mittelwert Gms 11 To view and change the IP address as well as to update WebMotion the Devicelnstaller tool is used Use the adjacent link and click Devicelnstaller Select the component XPort and install it The Devicelnstaller needs the Microsoft NET framework driver Should this driver not exist It can be downloaded by returning to the adjacent link Microsoft NET Framework Search IP address of UNAX Start the Devicelnstaller tool of Lantronix and choose Search to look for existing IP addresses of XPorts Change IP addresses Via Assign IP you choose Assign a specific IP address Now it is possible to set up a new IP address exceptional motion controls 4 4 IP address search change http www l
35. pter 5 6 User I O UNAX Read Inputs COM 1 port 0 Serial interface to internal Euro205x axis coordinator with TRIO commandset and system protocol COM 2 port 1 Serial interface free programmable by an application MODBUS RTU protocol optional Please consider chapter 5 8 COM 1 COM 2 Interface for detailed information In general the TCP IP interface is used for parameterisation and programming of the XENAX slave servo controllers with the tool WebMotion If the host system controls the complete UNAX system over the TCP IP interface the host application has to support the channel selection mechanism to communicate with the different devices The internal TCP IP Module XPort is able to select the communication channel to a target device with binary coded outputs CP1 CP3 CP3 CP2 CP1 CHO CH1 CH2 CH3 CH4 CH5 CO O 0 4 00 00 0 0 Oo O lt a ODO oo OO0OO0OO0 0OO OO O ooooO0 0o060Oo oOOoO0O 0 O00 oOoO0O OOO oo OOO OO O exceptional motion controls 7 Communication with UNAX system 7 1 Standard 7 2 Ethernet TCP IP Gateway CHO i The caption CP3 1 means outputs CP3 1 must be defined as LOW active 39 XENAX 1 XENAX 2 XENAX 3 XENAX 4 Euro 205x Channel CHO The connection from UNAX COM 1 interface to the internal axis coordinator Euro205x is always active except channel 5 is selected Channel CH1 CH4 Communication channel to a X
36. r UNITS AXIS 1 16 Achsparameter Achse 1 setzen SPEED AXIS 1 20000 ACCEL AXIS 1 10000000 DECEL AXIS 1 10000000 VR 0 0 alle Ausgaenge von USER I O UNAX loeschen VR 1 0 alle Inputs zu XENAX 1 2 loeschen VR 2 0 alle Inputs zu XENAX 3 4 loeschen VR 3 0 7 Seg Anzeige auf 0 setzen VR 10 state_reset Status der Applikation WHILE 1 1 HAUPTLOOP ON VR 10 GOSUB do_reset do_homing do_run do_reset VR 1 34 Input 2 setzen bei XENAX 1 2 gt Input Function EE ausloesen 1007 VR 1 0 alle Inputs zu XENAX 1 2 deaktivieren 1000 1 VR 1 OR 11 Input 1 setzen bei XENAX 1 2 gt Input Funct PG1 Homing WA 100 1 VR 1 AND SEE Input 1 loeschen bei XENAX 1 2 VR 3 1 7 Seg Anzeige UNAX auf 1 setzen VR 10 state_homing RETURN do_homing F N 8 ON AND IN 11 ON THEN Output 1 lesen von XENAX 1 2 Homing fertig VR 10 state_run ENDIF RETURN do run RETURN 31 DEFPOS 0 0 sets internal position counter of the interpolator to zero WDOG ON Enables power stage of UNAX pulse direction interface BASE 0 1 Used to direct subsequent motion commands and axis parameter reads writes to a particular axis Or group of axes MOVEABS 0 0 Absolute position move to start position MOVECIRC Circular move with two orthogonal axes see comman
37. s 4 7 WebMotion WebMotion is an integrated graphic user interface into UNAX device based on web technology applet to parameterisation and programming of XENAX slave servo controllers Standard web browsers like Internet Explorer Mozilla Firefox Opera and so on are able to load and execute the WebMotion applet online control termina Start web browser with the IP address back side of UNAX with extension unax html http 192 168 2 xxx unax html The main site of UNAX shows the available XENAX servo controllers XENAX 1 n After selection of a servo controller the graphic user interface looks like a peer to peer connection to a standard XENAX servo controller Parameterisation and programming can be done Return to UNAX main site occurs by the button exit in menu ident main of WebMotion Note After switching on the UNAX power supply wait at least 10 seconds until the UNAX web server is ready for operating Only afterwards start the browser with WebMotion On interruption of the UNAX power supply please exit the browser When turning on wait 10 seconds again before restarting the browser with WebMotion Further information of WebMotion is included into XENAX user manual 15 For operation of the XENAX servo controller with the UNAX multi axis coordinator following parameters must be set MODE 2 INC PER PULSE 1 Input Functions The UNAX multi axis
38. sible to connect expansion boards from TRIO to the UNAX device The hardware connectors for expansion boards are not accessible Why does the servo parameters D_GAIN GAIN and so on take no effect on drive behaviour of the axis The XENAX slave servo controllers operate as stepper axis from UNAX s point of view The position loop is located inside of each XENAX device The servo parameters D_GAIN etc are designated for servo mode with position loop inside of the Euro205x device What is the resulting speed of a multi axis motion command In a UNAX application each axis can be defined with axis parameters like speed acceleration and so on 41 Linear motion with one axis Speed and acceleration depends on the specific axis parameters Multi axis linear motion circular motion The resulting speed and acceleration is taken from the first axis defined in the BASE command Example 1 BASE 0 1 MOVE 50000 30000 resulting speed is defined by axis 0 Example 2 BASE 0 1 MOVECIRC 0 0 0 10000 0 resulting circular speed is defined by axis 0 How can a host system change variables to control an UNAX application Through the Euro205x protocol via serial interface COM 1 or the TCP IP gateway channel 5 Via serial interface COM 2 with INPUT command or a customer defined protocol or MODBUS RT protocol Is it possible to teach positions Go to a defined origin position with an Index Cle
39. sk is running Task UNAX_SYS starts through XY_TISCH The functionality is shown by a 0 on the UNAX 7 segment display Tests with other values are possible values 0 15 into VR 3 Stop program To stop all the tasks click on the green squares The source code can be modified only if all tasks are stopped exceptional motion controls Program framework XY_TISCH_1 bas VAKKKKKKKKKKKKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KK KKK KKK KK KKK KK KKK KKK KKK KK A KK Programm Auto Gary Beispielapplikation XY Tisch Jenny Science AG VARKKKKKKKKKKKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKK AK A AI FF A FH A A KK A KK KR RUN UNAX_SYS WA 500 warten auf systemtask MICROSTEP OFF Mikrostep Modus MERGE ON Aneinanderreihung von Fahrbefehlen ohne Verz gerungsrampen UNITS AXIS 0 16 Achsparameter Achse 0 setzen SPEED AXIS 0 20000 ACCEL AXIS 0 10000000 DECEL AXIS 0 10000000 UNITS AXIS 1 16 Achsparameter Achse 1 setzen SPEED AXIS 1 20000 ACCEL AXIS 1 10000000 DECEL AXIS 1 10000000 VR 0 0 alle Ausgaenge von USER I O UNAX loeschen VR 1 0 alle Inputs zu XENAX 1 2 loeschen VR 2 0 alle Inputs zu XENAX 3 4 loeschen VR 3 0 7 Seg Anzeige auf 0 setzen WHILE 1 1 HAUPTLOOP WEND e Motion Perfect 2 Motion Pertect2 Project Controller Program Project Co
40. tion der Achsgruppe fuer Fahrbefehle VR 10 state_run ENDIF RETURN do_run IF IN 0 ON THEN USER I O UNAX Eingang 0 Stoptaste gesetzt VR 10 state_stop ELSA VR 3 2 7 Seg Anzeige UNAX auf 2 setzen MOVEABS 0 0 8 Kurve MOVECIRC 0 0 0 10000 0 MOVECIRC 0 0 0 10000 1 WAIT IDLE ENDIF Stoptaste RETURN do_stop VR 3 1 7 Seg Anzeige UNAX auf 1 setzen IF IN 0 ON THEN USER I O UNAX Eingang 0 Stoptaste aktiv VR 10 state_stop ELSE VR 10 state_run ENDIF RETURN 33 CAD2Motion Is a program designed to allow users to translate CAD generated two dimensional motion paths in DXF format into Trio BASIC programs DXF Import File Import DXF the example file form_2 dxf is located on CD Adjustments scaling The following adjustments are examples that demonstrate the modification possibilities of an imported file The path is divided into sections with marked motion direction Often the suggested sequence is not ideal and must be modified manually For example the direction of a section must be changed Select section and click on button The motion direction changes to the opposite The tool has created two path sequences automatically Now we want to reduce it to just one sequence So append MOVECIRC command of sequence 2 at the end of sequence 1 Then delete the complete sequence 2 Redraw display in menu Plot Redra
41. w F5 With the button shift sequence the path origin can be shifted to zero position Select cadseq7 into code editor click the button and set X and Y coordinates to zero exceptional motion controls Import DXF file XY_TISCH_5 bas a CAD2Motion le Eile Plot Edit Tools Windows Help olsa elele elele 2 o m gt el rescareseqiiy Axes X 0 Y 1 Entity lstart 15 0001 14 9768 End 5 0004 14 9405 Sequence 0 a CAD2Motion file Plot Edit Tools Windows Help oleja zleta elele slelo of B Axes x 0 Y 1 Entity Start 5 0004 14 9405 End 15 15 Sequence 2 SStartSeq 1 File F UNAX Schulung CAD form_2 dxf Date 8 Jan 2007 at 09 04 cadseql MOVE 20 0 MOVE 5 5 MOVE 0 10 MOVECIRCI 9 9999 0 0232 3 070 MOVECIRG 4 8996 9 0595 3 0 1 SEndSeq 1 Shift Sequence Shift Type Absolute Relative Cancel 34 Into the DXF file the connection points of the two semicircles are not precise Therefore the MOVECIRC command values are rounded Finally the motion path must be scaled to micrometer units Select cadseq7 into code editor click button al and set scale factor to 1000 save file form_2_scal bas Code integration into user application There are two possibilities to integrate a generated code into the user appl
42. xis coordinator 5 1 Motion Perfect 2 5 2 Axis configuration 5 3 BASIC command set 5 4 Tasks and motion profile generator 5 5 System module UNAX_SYS bas 5 6 User I O UNAX 5 7 XENAX handshake with UNAX 5 8 COM 1 COM 2 Interface 5 9 External Encoder 6 Application example 6 1 Exercise 6 2 Parameterisation XENAX slave servo controller 6 3 UNAX application 6 4 Test the user application 6 5 Completion commissioning 7 Communication with UNAX system 7 1 Standard 7 2 Ethernet TCP IP Gateway 8 Frequently asked questions FAQ 9 Technical data 9 1 Electronics Firmware 9 2 Dimensions UNAX Ux4 9 3 Drilling plan of electrical cabinet exceptional Contents Ooo A 4 11 11 11 12 13 14 15 16 17 17 17 ws 17 18 19 20 23 24 25 29 26 28 37 38 39 39 39 41 44 44 44 44 motion controls exceptional motion controls 1 System overview The UNAX system stands for clear structured control hierarchic The multi axis motion coordinator is able to coordinate and interpolate up to four servo axes Over the internal TCP IP communication gateway of UNAX programming and parameterisation of servo axis operates by web application WebMotion set IP address in browser select servo axis and the WebMotion graphic user interface looks like a peer to peer connection to a certain XENAX servo controller N ee EEE UNAX multi axis motion coordinator i F Es won mm cons cana U
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