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6420 Indexer/Drive User Manual

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1. Input Output Pin Number Description 5 VDC RTN Shield J4 1 TXD_232 J4 2 RS 232 Transmit data output RXD_232 J4 3 RS 232 Receive Data input COMMON J4 5 TXD_485 J4 6 Differential Transmit Data output TXD_485 J4 7 Differential Transmit Data input RXD_485 J4 8 Differential Receive Data output RXD_485 J4 9 Differential Receive Data input 2 3 4 1 SINGLE UNIT RS 232 CONNECTION Solder connections to TXD_232 output RXD_232 input and COMMON After installing the power and serial communications cable quickly test the unit by applying power pressing lt Esc gt and the space bar You should see the sign on message and copyright notice 6 7 8 9 COMMON 5 TXD 232 7 RXD 232 2 3 4 2 SINGLE UNIT RS 422 CONNECTION Solder connections to TXD_485 and RXD_485 differential lines After installing the power and serial communications cable quickly test the unit by applying power pressing lt Esc gt and the space bar You should see the sign on message and copyright notice Build the cable to connect to your computer or terminal by referring to the documentation for the device Pinouts vary among computer manufacturers Check your computer s hardware reference manual before wiring 12 Rev C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive 2 3 4 3 MULTI UNIT RS 485 CONNECTION Solder connections to TXD_485 and RXD_485 differential lines This mode requires each
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3. Ig oe 2200pF T 100v L E LM311 a 4 02 k x By Ee LM336BZ 0 01 pF 4 99 k 0 1 uF 1k IRF633 o e gt POWERING THE 6420 FROM A REGULATED SUPPLY Certain precautions should be taken when powering the 6420 drive from a regulated power supply The 6420 s bipolar chopper output stage draws current from the DC supply in the form of pulses with fast rise and fall times This may be a problem for some regulated supplies designed to drive loads having relatively constant or slowly varying current drain If a regulated supply is used and problems are encountered place a 470 uf capacitor across the DC and DC lines between the power supply and 6420 Ideally this capacitor is located close to the 6420 drive but it can be located near the power supply and connected to the 6420 with a twisted pair no longer than 3 feet in length The capacitor should have a 20 kHz ripple current rating of at least the 6420 s current setting and a voltage rating of 1 3 times the nominal bus voltage A second precaution involves regenerated power Regulated supplies are usually not designed to absorb power This might cause their output voltage to rise during regeneration and lead to power supply and or 6420 damage MA6420 Rev C 101 Appendix G Power Supply Considerations Danaher Motion Pacific Scientific 6420 S POWERED BY REGULATED SUPPLY The next figure demonstrates powering the 6420 from a regulated supply where both an external
4. ssc 102 MA6420 Rev C iii Table of Contents Danaher Motion Pacific Scientific iv Rev C MA6420 Danaher Motion Pacific Scientific Overview of 6420 Indexer Drive 1 OVERVIEW OF 6420 INDEXER DRIVE This section introduces the 6420 Indexer Drive Topics covered are e 6420 definition System diagram e Warranty information 1 1 6420 DEFINITION The 6420 Microstepping Indexer Drive provides economical microstepping control with a simple mnemonic programming interface Operation is programmed via the serial communications port A combination of dedicated and user programmable I O provides motor control status indication and sensor feedback Simple single letter mnemonics specify a wide variety of motion commands Use a terminal or PC with terminal software to familiarize yourself with 6420 operation Various motion parameters are modified and motion executed immediately from the command line or from on board non volatile memory Many applications take advantage of the simplicity of developing programs for on board execution If more versatility is required you can write a custom program running on a host computer issuing immediate motion commands to the 6420 MA6420 Rev C 1 Overview of 6420 Indexer Drive Danaher Motion Pacific Scientific 1 1 1 BLOCK DIAGRAM 8 Discrete I O JOG JOG gt ry aa lt DCDC Unregulated Hsia START 24 VDC to 75 VDC gt
5. 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 SPEED ACCURACY The 6420 Indexer generates step pulses by initializing a counter with a value that generates interrupts at approximately the desired step rate The counter runs at a frequency of 1 2288 MHz This value is divided by the desired step rate to yield the integer counter initialization value Consequently the rounding process results in reduced accuracy as speeds increase For example step rates from 2498 to 2502 steps second yield a 491 count value and result in an actual speed of 2503 steps second Likewise 2503 to 2507 steps second yield a 490 count and result in an actual speed of 2508 steps second Speed accuracy over the full 20 19 000 step second range is approximately 0 72 84 Rev C MA6420 Danaher Motion Pacific Scientific Appendix E Application Examples APPENDIX E APPLICATION EXAMPLES The following examples provide just a few of the applications for the 6420 STANDALONE OPERATI
6. 49 Port loop 67 write output 71 Program edit 52 MA6420 105 Index list 59 Programming specifications 74 symbolic labels 36 Q examine parameters 63 R run at constant velocity 64 Read input port 58 limits 70 memory 46 move status 47 position counter 51 Reset software 46 Restore 50 Run constant velocity 64 S stop 65 Serial port 32 Slave control 66 Software reset 46 Specifications communications 74 connector 76 electrical isolation 75 environment 75 fixed resolution mode 73 input power 75 input voltage 75 mechanical 76 multi axis 74 output current 75 output voltage 75 programming 74 variable resolution mode 74 Speed set 39 StepSize 44 Stop 65 Store 106 Rev C Danaher Motion Pacific Scientific parameter 62 Syntax checker 33 System components 4 T master slave control 66 Terminal emulator 33 Termination selective 47 Trip 48 point 61 U loop on port 67 UL 3 Upload 33 Utility download 33 editor 34 init serial port 35 syntax checker 33 37 upload 33 V final velocity 68 Velocity final 68 initial 53 run at constant 64 VelScale 44 Ww wait 69 Wait 69 Warranty 4 Write memory 47 X read limits 70 Y write output port 71 Z zero origin 72 Zero 72 MA6420
7. EOL defined as the linefeed character is expected at the end of each line of code 6 2 3 ADDRESS TRANSLATION OF LABELS Before a 6420 program is downloaded it is automatically syntax checked If there are no syntax errors the Syntax Checker takes out all labels from the program and translates the label references to address The program thus contains only commands and numeric operands and is downloaded to the controller MA6420 Rev C 37 6420 Dialogue Danaher Motion Pacific Scientific 6 2 4 LABEL GENERATION FOR ADDRESSES When a 6420 program is uploaded labels are generated for the operands of branch to address commands The labels are inserted in the appropriate places in the program The labels generated have the form Lxxx where the labels are sequentially generated starting with L000 If a 6420 program is written off line on the PC with labels and downloaded when the program is uploaded the labels take the form described above The labels used in the program prior to downloading exist only in the original file on the PC To avoid confusion when developing 6420 programs follow the labeling scheme used by the Upload Utility That is when writing a 6420 program on the PC use labels of the form Lxxx starting with L000 and progress sequentially through the program By following this practice a program will not change labels when downloaded and then uploaded 38 Rev C MA6420 Danaher Motion Pacific Scientific
8. REMOTE STOP gt 641 0 ENABLE gt Drive FAULT i MOVING k Indexer AIIN Opto R 5 STEP Isolation lt 7 DIRECTION 4 5 7 VDC lt RS 232 TX RX 4 RS 422 RS 485 DIFF TX RX The 6420 communicates with RS 232 RS 422 or RS 485 serial protocols Discrete I O lines provide external start stop and motor enable control home and limit switch testing motor jogging slave drive interface and eight programmable bi directional discrete I O lines The eight programmable bi directional discrete I O lines are individually jumper configurable for input or output Immediate command line instructions read back and write all eight bits 7 1 2 FIXED RESOLUTION MODE The unit operates in one of two modes either Fixed Resolution Mode or Variable Resolution Mode In Fixed Resolution Mode with binary steps the resolution is set from 200 steps rev to 51 200 steps rev and with decimal resolution 200 steps rev to 50 000 steps rev The minimum and maximum step rate ranges from 0 08 to 19 000 steps sec depending on the resolution The finer step sizes result in high shaft resolution at the expense of shaft speed The motion profile is trapezoidal with programmable initial and final speeds The acceleration and deceleration rates are specified by a single command in terms of acceleration and deceleration factors ranging from 1 to 255 2 Rev C MA6420 Danaher Motion Pacific Scientific Overview of 6420 Indexer Drive 1 1 3 VARIABLE RESOL
9. lt 19 000 Program Line Explanation F 300 set the initial velocity V 3000 If vel 1000 and the step resolution is set for Full Steps 200 pulses rev the shaft spins at 1 000 full steps sec or 300 rpm If vel 1 000 and the step resolution is set for 1 8 Steps 1 600 pulses rev the shaft spins at 125 full steps sec 37 5 rpm In Variable Resolution Mode the speed is determined by the VelScale factor If VelScale is set by issuing 0 the nominal value and vel 1000 the shaft spins at 1 000 full steps sec 300 rpm If VelScale is set by issuing 2 and vel 1000 the shaft spins at 250 full steps sec 300 rpm 0 25 75 rpm V Set final velocity Rev C 53 Programming Instructions Danaher Motion Pacific Scientific G Go G addr trace Immediate Execution Purpose Executes a user program at a specified addr The optional trace argument allows execution tracing addr specifies the starting address of a program in the range of 0 to 1791 A special case is where addr 2048 which executes an indexed jump based on the lower 4 I O port bits to 16 locations within address locations 256 to 496 Syntax G addr trace Arguments 0 lt addr lt 1791 or 2048 for indexed jump on inputs trace 0 or 1 Programming Guidelines Program Line Explanation EO 0 M1010 3 F300 6 G2048 execute Indexed Jump Jump Table The following jump table is used for an indexed jump which might be used for a rotary switch used to
10. 6420 Indexer Drive Danaher Motion Pacific Scientific 2 5 2 INDEXER The Indexer has thirteen plugs on jumpers E1 through E13 controlling RS Communications Synchronous or Alternating Operation and I O Configuration JMPR 5 6 ENABLE SENSE _JMPR 3 4 DECIMAL BINARY STEPS IN LOW ENABLE OUT BINARY STEPS OUT HIGH ENABLE IN DECIMAL STEPS Indexer Board JMPR 1 20UT FOR 6420 e e e e 1 Swi e e e JMPR Block l JMPR Side View 6420 SsSW1 JMPR swi IDLE CURRENT 7 8 POSITIONS REDUCTION s J 5 a du A OPEN IN CLOSED DISABLED IN OPEN 0 1 SEC DELAY CLOSED OUT CLOSED 0 05 SEC DELAY 12345678 OUT OPEN 1 0 SEC DELAY SW1 POSITIONS SW1 POSITION Motor 1 3 OPEN ON 6420 Current l 6 7 8 Amps RMS cCLOSED CLOSED CLOSED 5 0 CLOSED CLOSED OPEN 4 375 CLOSED OPEN CLOSED 3 750 sw1 DIGITAL ELECTRONIC a eae oe 8 POSITION 4 DAMPING CONTROL OPEN CLOSED OPEN 1875 CLOSED DISABLED OPEN OPEN CLOSED 1 25 OPEN ENABLED OPEN OPEN OPEN 625 2 5 3 DRIVE BOARD SETTINGS Switch S1 amp Jumper J6 Drive switch settings Default settings are in bold 20 Rev C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive 2 5 4 INDEXER BOARD SETTINGS Indexer The Indexer has thirteen plug on jumpers E1 through E13 controlling RS Communications Synchronous or Alternating Opera
11. 6420 to be initialized with a single letter node address to be used with each subsequent command This node address must be setup in single unit mode before the RS 485 mode operation is attempted To set this address 1 Apply power and press a key a z A Z NOT the Spacebar to be used as the address followed by a single space Execute the P command to program the node address into non volatile memory 2 Power down the unit and insert jumper E11 to configure the unit for RS 485 mode There is no sign on procedure while in RS 485 multi unit mode This mode is designed to be used with a host computer but can be tested using a terminal 3 Type in the node address The character should be echoed if the unit recognizes the address 4 Type a simple motion command R 500 followed by a lt LF gt line feed terminating character press lt Ctrl gt lt J gt The motor should run Units configured for single unit RS 232 or RS 422 always have the serial drive lines enabled Therefore avoid connecting one of these units into a chain of RS 485 configured units 2 3 5 J5 DISCRETE INPUT OUTPUT CONNECTION The 6420 features 8 user programmable discrete input output lines Input output selection for ports 1 to 8 is configured by jumpers E3 to E10 respectively To enable a port as an input remove the respective jumper To enable as an output install the jumper Always remove the external cabling when making I O configuration changes to ens
12. BOARD SETTINGS 0 cccccccccceceersessteseeseeesneeeeee 20 MA6420 Rev C i Table of Contents Danaher Motion Pacific Scientific 2 5 4 INDEXER BOARD SETTINGS wvecesscssssesssseesssesssssesssseessees 21 2541 Jumper Sete gs c 2 c3 ee este Bigs n E a eenny Pere veeteeteds 21 3 POWERING UP THE 6420 0000 eee eeecceeeeeceee cesses aeaaea aat 23 3 1 TESTING THE INSTALLATION 23 4 MAINTAINING TROUBLESHOOTING 0 cceesceeeeeeeetteeeeseeeeees 25 4 1 MAINTAINING THE 6420 0 0 ceeeceecceeeeeeeeeseeceeeeeeeaeeeeeeeeeaees 25 4 2 TROUBLESHOOTING THE 6420 25 5 PROGRAMMING AND INSTRUCTION SET o ae 27 5 1 IMMEDIATE MODE snit aniano aata aiian 27 5 2 EXECUTION MODE iviirarasianaii aa eaiina nad dnanniin ia iaia na 28 5 3 THE AUTOSTART PROGRAM eeeseeeeeeeereerrrerereerreenees 28 5 4 INSTRUCTION OVERVIEW ec ececceceeeeeeeeeeeeeeeeteeeetaeeeeneeees 28 5 4 1 MOTION CONTROL cssccceccceseeeeceeneeceneeesneeseneesenetetaes 29 5 4 2 PROGRAM CONTROL 1ccccccccescccenceceeeeessseeseeecesneeteaes 29 5 4 3 PARAMETER INITIALIZATION 0 22 cccccccceeeeeeseeeeeeeeeeaes 29 5 4 4 INITIALIZATION AND UTILITY COMMAND 0 29 5 5 MEMORY MAP esineiden aa atea eaa ai Aneel ied 29 5 5 1 USER PROGRAMS isse rciiieicesireiiee iiine ejeren 29 8 5 2 FAST RAMi eitea tee aaia iaa abi 30 5 5 3 MEMORY MAP DETAILS wu eeccccssccecsceccenceenseseeeeenneteseaes 30 6 6420 DIALOGUE siii a a 31 6 1 GETTING STARTED a
13. Pacific Scientific 1 3 INDEXER FEATURES Simple mnemonic command set Executed from either internal NVRAM or from a more powerful host Serial port communications Supports RS 232 RS 422 and RS 485 multi drop Multi axis Single 6420 can control two independent or synchronous axes with an additional drive and no glue logic Input Output ports Eight general purpose bi directional user programmable input output ports Internal Memory Approximately 1792 bytes of non volatile memory are available for user programs 1 4 SYSTEM COMPONENTS The other components that along with the drive comprise a complete motor control system are Single Power Supply 24 75 VDC Motor Installation guidelines for these components are described in Installing the 6420 Indexer Drive 1 5 WARRANTY Danaher Motion s Pacific Scientific 6420 Indexer Drive has a two year warranty against defects in material and assembly Products modified by the customer physically mishandled or otherwise abused through miswiring incorrect switch settings etc are exempt from the warranty plan 4 Rev C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive 2 INSTALLING THE 6420 INDEXER DRIVE This section explains how to install the 6420 Indexer Drive Topics covered are Unpacking and inspecting the 6420 Installation of motor power discrete I O and serial communications cables Configuration of drive indexer
14. Pacific Scientific Programming Instructions W Wait W period Immediate Execution Purpose Syntax Arguments Related Commands Programming Guidelines MA6420 Waits for a specified period of time period specifies the wait in terms of 10 millisecond periods The actual wait time is period multiplied by 10 milliseconds period 0 is a special case that delays completion of the wait instruction until the end of the current motion command such as an absolute or incremental index W period 0 lt period lt 65 535 and indexes A non zero wait period executed after issuing a motion command absolute or incremental index immediately starts counting down in parallel to the motion command If the wait period is desired after motion is complete use W 0 followed by the actual wait command Program Line Explanation W 100 wait 1 second 100000 wo wait till index complete Rev C 69 Programming Instructions Danaher Motion Pacific Scientific X Read Limits X arg Immediate Purpose Returns the status of the limit home and jog switches and the Drive Fault status The value of arg specifies whether limit switch or input line information is returned Syntax X arg Arguments Specifying arg 0 returns 1 for Limit active 2 for Limit active and 3 for both active Bit 7 is active high if the drive faults Specifying arg 1 returns a binary weighted value corresponding to the level of these sign
15. Scientific M Accel Decel Factor M accel decel Immediate Execution Purpose Syntax Arguments Programming Guidelines Related Commands 60 accel and decel determine acceleration and deceleration profiles Accel Decel ramps are determined by lookup table and are NOT specified in terms of dv dt The Initial and Final Velocity parameters are used as indicies into a lookup table to determine a range of step speeds to be applied to the drive The time spent at any given step speed within the range is determined by accel and decel The arguments must be in the range of 5 to 255 Values towards the low end result in high acceleration rates Current accel and decel values can be saved in non volatile memory by issuing the P command M accel decel 1 lt accel lt 255 1 lt decel lt 255 Program Line Explanation M 100 50 accel factor 100 decel factor 50 F Set Initial Velocity V Set Final Velocity Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions O Trip Point O position vaddr Execution Purpose Syntax Arguments Programming Guidelines Related Commands Allows programs to vector to the location specified by vaddr when the position counter equals position vaddr must be in the range of 0 to 255 and position in range of 8 388 607 position must be a whole integer value in both Fixed and Variable Resolution modes Trip Point service routines generally contain I O
16. The Home switch is not active and H 250 1 is executed Motion is CCW until switch is activated Motion flips to CW at the initial vel F until switch is de activated and motion stops Program line Explanation M 10 10 set accel decel factors F 50 set initial velocity H 250 1 home MA6420 Rev C 55 Programming Instructions Danaher Motion Pacific Scientific Resolution Mode mode Immediate Purpose Syntax Arguments Programming Guidelines 56 Selects Fixed or Variable Resolution modes Fixed Resolution mode allows a fixed step size to be selected by the Step Size command Of course fine step sizes result in proportionately slower stepping rates Variable Resolution mode allows high speed high resolution indexes to be executed without compromising speed A mode value of 0 selects Fixed Resolution mode Stepping proceeds at fixed resolution selected by Step Size A mode value of selects Variable Resolution mode Step resolution is automatically adjusted during an index dependent on Initial and Final Velocity parameters Step resolution is 20 000 pulses rev Q displays the resulting Initial and Final Velocity parameters and range of step sizes to be used in subsequent absolute and incremental indexes I mode mode 0 selects Fixed Resolution Mode mode 1 selects Variable Resolution Mode Normally a preset operating parameter Do NOT incorporate into a non volatile memory based program Issu
17. The indexer varies the step size from Full to 1 256 as a function of the specified velocity position profile All indexing is specified in terms of a mixed integer fractional number with the integer portion specifying the full number of steps and the fractional portion specifying 0 01 to 0 99 decimal step resolution carried out to within 8 binary bits of precision Minimum Minimum Resolution Speed rpm Speed rpm Pulses Per Step Size full steps sec full steps sec Revolution Automatically chosen variable User specifies 0 02 0 078 5 700 19 000 20 000 position to within 1 100 of a step COMMUNICATIONS RS 232 or RS 422 RS 485 at 9600 bits per second stop bit and no parity The RS 485 mode supports both single axis and multi drop multi axis operation MULTI AXIS CAPABILITY Multiple 6420 units may be connected to a single RS 485 bus for multi axis operation Another alternative is to use the Step and Direction outputs to control additional drives such as 6410s The 6420 is designed to directly drive another 6410 drive with no glue logic If desired you can implement external logic controlled by any number of the user bi directional I O lines to control more than one drive PROGRAMMING The 6420 is programmed with a simple mnemonic programming language The unit operates in Immediate and Execution Modes In Immediate command line entry mode you can interactively specify motor commands
18. a start stop motion program example The program starting at location 128 in FAST memory spins the motor until an optic sensor wired to Port 8 goes HIGH Once this stop point is detected the motor decelerates to a stop The program is written such that the wait command executes in parallel with the deceleration If the deceleration factor is set for maximum deceleration rate 0 motion stops very quickly and dead time is about second If deceleration is set for the minimum rate 255 depending on the velocities involved the stopping time may be several seconds possibly over shooting the stopping point substantially and eliminating the 1 second wait command The optic design reflecting or slotted type may require some moving distance to disengage or deactivate its output The program below runs at a constant slower speed until the sensor is cleared and then loops back to the beginning This continuous running program is easily modified to start up with an external input applied to an I O port 128 R1200 spin the motor 131 U14014 jump to location 140 when stop point is detected by the optic sensor 135 G131 continue polling Port 8 140 RO decelerate to 0 143 W100 1 second wait in parallel to R 0 146 U14614 loop till optics deactivated 150 G128 back to beginning Input Port Polling Times Some applications may require estimates of branching times The program below in FAST memory takes between 200 us to 1 ms to re
19. capacitor and regenerated power dump circuit are required The recommended fusing is also shown J2 e 3 2 AAG 2 i a 1 6420 J2 e 3 FUSE BLEEDER RESISTOR TWISTED e NG gt 2 REGULATED BUS KX MDA10 75 volt POWER 7 AT a Max SUPPLY pla i kd gt REGEN SA0 ZENER 3 FEET MAX PA N gt EARTH SAFETY GROUND 102 Rev C MA6420 Danaher Motion Pacific Scientific INDEX negative incremental move 43 StepSize VelScale 44 absolute move 40 read move status 47 A set jog speed 39 AC reset software 46 G trip and output 48 positive incremental move 42 write memory 47 limit switch polarity 49 gt read memory 46 6420 commands initialization 29 utility 29 communication 2 connections serial port 32 controlling a 6410 18 alternating operation 19 synchronous operation 19 E12 IN E13 OUT 19 default settings 19 drive 19 drive board 20 El 21 E10 22 Ell 21 MA6420 Index E12 22 E13 22 E2 21 E3 22 indexer 20 indexer board 21 jumper settings 21 dialogue 31 installing 32 dialogue floppy 31 drive features 3 execution mode 28 indexer features 4 inspecting 5 installation 5 testing 23 keyboard commands 32 maintenance 25 memory 29 FAST RAM 30 map details 30 user programs 29 mounting 5 dimensions 6 power up 23 program getting started 31 program
20. instructions and new trip point specifications and should not contain index wait or other time consuming instructions position 0 disables this function For the trip to occur the main program must be actively running and not in idle mode O position vaddr 8 388 607 lt position lt 8 388 607 0 lt vaddr lt 255 Program Line Explanation E0 0 Z 1 O05000 128 Trip at position 5000 to location 128 6 18000 11 WO 14 GO Program still running E E128 128 Y1 Activate P1 LOW 130 E T Set Trip Point Rev C 61 MA6420 Programming Instructions Danaher Motion Pacific Scientific P Store Parameters P Immediate Purpose Stores parameters to non volatile memory Values are restored to working memory upon power up and by issuing the A0 command Syntax P Programming Guidelines Type P lt Enter gt All paramters and fast memory locations 128 191 are saved to non volatile memory in addition to Initial Velocity F Final Velocity V Ramp slope M Jog Speed Trip Point O Resolution Mode Limit Switch Polarity RS 485 Node Address User Programs The default mode after memory initialization is Variable Resolution Mode at Full Speed Whenever a change in any of these parameters or code in Fast RAM locations 128 191 is to be saved during power cycling issue a P command 62 Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions Q Examine Parameters Q Immediate Purpose D
21. ports and sets the next trip point to position 5000 and the vector address 133 Subsequent execution continues in a similar manner Only the E command at the conclusion of editing is necessary to end the trip point service routine Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions polarity Immediate Purpose Syntax Arguments MA6420 Program Line Explanation EO 0 Z zero position 1 01000128 trip at pos 1000 6 50000 index 11 WO till done 14 W100 wait 1 sec 17 GO loop E128 128 5000 1 133 10000 2 138 15000 4 143 20000 8 148 25000 4 153 30000 2 158 35000 1 E Limit Switch Polarity Sets the limit switch polarity The default limit input upon power up is active LOW polarity 1 Active Low 0 Active High Rev C 49 Programming Instructions Danaher Motion Pacific Scientific A Clear and Restore A opcode Immediate Purpose This command initializes a portion of non volatile memory Non volatile memory is segmented into 8 pages The specified opcode determines precisely the page to be erased reloaded or initialized Syntax A opcode Arguments AO Reloads the last saved NVRAM parameters A1 to A7 Erase the corresponding page in NVRAM A8 Completely initializes NVRAM to default values A9 Initializes variable resolution fraction look up table to default values List of 100 eight bit values s
22. read back status information or enter programs with an ASCII terminal or terminal emulator The host can also read back the status of both dedicated and user defined I O lines connected to external switches and sensors In Execution Mode previously entered programs may be executed on the 6420 to control the motor On board non volatile memory offers approximately 1792 bytes for user programs Program mnemonics vary from 1 to 5 bytes in length Within the 1792 range there is a 64 byte region from 128 to 191 designated as FAST memory for time critical code sections 74 Rev C MA6420 Danaher Motion Pacific Scientific Appendix A Specifications Input Power 24 VDC to 75 VDC Current is motor and load dependent usually less than motor phase current A 2000 uf capacitor mounted within 3 feet of the 6420 is recommended to absorb the motor regen energy Output Motor Phase Current 5 Arms max Apgax full step 7 1 Apgax microstepping Discrete Input Voltage 0 30 VDC max Vin lt 0 8 V is a logic low and Vy 3 3 7 V is a logic high Discrete Output Voltage Open collector Darlington 0 30 VDC max 70 mA sink Vsar lt 1 0 VDC Electrical Isolation Indexer option power and interface signals to 6410 completely isolated All other external inputs and outputs referenced to Indexer ground unless otherwise specified Environmental Requirements Storage temperature 55 C to 70 C Operating temperature 0 to 50 C ambient air Maximum c
23. select 1 of 16 different operations Jump Loc P4 P3 P2 P1 Jump Loc P4 P3 P2 P1 256 1 1 1 1 384 0 1 1 1 272 1 1 1 0 400 0 1 1 0 288 1 1 0 1 416 0 1 0 1 304 1 1 0 0 432 0 1 0 0 320 1 0 1 1 448 o 0 1 1 336 1 0 1 0 464 0 0 1 0 352 1 0 0 1 480 0 0 0 1 368 1 0 0 0 496 0 0 0 0 0 54 Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions H Home H speed dir Immediate Execution Purpose Home initiates a search for home position Home is executed with dir set for motion moving the assembly toward the home switch at speed steps second When the home position is reached and the home input switch is activated the motor reverses direction and moves at a speed equal to the initial velocity until the home switch is de activated The activated level should be a logic 0 and the de activated level a logic 1 Syntax H speed dir Arguments 20 lt speed lt 19 000 steps second dir must be 1 for CCW or 0 for CW Related Commands F set Initial Velocity Programming Guidelines Example The system is designed so CW motion advances toward Home The Home switch is not active and H 250 0 is executed Motion is CW at 250 steps second until switch is activated then motion flips to CCW at the Initial Vel 50 steps second until switch is de activated and motion stops Program Line Explanation M 10 10 set accel decel factors F 50 set initial velocity H 250 0 home The system is designed so CCW motion advances toward Home
24. steps sec M set acceleration deceleration factors Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions S Stop S arg Immediate Execution Purpose Syntax Programming Guidelines MA6420 Stops motion with ramping deceleration specified by M If the Indexer is currently running a program in execution mode or a motion command motion ceases with ramping deceleration If embedded in a program an optional argument can be supplied to abort the current program in addition to stopping all motion If arg 1 motion ceases but the program continues With arg 0 the program terminates placing the indexer in immediate mode S arg Embedded in a program stops motion and aborts returning to idle mode Program Line Explanation 0 or S to stop motion and abort program Typing S while a program is running aborts the program and returns to idle mode Rev C 65 Programming Instructions Danaher Motion Pacific Scientific T Master Slave Control T enb Immediate Execution Purpose Syntax Arguments Programming Guidelines 66 Use when one 6420 Indexer Drive controls motion of two axes both at Fixed Resolution The 6420 is the master unit controlling a slave 6410 Drive Jumpers E12 and E13 determine if the slave unit is running synchronously with the master identically executing index commands or in alternating fashion motion is executed on one axis and then the other Po
25. test the basic functionality of the 6420 After performing the installation test your installation using the following steps Perform an initial power up with the motor shaft disconnected from the load Improper wiring or undiscovered shipping damage can result in undesired motor motion Be prepared to remove power if excessive motion occurs Before beginning the connections test please check All wiring and mounting to verify correct installation Specifications to ensure applied voltages do not exceed the voltages specified 1 Connect only J2 unregulated 24 VDC to 75 VDC input to the 6420 and apply power 2 Verify 5 7 VDC at the 6420 J5 13 to J5 5 voltage should be 5 2 V to 5 9 V If it is not refer to Troubleshooting Switch power OFF Connect the J3 motor connector Switch power ON again Nn FY Verify the motor has holding torque by attempting to rotate the motor shaft The energized shaft is either immovable or very resistant to rotation when the drive is enabled 7 Connect the J4 RS 232 connector 8 Cycle power to the controller If using a PC use the 6420 Dialogue disk to set up your PC as a dumb terminal MA6420 Rev C 23 Powering up the 6420 Danaher Motion Pacific Scientific 9 13 Type ESC and a single space character The controller should respond with a pre defined sign on message 5134 PACIFIC SCIENTIFIC 1994 v1 10 Enable the 6420 by connecting J5 7 Enable1 to J5 5 G
26. the command terminated by a line feed lt LF gt character Once a unit recognizes its single letter node address that address character and commands entered up to the lt LF gt are echoed back to the user 5 2 EXECUTION MODE Once the program starts it continues to execute until it is complete aborted with the SO command embedded in the program aborted by ESC S or the REMOTE STOP line 5 3 THEAUTOSTART PROGRAM During power up if a program is found at location 1600 in non volatile memory that program the AUTOSTART program is executed This program is aborted by pressing either ESC or S Both keys forcd the unit back to the power up state and waits for the ESC and space character sign on sequence 5 4 INSTRUCTION OVERVIEW The 6420 offers a variety of instructions for motion and program control in addition to several utility instructions All instructions can be entered on a command line basis in immediate mode with many but not all available for use within programs executed from on board non volatile memory The instruction categories include Motion Control Program Control Parameter Initialization Initialization and Utility Commands 28 Rev C MA6420 Danaher Motion Pacific Scientific Programming and Instruction Set 5 4 1 MOTION CONTROL Incremental and absolute indexes run at constant velocity and home to a known position All the motion commands immediately echo lt CR gt lt LF gt and carry out their mot
27. you select an existing filename that file is overwritten It is good practice to use a different extension or filename for the uploaded file In particular the filename ext of the downloaded source file should not have the same filename ext as the uploaded file or the source file contents are replaced with the uploaded file When choosing extensions for filenames avoid using LST The 6420 Dialogue program uses the LST extension for the listing files created by the Syntax Checker The Upload Utility will not function properly if voids empty addresses exist between sections of code in the memory Contact the factory for additional information After a file has been successfully uploaded Upload completed is displayed If the lt Path gt filename ext is unacceptable Couldn t open file is displayed When uploading a file labels are generated for any branch to address command For a downloaded program the symbolic labels and references are stripped out and replaced with numeric addresses At uploading these are replaced with numeric sequential labels It is good practice to use a different extension or filename for uploaded files 6 1 7 DOWNLOAD UTILITY After selecting this utility you are prompted for a lt Path gt filename ext that can be typed in or selected from the current directory list If the download is successful Download completed is displayed 6 1 8 SYNTAX CHECKER Using the Syntax Checker programs are check
28. 0 18070 18070 18340 18340 18340 18340 18340 18340 18340 18618 18618 18618 18618 18618 18618 18618 18618 18904 18904 18904 18904 18904 18904 18904 19200 19200 19200 19200 19200 19200 19200 19200 19200 19504 19504 19504 19504 19504 19504 19504 19504 19819 19819 19819 19819 19819 19819 19819 19819 19819 19819 20144 20144 20144 20144 20144 20144 20144 20144 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 22341 22341 MA6420 Rev C 83 Appendix D Ramp Algorithm amp Lookup Table Danaher Motion Pacific Scientific 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22755 22755 22755 22755
29. 0 000 pulses rev If steps 200 00 the shaft spins 1 revolution steps 0 lt steps lt 8 388 607 Fixed Resolution 0 00 lt steps lt 8 388 607 99 Variable Resolution Program Line Explanation M 10 10 set accel decel factors F 300 set initial velocity V 1000 set final velocity 1000 52 index 1000 52 steps M set accel decel F set initial velocity V set final velocity I set resolution mode set StepSize Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions Negative Incremental Move steps Immediate Execution Purpose Syntax Arguments Programming Guidelines Related Commands MA6420 Moves the motor a total of steps in the CCW direction with a trapezoidal velocity profile shown below In Fixed Resolution mode the steps specifies 8 388 607 pulses If steps 200 StepSize is Full steps the shaft spins revolution If steps 1600 StepSize is 1 8 step 1600 pulses rev the shaft also spins 1 revolution In Variable Resolution Mode the steps specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If steps 200 00 the shaft spins revolution steps 0 lt steps lt 8 388 607 Fixed Resolution 0 00 lt steps lt 8 388 607 99 Variable Resolution Program Line Explanation M 10 10 set accel decel factors F 300 set initial velocity V 1000 set final velocity 1000 index 1000 steps
30. 0 M1010 3 F300 6 V1000 9 U401 jump if Port 1 Low 13 U1003 jump if Port 2 Low 17 G9 E E40 40 1000 CW 1000 steps 45 WO till done 48 U481 wait for release E E100 100 1000 105 WO 108 U1083 E MA6420 Rev C 67 Programming Instructions Danaher Motion Pacific Scientific V Final Velocity V vel Immediate Execution Purpose Syntax Arguments Programming Guidelines Related Commands 68 Sets the final velocity of an absolute position or incremental move to vel pulses sec In Fixed Resolution mode the actual speed is determined by the current stepsize If vel 1000 and the step resolution is set for Full Steps 200 pulses rev the shaft spins at 1000 full steps sec or 300 rpm If vel 1000 and the step resolution is set for 1 8 Steps 1600 pulses rev the shaft spins at 125 full steps sec 37 5 rpm In Variable Resolution mode the speed is determined by VelScale If VelScale is set by issuing 0 nominal value and vel 1000 the shaft spins at 1000 full steps sec or 300 rpm If VelScale is set by issuing 2 and vel 1000 the shaft spins at 250 full steps sec or 75 rpm This parameter does not affect the velocity supplied in R Run at constant Velocity or that programmed for Jog or Home operations V vel 0 lt vel lt 19 000 Program Line Explanation V 1000 set final velocity for and indexes F Set Initial Velocity Rev C MA6420 Danaher Motion
31. 2 f 7 G BEL 39 71 G 103 g 8 H BS 40 72 H 104 h 9 A HT 41 73 Il 105 i 10 J LF 42 74 J 106 j 11 K VT 43 75 K 107 k IZAL FF 44 76 L 108 13 M CR 45 77 M 109 m 14 N SO 46 78 N 110 n 15 O SI 47 I 79 O 111 o 16 P DLE 48 0 80 P 112 p 17 Q DC1 49 1 81 Q 113 q 18 R DC2 50 2 82 R 114 r 19 S DC3 51 3 83 S 115 s 20 AT DC4 52 4 84 T 116 t 21 U NAK 53 5 85 U 117 u 22 V SYN 54 6 86 V 118 v 23 W ETB 55 7 87 W 119 w 24 X CAN 56 8 88 X 120 x 25 AY EM 57 9 89 Y 121 y 26 Z SUB 58 90 Z 122 z 27 M ESC 59 91 I 123 MA6420 Rev C 93 Appendix F ASCII Codes Danaher Motion Pacific Scientific 94 ASCII Code ASCII Code ASCII Code ASCII Code Result Result Result Result 28 FS 60 lt 92 124 29 4 GS 61 93 125 30o RS 62 gt 94 4 126 31 fs US 63 95 _ 127 Rev C MA6420 Danaher Motion Pacific Scientific Appendix G Power Supply Considerations APPENDIX G POWER SUPPLY CONSIDERATIONS BRIDGE CAPACITOR POWER SUPPLY The figure below shows the full wave bridge capacitor input configuration most commonly used to power one or more 6420 drive modules A single transformer provides isolation and transforms the AC input voltage to a level that when rectified provides the desired DC bus voltage Fuse between the rectifier and individual bus capacitors This allows fuse size to be based upon the current requirements of a single module to provide the greatest p
32. 5 18 GND J5 20 14 Rev C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive The Discrete I O connector has its own ground points completely isolated from the unit s bus power The minimum requirement to operate the unit is to enable motor current by connecting J5 7 ENABLE to one of the three JS ground points J5 5 J5 18 or J5 20 2 3 5 1 DEDICATED DISCRETE INPUT OUTPUT LINES The 6420 s operation is controlled by several input lines These lines are active low Input lines are RC filtered and passed to a 74HC14 Schmidt Trigger The block diagram of input and output lines are shown below INPUT 22K 57V e 5VDC INPUT pF INDEXER e i PROCESSOR 100K 30 VDC MAX 00 T4HC14 INPUT VOLTAGE Inputs accept 0 30 VDC max where Vin lt 0 8 Visa logic low and Vin 3 7V is a logic high The 6420 s outputs are open collector Darlington ULN2003 drives Inductive kick back protection is provided by the built in diode and 39 V Zener diode OUTPUT OUTPUT INDEXER PROCESSOR 39V ULN2003 All outputs are Open Collector 30 VDC 70 mA sink Vsat lt 1 0V All I O signals are active low MA6420 Rev C 15 Installing the 6420 Indexer Drive Danaher Motion Pacific Scientific Dedicated Input Output Pin Designations J5 The pin definitions for all 6420 control lines are shown below Input Output Pin Number Description Remote Start J5 8 This input activates program at lo
33. 6420 is operating at 70 volts and is set for 5 Arms motor current Assuming a 60 Hz line use a bus capacitor of 6000 micro farads The capacitor should have a 120 Hz ripple current rating of at least 5 Agms and a working voltage of at least 1 3 70 91 volts The bus capacitor should be connected to the 6420 using a twisted pair no longer than 3 feet in length FUSE SELECTION The BUS MDA 10 slow blow fuse or equivalent is recommended when the 6420 is set for 5 smps Fuses from the same family with proportionally lower current rating can be used with lower current settings REGENERATION CONSIDERATIONS The motor power supply voltage can be pumped up when the motor and load are decelerated by the drive In effect the motor becomes a generator converting mechanical energy stored in the spinning motor and load inertia into electrical energy If the mechanical energy is less than the losses in the drive and motor the supply voltage does not increase If the mechanical energy is greater than these losses the supply voltage increases pumps up The mechanical energy of a spinning inertia is given by E 3 87 10 5 J S2 where E kinetic energy joules J inertia in oz in sec S speed in rpm Final Voltage If this energy is converted to electrical energy in the form of charge on the bus capacitor s the voltage is V y V 73 where V is the final voltage after energy transferred to capacitor s Vo is the initial
34. A6420 Rev C Installing the 6420 Indexer Drive Danaher Motion Pacific Scientific 2 3 2 1 4 LEAD MOTOR CABLE REQUIREMENTS Use 18 to 16 gauge stranded wire twisted at approximately 3 to 4 turns per inch for each motor phase Building A 4 Lead Motor Cable The motor cable assembly uses a 5 pin PCD connector at the 6420 Danaher Motion Pacific Scientific motors commonly use a MS style connector at the motor end The cable assembly using standard Danaher Motion stepper motor color coding is shown below Cabling Diagram Motor Case Gnd Green IIT 7mm To B Yellow 027 in T 7mm o Motor l aia Drive B Red 0 27 in E 7 mm 3 A Orange 0 27 in 7 mm 2 A Black AZF 7 mm 1 Strip the wires to 0 27 inch 7 mm 2 Attach the wire to the connector as indicated in the diagram Do not pre tin solder the tops of the cables going into the PCD connector This can result in a loose connection Make sure the screws on the PCD connector are tightened down firmly to the wiring 8 Rev C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive 3 Remove power from the 6420 Always remove power before making or removing connections to the unit The motor terminals have high voltage present when the 6420 is On Plug the mating connector firmly into the 6420 4 5 Connect the cable shield to 6420 ground if applicable 6 Plug the other mating connector into the motor 7 Switch On t
35. NDA From the terminal or computer type R100 lt enter gt This should move the motor at a velocity of 100 steps per second clockwise Type R 100 lt enter gt This should change the direction of the motor rotation Type S lt enter gt The motor should stop rotating If the controller passes all of the above start exercising the unit on your own If the 6420 does not pass all of the above steps refer to Troubleshooting 24 Rev C MA6420 Danaher Motion Pacific Scientific Maintaining Troubleshooting 4 MAINTAINING TROUBLESHOOTING This section covers maintenance and troubleshooting of the 6420 4 1 MAINTAINING THE 6420 The 6420 module is designed for minimum maintenance Remove superficial dust and dirt from the module using clean dry low pressure air 4 2 TROUBLESHOOTING THE 6420 Use the following table to diagnose and correct most problems If you are unable to achieve satisfactory operation contact your local Danaher Motion distributor or applications engineering department Symptom Corrective Action No RS 232 Verify that the 6420 E11 jumper is OUT placing the Communication 6420 into single unit RS 232 RS 422 mode Verify that the transmit of the host terminal is wired to the 6420 receive and vice versa Normally DTE Data Terminal Equipment devices transmit data on pin 2 and receive data on pin 3 Verify the serial port settings to be 9600 N 1 Verify your host is working properly Dis
36. ON The 6420 has approximately 1792 bytes of internal non volatile memory for user programs Internal programs set initial and final velocities acceleration and deceleration rates execute incremental absolute and constant velocity moves program loops branches based on the state of an input port and write to the output port s In addition a special case of the G instruction allows up to 16 different motion routines to be executed based on the state of the lower 4 port lines Programs are entered with the E command and parameters are saved with the P command in immediate mode The external Remote Start and Stop start and stop program execution Limit switches attached to the assembly are safeguards for over motion A slave 6410 can be controlled by the Direction and Step lines the Moving line can be polled for motion and the Fault line can be polled for fault conditions Remote Start Stop Limit Switches User Discrete I O 6 Step lt gt 4 Direction 2 Moving 0 Motor Fault LY Power Suppl Motor MA6420 Rev C 85 Appendix E Application Examples Danaher Motion Pacific Scientific HOST OPERATION SINGLE UNIT In this configuration a custom host computer program issues immediate mode commands controlling all motion and parameter settings All operations normally embodied in an on board non volatile program are executed on the host with only default motion parameters stored in non volatile memory This allows the pro
37. Poalikic SCIENTIFIC www DanaherMotion com 6420 Indexer Drive User Manual MA6420 Rev C Record of Manual Revisions ISSUE Date Description of Revision A 07 1992 Initial release B 07 1996 Updated corporate information C 10 2003 Updated corporate information Copyright Information Copyright 1992 2003 Danaher Motion All rights reserved Printed in the United States of America NOTICE Not for use or disclosure outside of Danaher Motion except under written agreement All rights are reserved No part of this book shall be reproduced stored in retrieval form or transmitted by any means electronic mechanical photocopying recording or otherwise without the written permission from the publisher While every precaution has been taken in the preparation of the book the publisher assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of Danaher Motion that is furnished for customer use ONLY No other uses are authorized without written permission of Danaher Motion Information in this document is subject to change without notice and does not represent a commitment on the part of Danaher Motion Therefore information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues e The safety alert symb
38. Programming Instructions 7 PROGRAMMING INSTRUCTIONS This section contains detailed descriptions of the 6420 commands The command mode of operation and where it can be used is listed at the top of the page Commands are then described using the following format Purpose purpose of the instruction Syntax exact format of the command Programming guidelines guidelines for using the command Example example of the instruction in a program segment Set Jog Speed speed Immediate Execution Purpose Sets jog speed This value is multiplied by 30 to determine speed in pulses second Acceleration is ramped Deceleration is normally not ramped except in the case of activating both JOG inputs and releasing one Jog inputs are active in idle mode Syntax speed Arguments 0 lt speed lt 255 MA6420 Rev C 39 Programming Instructions Danaher Motion Pacific Scientific Absolute Move position Immediate Execution Purpose Syntax Arguments 40 Indexes the motor to an absolute position given by the internal position counter In Fixed Resolution mode the position specifies 8 388 607 pulses If position 200 StepSize is Full steps the shaft spins 1 revolution If position 1600 StepSize is 1 8 step 1600 pulses rev the shaft also spins 1 revolution In Variable Resolution mode the position specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If posi
39. UTION MODE Variable Resolution Mode is the recommended where micro stepping is desired without compromising speed This mode allows for positioning at a resolution of 1 100 of a step at effective full step speeds of 20 19 000 steps second 1 2 DRIVE FEATURES Internal power supply Single power supply Bipolar chopper drive Patented for superior current regulation and low ripple current Output current Adjustable from 0 625 A to 5 Arms with 3 position DIP switch Microstepping Smooth operation and increased resolution Fixed Resolution microstepping Binary Steps Full 1 2 1 4 1 8 1 16 1 32 1 64 1 128 1 256 Decimal Steps Full 1 2 1 5 1 10 1 25 1 50 1 125 1 250 Variable Resolution microstepping Decimal step resolution 0 01 steps at effective full step speeds of 20 19 000 steps second Optical isolation Indexer optically isolated from drive Digital Electronic Damping Patented circuit reduces instability at speeds in middle of operating range Idle Current Reduction ICR Reduces motor heating in many applications Fault protection Line to line and line to neutral shorts Internal power supply under voltage Bus overvoltage Small size Only 7 5 square inches of panel space UL Recognized 508C Type R File E 137798 Complies with CSA Standard for Process Control Equipment C22 2 No 142 M1987 Vibration IEC Standard 68 2 6 MA6420 Rev C 3 Overview of 6420 Indexer Drive Danaher Motion
40. aher Motion Pacific Scientific E Edit Program E addr Immediate Purpose Syntax Programming Guidelines Example 52 Allows entry of user programs for subsequent execution by the G GO command or execution of a program at location 0 with activation of the Remote Start input or AUTOSTART at power up addr specifies the address at which to edit a new or existing program E addr ProgramLine Explanantion E 100 Edit a program starting at location 100 M 10 10 F 400 V 1200 1000 E Edit Program mode is entered by the E 100 Various commands are entered and terminated by lt Enter gt When completed the last E inserts a terminator byte at the end of the program over writing any pre existing data Pressing ESC instead of the last E prevents over writing the next command This is useful for patching in corrections to an existing program when using a terminal emulator Program execution can be interrupted by Remote Stop ESC or S After interruption of an AUTOSTART program the sign on procedure must be carried out Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions F Initial Velocity F vel Immediate Execution Purpose Syntax Arguments Programming Guidelines Example Related Commands MA6420 Sets the initial velocity to vel pulses second In Fixed Resolution Mode the actual speed in steps per second is determined by the current step size F vel 0 lt vel
41. als 1 gt Home Input 32 gt Jog Input 64 gt Jog Input 128 gt Drive Fault 70 Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions Y Write Output Port Y port Immediate Execution Purpose Writes to user defined I O ports where port specifies a binary weighted port selection bit The port bits are active LOW Y 1 activates Port 1 Syntax Y port Arguments 0 lt port lt 255 Y 0 deactivates all bits producing Logic HIGHs Y 255 activates all bits producing Logic LOWs Related Commands K Read Input Port Programming Guidelines To program an I O bit as an output insert the respective MA6420 jumper Ports to Port 8 are configured by jumpers E3 to E10 respectively The bit weightings are Port 1 1 Port 5 16 Port 2 2 Port 6 32 Port 3 4 Port 7 64 Port 4 8 Port 8 128 Avoid driving a port configured as an output by a low impedance input Program Line Explanation YO Port 1 to 8 outputs off open pulled up Y2 Port 2 output ON sinking to ground Rev C 71 Programming Instructions Danaher Motion Pacific Scientific Z Zero Origin Z Immediate Execution Purpose Zeros position counter normally done before a sequence of absolute moves and or trip sequences Syntax Z Related Commands Absoloute Indexes Programming Guidelines Program Line Explanation 0 Z zero origin 1 200 index 1 revolution 6 WO wait till done 9 W100 wait 1 second 12 0 index back to positio
42. at current resolution M set accel decel F set initial velocity V set final velocity I set resolution mode set StepSize Rev C 43 Programming Instructions StepSize VelScale arg Immediate Execution Danaher Motion Pacific Scientific Purpose In Fixed Resolution mode sets the StepSize In Variable Resolution mode sets VelScale to scale actual shaft speed Syntax arg The resolution settings also depend on the drive settings For this instruction select either binary or decimal step sizes The factory default is binary step sizes Arguments Fixed Binary Fixed Decimal VR Speed 0 Full Not allowed Full speed 1 1 2 Full 1 2 2 1 4 1 2 1 4 3 1 8 1 5 1 8 4 1 16 1 10 1 16 5 1 32 1 25 1 32 6 1 64 1 50 1 64 7 1 128 1 125 1 128 8 1 256 1 250 1 256 44 Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions Programming Guidelines In the following program assume the unit is set for Fixed Resolution Mode Program Line Explanation EO 0 o Full steps 200 steps rev 2 1000 spin CW 5 revolutions 7 WO 10 W100 13 2 Quarter steps 800 steps rev 15 1200 spin CCW 1 5 revolutions 20 WO 23 W50 In Variable Resolution Mode Program Line Explanation 0 o Full speed 2 1000 spin CW 5 revolutions 7 WO 10 W100 13 2 1 4 speed 15 1200 spin CCW 6 revolutions 20 WO 23 W50 ESC Abort ESC Immedi
43. ate Purpose Terminates any active operation and returns Indexer to the immediate or idle mode If motor is in motion it is immediately stopped without ramping deceleration Output ports are not affected In RS 485 multi unit mode motion on all axes stops MA6420 Rev C 45 Programming Instructions Danaher Motion Pacific Scientific AC Software Reset AC Immediate Purpose Stops all axes loads default parameter values zeros origin executes any user program AUTOPROGRAM at location 1600 Indexer waits for the spacebar sign on or external REMOTE START or JOG or JOG inputs gt Read Memory gt addr size Immediate Purpose Displays a specified block of non volatile memory starting at addr returning a total of size bytes addr must be in the range of 0 to 2047 and size 0 255 Displayed values are in decimal format Syntax gt addr size Arguments 0 lt addr lt 2047 and 0 lt size lt 255 46 Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions lt Write Memory lt addr data Immediate Purpose Writes a data byte to an address specified by addr in non volatile memory addr must be in range of 0 to 2047 and data must be in range of 0 to 255 Syntax lt addr data Arguments 0 lt addr lt 2047 and 0 lt size lt 255 Read Moving Status Immediate Purpose Returns an integer number representing the current move status Bit weights 1 gt Indexing 2 gt Constant S
44. ated secondary current Arms For example a 24 VAC transformer with a rated secondary current of 1 amp has a VA of 24 96 Rev C MA6420 Danaher Motion Pacific Scientific Appendix G Power Supply Considerations This means that the secondary voltage of a 100 VA transformer will increase 10 over the specified voltage if the load current is reduced from rated current to zero Since the stepper drive s might sometimes be disabled the full regulation effect as well as maximum line voltage should be considered when selecting the transformer Based on these considerations the table below gives the highest allowable rated secondary voltage when using a line with 10 voltage tolerance Transformer VA Rating Maximum Rated Secondary Voltage 1 100 44 7 VAC 100 350 45 5 VAC gt 500 46 8 VAC Current Rating The average current load of the 6420 is a function of the motor used as well as motor speed and torque To optimize the power supply design the supply current is measured using a DC current meter when the motor is producing the highest shaft power If it is difficult to make this measurement assume the maximum average load current equals the selected phase current Thus if the DIP switch is set for 5 Arms assume the maximum average power supply current is 5 amps The average transformer secondary current equals the sum of the average currents for all 6420s powered by the supply Because the transfo
45. c step sizes producing the expressions 12800 64 and 16168 32 resulting in actual velocity values of 200 and 500 full steps second MA6420 Rev C 63 Programming Instructions Danaher Motion Pacific Scientific R Run at Constant Velocity R vel Immediate Execution Purpose Syntax Arguments Programming Guidelines Related Commands 64 Run ramps up or down to the specified vel expressed in pulses second In Fixed Resolution Mode the actual speed in steps per second is determined by the current stepsize If vel 1000 and the step resolution is set for Full Steps 200 pulses rev the shaft spins at 1000 full steps sec or 300 rpm If vel 1000 and the step resolution is set for 1 8 Steps 1600 pulses rev the shaft spins at 125 full steps sec or 37 5 rpm In Variable Resolution Mode the speed is determined by the VelScale factor If VelScale is set by issuing 0 the nominal value and vel 1000 the shaft spins at 1000 full steps sec or 300 rpm If VelScale is set by issuing 2 and vel 1000 the shaft spins at 250 full steps sec or 75 rpm In Variable Resolution Mode direction is determined by the sign of velocity R vel 20 lt Ivell lt 19 000 Program Line Explanation M 10 10 set accel decel factors F 300 set initial velocity R 100 accelerate to 100 steps sec CW W 1000 wait for 10 seconds R 100 accelerate to 100 steps sec CCW W 1000 wait for 10 seconds RO ramp down to 0
46. cation Try resizing Unit does not If the power supply is not adequate for the load a respond to momentary drop in power may reset the unit and commands require that the sign on procedure be repeated It is possible a maximum velocity value well above the specified range may have been executed Try cycling power and resetting any erroneous parameters before issuing another motion command If the error occurs in an AUTOSTART program try ESCaping as soon as possible before the maximum velocity is attained Cycle power If you cannot correct the drive problem or if it is defective return it to Danaher Motion for repair or replacement Call Danaher Motion at 815 226 2222 from 8 am to 6 pm Central Standard Time to get a Returned Materials Authorization Number RMA Pack the drive in its original shipping carton Shipment of your drive or motor to Danaher Motion constitutes authorization to repair the unit Specify the means of shipping desired at the time you request a RMA Do not attempt to return the 6420 or any other equipment without a valid RMA Returns received without a valid RMA will not be accepted and will be returned to the sender 26 Rev C MA6420 Danaher Motion Pacific Scientific Programming and Instruction Set 5 PROGRAMMING AND INSTRUCTION SET The 6420 can operate in Immediate or Execution Mode Immediate Mode is an interactive command line mode where commands are entered and immediate
47. cation zero Remote Stop J5 21 This input halts 6420 program and motion LIMIT LIMIT J5 9 J5 22 Activation of Limit prohibits motion in CW direction Activation of Limit prohibits motion in CCW direction Home J5 10 A transition at this input defines the electrical home position JOG JOG J5 11 J5 23 These inputs manually step the motor in the CW and CCW direction ENABLE J5 7 This input is an active low motor drive enable STEP J5 6 This output is an active low step pulse to slave drive approximately 400 600 ns in duration Only in Fixed Resolution Mode DIR J5 19 This output provides direction to slave drive CCW is a logic low CW is a logic high Only in Fixed Resolution Mode 5 7 V J5 13 This output provides power for slave STEP and DIR when used with a 6410 drive FAULT J5 12 The output is an active low fault indicator It must be cleared by powering down MOVING J5 24 This output is an active low motion indicator GND J5 20 Indexer ground isolated from drive ground 16 Rev C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive 2 3 5 2 INPUT INTERFACE SUGGESTIONS These are examples of driving regular inputs and I O pins configured as inputs The input lines pull down to ground and the internal 22 KO resistor through a 1N914 diode pulls up to 5 7 VDC The input is designed such that the user can actively drive the inputs w
48. cccccccccecceceeseesseeeseereneeetnaees 7 2 3 2 J3 MOTOR CONNECTION 1 cccccccccsceceeccecseestesneesssesessaees 7 2 3 2 1 4 Lead Motor Cable Requirement 0 0 0 0 cc eeeseeseeeeecteeseeeeseeeeeeeaes 8 2 3 2 2 8 Lead Motor Series Connected ccccccccccsccessssceessseceesseeeesseeeeesees 9 2 3 2 3 8 Lead Motor Parallel Connected cccccccesssceeesseceeesseeesseeeeees 10 2 3 3 J2 POWER CONNECTION cssccccscceceereeeseceseeetsnneeeses 10 2 3 4 J4 SERIAL PORT CONNECTION 1 cccscccceeeteeeeeeeees 11 2 3 4 1 Single unit RS 232 Connection wo eee esceeeeenerseeeeeeseeeeeeesees 12 2 3 4 2 Single unit RS 422 Connection eee eeeeeeeeeseeeeeseeseeeeeeenees 12 2 3 4 3 Multi unit RS 485 Connection cece esceeeeeeeseeeseeseeeseeeneeaees 13 2 3 5 J5 DISCRETE INPUTS OUTPUTS CONNECTION 13 2 3 5 1 Dedicated Discrete Input Output Lines ee ee eeeereeeeeeneeeees 15 2 3 5 2 Input Interface Suggestions eeeseeseeeeseeeeeeteesetseesceeeneesees 17 2 3 5 3 Output Interface Suggestions eee eee eseeseeeeeeteeeseeeeeeceeeeaees 18 2 4 USING THE 6420 TO CONTROL A 6410 DRIVE naasse 18 2 4 1 SYNCHRONOUS OPERATION sscccccceceesseceereetenneteaes 19 2 4 2 ALTERNATING OPERATION ccccccceecseseeceeseeeeeseeeaes 19 2 5 FACTORY DEFAULT SETTINGS 0 0 cceeeeeeeeeeeeeeesteeteneees 19 281 DRIVE ceine i deals 19 2 0 2 INDEXER kreiteton itaet aaa EEEa AAAA E ETEA TEREE 20 2 5 3 DRIVE
49. connect the D 9 connector from the 6420 unit Wire pins 2 and 3 of this connector together Try typing characters on the keyboard Each character should be echoed back to the screen If not check your cabling and connectors Refer to your host reference guide MA6420 Rev C 25 Maintaining Troubleshooting Danaher Motion Pacific Scientific Symptom Corrective Action Motor does not Verify that the motor is properly connected with no spin open wires or shorts With the 6420 energized try twisting the motor shaft If you are able to easily spin the shaft especially at the higher motor current levels chances are the motor is disabled The drive board J6 pins 5 6 Enable sense should be IN and J5 pin 7 ENABLE should be wired to a ground pin on the J5 connector Verify that some motor problem has not created a Fault condition A Fault has occured if J5 pin 12 is low or the Read HW status command returns with Bit 7 high If so correct the condition that created the fault If you issued the T command with Indexer jumpers E12 and E13 set for alternating operation you may have disabled step pulses to the motor Double check your jumper configuration and usage of the T command Motor spins but Experiment with the M command by issuing M 255 tends to stall 255 which results in the slowest possible acceleration and deceleration Possibly your motor cannot generate enough torque for your appli
50. e the P command to save changes to the operating mode Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions J B Jump Loop Nested J addr cntr B addr cnir Execution Purpose Syntax Arguments Programming Guidelines MA6420 These two commands allow implementation of a double nested loop structure The primary J command and secondary B command can be nested However J is for jump outer loop while B is for jump inner loop addr specifies the loop s destination address cntr plus 1 is the actual number of iterations Therefore cntr must be set to the desired iterations minus 1 Use either command if only a single loop is required J addr cntr B addr cntr 0 lt addr lt 1791 0 lt cntr lt 255 for 1 to 256 iterations The following example illustrates a 2 axis system where a master 6420 controls one axis and a slave 6410 drives the other axis The program indexes the master axis a total of 4 times for each of these indexes the slave axis 8 times Program Line Explanation EO 0 F100 3 T1 Outer loop begins use J 5 1000 10 WO 13 TO enable slave axis Inner loop begins use B 15 1500 index 1500 steps along slave axis 20 WO till complete 23 W100 wait 1 second 26 B157 Repeat slave axis motion 8 times End of inner loop 30 J33 for every master index repeat 4 times End of outer loop Rev C 57 Programming Instructions Danaher Motion Pacific Scientific K Read Input Por
51. eceeseeneceneeeneeeeeeeeeeseeeeteeeseeeseeeseneesas 74 PROGRAMMING prainiana ii 74 APPENDIX B ORDERING INFORMATION senenn 77 APPENDIX QUICK REFERENCE sseeeseereeisrrerrsrierirrierrnrreereens 79 APPENDIX D RAMP ALGORITHM amp LOOKUP TABLE ascese 81 DIVIDE COMMAND niaren annate a ieee tae aiia apania 82 SPEED ACC U RAO Y a a aaa aa ea ORAE r aoaaa GATES aTa 84 APPENDIX E APPLICATION EXAMPLES 85 STANDALONE OPERATION cc cceceeeeeee cents eee eeeseeeeneeeeeeneeeeeeeee 85 HOST OPERATION SINGLE UNIT uu eee ee eee eeeeeeeeeeteneeeeeeaes 86 HOST OPERATION MULTIPLE UNITS eeren 87 PLEG BASED CONT ROL tanaan ai an tie a enti eae 88 6420 DISPENSING PRODUCT ONTO CONVEYER BELLT 88 6420 CONTROLLING INDEXER TABLE eee eeeeeeseeeeeeeteeeneeeneeees 89 MISCELLANEOUS APPLICATION NOTES oeenn 90 APPENDIX F ASCII CODES 000 cee cece cere eeneeseeseeseesnaeeneeeneeeaaes 93 APPENDIX G POWER SUPPLY CONSIDERATIONS 0 eee 95 BRIDGE CAPACITOR POWER SUPPLY ccce 95 LINE TRANSFORMER SELECTION cccccsccssseeeseesseetseeenteenteeens 96 RECTIFIER DIODE SELECTION cccecccescescetsceeeceeeteeteneeeees 98 CAPACITOR SELECTION 0 ccccccceccseecesceeeseeeteessnesseeseeseneeenees 98 FUSE SELECGTION a e csszssestcssesteis a a aa i sates 99 REGENERATION CONSIDERATIONS 0 cceccceeeeseeeteeeneeeneenees 99 POWERING THE 6420 FROM A REGULATED SUPPLY 101 6420 S POWERED BY REGULATED SUPPLY
52. ed for syntax validity prior to downloading or running Syntax Checker creates a listing file with the extension LST for the file sent to Syntax Checker or sent to the Download Utility automatically calls Syntax Checker MA6420 Rev C 33 6420 Dialogue Danaher Motion Pacific Scientific If the syntax check is successful No syntax error s detected is displayed and the listing file with the message NO ERRORS FOUND is sent to the display If errors are found Syntax error s detected is displayed and the listing file containing the program code and syntax error messages is displayed Use the Editor to review the syntax errors listed in the LST file To reposition the syntax error dialog box press F2 and use the arrow keys to move to the desired position Once the dialog box is positioned press F2 or lt Enter gt to see errors To edit a line return to the editor 6 1 9 EDITOR After selecting this utility you are prompted for a lt Path gt filename ext that can be typed in or selected from the current directory s file listing If the filename does not exist you are prompted with Create The response is either Y yes or N no If answering No the system responds with can t load file does not exist after which lt Enter gt returns to the Main Menu level If answering Yes you enter the Editor When exiting the Editor pressing lt Esc gt you are prompted with Save file y n Answering N lt Enter gt r
53. edit a program starting at the location specified by address The starting address is echoed indicating where the command goes in memory You can continue to enter successive commands line by line If an entry error occurs before lt CR gt the backspace or delete key can be used to correct the error If the error is noticed sometime later leave the edit mode by entering E lt CR gt and start editing at the line where the error was made by entering E error_address followed by lt CR gt If you want to selectively change only the line where the error occurred enter the new command followed by lt CR gt as you normally would do but leave the edit mode by pressing ESC instead of E lt CR gt If you inadvertently enter the E lt CR gt combination the next command in the program is over written with an invisible program termination code and you will have to go back and selectively replace this line MA6420 Rev C 27 Programming and Instruction Set Danaher Motion Pacific Scientific If you want to continue editing the program from this point on continue to do so and conclude editing with E lt CR gt Test the program by using the G address command to execute the code The program continues to execute until it completes or you press ESC If the 6420 is configured for multi unit RS 485 communication no sign on message appears Commands are sent to individual units based on a pre assigned node address assigned in single unit mode followed by
54. el cable diagram 10 8 lead series cable 9 8 lead series cable diagram 9 building a 4 lead cable 8 MA6420 Danaher Motion Pacific Scientific building an 8 lead parallel cable 10 building an 8 lead series cable 9 J4 series port connection 11 baud rate 11 mating connector 11 pin designations 12 pinouts 11 single unit RS 232 connection 12 single unit RS 422 connection 12 single unit RS 485 connection 13 J5 dedicated I O designations 16 discrete I O connection 13 15 block diagram 14 pin designations 14 port designations 14 input diagram 15 input interface 17 output diagram 15 output interface 18 Jog set speed 39 Jump nested loop 57 K read input port 58 Keyboard commands 32 L list program 59 Label generation for address 38 Labels address translation 37 symbolic 36 Language 36 Limit switch polarity 49 Limits Index read 70 List program 59 Loop jump nested 57 on port 67 M accel decel factor 60 Master control 66 Mechanical specifications 76 Memory read 46 write 47 Mode execution 28 fixed resolution 2 73 immediate 27 resolution 56 variable resolution 2 3 74 Move absolute 40 negative incremental 43 positive incremental 42 read status 47 O trip point 61 Output 48 write port 71 Output current specifications 75 Output voltage specifications 75 P store parameters 62 Parameter examine 63 store 62 Polarity limit switch
55. en the deceleration time while monitoring the voltage If regeneration causes the supply voltage to exceed 75 VDC peak a clamping circuit is required Consider the effect of high line voltage when evaluating this test Clamping Circuit If a clamp is required a power zener diode can be used as shown in the figure The maximum zener clamp voltage must not exceed 75 volts If a clamp is required the transformer s secondary voltage must be re checked to insure that the minimum clamp voltage is not exceeded under high line and low load conditions when there is no regeneration Otherwise the zener might overheat and fail To determine the required diode power rating start with a 5 W device and monitor the zener current with a current probe Power in watts is the average current in amps times the zener voltage Estimate the average current from the oscilloscope trace and compute the power Select a zener rated slightly higher than the measured power 100 Rev C MA6420 Danaher Motion Pacific Scientific Appendix G Power Supply Considerations If the average power is too high to be conveniently dissipated in a zener diode the active voltage clamp circuit shown below can be used instead Power is dissipated in the 25Q 30W resistor if the Motor Power Supply voltage exceeds 75 volts MOTOR POWER SUPPLY A 12 49 9k IN4002 4S 250 30W o 402 k o 64 9 k e 2mNis 4 oorr
56. entry before final velocity 1 Ramp time M x IV V start step velocity For example ramp time for the above is Ramp time 5 Os Ie eye 1 1 1 1 300 562 820 1036 1227 1407 T587 1742 1 1 1 1 1 1 1 1 1905 2058 2190 2340 2472 2620 2736 2864 MA6420 Rev C 81 Appendix D Ramp Algorithm amp Lookup Table Danaher Motion Pacific Scientific DIVIDE COMMAND The divide command n modifies the ramp profile The divide command adds more points to the velocity ramp resulting in smaller velocity increments and smoother ramping All commanded velocities are divided by n When using the 2 command with the previous example the actual output pulse rate is divided by 2 The initial velocity Fnn is 150 pulses per second and the final velocity Vnn is 1500 pulses per second The new modified ramp time is Ramp time 5 2 To run between the same start and final velocities as the original example 300 to 3000 with 2 command the program parameters are Velocities are found from the lookup table 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 3126 3225 3348 3461 3582 3690 3804 3925 4028 4137 4251 4342 4468 4568 4672 4744 4856 4974 5056 5141 5273 5365 5461 5560 5610 5715 5823 5936 5994 The velocity ramp now consists of 46 points c
57. eturns to the Main Menu without saving the file and all edits are lost Answering Y lt Enter gt brings up a prompt for the filename The current file being edited is saved under the existing filename by pressing lt Enter gt The name can be changed by typing over the current filename followed lt Enter gt While using the Editor many operations justify cut paste etc are available These operations are assigned to various keys 34 ESC INSERT F7 F8 F9 F10 UP ARROW DOWN ARROW LEFT ARROW RIGHT ARROW CTRL A Exit the Editor Toggles insert and typeover mode default typeover mode Attach file to the end of current file default off Toggles whether hard and soft carriage returns are symbolically displayed in the edit window default not displayed Toggles editor display from 128 ASCII characters to 256 IBM characters default ASCII characters Reformats a paragraph Moves cursor up a line Moves cursor down a line Moves cursor left a space Moves cursor right a space Move cursor one word to the left Rev C MA6420 Danaher Motion Pacific Scientific 6420 Dialogue CTRL F Move cursor one word to the right CTRL Y Delete line cursor is on CTRL Z Scroll up a line CTRL W Scroll down a line HOME Move cursor to beginning of line END Move cursor to the end of line PGUP Previous Page PGDN Move to top of screen CTRL END Move to bottom of screen CTRL PGUP Move to beginning
58. fic 5240 Stepping Motor Indexer Drive The language for the 6420 is modified so symbolic labels can be used as the operand for branching to address commands J JUMP Syntax checking is done on the Indexer Language and labels are translated to their target address by the Syntax Checker before a program is downloaded When a program is uploaded labels are generated for the operands of branch to address commands 6 2 1 SYMBOLIC LABELS IN PROGRAMMING A line of program code has the format lt LABEL gt COMMAND OPERANDI OPERAND2 where lt LABEL gt is optional OPERAND2 exists only for some commands One or more blanks must be used between a label and a command or between operands but blanks are not necessary between the COMMAND and OPERAND1 Tabs may be used in place of blanks The branch to address commands G GOTO J JUMP and U LOOP may have a label or an address for OPERAND1 The label reference in OPERAND1 must have a matching label somewhere in the program or a syntax error is generated Duplicate label names are not allowed and generate a syntax error The format for a label is lt STRING gt where there are no blanks between the dollar sign and the string The string is limited to eight characters composed of any sequence of digits and letters including the underscore Any variation from this format generates a syntax error The maximum number of labels allowed for any program is 200 Labels are only used i
59. ge is greater than the minimum specified value of 24 volts but motor torque drops more rapidly as speed increases The peak bus voltage excluding any spiking due to current switching in the drive module or any regeneration effects is approximately equal to 1 414 Actual Secondary rms voltage 1 5 This assumes a 0 75 volt drop across each rectifier diode To insure this as well as to discharge the bus capacitor when AC power is removed place a bleed resistor across each bus capacitor as shown For example the secondary RMS voltage is 40 VAC the peak bus voltage is 1 414 40 1 5 55 volts A transformer with 115 VAC primary and 40 VAC secondary would produce 55 volts peak bus voltage under nominal line conditions and at rated loading However if the line voltage increases 10 the peak bus voltage increases to 1 414 1 1 40 1 5 60 7 volts at rated transformer loading Load regulation must also be accounted for when selecting the transformer Transformers are designed to produce their specified secondary voltage when loaded by their rated current For currents less than rated the secondary voltage increases Signal Transformers give the following load regulation data for its line of rectifier transformers VA Rating Load Regulation 1 100 10 100 350 8 gt 500 5 or less The VA product is obtained by multiplying the specified secondary voltage Vrms by the r
60. gramming freedom and flexibility afforded by the host programming language and development environment ay RS 232 RS 422 RS 485 aay Limit Switches User Discrete I O Step 6 Direction lt 4 Moving 2 Fault 0 Motor m Motor Power Supply o AO 86 Rev C MA6420 Danaher Motion Pacific Scientific Appendix E Application Examples HOST OPERATION MULTIPLE UNITS This configuration allows up to 32 independent axes to be controlled in immediate mode from a host computer or PLC Normally all the units operate in immediate mode but can execute from on board non volatile memory The RS 485 implementation is designed as a bus for the host computer to send commands to individual 6420s The host issues commands to read ports on individual units but individual 6420s cannot initiate transfers back to the host The host is the bus master As in other configurations an individual 6420 can control a slave 6410 or PLC RS 485 Up to 32 Independent Axes LY Power Supply Motor MA6420 Rev C 87 Appendix E Application Examples Danaher Motion Pacific Scientific PLC BASED CONTROL This configuration is similar to the others described above with the PLC acting as the host computer The PLC interfaces to the parallel port lines via a RS 232 RS 422 or RS 485 interface RS 232 RS 422 RS 485 User Discrete I O Step Direction Moving Fault Limit Switches Step l
61. hassis operating temperature 60 C For optimal thermal performance mount the 6420 chassis back or side to a cooling plate or heatsink Use a thermal pad or grease if surface is irregular A fan or idle current reduction may be used to keep chassis below 60 C Convection Cooling with optional heatsink Full rating 5A at 25 C Ambient 2 5A max at 45 C Ambient without optional heatsink 2 5A max at 25 C Ambient 1 25A max at 45 C Ambient Humidity Range 10 to 90 non condensing Adhere to the specified bus voltage range and power ratings a heat sink may be required to prevent exceeding the temperature limit Otherwise unit may be damaged MA6420 Rev C 75 Appendix A Specifications Mechanical Dimensions Weight Connectors Discrete I O Serial Port Power Motor 76 Rev C Danaher Motion Pacific Scientific 5 x 1 5 x 4 3 1 lb nominal 25 pin male D connector 9 pin male D connector 3 pin PCD ELVP03100 5 pin PCD ELVPO MA6420 Danaher Motion Pacific Scientific Appendix B Ordering Information APPENDIX B ORDERING INFORMATION This appendix lists 6420 part numbers and gives information on ordering Danaher Motion Part Order Comment Stepper Drive 6420 Connector Kit CK6420 25 pin D connector 9 pin D connector 5 pin PCD 3 pin PCD 6420 Dialogue 904 008101 00 3 1 2 inch User Manual MA6420 903 642020 00 Motor Cable SPC xxx 6420 Xxx rep
62. he 6420 2 3 2 2 8 LEAD MOTOR SERIES CONNECTED For an 8 lead motor to be wired in series build and install the cable as described below Building an 8 Lead Series Motor Cable The connector assembly using standard Danaher Motion stepper motor color coding is shown below Cabling Diagram Motor Case Gnd Green 0 27 in 7 mm B Yellow To Drive 0 27 in 7 mm To Motor B Red 7 mm A Orange Ga 7 mm N O KR Ww A Black 0 27 in 7 mm In addition make the following connections at the motor Org Wht BIk Wht Yel Wht Red Wht Wire Nuts MA6420 Rev C 9 Installing the 6420 Indexer Drive Danaher Motion Pacific Scientific 2 3 2 3 8 LEAD MOTOR PARALLEL CONNECTED For an 8 lead motor to be wired in parallel build and install the cable as described below Building an 8 Lead Parallel Motor Cable The connector assembly using standard Danaher Motion stepper motor color coding is shown in the following cabling diagram Cabling Diagram LEADED MOTOR GND GREEN Shy B YELLOW Ce INS TO RED WHT cgay e TO MOTOR BRED ost 4 DRIVE YEL WHT oa T A ORANGE 2 N3 BLK WHT eae D A BLACK die ORG WHT Cam AN 3 2 3 3 J2 POWER CONNECTION Bus power is applied to the 6420 J2 with a 3 pin PCD connector as shown on the following page Mating Connector The J2 power input is for a PCD 3 pin mating connector The connector supplied with the unit is type ELVP03100 10 Re
63. ion in the background The incremental and absolute indexes execute a trapezoidal velocity profile accelerating from the initial velocity accelerating to the final velocity decelerating back to the initial velocity ending at zero velocity 5 4 2 PROGRAM CONTROL Such as P for program mode G for executing programs and jumping within a program J and B for executing interative loops U for conditional branches based in the input ports 5 4 3 PARAMETER INITIALIZATION Such as F to set the initial velocity V to set the final velocity M to set the acceleration and deceleration profiles O to setup for a position trip point 5 4 4 INITIALIZATION AND UTILITY COMMANDS Such as A to initialize memory P to store current parameter values E to edit a program 5 5 MEMORY MAP 5 5 1 USER PROGRAMS Approximately 1792 bytes are available for user programs The maximum size of a program in terms of number of command lines is dependent on the actual commands used since each command is composed of to 5 bytes In general programs can be entered into the entire 1792 byte range of user program memory However certain commands when utilized require specific areas of memory to be reserved for their use MA6420 Rev C 29 Programming and Instruction Set Danaher Motion Pacific Scientific 5 5 2 FASTRAM There is a 64 byte segment extending between locations 128 to 191 marked as Fast RAM This area is fast static RAM inside the micro
64. isplays current parameters and system settings Returns a variable number of lines depending on mode of operation Use only in Single User Mode Syntax Q Programming Guidelines Type Q lt Enter gt The screen should show the following parameter information M accel decel VR or FR na axis name O trip pos trio addr F initial vel vel stepsize V final vel vel stepsize r accel length The initial vel and final vel are the programmed initial and final velocity values set by F and V The actual velocities also depend on the selected stepsize and Resolution Mode For instance in Fixed Resolution Mode with Half Step Size 1 F 400 V 1000 the second line would appear as F 400 400 2 V 1001 1001 2 l 2 The displayed velocities may not be exactly those specified This is a result of truncation and roundoff errors during integer division calculations The values within the parentheses 400 2 and 1001 2 indicate the actual velocity values are 200 and 500 5 full steps second because of the half step size selected Programming Guidelines In Variable Resolution Mode Full Step Size 0 F 400 and V 1000 the second line would appear as F 400 12800 32 V 1001 16168 16 rl 2 The values 12800 32 and 16168 16 indicate the actual velocity values are 400 and 1000 full steps second and the automatically chosen step sizes are fine as 1 32 step The 1 command scales velocity and the choosen automati
65. ith a low impedance source from 0 to 30 VDC User Interface 6420 Input Normally Open l Stage Switch Input Sinking Stage Transistor Opto Isolator Input Stage MA6420 Rev C 17 Installing the 6420 Indexer Drive Danaher Motion Pacific Scientific 2 3 5 3 OUTPUT INTERFACE SUGGESTIONS The output stage is a Darlington sink to ground The user generally supplies the V power However the 6420 can provide upto 200 mA from the 5 7 VDC intended for the slave 6410 interface for applications such as driving 5 volt nominal Opto 22 devices 6420 User Interface Relay Open Collector 30 VDC Max a Vam lt 1 0 V s 70 mA max Output User Power Supply y hf z Stage T t 5 7 VDC User Opto Isolator Output a Stage I t 2 4 USING THE 6420 TO CONTROL A 6410 DRIVE A single 6420 can be used to control two axes in either synchronous or alternating fashion The 6420 Indexer Drive must be in fixed resolution mode The slave 6410 drive is usually set for the same step resolution but does not necessarily have to be Jumpers E12 and E13 are used to configure these modes 6420 Indexer Drive 6410 Drive 18 Rev C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive 2 4 1 SYNCHRONOUS OPERATION E12 OUT E13 IN The T command with enb 1 enables step pulses to both mas
66. jumpers and DIPswitch Heat sink requirements and power supply filter capacitor 2 1 UNPACKING AND INSPECTING 1 Remove the 6420 from the shipping carton Make sure all packing materials are removed from the unit 2 Check the items against the packing list A label located on the unit identifies the unit by model number serial number and date code 3 Check items for damage If you find any damage concealed or obvious promptly contact your buyer to make a claim with the shipper 4 Store the 6420 in a clean dry place preferably in the original shipping carton 2 2 MOUNTING THE 6420 Select a standard 8 inch 205 mm deep NEMA National Electrical Manufacturers Association enclosure appropriate for industrial applications The internal operating temperature should not exceed 50 C If the cabinet is ventilated by filtered or conditioned air make sure to prevent the accumulation of dust and dirt on the unit s electronic components The air should also be free of corrosive or electrically conductive contaminants MA6420 Rev C 5 Installing the 6420 Indexer Drive Danaher Motion Pacific Scientific 2 2 1 _ MOUNTING DIMENSIONS The 6420 can be mounted in the two orientations shown below Refer to Appendix A for additional information 0 04 430 109 2 mmp CLEARANCE FOR M4 or 6 32 SCREW 0 04 0 04 e 1 10 27 9 mm 1 50 38 1 mm M4x8mm MAXg m i M4x8mm Ea SERTE 0 02 f 4 75 120 7m
67. ly executed Immediate Mode is used during program development or when controlling the unit with a host computer Execution Mode is used when the 6420 is executing a program out of its non volatile memory usually when used as a standalone Indexer During power up if the AUTOSTART program is found at location 1600 in non volatile memory execution begins at 1600 If the REMOTE START line is activated LOW in Immediate Mode the unit starts executing the program at location 0 in memory 5 1 IMMEDIATE MODE After power up providing that neither REMOTE START nor the AUTOSTART are active the 6420 is in Immediate Mode If the 6420 is configured for RS 232 or RS 422 serial communications it waits for one ESC and space character then responds with the sign on message and copyright notice Commands are sent via the serial link and are terminated with a carriage return lt CR gt The 6420 responds with any requested data followed by a lt CR gt lt LF gt Only one command is sent at a time Motion commands immediately echo a lt CR gt lt LF gt and carry out the motion in the background If a second motion command is sent to the 6420 while another is in progress the lt CR gt lt LF gt response is delayed until the original command is complete Programs can be entered into non volatile memory while in Immediate Mode Use either a terminal emulator program or the 6420 Dialogue to facilitate program development The E address command allows you to
68. m 0 04 5 00 127 0 mm CUSTOMER MTG A A B B 6420 STEPPER o INDEXER DRIVE M4x8mm M4x8mm M4x8mm 0 02 0 75 19 1 mm ie TOMER MT 2 75 69 9 mm CUSTO G OPTIONAL SIDE MTG 2 3 CONNECTING THE FOUR INPUT OUTPUT CABLES The four input output cables are J3 Motor J2 Power J4 Serial port J5 Discrete inputs and outputs J1 Connector is NOT USED 6 Rev C MA6420 Danaher Motion Pacific Scientific 2 3 1 5V RTN TXD 232 RXD 232 N C COMMON TXD 485 TXD 485 RXD 485 RXD 485 Port 8 Port 6 Port 4 Port 2 GND STEP ENABLE REMOTE START LIMIT HOME JOG FAULT 5 7 VDC PORT 7 PORT 5 PORT 3 PORT 1 GND DIRECTION GND REMOTE STOP LIMIT JOG MOVING 2 3 2 lt n gt OMONODARWN 7 OMONOTNAWN CONNECTION DIAGRAM The inputs and outputs are PaciFic SCIENTIFIC 6420 INDEXER DRIVE Installing the 6420 Indexer Drive J3 MOTOR CONNECTION J1 1 2 3 4 NOT USED 5 6 7 8 9 J2 1 DC 2 DC Unrequlated 3 Case GND 24 VDC to 75 VDC J3 1 PhaseA 2 Phase A 3 Phase Bye i 4 Phase B 5 Case Gnd 5 2 Phase H Stepper Motor The J3 motor cable connects the drive to the motor windings Motor cables are available from Danaher Motion or you can make your own The J3 motor connector is for a PCD 5 pin screw mating connector The mating connector supplied with the unit is type ELVP05100 M
69. ming 27 AUTOSTART 27 28 immediate mode 27 initialize parameter 29 instructions 39 Instructions 28 motion control 29 program control 29 REMOTE START 27 Programming symbolic labels 36 terminal emulator 33 troubleshooting 25 26 unpacking 5 6420 Definition 1 103 Index A clear and restore 50 Abort 45 Accel factor 60 Address translation 37 B jump nested loop 57 Block Diagram 2 C read position counter 51 Capability multi axis 74 Clear 50 Commands keyboard 32 Communication RS 232 2 RS 422 2 RS 485 2 serial protocol 2 Communications specifications 74 Connections serial port 32 Connector J3 7 specifications 76 Control master slave 66 Counter read position 51 Decel factor 60 Download 33 E edit program 52 Edit program 52 Editor 34 Environment specifications 75 ESC 45 104 Rev C Danaher Motion Pacific Scientific Examine parameter 63 F initial velocity 53 G go 54 Go 54 H home 55 Home 55 resolution mode 56 1 O connecting cables 6 connection diagram 7 Indexer language 36 INIT serial port 35 Input read port 58 Input power specifications 75 Input voltage specifications 75 Isolation specifications 75 J jump nested loop 57 J2 power connection 10 cable diagram 11 mating connector 10 J3 motor connection 7 4 lead cable 8 4 lead diagram 8 8 lead parallel cable 10 8 lead parall
70. n X arg Read Limits Immediate Y port Write Output Port Immediate Execution Z Zero Origin Immediate Execution Rev C MA6420 Danaher Motion Pacific Scientific Appendix D Ramp Algorithm amp Lookup Table APPENDIX D RAMP ALGORITHM amp LOOKUP TABLE The 6420 Indexer Drive uses a lookup table to determine the number of steps in the velocity ramp that occur from the initial start stop speed velocity to the final velocity The lookup table contents are included at the end of this appendix The velocity profile is a quantized linear ramp with discrete velocities stored in a lookup table The velocity commands are in pulses per second The algorithm begins at the exact start stop velocity entered and runs at the next highest velocity in the lookup table The velocity increments until it reaches the value immediately before the final velocity entered The next velocity is the final velocity The number of pulses output at each velocity is determined by M slope M sets the number of pulses at each velocity For example M5 F300 V3000 The start stop velocity and table velocities are 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 Five pulses are generated at each of these rates as set by M 5 The total ramp time from initial to final velocity is given by the sum of the times at each velocity during ramp up V Last table
71. n 0 17 WO 20 GO loop 72 Rev C MA6420 Danaher Motion Pacific Scientific Appendix A Specifications APPENDIX A SPECIFICATIONS FIXED RESOLUTION MODE Fixed Resolution mode offers either binary or decimal step sizes Binary step sizes range from 200 to 51 200 pulses rev Decimal sizes range from 200 to 50 000 pulses rev All indexing is specified in terms of an integer number of step pulses at the specified resolution Use this mode if a single 6420 indexer controls its own drive and a slave s 6410 drive s Minimum Maximum Resolution Speed rpm Speed rpm Pulses Per Step Size full full Revolution steps sec steps sec Binary Steps Full 6 20 5 700 19 000 200 1 2 3 10 3 000 10 000 400 1 4 1 5 5 1 500 5 000 800 1 8 0 75 2 5 750 2 500 1 600 1 16 0 37 1 25 375 1 250 3 200 1 32 0 19 0 625 188 625 6 400 1 64 0 09 0 312 93 75 312 12 800 1 128 0 05 0 156 46 87 156 25 600 1 256 0 02 0 078 23 43 78 51 200 Decimal Steps Full 6 20 5 700 19 000 200 1 2 3 10 3 000 10 000 400 1 5 1 2 4 1 200 4 000 1 000 1 10 0 60 2 600 2 000 2 000 1 25 0 24 0 8 240 800 5 000 1 50 0 12 0 4 120 400 10 000 1 125 0 048 0 16 48 160 25 000 1 250 0 024 0 08 24 80 50 000 MA6420 Rev C 73 Appendix A Specifications Danaher Motion Pacific Scientific VARIABLE RESOLUTION MODE
72. n Editor Mode For example here is an example program that uses labels begin k j begin 1 loop 1000 u loop 5 g end ends The labels in this program are begin loop and end 36 Rev C MA6420 Danaher Motion Pacific Scientific 6420 Dialogue 6 2 2 SYNTAX CHECKER The Syntax Checker checks for valid syntax for each line of code If no syntax errors are found the Syntax Checker takes out all symbolic labels and label references and inserts the target address for each label reference a label reference is a label used as the operand for a branch to an address command If an error is found the program and error messages are put into a displayed listing file The possible error messages are invalid input label or program command expected invalid label expecting alphanumeric after delimiter invalid label or expecting valid command after label invalid operand digit 1 expected invalid operand expecting digit EOL encountered expecting operand invalid input no operand required invalid input expecting EOL character S000 OV ee oe ee invalid input expecting valid number or label illegal for this command to have a label reference jni invalid operand character not allowed after command N invalid number input number is out of range jami 05 invalid operand reference to nonexistent label 14 invalid label duplicate label name exists The end of line character
73. nt rating of at least twice the average current load of the supply It is often advisable to select diodes with an even greater average current rating because they have lower thermal resistance between junction and case and reduce heat sinking requirements It is good design practice to limit the maximum junction temperature to 125 C Test to insure the power on surge current is within the diode s IFSM rating CAPACITOR SELECTION The table below gives the minimum bus capacitance value for a single 6420 as a function of the current setting and bus voltage These values give approximately 10 peak to peak ripple voltage with a 60 Hz line increase capacitor values by 20 for use with a 50 Hz line Current Setting 30 Volt Bus 50 Volt Bus 70 Volt Bus 5 0 14 000 8300 6000 4 375 12 000 7300 5200 3 75 10 000 6300 4500 3 125 8700 5200 3700 2 5 6900 4200 3000 1 875 5200 3100 2200 1 25 3500 2100 1500 0 625 1700 1000 740 Bus Capacitance in Micro farads 98 Rev C MA6420 Danaher Motion Pacific Scientific Appendix G Power Supply Considerations Ripple Current Rating The bus capacitor s 120 Hz ripple current rating should equal or exceed the 6420 s current setting The capacitor s working voltage rating must exceed the maximum bus voltage under all line load and regen conditions Select a capacitor rated for at least 1 3 times the nominal bus voltage For example suppose a
74. of file CTRL PGDN Move to end of file TAB Tab ALT M Begin marking a block of text use cursor arrows to mark rest of block ALT C Copy marked block to scrap ALT X Cut marked block to scrap ALT P Paste scrap at cursor position ALT S Search for pattern target starts search cancels search 6 1 10 INIT SERIAL PORT This utility initializes or changes the serial port parameters If the parameters do not need to be changed press lt Esc gt Pressing lt Esc gt at any point in the Init Serial Port menu exits without saving changes to the parameters The parameters are selected with the up or down arrow keys As each parameter is highlighted its sub menu displays the list of each parameter s values Move through the choices with the lt Up gt and lt Down gt keys A parameter and its value are entered with a lt Enter gt To exit the Init Serial Port menu after making changes to any parameters press lt Enter gt after the last parameter in the menu Any changes made to the parameters are saved to a disk file in the current directory after exiting the Init Serial Port menu and are used as the default settings upon the next invocation of 6420 Dialogue These default settings are stored in the binary data file PORT CFG MA6420 Rev C 35 6420 Dialogue Danaher Motion Pacific Scientific 6 2 INDEXER LANGUAGE Danaher Motion s Indexer Language is a modified form of the program language of Danaher Motion s Pacific Scienti
75. ols used in this manual are Warning Alerts users to potential physical danger or harm Failure to follow warning notices could result in personal injury or death Caution Directs attention to general precautions which if not followed could result in personal injury and or equipment damage gt gt gt Note Highlights information critical to your understanding or use of the product Danaher Motion Pacific Scientific Table of Contents Table of Contents 1 OVERVIEW OF 6420 INDEXER DRIVE ccceeeeeeeeeeeeeseeeeeeees 1 1 1 6420 DEFINITION 00 eee cece ceceeeeeee eens eeeeaeeeeaeeeeeeeeseaeeeeaeeseneees 1 1 7 1 BLOCK DIAGRAM seriinin anaiari a ia iias 2 1 1 2 FIXED RESOLUTION MODE ssccccccccceeeeeeseeeeneeetsnneeeaes 2 17 1 3 VARIABLE RESOLUTION MODE 1 ccccccccsseceesteteteeeees 3 12s DRIVE FEATURES prpers a deez iatbesee ioe fateh Hecede 3 1 3 INDEXER FEATURES Spirer aaan eainiie canh aaan y raia la p aa ATARE 4 1 4 SYSTEM COMPONENTS eeseeeseesseeeeeesrersrrssnssrnssnnsrnnsennses 4 15s WARRANTY rerent senina oaair clini ae AAEE 4 2 INSTALLING THE 6420 INDEXER DRIVE senenn 5 2 1 UNPACKING AND INSPECTING 00 00cecceeeeeeeceeeeeeeeeeeeeees 5 2 2 MOUNTING THE 6420 0 0000 ceceeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeaas 5 2 2 1 MOUNTING DIMENSIONG cccccccescceseeeeeeeneeesneeeenaees 6 2 3 CONNECTING THE FOUR INPUT OUTPUT CABLES 6 2 3 1 CONNECTION DIAGRAM 1c
76. ompared to the initial 14 without the 2 command 1 1 1 re 1 ann FOOL Ramp time 5 300 721 1054 5994 If the final velocity is below 721 sps second speed in the lookup table there is NO ramping associated with the move Instead the move is completed in one step Example If Initial velocity is 100 steps sec Final Velocity is 1000 steps sec acceleration factor 120 deceleration factor 20 the intermediate velocity points are 155 562 and 820 steps sec see Profile Generator Table on the next page During acceleration 120 steps at 100 steps sec followed by 120 steps each at 155 steps sec 562 steps sec 820 steps sec concluding with the Final Velocity at 1000 steps sec for the duration of the index until deceleration commences 82 Rev C MA6420 Danaher Motion Pacific Scientific Appendix D Ramp Algorithm amp Lookup Table One exception to this is if the specified duration of the index in steps is not long enough to allow the motor to reach the Final Velocity The profile tops out at some intermediate point followed by the deceleration interval Profile Generator Look up Table 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 3126 3225 3348 3461 3582 3690 3804 3925 4028 4137 4251 4342 4468 4568 4672 4744 4856 4974 5056 5141 5273 5365 5461 5560 5610 5715 5823 5936 5994 6113 6174 6301 6366 6433
77. on Pacific Scientific Here is another example where an AUTOSTART program waits for Port 8 to activate the program E 1600 1600 Any initialization code LoopU Loop 14 do not continue until Port 8 inactive Port 8 must now be inactive high WlowU Wlow 14 do not continue until Port 8 active low G 2048 execute indexed jump E End of program here This is the first profile to HOME the unit where P 4 1 Logic 1 1 1 1 E 256 256 H 200 1 wo G Loop E This is the 2nd profile where P 4 1 Logic 1 1 1 0 E 272 272 M 40 40 800 wo G Loop E This is the 3rd profile where P 4 1 Logic 1 1 0 1 E 288 288 M 100 40 200 W 0 G Loop Since the jump table is encoded as straight binary rather than grey coded set the 4 lower bits first followed by a separate activation signal Otherwise if you attempt to set up a continuous loop where the 4 input lines may change state while the G instruction is executing the program may not jump to the desired profile 92 Rev C MA6420 Danaher Motion Pacific Scientific APPENDIX F ASCII CODES Appendix F ASCII Codes ASCII Code ASCII Code ASCII Code ASCII Code Result Result Result Result 0 NUL 32 64 96 1 A SOH 33 65 A 97 a 2 B STX 34 66 B 98 b 3 C ETX 35 67 C 99 c 4 D EOT 36 68 D 100 d Gec NE ENQ 37 69 E 101 e 6 F ACK 38 amp 70 F 10
78. peed 128 gt Drive Fault Syntax Selective Termination axis Immediate Purpose Aborts operations on a particular axis when configured for RS 485 communications mode Syntax axis Arguments Where axis is the single letter axis designation MA6420 Rev C 47 Programming Instructions Danaher Motion Pacific Scientific Trip and Output nextpos port Execution Purpose Syntax Programming Guidelines 48 Designed to be used within a Trip Point Service Routine TPSR and provides the capability of setting or clearing user I O lines as a function of current position Set up a Trip Point O command in the normal fashion but with an entry address in fast RAM locations 128 to 191 such that the entire TPSR resides within the fast RAM range When the Trip and Output instruction is executed the port parameter is sent out to the bi directional ports nextpos sets the next trip point position Q always shows the next trip point Trip and Output instructions must be embedded within the TPSR in contiguous locations At end of sequence a new Trip Point can be specified nextpos port The following example activates ports P1 P2 P3 P4 in sequence as successive positions are traversed O sets the initial trip point to position 1000 and vector address to 128 When this position is encountered execution vectors to location 128 The Trip and Output instruction at location 128 writes a 1 to the bi directional
79. processor used when a specific command the Trip and Output requires it and when higher response or looping speed is necessary in an application As the name implies this area is NOT saved when the unit is powered down To save the program s in this area to non volatile memory issue the P command Upon power up the contents are automatically restored 5 5 3 MEMORY MAP DETAILS Address Description 0 255 User Programs Location 0 is the starting location when the REMOTE START input is activiated Locations 128 192 are FAST RAM locations and are not saved when the unit is powered down until P Store parameters is issued 256 511 User programs and G 2048 Indexed jump 512 767 User Programs 768 1023 User Programs 1024 1279 User Programs 1280 1535 User Programs 1536 1791 User Programs Location 1600 is starting address for AUTOSTART 1792 1893 RESERVED Variable resolution fraction look up table 1894 2047 RESERVED Motion parameter storage may be read by the Read Memory command gt 30 Rev C MA6420 Danaher Motion Pacific Scientific 6420 Dialogue 6 6420 DIALOGUE 6420 Dialogue is a menu driven software package containing several software utilities These utilities are designed to run on an IBM compatible PC and interface to Danaher Motion s Pacific Scientific motion control hardware via an RS 232 serial link The tools available are 1 Terminal Emulator The Terminal Emula
80. ranana aiaia aama oaa AAAA aia 31 6 1 1 USING THE 6420 DIALOGUE FLOPPY DISK 0 31 6 1 2 INSTALLING 6420 DIALOGUE ON A HARD DRIVE 32 6 1 3 SERIAL PORT CONNECTIONG ccccccccsceeesteteseeessees 32 6 1 4 KEYBOARD COMMAND cccccccecescseesseeeeneeesnetetsaes 32 6 1 5 TERMINAL EMULATOR 1sccccscccceeecesesreeenseeeeneeteneneteaes 33 6 1 6 UPLOAD UTIL Vosiiecetestar iors dendritic 33 6 1 7 DOWNLOAD UTILITY uuu eeecccesccecesceceneceteseetenseeesneecsnneeseaes 33 6 1 8 SYNTAX CHECKER Ww ceeccccesccceseececcecetenetenseeseneecsnneetaes 33 6219 EDITOR sss cet BONS GN Aged os e a i teens 34 6 110 INIT SERIAL PORTI 35 6 2 INDEXER LANGUAGE seeriana iiaae tiniani tee eeeeeaeeeeeee 36 6 2 1 SYMBOLIC LABELS IN PROGRAMMING cc00c000 36 6 2 2 SYNTAX CHECKER WL cecccccessceeseeceeneeceseneteneeeseeeecsnetesaes 37 6 2 3 ADDRESS TRANSLATION OF LABELG 2 ccccceeeee 37 ii Rev C MA6420 Danaher Motion Pacific Scientific Table of Contents 6 2 4 LABEL GENERATION FOR ADDRESSEG 0 ccc00 38 7 PROGRAMMING INSTRUCTIONS eeen 39 APPENDIX A SPECIFICATIONS 1 00 ee eeceeceeeeseeecneeeneeeeneeteeeneeeaaes 73 FIXED RESOLUTION MODE eoe ee eee aeeie renanira neau kia aitsi 73 VARIABLE RESOLUTION MODE sssesesiesrseiesrrrrsrrerisrrrrrrsrrerisress 74 COMMUNICAT TIONS ssseeeseiesissreeisirerisiisrrnriesrnrinsrnernsernrinsrneresrent 74 MULTI AXIS CAPABILITY 0 0 0
81. resents length in feet for example SPC 005 is a cable 5 feet long For lengths over 50 feet contact Pacific Scientific The connectors are MS on the motor end and PCD on the drive end to connect to Pacific Scientific motors Heatsink HS6420 Optional heatsink MA6420 Rev C 77 Appendix B Ordering Information Danaher Motion Pacific Scientific Danaher Motion products are available nationwide through an extensive authorized distributor network These distributors offer literature technical assistance and a wide range of models off the shelf for fastest possible delivery Danaher Motion sales engineers are conveniently located to provide prompt attention to customers needs Call the nearest office listed for ordering and application information or for the address of the closest authorized distributor Danaher Motion Customer Support Phone 815 226 2222 Email customer service DanaherMotion com Web www DanaherMotion com 78 Rev C MA6420 Danaher Motion Pacific Scientific APPENDIX C QUICK REFERENCE This section contains an alphabetized list of 6420 programming commands including a brief description and the operating modes where they apply See section 7 for a comprehensive description Appendix C Quick Reference Command Description Mode steps Incremental move Immediate Exec
82. rmer supplies pulses of current to charge the bus capacitor s on the other side of the diode bridge the Arms is higher than the average current The transformer should have a rated secondary Arms of at least 1 8 times the average current For example with a transformer used to supply three 6420 drive modules each set for 5 Arms should have a rated secondary Arms of 1 8 5 545 27 amps or greater Do not significantly oversize the transformer as this increases rectifier surge current during turn on as well as capacitor ripple current MA6420 Rev C 97 Appendix G Power Supply Considerations Danaher Motion Pacific Scientific RECTIFIER DIODE SELECTION Voltage Rating For the bridge rectifier configuration shown the peak inverse voltage PIV equals 1 414 times the secondary Vrms For example a 40 Vrms secondary develops 1 414 40 56 6 PIV across the rectifier diodes To allow for line variation and spiking allow at least a 50 safety factor in the diode rating Therefore the PIV rating of the rectifier diodes should be at least twice the rated secondary Vrms Current Rating Since each diode conducts only on alternate cycles the average diode current is half the supply s average DC current load on the supply When power is first applied there is a surge of current to charge the capacitor s that must be less than the diode s peak one cycle surge current IFSM rating Typically diodes are chosen with an average curre
83. rotection The capacitors must be connected to the 6420 DC and DC inputs using twisted pairs no longer than three feet in length as shown to control winding inductive effects A regen clamp to absorb power transferred from the motor to the 6420 s is sometimes required This section provides selection guidelines for the power supply components Block Diagram J2 3 2 T 6420 J2 3 TRANSFORMER Fuse BLEEDER US RESISTOR TWISTED 115 VAC 4 EARTH SAFETY GROUND Power supply design must insure that the voltage between J2 2 and J2 1 never exceeds 75 volts under any conditions These conditions include high line voltage transformer regulation effects voltage spiking due to current switching within the module and regeneration Failure to do this results in permanent damage to the 6420 MA6420 Rev C 95 Appendix G Power Supply Considerations Danaher Motion Pacific Scientific LINE TRANSFORMER SELECTION Primary Voltage And Frequency Rating Make sure the transformer is guaranteed to operate at the highest line voltage combined with the lowest line frequency that will ever be used to power your system Failure to do so can result in saturation large current increases and winding failure Secondary Voltage Rating Maximum motor speed performance is achieved by using as high a motor supply voltage as possible without ever exceeding 75 volts Lower voltages can also be used as long as the volta
84. spond to an input line The same program in SLOW memory requires approximately 1 ms to 12 ms to respond to an input line change 128 U14014 132 G128 140 W100 143 G128 90 Rev C MA6420 Danaher Motion Pacific Scientific Appendix E Application Examples Using the Input Port to Select 1 of 16 Different Profiles An external thumbwheel switch selects 1 of 16 different motion profiles There are several different approaches to implementing this capability but the easiest approach uses the G instruction to execute an indexed jump based on the state of the lower 4 input port lines This example initiates the indexed jump when the Remote Start input is active low Each jump executes a particular motion and terminates returning the 6420 to immediate mode waiting for the next Remote Start activation At the end of motion either a termination byte E or a branch to another location G must occur Remember that only 16 locations are available for instructions including the program termination character or G instruction Example EO 0 Any initialization code G 2048 execute indexed jump E End of program here This is the first profile to HOME the unit where P 4 1 Logic 1 1 1 1 E 256 256 H 200 1 E This is the 2nd profile where P 4 1 Logic 1 1 1 0 E 272 272 M 40 40 800 E This is the 3rd profile where P 4 1 Logic 1 1 0 1 E 288 288 M 100 40 200 MA6420 Rev C 91 Appendix E Application Examples Danaher Moti
85. t _ Direction Moving Power 6420 DISPENSING PRODUCT ONTO CONVEYER BELT This example shows the 6420 Indexer Drive and motor dispensing products onto a conveyor belt and into a shipping container The stepper motor supplies start stop motion to a paddlewheel ejector to dispense the product An optic sensor is used to advance the paddlewheel to the starting point An external Start signal initiates motion to eject the product the motion continues for one revolution until the paddlewheel is aligned for the next cycle A host computer or an on board non volatile program sets the acceleration deceleration and velocity parameters and the 6420 executes the motion Product to be aaa 6420 6420 Indexer Driver and as motor functioning in a Shipping eee clutch brake application 88 Rev C MA6420 Danaher Motion Pacific Scientific Appendix E Application Examples 6420 CONTROLLING INDEXER TABLE The 6420 Indexer Drive and motor combination easily drives an Indexing Table The motor drives the table directly with a belt or through a worm gear Use an optic sensor to indicate the starting or home position of the table and motion is executed with open loop stepping commands II I D Incremental Indexing Table MA6420 Rev C 89 Appendix E Application Examples Danaher Motion Pacific Scientific MISCELLANEOUS APPLICATION NOTES Start Stop Program The following is
86. t K Immediate Purpose Syntax Arguments Programming Guidelines Related Commands 58 Reads user defined I O ports The bits are active low so a logic 0 applied to the input port reads back as 1 K None The bit weightings are Port 1 1 Port 5 16 Port 2 2 Port 6 32 Port 3 4 Port 7 64 Port 4 8 Port 8 128 To program an I O port bit as an input remove the respective T O configuration jumper Ports 1 through 8 are configured by jumpers E3 to E10 respectively As a consequence of the internal processor wired AND design of the I O port a logic 1 inadvertently written to an I O port configured as an input over rides the actual input state and always reads back as a logic 1 Therefore an inactive level logic 0 must be written to input bits Type K lt Enter gt The value of P8 P1 should be displayed with the least significant bit representing P1 Y Write Port Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions L List Program L addr Immediate Purpose Produces a listing of instructions starting from the specified addr returning up to 20 command lines Programs are listed until a program terminator byte is encountered Syntax L addr Arguments O lt addr lt 1791 Programming Guidelines Enter a program starting at location 0 in memory Type L 0 The program should now be listed on the screen MA6420 Rev C 59 Programming Instructions Danaher Motion Pacific
87. t COM port and to set the serial link parameters Default serial link parameters for the 6420 are displayed 6 1 4 KEYBOARD COMMANDS The choices from a Main Menu are highlighted by using the lt Up gt or lt Down gt arrow keys Selection of the highlighted item is made by entering the choice with lt Enter gt This selection brings up a prompt a list and or a sub menu Choices are made from a sub menu or list using the lt Up gt key to move up or the lt Down gt key to move down then entering a choice with the lt Enter gt key Pressing lt Esc gt aborts the current operation and either returns to the previous menu or exits the program lt Esc gt also exits from the Editor To exit from a Terminal Emulator session press lt Ctrl gt lt E gt The keyboard command definitions are displayed in appropriate places on the screen to assist you 32 Rev C MA6420 Danaher Motion Pacific Scientific 6420 Dialogue 6 1 5 TERMINAL EMULATOR The PC can be used as a dumb terminal to communicate with the selected controller The PC s serial port is initialized when 6420 Dialogue is started The parameters can be changed with the Init Serial Port utility To exit the Terminal Emulator at any time press lt Ctrl gt lt E gt This returns to the Main Menu 6 1 6 UPLOAD UTILITY After selecting this utility you are prompted for a filename for the uploaded file By default the uploaded file is created in the current directory If
88. tarting at location 1792 in NVRAM Programming Guidelines Memory Map Details Erase Cmmd Address Notes A1 0 255 User programs Location 0 for REMOTE START input Locations 128 192 are Fast RAM locations A2 256 511 User programs and G 2048 Indexed jump A3 512 767 User programs A4 768 1023 User programs A5 1024 1279 User programs A6 1280 1535 User programs A7 1536 1791 User programs Location 1600 for AUTOSTART XX 1792 1893 RESERVED Variable resolution fraction look up table XX 1894 2047 RESERVED Motion parameter storage read by the Read Memory command 50 Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions C Read Position Counter C arg Immediate Purpose Syntax Arguments Programming Guidelines MA6420 Displays current position counter value In Fixed Resolution Mode the value is an integer In Variable Resolution Mode the value is a mixed integer fractional value in range of 8 388 607 99 to steps Specifying arg 1 enables continuous echoing of position via the serial interface only in single unit mode C arg arg is 0 1 Normally used when the 6420 is controlled by a host computer or with a terminal emulator Press Z lt Enter gt followed by C lt Enter gt The value 0 should be displayed Index incrementally by typing 200 lt Enter gt Press C lt Enter gt again and 200 should now be displayed Rev C 51 Programming Instructions Dan
89. ter and slave Issuing T with enb 0 disables step pulses to both master and slave 2 4 2 ALTERNATING OPERATION E12 IN E13 OUT The T command with enb 1 enables step pulses to the master and disables the slave Issuing T with enb 0 disables the master and enables slave Do not insert both E12 and E13 at the same time All slave 6410 jumpers and DIP switches must be properly set See the 6410 Data Sheet for additional information 2 5 FACTORY DEFAULT SETTINGS The 6420 unit is a two board assembly incorporating a drive and an Indexer card set With the cover removed the topmost visible board is the Indexer The Indexer mounts on the drive board and separated by standoffs 2 5 1 DRIVE The drive has an eight position DIPswitch S1 and a group of four jumpers J6 controlling drive current digital electronic damping idle current reduction and binary or decimal step size The DIPswitch is easily accessible without removing the Indexer card The default factory set jumpers are suitable for most applications but can be modified if necessary The jumpers J6 may be removed using needle nose pliers To reinstall the jumper loosen the screws on the indexer board If the indexer board must be removed it must be re aligned properly before tightening the screws When installing the indexer board ensure the 20 pin connector is aligned properly Misalignment seriously damges the drive MA6420 Rev C 19 Installing the
90. tion 200 00 the shaft spins revolution position 8 388 607 lt position lt 8 388 607 Fixed Resolution 8 388 607 99 lt position lt 8 388 607 99 Variable Resolution Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions Programming Guidelines Related Commands MA6420 Program Line Explanation M 10 10 F 300 V 1000 Z zero the position counter 2000 index to position 2000 wo wait till index done W 150 wait 1 5 seconds Y1 activate Port 1 output LOW 0 index back to initial position W 150 wait 1 5 seconds YO de activate Port 1 output HIGH M set acceleration deceleration profile F set initial velocity V set final velocity I set Resolution Mode set StepSize Z Zero Position Counter Rev C 41 Programming Instructions Danaher Motion Pacific Scientific Positive Incremental Move steps Immediate Execution Purpose Syntax Arguments Programming Guidelines Related Commands 42 Moves the motor a total of steps in the CW direction with a trapezoidal velocity profile shown below In Fixed Resolution mode the steps specifies 8 388 607 pulses If steps 200 StepSize is Full steps the shaft spins 1 revolution If steps 1600 StepSize is 1 8 step 1600 pulses rev the shaft also spins 1 revolution In Variable Resolution Mode the steps specifies 8 388 607 99 Full steps with 0 01 step size resolution 2
91. tion and I O Configuration Jumper Location J4 J5 E2 E1 2 5 4 1 JUMPER SETTINGS E1 and E2 Configuration E1 E2 IN OUT Do NOT modify these jumpers E11 RS Communication Configuration IN RS 485 Communications OUT RS 232 RS 422 Communications The factory default is Jumper OUT enabling RS 232 and RS 422 communications MA6420 Rev C 21 Installing the 6420 Indexer Drive Danaher Motion Pacific Scientific E12 and E13 E12 E13 Synchronous or Alternating Operation Configuration IN OUT Alternating Operation OUT IN Synchronous Operation Factory default setting is E12 OUT E13 IN E3 to E10 Jumpers E3 to E10 control discrete I O bit directions E3 to E10 I O Configuration IN Output OUT Input Factory default settings are all jumpers OUT configuring all lines as INPUTS 22 Rev C MA6420 Danaher Motion Pacific Scientific Powering up the 6420 3 POWERING UP THE 6420 This chapter explains how to power up the 6420 after installation 3 1 TESTING THE INSTALLATION Perform the following test procedure to verify the 6420 is installed properly and was not damaged internally during shipment The installation and power up procedure requires a motor and computer or terminal to
92. tor allows the PC to be used as a dumb terminal In this mode the PC is acting as a terminal and allows the generation and editing of programs directly on the hardware on line 2 Upload Utility Upload allows files to be read out of the controller s memory into a file on a PC s floppy or hard disk drive 3 Download Utility Download allows files to be taken from the PC s disk drive and transferred into the position controller s memory 4 Syntax Checker The Syntax Checker checks programs for errors before transferring them to the controller 5 Editor The Editor creats and edits programs Programs can be created and edited without the controller being connected to the PC off line The resulting program can be stored on the PC s disk drive for downloading to the controller at a convenient time Programs can be read from the hardware using the Upload Utility and be modified with the Editor 6 Init Serial Port Init Serial Port allows you to select a COM Port for serial communication 6420 Dialogue is contained on a single 3 1 2 inch diskette 6 1 GETTING STARTED 6420 Dialogue is executed directly from the 6420 Dialogue disk supplied or can be installed on the PC s hard disk If 6420 Dialogue is executed directly off the supplied disk make a backup copy and store in a safe place 6 1 1 USING THE 6420 DIALOGUE FLOPPY DISK Follow the steps below to use the 6420 Dialogue floppy disk 1 Boot up the PC 2 Set the PC to director
93. ure that an external low impedance input is not driving an I O port configured as an output The block diagram of a single I O bit is shown in the next figure MA6420 Rev C 13 Installing the 6420 Indexer Drive Block Diagram 22K PORT 1 8 e oe 100K Danaher Motion Pacific Scientific 57V 5Vdc 470 F z DIRECTION INDEXER CONTROL PROCESSOR 74HC14 JUMPER ULN2003 Inputs accept 0 30 VDC max where Vin lt 8V is a logic low and Vin 2 3 7 Vis a logic high All outputs are Open Collector 30 VDC 70 mA sink Vsat lt 1 0V All VO signals are active low If a bit is desired to be an input the jumper must be out and an inactive level low written to the bit using the Y command Otherwise as a consequence of the wired AND design of the indexer a logic 1 written to a bit configured as an input will always be read back as a 1 Programs executing from non volatile memory can only output to these discrete bits reading is not allowed J5 Port Designations The J5 connector pin designations are shown below Port Pin Number Jumper 1 0 1 J5 17 E3 Input 1 OR Output 1 2 J5 4 E4 Input 2 OR Output 2 3 J5 16 E5 Input 3 OR Output 3 4 J5 3 E6 Input 4 OR Output 4 5 J5 15 E7 Input 5 OR Output 5 6 J5 2 E8 Input 6 OR Output 6 7 J5 14 E9 Input 7 OR Output 7 8 J5 1 E10 Input 8 OR Output 8 GND J5 5 N A Ground return for I O signals GND J
94. ution steps Incremental move Immediate Execution axis Selective Termination Immediate lt addr data Write Non volatile Memory Immediate polarity Limit Polarity Immediate gt addr size Read Non volatile Memory Immediate position Absolute move Immediate Execution step size Stepsize VelScale Immediate Execution Read Moving Status Immediate speed Set Jog Speed Immediate Execution aC Software Reset Immediate nextpos port Special Trip Execution A opcode Clear and Restore Immediate B addr cntr Jump inner loop Execution C arg Read Position Counter Immediate E addr Program Mode Immediate ESC Abort or Terminate Immediate F vel Initial Velocity Immediate Execution G addr trace Go Immediate Execution H speed dir Home Immediate Execution I mode Resolution Mode Immediate J addr cntr Jump outer loop Execution K Read Input Port Immediate L addr List program Immediate M accel decel Ramp Slope Immediate Execution O position vaddr Trip Point Execution P Store Parameters Immediate Q Examine Parameters Immediate R vel Run at constant velocity Immediate Execution MA6420 Rev C 79 Appendix C Quick Reference Danaher Motion Pacific Scientific 80 Command Description Mode S arg Stop Immediate Execution T enb Master Slave Control Immediate Execution U addr cnd Loop on Port Immediate Execution V vel Final Velocity Immediate Execution W period Wait Immediate Executio
95. v C MA6420 Danaher Motion Pacific Scientific Installing the 6420 Indexer Drive Cabling Diagram Green Case Ground gt White Bus WEG Black Bus 2 2 3 4 J4 SERIAL PORT CONNECTION The serial port transmits and receives RS 232 communication for the user interface of your unit Mating Connector The J4 serial port mating connector supplied with the unit is an ITT Cannon DE 9S 9 pin plug in female D connector Port Connections These are the RS 232 transmit TXD and receive RXD terminals Pin Number Connection J4 2 RS 232 TXD output J4 3 RS 232 RXD input J4 5 RS 232 Common Baud Rate The 6420 supports single unit RS 232 RS 422 and multi unit RS 485 communication protocols running at 9600 bps 1 start bit 1 stop bit RS 232 and RS 422 mode selection is automatic dependent upon whether connections are made to the single ended RS 232 TX and RX lines or to the differential TX and RX lines RS 485 mode is jumper selected and allows up to 32 units on a single differential RS 485 communications link The host computer is the bus master and always initiates packet transfers External termination may be required in some installations The unit is factory configured for RS 232 protocol MA6420 Rev C 11 Installing the 6420 Indexer Drive Danaher Motion Pacific Scientific The table below shows the serial port pin designations
96. voltage C is the total capacitance in farads E is the initial kinetic energy in joules MA6420 Rev C 99 Appendix G Power Supply Considerations Danaher Motion Pacific Scientific For example if an unloaded E34 motor rotor inertia 0 035 oz in sec is rotating at 1500 rpm the stored energy is 3 87 10 0 035 15002 3 0 joules If all this energy is transferred to a 6800 mf capacitor initially charged to 70 volts the voltage on the capacitor after the transfer is equal to 76 volts This exceeds the volt maximum specification of the 6420 drive In practice most or all the kinetic energy is dissipated in the motor windings or in the drive s power circuitry so voltage pump up is often not a problem However in systems running at high speeds and having large load inertia the voltage might be pumped up significantly and circuitry must be added to insure that the 75 volt limit is never exceeded Consider regeneration effects in the presence of high line conditions gt To find out if regenerative energy is a problem run the system while monitoring the supply voltage with a storage oscilloscope Alternatively a simple peak detector made from a diode and a capacitor can be attached to the bus and the peak voltage measured using a digital voltmeter Start the system with slow deceleration rates and monitor the motor power supply to see if the voltage rises during deceleration Slowly increase the deceleration rate short
97. wer up state is T 1 T enb Synchronous Operation E12 OUT E13 IN enb 1 enables step pulses to both master and slave enb 0 disables step pulses to both master and slave Alternating Operation E12 IN E13 OUT enb 1 enables master disables slave enb 0 disables master enables slave The unit is configured for alternating operation Alternately index each axis by Program Line Explanation T1 enable master indexing 1000 index 1000 steps at current resolution wo wait till done TO enable slave indexing 2000 index at current resolution wo wait till done To be meaningful both units must be in Fixed Resolution mode Rev C MA6420 Danaher Motion Pacific Scientific Programming Instructions U Loop on Port U addr cond Immediate Execution Purpose Tests a single I O port bit P1 to P8 and jumps to the specified address addr if cond is true Syntax U addr cond Arguments O lt addr lt 1791 The cond codes are 0 gt Jump if Port 1 high 1 gt Jump if Port 1 low 2 gt Jump if Port 2high 3 gt Jump if Port 2 low 4 gt Jump if Port 3 high 5 gt Jump if Port 3 low 6 gt Jump if Port 4high 7 gt Jump if Port 4 low 8 gt Jump if Port 5 high 9 gt Jump if Port 5 low 10 gt Jump if Port 6 high 11 gt Jump if Port 6 low 12 gt Jump if Port 7 high 13 gt Jump if Port 7 low 14 gt Jump if Port 8 high 15 gt Jump if Port 8 low Programming Guidelines Program Line Explanation EO
98. y A 3 Insert the 6420 Dialogue floppy disk into drive A 4 Type 6420 lt enter gt 6420 Dialogue should be running and you can select the tool desired MA6420 Rev C 31 6420 Dialogue Danaher Motion Pacific Scientific 6 1 2 INSTALLING 6420 DIALOGUE ON A HARD DRIVE The 6420 Dialogue disk is supplied with an installation program This program creates a sub directory named 6420 on the hard drive and copy the 6420 Dialogue files from the floppy disk into the sub directory The installation program assumes that the hard drive is designated C To install 6420 Dialogue on the PC s hard drive follow the steps below 1 Boot up the PC 2 Insert 6420 Dialogue disk in drive A 3 Type A INSTALL lt Enter gt 6420 Dialogue should be installed on the hard disk To run 6420 Dialogue go to the 6420 directory and type 6420 lt Enter gt 6 1 3 SERIAL PORT CONNECTIONS 6420 Dialogue can be used to generate programs off line However programs have to be downloaded or uploaded between the PC and the motion control hardware at some point The RS 232 serial link is used to communicate between the PC and the hardware Many PCs have two serial communication ports COM1 and COM2 One of these must be wired to the motion control hardware Refer to the PC s Hardware Reference Manual and the Instruction Manual provided with the motion control hardware for wiring information Use the Init Serial Port tool on the Main Menu to select the correc

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