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ViX IE User Guide

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1. Power Earth PE RS232 9 way socket Power amp motor 10 way connector 5V output Motor Earth ault output Function 6 8 9 10 T 15 i Control Aux I O nc A IN 15 nc B IN eed ne A OUT socket 1 Enable Enable Enc A IN Enc B IN i Enc A OUT Beine U encoder 19 way fo User I O socket Cy yy sway plug User I O Function ne hs 5 Fixing position for motor lead earth clip included in fit kit oa ojojo gzz kiisi sis 6 Input 5 limit 7_ Input 4 limit 8 Input 3 Home 9 Input 2 Reg Input 1 Stop 24V k Os AA lt lt X7 OUT utput 3 nalogue monitor 11 12 5 gt a X6 IN High speed Figure 3 17 ViX Connector Pin Layout 34 VIX IE SERVO DRIVE USER GUIDE Terminal Description X1 Connector X1 is the main power and motor connector Both HV 24V and the motor phase connections are made to X1 A brake connection is also provided via X1 pin1 Connector Type The mating connector for X1 is a Wieland 8213B 10F part number 25 323 4053 0 Parker part number 0405 811 An approval marked version of this connector has the part number 25 323 1053 0 Connector Pin Out 9 J OWGND HV O 8 arthPE _ _ 6 OV GND for 24V DC 6 Motor Earth 4 MotorphaseU 3 MotorphaseV __ 2 MotorphaseW 0 1 Motorbrake Table 3 8 X1 Power and Motor Connections Motor Connections at the
2. 3 ELECTRICAL INSTALLATION 11 Supply Requirements Power the ViX drives from DC supplies as specified below Volts Drive Type DC Supply Voltage between HV and HV Vix500 48V to 80V recommended ViX250 24V to 80V Table 3 1 Drive Supply Voltages WARNING The drive HV supply input is not reverse polarity protected Reverse polarity connections will damage the drive Current and Capacitance A supply must have a minimum amount of capacitance to support a drive at peak power draw Drive Type DC Supply Current Supply Capacitance ViX500 5A RMS 6600uF ViX250 2 5A RMS 3300UF Table 3 2 Drive Supply Currents 24V Requirements Both drive types require a 24V controller and logic supply The supply may also be required for an encoder Fieldbus Expansion Module FEM and motor brake Absolute voltage range 20 to 27V Nominal drive current 250mA excluding encoder FEM amp brake Encoder current 150mA FEM current 50mA Brake current 500mA Safety Earth Requirements Earth the drive using the earth pin on X1 pin 8 12 VIX IE SERVO DRIVE USER GUIDE Power Supply Options Using the previous section estimate the power required for a single drive or for a group of drives A set of torque curves Figure 3 2 for various motor drive combinations can be used for calculating an applications likely power requirements A single axis using a ViX250 or possibly a lightly loaded dual axis application may be
3. mim mim ojo En EA n a alx lt 15 way nc A OUT socket nc B OUT Enable Enable 4 Primary 15 Enc B OUT encoder 15 way User I O socket 15 way plug User I O Function 5 Ojo OV Output 2 Output 1 4 5 6 Incremental enc A Commutation f b AO Motor overtemp Input 5 limit 1__ Incremental enc Z Incremental enc Z GND Fixing position a 4 for motor lead 5 earth clip included Fe 2 2 3 6 in fit ki 7_ Incremental enc A Eee 8 9 0 E limit Home Reg Stop 11 Incremental enc B 12 Incremental enc B 13 Commutation f b A1 14 Commutation f b A2 15 reserved RJ45 connectors 8 X7 OUT 1 8 X6 IN High speed comm Interface
4. 3 ELECTRICAL INSTALLATION 37 Resolver Interface Specification 12 bit A to D input 4096 resolution incremental resolution 5 3arc mins increment averaged over 1 rev absolute accuracy better than 30arc mins Resolver set up For a resolver feedback motor the torque vector is set correctly as soon as power is applied to the drive The resolver excitation remains active whilst the drive is powered to ensure that the resolver feedback system is calibrated ready for use Encoder Compatibility Devices supported RENCO Tamagawa Signal format quadrature 5V differential signals A A B B Index mark Z Z Max input frequency hardware limit 400KHz max for A or B channel 1 6MHz post quadrature Definition of positive motion A leads B when producing clock wise motion as viewed at the motor output shaft Resolution 500 to 5000 line devices supported 2000 to 20000 resolution Support of rotary and linear motors IH drives will support both rotary and linear motors with quadrature encoder feedback For rotary motors with resolutions less than 20000 counts per rev the alternative IE unit is recommended Commutation set up On energising the drive the commutation encoder input is captured and the torque vector set to be at the middle of the commutation segment Whilst rotating as soon as a commutation encoder edge is observed the torque vector is realigned more accurately After the first commutation edge is observed t
5. 9 UF21 Camnot relate END statement to a label UF3 8 28 __ UF4 1_inputbutfer overfow __ UF4 2 Sane execute motion as the brake is e 27 to 32 UF4 3 8 Reserved o Table 4 8 User Fault Bit Description sends an ASCII bell character to indicate a buffer overflow condition 4 CONTROL OF VIX DRIVES 81 User Fault Byte Reporting In exactly the same way as the status variable the user fault status can be reported a byte at a time using UFn within a read command For example to read or test the first 8 bits first byte of the UF variable status word use UF1 Since the status word consists of 4 bytes the relevant part of the word can be read using UF1 bits 1 to 8 UF2 bits 9 to 16 UF3 bits 17 to 24 or UF4 bits 25 to 32 Resetting User Fault Bits The User Fault variable UF is cleared to all zeroes once it has been read by issuing a aR UF command Reading individual bytes of the User Faults variable will not clear any particular byte so issuing a R UF2 command will keep byte 2 bits intact Also testing a particular byte using the IF or TR command will keep bits intact Note sending the drive an ON command will immediately clear the User Fault variable setting all four bytes to 00000000 Byte Testing The code can be used to test a particular byte of the User Fault word For example 11F UF2 lt gt 10X10X10 if contents of UF2 does not equal 10X10X10 execute the next line of code otherwise skip t
6. Output 1 6 Input 5 limite 8 Input 3 home 9 Input 2 registration 24V Table 3 13 X5 User Input Output Connections 44 VIX IE SERVO DRIVE USER GUIDE User Inputs Inputs can be configured using the Easi V graphic interface or by writing directly to the IC system variable By adjusting the user input configuration you can set the input switching level threshold and you can set the internal input resistor to be a pull up or a pull down Figure 3 22 shows the position of software switches SWA 24V oo 1 Pull up 0 Pull down default SWB 1 invert O non invert Logic inverting network depending Logic level as upon input pull up reported by IS pull down state Input i o c 0 4 24V threshold default 1 0 5V threshold OV Figure 3 22 User Input Circuit User inputs are high logic level and low level logic compatible but must be configured as pull down inputs when used with low level 5V logic since the pull up mode always pulls up to 24V Only one input is shown above individual inputs can be set up on a one to one basis allowing different inputs to have different threshold switching levels or different pull up pull down arrangements CAUTION Unexpected motor movement De energise the drive before making any changes to the I O configuration 3 ELECTRICAL INSTALLATION 45 User Outputs User outputs can be configured using the Easi V g
7. See Motor Overtemperature Sensor in Electrical Installation section 208 VIX IE SERVO DRIVE USER GUIDE Controller Specification Parameter Value Communication optional echoback Xon Xoff supported Baud rate 2 wire plus ground Digital Inputs ooo G OSO Input impedance Digital Outputs ooo S OSO Output levels output high 22V 10 15 of supply output low 0 5V max saturation of lower NPN transistor Output current rating 50mA maximum per output source 50mA per output sink Table 8 2 Controller Specification 8 HARDWARE REFERENCE 209 Drive Environment Specification All drive types Environment Pollution degree 2 Operating temperature range 0 to 40 C ambient for natural convection cooling 40 C to 50 C with forced air cooling of minimum 0 5m s entering the base of the drive approximately 3 5m3 h or 2cfm airflow through the cabinet Storage temperature range 20 to 70 C Humidity 95 max non condensing Cooling Natural convection 0 to 40 C forced air cooling 40 to 50 C Plastic Aluminium heatsink Protection class IP20 Weight 0 55kg Table 8 4 Drive Environment Specification 210 VIX IE SERVO DRIVE USER GUIDE APPENDIX A 211 Appendix A Discrete PSU Discrete Power Supply Recommendations If the XL_PSU or PL1100 is not being used individual ViX drives can be powered from transformer bridge rectifier power supplies of the type shown in Figure A 1 This design suggests suitable compon
8. Differential Analogue Input The ViX drive can accept a differential analogue input for use with the FRATE command The input circuit shown in Figure 3 20 can interface to an external 10V differential signal Analogue to digital conversion 12 bit resolution converts the analogue input to a digital value for use within the drive Read the value of the analogue input as a count via system variable Al Drive Input ANA1 O impedance AtoD gt Al analogue 200K input expressed ANAT as a count Note both inputs must t be connected cannot oy O Software offset controlled be used as a single ended END by system variable AO input Figure 3 20 Analogue Differential Input Figure 3 21 shows the input characteristic Commanded velocity Dead band Volts 10V Figure 3 21 Analogue Differential Input Characteristic An analogue deadband can be set using system variable AB 3 ELECTRICAL INSTALLATION 43 Enable Enable Enable the drive by allowing the input pin to float high 1 or by linking the pin to zero volts depending upon the input s polarity System variable ES controls the polarity of this input The default state of ES requires X4 input pin 11 to be connected to OV to enable the drive X5 Connector X5 is the user Input Output connector Connector Type Connector type is a high density 15 way D type plug Connector Pin Out Connector Pin X5 Input Output
9. For example if 1R CR reports a value of 84494 on a 500VA drive the peak current is given by 84494 43937 For a motor with a Kt value of 0 052Nm A peak this equates to a torque value given by 84494 43937 0 052 0 1Nm You can test the reported values of CR using an IF or TR statement for example program flow can be re directed once a certain value of torque is exceeded using the following code snippets 1RAMP start of labelled block called ramp 1IF CR gt 100000 _ if value of torque exceeds 100000 1GOTO TORQ goto block labelled torq In the main program apply the torque loop 1W CQ 0 command Q off 1G 1LOOP RAMP 0 _ swait for torque Indicate required torque has been achieved 1TORQ 1S stop ramping torque 10 1XX sindicate torque achieved 1END 4 CONTROL OF VIX DRIVES 69 DF Description See drive fault bit description in Reporting the Status of Variables EO Description Use encoder outputs connector X4 to supply a step direction or step up step down signal for use by another drive System parameter EO determines the output as defined in Table 4 4 ad Eoo on toz STEP o Jek _ 10 oR Ss Cow Table 4 4 Encoder Output Configuration EI Description System parameter El controls encoder inputs connector X4 as defined in Table 4 5 X4 Eo Em1 E2 STEP STEP 8 jor cow Be Table 4 5 Encoder Input Configuration CAUTION De energise the drive before changing El a
10. Note Individual cables within the RJ45 daisy chain system must not exceed a length of 2m Where a cable length greater than 2m is required between axes a fully screened connection should be made via connector X3 52 VIX IE SERVO DRIVE USER GUIDE 4 CONTROL OF VIX DRIVES 53 4 Control of ViX Drives Overview This section introduces you to the operation of the ViX servo drive the implementation of motion control moves and the way commands are used Basic controller operation is described together with the code structure How system information is signalled via system variables and the use of various flag registers for status and fault reporting are described Both basic and advanced motion control functions are covered including elements of event driven code used for fault reporting and registration Controller Operation ViX intelligent drives have an integrated controller which can be driven directly by a PC over a serial link or programmed to respond to code selected by event triggers or user instructions Direct Mode Direct operation of the controller over a serial link can be used for program development downloading purposes or direct on line control from an industrial PC or PLC When used directly the controller will accept commands prefixed with the drive s address and will action the commands as they are received In direct mode any controlling application program is stored in a remote location and is only downloaded to t
11. n Default See also aFRATEn Oor1 0 M Description Feed Rate Override the FRATE command is used together with the analogue input to scale the peak velocity of the drive V The purpose of the command is to allow the speed of the process being performed by the drive to be controlled by a single external analogue signal This signal is sampled at the start of each move and used to scale the target velocity The resolution of the control is 1 0 1V of the analogue input voltage range 10V 100 If the analogue voltage drops below a level equivalent to 1 of the target peak velocity the velocity being requested by the analogue input voltage the value used will be taken as 1 of the user set peak velocity velocity set by the V command This is applied to values as low as 0 01rps the minimum velocity allowed Properties Immediate or buffered can be used in labelled block saved by SV Example 10N energise the drive 1V30 set the user peak velocity as 30rps 1FRATE1 enable feed rate override At this stage apply an analogue voltage say 1 85V to the differential analogue input 1G The actual velocity used is given by rounded down analogue input X 10 X user set peak velocity 100 1 85 X 10 X 30 1 8 X 10 X 30 5 40rps 100 100 Note If the calculated result is less than 1 the value used is held at 1 Note In the example shown above because of the rounding down an input voltage of 1 89V would also give
12. 1R DF1 1R ST1 1R UF1 11S 10 1A and a report will be 82 VIX IE SERVO DRIVE USER GUIDE returned However if a buffered command is sent such as G or 1A10 then all future interrogation commands are buffered apart from 1R RB 1R DF 1R ST and 1R UF Conditional Code The flow of a motion control program will depend upon the position of the motor in combination with the value of particular inputs and commands System variables are used to continuously monitor the state of a drive s controller and are able to report such things as status of indexing or moving not moving as listed in Table 4 2 Certain system variables are capable of being tested by the TR wait for trigger or IF test condition commands This allows the value of a system variable to be tested in the following ways Equals lt gt Does not equal gt Greater than lt Less than The TR command pauses program execution until the required trigger condition is met The IF command tests the value of a system variable and executes the next line of code if it is true otherwise it skips the next line of code Use of these commands allows synchronisation with external events and program branching System variables used in conjunction with the IF command are listed in Table 4 9 Where the variable can also be used with the TR command a Y appears in the TR column DFn STn and UFn can be read as groups of 8 bits n determines which group is r
13. 2 E E enable disable comms 139 Earth arrangements 9 Easi V communicating with drive 112 downloading 123 help 124 installation directory 107 menu overview 109 prg files 113 running 107 software file size 105 startup 108 status reporting 121 uninstall 108 uploading 124 Echo queuing 70 Echo queuing mode selection 70 ED operation 99 Edit menu 109 El system variable 69 Electrostatic precautions 9 EM system variable 70 EMC filter spacing 213 Installation 18 213 Installation general requirements 213 typical installation 214 wiring recommendations 213 Enable input 43 Encoder input configuration 69 output configuration 69 Encoder phasing diagrams 217 Encoder specification 37 END label 53 Environment specification for drive 209 EO system variable 69 ES system variable 70 Event code example 62 EW system variable 71 EX system variable 72 EXIT from loop 140 F FAULT 58 Fault label 58 call conditions 59 conditions of execution 58 example 60 non call conditions 59 table 59 Fault output 47 Fault status reporting 78 Feedback connector screen bonding 23 Feedforward gain 73 Ferrite absorber Curie temperature 25 impedance 25 part number 25 size 25 Ferrite absorber specification 25 Fielbus expansion module 73 Fieldbus Expansion Module 38 File menu 109 Filter time constant 72 FOLLOW 142 Following encoder specification 37 Forcing a hardware RFS 199 F
14. MOTOR SUPPLY 81 v I O SUPPLY 23 V INTERNAL TEMPERATURE 32 C INCREMENTAL INDEXING MI VELOCITY V 005 1 00 ACCELERATION AA 10 0 CURRENT POSITION PA 471 POSITION MODULUS PM 0 k AXIS READY DRIVE FAULTS DF FPGA ID file RESOLUTION DOVES ini Mole eaS TRACKING LIMIT TL AUX SUPPLY I O CONFIGURATION HEATSINK TEMPERATURE DISTANCE D DECELERATION AD ERROR PE 0000 0000 0000 0000 0000 0000 0000 0000 DRIVE STATUS ST 0000 0000 0000 0000 0001 0000 0000 0000 USER FAULTS UF 0000 0000 0000 0000 0000 0000 0000 0000 STOP Syntax Description Properties Example Note 6 COMMAND REFERENCE 179 STOP Input aSTOPon off mode The STOP Input command determines the stop input functionality of input 1 When input 1 is active IS 1XXXX The on off parameter enables disables the stop input taking the values 1 for ON and 0 for OFF and has a default value of OFF The mode can be set as follows 0 Stop motion when input 1 is active IS 1XXXX and abort the user program default setting 1 Stop motion when input 1 is active IS 1XXXX but continue the user program which is able to execute further commands If stop input 1 is active IS 1XXXX then status flag 28 ST4 4 will be a 1 Immediate or buffered can be used in labelled block sa
15. Possible instant de energise depending on fault source R Recoverable without power cycle SLEEP Drive shuts down completely no comms requires power cycle to recover T Terminal requires power cycle or repair before drive will energise operate again 6 COMMAND REFERENCE _ 191 Status Bits Bit Number Bit Status Information Tested Wait for trigger input Running program 6 ST1 6 Waiting for delay timeout 8 ST18 Lasttriggercommandtimedout_ __ _ 9 ST21 Motorenergised y O 17 ST3 1 Reserved O O O ST3 7 Tracking limit is greater than max allowed position error ST3 8 Last SETUPFB command failed ST4 1 In motion O for positive motion 1 for negative motion ST4 2 Brake applied goes to a 1 if the brake is engaged 192 VIX IE SERVO DRIVE USER GUIDE User Faults Bit Number Bit Tested UF Information UF 1 1 Value is out of range wrong format 6 UF1 6 _ Homing failed no signal detected Home signal too narrow 8 UF1 8 Drivede energised __ _ 9 UF2 1___ Cannot relate END statement to a label UF2 7 UF3 8 26 UF4 2 Cannot execute motion as the brake is engaged 27t032 UF4 3 8 sends an ASCII bell character to indicate a buffer overflow condition 6 COMMAND REFERENCE 193 Command List As Acceleration Deceleration AA Acceleration AD Deceleration _ ARM Enable event triggered code C Conine i O Continue C DECLARE Distance o O E Enable
16. Properties Example aLIMITS mask type mode LD The LIMITS command allows the user to define whether the LIM inputs are used as limit inputs or user inputs via the LIM_MASK The mask field takes the following values 0 Enable limits default setting 1 Disable limit 2 Disable limit 3 Disable limit amp The ve limit switch is the switch that is reached when the motor reaches the end of travel for a move with ve distance velocity CW The ve limit switch is the switch that is reached when the motor reaches the end of travel for a move with ve distance velocity CCW type field takes the following values 1 Limits normally closed default setting 0 Limits normally open mode field takes the following values 0 Stop motion when a limit is hit and abort the program then go to a predefined fault sequence otherwise stop default setting 1 Stop motion when a limit is hit but continue the program In certain applications this allows the limit switch to define a home position The optional LD parameter sets the required deceleration rate after hitting a limit the default deceleration is 200 rps2 Changing this value will alter the KILL deceleration rate See deceleration command AD for range settings Immediate or buffered can be used in labelled block saved by SV 3LIMITS 0 1 0 100 both limits enabled normally closed switch stop motion when hit deceleration 100rps 3LIMITS 1 1 0 100 ve li
17. Resolver compatibility 36 Resolver interface specification 37 Resolver phasing diagrams 215 Returning the system 205 RFS return to factory settings 173 RJ45 connecting leads 51 RJ45 patch cables 51 RM system variable 75 RS232 cables 40 INDEX 223 RS232 connecting leads 40 RS232 mode forced reset 39 RS485 connections 48 RV system variable 75 S S curve correction 75 S stop 174 Save properties 130 Saved by SV 130 SBC Resolver 36 SC system variable 75 SCALE 175 Scaling 102 SCLA 102 SCLD 102 SCLV 102 Search menu 109 Serial communications configuration 112 Serial link lead 105 Servo control loop 84 Servo setup 121 SETUPFB setup motor feedback 177 Short circuit protection 30 SM motor cables 20 SMB motor cables 20 SN system variable 75 Software controlled switches 44 Software installation 106 Software requirements 105 ST bit order 76 system variable 76 word 76 Star point 9 START 58 START label 61 Starting a program 53 STATUS 178 Status Bit description 77 Status report example 122 Status reporting immediate 81 Status variable byte reporting 77 Status variable reporting 76 Step direction inputs 69 224 INDEX Step direction outputs 69 Step up step down inputs 69 Step up step down outputs 69 Stop input 98 STOP input 179 Supply connections 10 current 11 volts 11 Supply 24V 213 SV save configuration 180 Syntax checking 130 System labels 58
18. before the inputs can be automatically scanned again The state of the inputs is presented to the controller as a parallel bit pattern Invalid binary patterns for non existent labels are ignored When using the label selection function you must be aware that altering any basic operating parameters such as velocity in a routine will change the value used in subsequent routines Consequently you will need to define fully the move required in each subroutine block This can be arranged by the USE command System Variables System variables are named variables held within the drive s controller that are used for storing a variety of system values and settings Read system variables using the Report system parameter R command but note you can only write to certain variables using the Write W command Certain system variable values may be tested using the IF command This allows conditional branching within the program code enabling equal to not equal to greater than or less than decisions to be made Wait for trigger TR commana can also test certain system variables by delaying code execution until the value of a system variable matches some stored number or string within the program Refer to the later section on conditional code 64 VIX IE SERVO DRIVE USER GUIDE Table of System Variables Table 4 2 lists system variables in alphabetic order together with their read write status and range of values stored Var Name s
19. powered using an XL PSU This switching supply has a power rating of 250W and can supply 3 1A continuous 7 5A peak depending on supply volts and 24V loading which could be used for BE230D medium speed applications Higher torque current requirements will need to use the ViX500 drive and a high current linear supply such as the PL1100 Further power supply information is given in Appendix A Mi ViX250 with BE230D motor 0 O 1000 1500 2000 2500 3000 3500 4000 4500 rpm io ViX500 with BE231G motor 0 0 1000 2000 3000 4000 5000 6000 rpm Ni ViX500 with SMB60 30 motor CONT oO ak 0 1000 2000 3000 4000 5000 rpm 3 ELECTRICAL INSTALLATION 13 a ViX500 with BE163F motor 1 0 PEAK 0 5 CONT 0 O 1000 2000 3000 4000 5000 6000 7000 rpm a ViX500 with BE341G motor 4 0 3 0 ot EO O 10 Cont a 0 0 1000 1500 2000 2500 rpm n ViX500 with SMB82 25 motor PEAK i Att 5 4 3 2 j CONT 0 0 500 1000 1500 2000 2500 3000 3500 rpm Figure 3 2 Motor Torque Speed Characteristics 14 VIX IE SERVO DRIVE USER GUIDE XL PSU Power Supply The XL PSU is a 250W power factor corrected switched mode power supply Designed for direct operation from world wide single phase AC input voltages the supply is capable of powering up to two VixX250 drives see note 1 without t
20. 0 65 seconds in 0 01 increments User status bit 8 is set to indicate timeout occurred before trigger condition met Bit is x yy major minor a lt lt clear if trigger condition met before timeout UF User program Y N See Reporting of user faults UF1 2 3 amp 4 Fault status UF2 Second byte of 32 bit UF variable Fourth byte of 32 bit UF variable Can be set to 0 only 190 VIX IE SERVO DRIVE USER GUIDE Drive Faults S Sl on Number Tested ee a i omposite fault anything that causes a drive fault 3 DFI 3 K R otor HV undervoltage trip point reached 4 DF14 K R otor HV over voltage trip point reached _ le B DAS E ie o O a l 6 DF16 CD R_ VO over voltage trip point reached ee ee d 24V logic supply 9 DF21 K T ommutation Fault 11 DF23 CD R otorovertemperature 12 DF24 CD R mbientover temperature 13 DF25 CD R riveovertemperature 17 K 18 D 19 D 20 K DF3 4 elocity exceeded unstable gains motor spin off 21 DF3 5 CD rive disabled check enable input and state of ES variable 22 24 DF3 6 8 ie Ey ee eee DF3 3 C racking limit exceeded while in motion is a latched fault 26 31 __ DF4 26 31 DF447 sf served o O 32 bDF48 AN errors Key C Performs controlled stop CD Controlled stop then de energise K Performs motion kill quick stop
21. 1 on brake engaged O off brake released default mode selects the way the brake is used A automatic holding brake mode D automatic dynamic brake mode M manual mode default RD is the time in milliseconds for the brake to be released after the drive has energised Range is 0 to 5000 milliseconds default 50ms ED is the time in milliseconds for the brake to be engaged before the drive de energises Range is 0 to 5000 milliseconds default 50ms If the brake is in manual mode the command can be shortened to aBRAKE1 _ to engage the brake aBRAKEO to release the brake Note Use of the manual mode will cancel any form of automatic braking previously set up A typical response to the command aBRAKE would be HOLD FREE 0 Mode A Delay to release 5000 Delay from engage 50 Immediate or buffered can be used in labelled block saved by SV Only use this command once in a program normally in the Init or Start label 136 VIX IE SERVO DRIVE USER GUIDE C Continue Syntax Units Range of n Default See also aC PS Description The C continue command causes a user command to resume execution following a pause command Properties Immediate only can t be used in labelled block not saved by SV Example 1PS pause commands 1A100 acceleration 100rps2 1V20 velocity 20rps 1G go 1 TEST add TEST comment 1C continue TEST message TEST is displayed CLEAR Clear user code Syntax Units Range of n Default
22. 3H change direction CCW 3G go back 3END end of user program 150 VIX IE SERVO DRIVE USER GUIDE Note CAUTION The USE command or the D command will re define the move direction each time it is executed To set up a loop to go CW clockwise then CCW counter clockwise make sure the D or USE command is outside of the LOOP otherwise the direction will be the same each time around the loop HOME Syntax Description 6 COMMAND REFERENCE 151 Configure Homing aHOMEon off reference_edge home_type direction_ amp velocity acceleration deceleration mode The Configure Homing command is used to setup homing prior to the use of the GH Go Home command See also system variable HF Use on off to arm and disarm homing The reference edge parameter is used to select the required edge of the home switch regarded as home for edge nearest the CW limit or for edge nearest the CWW limit see Homing section The home_type parameter is used to select the type of switch to be used for homing the choice is Home switch normally open O default Home switch normally closed 1 Direction and velocity determines the direction in which home is initially searched for and the velocity at which homing is performed Acceleration deceleration sets the acceleration and deceleration rates used The mode parameter determines what happens when the specified edge of the home switch is encountered emode 0 The controller positions
23. 48 CAN bus terminator 49 CANopen setup screen 120 Capacitance of supply 11 Circular table 93 Clean earth 9 CLEAR user code 136 Clockwise motion 86 Code structure 53 Command address requirements 127 label amp multi parameter syntax 128 presentation 127 reference 127 simple syntax 127 Command checking 130 Command defaults 173 Command list 193 Command properties 128 Command queuing 67 Commands sent waiting on a trigger 81 Communication daisy chain 50 Communication problems 196 Communications specification 208 Compumotor Resolver 36 Conditional code 82 Conditional code example 84 Confirming drive operation 125 Continuous moves 86 Control of 12t parameters 30 Controller specification 208 Cooling 209 Cooling requirements 5 CQ system variable 67 CR system variable 68 D D distance 137 220 INDEX DC supply amps 11 DC supply capacitance 11 DC supply volts 11 Declarations position within the code 54 Declare command 53 examples 54 DECLARE 138 Default directory 106 Device addressing 56 DF bit order 78 DF word 78 Differential input 42 Digital inputs specification 208 Digital outputs specification 208 Dimensions 6 DIN rail mount 7 Direct mode 53 Disconnecting device 9 Dissipation parameters 29 Downloading programs 123 Drive cooling 5 dissipation 5 fault reporting 79 Drive fault byte reporting 80 Drive faults 78 200 Drive inspection 195 Drive types
24. AO the offset of the differential analogue speed torque control input See Differential Analogue Input in the Electrical Installation section AM Description Use output 4 X5 pin 15 to output an analogue DC voltage between 10V and 10V to represent the velocity or torque being generated by the drive depending upon the setting of system variable AM Setting AM to 2 generates a bipolar triangular waveform with a time period of 1 second Energise the motor for the output to be updated BR Description This sets the Baud rate of serial communications Enter the required Baud rate directly for example aW BR 19200 to set the rate to 19200 You will need to save this setting and then reset the drive Z commana or cycle the power before the change will take effect BU Description Gives the total percentage of program buffer usage unlike an aDECLARE that gives the percentage of buffer room for each label subroutine CL and PC Description See Motor Related System Variables in the Electrical Installation section CQ Command Queuing Enable command queuing in mode incremental absolute to buffer each command waiting for the previous command to complete before issuing the next In certain circumstances disable this sequential operation for example if you need to generate a trigger pulse part way through a move Normally the move would complete before trigger command execution but by disabling command queuing the trigger command becomes
25. D A 424V DC OU D U T_T 20V AC IN cD PL1100 onen HH O Power Supply une 3 Q i s weet fe AC IN PHASE to 1 3 PH 4 L1 E IO 4 X2 O mm f a 10 mm MIN gt Figure 3 4 PL1100 Power Supply and Drive Connections 18 VIX IE SERVO DRIVE USER GUIDE PL1100 EMC Installation Guidelines These EMC installation recommendations are based on the expertise acquired during the development of compliant applications which Parker believes are typical of the way a PL1100 may be used Provided you have no special installation requirements or untypical operating environment requirements PL1100 power supplies will conform to current EMC Directives If you are using the recommended transformers TO255 amp TO256 both primaries can be fed from a single EMC filter Use a CORCOM 12FC10 or its equivalent See Figure 3 5 Mount the supply on a conductive panel to which the EMC filter and the drive s are also attached If the panel has a paint finish it will be necessary to remove the paint in certain areas to ensure the filter and supply make a good large area metal to metal contact with the panel Position the PL1100 as close as possible to the drives it is to supply less than one metre Ideally the EMC filter needs to be close to the transformers which in turn should be as close to the PL1100 as can be arranged Assuming the use of an equipment cabinet locate the EMC filter and transformers in the base of the cabinet and
26. Drive Refer to the EMC installation information earlier in this section Motor Brake Output The motor brake output on pin 1 is available as a direct control of a 24V motor brake and is capable of sinking a current up to 4A RMS to OV to keep the brake disengaged A 2A fuse is used for the protection of the brake Motor brakes are fail safe that is removal of the brake current will apply the brake A continuous current supply is required to keep a brake disengaged 3 ELECTRICAL INSTALLATION 35 Motor Brake Control Wiring Certain motors used with the ViX drives can be fitted with a holding brake This enables vertical Z direction loads to be held whilst the motor is de energised All brakes are fail safe that is you need to apply power to the brake to keep it disengaged Removing power from a brake will engage or activate the brake preventing further shaft motion Figure 3 18 shows the connections necessary to control a motor holding brake Power the brake from the 24V supply via a 2A fuse To release the brake allowing the motor shaft to turn connect pin 1 of X1 to ground using the manual BRAKE command Power amp motor X1 10 way 0 connector 9 24V DC 8 SUPPLY 24V DC 7 6 5 MOTOR BRAKE 4 IN ITS RELEASED 3 OR ENERGISED STATE 2 BRAKE 1 Figure 3 18 Motor Holding Brake Connections See Section 4 Control of ViX Drives Brake Operation for details of how to control its operation When a brak
27. IP flag 71 IP system variable 71 IS input status 154 IT system variable 71 IW system variable 73 IX system variable 74 K KILL 155 L Label definition 54 execution 54 naming 56 number available 54 predefined list 54 select command 54 specification 56 system 58 Labelled block properties 129 Limit clearing 98 222 INDEX Limit hit 97 Limit switch placement 97 Limit switch wiring 48 Limit switches 48 Limits 97 LIMITS 156 Limits both hit 98 Line fuse type 212 Line fuse values 212 Linear table 93 LIST user program 157 Loadenc 158 Loop command 57 LOOP user code 159 LSEL command 54 LSEL example 62 LVD requirements 9 Maintenance 195 Mode absolute 163 continuous 163 incremental 163 Mode command 86 Motion profiles 87 Motor brake control 35 cable lengths 20 cable wiring 22 connections at drive 21 connections at the drive 21 connections at the motor 22 default settings 30 feedback connections 22 feedback connector wiring 23 phase contactors 25 power cable drive end preparation 21 power connections 22 safety earth connection 30 selection 26 system variables 30 wire size 21 Motor direction note 87 Motor inspection 195 Motor mounting precautions 8 MOTOR settings 164 Motors optimum types 26 voltage rating 30 Move types 86 Moves absolute preset 86 continuous 86 incremental preset 86 preset 86 MV system variable 71 N N
28. Index position Ix Autorun program T Motor energized V Trigger timeout mTm 0 00 FAULT routine V Enable input sense ES M m Communications style Speak whenever EX Iv Echo back on EX Iv BAUD rate BR Echo queuing EQ Off r Analogue Offset AD Monitor op AM Deadband 4B al Download Open Save Print Done Help Figure 5 6 Other Tab of Servo Setup Status The Utilities menu axis Status provides a convenient method of examining the double word status bits The tool gives access to the status of User Faults Status bits and Drive Faults using a series of tabs as shown in Figure 5 7 Status report Address Status n 0000_0000_0000_0000_0000_0000_0000_0000 Para Close Figure 5 7 Status Reporting 122 VIX IE SERVO DRIVE USER GUIDE The Status Report can be permanently displayed during program development or testing to monitor the operation of the drive The double word status bits are decoded and displayed as text messages within the Status Report window as shown in Figure 5 8 This eliminates manual decoding errors and gives an immediate update of the drive s status Status report Address fa looping command executing waiting for trigger input Previous program is running motor is energised Close Figure 5 8 Reporting Status of Drive Read The Read button is used to update all of th
29. ON 1REG1 defines a registration move which can be superimposed upon a standard move profile The registration move will only be performed if a specified input edge is detected on the registration input If an optional hold off distance has been defined the registration command will only respond to a registration input occurring beyond the hold off distance Also if an optional registration window has been defined a registration move can only be triggered if the registration mark occurs within the 4 CONTROL OF VIX DRIVES 89 registration window Otherwise once the basic move had started any valid registration input or mark would trigger a registration move immediately Once a valid registration mark has been detected the registration move is performed using the move parameters taken from the previously defined profile profile_number in the command parameters At the end of a valid registration move the user program GOSUBs to the code immediately following the REG label If no registration mark is detected the standard move profile completes and the user program GOSUBs to the code immediately following the NOREG label Registration will always occur in the current move direction If the direction in the defined profile is different to the current move direction the direction information in the defined profile is ignored An optional output can be programmed to indicate that a move that has been armed is ready for registration This wo
30. R W _ sRange defaultvalue AA 0 no averaging 1 averaging enabled default 0 Averaging 8 samples are averaged every 500us AB 0 to 255 default 0 Deadband values of AB are reported by Al as 0 2047 to 2047 S O Y Analogue Input 2047 to 2047 AM Analogue Monitor Y 0 torque monitor 1 velocity monitor 2 outputs a triangular waveform 10V to 10V amplitude with a 1 second period Motor must be energised O BAUDrate Y Y 9600 or 19200 bits per second _ U O to 100 of program buffer used L 1 to 100 of peak drive current 1 Pauses until move complete default 0 continuous execution DF2 F3 Drive Fault status Y N Third byte of 32 bit DF variable 4 Drive Fault status Y N Fourth byte of 32 bit DF variable N N Encoder Input Y Y O step dir 1 cw ccw 2 quad ABZ de energise drive Y Y TY BR T _ 7 to change 1 to 42200000 default 4000 per revolution Y K O step dir 1 cw ccw 2 quad ABZ de energise drive Output to change Echo Queuing O0 normal 1 wait for lt CR gt 2 cmd response only ES Enable Sense Y Y Sets the sense of the external enable enable_bar signal O low signal to enable 1 high signal to enable Table 4 2 List of System Variables EM EO 4 CONTROL OF VIX DRIVES 65 Var Name R w Range detaultvalue EX Comms Response Y Y 0 speak when spoken to echo off default for R8485 Style amp Echo 1 speak w
31. See also aCLEAR label DECLARE Description The CLEAR command deletes user program instructions from the label specified until the END statement associated with that label If a subroutine has been cleared but its associated GOSUB command still exists at run time the code will halt motion will stop and E will be reported Specifying the ALL keyword as the label will delete all user programs within the drive addressed Properties Immediate or buffered can t be used in labelled block saved by SV Example OCLEAR ALL Clear memory of anything defined so far all drives 5CLEAR START _ delete the power on code but nothing else in axis 5 Note You can only clear declarations by using CLEAR ALL 6 COMMAND REFERENCE _ 137 D Syntax Distance Units Range of n Default See also See SCALE 2 147 483 648 M SCALE aDn to 2 147 483 647 Description Properties Example The D command will set or report the programmed move distance The value programmed is only used for preset moves In MC Move Continuous the direction is observed Immediate or buffered can be used in labelled block saved by SV To set the move distance of axis 2 to 15000 steps type 2D15000 To report the current programmed move distance of AXIS DG ee en ecko ke eae shame Sieh ee ae 2D The controller responds WItN ccceeeeeeeeeeeeeeneeeeeeeees 15000 If a value entered is out of range E will be reported and the
32. Update motors list x Optional parameters Please enter ALL the information below and then click Add to add this servo motor to the database Finish aborts this action Alternatively use Find to locate the motor record you wish to delete or modify Custom ROTARY motor Motor part number Continuous stall current Amps RMS Static brake fitted Commutation 30 Thermal sensor fitted JV Number of poles Resolution post quad BE series motor E Rated speed Feedback Encoder C Sinusoidal encoder Tachometer Resolver Resistance line to line Inductance line line mH Kg r Nm Nm Krpm Rotor inertia Torque constant Kt Viscous damping Thermal time constant seconds Add new motor Find motor Figure 3 11 EASI V Custom Motor Configuration Window Motor the general name number for the motor Nominal continuous current rating of the motor in Amps RMS current 0 1 to 14 4 Number of number of motor poles for a rotary servo 2 pole pairs 4 motor poles poles so enter 4 Resolution post quadrature resolution of a rotary servo For a resolver use 4096 Note post quadrature is the number of encoder lines seen by the drive electronics after the encoder signal has been processed Rated speed shaft speed in rpm for a rotary servo Resistance resistance of a single phase winding measured line to line in Ohms Inductance indu
33. a speed of 5 40rps A unipolar input signal is required 0 to 10V any voltage with a negative polarity will be regarded as 1 of full scale value 144 VIX IE SERVO DRIVE USER GUIDE G Syntax aG Description Properties Example Note Go Units Range of n Default See also PSSKM Issuing a G command starts motion using the parameters specified by the V A or AA AD and D commands or via the PROFILE and USE commands The mode of motion must have been previously set as this determines which parameters are used and which are ignored For example mode continuous will ignore the distance parameter Immediate or buffered can be used in labelled block not saved by SV 1PROFILE3 150 200 1500 25 define profile 3 1USE 3 suse profile 3 1G perform profile 3 If no motion occurs after G is issued the cause can be determined by using the R UF command Refer to the section on system parameters for more information 6 COMMAND REFERENCE 145 GAINS Gain configuration Syntax Description Properties aGAINS GF GI GP GV FT Issuing a GAINS command with no parameters produces a verbose list of all current gains Parameters may be set up all together in one command Alternatively gains may be individually set reported by using the read and write variable commands GP Gain Proportional GV Gain Velocity feedback GF Gain Feedforward GI Gain Integral action FT Filter time constant For rang
34. acts in a negative sense opposing the proportional action and helping to stabilise the motion The damping action of velocity feedback allows a higher proportional gain to be used HF Description Velocity used for the final part of some homing moves See Homing later in this section IC Description See IC System Variable in the Electrical Installation section IM and IW Description Integral mode determines when integral action Gl is applied either continuously or within a integral window defined by IW IN Description The IN system variable is equivalent to the IS command but allows individual inputs to be tested using IF and TR commands during conditional coding For example The following test looks for input 1 low and input 3 high IF IN 0X1 XX Where X don t care INn Description The INn system variable is used to define a particular bank of inputs when used with Fieldbus input expansion modules 74 VIX IE SERVO DRIVE USER GUIDE IX Description System variable IX determines the position of the index pulse relative to phase U or phase 1 of the drive Altering the position of the index pulse allows compatibility with different motor types PA Description PA reports the actual position of the motor shaft Although PA is marked as being read only it will accept the value 0 to be written to it for resetting purposes If you perform a W PA 0 system variables PF PE and PT will also be set to 0 However if you im
35. address Where several drives need to respond to a common set of global commands prefix each command with the address 0 To prevent spurious feedback any report or read command using address 0 will be ignored Note a drive will ignore a command missing an address prefix Where commands such as IF R TR and W include a system variable it is treated as a command parameter System variables store internal drive values and settings Each variable is capable of being read and tested and some may be written to but they are all dedicated for a particular use by the system and cannot be used for storing user data within a program Command Syntax Generally a command s syntax consists of an address a followed by the command name Parenthesis containing the commands parameters or simply the range parameter n follows this Within the parenthesis form of command a comma separates each parameter and italics indicate any optional parameters Commands not requiring any parameter string have the syntax shown in Figure 6 1 aARMn Range parameter Command name Address prefix Figure 6 1 Simple Command Syntax Commands which include a parameter string can be simple one parameter commands such as GOSUB or CLEAR where the single parameter is a label or multi parameter commands containing a string of parameter values Figure 6 2 shows both styles of parameter commands 128 VIX IE SERVO DRIVE USER GUIDE aGOSUB label L La
36. be used Allow a minimum free space of 50mm both below and above its case and 10mm free space on both sides Do not mount the supply above or close to other products that generate a significant amount of heat by radiation or convection 3 ELECTRICAL INSTALLATION 17 PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W 80V 14A for use with ViX and XL series drives The supply requires a suitably rated transformer supplying 50V AC RMS for the HV and 20V AC RMS for the 24V DC The use of the PL1100 offers the following benefits e Provides 80V HV and 24V DC output Single or three phase operation e Built in power dump switch e Integral fusing Figure 3 4 shows the PL1100 output wiring for two ViX drives This illustrates how to route the main HV supply separately to each drive The lower current requirements of the 24V logic brake supply can allow the wiring to be linked between drives For full installation instructions see the PL1100 Power Supply leaflet 1600 323 XX In Figure 3 4 the drives are wired individually to the PL1100 alternative daisy chain wiring can be used O G ea d E HVSTFB CAUTION Risk of el S O igh ve i REG N E MOTOR HV OUY N 1 MOTOR dv D ella F EXT BRAKING R D PE
37. before the drive is de energised Figure 4 13 shows the operation of the two timers RD ED a Brake released status ongaged Drive on status off Drive ON Drive OFF issued issued Figure 4 13 Brake Command Operation of Timers RD amp ED Automatic Braking Holding Brake Energising the drive starts a timer that counts down to a pre determined count RD Delay to Release at which point the brake disengages leaving the drive to hold position When you instruct the drive to de energise the controller will engage the brake and start a further counter ED Delay from Engage Once ED times out the drive de energises leaving the brake to hold position Automatic Braking Dynamic Brake This option works in a similar way to the automatic holding brake and is intended for use with a dynamic brake only In this case a drive fault that de energises the drive s power stage under hardware control will apply the brake as soon as the software detects the fault condition The pre programmed delay time is ignored 100 VIX IE SERVO DRIVE USER GUIDE Manual Braking Manual braking is the default mode of the BRAKE command and allows the brake to be toggled on engaged and off released directly CAUTION Take care when using this mode as it cancels the automatic mode of operation Other Factors that Influence Braking Operation In addition to the three modes of brake operation certain drive conditions influence brake b
38. causes TL is set too low Start with TL set high and adjust the GAINS to get the desired performance Now execute the worst case move used by the application that is one with high acceleration and long distance After this move use TUNE to report the maximum position error during the move Repeat this several times to get a feel for the position error required to generate the torque needed by the move Set TL to a higher value than the highest value seen in the test Other causes Primary encoder feedback wiring is reversed Motor has spun up to high speed when only a short move was commanded Velocity exceeded unstable gains motor spin off The last move exceeded the programmed maximum motor velocity Indexed motion will be stopped in a controlled manner and the drive will then de energise If there is a user program running and the fault label is armed it will be run What might cause this fault In the event that the tracking limit error detection has been disabled and the motor wiring is incorrect it is possible that the motor could accelerate to great speed very quickly Over velocity protection will be applied and will de energise the motor when the programmed max speed see MOTOR command is exceeded Excessive continuous current The drive current folds back Refer to the Drive Motor Overload section of the user guide This can often lead to a tracking limit exceeded fault because the commanded position cannot be achieved du
39. current value will not be altered Distance reports the current direction as influenced by the H command in MI Mode Incremental only For example 1Ml mode incremental 1D4000 set distance to 4000 steps 1D report distance 4000 value reported 1H change direction 1D report distance 4000 value reported 138 VIX IE SERVO DRIVE USER GUIDE Declare Declare Syntax Units Range of n Default See also aDeclare label CLEAR Description All labels apart from START REG NOREG amp FAULT need to be declared Properties Example at the beginning of the program using a DECLARE command Labels consist of up to 5 upper case alphanumeric characters terminated with a colon but a label must begin with an alpha character Choose a name that is relevant to the operation being performed or a system label name To terminate a code block use END no colon You can use up to 20 labels although four of these have already been allocated to START REG NOREG and FAULT leaving sixteen for general use Only declare labels in the command line or inside the START label If you wish to upload your program all declarations must be made within the START label If a label has been declared but not defined a run time error will be signalled when it is called by a GOTO GOSUB or LOOP commana When a label has been declared and defined clearing it will only get rid of the definition the declaration will remain Decl
40. energise whilst this fault is present Controller diagnostic failure This is set if the controller fails one of its self test routines Further diagnostic information is available from the test commands The firmware will not allow an energise whilst this fault is present Output stage over current This is monitored in hardware The power stage will be de energised by hardware and report the fault condition to the drive firmware Indexed motion will be stopped instantly and the drive firmware will then set the de energise state in order to match the condition of the hardware If there is a user program running and the fault label is armed it will be run What might cause this fault The most common cause is poor or incorrect motor wiring Other possibilities are a damaged motor winding or damaged power stage 7 MAINTENANCE amp TROUBLESHOOTING 203 Output driver over current The output stages are monitored in hardware and this bit will indicate that a fault has occurred e g the output has been short circuited Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run Tracking limit exceeded Position Error The maximum allowable position error has been exceeded Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run Common
41. following characteristics ACCELERATION 40rps DECELERATION 10rps DISTANCE 48000 steps 12 REVS MOVE NEGATIVE DIRECTION VELOCITY 25 rps In small programs the start code can be combined with the main part of the program For experienced X code users the shorter blocks of code in the example above accessed via subroutines is the equivalent of a sequence A second example illustrates the code required for an incremental move Here the START and MAIN code blocks have been combined within the START block 1START start label definition 1DECLARE MOVE1 declare move label 1LIMITS 3 0 0 configure limits disable n c 1PROFILE1 80 20 24000 20 define move parameters 1GOTO MOVE1 transfer to label move 1 1END end of label definition 1MOVE1 define program label 1MI incremental positioning move 1USE 1 use motion profile 1 1G execute move 1END end of program move 1 definition Note 1 DEVICE ADDRESSING IS REQUIRED FOR ALL COMMANDS 2 PROFILE1 has the following characteristics ACCELERATION 80rps DECELERATION 20rps DISTANCE 24000 steps 6 REVS MOVE POSITIVE DIRECTION VELOCITY 20 rps 4 CONTROL OF VIX DRIVES 57 LOOP Command The block structure of the code lends itself to performing repetitive operations using the LOOP command The command can be used to call a particular labelled block of code for either a specified number of times or continuously An example using the LOOP command is
42. format as IS command Inputs expansion Fieldbus expansion inputs IN1 bank1 IN2 bank2 IP In Position flag 1 In position or O not yet in position In Position Time 1 to 500mS default 10mS Integral Window Range 0 to 65535 default 50 Index Pulse 0 to 1023 default 250 motor definition dependent Flag 1 moving or 0 not moving Position Actual 2 147 483 648 to 0 to 2 147 483 647 Sets maximum drive output value scaling factor 100 400 of MC default 300 e ee Incremental PM sets the modulus 6 COMMAND REFERENCE _ 189 Var Name R w Range default value Position The primary X2 feedback position PA on the last Registration active transition on input 2 start of valid REG move Range 2 147 483 648 to 0 to 2 147 483 647 PS Position The PM count position on the last active transition on Secondary input 1 falling edge viewed using IS Range 2 147 483 648 to 0 to 2 147 483 647 PT Position Target Y Y 2 147 483 648 to 0 to 2 147 483 647 Trajectory generator open loop target position Ready Busy flag Flag 0 ready or 1 busy RM Registration Move Y Flag 1 reg move in progress 0 not doing reg move software SC 0 S curve accel decel disabled default configuration 1 S curve accel decel enabled ST3 ST4 TL Tracking Limit Y Y Defaults to Motor Resolution or Motor Resolution 100 if motor resolution gt 65535 Range 0 to 400 000 Trigger Timeout Optional timeout for trigger command
43. given below again the START and MAIN code blocks have been combined within the START block 1START start label definition 1DECLARE LOAD declare label 1LIMITS 3 0 0 disable limits 1PROFILE3 100 50 4000 35 define move parameters 1Ml set mode to incremental 1LOOP LOAD 6 repeat the load unload 6 times 1END end of label definition 1LOAD define program label load 1USE 3 use motion profile 3 10 XX0 ensure o p 3 is off 1T1 wait for 1 sec delay 1G execute move 10 XX1 turn on o p 3 1T1 wait for 1 sec delay 1END end of label definition 58 VIX IE SERVO DRIVE USER GUIDE Reserved System Labels Certain pre defined labels are recognised by the controller as containing code used for common operations If event triggered code is enabled ARM1 the code entered for these common operations will be automatically run when the event occurs System labels have the following names START specifies the power on code run using the ARM1 command FAULT specifies the code that is to be run when a fault occurs REG specifies the code to be run when a registration mark is detected within the registration window NOREG specifies the code to be run when a registration mark is not detected within the registration window Note If necessary these labels can be used for other purposes but cannot be re named Fault Label Use the pre declared label named FAULT to identify a block of code that is executed when a p
44. if CQ 0 that is with command queuing OFF SN Description Reports the serial number of a drive ST Description See reporting of status bits in Reporting the Status of Variables 76 VIX IE SERVO DRIVE USER GUIDE TL Description Tracking limit is the maximum amount of position error that can be tolerated if PE exceeds TL a fault will be reported TT Description The trigger timeout can be set or read using TT If a timeout occurs status bit 8 is set high Example 1W TT 1 5 timeout after 1 5 seconds 1G do the move 1TR IN 1 wait for input 1 to activate or timeout 11IF ST1 XXXXXXX1 check for timeout 1GOTO TOUT jump to TOUT routine 1 IN1 ON else display message over comms link continue code UF Description See reporting of user fault bits in Reporting the Status of Variables Reporting the Status of Variables By examining Table 4 5 you can see that most system variables take a numerical value or record a simple ON OFF state 0 or 1 Flags Certain variables perform a reporting function that provides you with information on the status of the controller and any drive faults present in the hardware or user program code Status Variable Reporting Variable ST is a 32 bit double word that contains status information When read ST reports a 32 bit double word pattern of the form 0000_0000_0000_ 32 bit wide double word _0000 LTT BitNo 1 45 8 32 Where a bit is set displayed as a 1 its bi
45. n Default See also aR system_variable W Description The Rcommand allows the user to read the specified system variable Properties Immediate or buffered can be used in labelled block not saved by SV Note aR RB is immediate only Example 2R AO report the current value of variable AO The response could Deir iictouied aii 1500 REG Syntax Description Properties 6 COMMAND REFERENCE _ 171 Registration move aREGon off edge profile_number hold_off_distance registration window output The REG command once turned ON defines a registration move After a number of steps determined by the optional hold off distance the controller will begin to search for a valid registration signal Once a valid registration mark has been detected the registration move is performed using the move parameters taken from the previously defined profile profile_number in the command parameters At the end of the registration move the user program GOSUBs to the code immediately following the REG label If no registration mark is detected the standard move profile completes and the user program GOSUBs to the code immediately following the NOREG label Registration will always occur in the current move direction If the direction in the defined profile is different to the current move direction the direction information in the defined profile is ignored An optional output can be programmed to indicate that a move that has been ar
46. normal current level If the failing parameter is found to be still high gt 50 the drive output remains restricted to its 80 value and continuous checking of the parameter is carried out until the 50 value is reached When this happens the drive returns to normal operation the status LED stops flashing and ST bit 16 is reset 30 VIX IE SERVO DRIVE USER GUIDE Control of I2t Parameters The drive internal I2t parameters are always enabled and cannot be adjusted by the user However the motor 12t settings can be influenced by the choice of parameters used for the MOTOR command To disable the motor I t settings set the thermal time constant of the motor to zero Note If you select a motor from the list of standard motors using EASI V worst case configuration data will be used This prevents reporting a too optimistic view of the motors thermal performance Where a motor is fitted with a temperature sensor built into its windings the motor 4t threshold protection will not be required In this case set the thermal time constant of the motor to zero See MOTOR command Motor Voltage Ratings Motors with a withstand voltage rating from phase to earth of 1000V AC should be used An insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed screen is used to power the system and X1 pin9 HV input is earthed as specified Motor Safety Earth Ground Connection It is recommended that the mot
47. on Secondary input 1 falling edge viewed using IS Range 2 147 483 648 to 0 to 2 147 483 647 generator open loop target position RB Ready Busy flag Y N_ Flag 0 ready or 1 busy RM Registration Move Y N Flag 1 reg move in progress 0 not doing reg move RV ReVision of Y IN xyy major minor software SC S Curve Y Y O S curve accel decel disabled default configuration 1 S curve accel decel enabled ST3 ST4 Tracking Limit Defaults to Motor Resolution or Motor Resolution 100 if motor resolution gt 65535 Range 0 to 400 000 Trigger Timeout Optional timeout for trigger command 0 65 seconds in 0 01 increments User status bit 8 is set to indicate timeout occurred before trigger condition met Bit is clear if trigger condition met before timeout UF User program Y N See Reporting of user faults UF1 2 3 amp 4 Fault status UF1 User Fault Status First byte of 32 bit UF variable UF2 User Fault Status Second byte of 32 bit UF variable Third byte of 32 bit UF variable User Fault Status Fourth byte of 32 bit UF variable Can be set to 0 only Table 4 2 List of System Variables Continued 4 CONTROL OF VIX DRIVES 67 AA Description Enabling AA introduces an averaging filter in the drive s analogue input The 11bit analogue input is sampled every 500us When AA 1 the last 8 samples are averaged before updating Al AB Al and AO Description AB controls the dead band and
48. revision of V2 0 Composite fault This flag indicates that a drive fault has occurred and that the fault is still present The original fault may have been registered by the FPGA power card hardware or by the drive s microprocessor See the remaining fault status bits for the source s of the fault 15V Supply rail failure This fault is detected by the drive hardware which de energises the power stage at the same time as informing the microprocessor of the fault Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run The firmware will not allow an energise whilst this fault is present Motor HV under voltage amp over voltage The software monitors the HV every 500uS and compares the value to the under and over voltage trip values If the HV is gt 98V or lt 16V the following actions will be taken Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run The drive HV supply is measured when the MOTOR command is executed If no HV is present reading of 0 volts then 80 volts is assumed to be the operating level The reset threshold is then calculated as follows IF HV gt 30 Volts THEN if supply is normally greater than 30 volts reset_threshold 30 volts HV must be gt 30 volts for ON command to work ELSE IF H
49. route AC supply cables up to the PL1100 Attempt to layout the wiring in a way that minimises cross coupling between filtered and non filtered conductors This means avoiding running wires from the output of a filter close to those connected to its input Where you wish to minimise the cross coupling between wires avoid running them side by side one another if they must cross cross them at 90 to each other Keep wiring supported and close to cabinet metalwork HV Transformer Specification TO255 Power rating 1000VA Input voltage 230V 15 10 Output voltage 2 X 50V RMS full load voltage Output current 2 X 10A RMS Regulation 3 5 Size 162mm diameter 70mm height Weight 6 5Kg Mounting resin filled centre drilled to accept an 8mm mounting screw See note 1 Suitable Transformer TO256 A 24V DC logic supply can use the T0256 120VA toroidal transformer which has the following specification Power rating 120VA Input voltage 230V 15 10 Output voltage 2 X 18V RMS full load voltage Output current 2 X 3 3A RMS Regulation 5 5 Size 93mm diameter 46mm height 3 ELECTRICAL INSTALLATION 19 Weight 1 2Kg Mounting resin filled centre drilled to accept an 8mm mounting screw Note 1 A Neoprene insulating disc is included with the mounting kit to prevent the crushing of transformer windings This disc provides a 5kV isolation barrier between the transformer and mounting panel Uy st GR we STFB sie
50. socket mating plug X3 Socket 1 5 Serial connector plug 6 9 Figure 3 19 X3 D type Connector RS232 Connections Inter drive RS232 Connections Use the RJ45 connectors X6 and X7 to inter connect drives see RS232 Daisy Chain later in this section Always make the primary connection via D type X3 40 VIX IE SERVO DRIVE USER GUIDE RS232 Connecting Leads RS232 cables can be ordered from Parker Various lengths are available as listed in Table 3 11 Part Number Length RS232 EASI 0250 2 5m RS232 EASI 0500 5 0m RS232 EASI 0750 7 5m RS232 EASI 1000 10 0m RS232 EASI 1250 12 5m RS232 EASI 1500 15 0m Table 3 11 RS232 Connection Lead Types X4 Connector Connector X4 gives access to the following encoder input and output signals and the differential analogue inputs Input and output connections are dependent upon the state of system variables EO and El Connector Type Connector type is a high density 15 way D type socket Connector Pin Out Connector Pin X4 Encoder I O ANA1 input ANA1 input Enable input Enable See system variable ES Table 3 12 X4 Encoder I O Connections 3 ELECTRICAL INSTALLATION 41 Inputs Depending Upon the State of System Variable El Connector Pin X4 STEP STEP _ 8 jor cow B Outputs Depending Upon the State of System Variable EO Connector Pin X4 STEP 9 JSP _ 10 oR cow B 42 VIX IE SERVO DRIVE USER GUIDE
51. the motor in the active window of the switch default setting emode 1 The motor is positioned to the required edge of the switch or emode 2 Not applicable for servo operation emode 3 If an encoder with a Z channel is used then the controller will seek the Z position after detecting the specified home switch edge Cannot be used with resolver feedback servo systems emode 4 If an encoder with a Z channel is used then the controller will seek the Z position without the need for a home switch For linear encoder applications there is normally only one index Z position Mode 4 should be used to save the use of a home switch For rotary applications where the maximum distance required is one revolution the index mark may be used as a unique home position For all other applications mode 3 should be used as the index position will not be 152 VIX IE SERVO DRIVE USER GUIDE Properties Example Note unique In mode 0 when the home position is reached the absolute position of the controller is set to 0 The incremental position reports the distance moved to reach the home position system variable Pl Typing aHOME on its own will return the current parameter values for the nominated axis For example The command 3HOME will return AR1 E TP1 V 10 00 A10 0 MO Meaning the command is armed reference edge is negative home type is 1 velocity is 10 rps positive acceleration is 10 rev s and mode is 0 Once configu
52. this user guide N SAFETY WARNING High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP WELL CLEAR of any machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be enclosed such that no part is accessible while power may be applied This and other information from Parker Hannifin Corporation its subsidiaries and authorised distributors provides product or system options for further investigation by users having technical expertise Before you select or use any product or system it is important that you analyse all aspects of your application and review the information concerning the product in the current product catalogue The user through its own analysis and testing is solely responsible for making the final selection of the system and components and assuring that all performance safety and warning requirements of the application are met If the equipment is used in any manner that does not conform to the instructions given in this user guide then the protection provi
53. would be followed but finishing on the other side of the home switch as shown in Figure 4 11 LEHI i l HOME SWITCH i Negative OPERATING Positive Gibo edge l RANGE ledge 7 positive POSITIVE i GH negative LIMIT l gaor ai e a ra ena Ag Tee Y l is a0 GH r AN j GH i 1 cel frees ANTI l i Finish Start from positive l l side of home Figure 4 11 Go Home to Negative Edge Motion starting on the negative side of the home switch will behave in a similar way the only difference being the direction of travel If the drive was started up already within the boundaries of the home switch and a go home command was given for a particular edge the motion would follow the path shown in Figure 4 12 depending upon which edge was requested In this situation the home position is known so the controller knows in which direction to travel to seek the appropriate edge In Figure 4 12 acceleration and deceleration are set to the same value HOME SWITCH OPERATING Positive edge i Figure 4 12 Go Home Starting from Home Note If the home configuration command is set to mode 0 and the home switch is already in its active range no movement will take place 96 VIX IE SERVO DRIVE USER GUIDE Final Direction of Travel Note that no matter where motion starts from that is from positive side of the home switch in the home s
54. 0 CAUTION Ensure that all power supply components are mounted away from operator access as high voltages and hot surfaces are present in normal operation APPENDIX A 213 EMC Installation These EMC installation recommendations are based on the expertise acquired during the development of compliant applications which Parker believes are typical of the way a drive or drives may be used Provided you have no special installation requirements or untypical operating environment requirements ViX drives will conform to current EMC Directives as defined at the front of this user guide General Requirements ViX mounted drives unless used with an XL PSU will require an EMC supply filter to meet EMC installation compliance requirements It is recommended that the drive is mounted on a conductive panel which is shared with the EMC filters If the panel has a paint finish it will be necessary to remove the paint in certain areas to ensure filters and drive make a good large area metal to metal contact between filter case and panel Mount filters close to the drive and keep the supply wiring as short as practical Attempt to layout the wiring in a way that minimises cross coupling between filtered and non filtered conductors This means avoiding running wires from the output of a filter close to those connected to its input Where you wish to minimise the cross coupling between wires avoid running them side by side one another if they m
55. 10 This will require the SCALE command to take the form SCALE1 1 10 1 200 A D and V do not have to be in the same units any combination of units is possible but PEU divided by SCLD must result in an integer This is because the distance moved requires the following calculation D PEU SCLD steps which could result in a fractional number of encoder steps that cannot be resolved by the drive Once defined using the SCALE settings command an application can be simply programmed in user units without needing to calculate what units the drive requires 4 CONTROL OF VIX DRIVES 103 You can use SCALE in combination with other commands such as LOADENC STALL or POSMAIN The exact mix of commands together with the source of the feedback and the type of programming steps used are presented in Table 4 10 In the command columns 0 disabled and 1 enabled In the feedback source column Motor motor mounted encoder steps Load load mounted encoder steps and X invalid combination In the command steps column the steps used to program the application that is distance D Motor motor steps 1 rev motor resolution Load load steps 1 rev load resolution EM and User user steps with X representing an invalid combination SCALE LOADENC STALL POSMAIN Feedback Command source steps 0 0 0 0 Motor Motor 0 0 0 1 Motor Motor 0 0 1 0 Motor Motor 0 0 1 1 Motor Motor 0 1 0 0
56. 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Time to trip l t circuit in seconds Figure 3 15 ViX500 It function moving ViX500 l t function stationary 20 18 16 14 12 10 ViX500 demanded phase current in A rms 0 0 2 4 6 8 1 121416182 22242628 3 3 2 3 43 6 3 8 4 Time to trip It circuit in seconds Figure 3 16 ViX500 It function stationary 0 J HV HV PE OV GND 24v DC Motor Earth Motor phase U Motor phase V Motor phase W 1 Motor brake Feedback resolver mode 1_ Reserved Reserved GND 5 5V output 2 3 6 7 E a SIN e reserved 12 COS 13 reserved 15 REFres Feedback encoder mode Incremental enc Z Incremental enc Z 3 4 5 GND reserved 5V output 7__ Incremental enc A 8 Incremental enc A 9 Commutation f b AO 10 Motor overtemp 11 Incremental enc B 13 Commutation f b A1 ion f 15 4 Commutation f b A2 15 3 ELECTRICAL INSTALLATION 33 A range of mating connectors Communications are supplied depending upon the type of fit kit X3 Function ordered 1 x Tx RS485 S232 GND 4 RS232 Rx 5 RS232 Tx 6__ Rx Tx RS485 7 _ RS232 Tx D loop do not connect 5V output requires CAN option IE Control Aux 1 O 4 Function NA1 IN NA1 IN Doz
57. AL INSTALLATION 21 SMB Motor Connections at the Drive SMB motor power cables are prepared for connection at the drive end as shown in Figure 3 6 Stainless steel P clip clamped firmly over 100 folded back braiding do not over tighten x1 pm m Fold braiding back over the cable s outer pin number insulation 1 30 i Heatshrink Sleeving 2 O Use relevant sleeving to suit cable diameter 3 ae Q a 5 I ea 50 30 Green yellow N ins lat d Idents 1 to 5 amp 7 to UL94 CO boot lace ferrules All dimensions in millimetres Figure 3 6 Motor Power Cable Drive End Preparation Note The cable braiding is folded back over the outer insulation of the motor cable to give a larger diameter contact area and a mechanically strong fixing If you have a ready made ViX PWR XXXxX cable use the pre fitted P clip otherwise use one of the clips listed below Size Parker part number Comments 9mm ID 4216 101 10 7mm ID 4216 102 12 3mm ID 4216 103 Supplied with standard cables Table 3 4 P Clip sizes Three different size P clips allow the use of a variety of motor power cables from different manufactures All motor connections must be made using a high quality braided screen cable Cables using a metallised plastic bandage for an earth screen are unsuitable and in fact provide very little screening Care must be taken
58. Contact Addresses For engineering assistance in Europe Parker Hannifin plc Electromechanical Automation 21 Balena Close Poole Dorset England BH17 7DX Tel 44 0 1202 699000 Fax 44 0 1202 695750 e mail sales digiplan parker com e mail support digiplan parker com Website www parker eme com For engineering assistance in Italy Parker Hannifin SpA Electromechanical Automation 20092 Cinisello Balsamo Milan Italy Via Gounod 1 Tel 39 02 6601 2478 Fax 39 02 6601 2808 e mail sales soc parker com Website www parker eme com For engineering assistance in Germany Parker Hannifin GmbH Electromechanical Automation P O Box 77607 1720 Robert Bosch Str 22 D 77656 Offenburg Germany Tel 49 0 781 509 0 Fax 49 0 781 509 176 e mail sales hauser parker com e mail techhelp_emd_OG parker com Website www parker eme com For engineering assistance in the U S Parker Hannifin Corporation Electromechanical Automation 5500 Business Park Drive Suite D Rohnert Park CA 94928 USA Tel 800 358 9070 Fax 707 584 3793 FaxBack System 800 936 6939 e mail emn_support parker com Website www parkermotion com Symbols used have the following meanings Caution Refer to the accompanying documentation Protective conductor terminal CONTENTS i Contents GAL HEI CAUTION Ves sich tee te thle EE AEAEE AEEA TEENETE AS ETE AEI E EEEE AEE ETES 1 2 Mechanical Installation siccsi
59. E USER GUIDE Use of the LSEL Command You can let user inputs call programmed routines by the use of special label names and associated user input numbers By including the code you wish to action following a pre defined input label will enable your code to be run when the defined user input is activated For example to select one of three labels using two user inputs the code would be 1START 1CLEAR ALL clear memory 1DECLARE L1 declare label 1 1DECLARE L2 declare label 2 1DECLARE L3 declare label 3 1LSEL1 0 2 1 define inputs and code 1A20 set acceleration 1V5 set velocity 10 000 set all outputs low 1END 1L1 slabel 1 code 10 1 set output 1 high 1D1000 set distance to 1000 steps 1G move 1000 steps 1T1 wait for 1 second 10 0 set output 1 low 1END 1L2 slabel 2 code 10 01 set output 2 high 1D 2000 set distance to 2000 steps 1G move 2000 steps 1T1 wait for 1 second 10 00 set output 2 low 1END 1L3 slabel 3 code 10 001 set output 3 high 1D3000 set distance to 3000 steps 1G move 3000 steps 1T1 wait for 1 second 10 000 set output 3 low 1END Note The routine will only run when it receives a valid input pattern corresponding to the numbered label names 4 CONTROL OF VIX DRIVES 63 Upon receipt of a valid numeric input pattern the controller runs the associated routine For example binary pattern 3 causes routine L3 to run This routine must finish reach the END command
60. Example 4START signifies this is the power on sequence 4DECLARE GRIP 4PROFILE2 100 100 4000 25 define profile 2 4LOOP GRIP 0 repeat the grip ungrip code forever 40 XX1 set output 3 4T5 If we exit the loop then we pulse output 40 XX0 3 to indicate gripper tension out of tolerance 4END 4GRIP 4USE 2 Use motion parameters from profile 2 4 do the move 40 1XX trigger the measurement 4H change to ungrip grip 4T1 delay for 1 sec 4IF IN X0X gripper tension out of tolerance 4EXIT abort loop 4IF IN X1X else continue the loop 4G 4END Note In the example shown above once the EXIT command is encountered the cycle in progress will be completed then the code will be returned to the line immediately following the LOOP command That is output 3 is pulsed for 5 seconds to indicate the gripper tension is out of tolerance 6 COMMAND REFERENCE 141 FOLLOW Configure following Syntax Description aFOLLOWon off source mode scale The Configure Following command is used to setup following allowing an axis to copy movement from another drive The source parameter specifies the device to follow The options are A analogue input E encoder input The mode parameter determines the type of following move that takes place mode 1 The position of the motor follows the following source All other mode values are reserved at present The scale parameter specifies the scaling applied to the followin
61. Inc Enc A 8 2 SIN Inc Enc A 9 4 Reserved Comm f b AO 10 9 Motor overtemp Motor Overtemp 11 12 COS Inc Enc B 12 11 COS Inc Enc B 13 5 Reserved Comm f b A1 14 6 Reserved Comm f b A2 15 17 REFres Reserved Note two wires are used for the 5V supply X2 pin 5 and two wires are used for OV returns X2 pin 3 two wires are also taken from X2 pin 6 Table 3 6 Motor Feedback Cable Wiring The 15 way D type connector will require the feedback cable screen to be bonded to the metal connector shell as shown in Figure 3 9 RMI earth bonding required for both connectors Example 1 Example 2 CY braid ferrule cable Braid to be folded back over complete cable ferrule to make a 360 connection Braid to be made into 3 round forms and wrapped a round the recess of cable ferrule to make a 360 connection Earth bonding area in cover Figure 3 9 Screen Bonding Methods for D type Connectors A ferrite absorber with a specification matching that of the Chomerics H8FE 1115 NC is also required to be positioned on the feedback cable using heat shrink sleeving The position of the absorber should be within 150mm of the feedback connector as shown in Figure 3 10 24 VIX IE SERVO DRIVE USER GUIDE HHHHHS NN WO BW E lt coq SH J oo0000 00000 O0000 MAX A Figure 3 10 Position of absorbers amp motor wiring details There must
62. N 10 lt 000 gt 1PROFILE1 16 16 4696 1 gt 1LOOP lt MOVE 1 gt 3Cal 1 END 3End of routin A FAULT 3 Define routine 1 FAULT Error message END End of routine Downloading program to indexer 3Define INIT routine MStar AA BES EL Parker Hannifin RNAI 1603 Figure 5 9 Download a program to the drive 124 VIX IE SERVO DRIVE USER GUIDE A program may also be uploaded from a drive a useful facility if a drive needs to be swapped between axes To upload a program select Upload from the Utilities menu An upload dialogue box will be displayed allowing you to specify the name and address of the program to be uploaded A shortcut upload is provided by function key F5 Upload Ea Enter the name of the program or blank for all Ok Cancel Figure 5 10 Upload Dialogue Box If you receive an error message during program upload refer to the Troubleshooting Section Help EASI TOOLS has extensive on line help facilities which allows you to search for help ona particular topic either within the main contents or by entering a topic string All the commands listed within this user guide are available on line by selecting Controller Commands from the Help menu 5 EASI V SOFTWARE 125 Confirming Drive Operation With the drive and motor correctly wired and the serial connection made to a PC running Easi V software the operation of a drive may be confirmed by creating and downloading the following c
63. OREG 58 NOREG label 89 Not saved by SV 130 O O output 165 OFF shutdown motor 166 ON turn on motor 167 Output circuit 45 configuration 45 current rating 45 Outputs 45 Overload of outputs 30 Overtemperature switch connection 38 P P clip part numbers 21 P clip sizes 21 PA system variable 74 92 Parameter checking 130 Parameter value checking 130 PC requirements 105 PC system variable 74 PE system variable 74 PEU 102 PF system variable 74 PI system variable 74 PL1100 product description 17 PM system variable 74 Pollution degree 209 Port configuration 112 Position flags 71 Position time IT 71 Positioning moves basic 86 Power input cable size 211 Power wiring precautions 211 PR system variable 74 Preset moves 86 Product description 1 features 2 variants 2 PROFILE of a move 168 Program examples 55 Program structure 55 Programmed mode 53 Properties immediate 129 labelled block 129 save 130 Properties of commands 128 Proportional gain 73 Protection circuits 2 Protection class 209 PS pause 170 PS system variable 74 PSU discrete design 211 PT system variable 75 Q Quote command 186 R R report system parameter 170 RB system variable 75 RD operation 99 REG 58 REG label 89 REG registration move 171 Registration 88 problems 89 Registration example 90 Registration output 89 Report commands that can be saved 81 Reset to RS232 mode 39
64. Properties Example 6 COMMAND REFERENCE 181 Time delay Units Range of n Default See also seconds 0 05 to 10 none IF The T command pauses program execution for the time specified by the delay parameter Timing resolution is to within 50ms increments Any time value specified within the range 0 05 to 10 seconds will be rounded down to the nearest 0 05 second increment Any value programmed outside of this range will generate an error E out of range The receipt of an immediate command whilst executing a time delay causes the delay to end Immediate or buffered can be used in labelled block not saved by SV 4T6 delay for 6 seconds 4T0 38 delay 0 35 seconds rounded down 182 VIX IE SERVO DRIVE USER GUIDE TR Syntax Description Properties Example Notes Wait for trigger aTR system_variable relation value The TR command pauses command execution until the trigger condition is met The trigger condition is met if the relation between system_variable and value is true Valid relations for the comparison are Equals lt gt Does not equal gt Greater than lt Less than Value is a number generated by the system_variable being tested Refer to the system variables table for more information Also see system variable Trigger Timeout TT Refer to the table of system variables that can be used for conditional control Immediate or buffered can be used in labelled block not save
65. S Position Secondary Description PS reports the position of the load or following input from the secondary feedback X4 connector signal on the last active transition on user input 1 4 CONTROL OF VIX DRIVES 75 PT Description PT reports the target position of the motor that is where you have commanded the motor to move to RB Description Reports the state of the controller as being ready or busy While executing a program or subroutine the controller is busy 1R RB is always immediate never buffered RM Description Reports a 1 if a registration move is being actioned RV Description Reports the revision of software being used by the controller SC S Curve configuration To reduce the amount of jerk rate of change of acceleration or deceleration within a move enable SC When enabled this variable smoothes out rapid changes of acceleration as shown in Figure 4 3 Trapezoidal S Curve Velocity Velocity Time Time Time Time Decel Accel Decel Accel Maximum Jerk Less Jerk Figure 4 3 S Curve Correction of Moves When using S curve configuration you need to program AA as normal This is the average acceleration and is equivalent to the linear deceleration rate The drive sets the peak acceleration to 2 X AA Asymmetric move profiles are not possible when using S curve correction S curve acceleration is not available in MC mode or for velocity changes other than immediately after a G commana in MA MI modes
66. Servo Drives User Guide D amp EJ ELAP S Q a E T u T 3 T a a amp l 2 Je PRs if Part No 1600 304 02 July 2003 For software revision 2 0 onwards IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them failure to do so may result in damage to equipment and personal injury In particular you should study the contents of this user guide carefully before installing or operating the equipment The installation set up test and maintenance procedures given in this User Guide should only be carried out by competent personnel trained in the installation of electronic equipment Such personnel should be aware of the potential electrical and mechanical hazards associated with mains powered motion control equipment please see the safety warning below The individual or group having overall responsibility for this equipment must ensure that operators are adequately trained Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or
67. System variables 63 127 reading 63 reporting status 76 table of 64 testing 63 writing 63 System variables default settings 173 System variables list 189 T T time delay 181 Table of distance units for commands 103 Temperature ambient 209 storage 209 Terminal menu 110 Test code 125 Thermal limitations of DIN rail mount 7 TL system variable 76 Torque control using CR 68 Torque de rating 7 TR command 82 TR wait for trigger 182 Transformer sizing for applications 212 Transformer selection guide 212 Trapezoidal profile 88 Triangular profile 87 TT system variable 76 U UF byte 80 Uploading programs 123 USE 183 USE command 63 User fault byte reporting 81 clear conditions 81 descriptions 80 reporting 80 test example 81 User faults 78 User outputs 45 Utilities menu 110 V V velocity 183 Velocity gain 73 Vix supply current 11 supply volts 11 ViX250 500 drive dimensions 6 WwW W write system variable 184 Weight 209 Welcome box 106 Windows menu 110 Windows 105 Wire size of motor earth 30 Withstanding voltage rating 211 X X1 connector 34 X1 connector pin out 34 X1 mating connector type 34 X2 connector 36 X2 connector pin out 36 X2 connector type 36 X3 connector 38 X3 connector pin out 38 X3 connector type 38 X4 connector 40 X4 connector pin out 40 X4 connector type 40 X5 connector 43 X5 connector pin out 43 X5 connector typ
68. T system variable 72 Function indicators 2 Functional specification 207 Fuse for 24V supply 213 G GF system variable 73 GH go home 146 GO 144 Go home command 94 Go home while in the home switch 95 GOSUB go to subroutine 146 Goto line number box 109 GOTO routine 148 GP system variable 73 Guided servo setup 114 GV system variable 73 H H change direction 149 Help menu 110 HF system variable 73 High speed interfaces 48 Home approach speed 94 configuration 92 direction of travel 96 mode 0 92 mode 1 92 mode 3 93 mode 4 93 mode selection 92 modes 92 operations 91 switch considerations 91 switch too narrow 94 HOME 151 definition of terms 91 Home amp limits interaction 96 Housing material 209 Humidity 209 I O command 45 I O configuration limitations 46 INDEX 221 I2t operation 29 I2t protection scheme 29 IC default setting 46 example 46 system variable 45 IF command 82 IF test 153 IM system variable 73 Immediate commands 129 Immediate or buffered commands 129 Immediate properties 128 IN system variable 73 Incremental preset moves 86 INn system variable 73 Input circuit 44 configuration 44 Input events 62 Input individual configuration 44 Inputs amp outputs 2 Installation 9 Installation safety requirements 9 Installation setup program 106 Installation time for S W 106 Integrator gain 73 Interrogation commands 81
69. USER GUIDE Example 1 Use this code after each G command to improve positioning 1Ml mode incemental 1W CQ 0 turn off command queuing 1G start the move 1T0 1 wait 100ms 1IF MV 1 1 Moving 1TR IP 1 1 Stopped 1W CQ 1 re enable command queuing Example 2 In position flag indicates motion is not commanded and velocity variations are within the error window for the in position time 1W EW 50 set error window to 50 1W IT 25 set in position time to 25 1Ml set mode incremental 1GH go home 1TR IP 1 wait until motion has ceased and within 50 counts of target position for greater than 25ms Without the 1TR IP 1 command after the GH the controller does not wait for the motor to settle at the end of the move EX Description System variable EX controls the style and protocol of the drive s serial communications link ECHO ON The drive transmits characters received so that commands may be passed to other axes ina RS232 chain ECHO OFF The drive doesn t transmit any characters received Usually used for RS485 communication SPEAK WHENEVER The drive will transmit a message if required for example E when a limit is hit without being specifically requested This mode is dangerous to use in a daisy chain RS232 application as it could corrupt a valid message Use SPEAK WHEN SPOKEN TO to prevent this from happening FT Description Fast positioning systems need high p
70. V gt 24 volts THEN reset_threshold HV 0 85 HV must be greater than current supply voltage 15 for ON command to be successful ELSE IF HV gt 20 4 THEN supply is below nominal min but within tolerance reset_threshold 20 4 volts HV must be greater than absolute minimum specification 24Vdc 15 for ON to work ELSE reset_threshold 16 volts set to trip out threshold ENDIF This means that a drive fed from a gt 30 volts HV supply will not be able to be energised via the brake supply Drives fed from a 24 Vdc HV supply need to have the brake supplied from a separate non switched feed 7 MAINTENANCE amp TROUBLESHOOTING 201 Vio over voltage Over voltage will mean that the 24V supply is out of tolerance Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run Encoder Auxiliary 5V under voltage This 5V supply is read every 500uS This fault is set if it dips below 4 5V Indexed motion will be stopped instantly and the drive will then de energise If there is a user program running and the fault label is armed it will be run The firmware will not allow an energise whilst this fault is present Impending Power loss 24v Logic supply This fault is set when the 24V supply is removed The indexer will shut down when the 24V input drops below approximately 17 5V and will require a power cyc
71. X turn on output 1 drive OK lt main process commands gt 1END 1FAULT fault routine 10 0XX turn off output 1 drive fault lt diagnostic code if required gt 4 TR IN 1XXXX wait for input 1 to become active RESET 10N clear fault 1GOTO START run from start of program again 1END Note An example of diagnostic code is given in the sub section entitled Conditional Code later within this section 4 CONTROL OF VIX DRIVES 61 Start Label The system label START introduces the drive s setup and initialisation code With ARM enabled the code is automatically executed at system start up Consequently the code needs to be saved with ARM1X set If you save a program with ARMOX set the start up code will not run and the controller will only respond to serial input commands Unless a drive fault is pending and a fault routine is defined and armed Start Label Example 1START 1 RUNNING 1END 1 FAULT 1 FAULT 1 TR IN 1XXXX 1GOTO START 1END 1ARMO01 enable fault routine only 1SV save all settings If you cycle the power to the drive the START routine will not automatically run To start it you would have to type in 1GOTO START However the FAULT routine will run if a fault occurs Entering the following code 1ARM11 enable auto run on START 1SV save all settings The START routine should automatically run on the next power up 62 VIX IE SERVO DRIV
72. X X 0 1 0 1 Load Load 0 1 1 0 X X 0 1 1 1 Load Load 1 0 0 0 Motor User 1 0 0 1 Motor User 1 0 1 0 Motor User 1 0 1 1 Motor User 1 1 0 0 X X 1 1 0 1 Load User 1 1 1 0 X X 1 1 1 1 Load User Table 4 10 Distance Units for Enabled Commands 104 VIX IE SERVO DRIVE USER GUIDE 5 EASI V SOFTWARE 105 5 Easi V Software Computer Requirements To be able to run Easi V software necessary for the control and programming of the Vix you will require an IBM compatible PC running Windows 95 98 2000 XP NT4 or ME The PC needs to be specified to run Windows with at least 16MB of RAM a VGA monitor Windows compatible mouse CDROM drive The installed program size is approximately 1 3MB Easi V is supplied on a CD or may be downloaded free of charge from our Website www parker eme com Serial Link Lead You will need a 2 wire plus ground lead which has the Rx and Tx wires crossed over Wiring details are given in the Electrical Installation section Note The information contained within this section applies to Easi V software version 3 0 or greater If you have an earlier version of Easi V software please request the latest version from Parker using the contact numbers given at the beginning of this user guide or download a copy from our web site www parker eme com Compatibility of EASIV Flash upgrading a drive using EASIV releases up to version 2 2 running on PCs using Windows NT 2000 XP may ex
73. XAMP goto label EXAMP TEST output message Note To speed up communications when addressing a number of drives precede the quoted text with an asterisk All other axes apart from the one being addressed will ignore the quoted text and this will save processing time The command can be used to debug routines that do not appear to run Add a quote command to the suspect portion of code and see if it appears when the code is executed Use quote commands sparingly as they can use a lot of available program memory 6 COMMAND REFERENCE _ 187 System Variables Var FR W Range default value AA Analogue 0 no averaging 1 averaging enabled default 0 Averaging 8 samples are averaged every 500us B Analogue Y Y 0 to 255 default 0 Deadband values of AB are reported by Al as 0 Analogue Input 2047 to 2047 M Analogue Monitor Y Y 0 torque monitor Mode 1 velocity monitor 2 outputs a triangular waveform 10V to 10V amplitude with a 1 second period Motor must be energised O U O to 100 of program buffer used L 1 to 100 of peak drive current Command queuing Y Y 1 Pauses until move complete default 0 continuous execution R_ Current Reference F F2 F3 DF4 N N Y O step dir 1 cw ccw 2 quad ABZ de energise drive Y T s BR El Encoder Input Y to change EM Encoder counts aa 1 to 4200000 default 4000 per revolution EO Encoder signal O st
74. a FAIL message CAUTION DO NOT COUPLE ANY MACHINERY TO THE MOTOR SHAFT WHILE RUNNING THIS COMMAND AS SHAFT MOVEMENT WILL OCCUR Correct your wiring as this will prevent future problems if you replace your motor or drive since the software correction cannot be uploaded from a drive Note if you do use SETUPFB to permanently correct errors in non standard motor drive systems you will need to run the MOTOR command followed by SETUPFB on every system Immediate saved by SV 1SETUPFB commission a new motor attached to the drive 178 VIX IE SERVO DRIVE USER GUIDE STATUS Syntax aSTATUS Description Properties Example STATUS of Drive Units Range of n Default See also Use this command to check the state of a drive It is intended for set up purposes rather than for use when a program is running Immediate or buffered can t be used in a labelled block not saved by SV 1STATUS checking the configuration and state of a drive 1STATUS ViX500IE Servo Copyright 2002 Parker Hannifin Firmware REV 2 1 Jul 10 2003 17 12 07 Serial number Control card revision 2 Power card revision 3 Map No 14 541935 00 1 1 CcD Vix500xx Servo drive Servo power stage E500 Configured for resolver feedback with brake fitted FPGA ID read 1050 MOTOR TYPE 39682 CONT STALL CURRENT 6 7 Amps PEAK CURRENT PC 300 amp INDEX POSITION IX 512 Eg
75. a linear table and once per revolution in the case of a circular table By detecting the position of the Z channel you can establish a repeatable home position Overshoot Response In the following GH command motion profiles an exaggerated overshoot response illustrates the operation of the actual go home algorithm In reality you are more likely to observe the right hand response since the speed of the drive masks the constant speed return to the window s positive edge EET 7 if FEET Theoretical l Practical l l overshoot Positive overshoot Positive response edge response edge l l l l l l l l l pal hi A cx ALIEN l l Home Window Edge Overshoot Response 94 VIX IE SERVO DRIVE USER GUIDE Go Home Command The go home command GH is used to return to the reference home position Issuing a GH command will cause motion in a direction defined by the HOME configuration command Figure 4 10 shows the path taken if motion was started between the positive edge of the home switch and the positive limit positive side of home The dotted line represents positive movement and the solid line negative although once past the positive edge of the home switch both merge to follow one common path Positive movement results in motion towards the positive limit once the limit is hit mot
76. able for use with cable having an outside diameter up to 10mm The specification is as follows Chomerics part number H8FE 1115 NC Parker part number 0313 020 Outside diameter 17 5mm Inside diameter 10 7mm Length 28 5mm Impedance at 25MHz 80 ohm Impedance at 100MHz 1200hm Curie temperature 130 C the device should not be operated near this temperature 26 VIX IE SERVO DRIVE USER GUIDE Motor Selection and Set Up Generally a servo motor is selected together with a drive based on the required speed torque performance suitable for the intended application The ViX product catalogue carries details of the performance of the drive when used with a range of recommended servo motor types Performance of the Vix is optimised for the following motor types listed in Table 3 7 Motor Type Motor Rated Motor ViX500 ViX250 Current in Inductance in ames rms mH per phase BE231GX XXXX BE341GX XXXX SMB60 XX SMB82 XX a 5 Table 3 7 Optimum Motor Types TE Pos a a al Ls Configuration information is available for each of the above motor types in the Guided servo initialisation part of EASI V If you wish to use a motor other than the types listed above you will need to perform a custom set up EASI V allows the use of 55 custom motor types Custom Motor Set Up Within screen 2 of Guided servo initialisation clicking upon the Setup custom button will open the window shown in Figure 3 11 3 ELECTRICAL INSTALLATION
77. ansformer required for a servo drive installation depends very much on the application and on the maximum shaft power delivered by individual motors It is worth noting that in a one off or low volume application it is usually preferable to be slightly generous in sizing the transformer rather than spend a great deal of engineering effort trying to calculate the minimum possible rating In low power systems the potential savings in transformer cost are not large although size and weight may also be a consideration In a higher volume application the same principles apply to the prototype installation but measurements of the supply current drawn under working conditions will give a useful guide to the final specification required Fuses Fuses should be time delay high breaking capacity and should be rated for the number of drives and expected in rush current AC Fuse The secondary AC fuse is intended to protect power supply components and should have a value twice that of the bridge rectifier current rating Line Fuse Fit line fuses to protect the transformer primary and associated wiring If you cannot identify the live wire fuse both phase conductors Calculate the fuse value using _15xVA_ in amps but needs to be a minimum of 2A to cope with the in supply volts rush current Fuse types should be anti surge HBC High Breaking Capacity Note If the application requires a power dump use a Digiplan power supply such as the PL110
78. arations can only be cleared using a CLEAR ALL Typing aDECLARE by itself will list the percentage of memory used by each label type Immediate or buffered can be used in labelled block but only within the START label saved by SV 1DECLARE CUT2 declare label CUT2 1DECLARE START 0 8 REG 0 0 NOREG 0 0 FAULT 0 0 CUT2 0 0 E Syntax aEn Description Properties Example 6 COMMAND REFERENCE _ 139 Enable Disable Communications Units Range of n Default See also Qor1 1 The E command disables or re enables serial communications E1 turns command communications ON whilst EO turns it OFF In EO mode the only command seen by the controller is E1 Immediate or buffered can t be used in labelled block E1 saved by SV An example of when to use this command is if global commands are being sent but one axis needs to ignore them whilst all others action them To enable axis 6 to accept commands over the RS232 serial link type cett atte cotati iietdide Memcdetaatscadiredtdeadenls inte 6E1 To disables communications using the RS232 serial lINK YPE erent clea tice the ceded ici denden d aan aa Seana niania 6E0 140 VIX IE SERVO DRIVE USER GUIDE EXIT Exit from loop Syntax Units Range of n Default See also aEXIT LOOP Description The EXIT command will terminate a loop function instantly Properties Immediate or buffered can be used in labelled block not saved by SV
79. articular problem fault has been detected The code following the FAULT label needs to change the state of an output to indicate a fault has occurred and then go on to possibly diagnose the problem Once the problem has been corrected the FAULT code will need to detect an external reset by monitoring a designated input and then execute an ON command to clear the FAULT At the end of the FAULT code a GOTO START can be issued to restart the program This style of programming will always ensure that once a fault is detected the drive will stop and will not start again until commanded to do so Before the code following a FAULT label can be executed certain conditions must be met these are FAULT must be defined e ARM must be set to enable a FAULT label This means FAULT label code must be present and the ARMX1 command exists at the beginning of the code 4 CONTROL OF VIX DRIVES 59 The conditions under which the FAULT label is called will vary depending upon the fault itself and the condition of various other commands and command parameters An exact description is presented in Table 4 1 However in general a FAULT label will be called given any one of the following conditions e An attempt to go home further onto a limit is made and the limit is enabled e An attempt to go further onto a limit is made with no fault label currently running the limit configuration is stop on limit and the limit is enabled e A limit is hit duri
80. be no break in the 360 coverage that the screen provides around the cable conductors Use of a through connector must retain the 360 coverage possibly by the use of an additional metallic casing where it passes through the bulkhead of the enclosure We 3 ELECTRICAL INSTALLATION 25 recommend not to bond the cable screen to the cabinet at the point of entry Its function is to return high frequency chopping current back to the drive This may require mounting the connector on a sub panel insulated from the main cabinet or using a connector having an insulated internal screen from the connector housing Within the cabinet itself all the motor cables should lie in the same trunking as far as possible Keep the cables separate from any low level control signal cables This applies particularly where the control cables are unscreened and run close to the drive Note keep the motor cable routing within the equipment cabinet at least 300mm away from I O cables carrying control signals Motor Phase Contactors Do not use motor phase contactors within the motor power cables As an alternative make use of the drive s power stage enable control signal Ferrite absorber specifications The absorbers described in these installation instructions use a low grade ferrite material that has high losses at radio frequencies They therefore act like a high impedance in this waveband Produced by Parker Chomerics the recommended component is suit
81. bel parameter Command name Address prefix F aLIMITS parameter1 2 3 oarameter4 E Parameters 1 2 3 amp optional parameter 4 Command name Address prefix Figure 6 2 Parameter Commands Attention 1 Terminate all commands with a carriage return A space is not valid 2 A command must not contain any space characters 3 All commands are device specific that is they always need an address 4 For reasons of clarity program examples appear as if being downloaded via Easi V that is they contain comments and line feeds etc Command Properties Each command has a particular set of properties that govern the way the command can be used Commands can have the following properties Immediate only Immediate or buffered Can be used in labelled block Can t be used in labelled block Saved by SV Not saved by SV Immediate Only Immediate only commands are C K S R RB R UF R DF and R ST 6 COMMAND REFERENCE 129 The controller acts upon these commands as soon as they are received Immediate or Buffered Immediate or buffered commands are immediate unless command execution is being delayed or command queuing is enabled whilst moving in which case the command is buffered When command execution is being delayed that is awaiting the results of a trigger command or waiting for a pause or time delay to finish interrogation commands can be sent and get executed immediately Consequently the report of
82. ble length Set PEU to 50000 e 0 5m 0 01ms 50 Set SCLV to 50 Then V2 0 02ms and V20 0 2ms The scaling is applied to the next move made upon issue of the GO command A AA AD D and V always report user units Issue the SCALE command only once in an application Its purpose is to allow for a fixed user unit to motor steps scaling It is not designed to be changed on the fly and unpredictable results may occur if the command is used in this manner Immediate may be included in a labelled block saved by SV e If SCALE is enabled and PEU SCLD is a non integer value then the drive will return a E e Tracking limit works in user units when SCALE is enabled It is adjusted when scale values are changed so that the motor will trip at the same angular displacement 6 COMMAND REFERENCE 177 SETUPFB SETUP motor FeedBack Syntax aSETUPFB Description Properties Example Units Range of n Default See also K For a correctly wired Parker motor this command is not required However when commissioning problems occur with a motor drive system the SETUPFB command can be used to troubleshoot motor wiring problems in encoder and resolver units and to temporarily compensate for these errors The command reports wiring errors to the user Correct these errors in hardware before shipping any system If the command cannot correct an error it will display a message indicating the nature of the problem followed by
83. cal noise into the low level circuit thereby possibly interfering with its operation For this reason so Called dirty earth and clean earth circuits may be formed within the same cabinet but all such circuits will eventually need to be returned to the cabinet s main star earth point Mount the individual drives and EMC filter on a metal earth plane The earth plane will have its own individual star point earth which should be hard wired using an insulated copper conductor back to the cabinet s clean earth connection point LVD Low voltage directive EMC Electro Magnetic Compatibility directive 10 VIX IE SERVO DRIVE USER GUIDE Power Supply Connections Power drives from a DC supply derived from an isolating transformer or a DC power supply See Power Supply Options later in this section Note Pin 10 is at the top of the connector X1 and pin 1 at the bottom Power amp motor X1 Ol 10 way connector PE 24V OV GND 24v DC MOTOR CONNECTIONS Figure 3 1 X1 Power Connections WARNING Possible drive damage If you use Parker XL Series stepper drives do not attempt to use any power wiring harness taken from an XL drive Although the same mating connector is used for both an XL and a ViX the ViX wiring is the reverse of the XL and the wrong wiring connection will damage the drive Mating connector type is Wieland 8213B 10 F OB Part number 25 323 4053 0 Parker part number 0405 811
84. control loop is shown in Figure 4 4 The loop indicates the position of the main gain blocks and filter GF gain feedforward GP gain proportional GI gain integral action GV gain velocity feedback FT filter time constant Q i 3 Position Demand Torque Demand Position Feedback Figure 4 4 ViX Servo Control Loop 4 CONTROL OF VIX DRIVES 85 If a load mounted encoder LOADENC is used the servo loop is changed to that shown in Figure 4 5 A system would need to be re tuned in this new configuration with gains being scaled by motor resolution EM Scaling to a ia tH e Torque Demand Position Demand Motor Position Feedback Load Position Feedback Figure 4 5 ViX Servo Control Loop with LOADENC enabled 86 VIX IE SERVO DRIVE USER GUIDE Motion Control Using the EASI V Command Set Move Types Mechanical movement results from the rotary motion of a motor shaft By controlling the velocity acceleration distance and direction of the motor different move profiles can be created for particular applications Move types can be preset meaning a move is made ina controlled way over a specified distance or continuous where only acceleration velocity and direction are defined distance being ignored Various move types can be selected using the mode M command Preset Moves Preset moves allow you to position a target or work piece in relation to the motor s previous stopped
85. ctance of a single phase winding measured line to line in mH Inertia inertia of a rotary servo stator measured in Kgm2 Kt torque constant of the motor Torque Current measured in Nm A peak Damping viscous damping of the motor caused by such things as iron losses measured in Nm Krpm Thermal time a constant that determines how slowly or quickly the motor temperature constant rises to its final steady state value measured in seconds 27 28 VIX IE SERVO DRIVE USER GUIDE The Optional Parameters Tab Selecting the optional parameters tab gives you access to the screen shown in Figure 3 12 Update motors list Figure 3 12 EASI V Custom Motor Optional Parameters 3 ELECTRICAL INSTALLATION 29 Motor Related System Variables Two system variables control the current supplied to the motor from the drive Current Clamp CL limits the current output of the drive to protect low current motors or to set a particular torque level and Peak Current PC can allow a controlled boost of motor current when required CL can be set as a percentage 1 to 100 of the peak drive current and once set drive output current cannot be exceeded using any other command or system variable PC sets the scale factor 100 to 400 that controls the ratio of maximum output current to continuous output current of the drive Servo motors can be overdriven for short periods to provide extra torque PC is calculated as follows PC desired maximum d
86. cular motor type The menu offers two levels of setup depending upon the skill and experience of the operator e Guided servo setup guides you through setup for a particular motor type quick and simple e Servo setup allows text entry of motor parameters for experienced users From the Utilities menu select Guided servo setup Select the axis Guided i X E initialisation 1 of 10 address of the drive to be initialised In Please select the axis address that you wish to this case the default initialise Note the current settings are NOT value of 1 must be uploaded from the drive selected Ae Product Unable to talk to axis Press Next to select the required motor type From the drop down menu select your motor type or perform a custom set up Press Next to select TL PC and CL values 5 EASI V SOFTWARE 115 Guided i X E initialisation 2 of 10 Select the motor to be connected to this axis from the list If the motor is not listed then click the button below to add it as a special Setup custom BE161CJ xxxx Cont stall current Number of motor poles Resolution Rated speed Feedback type Rotor inertia Static brake Commutation Thermal protection BE series motor Torque constant Kt Viscous damping Resistance line line Inductance line line Thermal time constant Motor D 5 lt Back Cancel Guided i X E initialisation 3 of 10 T
87. d by SV 3TR PA gt 2000 wait for position absolute to be gt 2000 steps 3TR IN X11XX wait for user inputs 2 and 3 to be high If you wish to use the TR command during motion command queuing system variable CQ must be set for continuous execution CQ 0 Issuing a K or S from the command line will clear a trigger condition If the input command buffer is filled whilst waiting for a trigger E will be reported assuming EX is set to speak whenever and the status LED will continually flash red then green To clear this condition cycle the power 6 COMMAND REFERENCE 183 USE Use Syntax Units Range of n Default See also aUSE profile 1to8 PROFILE Description The USE command copies the pre defined profile to the current move parameters Properties Immediate or buffered can be used in labelled block not saved by SV Example 1PROFILE1 200 20 1500 25 define profile 1 1PROFILE2 150 200 4800 45 define profile 2 1USE 2 suse motion profile 2 WARNING If you attempt to use an undefined PROFILE PROFILEO is used with no error indication V Velocity Syntax Units Range of n Default See also aVn See SCALE 0 001 to 5000 000 1 PROFILE SCALE Description Velocity command V sets or reports the programmed velocity of the motor Properties Immediate or buffered can be used in labelled block saved by SV Example To set the velocity of axis 3 to 25 rps tyPe eeeeeeeees 3V25 To report the current velocity of axis 3 typ
88. d is issued the HV is assumed to be 80V and this figure is used for the calculation of the digital torque amplifier optimum settings When operating the drive at a voltage other than 80V DC make sure the HV is present when issuing the motor command Otherwise the settings of the digital torque amplifier will not be optimised IT IS IMPORTANT TO RE ISSUE THE MOTOR COMMAND IF YOU CHANGE THE HV ANY CHANGES TO THE MOTOR COMMAND MUST BE FOLLOWED BY A SAVE SV AND RESET Z OR CYCLING POWER TO THE DRIVE Properties Note O Syntax aO pattern Description Properties Example 6 COMMAND REFERENCE 165 Immediate or buffered can be used in labelled block saved by SV 1 If the thermal time constant is set to zero the 12t protection for the motor is disabled 2 The motor command may take several seconds to finish execution 3 When you change a motor type issue an RFS command to return the drive to a known state before issuing the MOTOR command 4 When changing motor type the fault and status information may not be valid until the motor has been defined and the drive initialised 5 This command will erase any compensation setting made by SETUPFB Output Units pattern Default See also see below 000 IS The O command applies the specified binary pattern to the user outputs Pattern takes the bit values 0 1 X where 0 is output off 1 is output on and X represents an unchanged state Pattern is 3 b
89. data being transferred and therefore helps to reduce the chance of a transmit buffer overflow Note The set address command will be echoed irrespective of the state of the echo queuing variable EM Description See LOADENC command ES Description System variable ES controls the required polarity of signal on the enable enable_bar input X4 pin 11 The default value of ES is zero ES 0 therefore to enable the drive connect X4 pin 11 to X4 pin 4 OV With ES 1 X4 pin11 may be left open circuit to enable the drive To energise the drive the drive must be enabled and the ON command issued 4 CONTROL OF VIX DRIVES 71 EW IP IT and MV Description System flag variables IP In Position and MV Moving together with variable IT In position Time and Error Window EW interact with one another as shown in Figure 4 2 The MV flag is only high whilst commanded motion is taking place The IP flag can only go high once movement has stopped and the IT timer value has timed out This happens when velocity variations remain within the confines of the Error Window EW for a time determined by the value of In position Time IT Velocity revs sec Time seconds APPROACHING POSITION WINDOW EW OVERSHOOT Figure 4 2 Interaction of MV IP IT amp EW You do not have to wait for the IP flag to be set at the end of every move but its use improves positioning accuracy 72 VIX IE SERVO DRIVE
90. dback ViX500CE 500VA CAN controlled servo with encoder resolver feedback Table 1 1 ViX250 ViX500 Digital Servo Drive Options Note RS485 serial communication is only included in the CAN version of the drive Product Features Protection Circuits Function Indicators Motor short circuits Drive Status Feedback Fault HV FB Over voltage Drive Fault DF Under voltage Comms Status CS Drive motor Over temperature 24V reverse supply protection Commutation encoder fault Resolver fault I2t protection PNP output short circuit Outputs and Inputs 3 digital outputs 5 digital inputs 1 analogue monitor output Fit Kits Two fit kits are available for ViX drives 1 VIX KIT required if you do not purchase motor cables 1 INTRODUCTION 2 VIX KIT NFB required if you do purchase motor cables VIX KIT VIX KIT NFB Part Number Quantity Description Part Number Quantity Description 1650 937 01 1 Information 1650 937 01 1 Information sheet sheet 5004 023 1 Plastic bag 5004 023 1 Plastic bag 5006 21 1 1 Product label 5006 211 1 Product label 0405 81 1 1 10 way Flange 0405 81 1 1 10 way plug strip Flange plug strip 0405 961 1 9 way D type 0405 961 1 9 way D type plug plug 0405 962 2 15 way HD 0405 962 1 15 way HD D type plug D type plug 0405 963 1 15 way HD 0405 963 1 15 way HD D type socket D type socket 0409 530 4 9 way D type 0409 530 3 9 way D type cover co
91. ded by the equipment may be impaired The information in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker Electromechanical Division or its licensors and may not be copied disclosed or used for any purpose not expressly authorised by the owner thereof Since Parker Electromechanical constantly strives to improve all of its products we reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without the prior consent of Parker Electromechanical Division Electromechanical Division of Parker Hannifin plc 2003 All Rights Reserved Product Type ViX250IE ViX5001E The above product is in compliance with the requirements of directives e 73 23 EEC Low Voltage Directive e 93 68 EEC CE Marking Directive e 89 336 EEC Electromagnetic Compatibility Directive Provided the installation requirements described in this user guide are met and there are no special requirements of the installation and operating environment so that the application may be considered typical the ViX servo drive series installation will conform to the protection requirements of Council Directive 89 336 EEC as amended by Directive 92 31 EEC on the approximation of the laws of the Member States relating to Electromagnetic Compatibility when operated and maintained as intended In assessing the overall c
92. device When LOADENC is off distance velocity and acceleration are in motor steps When LOADENC is on distance velocity and acceleration are in load feedback steps set by the system variable EM Hence D1 1 load encoder step V1 EM counts per sec A1 EM counts per sec EM is defined as the number of load mounted encoder steps per motor revolution or one electrical pitch if using a linear motor The sign of EM dictates the direction of the LOADENC count If ve then drive expects A leads B when motor shaft rotates clockwise ve demanded motion Properties Immediate may be included in a labelled block saved by SV Note e Will receive E if issued when the motor is energised e If the motor is tuned with LOADENC off GAINS in the PIVF loop should be appropriately scaled by Motor Res EM when LOADENC is enabled LOOP Syntax Description Properties Example Note 6 COMMAND REFERENCE _ 159 Repeat user code aLOOP label cycles The LOOP command repeatedly calls a labelled block of code a number of times specified by the cycles parameter the range being 0 to 65000 Note If the number of cycles is set to 0 the loop will continue indefinitely Nesting of loops up to 5 levels is permitted Immediate or buffered can be used in labelled block not saved by SV Run the grip code for a mechanical elasticity tester 6 times and delay for 1 second between each grip cycle to allows a sensor to measure deflec
93. disable communications _ Exit from loop Go GAINS Gains configuration Go home GOSUB_ Goto subroutine _ GOTO H Changedirection _ _ _ _ HOME Configure homing C Test condition Is Inputstatus O Ko W O Load encoder Mode MOTOR Motor settings Output OFF Shutdown motor power ON Turnonmotorpower ___ 194 VIX IE SERVO DRIVE USER GUIDE PS Pause i O R Report system parameter REG Registration move RFS i O SCALE So Stop S y O SCALE Time delay use Use Zod Reset o Setcomms address remotely fe Quote command __ 7 MAINTENANCE amp TROUBLESHOOTING 195 7 ViX Maintenance and Troubleshooting Maintenance ViX drive systems do not require any routine maintenance but occasional checking of the following points is recommended Motor inspection Periodically check the motor to ensure that the mounting bolts and couplings are tight Check that the motor cables are not being damaged by moving parts and are not being pulled or forced into tight bends during machine operation Check all cable connectors and particularly the safety earth connection Drive inspection Check that the drives are clear of loose material and that there is adequate clearance to allow a free flow of air through the ventilation slots Check that drive fixings are tight and that the motor screen connection is secure Troubleshooting IMPORTANT NOTE ensure that power is turned off before any conn
94. e 3V The controller responds WItN ccceceeeeeeeeeeeeteeeeeeeees 25 0 No units are reported Note 1 A programmed value of velocity can be overwritten by a PROFILE command once the USE command has been issued but subsequent values of velocity can be programmed to override the value in use Over range value is V5000 this is reported as E value out of range 184 VIX IE SERVO DRIVE USER GUIDE W Syntax Description Properties Example Note Z Syntax aZ Description Properties Example Write system variable aW system_variable value The W command allows you to set a specified system variable to a particular value Refer to the table of system variables for more information Immediate or buffered can be used in labelled block saved by SV Set system variable FT filter time to 200 2W FT 200 Report the current value of system variable FT 2R FT The controller responds with eceeeeeeeeeeeeeeeeeees 200 See also R command Reset Units Range of n Default See also s 2 SV The Z command resets the drive s controller This is similar to power cycling the controller Upon restart the user program following the START label will execute only if the ARM command 1X Wait 1 2 seconds before sending any other command following a Z Any commands pending before the Z is issued will be terminated and any buffers and user stacks cleared Immediate or buffered can t b
95. e 43 X6 amp X7 connections 49 X6 amp X7 position 48 XL PSU product description 14 XL PSU drive wiring diagram 15 XL PSU mounting information 16 INDEX 225 Z reset 184 CUSTOMER FEEDBACK 227 Customer Feedback If you have spotted any errors omissions or inconsistent information within this user guide please let us know Either use this page or a photocopy to describe the error and Fax it to the number given below Alternatively you may phone or email the correction Name of user guide Partnumber 1600 __ __ Found on the title page in the bottom left corner Your name Contact number or email address Description of the error Please include page number Errors can be reported By phone via a technical Or by email by Fax support engineer 44 0 1202 695750 44 0 1202 699000 support digiplan parker com Arange of a tisk edi upon the type of fit kit ordered Rx Tx RS485 Power amp Motor HV HV PE Motor Earth Motor phase U Power Earth Rx Tx RS485 RS232 Tx D loop do not connect ojona Awn Motor phase V PE 5V output Motor phase W requires CAN option RS232 IE Power amp motor 9 way Control Aux I O 4 Function NA1 IN NA1 IN Feedback resolver mode 10 way socket 5V output ault output nc A IN nc B IN Motor Earth ME Control Aux I O
96. e RS232 RS485 communications connector RJ45 connectors X6 and X7 may also be used for inter drive communications where multi axis systems are used RS485 Operation RS485 operation is only possible on drives fitted with the appropriate FEM Fieldbus Expansion Module If you require this feature please order the ViX CE drive type RS485 cannot be used simultaneously with RS232 Connector Type Connector type is a 9 way D type socket Connector Pin Out Connector Pin X3 1 Rx Tx RS485 drive reset 3 RS232 GND 4 RS232 Rx 6 RS232Tx i O 6 Rx Tx RS485 _ 8 Donotconnect_ 9 5Voutput O Table 3 10 X3 RS232 RS485 Connections Baud Rate Use system variable BR to alter the baud rate of serial communications Any change made to the baud rate will only take effect following a save SV and system reset or power cycle 3 ELECTRICAL INSTALLATION 39 Reset to RS232 Mode To reset the drive to RS232 mode and to return to factory settings remove power from the drive connect X3 pin 2 to GND and restore power CAUTION This will erase ALL of your user settings and programs in volatile memory The non volatile memory will not be overwritten until a save command is issued Terminal PC Drive Back of Back of p n g mating plug 038s fee mating plug X3 Socket 13 l gt Serial connector OBESE O socket 25 14 PC RS232 socket Interface 1 SERIAL X3 Se 6 88 Back of H Back of 5 mating
97. e Status Reports and is a useful aid when debugging an application Previous Selecting Previous allows the previous status to be re displayed useful for comparing the results of programming actions The Previous reading is only stored to a depth of one that is you cannot trace the history of status bits by continually selecting the button Close Selecting Close will exit the Status Report window 5 EASI V SOFTWARE 123 Downloading and Uploading Programs A drive program that exists within an active edit window can be downloaded to the drive by selecting Download from the Utilities menu Following the usual communication checks the program will download to the drive s internal memory Function key F4 provides a shortcut download A Parker Hannifin EMD Easi Beta File Edit Search Terminal Utilities Window Help 3 anple setup program 5 Generated by Easi U 3 3 Notes 3 1 gt Prefix ALL commands with an axis address numb Spaces are not allowed in any command e g 2GOSUB lt FRED gt is a syntax error A semi colon lt gt denotes the start of a comment Comments are not stored in the drive CLEAR all routines before re defining them DECLARE user defined labels before use 3 Define a PROFILE before USEing it 1S 3Stop any program that is running 1 CLEARCALL gt 3 Erase all routines etc ASTART 3Define power up START routine 1DECLARE lt INIT gt lapo aautice IMLE 1DECLARE lt CMOVE gt 3Decla L10 1ARM 1L 10
98. e is used the brake supply is dependent upon the value of HV For applications where the HV is greater or equal to 30V the brake fused supply is taken from the 24V supply at X1 pin 7 as shown above For applications where the HV is less than 30V the brake fused supply is taken from the motor HV supply at X1 pin 10 Note Whenever the HV supply is changed you will need to run the motor configuration command If there is no motor HV present when the motor command is issued the HV bus voltage is assumed to be 80V 36 VIX IE SERVO DRIVE USER GUIDE X2 Connector X2 provides the primary input connections for the motor feedback device Different types of feedback device will each require their own unique connections The standard devices are resolver and digital encoder Connector Type Connector type is a high density 15 way D type socket Connector Pin Out bd Mal all Pin X2 1 _ reserved Incremental enc Z 2 reserved Incremental enc Z GND 6 Motor overtemp 8 SN 9 reserved Commutation f b AO Motor overtemp 11 COS Commutation tb A1 Table 3 9 X2 Primary Feedback Connections Resolver Compatibility Supported resolvers have a transformation ratio of 0 5 and are compatible with an excitation frequency of 10KHz Compatible Devices for SBC motors are Tamagawa 1TS2640N181E100 Tyco V23401 U7018 B709 Tyco V23401 D1009 B901 For Compumotor API Harowe 15 BRCX 320 J12 API Harowe 21BRCX 500 J40
99. e to the reduced torque setting imposed by the I T protection Hence the motion will often stop and the drive will de energise but this is dependant on the setting of TL and the maximum PE seen during the fold back period 204 VIX IE SERVO DRIVE USER GUIDE A note about Controlled stop A controlled stop will be attempted if the trajectory generator was commanding motion at the time of the fault If the commanded motion was due to following then the indexer will disable following that is there will be no ramp down of velocity If the drive was following and doing a superimposed move then the superimposed move will be subject to the ramp down of velocity and once that has stopped following will be disabled On base drives there is never any controlled deceleration of the motor A fault will de energise the drive 7 MAINTENANCE amp TROUBLESHOOTING 205 Returning the System If a drive module is found to be faulty you should contact your Parker Automation Technology Centre or the machinery manufacturer who supplied the product Equipment for repair should NOT be returned directly to Parker without prior authorisation Repairs will be carried out by Parker but will be processed via your supplier Parker may at their discretion authorise direct shipment to and from Poole Offenburg or Rohnert Park but only by prior arrangement with your supplier Existing UK European and USA customers who purchase equipment directly from Parker
100. e tracking limit is capped 78 VIX IE SERVO DRIVE USER GUIDE Fault Status Reporting Faults are classified into two groups Drive Faults DF hardware faults present in the drive or User Faults UF user program faults Drive Faults Hardware drive faults cause the drive output stage to turn OFF de energised This will cause the Drive LED to turn RED Once the fault has been corrected the drive may be re energised using the ON command When read DF reports a 32 bit double word pattern of the form 0000_0000_0000_ 32 bit wide double word _0000 LTT BitNo 1 45 8 32 Where a bit is set displayed as a 1 its bit number can be determined and compared with the bit number value given in Table 4 7 to determine the Drive Fault being reported Use the Read command to display the DF word pattern that is aR DF 4 CONTROL OF VIX DRIVES 79 eel a a Number Tested E a i omposite fault anything that causes a drive fault 2 Dm2 K T 415V supplyral 3 DF13 K R otorHV undervoltage trip point reached 4 DF14 K R___ otorHV over voltage trip point reached _ 5 bms if seed S 6 DF16 CD R_ VO over voltage trip point reached KEROKI oe 24V logic supply 9 DF21 K_ T ommutationFaut 11 DF23 CD R otorovertemperature 12 DF24 CD R mbientovertemperature 13 DF25 cD R___ rive over temperature 17 DF31 K R utputstage overc
101. e used in labelled block not saved by SV To reset all drives type wivecssessdcicveaiessevendeecteadivastenteeaciuene 0Z Syntax a n Description Properties Example 6 COMMAND REFERENCE 185 Set comms address remotely Units Range of n Default See also 0 to 255 0 This command allows you to set the unit address via software It allows addresses up to 255 to be used Upon receipt of the command the controller will send a n 1 command along the daisy chain provided the echo mode is set Once received you must send a SV command to save the address configuration To address a specific axis place the current address a before the symbol 0 0 is not supported on this product Auto addressing can be used for example sending 1 to axis 1 of a3 axis system will echo back 4 meaning the axes have been given addresses 1 2 amp 3 Save the address configuration of all axes using the command OSV The command can be used to specify the style of communications required for example 1 4 232 will set axis 1 to address 4 and specifies the use of RS232 Note this form of command is immediate and is auto saved as soon as you hit return consequently take care If you have no RS485 interface fitted to your PC and you issued 1 4 485 the drive will switch to RS485 and will auto save the change leaving you without any means of communicating with the drive See Forcing a Hardware RFS in the Maintenance amp Troubles
102. ead where n can have a value of 1 to 4 Group 1 n 1 covers bits 1 to 8 group 2 n 2 bits 9 to 16 group 3 n 3 bits 17 to 24 and group 4 n 4 bits 25 to 32 4 CONTROL OF VIX DRIVES 83 Variable Name gt lt lt FAT gute IPA MEN CINE CR _ Current Reference Y Y N N DEn Drivefautstatus N N Y Y Nn fmpis N N YY y ie Tin positon fag N n y Y _ Mv moig N NI YI y ie ft eal TR Y decimal Y decimal Y binay Y binay yY bit Y w PA Position absolute Y y y y Y decimal _ PE Positionerror Y Y Y Y decimal PF Postiontolowing Y Y Y Y Position Ye decimal incremental PT Positiontarget___ Y Y Y Y 1 seein __RM__ Registration move N N Y ste Sista ACN y F W ora User program fault N binary status Not recommended during motion Table 4 9 System Variables that can be used for Conditional Control 84 VIX IE SERVO DRIVE USER GUIDE Conditional Code Example The following code is a good example of how the conditional IF statement can be used for fault diagnosis within the FAULT label 1FAULT define check label 1IF DF1 lt gt 00000000 warning of a drive fault 1 Drive_Fit 11F ST1 XXXXX1XX waiting for a delay timeout 1 Delay_tout 11F ST2 1XXXXXXX motor is energised 1 Motor_On 1T1 wait 1 second 1END end of definition Servo Control Loop The PIVF loop of the servo
103. eclare each label before you use it For example 1DECLARE L1 1L1 code goes here 1END 16 subroutine labels may be numbered in the range L1 to L31 if they are to be executed using the LSEL command IMPORTANT The drive will need to use all of its inputs to select from the complete range of 16 labels unless a field bus input module is used Immediate or buffered can be used in labelled block saved by SV O default setting 0 BCD binary default setting 1 to 5 default of 5 Execution continuously repeated default setting re triggered 6 COMMAND REFERENCE _ 161 The range of input code patterns is given below Selecting a BCD code restricts the number of input codes detected 1 to 9 and 11 to 19 inputs Code type Execution label__ 1 2 3 4 5 BCDcode Binarycode Fe eg HE a a ee ee Fae a Oe A a a Pa Se ARE a Re ee ee eee Ese n an Ee a a a ae OP Te e OR ae a a a a ee pe Se Oe SO eh a 162 VIX IE SERVO DRIVE USER GUIDE Example Note The main code configures the label select command to detect a binary code on 5 inputs all high gives decimal 31 and if detected to continuously run the code at label L31 Use binary mode for PLC control and BCD for control via a thumwheel 1START 1DECLARE L31 1LSEL1 1 5 0 1ARM1 1L31 1A10 1V10 1G 1END To check the current mode type 1LSEL The response will be ee AR1 B D1 IN5 C RO If the inputs rema
104. ections are removed or changed Removing a drive with power applied can turn a recoverable fault situation into a major problem WARNING Risk of damage and or personal injury The ViX drives described in this user guide contain no user serviceable parts Attempting to open the case of any unit or to replace any internal component may result in damage to the unit and or personal injury This may also void the warranty 196 VIX IE SERVO DRIVE USER GUIDE Communication Problems When attempting a Connect from the Terminal menu if the connection fails with the following error message An error has occurred whilst testing the serial port connection Please check your wiring the BAUD rate and the indexer echo back settings You can now select Yes to re test the connection No to ignore and connect anyway Cancel to abort this command Figure 7 1 Communications Failure Error Message Check the following 1 Ensure the serial port configuration is set correctly in EASI V and you select the correct serial COM port 2 An RS232 communications link can be loop tested by removing the communications D type plug where it connects to the drive and placing a short between pins 4 and 5 In this condition any command sent from the terminal window should be echoed back confirming the integrity of the overall RS232 link If this does not happen check the RS232 lead connections and the PC serial port Note wirin
105. ed haid ral rr Drive Z index o 270 180 90 g 270 180 90 g 270 180 90 270 180 90 216 VIX IE SERVO DRIVE USER GUIDE BE resolver phasing diagram wv NAVIN N NT AN PWE eke Ea a RACES PARE E AN RL AA LAL ATE VET YA API f i gt V U ia KJS N l S Cos ea ee Sin S Bie sl HATTI L x J ae p Drive Z index o 270 180 90 g 270 180 90 g 270 180 90 g 270 180 90 APPENDIX B 217 Encoder phasing diagrams for the IE Drive Phasing is shown for clockwise rotation when the motor is viewed from the motor mounting flange Line voltage W V is defined as X1 pin 2 with respect to X1 pin 3 Line voltage V U is defined as X1 pin 3 with respect to X1 pin 4 Line voltage U W is defined as X1 pin 4 with respect to X1 pin 2 IndexZ mark occurs is true when X2 pin is positive with respect to X2 pin 2 The position of the index mark is a system variable IX The default setting and expected requirement of a non standard motor is to comply with the SME setting to avoid having to adjust IX For SME motors IX 150 For BE motors IX 90 For H series drives the commutation set up does not use the index mark Positive encoder rotation is defined as when incremental encoder channel A leads incremental encoder channel B by 90deg There is only one index mark per mechanical revolution Incremental channel A is true when X2 pin 8 is positive with respect to X2 pin 7 Incremental channel B is true when X2 pin 12 is p
106. eeeeeeeeeeesseneeeeeeeeees MA Status bit 25 indicates motion direction 1 negative CCW O positive CW In MA the command H is ignored In mode MA you cannot use following 164 VIX IE SERVO DRIVE USER GUIDE MOTOR Motor Settings Syntax Description aMOTOR Type Current Resolution Max_vel Thermal_const Resistance Inductance KT This command describes the characteristics of the motor being used to the rest of the drive The parameters used are Type 0 to 65535 number code which includes pole count feedback type brake and any other particular requirements refer to EASI V Current RMS continuous stall current 0 1 to 14 4 Ain 0 1 A increments Default setting depends upon motor type RFS default setting is 0 1 A Resolution Rotary servo 2 000 to 20 000 post quadrature Linear servo 2 000 to 4 200 000 steps rev Max_vel 1 to 12 000 rom Thermal_const Thermal time constant of the motor 0 to 65000 seconds Resistance Winding resistance in Ohms Inductance Winding inductance in mH KT Torque constant of the motor Nm A Note Thermal time constant is the time in seconds for the motor to reach two thirds of its rated temperature while operating at its continuous current rating Measured line to line across the motor terminals The command sets all of the motor parameters and then calculates the optimum settings for the digital torque amplifier If there is no HV present when the motor comman
107. efault settings of a new drive from power up are RS232 communications with an address setting of 1 Wire the RS232 communication lead as described in the Electrical Installation section WARNING To avoid causing damage to a PC serial port the drive must be earthed before making any serial connections Connect the RS232 lead between the drive s X3 socket and the controlling PC s RS232 connector Configure the serial communications From the Terminal menu choose Settings to display the following Communications port configuration dialogue box Fee Vi feasts COM C COM2 9600 The default settings used are C COM3 COM4 C1920 Options Port COM1 F duto Wrap BAUD rate 9600 i Options Auto wrap nea p I Local Echo recommended for R9485 OK Cancel Figure 5 4 Comms Port Configuration 5 EASI V SOFTWARE 113 Select the required configuration and click OK Then again from the Terminal menu select Connect to start communications Every time Connect is issued the communications link is tested to establish it is working correctly and the message box Testing communications integrity is flashed on the screen followed by Now on line to controller if the Connect is successfully made If the link fails refer to the Troubleshooting Section Note The baud rate selected must agree with the drive s hardware selected value You are now ready to start creating and editing program prg files to con
108. ehaviour these are State of enable input Resetting the drive 24V power failure Drive fault Enable Input Even if the motor is moving setting the enable input to disable would immediately disable the drive s power stage If the automatic dynamic brake mode is set the brake is applied as soon as the controller detects the drive is de energised nominally within 500 microseconds If the input is subsequently re enabled the brake remains applied until released by a valid control method Reset Z Issuing a reset will engage the brake at least momentarily as the system fails safe Subsequently the following will happen The brake will remain applied if it was saved as being applied in manual mode The brake will remain applied in automatic mode until the drive is re energised The brake will be released if it was saved as being released in manual mode The brake will be released if the MOTOR command indicates no brake is fitted 4 CONTROL OF VIX DRIVES 101 24V Power Failure A dip in the 24V supply will turn off the controller which in turn will apply the brake Cycle the 24V supply to re start the controller If you expect this to happen during motion use dynamic brake control assuming that a dynamic brake is fitted Drive Fault In manual mode any drive fault will not cause the brake output to change state In any other brake mode you may program application of the brake during a fault routine For both automat
109. en if previously set Immediate or buffered can be used in labelled block saved by SV To set the acceleration and deceleration rates of axis 1 to 120 TS Oe fate cece E E SNe a hechences 1A120 To determine the acceleration of axis 1 type 0 1A TMG TESDONGE IS 2ccitacccbietes tei ea TEA EETA 120 0 120 0 Overrange value is ce rieice aah tee a ake ee eens 1A505010 Will be reported AS cc cccececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteneeeeeeees E meaning error For all error reports refer to Section 4 Reporting System Information During Code Development Acceleration Units Range of n Default See also See SCALE 0 01 to 10 A AD SCALE 99999 99 The AA command will set or report the programmed linear acceleration rate of the motor The acceleration value assigned to the AA command is over written if previously set Immediate or buffered can be used in labelled block saved by SV To set the acceleration rate of axis 1 to 120 rps type 1AA120 To determine the acceleration of axis 1 type 1AA The FES ONSO Sia ai clan setnle lo asc sareletc decade Neral fac alets arate 120 0 Overrange value o oo eee eeeeeeeeeeeceeeeeeeeeeeeeneeeeeeeeeeeeeeeeneeee 1AA100002 Will be reported aS i oe cade E meaning error 132 VIX IE SERVO DRIVE USER GUIDE AD Deceleration Syntax Units Range of n Default See also aADn See SCALE 0 01 to 10 A AA SCALE 99999 99 Description The AD command will se
110. ent values for powering particular drive types but can be adapted to power more than one drive provided component power ratings are not exceeded Bridge rectifier rated at 4A min for ViX250 drive line F s AC Fuse 8A min for ViX500 drive TD HBC Bridge rectifier must have adequate cooling 6K8 2 5W HV bleed resistor WARNING this will run hot X1 10 X1 9 Capacitor 3300HF for Vix250 Isolating 6600uUF for Vix500 eu cx lt p 1metre max from capacitor to drive Figure A 1 Drive Power Supply Note The saftey earth must be reliably earthed at X1 8 The DC input should also be connected to earth at a convenient point Supply Wiring Use approved mains cable at least 0 75mm2 for primary wiring and route it away from secondary and signal wiring Power input wiring must have a voltage withstanding rating of at least 1000V AC RMS Note this figure is a test voltage not the rated working voltage of the cable Power input and motor wiring must be kept separate from signal wiring and insulated from operator access Note secondary wiring must have a current rating in excess of the AC fuse rating Transformer Sizing for the DC Supply A DC input is required by the drive which can be generated by rectifying and smoothing the secondary voltage of a transformer This is an unregulated supply so do not select a secondary voltage which generates a DC output greater than 80V 212 VIX IE SERVO DRIVE USER GUIDE The size of tr
111. ep dir 1 cw ccw 2 quad ABZ de energise drive Output to change EQ Echo Queuing O normal 1 wait for lt CR gt 2 cmd response only ES Enable Sense Y Y Sets the sense of the external enable enable_bar signal O low signal to enable 1 high signal to enable Range 0 to 65535 default 25 188 VIX IE SERVO DRIVE USER GUIDE Var Name R w Range detaultvalue EX Comms Response Y Y 0 speak when spoken to echo off default for R8485 Style amp Echo 1 speak whenever echo off Control amp Physical 2 speak when spoken to echo on Interface RS232 3 speak whenever echo on default for RS232 Refer to CANopen user guide Refer to CANopen user guide Refer to CANopen user guide Refer to CANopen user guide Filter Time Y Y Oto 255 used to filter high gain systems measured in constant arbitrary units T F Feedforward Gain Y Y Oto 1023 default depends on motor type tracking l F G G Integrator Gain Y Oto 1023 default depends on motor type steady state G Y Oto 1023 default depends on motor type P Proportional Gain stiffness GV Velocity feedback Gain damping Input Output Configuration Y Home Final velocity 0 to 1023 default depends on motor type Input pull up down output source sink configuration 0 to 8191 default 8160 a 0 001 to 5rps default 0 1rps Y Integral Mode Y 1 within integral window IW O continuous Inputs on drive N Local drive inputs 1 to 5 same
112. eration of 200 rps2 3PROFILE1 200 200 1500 25 Profile 2 is to represent a move of 4800 steps on axis 3 at a velocity of 45 rps acceleration of 150 rps deceleration of 200 rps2 3PROFILE2 150 200 4800 45 The following move profiles will now be available in memory on axis 3 6 COMMAND REFERENCE _ 169 Profile number The move parameters specified by Profile 2 may be used that is copied to profile 0 with the statement 4USE 2 Note A profile command will overwrite any individually programmed values of acceleration deceleration distance and velocity once the USE command is issued 170 VIX IE SERVO DRIVE USER GUIDE PS Pause Syntax Units Range of n Default See also aPS C Description The PS pause command causes immediate command execution to cease until a C continue command is issued The command is useful as a debug aid when testing small trial code blocks The PS command cannot be used whilst running a program Properties Immediate or buffered can t be used in labelled block not saved by SV Example OPS global pause 1D4000 setup axis 1 1V5 ae 1A50 Fe ix 2D8000 setup axis 2 2V10 his 2A100 tt 0G global GO oc global continue Note If the input command buffer is filled during a pause E will be reported assuming EX is set to speak whenever and the status LED will continually flash red then green To clear this condition cycle the power R Report system parameter Syntax Units Range of
113. erties Immediate or buffered can be used in labelled block not saved by SV Example Note 1DECLARE MOVE1 1DECLARE MOVE2 1START 1PROFILE1 360 360 400000 20 1PROFILE2 360 360 400000 45 1GOSUB MOVE1 1GOSUB MOVE2 10 1XX 1END 1MOVE1 1USE 1 1G 10 XX1 1T0 1 10 XX0 1END 1MOVE2 1USE 2 1G 171 1TR IP 1 1END 6 COMMAND REFERENCE _ 147 code run after power on define some move profiles go do move 1 and come back go do move 2 and come back set output 1 use the move profile 1 turn output 3 on wait for 100mS turn output 3 off use the move profile 2 pause for settle time If you exceed the number of nesting levels the program will halt and return a E R UF will return a Program nesting overflow message If a GOTO command is used the number of nesting levels is set to zero 148 VIX IE SERVO DRIVE USER GUIDE GOTO GO TO routine Syntax Units Range of n Default See also aGOTO label GOSUB GOTO Description The GOTO command continues user program execution from the label specified Program execution does not return to the original place in the program use GOSUB if command execution is required to return Properties Immediate or buffered can be used in labelled block not saved by SV Example 2DECLARE MOVE1 declare move 1 2DECLARE MOVE2 declare move 2 2START code run after power on 2PROFILE1 360 360 400000 20 define some move profil
114. es 2PROFILE2 360 360 400000 45 2GOTO MOVE1 perform move 1 2END 2MOVE1 2USE 1 use the move profile 1 2G 2GOTO MOVE2 2END 2MOVE2 2USE 2 use the move profile 2 2G 2GOTO MOVE1 2END Note If a sequence which is being looped executes a GOTO instruction the loop is terminated The example shown above will give endless motion only a FAULT condition or an immediate KILL or STOP command via comms would stop this program H Syntax aHn Description Properties Example 1 Refer to LOOP 6 COMMAND REFERENCE 149 Change direction Units Range of n Default See also or blank D LOOP The H command changes the direction of motion Specifying H sets the direction to clockwise H counter clockwise and H alone reverses the current direction This command has no effect in Mode Absolute In Mode Continuous the use of H and H are recommended for setting direction If H is entered whilst the motor is moving the direction will not change until the motor comes to a stop and another G command is given Immediate or buffered can be used in labelled block saved by SV 3MI mode incremental 3A20 accel and decel to 20 3V15 max speed of 15 rps 3D 8000 2 revs ccw 3G move 3H go cw next time 3G 2 revs cw 3START 3PROFILE1 360 360 40000 20 define profile 1 3MI mode incremental 3GOTO MAIN 3END 3MAIN 3USE 1 use profile 1 parameters 3G do the move CW
115. es see the system variables list Immediate or buffered can be used in labelled block saved by SV 146 VIX IE SERVO DRIVE USER GUIDE GH Go Home Syntax Units Range of n Default See also aGH HOME S K Description The go home command instructs the controller to search for the home position as defined by the home input switch For this command to function correctly the home function must define the homing parameters Properties Immediate or buffered can be used in labelled block not saved by SV Example 1START START label definition 1HOME1 1 15 100 0 define home 1GH go to datum position 1END Note If no motion occurs after GH is issued the cause can be determined by using the R UF command to report faults Refer to the section on system parameters for more information Whilst going home registration if armed will be disarmed and on successful completion of the GH routine the registration armed state will be restored System variable HF sets the final home velocity GOSUB GO to SUBroutine Syntax Units Range of n Default See also aGOSUB label GOTO Description The GOSUB command continues user program execution from the label specified and once the END statement is reached in the called code program execution returns to the calling routine GOSUBs can be nested to a maximum of 16 times although the number of nestings will be decreased if used in combination with a LOOP command Prop
116. f Y UM eae T f Uff PL1100 Power Supply Transformers To star earth point on the metal backplane AC Mains input Figure 3 5 Using a single EMC Filter for PL1100 Supplies 20 VIX IE SERVO DRIVE USER GUIDE SMB Motor Cables The following motor power and feedback cables are available for ViX drives Power cable Feedback cable VIX PWR XXXX VIX FDB XXXX Table 3 3 Motor Power and Feedback Cables Where XXXxX is the length of the cable in cm up to a maximum length of 20 metres in 2 5 metre increments In the case of SMB motor cables the feedback cable can be used for resolver or encoder feedback BE amp SM Motor Cables When using BE or SM Series motors choose the appropriate connector option to ensure the temperature sensor output is made available on the required connector e BE nMSn e SM nGSn Motor power cables are identified using the number 71 021125 XX where XX is the length of the cable in feet up to a maximum of 50ft 15 24m in 5ft 1 524m increments The form of feedback cable used with both the BE and SM range will depend upon the type of feedback transducer e Resolver feedback 71 021123 XX e Encoder feedback 71 021124 XX Once again XX defines the length in ft Should you require a BE or SM servo motor with a mechanical brake please contact Parker See the front of this user guide for contact details 3 ELECTRIC
117. g of the RS232 lead must conform to that recommended in the Hardware Installation section a null modem cable cannot be used Drive LED Indicators eHHHEHHHHHEHe 7 MAINTENANCE amp TROUBLESHOOTING HV OK HV OK and feedback fault Feedback fault with no HV Red_ Green _ Ready energised Orange Drive OK but de energised Red Drive fault Red_ Comms fault Figure 7 2 Drive LED Indicators 197 198 VIX IE SERVO DRIVE USER GUIDE Complete LED Diagnostics An EASI V version of this table is available for quick on line viewing LED Colour s Flash rate Functional description HV green none motor supply OK HV orange none motor supply under voltage lt 16V HV red none motor supply over voltage gt 96V HV off no motor supply ST green none drive OK and motor is energised ST orange none drive OK but motor is de energised ST red none drive fault see DF report for more information ST red green 1 second l2t duty cycle too high Bit 16 of ST system variable set to 1 ST red green 0 25 second communications receive buffer over flow Only a power cycle clears this condition ST red off 0 5 second only on power up following a flash upgrade Indicates bad truncated FPGA file ST red off 1 second only on power up following a flash upgrade Indicates a CRC error ST off no logic supply All other LEDs will also be
118. g source This can range from 0 1 to 2000 or 0 1 to 2000 in steps of 0 1 Negative values reverse the sense of the following input With the following source set to E encoder the command following position indicator system variable PF increments when pulses are received by the following encoder input port according to the relationship PF number of pulses received since following enabled scale 100 PF accumulates in value at a rate proportional to the incoming pulses In this mode turning following OFF resets PF to zero PM reports the number of counts received from power on by the following input No scaling is applied and PM counts regardless of following being on or off Writing a number to PM sets the modulus for count wrapping 142 VIX IE SERVO DRIVE USER GUIDE Properties Note If the following source is set to A analogue rather than E encoder then the variable PF is set according to the relationship PF Al scale The position of the motor can be set in absolute terms by varying the voltage applied to the analogue input Al can only be in the range 2047 to 2047 so PF in this case has a finite range Caution In most systems there is significant electrical noise Each count of Al is approximately 4 89mV so even a small amount of electrical noise present on the analogue input can give rise to at least one count of signal jitter The motor will move scale steps per 4 89mV of app
119. hare program desktop space between open windows Cascade F7 Cascade all open windows on program desktop Next FS Select activate the next window Arrange Icons Arrange all minimised windows on program desktop Close All Close all active windows on program desktop v 1 Editor EXAMPLE5 PRG Help Program help facilities Contents FI Open help file at the main contents start Search for Prompt for topic string and search help file Indexer commands Open help for individual EASI V commands Visit Parker EMD online Visit Parker web site Technical support E mail Parker technical support Sales support E mail Parker sales support About EASI V version number and copyright 5 EASI V SOFTWARE 111 Utilities Menu Options Selecting Options displays a single screen with three tabs e General e Drive settings e Country Use General to select the following set up options e Prompt to save terminal emulator contents on closure e Test communications before upload download of programs e Display 3 rows of buttons in terminal window Use Drive settings allows the following selection e Automatically upload parameters on address change Use Country to select your preferred Parker contact Germany Italy United Kingdom USA 112 VIX IE SERVO DRIVE USER GUIDE Terminal Menu Selections Terminal menu selections control the setup and configuration of communication between a PC and drive Communicating with a Drive The d
120. he commutation input channels are ignored Prior to passing a commutation input edge the torque may be restricted to 87 of the peak torque available For a rotary motor more accurate alignment is made to the index mark As soon as the index mark Z input is observed for the first time the torque vector is again more accurately set If the Z mark is seen before the first commutation encoder edge the torque vector is set accurately and subsequent commutation transitions ignored The above sequence of torque vector alignment is restarted on cycling through de energising and energising the drive A Hall Effect commutation encoder signals are also used refer to Appendix B for commutation details Following Encoder Hardware limit 2 0MHz maximum A B channel input frequency 8MHz post quadrature 5V differential Primary Secondary Encoder 5V Supply X2 pin 5 X4 pind Maximum loading 350mA TOTAL using the above connections 38 VIX IE SERVO DRIVE USER GUIDE Motor Overtemperature Sensor The motor overtemperature switch input is compatible with thermal switches used in Parker SMB SME SM and BE servo motors The input requires a normally closed switch to be connected to GND on X2 pin 3 or 6 If you use a custom motor with no overtemperature sensor fitted make sure you un check the Thermal sensor fitted check box in Custom Motor Set Up screen of Easi V to prevent an overtemperature fault being reported X3 Connector X3 is th
121. he drive when required Programmed Mode This mode allows a program stored within the drive to control operations The program can be written off line on a PC and then downloaded to the drive via a serial link The application program is stored within the drive and is automatically invoked at power up provided it is enabled by the aARM1X command and the program has a START label Alternatively you could directly issue a aG OTO START command Code Structure You write program code as a series of blocks Each code block has a unique label at the beginning and is terminated with an END label block delimiter The use of labels allows the code structure of the form illustrated in Figure 4 1 which shows the block nature together with an example of code Declare Declare every label used in a program apart from START REG NOREG and FAULT that have been pre declared If alabel is declared but not defined a runtime error will be signalled when it is called Note START REG NOREG and FAULT are all reserved labels You can only declare labels in the command line at the start of a program or within the START code The choice is between memory efficiency and the retention of declared labels 54 VIX IE SERVO DRIVE USER GUIDE during up loading down loading of programs Declaring labels in the command line before any START code makes the most efficient use of the available memory If you then up load the program to a PC and later down load t
122. he need for an EMC mains input filter see note 2 The use of the XL PSU offers the following benefits Auto adapts to supplies between 95 and 264V AC e No external EMC filter required e Compact size e Built in power dump switch e Built in 24V DC supply Note 1 Check the application s power requirements from the torque speed curve of the motor used Note 2 For drives with up to 30 metre motor leads For full installation instructions see the XL Power Supply leaflet 1600 300 XX 3 ELECTRICAL INSTALLATION 15 XL PSU Supply Drive Connections When used to supply up to two drives the power supply can be wired as shown in Figure 3 3 Mininum spacing 10 mm between drives amp PSU N x1 MOOC OS aAA 19 jes 1 Jes 80V oo DC oo S o I EXT BRAKING RES AN If the supply is positioned z Jew this side of the drive avoid blocking access to D type X3 10 Jono D P1 P2 mating socket Si o S C GH N Je L The XL_PSU must 110V 230V 50 60 Hz Di securely earthed P2 L N EARTH GND XL Power Supply Unit HV STATUS BRAKING RES ev STATUS i Figure 3 3 XL Power Supply and Drive Connections 16 VIX IE SERVO DRIVE USER GUIDE XL PSU Mounting Information Mount the supply vertically near the drives it will supply Both the top 4 5mm diameter fixing hole and the bottom two 4 5mm width fixing slots should
123. he next line 1A500 acceleration and deceleration changed to 500rps if previous test was true 1R UF2 read the value of byte 2 of the user fault status word 01010101 contents of byte 2 Note When UF2 is tested or read it is not cleared to all zeroes This example uses a conditional test to compare UF2 with 10X10X10 The use of conditional tests within IF and TR commands is described in the Conditional Code sub section Reporting System Information During Code Development Whilst developing a program using EASI V it is likely that certain blocks of code when downloaded to the drive will return an E error code To analyse the cause of the error you can make use of EASI Tools Status report window which when read will report back the cause of the error For example selecting status report User following a E may report back Label of this name not defined Within EASI V a system variable can be read using the status report window or using the report command directly from the terminal window for example 3R ST Using this style of report an immediate response will be returned which will not be saved within the program code If you wish to save the response use the single byte version of the report command that is 3R ST1 3R ST2 3R ST3 or 3R ST4 depending upon which byte of the variable you wish to capture If the controller is waiting on a trigger command you can still send an interrogation command such as 1R RB
124. he same program the declarations will have been lost To retain declared labels you must declare them in the START code this allows a program to be up loaded and down loaded without loss of declared labels although more memory will be used Despite the greater amount of memory being used it is safer to make the declarations within the START label as there is less chance of forgetting to declare parts of the code Example of DECLARE being used in the command line 1K Kill or stop any program currently running 1CLEAR ALL Erase all existing programs 1DECLARE MAIN Declare labels 1DECLARE MOVE1 1DECLARE MOVE2 Example of DECLARE being used following the START label 1K Kill or stop any program currently running 1CLEAR ALL Erase all programs 1START 1DECLARE MAIN Declare labels 1DECLARE MOVE1 1DECLARE MOVE2 1END Labels Labels consist of up to 5 upper case alphanumeric characters terminated with a colon but a label must begin with an alpha character Choose a name that is relevant to the operation being performed or a system label name To terminate a code block use END no colon You can use up to 20 labels although four of these have already been allocated to START REG NOREG and FAULT leaving sixteen for general use Label Execution By using the label select command LSEL labelled code blocks can be triggered by a digital pattern appearing on certain user inputs The command defines the user input
125. henever echo off Control amp Physical 2 speak when spoken to echo on Interface R5232 3 speak whenever echo on default for RS232 Refer to CANopen user guide Refer to CANopen user guide Refer to CANopen user guide Refer to CANopen user guide Filter Time Y Y Oto 255 used to filter high gain systems measured in constant arbitrary units T F Feedforward Gain 0 to 1023 default depends on motor type tracking F G G Integrator Gain Y Oto 1023 default depends on motor type steady state G Y Oto 1023 default depends on motor type P Proportional Gain stiffness Y 0 to 1023 default depends on motor type Gain damping Configuration 0 to 8191 default 8160 velocity IN Inputs on drive N _ Local drive inputs 1 to 5 same format as IS command _ ion N N_ Y N N IP _ In Position flag Y N _ 1 In position or 0 not yet in position _ Flag 1 moving or 0 not moving Position Actual 2 147 483 648 to 0 to 2 147 483 647 Sets maximum drive output value scaling factor 100 400 of MC default 300 i ee Incremental PM sets the modulus Table 4 2 List of System Variables continued 66 VIX IE SERVO DRIVE USER GUIDE Var Name R w Range detaultvalue Position The primary feedback position PA on the last active Registration transition on input 2 start of valid REG move Range 2 147 483 648 to 0 to 2 147 483 647 Position The PM count position on the last active transition
126. hooting section Auto addressing can be used with style of communications type commands allowing such commands as n 232 or n 485 where n is the primary axis you wish addressing to start from You must have a RS485 drive module fitted for the drive to recognise the command Immediate or buffered can t be used in labelled block saved by SV If a system with axes 1 3 7 2 in that order is sent the command 10 the axes will become 10 11 12 13 Note that the 10 will not be displayed on your PC screen but you will receive the response 14 after pressing the enter key For multi axis systems using RS232 auto addressing can be used when the drives are interconnected via the RJ45 connectors X6 amp X7 Primary communication needs to be via the front panel D type X3 connector 186 VIX IE SERVO DRIVE USER GUIDE GG GG Quote command Syntax Units Range of n Default See also a GG i a Description Use QUOTE to send messages to other drives or displays Using the RS232 link up to 20 ASCII characters are available to transmit the required command or message in exactly the way in which it was entered Only ASCII characters between decimal 32 space character and decimal 126 tilde character inclusive are allowed Properties Immediate or buffered can be used in labelled block not saved by SV Example 1DECLARE EXAMP declare label 1EXAMP label EXAMP 1 TEST quote TEST 1END send label 1GOTO E
127. ic brake modes if a fault generates a controlled stop the brake is applied when commanded motion stops and before the drive is de energised 102 VIX IE SERVO DRIVE USER GUIDE Scaling Using scale allows user friendly settings of distance velocity and acceleration to be defined in user units rather than units required by the drive For example using a ViXIE to control a linear table it is possible to program distance units directly in mm velocity in mm per second mms and acceleration in mm per second per second mms 2 This is made possible by measuring one user unit in terms of the number of positional feedback encoder steps This measure of Position Encoder steps per user Unit is termed the PEU parameter For example a linear table with base units of 1mm and having an encoder that gives 1 count every 5um of travel results in a PEU of mm 5um 200 The PEU value is used with the SCALE command and once a PEU value is set this will determine the units in which acceleration distance and velocity are measured In this case a base unit of 1mm was chosen consequently acceleration is measured as 1mm s velocity as 1mm s 1 and distance in mm Individual scaled values of acceleration distance and velocity can be set using SCLA SCaLe Acceleration factor SCLD SCaLe Distance factor SCLV SCaLe Velocity factor For example to work with distance set in increments of 0 1mm set SCLD as base unit desired unit 1 mm 0 1 mm
128. il and gently pushing the drive forward to engage the lower section of the bracket Remove the bracket by inserting a flat bladed screwdriver into the release slot to pull down the bottom of the bracket releasing it from the DIN rail Thermal Limitations If you are using DIN rail mounting with natural convection airflow cooling and the drive is working under continuous load the maximum continuous output torque should be de rated by 10 For example using the drive for reel tensioning rather than point to point applications may require torque de rating when using DIN rail mounting 8 VIX IE SERVO DRIVE USER GUIDE Motor Mounting Mechanical Considerations Keep motors securely fixed in position at all times Do not test a motor drive combination without first securing the motor see the Safety Warning at the front of this user guide CAUTION risk of equipment damage Do not back drive the motor that is use the motor in an application that causes mechanical rotation of the motor shaft in a manner uncontrolled by the drive Back driving the motor at high speed may damage the drive 3 ELECTRICAL INSTALLATION 9 3 Electrical Installation Installation Safety Requirements ViX drives meet the requirements of both the European LVD amp EMC directives when installed according to the instructions given within this section It is recommended the drive be installed in an enclosure to protect it from atmospheric contaminants and t
129. immediate and will operate upon meeting the required trigger conditions For example the following code would allow output 1 to signal PA is greater than 10000 before finishing the move 1MAIN define label 1Ml mode incremental 1W CQ 0 enable continuous execution of commands 1G go 1TR PA gt 10000 trigger when position actual becomes greater than 10000 10 1 output 1 1TR IP 1 wait for move to finish 1W CQ 1 enable command queuing again 1END 68 VIX IE SERVO DRIVE USER GUIDE For updating velocity in MI MA modes CQ 0 Note only linear acceleration will be possible even if S curve is enabled S curve profiling only applies to acceleration initiated by a G command CR Current Reference The CR variable monitors the motor current supplied by the drive and therefore gives a measure of the approximate torque demanded by the drive Using the conversion factors shown in Table 4 3 allows the value reported by CR to be read as real current flows Drive Type Counts per 1A peak Counts per 1A RMS ViX250 87874 124272 ViX500 43937 62136 Table 4 3 Count to Current Conversion Factors To calculate the approximate torque demanded by the drive use the value reported by 1R CR and divide it by the constant given in Table 4 3 Multiply the result by the Kt of the motor to give the torque Check that the correct units are used since the motor database values of Kt are in Nm per Amp peak not Amps RMS
130. in high the code following label 31 will run continuously If the inactive execution mode was selected all inputs would need to go to 00000 and then 11111 before running the code at label 31 The selected routine will only run if no other routine is already executing The number of inputs available for use by LSEL depends upon the use of limits home or registration within an application Syntax aMn Description Properties Example 1 Note 6 COMMAND REFERENCE _ 163 Mode Units Range of n Default See also see below FRATE The mode command sets up the mode of operation of the controller The values of n are A indexed move with absolute positioning C continuous move indexed move with incremental positioning Mode absolute all move distances are referenced to absolute distance Mode continuous the motor moves continuously at the programmed velocity until stopped Mode incremental all move distances are referenced to the starting position of each move Immediate or buffered can be used in labelled block saved by SV The code below sets up an absolute move 3W PA 0 set PA PT PF amp PE to zero 3MA mode absolute 3D1000 set distance 3G move to absolute position 1000 3D100 set distance 3G move to absolute position 100 3R PT sreport target position 100 To check the current mode type eeeeeeeeeeeeeeeeeeeeees 3M The response Will D ccceeeeeseceecec
131. ing edge of the Z channel pulse in the direction of motion Cannot be used with resolver feedback servo systems e Mode 4 If a linear external encoder with a Z channel is used then the controller will seek the Z position without the need for a home switch Mode 0 operation simply returns the motor to its home position at some point between the negative edge and positive edge of the home switch Apart from knowing which edge of the switch was used the exact position within the home switch range is undefined A more precise home position can be obtained by using mode 1 Mode 1 allows the home position to be defined as either the positive or negative edge of the home switch Note although mode 1 fixes the home position at one of two edges the precise position is still subject to the repeatability of the home switch itself Practical applications will exhibit variations in switch performance and consequently the home position will still be subject to variation by a small number of steps 4 CONTROL OF VIX DRIVES 93 Mode 3 allows the achievement of greater home position repeatability than is possible using mode 1 assuming the use of an encoder with a Z channel output Following the detection of the specified home switch edge the next Z output pulse will determine the home position Mode 4 is for use with linear or circular tables fitted with an encoder This form of table has only one Z channel located at one end or in the centre in the case of
132. ion gt 500 steps 20 X1X set output 2 Using inputs 2IF IN lt gt 1X00X if input does not match the pattern 20 XX1 set output 3 If you wish to use the IF command during motion command queuing system variable CQ must be set for continuous execution CQ 0 154 VIX IE SERVO DRIVE USER GUIDE IS Syntax alS Description Properties Example Input Status Units Range of n Default See also O The IS command reports the status of the configurable user inputs when configured as pull down non inverting inputs When used to report the state of any input switch regardless of how the switch is wired that is as a pull up or as a pull down 0 represents an open contact switch input 1 represents a closed contact switch input The response is five 0 or 1 digits corresponding to the following input bits X3 Pin Number Bit Function 10 1 _ Userinput1 Stop User input 2 Reg User input 3 Home User input 4 LIM 5 User input 5 LIM 0 represents a low condition on the input configured as a pull down input 1 represents a high condition on the input configured as a pull down input Immediate or buffered can be used in labelled block not saved by SV To check the input status of axis 1 type eee 11S The response 1S ae cetetene tated eee ceec neice tetas testes 01100 User inputs 2 and home input 3 are high All other inputs are low K Syntax aK Description P
133. ion is reversed and finally heads for the home switch Negative motion will immediately head for the home switch Note Limit inputs must be enabled to allow a move to bounce off a limit Assuming home is the positive edge of the home switch as soon as the edge is detected motion is decelerated to a stop From this point direction of travel is reversed and a move is made just outside the positive edge of the home switch This new move is performed in a positive direction Again motion is stopped the direction of travel is reversed and a negative approach is made at a velocity of HF rps start stop range of motor As soon as the positive edge is again detected the motor is stopped Note If the deceleration rate is set too low the home switch operating range could be travelled through before motion is brought to a stop In this case a warning home switch too narrow will be reported but homing will continue from the other side of the home switch operating range l l HOME SWITCH I OPERATING Positive RANGE ledge GH positive i j GH negative ce l l l l l l l PEE EET meng oo Tecan sere eee E l l l l l l l 4 a AA S Start from positive side of home Finish HIT Figure 4 10 Go Home to Positive Edge 4 CONTROL OF VIX DRIVES 95 If the negative edge of the home switch is selected in the homing configuration command a similar motion path
134. irmware will not allow an energise whilst this fault is present 202 VIX IE SERVO DRIVE USER GUIDE Motor Over Temperature Indexed motion will be stopped in a controlled manner and the drive will then de energise If there is a user program running and the fault label is armed it will be run Ambient over temperature When the temperature trip point is reached Indexed motion will be stopped in a controlled manner and the drive will then de energise If there is a user program running and the fault label is armed it will be run Drive over temperature When the temperature trip point is reached Indexed motion will be stopped in a controlled manner and the drive will then de energise If there is a user program running and the fault label is armed it will be run Incompatible firmware revision The FPGA firmware code contained in FLASH memory is not compatible with the controller hardware and the drive cannot be used This message is likely if in future customers update old hardware with the latest FPGA firmware which may require specific hardware to function The firmware will not allow an energise whilst this fault is present Unrecognised power stage The power stage fitted to the drive is not recognised by this revision of firmware In this case a customer may have down graded their firmware The required action is to update the drive firmware to a version that supports the fitted power stage The firmware will not allow an
135. its in length in the order of outputs 1 to 3 Trailing X characters are not required Immediate or buffered can be used in labelled block not saved by SV 20 110 sets outputs 1 2 ON and 3 OFF 20 X0X leaves outputs 1 3 as they were and turns output 2 OFF 20 101 sets outputs 1 amp 3 ON and turns output 2 OFF 166 VIX IE SERVO DRIVE USER GUIDE OFF Syntax aOFF Description Properties Example Shutdown motor power Units Range of n Default See also 3 OFF ON Issuing an OFF command de energises the drive to shutdown the motor power The controller responds to move commands that are issued after an OFF with E If you check the fault variable UF you will see the Drive disabled bit set to indicate that the drive was de energised when a move was attempted OFF reduces motor heating and allows manual positioning of the load assuming the system mechanics allow this and it is safe to do so Immediate or buffered can be used in labelled block saved by SV 1OFF shut down motor power on axis 1 ON Syntax aON Description Properties Example Note 6 COMMAND REFERENCE _ 167 Turn ON motor power Units Range of n Default See also OFF Issuing an ON command energises the drive and clears the current state of the drive fault registers The command allows execution of moves provided the motor is not ona limit ON will clear the User Fault and Drive Fault variable to all
136. ive IP5 when enabled by the LIMITS command From start up both limits are enabled default setting and can only be disabled by issuing a disable limits command For fail safe operation the limit switches must be normally closed although this can be re configured within the LIMITS command Limit Switch Placement Limit switches need to be placed such that when a limit switch is hit sufficient travel is still left for the load to be decelerated to a stop before hitting the hardware limit or end stop Hitting a limit is defined as changing the state of a limit switch when that limit is enabled and the direction of motion is appropriate that is you would only expect to hit the positive limit switch when travelling in the positive direction Hitting a Limit When a limit is hit an error signal is generated E the user fault bit end of travel limit hit is set and the status bit limit or limit seen during last move is set Motion decelerates at the rate set in the LIMIT command which needs to bring motion to a stop before any hardware limit is reached If motion is requested whilst the load is already on the limit no motion will take place further on to the limit but it is possible to move off the limit by reversing direction A fault label can be made to run once a limit is hit subject to the following conditions e No fault label is already running e ARM command is armed and has the fault label enabled ARM11 e Withi
137. le to recover At the moment that the impending power loss is detected the following actions are taken Turn off interrupts Drive will no longer communicate Turns off the power stage Indicate indexer fault STATUS LED RED Loop forever until logic supply can no longer keep the micro alive If the logic supply is experiencing dips then this may manifest itself as locked up comms A common mistake when running off 24V HV is to wire HV and logic to the same power supply If an end stop is driven into then the current drawn may be sufficient to collapse the HV and hence the logic supply The drive faults with impending power loss and de energises the power stage so the load is removed and the voltage recovers The indexer however appears to have locked up but has actually gone into a sleep mode Commutation Fault At power on the commutation encoder channel is read to determine the shaft position and if an invalid state is detected then this bit is set If this happens during motion indexed motion will be stopped instantly and the drive will then de energise The firmware will not allow an energise whilst this fault is present Resolver Fault The resolver to digital conversion can detect if the resolver is not wired or if the wrong transform ratio is used In these instances this fault bit will be set If a resolver fault occurs during motion indexed motion will be stopped instantly and the drive will then de energise The f
138. lied signal In this mode turning following off does not set PF to zero When turning following on the current position of the motor PA is not influenced PT is adjusted so that the present value of PF Al scale gives the actual position PA maintaining the relationship PA PT PF Because there could be a step change in PF when enabling analogue following PT is calculated so that PA remains unaltered It is therefore important to use a home sequence with analogue following mode so that an Al of 0 gives a known position usually when PA is 0 In order to reduce the amount of shaft disturbance it is important to minimise the amount of noise induced on the analogue input signal by using screened cables and good earthing When only a small amount of noise is present the 500us sample averaging filter offered by ViX may provide some additional benefit This analogue averaging feature is invoked by setting the system variable AA to 1 Note that this should be done prior to enabling analogue following if the motor position is not to be disturbed Immediate or buffered can be used in labelled block saved by SV Only encoder input and mode 1 are implemented at present Do not use mode absolute MA while following Do not perform a go home GH while following Do not use FRATE while following Refer to X4 Connector in Electrical Installation section 6 COMMAND REFERENCE 143 FRATE Feed Rate Override Syntax Units Range of
139. m the limit into the normal running region that is in the opposite direction to which the limit was originally hit Once a limit has been cleared and the limit switch has returned to its normal state closed or open contacts movement can be commanded in either direction Stop Input A Stop function can be implemented using user input 1 and the STOP input command When activated the STOP command enables the user program to be aborted or to continue depending upon exact program requirements For full details see the STOP command 4 CONTROL OF VIX DRIVES 99 Brake Operation ViX drives have the ability to control a motor holding brake via the X1 pin 1 motor brake output Note special conditions apply to the brake wiring depending upon the brake supply used see Motor Brake Control Wiring in the Electrical Installation section Before describing the various braking modes note the following assumptions e The automatic brake functions or saved condition of the manual mode only operates if a motor with a brake has been set up using the MOTOR command e The brake output is not controllable by software when the drive is initially pbowered up whilst in the process of resetting or when powered off Under these conditions the brake output should be off and the brake therefore applied The automatic part of the brake command uses two timers ED and RD to make sure the drive holds position while the brake is released and the brake holds position
140. med is ready for registration This would normally be after the move has started or after the hold off distance if defined The output chosen must be within the range of allowable outputs 1 to 3 The default value is no output Once registration has been setup it can be applied turned ON using the simplified form of command aREG1 or turned OFF using aREGO Immediate or buffered can be used in labelled block saved by SV Profile number 1to8 Must be user defined stees ooo Registration window O to 2147483647 steps Output 1to3 Default is no output _ Units _ On Off tor default 1 ON OOFF steps 172 VIX IE SERVO DRIVE USER GUIDE Example OSTART 2PROFILE1 10 10 40000 5 2PROFILE2 20 20 20000 10 2REG1 1 1 10000 2USE 2 2G 2END 2REG 20 XX1 Turn output 8 on increment batch counter 2T0 5 Delay execution for 500mS 20 XX0 Turn off output 8 2END 2NOREG if we come here we didn t have a valid reg mark 20 X1X Turn op7 on push unlabelled product off conveyor 270 25 Delay execution for 250mS 20 X0X Turn off output 7 2END RFS Syntax aRFS Description Properties Example Note 6 COMMAND REFERENCE 173 Return to factory settings Units Range of n Default See also SV Issuing an RFS command initialises the controller to factory default settings The drive must be de energised OFF for RFS to be executed Fac
141. mediately perform a read of these system variables non zero values will be reported due to normal servo action PC Description See Motor Related System Variables in Electrical Installation PE Description PE reports the position error that is the difference between PT and PA PF Description PF reports the position fed back by a remotely mounted encoder for following applications PI Description PI reports the distance moved by the last move G command PM Description PM reports the number of counts received from power on by the following input No scaling is applied and PM counts regardless of following being on or off Writing a number to PM sets the modulus for count wrapping That is writing a specific number of counts to PM sets the count required before the drive re starts counting from zero again This is useful if you wish to know the position of the motor shaft as an arbitrary count For example writing a count of 4000 to PM means that for every shaft rotation a new count of 0 to 3999 is started until the absolute count limit is reached By reading PM a count will be returned that is somewhere between 0 and 3999 the exact value being an indication of the instantaneous shaft position PR Position Registration Description PR always reports the position of the motor on the last active transition on user input 2 The signal is only active at the start of a valid REG move X2 is used if LOADENC 0 otherwise X4 is used P
142. mit disabled normally closed switch stop motion when hit deceleration 100rps2 To report the current configuration of the limits Ype sasaaa bananas aans 3LIMITS See also Notes LIST 6 COMMAND REFERENCE _ 157 The response using the above example LM1 TP1 MO LD100 0 IS AD KILL The default value of LIMITS type field is 1 that is normally closed Hitting a limit stops motion which cannot be re started until you drive the load back off the limit switch List user program aLIST label Syntax Description Properties Example Note The LIST command is used to view a user subroutine program in memory specified by the label parameter Immediate or buffered can t be used in labelled block not saved by SV Providing a program has been entered typing 1LIST ALL would produce the following 1START 1PROFILE1 360 360 400000 20 1PROFILE2 360 360 400000 45 1GOTO MOVE 1 1END 1MOVE1 1USE 1 Typing 1LIST MOVE1 will only produce the code following label MOVE1 as far as END Thatis 1MOVE1 158 VIX IE SERVO DRIVE USER GUIDE LOADENC LoadEnc settings Syntax aLOADENCon off Description This command implements a dual servo loop function When enabled the load mounted encoder is used for position feedback and the motor mounted feedback is used to derive velocity damping information The parameters used are on off enables disables load mounted encoder as the position loop feedback
143. mmand does not change data such as GO or STOP the commands properties are listed as not saved by SV Automatic Checking of Valid Commands and Parameters All commands and parameters are checked for syntax and parameter limits at data entry Certain commands will only report an error on execution for example commands defined within a label If a fault is detected that command or parameter will be ignored during execution of the program For example 1USE 2 where profile 2 has not been defined Upon entry this will cause a E cannot use an undefined profile type error report However using the same command within a label 1DECLARE TST create a label 1TST begin the label code 1USE 2 attempt to use undefined profile no error reported 1END terminate label 1GOTO TST run label code TST E error reported at run time In this case the same error report message is given Note in both cases the program will ignore the USE 2 command but will continue execution using values taken from PROFILE 0 A Syntax aAn Description Properties Example Note AA Syntax aAAn Description Properties Example 6 COMMAND REFERENCE _ 131 Acceleration Deceleration Units Range of n Default See also See SCALE 0 01 to 10 AA AD SCALE 99999 99 This command will set both the acceleration and deceleration rates of the motor to the same value Values set for the AA and AD commands are over writt
144. n be relative to this reference position An optical or proximity switch usually determines the home position although you can use a mechanical switch Definition Of Terms To aid the description of homing operations the following terms are defined Positive motion is motion towards the positive limit Home switch positive edge is the edge of the home switch on the positive limit side Home switch negative edge is the edge of the home switch on the negative limit side Home switch operating range is the distance moved whilst the switch is operated Four of these terms are illustrated in Figure 4 9 NEGATIVE POSITIVE LIMIT LIMIT at HOME SWITCH nae OPERATING RANGE Negative Positive positive edge edge MOTION J CCW CW DISTANCE Figure 4 9 Home Switch Operation Switch Considerations Any type of switch will have an operating range that may correspond with a significant rotation of the motor shaft depending upon the gear ratio between motor and load Consequently just detecting the home switch voltage level will not give a well defined home position To improve the accuracy it is possible to stop on either the positive or negative edge of the home switch Switches generally exhibit a hysteresis characteristic when operated from opposite directions therefore homing moves always make the final approach to the home switch from the same direction 92 VIX IE SERVO DRIVE USER GUIDE Homing Configuration C
145. n the LIMIT command the mode is set to Stop motion when a limit is hit and abort program e A fault label has been defined If no fault label is defined or fault is not armed within the main ARM the program will be aborted that is motion will be stopped at limit deceleration the program is halted and all 98 VIX IE SERVO DRIVE USER GUIDE associated flags are cleared The program will also be aborted if you are already on a limit and you request motion in a direction which takes you further on to that limit If the LIMIT command has been set to stop motion when a limit is hit but continue the program and you hit a limit or request motion in a direction which takes you further on to a limit no response will be given apart from a possible E depending upon the setting of the EX variable In this situation program execution will continue and no fault label will be run This allows the limit switch to be used as both a limit and home switch Hitting Both Limits If both limits are hit motion will be stopped and the drive will respond as if a single limit has been hit but no further motion will be possible until both limits have been cleared The status will report which limit was seen first positive or negative but if both were hit in the same millisecond period the positive limit will be reported as being seen first Clearing a Limit A limit is cleared as soon as a motion command is given that moves the load away fro
146. ncasnctieteanwidndaiias ouosauadwecsduvaiubaieed ievatntelcrehevphaiea tusitventumberens 5 SO Electicakl N stAla tO e a e aaa aa aoaaa 9 4 Control of ViX Drives icccnancaditncd cndntednndatadtendadesdandsdnitcmandniaendateeranincadnenbatnetandatnimundaans 53 A EOE Vv SoA O r a a Aaa S 105 FE OAEI o M BEEE e S AA A AAE 127 7 ViX Maintenance and Troubleshooting cccccceccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeenenene 195 E m E ONEEN aE A E E E E A A E T 207 Appendix A Discrete PSU search ee ee EA A ee aE A i nennen 211 Appendix B Encoder amp Resolver Phasing seeeeeeeeeeeeeneeeeeneeeneeenees 215 RLO ED Gee NEN eae RR EE GATOR EE STERIL QUEER Oo Rett CERTIORARI Chee ete i E 219 The ViX250IE 500IE Intelligent Digital Servo Drive is UL Recognised under file E194158 This means it may be incorporated into end user products that may be eligible for UL Listing Classification or Certification CAS US User Guide Issue Change Summary This user guide version 1600 304 02 is the second version of the ViX250IE ViX500IE Intelligent Digital Servo Drive When a user guide is updated the new or changed text is differentiated with a change bar in the outside margin this paragraph is an example If an entire section is changed the change bar is located on the outside margin of the section title For the latest most up to date changes required by this issue of user guide see the Latest Changes Sheet o
147. nd EO 70 VIX IE SERVO DRIVE USER GUIDE EQ Description Echo queuing EQ is a system variable that can be useful for multi axis control programs where you need to send and receive messages from individual drives controlled from a PC The variable controls the way messages are echoed and its use prevents corruption of commands by system response messages In a normal multi axis system commands from the main controller are in turn echoed from drive to drive throughout the system and can be finally returned to the main controller If a command is transmitted whilst a drive is supplying a response the two messages will interact effectively destroying one another Setting EQ to mode 1 prevents a drive from issuing a response until it receives a carriage return thereby delaying its response until it finishes receiving This stops the corruption of messages which can now be read back in a complete form EQ can only be used with a report or write command as follows R EQ reads the current setting of the system variable W EQ 0 2 sets the EQ system variable to operate in mode 0 1 or 2 Mode 0 sets the standard operating mode where characters are echoed as they are sent Mode 1 does not allow any characters to be echoed until a carriage return is sent This prevents complete messages from being split if a data collision occurs Mode 2 allows only the response from a command to be sent not the command itself This minimises the amount of
148. nded motion is complete lt Back Cancel Help Press Next to Guided i X E initialisation 5 of 10 adjust the EW and IT parameters if p Adjust these values if you wish The motor has settled and is deemed in position when required but normally the defaults are OK i No motion is demanded To wait for motor settling within ii Position error is within the error window count your program you can trigger on from the commanded position the in position flag becoming true iii The above condition is true for at least the ie TAIIP 1 in position time You MUST use this TRigger command if you turn off command Error window Ew Hi queuing by W CO 0 as this E ensures that motion has ceased Pe R meda hanes In Position Time IT 10 4 lt Back Cancel Help 5 EASI V SOFTWARE 117 Press Next to set Guided i X I E initialisation 6 of 10 up the End of travel limit signals Press Next to Guided i X I E initialisation 7 of 10 configure the drive s home switch direction velocity acceleration and mode m losed fe Ger Pe AS Tao dey pulse 118 VIX IE SERVO DRIVE USER GUIDE Press Next to Guided i X E initialisation 8 of 10 configure the drive s user inputs and outputs and the encoder I O settings Press Next again Guided i X I E initialisation 9 of 10 to enter the last general set up screen Victor brake Modei Manual di
149. ng heat producing equipment directly below a drive Installers must ensure that the air temperature entering the drive or rising up to the drive is within the ambient temperature restrictions Under normal use the air temperature leaving the drive and heatsink may be 25 C above ambient In the final installation check that the ambient temperature specification of 40 C Max without forced air cooling is not exceeded directly below the top most drives and that any circulating air flow is not being blocked from reaching the drives For cabinet cooling calculations allow 20W per drive 6 VIX IE SERVO DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 drives share the same dimensions shown in Figure 2 1 98 5 with connector 5 lo A A D LO T Figure 2 1 ViX250 amp ViX500 Dimensions 2 MECHANICAL INSTALLATION 7 Drive Mounting Options If you require a DIN Rail mounting ViX drive use the optional DIN Rail clip adapter bracket shown in Figure 2 2 Viewed from the back of the DIN rail 131 2mm Allow 10mm for release Figure 2 2 DIN Rail Adapter Bracket Remove the panel mounting plate from the back of the drive and attach the bracket to the back of the drive using the screws provided The drive and bracket can now be fixed to a DIN rail by hooking the top of the bracket over the top of the DIN ra
150. ng motion and the move is not a go home a fault label is not being run the limit configuration is stop on limit and the limit is enabled e A drive fault has occurred but no drive programming is taking place e When it is called from a GOTO GOSUB or LOOP command Note in this case a FAULT has not actually occurred consequently the FAULT label will be called irrespective of the state of the ARM command Table 4 1 summarises the conditions necessary for the FAULT label to be called The FAULT label will not be called when any one of the following conditions occur e There is an error whilst sending a command e There is a general run time error with the program e The program memory area becomes full e A label is attempted to be run when it does not exist e The transmit buffer or receive buffer suffer an overflow Command amp parameter conditions Fault FAULT Not Fault Limit is Not Limit Not Condition abe GH ARM running decision program defined i fault is stop ming program the drive execution Sowat YO tN Y Y o y a Y Table 4 1 Conditions Required to Call a Fault Label 60 VIX IE SERVO DRIVE USER GUIDE Example The following example shows the use of a FAULT label within a program 1ARM11 enable auto run on power up amp enable fault routine 1SV save the settings 1START start of program 1ARM11 re enable auto run amp fault in case K command sent lt initialisation commands gt 10 1X
151. ntrols the source sink operation of outputs 1 to 3 Setting a bit to a 1 sources current from the 24V rail via the upper half of the output while setting a bit to a 0 sinks current from a connected input through the lower output transistor to OV Bit 7 6 5 4 3 2 1 0 IC out_3 out_2 out_1 in_5 in_4 in_3 in_2 in_1 content Note 1 SWB is automatically set to ensure that the software will report 0 for a closed input switch and 1 for an open input switch 2 sourcing outputs can only be used with 24V high level logic 3 5V tolerant input connections must only be used with pull down sink configuration as the input pull up always pulls up to 24V 4 Invalid combinations will report an error E and the User Fault UF bit 1 is set value out of range User inputs are high logic level and low level logic compatible but must be configured as pull down inputs when used with low level 5V logic since the pull up always pulls up to 24V Example Configure a drive with inputs in_1 and in_2 arranged as pull down 5V threshold logic In_3 In_4 and In_5 as pull up high threshold level logic and all outputs as current sources The binary pattern required is MSB LSB 00011100 11111100 In hex this becomes 1CFC which in decimal is 7420 So the required command to say axis 3 is 3W IC 7420 IC default setting The default setting for the drive is all inputs se
152. o prevent operator access while it has power applied Metal equipment cabinets are ideally suited for housing the equipment since they can provide operator protection EMC screening and can be fitted with interlocks arranged to remove all hazardous motor and drive power when the cabinet door is opened Do not arrange interlocks to open circuit the motor phase connections while the system is still powered as this could cause damage to the drive Precautions During installation take the normal precautions against damage caused by electrostatic discharges Wear earth wrist straps A switch or circuit breaker must be included in the installation which must be clearly marked as the disconnecting device and should be within easy reach of the machine operator Cabinet Installation To produce an EMC and LVD compliant installation we recommend that drives are mounted within a steel equipment cabinet This form of enclosure is not essential to achieving EMC compliance but does offer the benefits of operator protection and reduces the contamination of the equipment from industrial processes A steel equipment cabinet will screen radiated emissions provided all panels are bonded to a central earth point Separate earth circuits are commonly used within equipment cabinets to minimise the interaction between independent circuits A circuit switching large currents and sharing a common earth return with another low level signal circuit could conduct electri
153. ode Before running this code return the drive to its factory settings and save those settings see returning a drive to its factory settings in Maintenance amp Troubleshooting section 1START define start label code 10N enable the drive 1LIMITS 3 0 0 disable limits 1D4000 set distance to 4000 steps 1V1 set velocity to 1rev s 1A10 set acceleration to 10rev s2 1G start motion 1END end definition of start block 1GOTO START execute start code block WARNING Clamp the motor in a secure position before testing the drive Upon execution of this code the motor should perform 4000 steps and stop The successful operation of this code confirms the drive is working correctly If this does not happen refer to the Troubleshooting Section 126 VIX IE SERVO DRIVE USER GUIDE 6 COMMAND REFERENCE 127 6 Command Reference Command Description Each command has a simple 1 to 7 character name usually an abbreviation of its full descriptive title Listed commands are in alphabetic order with any non alphabetic symbols appearing last Each individual description will include a one line header giving the abbreviated name followed by its full name The following lines give the command syntax units of measurement range of values any default value and a reference to other related commands Where commands contain a list of parameters a simple layout displays only the syntax of the command Every command requires an
154. off FB green none fieldbus communications OK Operational state FB green 1 second fieldbus communications OK Pre operational state FB red none fieldbus communications fault FB off no fieldbus option Table 7 1 Status Bits Description continued 7 MAINTENANCE amp TROUBLESHOOTING 199 Forcing a Hardware RFS Pin 2 of serial communications D type connector X3 is for use as a hardware method of forcing a return to factory settings It may be used when it is not possible to perform an OFF or RFS command Such a situation may be switching to RS485 mode but having no RS485 interface on the controlling PC forcing an RFS command will allow you to return to RS232 operation To force a hardware RFS follow the procedure detailed below note you will loose any program in memory and system variables will return to their default values 1 Turn off drive HV and 24V 2 Connect X3 pin 2 MODE input to X3 pin 3 OV 3 Turn drive 24V on and HV if required On power up any program present in memory is cleared and ALL system variables are set to their initial factory default value 4 Establish RS232 communications using Easi V and type in 1SV and press Enter to store the changes 200 VIX IE SERVO DRIVE USER GUIDE Drive Faults The following notes give you a better understanding of what is happening within the drive when a particular drive fault is reported The explanations assume a ViX drive controller firmware
155. ommand The HOME command allows you to define the mechanical edge of the home switch at which you wish home to be The command also allows you a choice of home switch type that is normally closed or normally open however if you change the switch type this does not change the edge you are homing to Remember the positive edge is the mechanical edge of the home switch closest to the positive limit Other features of the HOME configuration command allow adjustment of the search speed and direction the acceleration or deceleration rate to be used and mode selection When setting the deceleration rate you must ensure sufficient distance is left between the home switch and any limit to make sure motion is brought to a halt after the home switch is detected and before a limit is reached If not the system will be brought to an immediate halt as soon as the limit is detected Mode Selection Mode selection allows you the choice of how and where motion is brought to a stop within the home switch operating range The choices are e Mode 0 the controller will detect the defined edge positive or negative and will then decelerate to rest e Mode 1 will cause motion to stop at the mechanical edge of your choice positive or negative e Mode 2 Not available for servo e Mode 3 If an encoder with a Z channel is used then the controller will seek the Z position after detecting the specified home switch edge The controller triggers on the lead
156. ompliance of an installation consideration must also be given to the effects of mains harmonics and flicker when interfacing the total supply system to the public low voltage supply system In accordance with IEC 61800 3 1997 Adjustable speed electrical power drive systems this product is of the restricted sales distribution class which meets the needs of an industrial environment when installed as directed However further measures may need to be taken for use of the product in a domestic environment Compliance is demonstrated by the application of the following standards BS EN 61800 3 Adjustable speed electrical power drive systems 1997 including Part 3 EMC product standard including specific test methods Amendment A11 BS EN 61000 6 2 Electromagnetic compatibility Part 6 2 Generic standards 2001 Immunity for industrial environments BS EN 61000 6 4 Electromagnetic compatibility Part 6 4 Generic standards 2001 Emission standard for industrial environments BS EN 61010 1 Safety requirements for electrical equipment for measurement 1993 including control and laboratory use Part 1 General requirements Amendment A2 WARNING Risk of damage and or personal injury The ViX drives described in this user guide contain no user serviceable parts Attempting to open the case of any unit or to replace any internal component may result in damage to the unit and or personal injury This may also void the warranty
157. or is independently bonded to a local safety earth point The safety earth lead should be at least 2 5mm in area Short Circuit Protection The motor outputs are protected against overload and short circuits Overload is protected by the l t circuit and 300 of continuous drive current rating is only permitted for 2 seconds A current level just above rated current is only permitted for a maximum of 20 seconds 3 ELECTRICAL INSTALLATION 31 Plots of Drive I t Time Against Drive Current The following graphs plot drive current against I t time in seconds for a moving and stationary motor for both power versions of the drive ViX250 l t function moving ViX250 demanded phase current in Arms A 012 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Time to trip l t circuit in seconds Figure 3 13 ViX250 I2t function moving ViX250 l t function stationary ViX250 demanded phase current in A rms 0 0 2 4 6 8 1 1 2 1 4 1 6 1 8 2 222426283 3 2 3 43 6 3 8 4 Time to trip It circuit in seconds Figure 3 14 ViX250 It function stationary 32 VIX IE SERVO DRIVE USER GUIDE ViX500 l t function moving 20 18 16 ViX500 demanded phase current in A rms 012 3 4
158. ositioned beneath the drive are two RJ45 communication interfaces X6 and X7 The two interfaces provide support for Canbus RS485 using the Field Expansion Module and daisy chain ports for multi axis RS232 connections between drives X7 RS232 daisy chain output X6 RS232 daisy chain input Figure 3 27 Position of Connectors X6 and X7 3 ELECTRICAL INSTALLATION 49 FEM1 CAT5 cable colours X6 CANopen RS485 1 RX TX RS485 White Orange 2 RX TX RS485 Orange 3 CAN H White Green 4 RS232 Gnd Blue 5 RS232 Gnd White Blue 6 CAN L Green 7 RS232 Tx White Brown 8 Rs232 Rx Brown X7 1 RX TX RS485 White Orange 2 RX TX RS485 Orange 3 CAN H White Green 4 RS232 sense Blue 5 RS232 Gnd White Blue 6 CAN L Green 7 RS232 Rx White Brown 8 RS232 Tx Brown Table 3 14 X6 X7 Input Output Connections CAN Bus Termination Systems using CANopen will need to terminate the final X7 output with a 120 ohms quarter watt resistor connected between X7 pins 3 and 6 A ready made CAN bus RJ45 terminator is available as shown in Figure 3 28 Parker part number ViX RJ45 CT pin 1 Figure 3 28 CAN Bus Terminator 50 VIX IE SERVO DRIVE USER GUIDE Communication Daisy Chain Drives can be daisy chained for RS232 RS485 operation as shown below Using this arrangement the drive connected to the controlling PC via its front panel D type connector becomes a
159. ositive with respect to X2 pin 11 Commutation channel AO is at X2 pin 9 Commutation channel A1 is at X2 pin 13 Commutation channel A2 is at X2 pin 14 With respect to encoder GND X2 pin 3 or X2 pin 6 W V V U U W CommAO CommA 1 CommA2 IndexZ 360 330 300 270 240 210 180 150 120 90 60 30 0 electrical postion 218 VIX IE SERVO DRIVE USER GUIDE BE phasing diagram IndexZ 360 330 300 270 240 210 180 150 120 90 60 30 0 electrical postion degrees set address remotely 185 24V fuse rating 213 24V supply connections 213 24V supply lead length restrictions 213 A A acceleration deceleration 131 A to D converter 42 AA acceleration 131 AA system variable 67 AB Al amp AO system variables 67 Absolute preset moves 86 Absorber ferrite 25 AD deceleration 132 Al system variable 42 AM system variable 47 67 ANA1 inputs 42 Analogue input 42 Analogue monitor output 47 AO system variable 42 ARM code 133 ARM command 58 B Baud rate changing 38 Baud rate selection 113 BE motor cables 20 BR system variable 67 Brake 24V failure 101 drive fault 101 enable 100 operation 99 reset 100 BRAKE command 135 Brake control wiring 35 Brake fail safe 34 Brake fuse 35 Brake output 34 Braking automatic 99 dynamic 99 INDEX 219 Index manual 100 C C continue 136 Cabinet installation 9 Cable part numbers 20 Cable screening 21 CAN bus connector
160. perience problems because EASIV is a 16 bit application EASIV version 2 3 onwards includes a 32 bit flash upgrade utility that overcomes this problem Use of USB to serial adapters may also cause communication problems Please use EASIV version 3 0 onwards to minimise these difficulties 106 VIX IE SERVO DRIVE USER GUIDE Establish Communications Before attempting communication with the drive the supplied software needs to be installed on to the PC s internal hard disk drive Once software installation is complete commands can be downloaded from the PC to the drive to confirm its operation If Easi V has already been loaded you may skip the following Installation and Operation sections up to Confirming Drive Operation Software Installation Before attempting to install the EASI V software supplied with your drive check that your PC meets the requirements previously defined under Computer Requirements EASI V software is supplied on a CDROM and installs in the usual manner common to Window applications Installation Procedure This procedure takes you quickly through the steps necessary to install Easi V on your PC The entire installation process takes less than 10 minutes Before starting the installation terminate all applications currently running A step by step installation of Easi V software follows 1 Place the Easi V CD in your PC s CDROM drive 2 Once loaded the CD should auto start If this does not happen open
161. position incremental moves or in relation to a defined zero reference position absolute moves Absolute Preset Moves MA An absolute preset move will move the shaft of the motor a specified distance from the absolute zero position Incremental Preset Moves MI When the MODE command is used to select indexed move with incremental positioning M l the motor shaft can be moved a specified distance from its starting position in either a clockwise CW or counter clockwise CCW direction Note a positive direction is defined as one resulting in clockwise CW rotation of the motor shaft when viewed from the shaft end flange Continuous Moves MC This mode is useful for applications that require constant travel of the load When the motor must stop after a fixed time has elapsed rather than after a fixed distance or when the motor must be synchronised to external events such as trigger input signals Basic Positioning Moves ViX drives are capable of performing basic positioning moves using the following commands Distance D Used to set or report the programmed move distance in units determined by the SCALE command Velocity V Used to set or report the programmed velocity of a motor in units determined by the SCALE command 4 CONTROL OF VIX DRIVES 87 Acceleration A Used to control the rate of increase or decrease of the programmed velocity in units determined by the SCALE command Go G Used to initiate mo
162. r iX250CH servo drive CAN Open linear motor ViX5001M or ViX250IM micro stepping drive C ViX500CM or ViX250CM micro stepping drive CAN Open Cneet_ Figure 5 3 Easi V Product Selection Selecting Product from the Utilities menu will also display the product selection screen Selecting OK will display the main application window entitled Parker Hannifin EMD Easi V and seven pull down menus become available File Edit Search Terminal Utilities Windows Help The majority of options available within each menu are familiar to Window users and will not be fully described here but options available within Terminal and Utilities are specific to drive control and will be fully described Menu Overview File New Cr Open Ctrl 0 Save Ctrl 5 Save Ag Print Ctrl F Close Window Exit Alt F4 Edit Undo Ctrl Z Cut Ctra Copy Ctrl C Paste Ctrl Clear Del Select All Ctrl G Go to line Search Eind Find Hest Fa Replace Selecting Go to line from the edit menu will generate the following dialogue box which allows the required line number to be entered This is useful for locating errors Linc number when loading a program 5 EASI V SOFTWARE 109 Filing Operations Creates a new editor file or prg program file Opens an existing editor file or program Save an editor file Save an editor file specifing the file name P
163. racking limit TL determines when the axis sees a motor stall and is normally set to the same value as the motor resolution to prevent nuisance faults Peak current ratio PC is used to match drive peak output to that of the motor It is important to set this correctly to prevent excessive motor current Current clamp CL limits drive peak output current This setting over tides the value of PC and so can limit the output current to a value less than the motor normally requires CL 100 means full peak output Tracking limit TL 2il Amps RMS 8 8000 feedback counts 5000 rpm encoder 1 2E 6 Ko nt not fitted standard 30 sensor not fitted Yes 0 052 Nm amp peak 3 5E 3 Nm Krpm 431 Ohms 12 10 mH 498 seconds Motor type MT 40965 _tee Peak current ratio desired maximum drive current Peak current ratio PC Drive current clamp CL lt Back Cancel motor nominal current MC 318 100 116 VIX IE SERVO DRIVE USER GUIDE Press Next to Guided i X I E initialisation 4 of 10 adjust the gain parameters These gain parameters can be adjusted to improve the dynamic Feedforward GF 0 0g 4 response of the system Integral Gl Proportional GP f 1004 Velocity GV s504 Filter time FT o4 Integral mode IM m dinnu e n Integral window IW 254 If integral mode is checked the integral gain is active when within the integral window and dema
164. raphic interface or by writing directly to the IC system variable By adjusting the user output configuration you can set the output to source current Figure 3 23 shows the output circuit ooo ea SS Se Sy Common IC 24V housing all top switches i for all outputs 1 Current source Output 0 Current sink Figure 3 23 User Output Circuit User outputs are compatible with high level 24V logic only Each output is short circuit protected and can source 50mA Note The easiest way of configuring the drive s inputs and outputs is to use the Easi V graphic user interface IC System Variable To set up the input and output configuration without using the EASI V graphic interface you will need to write configuration patterns to the two byte IC parameter as shown aW IC 4 digit decimal number equivalent to a two byte number Bits 8 to 12 control the switching threshold of inputs 1 to 5 SWC setting Setting a bit to a 1 gives a 24V switching threshold a 0 gives a 5V switching threshold Bit 15 14 13 12 11 10 9 8 IC not not not in_5 in_4 in_3 in_2 in_1 content used used used 46 VIX IE SERVO DRIVE USER GUIDE Bits 0 to 4 control the input resistor pull down pull up of inputs 1 to 5 SWA setting Setting a bit to a 1 sets the input resistor to be a pull up to 24V a 0 sets the resistor to be a pull down Bits 5 to 7 co
165. re homing has been setup it can be applied turned ON or armed using the simplified form of command aHOME1 Or turned OFF using aHOMEO Immediate or buffered can be used in labelled block saved by SV On axis 3 search for home in the negative direction at a velocity of 15 rps and acceleration deceleration of 100 rps The motor is to stop on the negative edge of the home switch and then seek zero phase 3HOME1 1 15 100 1 position on edge of switch acceleration deceleration of 100 15rps and search negative home switch normally closed stop on the v e edge turn homing ON The go home final velocity of 0 1 rps is used to complete the last part of the move Also see GH command IF Syntax Description Properties Example Note 6 COMMAND REFERENCE 153 Test condition alF system_variable relation value The IF command compares the specified system variable with the specified value using the specified relation If the condition is met the next line of code is executed otherwise it is skipped Refer to the table of system variables that can be used for conditional control Valid relations for the comparison are Equals lt gt Does not equal gt Greater than lt Less than Immediate or buffered can be used in labelled block not saved by SV 2IF PA gt 450 if absolute controller position gt 450 steps on axis 2 20 1XX set output 1 2IF PA gt 500 if absolute controller posit
166. reached a velocity of 2 revs sec it will also have travelled half of the defined distance due to the acceleration setting of 1 rev sec Trapezoidal Profile A trapezoidal move profile results when the defined velocity you have programmed is attained before the motor shaft has moved half of the specified distance This is due toa defined velocity that is low a defined acceleration that is high a move distance that is long or a combination of all three For example if the acceleration is set to 10 revs sec2 velocity is set to 1 rev sec and distance is specified as 20000 steps 5 revs the resulting motion profile would look like this Velocity revs sec accelerate constant velocity decelerate 0 0 1 5 5 1 Time seconds Figure 4 7 Trapezoidal Profile Registration One of the major uses of registration is for packaging and labelling applications where a registration mark or label edge is used to sense the position or orientation of an object On detection of a valid registration mark an independent pre configured move is started The registration move itself often needs to be performed quickly faster than the initial move to prevent queuing in serial batch processes Figure 4 8 illustrates a typical registration move Note A registration move is always performed in mode incremental even if the drive is configured for mode absolute and is always made in the same direction as the original move The REG command once turned
167. rint the editor file or contents of terminal buffer Close current active window Exit Easi V Editing Operations Undo a previous edit 1 level of undo only Remove highlighted text to clipboard Copy highlighted text to clipboard Paste contents of clipboard to current cursor location Delete highlighted text Highlight all text in active editor file window Go to a particular line within a file Editor search amp replace operations Find specified text top down from cursor position Repeat search again Find and replace text top down from cursor position Cancel 110 VIX IE SERVO DRIVE USER GUIDE Terminal Terminal on line operations Settings Configure the serial communications Connect Open close the terminal after testing the connection Configure test buttons Edit buffer Create an editor file window or terminal buffer Log to file Open close file logging terminal buffer actions Configure terminal buttons F2 Edit BUNE Iisa HO il Utilities Specific tools Product Displays Product Selection screen Guided servo setup Help screens guide you through servo setup Servo setup Similar to above but uses tabbed text boxes Axis status Display status bits or messages Downoad program to drive Fa Download program to drive F4 Download program Upload program from drive F5 Upload program Drive LEDs Displays LED diagnostics sheet colour amp flash rate Windows Window controls Tile FG S
168. rive current x 100 motor continuous stall current A value of 300 is typically used for boosting servo motor performance Enter CL and PC values using EASI V guided servo initialisation or directly using the W command Drive Motor Overload The Vix drive uses an l t protection scheme that prevents excessive heat dissipation in the drive and motor Protection operates by monitoring the level of three separate dissipation parameters and comparing them to their individual I t thresholds These dissipation parameters are e Motor l2T protects the motor from drive output current above the rated motor current that is applied for too long a time e Moving I T protects the drive from output current while moving that is above the rated drive current for too long a time e Stationary 12T protects the drive from output current while stationary that is above the rated drive current for too long a time If any one of these monitored parameters exceeds the set t threshold the drive current folds back to 80 of the normal running continuous limit The status LED will continuously flash red and green and status bit 16 of the system variable ST will be set to 1 The drive output will remain at the 80 level for 30 seconds after which the parameter that caused the 2t threshold to be exceeded is re tested If the re tested parameter has dropped in value by 50 or greater of its original fault level the drive output is returned to its
169. roperties Example Note 6 COMMAND REFERENCE 155 Kill Units Range of n Default See also S PS KILL Issuing a KILL will command motion to stop at limit deceleration rate The command will then zero the position error to remove torque from a stalled load Carefully consider the use of this command in applications where a load with a large inertia may be required to stop quickly By commanding K the motor could stall and lose torque For this reason a load with large inertia should be stopped mechanically to avoid overshoot of limit switches Power dumping may be required to protect the drive from over voltage trips For a controlled stop use the S stop command The KILL command cannot be used in a label its use is primarily for emergency situations K will also terminate any program execution and will disable a FOLLOW command Immediate only can t be used in labelled block not saved by SV 1G set drive in motion 1K stop everything The K command does require a device address or OK to kill all axes It will stop a time delay T command and will abort a program CAUTION KILL uses the LIMITS command optional deceleration rate LD if this is not set a default value of 200 rps is used This command does not replace the requirement for an additional hardware device to cut power to the motor in an emergency 156 VIX IE SERVO DRIVE USER GUIDE LIMITS Configure limit inputs Syntax Description
170. roportional and velocity gains By limiting the bandwidth the digital filter prevents a high gain system from becoming too lively The filter also serves to average the effects of the digital control loop reducing the jitter at standstill and the audible noise The value of FT should be kept as low as possible The arbitrary units used to set the value of FT cannot be directly related to any time value 4 CONTROL OF VIX DRIVES 73 GF Description The opposing action of proportional and velocity gains result in a position error which depends on speed This is called following error Feedforward gain can be used to offset the following error and improve tracking accuracy This is important in contouring applications GI Description Proportional action may be insufficient to overcome static position errors caused by gravitational load effects Integral action accumulates a steady state error until sufficient torque is produced to move the load It improves overall positioning accuracy but may produce low frequency oscillation around the commanded position GP Description Proportional gain determines the amount of torque produced in response to a given position error It sets the stiffness of the system and affects the following error A high proportional gain gives a stiff responsive system but results in overshoot and oscillation which require damping GV Description Velocity feedback is a signal which increases with shaft speed It
171. s to be used the style of code detected BCD or binary and the manner in which the code is executed continuous or re trigger Enable the LSEL command using its on off parameter to allow input selection of labels 4 CONTROL OF VIX DRIVES 55 Structure The code example of an absolute positioning move shown in Figure 4 1 demonstrates how to write code that follows the block structure Use the start code to initialise the drive 1START Start code and 1 DECLARE MAIN Initialisation 1DECLARE MOVE2 1LIMITS 3 0 0 1GOTO MAIN 1END 1MAIN 1PROFILE2 40 10 48000 25 1GOSUB MOVE2 1END 1MOVE2 Main Program Figure 4 1 Program Structure Example 1START Start label definition 1DECLARE MAIN declare labels 1DECLARE MOVE2 declare move 2 1LIMITS 3 0 0 configure limits 1GOTO MAIN goto main program 1END Use the MAIN part of the program to define profiles and to control the order of moves 1MAIN main label definition 1PROFILE2 40 10 48000 25 define move parameters 1GOSUB MOVE2 jump to label move 2 1END end of label definition 56 VIX IE SERVO DRIVE USER GUIDE Finally call individual moves from the main part of the program 1MOVE2 define program label move2 1W PA 0 zero position absolute 1MA absolute positioning move 1USE 2 use motion profile 2 1G execute move 1END end of program move 2 definition Note PROFILE2 defined in the main part of the program has the
172. sable v engagelmanualmade jz 5 EASI V SOFTWARE 119 To complete the Guided i X E initialisation 10 of 10 configuration press Next to enter the final download You ve done it screen Now you can create a new setup program which you can then edit Alternatively you can immediately download all these settings directly to the axis Append a test routine to make the motor move Download immediately Cancel Help Checking the Append a test routine box will include a simple routine that turns the motor shaft to verify drive operation To alter any configuration set up step backwards using the Back button NOTE ANY CHANGES TO THE MOTOR COMMAND MUST BE FOLLOWED BY A SAVE SV AND RESET Z OR CYCLING POWER TO THE DRIVE TIP Create a setup program first rather than download immediately because if changes are required it s easier to edit a saved program 120 VIX IE SERVO DRIVE USER GUIDE CANopen Drives If you are setting up a CANopen drive an extra screen is included 9 of 11 that allows adjustment of the baud rate node ID and control setting Guided iX C E initialisation 9 of 11 5 EASI V SOFTWARE 121 Servo Setup This facility gives easy access to setting system variables in a more direct manner than Guided Servo Setup Figure 5 6 shows a sample screen Configuration untitled X ARM Command queuing CQ V
173. should contact Poole Offenburg or Rohnert Park for further information contact numbers are at the front of this User Guide 206 VIX IE SERVO DRIVE USER GUIDE 8 HARDWARE REFERENCE 207 8 Hardware Reference Drive Specification ViX2501E ViX500IE Functional Specification Maximum output current ViX500 5A RMS continuous 15A RMS peak 2 seconds max ViX250 2 5A RMS continuous 7 5A RMS peak 2 seconds max Maximum continuous power drawn from the 6 3A at 80V 500VA supply No reverse polarity protection ViX250 24 80V DC 5 15 ViX250 3 300uF Controller supply input 24V DC 10 to 15 Protection Short circuit phase to phase phase to ground Motor HV over and under voltage trip HV over voltage 98V nominal Drive over temperature Motor over temperature motor dependent 24V reverse polarity Commutation encoder fault Resolver fault Temperature protection motor protection I2t circuit protects motor and drive from depends upon the type used see Note 1 excessive dissipation Motor current limit Selectable by software consult Digiplan Fault output NPN open collector output normally low active high Enable input 24V input with pull up resistor can be software set to be active high or active low LED status indicators tri colour HV feedback fault Drive fault Comms status 2 sec rotating 0 4 sec stationary see Plots of ft Against Drive Current Table 8 1 Functional Specification Note 1
174. such commands as 11S 1R ST 1R UF 1A etc is correct However if a buffered type of command is sent such as G or 1A10 the buffered command just sent and any other interrogation commands get buffered and will not report back until the trigger time delay or pause is finished In this situation Immediate only commands can be executed Example 1R El read encoder input 2 11S read input status 01111 1TR IN X0X01 sinput trigger false 1A50 send buffered command 1R El report commands are now delayed until the trigger 11S command is complete 1R RB an exception R RB is always immediate 1 sbusy Trigger becomes true 1A50 actioned 2 report commands completed El 2 00001 new input status reported Can be used in labelled block Means it is possible to include the command within a labelled program block Running the labelled block code will execute the command Note if power is removed from the controller without sending a save SV command the program and its labelled block will be lost 130 VIX IE SERVO DRIVE USER GUIDE Can t be used in labelled block Means it is not possible to include the command within a labelled program block Saved by SV A command that has the property of being saved by SV means data associated with that command is capable of being stored in non volatile memory The saved value will become the default value on power up or following a Z command Not Saved by SV If the co
175. t 1 all acceleration values entered are internally divided by the SCLA parameter value Default 1 SCLD 1 to 100 000 000 Used to scale D D of 1 unit PEU encoder counts If SCLD lt gt 1 all distance values entered are internally divided by the SCLD parameter value Default 4000 SCLV 1 to 100 000 000 Used to scale V V of 1 unit s PEU encoder counts per sec If SCLV lt gt 1 all velocity values entered are internally divided by the SCLV parameter value Default 1 PEU 1 to 100 000 000 Position Encoder steps per Unit defines the number of position feedback encoder steps in a user unit The encoder steps referred to are motor mounted encoder steps if LOADENC is disabled or load mounted encoder steps if LOADENC is enabled Default unit 1 motor rev rotary 1 pole pitch linear Default PEU 4000 176 VIX IE SERVO DRIVE USER GUIDE Properties Note Example Suppose a rotary motor is attached to a linear table The rotary motor has 4000 steps per rev The linear table has a load mounted 10um encoder and is 0 5m long It takes 80 motor revs to move the table its complete length The motor has to position the table in 100 distinct linear positions at a speed range of 0 02ms to 0 2ms e Table to move to 100 distinct locations Set SCLD to 100 D1 one hundredth of the table length e 50000 80 625 load encoder counts per motor revolution Set variable EM to 625 e 0 5m at 10um 50000 load counts complete ta
176. t number can be determined and compared with the bit number value given in Table 4 6 to determine the Status Information being reported Use the Read command to display the ST word pattern that is aR ST 4 CONTROL OF VIX DRIVES 77 Bit Number Bit Status Information Tested 6 ST16 Waiting for delay timeout o o 8 ST18 Lasttrigger command timed out 9 ST21 Motorenergised O O O Z Oo O o O 17 ST3 1 Reserved o ST3 7 Tracking limit is greater than max allowed position error ST3 8 Last SETUPFB command failed ST4 1 In motion O for positive motion 1 for negative motion ST4 2 Brake applied goes to a 1 if the brake is engaged Table 4 6 Status Bits Description Status Variable Byte Reporting A convenient and more compact way of interrogating the status variable is to test it a byte at a time using the STn within a read command where n is used to select the byte to be tested For example to read or test the first 8 bits first byte of the ST variable status word use ST1 Since the status word consists of 4 bytes the relevant part of the word can be read using ST1 bits 1 to 8 ST2 bits 9 to 16 ST3 bits 17 to 24 or ST4 bits 25 to 32 Status Bit 23 The maximum allowed position error will depend on the gains used Normally there is no restriction but for high gains the value of tracking limit TL will be restricted to a fixed value capped Status bit 23 is set if th
177. t or report the programmed linear deceleration rate of the motor The deceleration value assigned to the AD command is over written if previously set Properties Immediate or buffered can be used in labelled block saved by SV Example To set the deceleration rate of axis 4 to 320 rps2 type 4AD320 To report the current deceleration rate of axis 4 type 4AD The IESDONSEIS 02 264uwteioenee soa ates 320 VISTI CVU Set sta Ne eis ete i Ak oe AD100027 Will be reported AS 2c eeeeeeeeeecceee eee eeeeeeeeeeeeeeeeeeeeeeeenees E meaning error ARM Syntax aARMnm Properties 6 COMMAND REFERENCE 133 Enable label triggered code Units Range of Default See also n amp m Oor1 01 START label FAULT label The ARM command allows you to enable arm or disable disarm the START label It also enables disables the FAULT label n 1 start label is enabled n 0 start label is disabled default condition The second parameter m is a fault switch that enables disables the fault label from being run See Fault Label in Control of ViX Drives m 1 fault label is enabled default condition m 0 fault label is disabled At power on when saved and armed the controller will execute the code following the START label if defined The fault label parameter fault switch when enabled will call the FAULT label when any one of the following conditions occur 1 When driving further onto a limit
178. t to 24V threshold all inputs pulled down and all outputs sourcing which gives a binary pattern of 00011111 11100000 which in hex gives 1FEO resulting in the decimal equivalent of 8160 3 ELECTRICAL INSTALLATION 47 Fault Output The fault output is an independent NPN open collector output which is normally low active high The output ratings are 30V maximum in the OFF condition and 15mA maximum in the ON condition Figure 3 24 shows the output circuit Drive circuit Fault Output Figure 3 24 Fault Output Circuit Analogue Monitor Output The analogue monitor output on X5 pin 15 can be used to examine torque velocity or a ramp test signal depending upon the setting of system variable AM Figure 3 25 shows the circuit of the output When in velocity monitor mode AM 1 a positive direction of motion gives a negative voltage output Analogue monitor Drive output X5 pin 15 OV Figure 3 25 Analogue Monitor Output Circuit 48 VIX IE SERVO DRIVE USER GUIDE Limit Switches The drive has two limit inputs the positive limit input and the negative limit input When wiring the limit switches it is essential to check that a positive direction command produces motion towards the positive limit switch 24V NC NEGATIVE NC POSITIVE LIMIT LIMIT Positive limit input POSITIVE MOTION Negative limit input Figure 3 26 Limit and Stop Switch Configuration RJ45 Interfaces P
179. the CD s folder and double click the VIX exe icon 3 Follow the on screen instructions to load Easi V 4 The screen will display the Easi V program banner and will prepare an installation setup program 5 The banner screen is automatically replaced by a Welcome dialogue box advising you of the need to exit any programs currently running To abandon setup in order to exit other programs select CANCEL This in turn displays an Exit Setup dialogue box giving you the options of Exit Setup which returns you to Windows or Resume which takes you back to the Welcome box 6 Selecting NEXT gt displays a Choose Destination Location dialogue selection box that provides the option of installing Easi TOOLS in the directory of your choice The default directory is c program files parker EasiV in the UK but the exact path name is country dependent other buttons are described within the dialogue box see Figure 5 1 5 EASI V SOFTWARE 107 Choose Destination Location x Setup will install Easi in the following folder To install to this folder click Next Ta install to a different folder click Browse and select another folder You can choose not to install Easit by clicking Cancel to exit Setup Destination Folder cAPogen Files Parker E asi Browse Cancel Figure 5 1 Choosing Where to Install Easi V 6 Once you have selected a destination for Easi V or have decided to use the defa
180. the first case where home and limit are wired separately the following interactions are possible When the load is already on a limit and it is commanded to go home the initial direction of motion will be away from the limit and this may not be the direction set in the HOME command If a limit is enabled and hit whilst going home direction of travel will be reversed bounce off a limit and motion will continue until the home position is reached If a second limit is hit or the first limit is hit for the second time the user fault homing failed will be set and the 4 CONTROL OF VIX DRIVES 97 system will respond as if a limit has been hit in the normal manner that is whilst not performing a homing move In the second case where home and limit are wired together the following interaction is possible If the load is commanded to go home in a direction away from the home switch and hits a limit then the move will be automatically started in the opposite direction When the load reaches the combined limit nome switch the home function will terminate in the normal manner Limits End of travel limits are used to restrict the movement of the load to a safe operating distance The placement of limit switches defines the direction of motion since positive motion is always regarded as moving towards the positive limit Two of the drive s user inputs I O 4 amp 5 can become dedicated limit inputs negative IP4 and posit
181. tion 2START signifies this is the power on sequence 2DECLARE GRIP 2PROFILE2 150 200 4800 45 2USE 2 Use motion parameters from profile 2 2LOOP GRIP 6 repeat the grip ungrip code 6 times 2END 2GRIP 2G do the move on axis 2 20 XX1 signal grip cycle 2H change to ungrip grip 2G do the move again 2H change direction 2T1 delay for one second 20 XX0 Signal end grip cycle 2END Also see the EXIT KILL and GOSUB command If you use a GOTO command within a LOOP it will stop program execution of the loop and the number of nesting levels will be set to zero If you exceed the number of nesting levels the program will halt and return a E R UF will return a Program nesting overflow message 160 VIX IE SERVO DRIVE USER GUIDE LSEL Syntax Label Select aLSELon off code inputs execution type Description Properties The label select command allows the code following a label having the name Lnn where nn is the detected input code to be performed when a certain user input pattern is detected on a number of inputs in the range 1 to 5 The code can be continuously repeated or may be re triggered depending upon the command s execution parameter setting The optional parameter type specifies which inputs are to be tested internal or fieldbus inputs The controller supports up to 16 user defined subroutine labels requiring 5 inputs to be able to select any 1 of the 16 You must d
182. tion using the parameters set by the D A and V commands S Stop Bring motion to a controlled stop Kill K Command motion to cease and to remove torque from a stalled load Motor Direction amp Positive Motion A positive direction command must produce clockwise CW rotation of the motor shaft when viewed from the shaft end flange When limit switches are used it is important that the positive direction produces motion towards the positive limit switch see sub section on HOMING Motion Profiles In any motion control application the most important requirement is precise controlled shaft rotation whether it is with respect to position time or velocity This pattern of movement is called a Motion Profile Generally such a profile is graphically represented in the form of a diagram of time or distance moved plotted against velocity For example you would obtain the triangular shaped profile shown in Figure 4 6 if you programmed either a very low acceleration or a very high velocity or both over a relatively short distance Triangular Profile Velocity revs sec Vmax Vavg 0 5 Vmax ta Accel td Decel 2 4 0 1 3 Time seconds Figure 4 6 Triangular Profile 88 VIX IE SERVO DRIVE USER GUIDE Setting the acceleration to 1 rev sec2 with the velocity set to 5 revs sec over a distance of 16000 steps 4 revs a triangular motion profile will result This is because by the time the motor shaft has
183. tory settings must be saved using the SV command before they take effect The default settings are All labels cleared all outputs set to logic low Note the RFS state of ARM is start disabled fault enabled ARM01 Immediate can t be used in labelled block saved by SV 1LIMITS 3 0 0 900 define limits 1RFS return to factory settings 1SV save factory settings 1LIMITS sreport limits LMO TP1 MO AD 200 174 VIX IE SERVO DRIVE USER GUIDE S Syntax aS Description Properties Example Stop Units Range of n Default See also PS K Use the S command to bring motion to a controlled stop The command will use the current value of deceleration as specified by either the immediate A or AD commands or the current profile being used Use the command from the command line or within a label Immediate or buffered can be used in labelled block not saved by SV 1G start the move 1S stop the move 6 COMMAND REFERENCE 175 SCALE Scale settings Syntax Description aSCALEon off SCLA SCLD SCLV PEU This command allows a user to specify Acceleration Distance and Velocity in their own units The drive firmware needs to know how many commanded position steps there are in a user unit and then how many fractions of a unit there are for an A Dor V of 1 The parameters used for this are SCLA 1 to 100 000 000 Used to scale A A of 1 unit s PEU encoder counts per sec If SCLA lt g
184. trol the operation of a connected drive A number of example files are included within the Easi V installation package to give you a start with drive programming Configure Terminal Buttons The Terminal menu has a Configure terminal buttons F2 command which generates the window shown in Figure 5 5 Terminal buttons set up x Button Legend Command OK Shift F1 EETA Jos ShifttF2 Turn off all drives OOFF pee Shift F3 ar on all drives i Shift F4 Status drive 1 STATUS Shift F5 E drive 1 i RIPTI1RIPA 1R PE Shift F6 Perasa drive 1 i DECLARE Shift F fLimits 1 0 drive 1 1LIMITS 115 10 Shift F8 List program drive 1 ILISTIALL Note i Legends text can be up to 25 characters long i Commands text can be up to 40 characters long and must be separated by a fii Spaces are NOT allowed in the commands Figure 5 5 Configure Terminal Buttons Window This facility defines the function of the buttons located at the base of the Terminal window It also assigns a keyboard shortcut to each button added depending upon where it appears in the list order This facility enables a group of commonly used commands to be sent to a drive s by clicking a single button in the Terminal window or pressing a Shift Function key combination from the keyboard 114 VIX IE SERVO DRIVE USER GUIDE Utilities Menu Selections Utilities menu selections control the way drives are setup and configured for use with a parti
185. uld normally be after the move has started or after the hold off distance if defined The output chosen must be within the range of allowable outputs 1 to 3 The default value is O no output Care must be taken to make sure the registration move can be performed in the time available taking into account the velocity of the initial move and the characteristics of the required registration move If insufficient time is allowed the registration move may appear to be performed but the NOREG label is executed REGISTRATION MARK VALID REGISTRATION MARK ENCOUNTERED ua IGNORED g REGISTRATION MARK a IGNORED Fast status input REGISTRATION MOVE PROFILE NUMBER HOLD OFF DISTANCE eens een REGISTRATION SORES WINDOW VELOCITY START REGISTRATION DISTANCE HOLD OFF COMPLETE Figure 4 8 Registration Move Profile 90 VIX IE SERVO DRIVE USER GUIDE A successful registration will cause the code following the registration move to jump to the REG label from which normal program operation can continue before returning to the original program Before you can perform a registration move the following code elements must be in place 1 Enable the registration function 2 Completely specify the registration move required in terms of distance velocity acceleration and deceleration Once a registration move has been defined registration can be enabled disabled using aREG1 to turn it ON or aREGO to t
186. ult directory select NEXT to begin file transfer 7 Once Easi V has been loaded the screen will display a message dialogue box stating Setup is complete You may run the installed program by double clicking on the program icon When you click the OK button the window shown in Figure 5 2 will appear Note Easi V may also be run from the Start menu amp Easi Application Pel Ea Ea File Edit View Gc a gt gt B aG K F oman d g at On Line Help Address 5 plication gt Links 3 object s Wi Figure 5 2 Easi V Application Window 108 VIX IE SERVO DRIVE USER GUIDE Uninstalling Easi V To uninstall Easi V software use Windows uninstall software facilities available within the Control Panel All components are removed Software Operation Once installed Easi V can be started from the start menu or by double clicking its application icon At startup Easi V displays the product selection screen shown in Figure 5 3 When using rotary motors make the selection shown Product selection x Please select the type of drive s you wish to configure from the list below This determines which motor database is to be used VIX5S004E or ViX2504E base servo drive rotary motor ViX5001H or ViX2501H intelligent servo drive linear motor ViX5004H or ViX2504H base servo drive linear motor C VXS00CE or ViX250CE servo drive CAN Open rotary motor ViX500CH o
187. urn it OFF where a defines the axis address When registration is enabled any valid input edge will activate the registration move whilst moving however once activated any subsequent edge will have no effect Consequently once the registration signal has been accepted for the current move all other registration signals will be ignored until a new move has been started An example of registration code is given below 1START start label definition 1PROFILE4 10 10 40000 5 define move parameters 1PROFILE5 20 20 10000 10 define move parameters 1REG1 1 5 5000 define registration move parameters 1USE 4 suse motion profile 4 1G execute move 1END end of start label 1REG on reg mark valid turn on o p 2 batch counter 10 X1X 1T0 5 wait for 500ms delay 10 X0X sturn off o p 2 1END end of label definition 1NOREG if reg mark not valid seen 10 XX1 turn on o p 3 1T0 25 wait for 250ms delay 10 XX0 sturn off o p 3 1END end of label definition Run the above by typing 1GOTO START Axis 1 will move following profile 4 if a registration mark is encountered after 5000 steps the move profile will immediately change to that defined in profile 5 If no registration mark is detected the move will continue and will finish the profile 4 move 4 CONTROL OF VIX DRIVES 91 Homing The term homing refers to an automatic return to a mechanical reference position executed at power up All subsequent moves will the
188. urrent 18 DF32 CD R utputdriverovercurrent ____ CR enna a latched fault apa elocity exceeded unstable gains motor spin off q e e al state of ES variable 22 24 DF3 6 8 sf eserved i ora K T amog SCS 26 31 DF447 st eserved S O 32 Drag CL ANMOerrors Table 4 7 Drive Fault Bit Description Key C Performs controlled stop CD Controlled stop then de energise K Performs motion kill quick stop Possible instant de energise depending on fault source R Recoverable without power cycle SLEEP Drive shuts down completely no comms requires power cycle to recover T Terminal requires power cycle or repair before drive will energise operate again 80 VIX IE SERVO DRIVE USER GUIDE Drive Fault Byte Reporting In exactly the same way as the status variable the drive fault status can be reported a byte at a time using DFn within a read command User Faults Programming errors such as issuing a GO command when the drive is de energised can cause user faults The report uses a 32 bit word format the same as Drive Faults Performing a read UF command will report the current state of any User Faults listed in Table 4 8 a memper Bit Tested UF Information Pd UM 1 Value is out of range UF1 2 Incorrect command syntax command has wrong format gt 3 UFH 3 Lastlabelalreadyinuse 6 _ UF16 Homing failed no signaldetected 8 UF8 Drivede energised
189. ust cross cross them at 90 to each other Keep wiring supported and close to cabinet metalwork A typical EMC layout is shown in Figure 3 5 Recommended EMC filter types are CORCOM 6FC10 for loads up to 6A and 3VK1 for the 24V supply up to 3A Multi axis systems may require higher current rated filters 24V Supply Connections ViX drives not using an XL PSU will require a logic supply of 24V DC at 250mA per drive and additional current for the I O and any following encoder The 24V powers the controller and I O circuits Keeping the 24V independent of the drive s internal high voltage bus supply allows the option of keeping the I O and controller active when no main supply is present Connect the 24V supply to X1 pin7 and the return to X1 pin6 the total wire length from supply to drive must not exceed 10m Connect the 24V supply OV line to system earth OV at some convenient point before the EMC filter input as shown in the recommended EMC layout diagram Figure 3 9 The 24V supply to each drive should be fitted with a time delay fuse rated at 3A Note The 24V supply used must meet the voltage requirement specification of 24V DC 10 15 ripple lt 1V p p 214 VIX IE SERVO DRIVE USER GUIDE Lead length restriction less than 1 metre ci 77 and output Star earth point to the metal backplane AC Supply CORCOM DC 24V Supply Power wiring conduit Figure A 2 ViX EMC Installation
190. ved by SV 1RUN start the move 1MC 1STOP1 1 enable the stop input amp program continue 1G input 1 goes active during motion 1TR IP 1 wait for input 1 amp in position settle time 1 STOPPED STOPPED transmitted when motion has halted 11F ST4 XXX1XXXX 1 INPUT 1 1END The stop input only stops indexed motion 180 VIX IE SERVO DRIVE USER GUIDE SV Save configuration Syntax Units Rangeof n Default Seealso Description When the SV command is issued the current controller system variables and user programs are stored in non volatile memory Any data saved will be restored following the next power ON cycle The number of write save cycles is 1 million Normally there will be a delay of approximately one second before a command following a save configuration is executed If a program is running or is being downloaded when the SV command is issued a delay of 10 seconds is allowed for the program to terminate or to finish downloading After 10 seconds if the program is still running or downloading a user fault is generated cannot execute command drive not ready bit 19 Wait 1 2 seconds before sending any other command following an SV Properties Immediate can t be used in labelled block Example 1RFS return drive to factory settings 1A150 1 acceleration set to 150 1rps 1SV save current settings 1Z reset drive 1A report current value of acceleration T Syntax aTn Description
191. ver 0313 020 1 H8FE1115NC ferrite sleeve 4005 218 1 3 1 heatshrink 19mm diam 4216 101 1 Closed P clip 9mm ID 4216 102 1 Closed P clip 10 7mm ID 4216 103 1 Closed P clip 12 3mm ID 4 VIX IE SERVO DRIVE USER GUIDE Further Information This user guide contains all the necessary information for the effective use of this drive However to gain a more in depth understanding of drive applications and motion control consider attending one of our world wide Customer Specific Training Workshops Examples of previous courses that have proved to be of benefit include Use and programming of the DIN rail H amp L series drives PDFX training Using the 6K controller EASI Tools programming Mechanical product training for ET ER XR and HPLA 2 MECHANICAL INSTALLATION 5 2 Mechanical Installation Installation Requirements Environment ViX drives operate in a temperature range of 0 to 40 C with natural convection or 50 C Max with forced air cooling see Hardware Reference at normal levels of humidity 5 95 non condensing The drives can tolerate atmospheric pollution degree 2 which means only dry non conductive pollution is acceptable Drive Cooling Cooling of all drive types is by natural convection up to 40 C To assist cooling drives should be installed vertically in an area where there is at least a 50mm minimum air gap above and below the package and a 10mm minimum gap either side Avoid mounti
192. ver the page Major changes in revision 02 include UL approval information added Motor cable type changes System variables revised SCALE and LOADENC commands added ii VIX IE SERVO DRIVE USER GUIDE Latest Changes Sheet This page lists important changes occurring immediately before publication or between issue updates 1 INTRODUCTION 1 1 Introduction Product Description Available in two power ranges these intelligent digital servos use field oriented control technology to give enhanced dynamic performance with improved efficiency Housed within an extremely compact case the drives are suitable for either direct panel or DIN rail mounting Using full PWM control with sinusoidal commutation the two versions of power stage can have continuous current ratings of 2 5A and 5A at motor bus voltages up to 80V Having a choice of resolver or encoder feedback the drives may be used with a wide range of 3 phase servo motors of different pole counts Figure 1 1 ViX250 ViX500 Digital Servo Drive 2 VIX IE SERVO DRIVE USER GUIDE Product Variants Digital servo drives are available as intelligent or CAN versions with resolver or encoder feedback Table 1 1 lists the possible combinations Product Code Description ViX2501E 250VA Intelligent servo with encoder resolver feedback ViX250CE 250VA CAN controlled servo with encoder resolver feedback ViX5001E 500VA Intelligent servo with encoder resolver fee
193. when terminating the cable screen the screen itself is comparatively fragile bending it round a tight radius can seriously affect the screening performance The selected cable must have a temperature rating which is adequate for the expected operating temperature of the motor case 22 VIX IE SERVO DRIVE USER GUIDE SMB Motor Connections at the Motor The motor power connections are made using a 6 way connector Figure 3 7 shows the connector pin lettering and Table 3 5 gives the connectivity View looking into the cable socket Figure 3 7 Motor Power Connector Pin Identification Drive end identity Motor connector Function X1 pin number 4 black 1 Phase U 3 black 2 Phase V 2 black 6 Phase W 7 black via fuse 4 Brake 1 black 5 Brake 5 green yellow 3 Gnd Table 3 5 Motor Power Cable Wiring Motor feedback connections are made using a 17 way connector Figure 3 8 shows the connector pin lettering and Table 3 6 gives the connectivity View looking into the cable socket Figure 3 8 Motor Feedback Connector Pin Identification 3 ELECTRICAL INSTALLATION 23 15 way D Motor Resolver Encoder type pin feedback reference connector X2 pin 1 15 Reserved Inc Enc Z 2 16 Reserved Inc Enc Z 3 twin 7 OV OV 4 14 REFres Reserved 5 twin 8 5V output 5V output 6 7 OV OV 6 13 Motor overtemp Motor overtemp 7 1 SIN
194. whilst the limit mode is set as stop on limit and the fault switch is enabled 2 When hitting a limit during a move whilst the limit mode is set as stop on limit and the fault switch is enabled 3 Having a hardware drive fault with the fault switch enabled Note If within the LIMIT command the mode is set to 1 stop when a limit is hit but continue the program motion will be stopped at the programmed limit deceleration No FAULT label will be called and the program will continue in a normal manner Immediate or buffered can be used in labelled block saved by SV 134 VIX IE SERVO DRIVE USER GUIDE Example Note The code following the START label will be run at power up 1START start label 1T0 5 delay 10N 1LIMITS 3 0 0 disable limits 1PROFILE1 100 100 4000 25 define profile 1 1USE 1 suse profile 1 1G execute profile 1 1END 1ARM1 arm the start label 1SV save the code If you save the controller with ARMO then the start up sequence will fail to run and the controller will wait for serial commands Using EASI V software certain commands become armed when their on off parameter is set to on Requesting an ARM status will report the state of the START and FAULT labels for example aARM START 0 FAULT 1 6 COMMAND REFERENCE 135 BRAKE Brake configuration Syntax Description Properties Example Note aBRAKEon off mode RD ED on off is the manual brake command
195. witch region or from the negative side of the home switch or in which direction it goes from its starting point positive or negative its final direction of travel towards a nominated home switch edge is always the same Direction of travel towards the positive edge of the home switch is always negative and the direction towards the negative edge of the home switch is always positive This minimises variations in the home switch operating point between separate homing moves Example of Homing Datum Routine 1START start label definition 1DECLARE MOVE3 declare label 1LIMITS 0 1 0 configure limits enabled normally closed stop when hit 1HOME1 1 15 100 1 configure the home parameters 1GOTO MOVES3 transfer to label move 3 1END end of label definition 1MOVE3 define program label move 3 10 0 turn off o p 1 1GH execute the go home move 10 1 turn on o p 1 after go home complete 1A100 set acceleration to 100rps2 1V25 set velocity to 25 rps 1D4000 distance to 1 motor rev 1G execute move 1END end of program move 3 definition Interaction Between Homing and Limits In certain applications a limit switch may be used to define the home position in which case one switch can be used for both a limit and the home position This requires the consideration of two possible situations 1 Where home and limit switches are wired separately 2 Where home and one of the limit switches are shared In
196. with Linear PSU APPENDIX B 215 Appendix B Encoder amp Resolver Phasing Encoder and Resolver Phasing Diagrams Positive direction is clockwise CW when the motor is viewed from the shaft The commutation diagrams show motion in the positive CW direction However the drive s internal electrical position counts down for CW motion Resolver phasing diagrams for the IE drive Phasing is shown for clockwise rotation when the motor is viewed from the motor mounting flange Line voltage W V is defined as X1 pin 2 with respect to X1 pin 3 Line voltage V U is defined as X1 pin 3 with respect to X1 pin 4 Line voltage U W is defined as X1 pin 4 with respect to X1 pin 2 Cos is defined as X2 pin 12 with respect to X2 pin 11 Sin is defined as X2 pin 8 with respect to X2 pin 7 The drive Z index mark is generated internally at the point where Sin is zero and Cos is at its positive maximum The alignment of the resolver to the motor winding for non standard motors can be set by adjusting IX For the SMB motor IX 180 For the BE resolver motor IX 90 For easier set up non standard motors should be configured to comply with the SMB motor phasing diagram SMB phasing diagram Pee ho d w v i X if E f N j i d j U W j RLA IFA j Bh peer EES ER RS Bae AEE SN y j PEN O le Loiif Js ri ct EED AEP ee ea SER E TAE A Alpes SERA EA SA mae A fh y A f M4 V U aes ee Nad hf Ny Cos TL er Pee ee T Sin Sr
197. xis 1 To automatically assign addresses connect all power motor feedback and communication cables then power up all the drives see command for more details At the controlling PC type the following commands 1 cause the 1 drive to establish the daisy chain in a 3 axis system the response willbe 4 OSV save the address configuration 0Z sreset response should be a single check sum from axis 1 more than one check sum indicates a problem possibly no save command Final drive terminates X7 front Figure 3 29 RJ45 RS232 Daisy Chain Connections Note for RS485 operation the drive will need to be fitted with a FEM CAN amp RS485 interface Using the command 1 485 will switch all drives to 485 operation which is automatically saved Using the X6 X7 connections on the underside of the drive will allow the last drive in the chain to detect that there are no more connections made to X7 which will close the daisy chain loop back internally 3 ELECTRICAL INSTALLATION 51 To maintain the integrity of the EMC screening all RS232 and RS485 connections must be made via the drive s X3 D type connector RJ45 Connecting Leads RJ45 link cables can be ordered from Parker Various lengths are available as listed in Table 3 15 Part Number Length VIX RJ45 0025 0 25m VIX RJ45 0050 0 5m VIX RJ45 0075 0 75m VIX RJ45 0100 1 0m VIX RJ45 0200 2 0m Table 3 15 RJ45 Connection Lead Types
198. zeros but if a fault is still present you will not be able to energise the motor Immediate or buffered can be used in labelled block saved by SV 1START program start up routine 10N energise motor attempts to clear any faults 1END 1FAULT fault handling routine 1 FLT send warning over comms 1TR IN XX1 wait for reset input 3 1GOTO START re run start routine 1END This small section of program shows the use of the ON command at the start of the code and the use of a fault routine to attempt a program re start if a fault occurs Issuing an ON command will clear all user status flags 168 VIX IE SERVO DRIVE USER GUIDE PROFILE Define move profile Syntax Description Properties Example aPROFILEnumber AA AD D V The PROFILE command sets up a table of move profiles in the controller memory These profiles can be recalled at any time by the USE command The PROFILE command parameters are Acceleration AA Deceleration AD Distance D Velocity V Ranges for the AA AD D and V commands are as stated for each individual command The range of PROFILE number is 0 to 8 but PROFILEO cannot be defined Use PROFILEO to read the current profile settings The format of the returned message will be 0 AA10 0 AD10 0 D4000 V1 00 Immediate or buffered can be used in labelled block saved by SV Profile 1 is to represent a move of 1500 steps on axis 3 at a velocity of 25 rps and acceleration decel

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