Home

Kollmorgen M-SS-005-03 User's Manual

1. Algebraic Operator Symbol Unary Binary Operand Type Parentheses NA double long string joint location Exponentiation Binary double long Negation gt double long joint location Unary Plus Unary double long joint location Multiplication Binary double long joint location Division Binary double long joint location Modulo Mod Binary double long Addition t Binary double long string joint location Subtraction double long joint location Compound Binary location Relational Operator Symbol Binary Unary Operand Type Parentheses Not applicable double long string Equality Binary double long string Inequality lt gt Binary double long string Less than lt Binary double long string Greater than gt Binary double long string Less than or equal to lt double long string Greater than or equal to gt Binary double long string Word wise Logical Operator Symbol Unary Binary Operand Type And And Binary long Or Or Binary long Exclusive or Xor Binary long Not Not Unary long RevE 21 22 BASIC Moves Development Studio 06 2005 Danaher Motion Bit Wise Logical Operator Symbol Unary Binary Operand Type Bitwise Negation BNot Unary long Bitwise And BAnd Binary long Bitwise Or BOr Binary long Bitwise Xor BXor Binary lon
2. The Header 3 10 2 Source axis location Target axis compensation 1 3 1 4 5 0 0 5 0 9 2 21 4 5 3 1 4 5 1 32 4 5 2 32 4 5 6 32 4 5 4 4 5 1 3 1 5 0 6 4 5 0 The value in the table is locked and calculated according to the source axis PCMD and is linearly transformed The source axes determine the correction value depending on location The target axes are corrected The table has a header which consists of the number of axes in the table followed by the number of compensation points defined for each axis The table can be created the MC using TARGETDATA SOURCEDATA and CREATECOMP or can be loaded from a binary file with a CMP extension The correction takes affect when ALL the source axis position feedbacks reach the first i e the minimal value in the table The target axes are added and the value calculated in the table to its current PCMD and PFB Rev E 137 Compensation Tables 06 2005 Danaher Motion 7 1 2 7 1 3 138 The values in the source columns are in absolute units while the target values are in relative units i e the value specified in the table is added to the current position of the axis whether it is a geared cammed or a regular axis A value different from 0 at the beginning of the table causes a jump at the target axes whenever the source axes get to the minimum value specified in the table
3. 98 4 2 1 POSITION CAPTURE ETE 98 4 2 2 HOMNG 99 4 2 3 REGISTRATION 101 4 2 4 M 102 4 2 5 CLAMPING Ed 102 4 2 6 PIPEMODE gt e tee P HC RI p e a e e nies 103 MUECIHUD I SAU 105 5 1 MASTER SOURCES 105 5 2 GEARING 106 5 2 1 ENABLE GEARING iere reci e epe e e eee e eee ia 106 52 DISABLE GEARING RR IRI dE 106 5 2 3 INCREMENTAL MOVES ciasno Re epe 107 SS MET 5 In 108 5 3 1 KEY FEATURES ji cer e exe n REUNIR t 108 5 3 2 E 109 5 3 3 INCREMENTAL MOVES 109 5 3 4 CAM TABLES pe EAE es cec e abe ee eene 109 5 3 5 CAM CYCLES 111 5 3 6 CREATE CAM TABLES 113 5 3 7 OPERATING CAMS ies EN a RORIS 115 5 4 SIMULATED MASTER SLAVE AXES 119 5 4 1 FIXED SPEED MASTERS 119 5 4 2 MONITOR PHYSICAL AXES escscssescscescecesceeesceeeseeceseeceseeeeseeeeseeeceeeaceeaeeesaees 119 5 4 3 SYNCHRONIZE SLAVE AXES pendere ni ena P ap ea Ren ea
4. 194 viii RevE M SS 005 03 Danaher Motion 06 2005 Overview 1 M SS 005 03 OVERVIEW This manual describes how to use the SERVOSTAR MC Multi axis Controller product To execute the examples described in this manual you must at least have a SERVOSTAR MC and BASIC Moves Development Studio installed on your host computer Some examples further require that you have a drive installed and connected to the MC using the SERCOS Interface cables The SERVOSTAR MC Installation Manual describes the procedures for all the necessary installations Version 5 0 0 of the firmware incorporates many new commands functions and properties and in some instances the behavior of functions commands and properties found in previous versions of the firmware have been changed This edition of the SERVOSTAR MC User s Manual applies to version 5 0 0 firmware and is not necessarily backward compatible with previous versions of the firmware If you have used previous versions of the MC you may find that some functions commands or properties which you are familiar with now have different behavior or may no longer exist Refer to the SERVOSTAR MC Reference Manual for additional information as it covers all versions of the firmware When you complete this manual you should feel comfortable using all the features available the SERVOSTAR MC Related manuals SERVOSTAR MC Installation Manual SERVOSTAR MC B
5. Position Command One count Position Feedback One count Velocity Command 1 256 count per SERCOS update Velocity Feedback 1 256 count per SERCOS update 3 12 7 SERCOS Support The MC provides numerous commands within the language to support SERCOS Sercos Baudrate for SERCON 410B The SERCOS baud rate is set to 2 2MBits sec or 4 4MBits sec The baud rates of all drives must be the same To control the baud rate on the drive find the 10 position DIP switch on top of the drive and set the Switches according to the following Baud rate Sercos Baudrate Drive Switch 6 2 MBits sec 2 Off 4 MBits sec 4 On Sercos Baudrate for SERCON 816 The SERCOS baud rate is set to 2 2 M bits sec 4 4 M bits sec 8 8 M bits sec or 16 16 M bits sec The baud rates of all drives must be the same To control the baud rate on the drive find the 10 position DIP switch on top of the drive and set the switches according to the following Baud rate Sercos Baudrate Drive Switch 6 Drive Switch 10 _2 M bits sec 2 Off Off 4 M bits sec 4 On Off 8 M bits sec 8 Off On 16 M bits sec 16 On On Remember that DIP Switch 6 and DIP Switch 10 are read by the drive only on power up If you change switch 6 or DIP Switch 10 you must cycle power on the drive Some versions of drives exists SERCON816 but in compatible mode in this case it equals to SERCON 410B For checking drive sercon version and mode see drive product
6. 49 Bod PROTECT SERUG LURE rad E ekle a OR OUR FM ek 49 32 TASKS p 49 32 1 GENERAL PURPOSE TASKS 1 0 2220 1 23 3 0 00000000000000000000000000000000000 49 322 CONFIGURATION ent rte ER CANC ERR HL XR EM 51 3 2 3 AUTOEXEC LASK OAA 51 3 3 PROGRAM DECLARATIONS 2 52 3 3 1 ARRAYS 52 dou MULTI TASKING seva vade c etica de ek e OR RU DU ERR GERE 55 3 4 1 LOADING THE en eee decipiat 57 3 4 2 PREEMPTIVE MULTI TASKING amp PRIORITY LEVELS eee 57 3 4 3 INTER TASK COMMUNICATIONS AND CONTROL eerte 57 3 4 4 MONITORING TASKS FROM THE TERMINAL eerte 59 3 4 5 RELINQUISHING RESOURCES eese tenente nennen 59 3 3 EVENT HANDLER 60 22 1 ONBVENT n NIE ERE 60 3 5 2 Ius Wie 61 3 5 3 Au uS 61 3 5 4 BVENTLEIST rh e PREGA 3 5 5 EVENTDELETE iicet e REG Re Ge c 3 5 6 EVENTS AT START UP 3 5 7 PROGRAM FLOW AND ONENVENT 61 3 6 SETTING UP AXES e EN DUE ARRAS ERA 62 3 6 1 AXIS DEFINITION e Re E MESE ete at 62 3 62 EVARB NI 62 3 6 3 DRIVE A
7. Every sample the controller sends the operation mode to the drive Without any dependency at the drive s operation mode the controller sends the position and velocity commands to the drive Program Sys EN Off Sys PIPEMODE 2 Definition As Position amp Velocity mode Sys EN On Sys Vin 1 1 Velocity Operation Mode attach A1 Al PIPEMODE 1 Pipe mode Activation 1 1 While Sys Din 1 1 External condition for Pipe Mode sleep 1000 end while Al PIPEMODE 0 Exit from the Pipe mode Sys Vin 1 0 Return to the Position Operation Mode detach Al End Program 104 RevE M SS 005 031 Danaher Motion 06 2005 Master Slave o 9 1 55 005 03 MASTER SLAVE Master Slave motion links the position of one axis slave to the position of another master The master axis is any axis controlled by the MC or an external axis External axes are connected to the MC via the external encoder input on any of the drives controlled by the MC There are two types of master slave motion gearing and camming Gearing is used when the position of the slave must be proportional to the position of the master Camming is used when the relationship is more complex Camming allows you to specify a one to one mapping of the positions of the master and slave MASTER SOURCES The master signal for master slave motion is one of three sources 1 A p physical axis controlled by the MC 2 A simulated axis inside the MC 3
8. 146 10 INPUT OUTPUT 10 TSTANDARD VO TEE 10 2 SOETWAREI O oerte eiae ese Oa CREE ORO MEYER UTR EXER ES 10 2 1 BIT ORIENTED SOFTWARE I O 10 2 2 LONG WORD ORIENTED SOFTWARE I O eese 150 10 3 PLS PROGRAMMABLE LIMIT 150 10 3 1 ENABLE AND prre e 150 10 3 2 SWITCH POSITIONS 1 edt ERR TN AM eet e ERN Hebe 151 10 3 3 REPETITION INTERVAL EA RERUMS 152 10 3 4 POLARITY eee e RE a e BEER E HORE Cete 152 10 3 5 HYSTERESIS 152 10 3 6 ENABLE AND DISABLE i 152 10 3 7 PES OUTPUT STATE 153 10 3 8 FS EH K B OEE EE A AAEE IE EAE 153 10 4 EXTERNAL ENCODERS iieii taiea aai 154 LOS PO LOB E RNE E OO R O REAR 155 10 5 1 CONFIGURING 104 155 10 5 2 INSTALLATION A RA eR 155 10 5 3 eo i P M 156 ERROR HANDLING 157 EDT GON 157 11 1 1 TASK CONTEXT nee ENTE ROREM sts 157 11 1 2 SYSTEM CONTEXT NEE EXER ES 159 11 1 3 TERMINAL CONTEXT 160 WE 2 WATCHDOQG zit UO We 160 11 2 1 WATGHDOG SETUP
9. The difference between the corrected position COMPPCMD and the actual position feedback determines the position error of the target axes PCMD returns the position of the generator before correction The source PFB for example source1 pcmd 1 source2 pcmd 3 2 source3 pcmd 4 5 is searched in the table and linearly transformed from the previous points in the table to give the correction for the target positions While the source axis continues its movement along the specified zone the target axes change their positions according to the table When one of the sources goes beyond the max value there are no more correction added for any of the axes in the table correction 0 A jump may occur Correction values are assumed very small and will not cause a large jump in the target axis VOSPD and PEMAX are affected by the corrected position Change these values accordingly to avoid exceeding the maximum values While the compensation table is active the values of the table cannot be changed After the table is created only the target values can be change Access Data The compensation table data is arranged in the form of following target data for the points for each individual axis If there are three axes 1 there are three N1 N2 N3 compensation points defined To calculate the index to access the table with the indexes i j k for A1 A2 A3 use Define The compensation table is defined as a global variable
10. more code CALL MatrixMath array z 1 1 rows columns more code End Program SUB OrdinarySubroutine paraml As Double ByVal param2 As Long REM pass paraml by Reference param2 by Value REM declare local variables if any REM specification of subroutine optional code using paraml and param2 End Sub SUB MatrixMath matrix As Double ByVal rows As Long ByVal columns As Long REM pass matrix by Reference rows by Value columns by Value REM declare local variables if any REM specification of subroutine optional code using matrix rows and columns End Sub 166 Rev E M SS 005 03 Danaher Motion 06 2005 Appendix A SAMPLE AUTOSETUP PROGRAM Below is an example auto setup program This sample covers several pages You do not need to understand the program in detail at this point but you should familiarize yourself with the structure REMOVING THE SINGLE QUOTES IN THE FOLLOWING CODE CAUSES THE PROGRAM TO ENABLE THE DRIVES AND GENERATE MOTION COMMANDS BE PREPARED FOR THE MACHINE TO MOVE ENABLING THE SYSTEM WITHOUT PROPER TUNING MAY CAUSE UNEXPECTED MOTION BE CERTAIN YOUR SYSTEM IS TUNED PROPERLY SEE THE SERVOSTAR MC INSTALLATION MANUAL FOR MORE INFORMATION rem 5 C Program Files KMTG Motion Suite BASIC Moves Projects Junk2 Junk2 prg rem AUTHOR lt Name of Author Here gt rem TIME lt Time of Creation Here gt rem PURPOSE Main Project File rem Declare Variables Here Dim
11. 1 3 06 2005 Danaher Motion SYSTEM HARDWARE The MC hardware is available in two types of implementation a plug in circuit board for a host computer and a stand alone model The PCI plug in board hardware installs in a host computer typically a PC running the Windows NT 4 0 Windows 2000 XP operating systems The MC contains a fully independent computer system so it does not compete with the host processor system for resources The MC uses Pentium 233 MHz or faster microprocessor to provide the power your system needs today and the x86 upgrade path allows for future enhancement The MC includes large on board memory with ample capacity for your programs and enough space for expansion There is also an onboard Flashdisk for storage of your programs The stand alone model of the MC is designed for installation as a component part in industrial equipment It consists of the PCI version plug in board and a power supply in an enclosure The stand alone model does not have a host CPU to provide a Windows operating system and environment so it can not directly provide an operator interface For interactive operation of the stand alone MC you will need a host computer running BASIC Moves Development Studio software and communicating with the MC via Ethernet or serial communications with Windows NT Windows 2000 XP operating system For additional information concerning communications configuration refer to the SERVOSTAR MC Installation
12. General Purpose Tasks General purpose tasks are the work horse of the MC language They implement the basic logic of your application The great majority of your programming is implemented with general purpose tasks Each general purpose task is divided into three sections a task variable section a main program and subroutines The main program is further divided into three sections a Start up section an OnError section and an OnEvent section Rev E 49 Project 50 06 2005 Danaher Motion SERVOSTAR MC Project Dim Shared I as Long Dim Shared X 10 s Double Task Variable Declaration Start up Section Program OnEvert PRINTER I 5 Print Evert 155 End OnEvent OnExror Catch 8001 Divby Main OnEyror Print Divided by zero Program Continue Task End EvertOn PRINTER Tum event on For I 1 To 10 Call Sinple Next I T 10 Show Print Task continue d after error End Program On Event i Subroutine i A task variable definition section The task variable definition section where all task variables are declared with the Dim Shared command The main program Most programming is done in the main programming section The main programming section falls between the Program End Program keywords The main program itself has three sub sections The Start up section The start up section immediately fo
13. Scara is attached to Taskl Prg through its generic representative Gen Group Attach Gen Group Scara is attached to Scara AttachedTo Initial position of Scara is Scara PFb Scara is moved through its generic representative Gen Group Move Gen Group 300 500 40 0 absolute 1 Sleep 200 Final position of Robot is Scara PFb Detach Gen Group gt Scara is attached to TASK1 PRG Initial position of Scara is 0 0 0 0 Final position of Scara is 300 500 40 0 6 11 1 2 MOTION PROPERTIES Through assignment a generic element acquires all properties of the element being assigned to it Properties of real elements can be queried through their generic representatives Gen Axes List 1 While Gen Axes List 1 IsMoving lt gt 0 Sleep 1 End While Sys Dout 1 1 Changes made in properties of generic elements identically affect the properties in the referenced real elements Print Position Factor and Acceleration of A1 Before SetUp Al Pfac 1 Set Al s properties through Gen Axes List 1 Call AxisSetUp Gen Axes List 1 Print Position Factor and Acceleration of 1 After SetUp Al Pfac 1 Position Factor and Acceleration of 1 Before SetUp 65536 1000 Position Factor and Acceleration of 1 After SetUp 32768 1500 136 Rev E M SS 005 031 Danaher Motion 06 2005 Compensation Tables 7 7 1 1 55 005 03 COMPENSATION TABLES Groups a
14. Sys VOSpd 25 immediately if the velocity is previously greater than 25 reduces the velocity of all currently executing MOVEs CIRCLEs and JOGs as well as any subsequently issued commands Since the velocities are controlled by VOSPD the acceleration and jerk rates of all axes are proportionally adjusted The final positions of MOVES are not affected Use group VELOCITYOVERRIDE lt group gt VORD to override the velocity of a group rather than the entire machine It is used similarly to SYS VORD except it applies only to the group VORD can be applied to as many or as few groups as is desired and the amount of override specified for one axis is independent of the others Rev E 135 Groups 06 2005 Danaher Motion If you use SYS VORD and group VORD simultaneously the axis speed is reduced by the product of both override properties For example Sys VOrd 66 GroupB VOrd 50 Reduce entire system to 2 3 speed Reduce GroupB to 1 3 speed You cannot override an axis in a group Once an axis is part of a group it cannot be controlled independently 6 11 1 1 MOTION ASSIGNMENT After assignment a generic element can be used in all motion commands as a representative of another usually real motion element All activities performed on the generic element identically affect the real element Common Shared Scara As Group AxNm Al AxNm A2 AxNm A3 AxNm A4 Model 4 Gen_Group Scara In Taskl Prg
15. D 18 27 19 E Error 7039 Syntax Error Module Translator OUTPUT REDIRECTION Typically tasks inherit their standard output from the loading context such as the entry station or standard output of a loader task Sometimes you must redirect task output print to a different place such as another entry station or even a virtual entry station RedirectStdOut RedirectStdOut provides this capability RedirectStdOut task32 prg NewStdOut 1 gt NewStdOut be 1 Ethernet 2 DPRAM 3 Virtual Entry Station 4 Etherent2 A Systems with FPGA version 8 51 firmware 4 0 0 and higher support IP over DPRAM NewStdOut type is 1 3 or 4 CAUTION FILE OPERATIONS Input and output whether to or from files are supported on Flash and RAM devices The files are accessed either in serial or random order Currently only ASCII text files are supported both printable and non printable characters OPEN Opens an existing file or creates a new one with the name specified in the string expression The file name should not exceed 8 characters plus extensions Acceptable file extensions are PRG DAT TSK CMP for permanent files on the Flash disk REC for temporary files on the RAM disk You can open a text file to read write or append to the existing file according to mode flag r open text file for reading w truncate to zero length or create text file for writing a append open or create text fil
16. The parameters can be passed by value as well as by reference This function returns a value that can be processed by an MC Basic application MC BASIC provides a facility to load a user object file into the RAM of the MC This file is relocatable and must include information about global symbols for the MC to find the C function The object module may consist of any number of functions The only restriction is RAM limit Object Files Object files extension o contain compiled C programs and are stored in the Flash disk You can SEND object files to the controller load files into RAM with OLOAD and unload them with OUNLOAD If OLOAD OUNLOAD fails for any reason details are found in the OLOAD ERR file RevE M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio 2 5 2 55 005 03 Prototype File For the MC Basic language translator to match function parameters provide a C function prototype file PROTO PRO It is important to understand that matching between the provided MC prototype and actual C implementation cannot be tested by the translator It is your responsibility to keep consistency between the function prototype and C implementation To speedup translation of the prototype file PROTO PRO is copied into RAM at startup and at every OLOAD When PROTO PRO is modified and sent to the controller issue an NOTE OLOAD or reboot the MC to refresh the prototypes in the RAM The translator is case insen
17. erecti ie 161 11 2 2 CYCLE THE WATCHDOG 161 11 2 3 RESET certet ree rede iei xe eee e aree dein dene 161 11 3 USER ERROR ASSERTION essent OT E 162 TDA EXCEPTIONS 9 EET REESE FORE HERES 162 11 4 1 11 4 2 11 4 3 11 4 4 11 4 5 11 4 6 11 4 7 vi Rev E M SS 005 03 Danaher Motion 06 2005 Table of Contents APPENDIX A Wero PCS uessscvoeessovosseasesvosevecersensede 165 SAMPLE NESTING EINEN sends E RUM XH e ck 165 SUBROUINERXAMPULDE 166 SAMPLE AUTOSETUP PROGRAM 167 APPENDIX 55255 6 S 171 NON HOMOGENOUS GROUPS scsssesssessvessvessvesssesssesssesssesssesssesssesssesssesssesssesssesssecssecsuecssecase 171 KINEMATICS GO a dae 171 UB PL PI PTT 173 JOINTS E 174 ROBOT MODELS 5 2 2 3 e CU OI RCRUM ORO HS 175 INTERPOLATION 176 CARTESIAN PROFILE 2 6 A ees 179 WORKING ENVELOPE ctii t nta dh de Ra Ra E deae eh eb det de ta n E 180 ROBOT CONFIGURATIONS AO 181 POINTS anon c ENERO E D Cp OATS 181 DECLARATION nes nai 182 VARIABLES 5 5 etr OR COUR
18. A AxisByIndex Index Call AxisSetUp A Next The generic element returning function itself cannot be used as an argument since generic elements can only be passed by reference and a function call is passed by value For Index 1 to Sys NumberAxes Call AxisSetUp AxisByIndex Index Next gt Cannot pass a constant or a complex expression by reference to subroutine function Joint J axes cannot be assigned to return values Function JointAxisByIndex Byval I As Long As Generic Axis Select Case I Case 1 JointAxisByIndex G1 J1 gt Syntax Error Case 2 JointAxisByIndex G1 J2 gt Syntax Error End Select End Function M SS 005 03 Rev E 147 GENERIC ELEMENTS 06 2005 Danaher Motion 9 2 WITH WITH can be given in three contexts configuration file terminal and task All three contexts of WITH can be applied to generic elements With Gen_Axis PFac 0x8000 VFac PFac 1000 AFac VFac 1000 JFac AFac 1000 End With WITH can be used on assigned and unassigned generic elements These generic elements can be assigned and or re assigned later This changes the WITH element without writing a new WITH command With Gen_Axis With GEN AXIS VMax Error 3005 Nonexistent group or axis Module Motion Gen Axis 1 VMax 290 Gen Axis A2 VMax 360 148 Rev E M SS 005 031 Danaher Motion 06 2005 Input Output 10 10 1 10 2 10 2 1 M SS 005 03 INPUT OUTPUT The
19. An encoder signal connected to the external encoder input of a drive attached to the MC The internal MC clock produces an incremental pulse every SERCOS cycle To set the master source of an axis use MASTERSOURCE For example to Set the master input for axis A2 to the position feedback of axis A1 enter A2 MasterSource Al PositionFeedback This works whether A1 is a physical or simulated axis You can also use POSITIONCOMMAND PCMD as a source for gearing or camming This eliminates the lag caused by the position error in the master axis The negative side is the slave is following the command rather than the actual position Many times the master source needs to be an external encoder signal This may be an encoder from a line driven motor or from a servo motor controlled by an external device such as a PLC or even another MC Sometimes the master source is not a motor For example you can use a pulse train as a master signal In all these cases the signal is connected to the external encoder input of one of the drives controlled by the MC The SERVOSTAR drives accept standard quadrature encoder signals as well as pulse trains Refer to the installation manual for your SERVOSTAR drive for more information about the external encoder input After the external signal is connected it can be assigned as the master Source of any axis using the variable POSITIONEXTERNAL PEXT For example to set axis A2 to follow the external enco
20. Common shared compl as comp CreateComp Compl 3 4 8 Creates a table with 3 4 8 number of rows and 6 number of columns 3 for the source amp 3 for the target CompSet Compl 1 A3 4 on 2 6 5 Sources Al 4 and targets 2 6 5 respectively maximum and minimum positions of the table are set for every axis in the compensation table as well as a multiplier Compl minposition 2 1 32 Compl maxposition 2 4 5 Set the maximum value for the second axis in the table RevE M SS 005 031 Danaher Motion 06 2005 Compensation Tables 7 1 4 7 1 5 7 1 6 7 1 7 7 1 8 55 005 03 Load Save From a File Another way to create a compensation table is to directly load it from a binary file stored on the Flash disk The structure of the compensation file is Header number of axes number of points axis lt number of points axisn integer 4 bytes Source data min axis1 max axis1 gt lt min axisn gt lt max axisn double 8 bytes Target data target values for 1 target values for axisn double 8 bytes The file can be created directly from Basic Moves by loading a list of values arranged as described above in a CSV format into the MC s Flash as a binary file with the CMP extension see LOADCOMPDATA and STORECOMPDATA in the SERVOSTAR MC Reference manual Set and Query Values While the comensation table is not active you can cha
21. End Sub Call AxesL The element type i e function or subroutine Call AxisSetUp G1 Variable passed by reference has another type as in subroutine function declaration nes Here the argument is generic StSetUp AxList As Generic Axis S long 1 To Sys NumberAxes st i PFac 0x8000 st i VFac AxList i PFac 1000 st i AFac AxList i VFac 1000 st i JFac AxList i AFac 1000 istSetUp Gen Axes List axis or group of an argument must match the declaration Otherwise a translation error occurs Gl is a group End Sub Trying to define generic elements by value generates an error Sub AxisSetUp ByVal Ax As Generic Axis Cannot pass an axis or a group by value to subroutine function 146 Joint J axes cannot serve as function or subroutine arguments Call AxisSetUp G1 j1 Syntax Error Rev E M SS 005 031 Danaher Motion 06 2005 GENERIC ELEMENTS Generic elements can also serve as returned values of MC Basic functions Both real and generic elements can be assigned to returned values For example to generalize the former code an axis indexing function can be added in which a real axis is assigned to the return value Function JointAxisByIndex Byval I As Long As Generic Axis Select Case I Case 1 JointAxisByIndex Case 2 JointAxisByIndex End Select End Function Then write a general loop Dim A As Generic Axis For Index 1 to Sys NumberAxes
22. For groups with robot models model gt 1 there is an additional moving type MOVES The movement makes a straight path from the starting position to the given target position in the world space The straightness is tightly related to the working space The same path can be straight in the Cartesian working space XYZ but curvy in joint space and vice versa MOVES is used solely for groups from type robot and cannot be used in regular groups Straight line motion refers to motions that are straight lines in world space In groups with no robot model model 1 all motions produced with MOVES are straight line motions in joint space In regular linearly dominant groups most of their axes are linear As the world space and joint space are identical MOVES executes a straight line in both joint and world space The target position can be given both in world and joint space coordinates The movement differs from joint interpolation MOVE Instead of joint space kinematics parameters used in regular groups the world space parameters for velocity acceleration and jerk are used These parameters are available in two forms one for the translational part of the motion and one for the rotational part orientation When world space has both position and orientation components the straight line motion includes interpolation on both position and orientation Because these two are intrinsically different objects two different parameters are needed on
23. In fact any number of axes can be added to a group To set up a group first set up each of the axes that will be in the group Then use Common Shared to form the group Common Shared MyGroup as Group AxisName xAxis AxisName yAxis There is no limitation to the number of axes in a group All axes in the system including simulated axes may be part of one group It is necessary to set VELOCITYFACTOR ACCELERATIONFACTOR and JERKFACTOR for the group As a first approximation set lt group gt VFAC 1 1000 set 1000 and set JFAC AFAC A 000 DELETEGROUP DELETEGROUP deletes the specified group The participating axes thereafter function only as independant axes They must not be moving No tasks may be loaded ACCELERATION PROFILES As with single axes the MC provides controlled acceleration profiles for groups This reduces vibration and wear on the machine and allows the highest acceleration rates You can independently control the acceleration and deceleration rates Acceleration and Deceleration group ACCELERATION and lt group gt DECELERATION control the acceleration rates of the group mechanism For example the following lines change the acceleration rates for MyGroup MyGroup Acceleration 1000 MyGroup Deceleration 1000 group ACCELERATION and lt group gt DECELERATION apply to the combined motion of the individual axes For example if MyGroup is a three axis group formed with
24. Move xyTable 3 2 While xyTable isSettled False wait for settling End While Begin Pattern xyTable StartType GCOM smoothly from one move to the next xyTable Absolute FALSE Incremental moves Move xyTable 0 4 Circle xyTable Angle 90 CircleCenter 2 2 Move xyTable 4 0 Circle xyTable Angle 90 CircleCenter 2 2 Move xyTable 10 4 Circle xyTable Angle 90 CircleCenter 2 2 Move xyTable 1 4 0 Circle xyTable Angle 90 CircleCenter 2 2 While xyTable isSettled False wait for settling Detach xyTable End Program 6 9 9 M SS 005 03 Blending Two movements blend tighter to smooth connection points There are two ways to blend the movements preserving the movement s path CP or superposition Set the blending method s ID with BLENDINGMETHOD The continuous path method CP blends where continuity and velocity smoothness are required gluing dispensing It is less useful for high speed pick and place applications where cycle time is the main quality measurement Using this blending method you ensure that maximum space velocities are never exceeded and the original path is always followed The segment s middle point is always part of the blended path Only two consecutive motions can be blended together Rev E 129 Groups 06 2005 Danaher Motion When the second motion is completed before the first one the system does not blend the
25. SYNCSTART guarantees moves start simultaneously You can synchronize as many axes as you want including simulated axes Since each SYNCSTART specifies the axes it synchronizes you can synchronize multiple sets of axes independently This command incurs a minimum system delay of 2 SERCOS cycle times but the delay may be greater depending on the number of moves synchronized together and the total load of the system If you have loaded a synchronized move into the motion generator and need to delete it use SYNCCLEAR For example if you entered the following command before issuing SYNCSTART SyncClear MainAxis the MainAxis move is deleted This only affects subsequent moves You can only use SYNCCLEAR to clear pending moves SYNCCLEAR has no effect once the move is executing Stopping the axis in this case is performed as for a non synchronized move You can override the following axis properties as part of a MOVE ABSOLUTE ACCELERATION DECELERATION SMOOTHFACTOR VELOCITYCRUISE VELOCITYMAX STARTTYPE VELOCITYRATE ACCELERATIONRATE DECELERATIONRATE JERKRATE Rev E 97 Single Axis Motion 06 2005 Danaher Motion 4 1 9 4 2 4 2 1 98 Velocity Override The MC can speed up or slow down all motion commands This can be applied to the entire machine at once or to individual axes independently This capability is used extensively in machine development as it enables you to adjust the entire machine speed in a single comm
26. See the SERVOSTAR SC MC Reference Manual for more information MULTI TASKING The SERVOSTAR NC is a fully multi tasking system see figure below in which you can create multiple tasks and multiple elements e g axes that operate independently of one another Also because the supports multiple applications communicating concurrently you can write one or more applications that have access to all of the tasks and elements Axis 3 3 Party Soft PLC Visual BASIC Kollmorgen API Dual Port RAM Host CPU SERVOSTAR MC USER COMMUNICATION The ETHERNET and Serial ports of the MC are used for ASCII data transfer Non printable characters are sent using CHR Data access is stream oriented There is no data framing MC Basic applications gain access to either raw serial port or TCP socket The TCP socket guaranties error free data transfer while the serial port does not offer error recovery The transmitted data does not have any meaning in terms of directly controlling the MC User communication provides the basic features of serial and TCP IP data communication which is not limited to a specific communication protocol enabling the usage of any protocol over serial or TCP IP through an MC application Rev E M SS 005 031 Danaher Motion 06 2005 Overview 1 8 1 1 8 1 1 Serial Communication The MC has two RS 232 ports which can be used for user communication When COM1 is used fo
27. Static tables are built and stored in flash disk to be used later while dynamic tables are built at run time You should choose a type based on your application STATIC TABLES Static cam tables are built offline and stored permanently in the MC s Flash disk They allow you to use advanced tools to graphically build and inspect the cam table and do not take away from system processing resources at run time Static cam tables are usually the best choice when the cam table does not change during normal operation You can build static tables two ways First you can use Windows tools to build the table then use MC tools to convert and store the table Second you can build static cam tables inside the MC Both methods are shown in the next figure From Windows From MC BASIC Create point pairs Create cam with with a spreadsheet CREATECAMDATA Save as CSV file Calculate and store cam data point pairs Use the LOAD button in BASIC Moves to convert the CSV file to a CAM file Store in Flash with he SERVOSTAR MC pem oS STORECAMDATA SERVOSTAR MC Flash Disk Rev E 113 Master Slave 06 2005 Danaher Motion If you are using a static table use the Windows based tools This method is simpler and you have more tools available with which to graph and analyze the cam table You can create point pairs using windows applica
28. and converting industries The event is usually generated by sensing a position on the product being processed usually a mark is printed on the product and detected by an optical sensor The mark is normally referred to as a registration mark A common registration application is cutting a product package such as a bag or label from a web reel The web is printed with many copies of the product package The controller begins to unwind the product package from the web During this motion the controller waits for a registration mark to be detected After the mark is detected the profile is modified based on the position at which the mark was detected Commonly the profile comes to rest a fixed distance after the mark position where the package can be cut There are numerous variations of this type of application The key element is that the end position of the move cannot be calculated until after the move starts This requires that the profile be started and then modified on the fly The MC combines the ability to change the position end points on the fly and the ability to command the SERVOSTAR drive to capture a position Registration is similar to homing except that in homing you go back to the mark but in registration you go forward to a fixed distance after the mark The following example shows a typical registration example Program Prepare SERVOSTAR drive to capture VCruise 3000 Cycle Move FeedAxis 50 wait for capture
29. eei ene Ree en thee a eee e PREX SR d eie ae ERE RN SR Een PRSE 23 2 2 10 STRING FUNCTIONS PROPERAT ERROR ON EE OH HESSE LEGE 24 2 2 11 SYSTEM COMMANDS fo Gere RENE ERI EIE denne 25 2 2 12 unii 28 2 2 13 FLOW CONTROL nre RE t MRNA EER e 30 2 3 PROGRAM DECLARATIONS 36 2 3 1 PROGRAM 2 36 2 3 2 SUBROUTINE 36 2 3 3 USER DEFINED FUNCTIONS 22 2 0 4 0 0 0 ene 37 2 4 LIBRARIES RR RECTUS REX d 38 24 1 68 eei 40 55 005 03 RevE i Table of Contents 06 2005 Danaher Motion 283 o 40 2 5 1 OBJECT FILES uno Ree UR P d 2 5 2 PROTOTYPE FILE T 2 5 3 SPECIAL CONSIDERATIONS rne he 44 2260 SEMAPHORES aera eeu deae 45 2 6 1 MUTUAL EXCLUSION SEMAPHORES 44 2 20 0 0 000000000004000000000000000000 45 2 6 2 SYNCHRONIZATION 8 2 2 2122 1041242004060000000000000000000000005054 46 2 7 VIRTUAL ENTRY STATION ui eei E eer aC e ee ek inka 46 2 8 OUTPUT REDIRECTION 2 9 FILE OPERATIONS 2 9 1 2 9 2 2 9 3 2 9 4 e H HE 48 PROJECT eT
30. motion is allowed The last step in preparing a system for motion is turning on the motion flags There are two motion flags which must be on the system motion flag and the axis motion flag For example System Motion ON Al Motion ON These lines of code are included in the BASIC Moves auto setup program In many applications a hardware switch is tied to the motion flag The SERVOSTAR MC does not have a hardware motion input However you can use MC events to create this function The following example shows a task that uses input external data input 1 to control the system motion flag Program OnEvent MOTION ON System DIn 1 System Motion ON End OnEvent OnEvent MOTION OFF System DIn 1 OFF System Motion OFF End OnEvent End Program The purpose of the motion generators is to convert motion commands JOG or MOVE into a regularly updated series of position and velocity commands That series is called a motion profile The position and velocity commands are sent via SERCOS to the controlled SERVOSTAR drive All the servo loops position velocity and current are closed in the drives The next figure shows the profile for the velocity portion of a JOG command Rev E M SS 005 031 Danaher Motion 06 2005 Single Axis Motion 4 1 2 4 1 3 M SS 005 03 Velocity 0 1 2 3 4 5 6 1 SERCOS update The profile must be updated at regular intervals The MC usually updates the profile every cycle time 1
31. phase You can observe this operation by watching the 7 Segment LED display on the SERVOSTAR drive The number displayed indicates the current communication phase When the process is complete an S or 5 is displayed indicating that the ring is up and drives can be operated Telegrams All SERCOS data are organized into data packets called telegrams Telegrams transport data and also provide protocol support and error checking SERCOS provides three telegrams which are issued in order Master Synchronization Telegram MST Amplifier Telegram AT Master Data Telegram MDT RevE M SS 005 031 Danaher Motion 06 2005 Project The first telegram in a communication cycle is the Master Synchronization Telegram MST The MST issued by the controller It provides a single mark in time for all the drives All feedback and command data are synchronized for all axes via the MST Immediately after the MST is issued each drive returns feedback and status data in the Amplifier Telegram AT This includes position and velocity feedback as well as responses to non cyclic commands The final telegram in the communication cycle is the Master Data Telegram MDT The controller issues the MDT It contains information transmitted from the MC such as signals and position and velocity commands The service channel sends signals as well as non cyclic commands 3 12 3 Telegram Types SERCOS provides for a variety of telegram types Different tele
32. position error to be settled before starting the second move This is done by setting STARTTYPE to INPOS This is shown in the following figure RevE 93 Single Axis Motion 06 2005 Danaher Motion Velocity Time As you can see the motor comes to rest because the MC waits for the following error to be small enough before proceeding to the next command MainAxis PESettle 0 01 MainAxis Tsettle 10 Move MainAxis 100 Move MainAxis 200 StartType InPos Normally the ending speed of MOVE defaults to zero However you can specify an end speed other than zero Non Zero End Moves To do this use axis VELOCITYFINAL VELOCITYFINAL must be specified on the same line as MOVE For example Al VelocityCruise 2000 Move 1 100 VelocityFinal 1000 or Move 1 100 VelocityCruise 2000 VelocityFinal 1000 both produce the next profile Velocity Command 2000RPML Motion continues indefinately Accel Cruise Decel Vfinal 1000 PCMD 100 Time You seldom want to use a single move with a non zero final velocity because motion continues until the specified ending position and abruptly begins decelerating to zero The final position is not specified Normally moves with non zero final velocities are used to build multi step profiles 94 Rev E M SS 005 031 Danaher Motion 06 2005 Single Axis Motion M SS 005 03 Combining non zero end point moves in the motion b
33. 119 Master Slave 06 2005 Danaher Motion For example Program OnEvent Vel_Below_Min PseudoAxis Vcmd lt 100 Jog PseudoAxis 100 This indirectly turns gearing off End OnEvent OnEvent Vel_Above_Min PseudoAxis Vcmd gt 100 PseudoAxis Slave Gear End OnEvent Attach PseudoAxis EventOn Vel_Below_Mi EventOn Vel_Above_Mi While 1 Sleep 100 End While End Program The following figure shows this process Master Simulated Master Slave Geared Axis 1 Master Sleve Axis Axis 2 Slave Geared 5 Event Velocity Axis 1 lt minimum Diable Gearing Jog Simulated Axis Slave Geared Event Velocity Axis 1 minimum 1 Axis 4 Enable Gearing Decel out of Jog 120 RevE M SS 005 031 Danaher Motion 06 2005 Groups 6 6 1 6 2 6 3 6 3 1 55 005 03 GROUPS Groups allow you to control multiple axes as a single mechanism With groups the position command and feedback signals are no longer single values but instead are vectors with two or three elements Velocity and acceleration no longer apply to a motor but instead apply to the combination of two or three motors moving in concert SET Up Groups are combinations of axes These axes must be orthogonal if their scalar properties velocity are to be correct For example a group can be used to drive an x y table Groups are supported for two and three axis machines
34. 12 2 TELEGRAMS RE 76 3 12 3 TELEGRAM 3 12 4 CYCLIC VS NON CYCLIC COMMUNICATION esee 78 3 12 5 D 78 3 12 6 POSITION AND VELOCITY COMMANDS sccssssesseseseeseseeseeeeseeeeseneeaceceaeeeeaeenes 79 3 12 75 SERCOS SUPPORT n osito tete iie Ee eee UTE ER ERU A EERTE EEEE 79 FPS LOOPS D El 81 3 13 1 STANDARD POSITION LOOP 5 82 3 13 2 DUAL FEEDBACK POSITION 82 3 13 3 VEEOCITY EOOP 83 SAA SIMULATED AXES iei REGE I DENN 83 SINGLE AXIS MOTION 4 1 MOTION GENERATOR 85 4 1 1 MOTION CONDITIONS 85 4 1 2 MOTION BUFFERING 287 4 1 3 OVERRIDE VERSUS PERMANENT ccssceseseeseseecesceceseescseeseeeeseseeaeneeaceeeaeeeeaeenes 87 4 1 4 ACCELERATION PROFILE Ee EVER HEY ESEE 88 4 1 5 4 1 6 4 1 7 M SS 005 03 Rev E iii Table of Contents 06 2005 Danaher Motion 4 1 8 MOVE NEXT INA T SEE E 90 4 1 9 VELOCITY OVERRIDE 5 ARGU Rahat 98 42 2
35. 182 CONSTANT POINT Stes nete ett ERRORES PNE EE NEEERISEN EM 182 VECTORS P 183 PROPERTIES eR IRR EUR I ERE URN NEITHER RS RARE 183 POINT DIMENSION T 183 POINT LONE 184 SINGLE COORDINATE POINT ASSIGNMENT 184 POINT QUERY ee CO RUE ioa 184 SINGLE COORDINATE POINT 2 4 2 2 2400 0018 0 tenerent rennen 184 E 184 PO NTS IN EUNCTIONS ME S RN OR de 186 MOTION COMMANDS eec itti eiie ete e YR RE e ERE EXER E EUER EXER ERE ESO YY SERE Gee HIT 187 ANALOG BEHAVIOR eite certi eee PESE 187 POINT AS AN EXPRESSION sininen neesii ii E E E ENEE 187 GROUP POINT PROPERTIES vseen V EVEEN 188 IN FUNCTIONS QUERY arr TEETE RE OPERATORS PASS STRUCTURE cene A EE PNE REESE EN 189 LIMITATIONS pe YER EON ERN EE CERE EVER OR RM GE 190 LONVEVER TRACKING ax cys duce cin sarc vgn ces hv EROR RRTICERREV CREATOR ANVERS RYE RR VERUS 190 WINDOW DECLARATION norec ia REIR TERR URN UBER UE 191 Be di SM 191 55 005 03 RevE vii Table of Contents 06 2005 Danaher Motion MOVING FRAME CUR RYE IRE 191 TRACKING PROCESS toad gies 192 5
36. E M SS 005 031 Danaher Motion System MotionAssistance System Name System NoMotion System NumberAxes System PeakLoad System PipeMode System PrintMode System RamDriveFreeSpace System RamSize System RtsTimeout System SerconVersion System SerialNumber System ServicePrintLevel System Time System UserAuthorizationCode System VelocityOverride System VelocityRate System VIn System VOut System WatchDogTest TaskList VarList Version M SS 005 03 06 2005 BASIC Moves Development Studio Enables and disables display of additional notes returned from the motion task Queries and sets the name of the controller Enables and disables the System Motion monitoring apparatus Returns the number of axes currently loaded in the system This is a read only variable It can be used in the terminal window or in any task Returns the peak realtime load on the CPU This is the maximum value of the realtime load measured during a 0 5 second interval Queries and sets the type of motion pipe mode Available types are active position only or position and velocity Queries and sets the printing format of Longs Optional formats are DECIMAL decimal format HEX hexadecimal format and BIN binary format Default format is decimal Returns the amount of free space on the RAM drive Returns the size of the RAM found during the system power up Queries and sets the timeout of the real time scheduler Returns
37. Error The number of parameters is not correct See the Subroutine Example in Appendix A for further details 3 3 1 Arrays Arrays can only be passed by reference If a user tries to pass a whole array by value the translator gives an error Array syntax is SUB name lt p_1 gt as type 15 lt p_n gt as type gt local variable declaration subroutine code END SUB where lt of array variable p n name of array variable dimension of array without specifying the bounds means or more Syntax example SUB mean x as DOUBLE TheMean as LONG DIM sum as DOUBLE DIM I as LONG FOR i 1 to 100 sum sum x i 1 NEXT i TheMean 1 sum 100 END SUB Subroutine Libraries As you develop programs for a variety of applications you will find that there are some subroutines that you use repeatedly You can collect such subroutines and user defined functions into a library file Then when you program a task import the lib file at the beginning of the program and you call any of its defined subroutines functions An MC BASIC library is an ASCII file containing only the sub program s code The file does not have a main program part The names of the library files must have the extension LIB M SS 005 03 RevE 53 Project 54 06 2005 Danaher Motion The format of a library file is Declaration of static variables ane PUBLIC SUB su
38. Events and tasks are not the same MC BASIC supports event handlers to respond to realtime events Events are similar to interrupts in microprocessor systems They normally run at higher priorities than the programs that contain them They are ideal for quick responses to realtime events Add the event handler to an existing task to respond to an event Do not use tasks in place of subroutines Remember that when you start a task the original task continues to run When you call a subroutine you expect the calling program to suspend execution until the subroutine is complete The behavior of tasks where the two routines continue to execute can cause complex problems Knowing when to use multi tasking and when to avoid it requires some experience If you are new to multi tasking you may want to start slow until you are familiar with how it affects program structure When you start a new project BASIC Moves creates the main task as part of opening a new project After that process is complete you can add a new task to your project by selecting File New You can also press the new task button on the BASIC Moves tool bar Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 4 1 3 4 2 3 4 3 M SS 005 03 Loading the Program BASIC Moves automatically loads all tasks in your project when you select Run Project You can select Run Project by selecting it from the Debug menu by pressing the F5 key or by pressing the Load Task
39. Good 1 3 accurate to 16 places MasterGearRatio 0 33333 Poor 1 3 accurate to 5 places The net motion commanded to the slave is the slave position of the last point pair less that of the first If you do not want net motion in the slave you must assign the slave positions of the first and last point pairs to be identical At the point when camming is enabled the MC takes a snap shot of the master position feedback position or position external depending on master definition and slave position and offsets all entries in the cam table for the master and slave Cam tables are incremental with respect to the actual position of the axes at the time camming is started For example suppose a cam table starts at 0 0 but when the camming is enabled the master position is 1000 and the slave s position PCMD is 2000 Each point pair in the table is implicitly adjusted by 1000 2000 throughout the cam cycle After each cam cycle the offset to the master and slave is adjusted by the MC The cam master position is adjusted for the difference between the master position at the starting and ending points If the cam table has net motion each subsequent cycle adds the net motion to the slave commanded position Both the master and slave can be in rotary mode without affecting the camming operation Cam Cycles One cam cycle is the operation of moving the master position feedback through an entire cam table Instead of using master p
40. Long int CFUNC LL int L import c DRD As Double As Double double DRD double D import c cFunc_SRS As String As String char SRS char S Import C cFunc_LARD as Long as Double double LARD long 7 import c cFunc_SS ByVal As String As String char SS char S Parameters can be of type long double or string in any order up to 32 parameters Only one dimensional arrays are allowed as C functions arguments Rev E 41 BASIC Moves Development Studio 06 2005 Danaher Motion Example of calling a C function from MC Basic Dim shared Str2global as string Dim shared Strlglobal as string Dim shared LongArray 100 as long Dim shared 41 as double program Use OLOAD to load the object file before loading the program that uses the C Functions No Parameters int CFUNC LV void CFUNC LV double CFUNC DV double CFUNC DRD 1 2345 returns string char CFUNC_SV void CFUNC_SV No Parameters not return value void CFUNC_VV void CFUNC VV Strings char CFUNC SS char S Str2global CFUNC SS Strlglobal Arrays double CFUNC_LARD long 1 1 cFunc_LARD LongArray end program Example of PROTO PRO Parametrs import_c CFU import_c CFU _LV As Long M DV As Double import c CFUNC SV As String import VV A Single By Value Parame
41. MyGroup PFb returns 5 600443e 003 6 422422e 003 The positions in these vectors are ordered according to the way the group was created with Common As Group The first axis declared occupies the first position in the vector the second occupies the second etc Scalar Other group position properties are scalar These properties are the orthogonal combination of the axis properties These properties include POSITIONERROR POSITIONERRORMAX POSITIONERRORSETTLE POSITIONTOGO If MyGroup is formed with Axis1 Axis2 and AXIS1 POSITIONTOGO 1 and AXIS2 POSITIONTOGO 1 MYGROUP POSITIONTOGO 1 414 the orthogonal combination of the two axes POSITIONTOGO Similarly when you set POSITIONERRORMAX or POSITIONERRORSETTLE the position error they are compared to is the orthogonal combination of the axes POSITIONERROR RevE M SS 005 031 Danaher Motion 06 2005 Groups 6 5 6 6 6 6 1 6 6 2 6 6 3 M SS 005 03 VELOCITY A group s scalar velocity properties are always the orthogonal combination of the respective axes velocity properties Group velocity properties include VELOCITYCOMMAND vector property VELOCITYFEEDBACK vector property VELOCITYCRUISE scalar property VELOCITYFINAL scalar property VELOCITYMAX scalar property VELOCITYOVERRIDE scalar property Each of these properties operates as its axis equivalent and are clearly defined in the SERVOSTAR MC Reference Manual LIMITS Group limits are simila
42. SERCOS setup can be selected NOTE Rev E 103 Single Axis Motion 06 2005 Danaher Motion The data structure mapping depends on the PIPEMODE state MC variables Byte offset SYSTEM PIPEMODE Position 1 Position and Velocity 2 Sys HostDouble 1 0 7 A1 PCMD A1 PCMD Sys HostDouble 2 8 15 A2 PCMD A1 VCMD Sys HostDouble 3 16 23 A3 PCMD A2 PCMD Sys HostDouble 4 24 31 A4 PCMD A2 VCMD Sys HostDouble 5 32 39 A5 PCMD A3 PCMD Sys HostDouble 6 40 47 A6 PCMD A3 VCMD Sys HostDouble 7 48 55 A7 PCMD A4 PCMD Sys HostDouble 8 56 63 A8 PCMD A4 VCMD Al 8 1 4 operation mode Sys Vin 96 99 operation 4 2 6 2 DRIVE OPERATION MODES The drive s operation mode of every axis is set in a 2 bit field where there are two active modes 0 position and 1 velocity set in a 24 bit field SYS VIN variable Mapping of the SYS VIN operation mode status variable is described below Bits offset SYSTEM PIPEMODE _ Position 1 Position and Velocity 2 0 1 Operation mode of drive1 Operation mode of drive1 2 3 Operation mode of drive2 Operation mode of drive2 4 5 Operation mode of drive3 Operation mode of drive3 6 7 Operation mode of drive4 Operation mode of drive4 8 9 Operation mode of drive5 NA 10 11 Operation mode of drive6 NA 12 13 Operation mode of drive7 NA 14 15 Operation mode of drive8 NA
43. START MOVES I 132 6 10 3 CHAIN ou 133 6 10 4 MULTIESTEP MOVES iis 133 6 10 5 SYNCHRONIZE MULTIPLE AXES 134 6 10 6 CLEAR A PENDING MOVE wi 135 6 11 VELOCITY OVERRIDE 135 7 COMPENSATION TABLES 137 7 1 1 SPECIFICATION 137 722 ACCESS DATA 2138 7 1 3 138 7 1 4 LOAD SAVE FROMA eet toas ip e e x ente dde 139 TS SETAND QUERY VALUES iniret e RR Ie THE A 139 7 1 6 ACTIVATE P 139 7 1 7 QUERY ACTUAL POSITIONS 2 422 2 0 40 000100000000 0 000 139 7 1 8 MULTI DIMENSIONAL CORRECTION eese eene 139 8 PHASER DD 141 8 1 1 PROFILER 2141 8 1 2 EXECUTE ice 142 8 1 3 CANGCEED FERE HARRIS MEI UENIRE 142 8 1 4 SERIAL PHASER iiit ger EKE ie einer tiet 142 9 GENERIC ELEMENTS 5 4er pee three re 143 Died ELEMENT ID EE HO OES CAS ERO 143 9 1 1 DECDARXATION 5er RERUM YEN PENNE 144 9 1 2 Ere I MR 144 M SS 005 03 Rev E Table of Contents 06 2005 Danaher Motion 9 1 3 LIMITATIONS EEEE EVE E PEEVERER REUS uan 145 9 1 4 EUNGTIONS a P pee
44. USER ERROR ASSERTION The purpose of User Error Assertion UEA is to let the application developer extend existing system internal errors You can define application additional errors exceptions so the system handles them like it would its own The application exception may be trapped with TRY Catch OnError or OnSystemError Unprocessed application exceptions are treated as any known internal error The system reacts by stopping the task motion according to exception severity The system provides a range for the application errors and prevents an overlap between internal and application error codes The application is able to define an exception name and ASCII message to print User exceptions start from number 20001 and you are able to define 1000 exceptions UEA may have Note and Error seventies EXCEPTIONS Declaration The application developer can declare an exception and supply the corresponding error message An exception may be declared on the both system and task levels Declaration of exceptions at the subroutine level is not supported User exceptions are divided into two sub ranges 20001 20499 and 20500 20999 Applications developed may use the first sub range for explicit definitions of exception number see below example while the second sub range is used by the system for automatic assignment of exception numbers Double use of the same exception number is forbidden as the System gives an error The exception ca
45. You do this with MC command Sercos Phase 4 The code to do this is normally generated in the BASIC Moves auto setup program which runs each time you start a new project A decimal point at the bottom left of the S on the SERVOSTAR drive display should come on when the drive is enabled The decimal point may flash under certain conditions You must turn on SYSTEM ENABLE SYS EN before turning on any of the drive enable properties This is because when SYSTEM ENABLE is off it forces all the axis enable properties off Motion Flags The next step in preparing a system for motion is turning on the motion flags There are two motion flags that must be on the system motion flag and the axis motion flag System Motion ON Al Motion ON Move Now you can perform a move command For example enter Move 1 1000 VelocityCruise 10 to move to position 1000 with a velocity of 10 You should see the motor move Use a hand tachometer or other speed sensing device to verify that the speed settings are correct Move to various positions using the incremental move by setting Absolute to OFF and verify your position units Move 1000 VelocityCruise 10 Absolute Off Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 12 M SS 005 03 SERCOS The MC uses the SERCOS fiber optic ring network to communicate with the drives The SERCOS interface SErial Realtime COmmunication System is an internationally recognized specificatio
46. and they avoid confusing code Declarations allocate MC memory for variables and system elements groups cam tables etc This might be a simple type as an integer or a complex structure as a cam table Assignments Assignment instructions assign a new value to a variable The syntax of an assignment is Lvalue expression For example Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio M SS 005 03 The term Lvalue is a shorthand notation which indicates the value to the left of the equals sign Valid Lvalues are variables or writable properties which can be assigned Expressions can be variables constants properties and function calls as well as various combinations of them in arithmetic and logical statements An exception to this rule is generic elements assignment at which the right side of the equal sign is not an expression but an axis or a group either real or generic and Lvalue is a generic elements If you assign a Double floating point value expression variable or constant to a Long variable the fractional portion of the double value is truncated and the integer portion is assigned to the long variable To query a variable or expression from the BASIC Moves terminal window use the PRINT or command PRINT 1 100 MC BASIC also provides the standard PRINTUSING PrintU command for formatted printing Commands for flow control change the way your program is execu
47. are present in straight line acceleration This minimizes the excitation of machine resonance frequencies which in turn reduces audible noise vibration and mechanical wear For example the figure below shows a typical MC acceleration profile showing how controlled jerk produces smooth acceleration Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 8 M SS 005 03 100 50 F Velocity 1000 Acceleration 0 1000 100 000 0r Jerk 100 000 POSITION AND VELOCITY Position and velocity are the key command and feedback signals for each axis These properties are updated by the MC every SERCOS cycle and may be read at any time Their properties are double precision floating point numbers Velocity Units are discussed above The four properties which hold these values are lt axis gt POSITIONCOMMAND or lt axis gt PCMD lt gt or lt gt axis VELOCITYCOMMAND or lt axis gt VCMD axis VELOCITYFEEDBACK or axis VFB You can read these properties anytime the SERCOS ring is up Position error is defined as the difference between position commanded and position feedback When an axis is at rest i e ISSETTLED this simple definition of position error is valid However when the axis is in motion the true position error does not equal the instaneous commanded position minus the instantaneous feedback position because there is a ti
48. axes do not include a drive motor or feedback device An axis can only be configured as a simulated axis during Sercos Phase 0 or before SERCOS configuration takes place in CONFIG PRG or AUTOEXEC PRG To set up a simulated axis set the axis property SIMULATED to ON Al Simulated ON This step is inserted in the BASIC Moves auto setup program in the subroutine SercosSetup just after the phase is set to zero See SERCOS Setup Subroutine in Appendix A for additional details Simulated axes require about the same amount of resources from the MC as physical axes As a result simulated axes are part of the total axis count of the controller For example a system with three physical axes and one simulated axis requires a four axis MC Simulated axes are used in the MC in the same way as physical axes They are profiled with JOG and MOVE can be geared and cammed and can act as masters for geared and cammed axes Variables from simulated axes such as position feedback can be used to generate events During operation the feedback position and velocity are set to their respective command values Although most commands and variables for axes work for simulated axes there are some exceptions Simulated axes cannot receive SERCOS commands You cannot set drive variables such as position loop gains in simulated axes RevE 83 Project 84 06 2005 Danaher Motion The units on a simulated axis are flexible The simplest way to set the un
49. be triggered All errors have corresponding default actions to be taken when they occur There are three contexts in which an error can occur and be handled task system and terminal The following definitions will help you while reading through this chapter Definition Internal error action Immediate action taken by the system software when an error occurs This action cannot be turned off or bypassed Default System error action Action taken by the system according to the context and severity of the error if the user does not handle the error All default system error actions can be bypassed by defining error handler functions Synchronous error Error caused by the user task and detected by the interpreter This type of error is associated with a specific line of program code in the user defined task Examples include division by zero and out of range parameters MOVE command The task that caused the error is stopped Asynchronous error An error caused by the user task not associated with a specific line of program code Examples include following error and motion overspeed CONTEXT When an error occurs in the MC system it occurs in one of three contexts task system or terminal It is important to recognize the differences among these three since the action taken by the system varies depending on the context Task Context Errors occurring as a result of an executing task take place in the task context As
50. be assigned with both point types LOCATION and JOINT like CIRCLECENTER CIRCLEPOINT and the target positions of MOVE and MOVES Other nodal parameters can accept only location points like TOOL BASE etc Assign all nodal parameters with points compatible in robot type or size to the group Common Shared SCARA As Group Axnm Al Axnm A2 Axnm A3 Axnm A4 Model 4 Common Shared JointXYZ As Joint Of XYZ MOVE SCARA JointXYZ gt Error robot type mismatch CIRCLE SCARA Angle 180 CircleCenter 350 500 80 gt Error size mismatch MOVES SCARA 22 503 8 8 3 149 Base SCARA Dest_Joint gt Error type mismatch Analog Behavior Because a point is a new data type it has all the functionality of the other data types like saving the point to a file watching points deleting points Point As An Expression With the new point data type points properties can be stored as a point or can be compared as a point For example Dim A as Joint of XYZR 1 2 3 4 Gl Pcmd G2 Pcmd gt returns a translation error if G2 is not of XYZR type FUNCTIONS The following functions are defined lt XYZR location TOCart lt group gt XYZR JOINT lt XYZR Joint ToJoint lt group gt XYZR LOCATION lt arm flag integer gt double distl location location Distance between points length double distr location location Distance between points angle SAVE LOAD E
51. behaves like it is a regular predefined in firmware application error You are able to catch application exception with TRY Catch OnError or OnSystemError Exception assertion is possible with THROW THROW accepts the name of any defined exception Other expressions are not allowed to be arguments to THROW The scope of THROW is not limited It can be executed inside of Try Catch Finally outside the Try block in OnError and OnEvent For example Dim shared LimitError as Error msg Over travel Program Attach al Jog al 100 While 1 check the axis position and assert and error the system should stop the task and motion If al pfb gt 1 10 Then Throw LimitError End If End while End program Another example Dim shared Errorl as Error msg no message Program Try check Input 1 and do not continue Spe pis p If Sys din 1 1 Then Throw Errorl End if Move al 1e3 Catch Errorl Print I O error End try End program 55 005 03 RevE 163 Error Handling 06 2005 Danaher Motion 11 4 4 Log User exceptions are printed and logged according to existing rules A note is printed but not logged Unhandled errors are printed and logge etc addition the application developer can log an error without any error handling Application exception is printed and logged but neither task generated such an exception nor motion associated with that task stops User exceptions are logged according to the existing rul
52. block only traps synchronous errors in the task context The block is started using the Try keyword and is terminated with the End Try keyword Try blocks can be nested The program lines between the line causing the error and the matching catch statement are skipped The interpreter tries to trap an error starting with the innermost catch statement If there is no matching catch statement the error is handled as a regular synchronous error Errors trapped inside the Try block are not logged The Finally statement is executed only if an error occurred and was caught inside the Try block System Context System context is the lowest level of the three contexts It refers to errors not directly related to specific tasks Errors that occur in this context affect all running tasks The default system error handler processes these errors Examples of system context errors include Floating Point Unit errors CPU errors SERCOS communication errors and errors that occur on motion elements not attached to specific tasks 11 1 2 1 ONSYSTEMERROR OnSystemError traps and processes all errors in the system context It is the upper level of the hierarchical error processing structure formed by the combination of Try OnError and OnSystemError OnSystemError may be written in the body of any task but only one instance may exist in the system at any time It traps both synchronous and asynchronous errors in all tasks as well as errors that occur within the
53. but independent of whether the coupling matrix is defined or not The joint position limits are always used when the coupling matrix is defined COUPLED 1 In this case the shadow axis limits are not used This is only true for joint and group movements Single axis movement e g MOVE 1 100 is limited only by the axis limits independent of coupling Joints represent several axes of a group Joint movements are actually group movements Move Group Move Joint 174 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B Joint movement gives the illusion of moving one physical axis MOVE J1 100 although several motors could be moving together The movement is executed according to the specified joints movement parameters For example Al Acc 100 MOVE A1 50 Is analogous to 1 100 21 50 Move Joint simulates the behavior of moving a single axis by moving a single joint both by the parameters and physical motion The only difference is that several motors are moving instead of just one When moving joints all motor limits within each group axis are checked The joint movement is a group movement of one joint coordinate with the group motion parameters copied from the shadow axis The following translation rule is true MOVE J1 10 MOVE 10 0 0 0 abs Jl abs vcruise Jl vcruise acc Jl acc The same rules of group motion apply Robot Models A robot is defined as a group with a special model ty
54. context of the system A system error is not associated with a specific task An example of a system error is a position following error that occurs due to some external force being applied to an axis not attached to a task When an error is trapped the specified error processing code runs and the task is stops The task is in state 4 It is possible to continue task execution by explicitly entering CONTINUETASK within the error processing code but the task continues only after the error has been corrected OnSystemError traps errors not specifically trapped by Try or by OnError It then executes either an orderly shutdown of the system or an orderly recovery procedure 11 1 2 2 ERRORPRINTLEVEL M SS 005 03 SYSTEM ERRORPRINTLEVEL controls which types of system errors are printed to the message log window There are four levels of system errors fatal faults errors and notes 0 SILENTLEVEL Notes errors and fatal faults are not printed 1 FAULTLEVEL Notes and errors are not printed Fatal faults are printed 2 ERRORLEVEL Notes not printed Errors and fatal faults are printed NOTELEVEL Notes errors and fatal faults are printed RevE 159 Error Handling 11 1 3 11 2 160 06 2005 Danaher Motion SYSTEM ERRORPRINTLEVEL only affects printing to the message log window Fatal faults and errors continue to be logged and can be viewed using ERRORHISTORY ERRORPRINTLEVEL applies only to asynchr
55. data type is defined by the user as a separate unit object and can be linked to one or more robots The data type has its own properties and definitions The moving frame represents a coordinate system relative to the robot s world coordinate system Set a limited area in further text window on which the robot tracks This area is the operation region or the working frame Before the entrance to this region there is a sensor that marks objects entering the region The tracking starts when a trigger occurs and you enable the procedure During tracking you can move the robot both in absolute and relative movements The absolute movements shift by the tracking process in the same direction and distance as the moving object The relative movements are commanded in respect to the current robot position The relative movements are superposed to the movements caused by the tracking of the moving frame The tracking lasts until the object exits the working frame Then the robot starts tracking the next item on the frame 190 Rev E 55 005 03 Danaher Motion 06 2005 Appendix B You can classify objects in the working frame and only track certain types of objects Each moving frame can have several master sources external sources of moving position The number of sources is the number of degrees of freedom of the moving frame You can use several robots to track the same operating region but the region must be presented as a different moving fra
56. each coordinate locations coordinates arrays 16 RevE M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio M SS 005 03 MC Basic has two UEA user error assertion data types severities Error and Note Each UEA is defined with a string type error message given by the user and a unique exception number which might be determined either by the user or by the system The SERVOSTAR MC handles UEAs similar to internal exceptions Type Description Range Error An ASCII message string anda 20001 20499 for user determined unique integer exception exception number number 20500 20999 for system determined exception number Note An ASCII message string anda 20001 20499 for user determined unique integer exception exception number number 20500 20999 for system determined exception number MC Basic provides generic element data types designed to serve as a reference to real axes and groups Through a simple assignment statement the generic element gets the element identifier see below of a real motion element thus acquiring all its properties Afterwards all activities preformed on the generic element identically affect the real element The referenced element can be changed through recurring assignments as many times as the user wishes Type Description Range Generic Axis An integer element 0 before first assignment identifier 1 to number of axes
57. first is the location variable and the second is the configuration flag POINTS A point is a new data type used for storing a list of doubles in a variable The main advantage of points is that you can directly call the whole vector without having to access every element of it There are two subtypes of the point data type LOCATION and JOINT Using both point types in the same expression results in a type mismatch translation error Type casting between point types requires the usage of special system functions TOJOINT and TOCART M SS 005 03 Rev E 181 Appendix 06 2005 Danaher Motion Declaration A point must be declared before you can use it The declaration of points is defined according to the type of robot XYZR XYZ etc The MC enables the declaration of point variables which can be scalar or arrays Point arrays may have up to 10 dimensions Point variables are designed to hold a list of 2 to 10 double type coordinates A point variable is declared in relation to a robot type Therefore declaring a point variable must include the name of a valid robot type The dimension of the point is the same as the dimension of the type of robot The syntax is COMMON SHARED DIM SHARED lt variable_name gt AS JOINT OF lt robot_type gt COMMON SHARED DIM SHARED lt variable_name gt AS LOCATION OF lt robot_type gt lt robot_type gt can be XYZR Three cartesian axes roll XY two axes XY table XYZ three axes XYZ sy
58. generator to wait a fixed period of time between moves For example Move MainAxis 100 Delay 1000 Move MainAxis 200 A 1 second delay is forced between the two moves DELAY has units of milliseconds and must be greater than zero DELAY does not delay the execution of your program If you want to delay your program use SLEEP If you want to delay the start of a new move until a condition has been met by the previous move use STARTTYPE There are four choices StartType GeneratorCompleted GCom When STARTTYPE GCOM the new move starts as soon as the motion generator has completed the motion for the current move GENERATORCOMPLETED is constant equal to 3 This command incurs a system delay of 2 SERCOS cycle times Rev E M SS 005 031 Danaher Motion 06 2005 Single Axis Motion M SS 005 03 StartType InPosition InPos When STARTTYPE INPOS the motion generator delays executing the new motion command until the current move has completed and the position error is settled to near zero INPOSITION is constant equal to 2 This command is not subject to additional system delays but any delay associated with the command is due to user specified parameters for settling time StartType Immediate Immed When STARTTYPE IMMED the new move overwrites the current move Use this when making realtime changes to the profile such as changing the end point of the current move without bringing the system to rest For example registrati
59. group to move so that position error is zero However in real systems you must allow for the condition where the position error never quite reaches zero On the MC you specify how low you consider to be low enough with POSITIONERRORSETTLE or PESETTLE xyTableGroup PESettle 0 01 After the motion generator completes a move that ends with zero speed it actively monitors the position error of the group the orthogonal combination of the position error of each axis to determine when it is between PESETTLE If it is within this range lt group gt ISSETTLED is true 1 Otherwise it is false In some applications you must ensure that the position error remains below PESETTLE for a specified period of time before the group is considered settled The MC allows you to specify this time period with the lt group gt TIMESETTLE or lt group gt TSETTLE given in milliseconds If the position error exceeds PESETTLE during this time the timer is reset If position error is within PESETTLE s range for the time specified by TSETTLE lt group gt ISSETTLED is true 1 Otherwise it is false For example PESettle 0 01 TimeSettle 0 01 xyTableGroup StartType INPOSMove xyTableGroup 100 200 Move xyTableGroup 200 400 This example requires that after the motion generator completes the first move and xyTableGroup has position error at or below 0 01 for at least 10 ms before the group is settled Since STARTTYPE is INPOS the motio
60. hand multiplication and division operators can only be operated between a point and double or long scalar but not between two points In Logical operations every value that is not 0 is assumed true and set to 1 And ing combines two values so the result is true 1 if both values are true that is non zero Or ing combines them so the result is true 1 if either value is true Exclusive Or produces true if one or the other value is true It produces false 0 if both or neither are true Before logical operations begin all operands are converted to 1 true or 0 false The rule is that everything that is not 0 becomes 1 Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio Bit wise expressions differ from logical expressions in that there may be many results from a single operation Bitwise operations are frequently used to mask I O bits For example the standard SERVOSTAR MC inputs can be operated on with BAnd Bitwise And to mask off some of the inputs The following example masks off all bits of the digital outputs except the rightmost four Dim Shared MaskedBits As Long MaskedBits System Dout Band OxF Mask all but rightmost four bits All bitwise operations produce 32 bit result from two 32 bit numbers Bitwise operations are really 32 independent bit by bit operations For example 15 Binary 1111 BAnd 5 Binary 101 is 5 Binary 101 BNot 15 is OXFFFFFFFO 2 2 9 Math Functi
61. home position and NOTE open on the other side of the hard home position The switch circuit high low provides the controller input information for the direction of the home position Other machine axes may use absolute position device designs so the integrity between the controller and axis mechanics is established automatically on the power up of the machine HOMETYPES The machine position integrity is established similarly to an axis that only rotates 360 The drive executes the HOME procedure When you start the homing procedure on an axis the drive immediately starts executing the homing procedure The axis properties used to control the homing procedure are lt axis gt HomeAcceleration Specifies the acceleration and deceleration to be used during the homing procedure with the inclusion of HOMEOFFSET or HOMEDISTANCE lt axis gt HomeDirection Specifies the direction of the home search movement Application dependant instruction for the model HOME to a hard stop requires a movement in one direction However home to a switch transition at one end of the axis travel requires the direction for a closed switch to be opposite that of an open switch lt axis gt HomeDistance Sets the distance from the soft home position 0000 within the MC see HOMEOFFSET and the start position for any given program as you define Al HomeDistance 5000 commands the axis to go to position 5000 from the soft home position 0000 and stay the
62. identifier is queried directly with ELEMENTID read only SYS NUMBERAXES 4 Common Shared G2 As Group AxNm Common Shared Gl As Group AxNm Al ELEMENTID A2 ELEMENTID G2 ELEMENTID 1 2 3 3 Gl ELEMENTID 34 Rev E 143 GENERIC ELEMENTS 06 2005 Danaher Motion 9 1 1 9 1 2 144 Declaration Generic elements resemble other MC Basic variables longs doubles strings in declaration syntax and scope global static and local as well as in the ability to define arrays of up to 10 dimensions COMMON SHARED DIM SHARED lt axis_name gt AS GENERIC AXIS COMMON SHARED DIM SHARED group name AS GENERIC GROUP li lt generic_element_name gt lt real_element_name gt lt generic_element_name gt lt generic_element_name gt During declaration all generic elements receive zero element identifier which prevents their usage as motion elements prior to assignment If an unassigned generic element is used an error is returned Common Shared Gen_Axis As Generic Axis Gen Axis ElementID 0 Gen Axis VMax Error 3005 Nonexistent group or axis Module Motion Through assignment a generic element receives the element identifier of another motion element either real or generic thus becoming a pointer to this element and acquiring all its properties Gen Axis 1 Gen Axis ElementID 1 1 290 Gen A
63. in system up to 32 Generic Group An integer element 0 before first assignment identifier 33 to number of groups in system up to 64 Each real motion element gets a unique element identifier from the system during its declaration Axes get successive element identifiers ranging from 1 to 32 according to axis number Groups get successive identifiers ranging from 33 to 64 according to declaration order Value of element identifier can be queried directly through ELEMENTID SYS NUMBERAXES 2 Common Shared G2 As Group AxNm Common Shared 61 As Group AxNm Al ELEMENTID A2 ELEMENTID G2 ELEMENTID 70 1 2 3 3 Gl1 ELEMENTID 34 MC BASIC uses integers to support Boolean logical operations Logical variables have one of two values true or false MC BASIC uses type Long to support logical expressions The value 0 is equivalent to false Usually 1 is equivalent to true although any non zero value is taken to be true Boolean expressions are used in conditional statements such as If Then and with Boolean operators like And Or and Not Arrays can be any data type Arrays may have from 1 to 10 dimensions The maximum number of elements in any dimension is 32 767 Array dimensions always start at 1 Rev E 17 BASIC Moves Development Studio 06 2005 Danaher Motion 2 2 4 1 2 2 4 1 1 2 2 4 1 2 2 2 4 1 3 18 STRUCTURES A structure is a new data type used for storing a list of vari
64. information on any of the flow control commands including examples refer to the SERVOSTAR MC Reference Manual If Then is the most basic flow control statement The syntax of If Then is If condition Then lt first statement to execute if condition is true gt multiple statements to execute if condition is true Else lt first statement to execute if condition is false gt multiple statements to execute if condition is false End If where If Then must be followed by at least one statement Else is optional but if present must be followed by at least one statement There is no Else if f you use an If after an Else you must place the If on a new line Select Case is an extension of If Then Anything that can be done with Select Case can also be done with If Then Many times Select Case simplifies programming logic On the first line of a Case block of commands you specify the variable or expression you want tested For example Select Case I Tests the variable for a range of conditions You can also select expressions Select Case I M N Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio After you have specified the variable or expression list one or more values or value ranges that the variable can take There are four ways you can specify cases Exact Value Logical Condition Range Else The syntax of Select Case is Select Case SelectExpression Case Expr
65. linking of the three cams 0 1 Cam2 is shown in the next figure Caml Cam2 Set NEXT and PREVIOUS independently The NEXT and PREVIOUS pointers cannot be changed dynamically The change takes place at the next transition of the cam table If you do not want to link to another cam at the end of the current cam s cycle set NEXT and PREVIOUS to NULL 0 112 RevE M SS 005 031 Danaher Motion 06 2005 Master Slave 5 3 6 5 3 6 1 55 005 03 If you have linked cams the cam cycle runs the number of times specified in CYCLES For example assume 1 is being driven by a forward rotating master If CAM1 NEXT CAM2 and CAM1 CYCLES 4 cycles four times before transitioning to Cam2 Similarly if the master is rotating backward and CAM1 PREVIOUS Cam0 Cam1 cycles four times before transitioning to If the cam has run enough to exhaust the number of cycles and no cams linked to the current cam the axis automatically disables camming and decelerates at maximum deceleration to zero velocity Create Cam Tables Cam tables contain the point pairs that map the master position feedback to the slave position Cam tables are only a part of cams Other properties of cams include CYCLE NEXT and PREVIOUS Only the table portion of cams are stored permanently in the MC s Flash disk The other properties are set during program operation There are two types of cam tables static and dynamic
66. lt 1 gt expression gt Joint vector lt expression_1 gt expression gt Location vector Point variables and vectors appearing in the same expression must match in type joint or location and size Common Shared JointXYZ As Joint Of XYZ JointXYZ 1 5 2 8 3 gt Error type mismatch PRINT 20 6 7 23 8 43 2 0 gt Error type mismatch JointXYZ 2 6 gt Error size mismatch PRINT 20 6 7 23 5 4 22 9 31 Error size mismatch Properties Some group properties are points There are several read only properties of joint VELOCITYFEEDBACK POSITIONCOMMAND DEST JOINT and location type DEST HERE SETPOINT There are also some location type read write properties like TOOL BASE etc As in point variables the robot type also characterizes point properties Point properties appearing in expressions in a mixture with other points must match in type and robot type to point properties and variables or in type and size to vectors Common Shared SCARA As Group Axnm 1 Axnm A2 Axnm Axnm A4 Model 4 Common Shared PointXYZR As Joint Of XYZR Dim Shared PointXYZ As Joint Of XYZ PointXYZR SCARA SetPoint Error type mismatch Setpoint returns a location PointXYZ SCARA VelocityFeedback Error robot type mismatch SCARA Base 56 5 104 7 90 5 Error size mismatch Point Dimension You do not define the size of the vector data t
67. ms update rate if possible when the drive supports this update rate The SERCOS telegram also gets longer with more axes When using the MC with Pentium CPU board the recommended update time to controls 8 or fewer axes is 2 ms and 4 ms when the MC controls 9 16 axes When the is used with Pentium MIll CPU it controls up to 32 axes at 2 ms update rate Motion Buffering The motion generator for each axis can process only one motion command at a time because the axis can process only one position or velocity command However you can send a second motion command to the generator where it is held until the current motion command is complete motion buffering Motion buffering is controlled with STARTTYPE If STARTTYPE is set to GENERATORCOMPLETED the buffered profile starts immediately after the current profile is complete If STARTTYPE is set to INPOSITION the buffered profile starts after the current profile is complete and the position feedback has settled out to the position command In both cases the second command is held in the motion generator to begin immediately after the appropriate conditions are met You can also specify that the motion generator not buffer but process the new motion command immediately This is useful when you want to make realtime changes to the profile changing the end position of the current command For this set STARTTYPE to IMMEDIATE IMMED or SUPERIMMEDIATE SIMM Override versus Permane
68. of 2 10 double precision 1 79769313486223157 E 308 floating point joint motor for each coordinate coordinates Location A set of 2 10 double precision 1 79769313486223157 E 308 floating point cartesian coordinates for each coordinate MC Basic enables definition of structure like data types composed of a limited number of long double string and point joint and or location scalar and array elements Array elements can have only a single dimension Name of structure type and composition of elements are defined by the user within configuration file Config Prg Type Description Range 0 100 longs 32 bit signed integer 2 147 483 648 MinInteger to 2 147 483 647 Maxlnteger 0 100 doubles Double precision floating point 1 79769313486223157 E4308 about 16 places of accuracy 0 100 strings ASCII character string no 0 to 255 ASCII code practical limit to string length 0 100 points A set of 2 10 double precision 1 79769313486223157 E 308 joints and or floating point coordinates for each coordinate locations 0 10 long 1 32 767 32 bit signed integers 2 147 483 648 MinInteger to arrays 2 147 483 647 Maxlnteger 0 10 double 1 32 767 double precision 1 79769313486223157 E 308 arrays floating point elements 0 4 string 1 32 767 ASCII character 0 to 255 ASCII code arrays strings 1 2 point 1 32 767 sets of 2 10 Double 1 79769313486223157 E 308 joints and or precision floating point for
69. of degrees of freedom NDOF For example xy table world space has XY world space descriptors A SCARA robot having a Z axis for vertical motion and a roll axis for orientation uses world frame coordinates consisting of X Y Z and roll or an XYZR descriptor The different coordinate systems are implemented as variables of different data types Generally a point in a coordinate system is defined as a point data type Depending on if it is a joint space or world space the sub type of the point differs There is a point data type with two subtypes JOINT and LOCATION Both have a world space descriptor that additionally differentiates between the same subtypes A world space coordinate is stored in a variable and is defined as DIM A AS LOCATION OF XYZR The joint space is DIM A AS JOINT OF XYZR The new point data type with its two subtypes LOCATION and JOINT and the world space descriptor XY XYZ XYZR etc covers all the possible robot space variations These variables are independent of the robot and can be used without having a robot defined in the system When they are used in a connection with the robot or a group the world subtypes must be equal Internally points are stored as 10 dimensional vectors with a flag describing the subtype and a size defining the dimension size of a point The point can be manipulated as a numeric data type using all the arithmetic operations available The operations are defined as coordina
70. of the command For example the following uses PRINT to send data STRING MESSAGE ERROR PRINT 1 STRING MESSAGE A1 PCMD A1 PCMD The output is ERROR 1 0 0 000000000000000 00 The values of the following variables are sent one after the other The output is hexadecimal 0x37 0x28 11 55 12 40 PRINT 1 11 12 The output is 5540 Rev E 9 Overview 1 8 3 3 1 8 3 4 1 8 3 5 10 06 2005 Danaher Motion SEND DATA BLOCK PRINTTOBUFF and PRINTUSINGTOBUFF allows buffering of data before actually being sent This eliminates inter character delays printtobuff handle chr 0 chr message length chr 0 send false printtobuff handle chr request ii send false printtobuff handle chr request ii send true SEND RECEIVE NULL CHARACTER When using a specific protocol over Serial or TCP IP ModBus RTU or ModBus TCP the NULL character is part of the message The message block cannot be saved in a STRING type variable since the NULL character terminates the string To send a NULL character in a message send the data as single bytes instead of a string type message COMMON SHARED X 10 AS LONG X 1 0x10 X 2 0 X 3 0x10 PRINT 1 CHR X 1 CHR X 2 CHRS X 3 The output is the following stream of bytes 0x10 0 0 0x10 When the received data contains a NULL character read the data from the input buffer as single bytes in
71. on the drive the value is placed in the DAC by the drive immediately upon receipt The drive acknowledges the command almost as soon as it is received thereby freeing the service channel for subsequent commands However some functions of the drive that are accessed from the service channel require a much longer time for execution For example incremental encoder based systems must be oriented on power up The wait for verification that the process has completed successfully can take many SERCOS cycles far too long to tie up the service channel To support these functions SERCOS developed procedures With procedures the master starts a procedure and optionally halts and restarts it Procedures allow processing in the service channel without blocking other communication For example waiting for a registration mark is a procedure In this case the motor is turning and the drive is searching for a registration mark By using a procedure the service channel remains available for other communication during the search RevE M SS 005 031 Danaher Motion 06 2005 Project 3 12 6 Position and Velocity Commands The MC sends position and velocity commands in the cyclic data and SERVOSTAR drives return position and velocity feedback in the cyclic data This allows you to configure your system as a position or a velocity loop It also allows you to switch between position and velocity loop on the fly The format of each data type is shown below
72. one the number of slots taken by the MC The MC supports a subset of the electrical connections of PC104 but the subset is sufficient to accommodate nearly all PC104 I O cards Refer to the SERVOSTAR MC Installation Manual for more details concerning which pins are supported Configuring PC104 Cards You must configure the PC104 cards for memory and I O space See the manufacturer s manual for your particular PC104 carde All PC104 cards used on the MC which are memory mapped must be mapped into the MC s memory without causing conflict If you are using two 104 cards you must be careful not to overlap the memory spaces of these cards PC104 cards used on the MC which are mapped must be mapped between 0x100 to OxFFFF Address ranges 0x300 through Ox3ff and Ox2f8 through Ox2ff are not available If you are using two PC104 cards you must be careful not to overlap the spaces of these cards Do not use ranges 0x300 through Ox3ff and 0x2f8 through Ox2ff even though they are not protected by the software The MC does not support interrupts from PC104 cards Installation To install your PC104 card 1 Power down your unit 2 Always use proper static handling procedures 3 Mount the cards 4 Install stand offs RevE 155 Input Output 10 5 3 156 06 2005 Danaher Motion Commands The MC supports PC 104 with memory and I O instructions For further information on these commands refer to the SERVOST
73. or they are rpm If you want velocity units to be your position units per second set VELOCITYFACTOR to POSITIONFACTOR divided by 1000 to convert milliseconds to seconds Al VelocityFactor Al PositionFactor 1000 for position units sec If you want position units per minute divide by 60000 Al VelocityFactor Al PositionFactor 60000 for position units min If you want rpm you must calculate the number of counts per revolution and then divide that by 60000 to convert milliseconds to minutes Desired units rpm 2000 line Encoder You first need to determine the number of counts per inch for each revolution 1 rev 2000 lines 2000 4 counts 8000 counts VelocityFactor is set to the number of counts per revolution divided by 60000 Al VelocityFactor 8000 60000 Acceleration Units Acceleration units convert MC internal acceleration units counts msec to your units They are controlled using axis ACCELERATIONFACTOR or axis AFAC Normally acceleration units are either the velocity units per Second or per minute If you want acceleration units to be your velocity units per second set ACCELERATIONFACTOR to VELOCITYFACTOR divided by 1000 to convert milliseconds to seconds Divide by 60000 to set acceleration units to velocity units per minute Al AccelerationFactor Al VelocityFactor 1000 Accel units vel sec or Al AccelerationFactor Al VelocityFactor 60000 Accel units vel min 55 005 03
74. s address Use SYS IPADDRESSMASK to query the IP address and Subnet mask of the MC gt SYS IPADDRESSMASK 172 30 3 11 255 255 0 0 over DPRAM However SYS IPADDRESSMASK is only valid for Ethernet interfaces Others have fixed IP addresses which NOTE cannot be changed has several interfaces Ethernet IP over serial and IP PING tests that a remote host is reachable The remote host must support ICMP echo request PING 212 25 84 109 1 8 2 2 MC AS TCP CLIENT When acting as a client the MC tries to connect to a remote server until a time out value expires or the connection is rejected Use CONNECT when the MC acts as a client M SS 005 03 Rev E 7 Overview 1 8 2 3 1 8 3 1 8 3 1 06 2005 Danaher Motion The MC requests a connection from a remote host according to a specific IP address and port CONNECT blocks task execution until the connection is established or until the command fails To unblock a task waiting in CONNECT close the corresponding socket using CLOSE In addition killing a task KILLTASK blocked by CONNECT closes the socket to release the task CONNECT may fail due to the following reasons 1 Invalid socket descriptor 2 Remote host has no application attached to specified port 3 Destination address is not reachable The following example illustrates a typical procedure of establishing a connection to a remote host and sending and receiving data OPENSOCKET O
75. scalar or array to the function These parameters are then used in the code of the function Declare the variable names and types of parameters you want to pass in the declaration line for the function Parameters can be passed by reference or by value ByVal The default is by reference When you pass a variable by reference you actually pass the address of the variable to the function which changes the value of the variable if the function code is written to do this When you pass a variable by value a copy of the value of the variable is passed to the function The function cannot change the value of the variable Arrays are only passed by reference To set up the return value assign the value you want to return to a virtual variable with the same name as the function somewhere in the code of the function You do not declare the variable but the function uses it to obtain the return value If the function s code includes conditional statements assignments to the function variable can be made in multiple locations in the function code There is no explicit limit on the number of functions allowed in a task All functions must be located following the main program and must be contained wholly outside of the main program A function can be recursive can call itself The following example defines a recursive function to calculate the value of N FUNCTION Factorial ByVal N As Long As Double Declaring N as long truncates floating poi
76. the point type and size or robot type of an argument or a return value must match function declaration PASSING BY VALUE AND REFERENCE A point can be passed by value and by reference like any other data type For example Program Dim pl as joint of XYZR Call Subl P1 1 End program Sub Sub1 X as joint of XYZR X 1 2 3 4 End Sub This program assigns P1 to 1 2 3 4 and prints 1 2 3 4 as output When a point is passed by reference or value you can only pass a point of the same robot type to X Otherwise you receive a translation error Example1 Program Dim pl as location of XYZR Call Sub1 P1 gt TRANSLATION ERROR pl End program Sub Sub1 X as location of XYZ X 1 2 3 4 End Sub Example2 Program Dim pl as joint of XYZR Call Sub1 P1 TRANSLATION ERROR pl End program Sub Subl ByVal X as joint of XYZ X 1 2 3 4 End Sub RETURNING POINT FROM FUNCTION A function can return a point variable like any other data type For example Dim A as location of XYZR Program Move G1 MyFunc 1 vcruise 299 gt this will be OK if Gl is of XYZR robot type End Program Function MyFunc il as long as location of XYZR MyFunc 1 2 3 4 End Function 186 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B Motion Commands Some motion commands use point nodal parameters when applied on groups For example CIRCLE MOVE and MOVES Some nodal parameters can
77. the system For more details see the Error Handling section Only one instance of OnSystemError may exist in the system The syntax for OnSystemError block is OnSystemError Catch Error_Number statements to be executed Catch Is lt RelationalOperator gt Error Number statements to be executed Catch Error Number1 To Error Number2 statements to be executed Catch Else statements to be executed End OnSystemError An example of an OnSystemError block designed to monitor errors in task Errors Prg OnSystemError Catch Is 12000 Print Caught a MC error System Error errors KillTask Errors Prg Catch Is gt 20000 Print Caught a user error System Error User defined errors KillTask Errors Prg End OnSystemError 2 2 13 2 NESTING Program control commands can be nested Nesting is when one program control command or block of commands is within another There is no specified limit on the number of levels of nesting For example the following program nests a WHILE END WHILE sequence within a FOR NEXT sequence For I 1 to 10 N 5 While N 0 N N 1 This command will be executed 50 times End While Next I There is no specified limit on the number of levels of nesting The Sample Nesting Program in Appendix A shows numerous combinations of nesting 55 005 03 Rev E 35 BASIC Moves Development Studio 06 2005 Danaher Motion 2 3 PROGRAM DECLARATIONS You must declare the start of pro
78. the type of compliance between the subroutine declaration and the subroutine call Any mismatch in number of parameters or parameters types causes an error during program loading Automatic type casting applies only for by value long and double parameters SUB MySub RefPar as long byval ValPar as double END SUB CALL MySub LongVar String gt type mismatch in second parameter CALL MySub LongVar gt wrong number of parameters CALL MySub LongVar 2 gt a valid type casting for a by value parameter CALL MySub DoubleVar 2 2 gt invalid type casting for a by ref parameter 2 3 3 User Defined Functions MC BASIC allows the definition of user functions to be used in programs in the same manner as using BASIC s pre defined functions User defined functions are composed with multiple lines and may be recursive can call itself Unlike BASIC s system functions the scope of user defined functions is limited to the task in which it is defined Functions are different from subroutines in one respect Functions always return a value to the task that called the function Otherwise functions and subroutines use the same syntax and follow the same rules of application and behavior Because functions return a value function calls should be treated as expressions Therefore function called can be combined within print commands assignment statements mathematical operations and conditions of flow control statements They
79. without changing the end position you write yGroup StartType IMMED Move MyGroup 1150 400 abs 1 Sleep 3000 ove MyGroup 1150 400 abs 1 VCruise 1500 You can change the final position cruise velocity and final velocity of any executing move Observe a few rules STARTTYPE must be IMMED or SIMM New and old VELOCITYCRUISE and VELOCITYFINAL must be positive If the succeeding move changes PFINAL or VFINAL it must remain possible to create the profile with the axis acceleration limits Synchronize Multiple Axes The MC provides the ability to synchronize many single axis and group MOVES so they all start simultaneously This is useful when you have multiple axes with moves that are largely independent but must start at the same time It is also useful for coordinating a single axis with group Synchronization is controlled with lt axis gt STARTTYPE SYNCSTART The feature allows you to load the motion generator with a motion command but delaying the generation of motion until SYNCSTART is issued Rev E M SS 005 031 Danaher Motion 06 2005 Groups 6 10 6 6 11 55 005 03 For example Groupl StartType SYNC AuxAxis StartType SYNC Move Groupl 500 500 VCruise 2000 Sleep 1000 Program delayed between Move Commands Move AuxAxis 100 VCruise 1000 SyncStart Groupl AuxAxis causes the two profiles to start at the same time axis STARTTYPE is overridden inside move commands so th
80. 0 Greater values are specified to turn the motor more than once The sign of the angle determines the direction of the motion The value of ANGLE is not permanent It exists only in the context of the command in which it is specified Consequently you can not query the value of ANGLE The value of CIRCLECENTER is not permanent It exists only in the context of the command in which it is specified Consequently you cannot query the value of CIRCLECENTER Rev E M SS 005 031 Danaher Motion 06 2005 Groups 6 9 8 CIRCLETARGET is a group size array It specifies the target point of the circle This array is not queried CIRCLE defined using CIRCLETARGET is limited to 360 degrees CIRCLEPOINT is a position array that specifies a point on the arc The arc is calculated using the CIRCLETARGET and these points This array is not queried In case of 3 dimensions circle the active CIRCLEPLANE defines which group axes participate in the circle movement The third axis is moved linearly There are 3 plans that can be chosen XY XZ and YZ Chain Commands You can chain group MOVEs and CIRCLES using lt group gt STARTTYPE The following program makes a series of moves Al Name xAxis A2 Name yAxis Common Shared xyTable as Group AxisName xAxis AxisName yAxis From another task named MoveCircProgram Attach xyTable xyTable Absolute TRUE Move to start position xyTable StartType INPOS Move to start and wait to settle
81. 05 03 This program works by starting a slow move with low torque The move continues until position error is greater than 0 25 units When the axis runs into a stop position error accumulates because the profile continues You must be careful to set the threshold of the event greater than the position error of normal operation The threshold of the event must also be smaller than the drive s maximum following error to avoid drive error before the event is triggered Disable OnEvent during the acceleration of the move to avoid nuisance PartFound events PIPEMODE The MC controller can be used as a pure SERCOS interface card between your application and SERCOS drives PIPEMODE feature The host computer controlls all of what normally occurs in the motion module of the MC It must send a realtime stream of data through the MC to the drives In this case the MC functions as a data pipe The feature is enhanced by the option of flexibly switching between pipe mode and regular mode In typical applications the MC starts in regular mode where homing jogging and initial position adjustments are made After that the MC can be switched to pipe mode and the host computer takes control There can be both MC controlled and pipe controlled axes at same time in the system Following error and velocity over speed errors are not checked with piped axes but by the host An external profiler path can be designed and fed to the MC point by point The controlle
82. 100 Absolute FALSE StartType SYNC While System Din 1 False Wait for input to change Sleep 1 End While SyncStart MainAxis Start the axis up by disable End Program This program moves MainAxis 100 units when DIN 1 transitions high Motion on MainAxis starts as soon after the transition of DIN 1 as possible OnEvent can also be used Clamping Clamping applications typically process discrete parts but the end point of a move is unknown Clamping is often applied when the length of the part is not accurately known or when the thickness of material is unknown In clamping the controller moves an axis at low torque until the end of the material is detected Then the torque level is increased either to measure the part more accurately or to hold the part for another axis to process The MC allows you to change torque limits on the drive and uses events to monitor position error to sense the end of the piece below Program Dim Shared PartFoundFlag As Long OnEvent PartFound Abs ClampingAxis pe gt 0 25 Stop ClampingAxis Set torque for heavy torque Sleep 30 allow 30 ms for settling PartFoundFlag TRUE Return End OnEvent eventon PartFound set torque for light torque PartFoundFlag FALSE Move ClampingAxis Vcruise 10 While PartFoundFlag FALSE Sleep 10 End While REM Process part here Return End Program Rev E M SS 005 031 Danaher Motion 06 2005 Single Axis Motion 4 2 6 4 2 6 1 M SS 0
83. 4 value 1 which sets the position loop gain IDN 104 of drive 5 to 1 WRITEIDNVALUE is executed only in SERCOS communication phases 2 3 and 4 Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 13 M SS 005 03 Some IDNs have alpha numeric string values After these IDNs are defined you can read the string values with READIDNSTRING Specify the drive address IDN and IDN element For example you can enter IDNString 5 104 7 IDNSTRING is used only in SERCOS communication phases 2 3 and 4 Some IDNs have alpha numeric string values After these IDNs are defined you can write new string values to most of them with WRITEIDNSTRING Specify the drive address IDN and the value For example you can enter WriteIDNString Drive 5 IDN 104 Element 7 String IDN String WRITEIDNSTRING is executed only in SERCOS communication phases 2 3 and 4 IDNState returns the state of a specified procedure command from a specified drive It is used when executing a procedure command to determine progress of that procedure s execution Common procedures are 99 clear faults and 148 drive controlled homing For example you can enter Check how procedure terminated If IdnState al dadd 99 lt gt 3 Then Print Reset Faults procedure failed End If For more information about states of this property refer to the SERVOSTAR MC Reference Manual Use MOTIONLINK to configure and operate the SERVOSTAR driv
84. A the XYZR x y z roll world space is selected With no robot model defined model 1 the world space descriptor is chosen according to the group size 2 axes XY 3 axes XYZ 4 axes XYZR M SS 005 03 RevE 175 Appendix 06 2005 Danaher Motion In these cases world space is identical to joint space Each coordinate of the joint space vector is directly translated into a coordinate of world space In groups with the robot model defined model gt 1 the translation between joint and world space is much more complex Translating joint coordinates into world coordinates is accomplished with TOCART taking both the robot and given joint coordinates position variable as input arguments The output of this is world coordinates corresponding to the given joint position The other direction is more complex It is accomplished with TOJOINT receiving three input arguments the robot the given Cartesian point and the configuration flag The configuration flag is used to select between the two translation functions In most robot models there is more than one joint coordinate description for the same world space position The different robot configurations can produce the same world space positions with different joint space values The robot configurations differ from robot to robot SCARA there are only two configurations lefty second joint coordinate is negative and righty second joint coordinate is positive Interpolation
85. AR MC Reference Manual If you are using memory mapped PC104 cards you will need the memory access commands PEEK and POKE The valid memory address range for PEEK is 0xA0000 through OxDFFFF The valid memory address range for POKE depends on the hardware version of the MC card For the ISA Bus card the valid memory address range for POKE is 0xA0000 to OxCFFFF and OxDAOO0 to OxDFFFF For the PCI card the valid memory address range for POKE is 0xA0000 to OxC7FFF and OxDBOOO to OxDFFFF PEEKB transfers byte wide 8 bit data from the PC104 memory bus to a variable PEEKW transfers word wide 16 bit data from the PC104 memory bus to a variable POKEB transfers byte wide 8 bit data to the PC104 memory bus POKEW transfers word wide 16 bit data to the PC104 memory bus If you are using l O mapped 104 cards you need INP and OUT INPB transfers byte wide 8 bit data from the PC104 I O bus to a variable INPW transfers word wide 16 bit data from the PC104 I O bus to a variable OUTB transfers byte wide 8 bit data to the PC104 I O bus OUTW transfers word wide 16 bit data to the PC104 I O bus Rev E M SS 005 031 Danaher Motion 06 2005 Error Handling 11 11 1 11 1 1 M SS 005 03 ERROR HANDLING Error handling is the method used to react to and process fatal and non fatal errors that occur during the operation of the MC You can handle non fatal faults but not fatal faults Fatal faults cause a WatchDog timer to
86. ARITY defaults to OFF indicating the PLS state should be OFF after the first position Change PLSPOLARITY to ON to invert the state MyPLS PLSPolarity ON Change PLSPOLARITY only if the PLS is disabled Rev E 153 Input Output Step 4 Step 5 Step 6 10 4 154 06 2005 Danaher Motion Set PLSREPEAT If you want the PLS to repeat set the value of PLSREPEAT to a non zero positive number For example to have the PLS repeat every 10 000 position units enter MyPLS PLSRepeat 10000 PLSREPEAT defaults to 0 indicating that there is no repetition Change PLSREPEAT only when the PLS is disabled Set PLSHYSTERESIS if the application requires it Hysteresis is only necessary if the system does stop on or near a PLS position Normally a PLSHYSTERESIS of 5 or 10 counts of encoder converted to position units or 2 or 3 counts of resolver resolution is sufficient MyPLS PLSHysteresis 0 01 Enable the PLS Enter MyPLS PLSEnable ON There are a few other PLS functions you may need Change Polarity The default output state of a PLS is 0 Change this initial state by modifying PLSPOLARITY MyPLS PLSPolarity The PLS must be disabled when changing this setting Query the Name Query the name of the axis driving the PLS MyPLS PLSAxisName returns the axis associated with the PLS A1 Disable the PLS Disable the PLS For example MyPLS PLSEnable OFF You must disable a PLS to change PLS properties Di
87. ASIC Moves Development Studio Manual SERVOSTAR SC MC API Reference Manual SERVOSTAR MC InstallationManual The SERVOSTAR MC is Danaher Motion s multi axis controller The MC has the features and performance required of today s multi axis controllers and is designed for easy integration into motion control systems and for simplicity of use The key benefits of the product are Motion Components Guaranteed to Work Together Danaher Motion can provide a complete motion control system including controller drives and motors All the components are supplied by DanaherMotion and are tested and guaranteed to work together Complete Digital System at an Affordable Price The MC is fully digital including communication with the drives The analog interface is eliminated but the price is competitive with analog systems Local Field Bus for Simple Set up Less Wiring More Flexibility The MC communicates via fiber optic cables using an industrial field bus called SERCOS SERCOS greatly simplifies system set up and wiring while improving system flexibility and reliability compared to its analog counterparts Windows Based Software Supports Microsoft Visual Basic Visual C and other Popular Languages The MC product family includes Danaher Motion s Kollmorgen API which allows Windows NT application integration with the MC controller Communication uses dual port RAM so the process is fast and reliable Rev E 1 Overview 1 1 1 2
88. Any further reference to the communication port uses the device handle number The device handle range is 1 255 Rev E M SS 005 031 Danaher Motion 06 2005 Overview There are several ways to set the IP address of the controller By default the MC boots without a valid IP address The following options are available to set the IP address of the controller Static IP address setting Use SYS IPADDRESSMASK in the Config prg file to assign the IP address and Subnet mask SYS IPADDRESSMASK 212 25 84 109 255 255 255 128 Dynamic address setting by Windows API API assigns an IP address to the MC when it establishes TCP communication with the controller The IP address and Subnet mask are taken out of a pre defined address pool BASIC Moves uses this address assigning method Refer to the BASIC Moves Development Studio User Manual and SERVOSTAR MC Reference Manual for detailed information DHCP IP address is assigned by the DHCP server If your network does not support DHCP the controller tries to get the address from the DHCP server and times out after few minutes During that time communication with the controller is not possible SYS IPADDRESSMASK dhcp If DHCP is used select Automatic connection method as shown below gt Communicate using Legacy 4 PCI C Serial Over Virtual NIC Automatic T Make this the default communication method es Get the controller
89. Axis1 Axis2 and Axis3 then MyGroup Acc Axis Accel Axis2 Accel Axis3 Accel RevE 121 Groups 6 4 6 4 1 6 4 2 122 06 2005 Danaher Motion Group acceleration is the orthogonal combination of the axes acceleration Group acceleration and deceleration are limited according to the axes values You can impose limits to constrain the time during which group acceleration and deceleration occurs group TIMEACCELERATION lt group gt TIMEDECELERATION define the duration of the acceleration phase POSITION Group position differs from axis position in that a single property must represent the position of multiple axes In some cases the individual axis properties are maintained so that the property becomes a vector with two or three entries This is the case for POSITIONFEEDBACK or POSITIONCOMMAND In other cases the position from multiple axes are combined using the square root of the sum of the squares as for POSITIONERRORMAX Vector With groups three position properties are vectors the position command position feedback and position final In each case the quantities in the vector are equivalent to the individual axis properties For example you can set POSITIONFINAL as part of a MOVE Move MyGroup 5 5 6 5 This sets PFINAL of the first axis to 5 5 and the second to 6 5 Querying the position feedback from a two axis group from the terminal also returns a vector For example
90. D double D D D 4 4 return D char CFUNC SRS char S strcpy S SRS return 5 Multiple Parameters By Value Parameters int CFUNC_LVALP double D int L char S Continued on next page RevE 43 BASIC Moves Development Studio 06 2005 Danaher Motion return D L atoi S void CFUNC VVALP char S double D int L int open tyCo 1 2 0 fdprintf fd Original Values d f s r n L D S L 10 D 22 2 strcpy S VValP fdprintf fd New Value d f s r n L D S close fd By Reference Parameters double CFUNC DREFP char S int L double D return D L atof S 2 5 3 Special Considerations Motion and System properties can only be passed by value KILLTASK will not unblock a task locked inside the C function An endless block on a semaphore message queue etc inside a C function prevent sa task from correct being killed If C function has some blocking operation system call taskDelay semTake msgQGet msqQSend operation etc this may interfere with killing the user task When an object module is loaded several times without unloading all its instances are kept in the RAM while the system symbol table has references only to the resent instance MC Basic applications may refer to the obsolete version of some modified object file OUNLOAD does not check to s
91. DDRES Sh ronin rees err Eora EEA RE E ONE EA LEONE eT 63 Rev E M SS 005 03 Danaher Motion 06 2005 Table of Contents 3 6 4 STARTING POSITION 63 3 6 5 BASIC MOVES AUTO SETUP PROGRAM rennen 63 3 6 6 USER UNITS ie eee e RARE ERR BIRS ERRARE IN n EXTR ERREUR EPA SER 64 3 6 7 POSITION 6 e tre et re terr Y E 64 3 6 8 85524 8 ter ee rene HR RE Re eei a one e e epus 65 3 6 9 ACCELERATION UNITS eer tre eee thee na hon oo VERE Pe degener 65 3 6 10 JERK UNITS ether n nose ccs HORE EG QUEE LEVE 66 3 7 ACCELERATION PROFILE 66 3 0 POSITION AND VELOCITY norrit peccet eo py p e cea a prese 67 VIMTIS 69 3 9 1 POSITION ETMITS 70 3 9 2 AXIS VELOCITY LAMITS Ree ce e ee i i RR CR 73 3 10 VELOCITY ACCELERATION AND JERK RATE PARAMETERS sss 73 BTL VERIFY SETTINGS EAE ERES Vno 74 3 11 1 ENABLING essin reset AENEA ETT 74 3 11 2 MOTION FLAGS nere e RERO o eH e e eese te 74 3 11 3 JIZ SERCOS ng 3 12 1 COMMUNICATION PHASES 422 02 0 44000200 000000 60 0 0 000 8 76 3
92. DISTANCE for the assignment of the home position 0 do not go back1 go back to the switch Provides the status of the home read only property 0 axis not 1 axis is home2 home in progress3 error during homing procedure Specifies the velocity to be used during the homing procedure with the inclusion of HOMEOFFSET or HOMEDISTANCE The various homing properties are provided to allow you to set the values of the parameters that determine the behavior of the procedure For instance properties such as lt axis gt HOMEVELOCITLY axis HOMEACCELERATION axis HOMEDISTANCE and lt axis gt HOMEOFFSET allow you to control the rate at which the axis approaches home The following example illustrates this procedure A typical home application may look like HomeVelocity 100 HomeAcceleration HomeOffset 100 HomeDistance 100 HomeDirection 1 HomeType 1 HomePolarity 2 InlMode homing HomeDistanceMax HomeReturn 1 Home al For more information about these properties refer to the SERVOSTAR MC Reference Manual w 1000 1 100 RevE M SS 005 031 Danaher Motion 4 2 3 M SS 005 03 06 2005 Single Axis Motion Registration Registration applications are those that start motion and then modify the profile based on a subsequent event These applications generally involve discrete product processing such as are common in the packaging printing
93. DriveAddress 2 Al Simulated 1 A2 Simulated 2 Rem Set Sercos Phase to 2 Sercos Phase 2 Continued on next page M SS 005 03 Rev E 169 06 2005 Danaher Motion Rem Configure the axis for Telegram Type 7 using IDN 15 WriteIDNValue Drive Al Dadd IDN 15 Value 7 Rem Configure the AT for VFb PFb and PExt IDNs 40 51 53 WriteIDNValue Drive Al Dadd IDN 16 Value 40 51 53 Rem Configure the MDT for VCmd PCmd IDNs 36 47 WriteIDNValue Drive Al Dadd IDN 24 Value 36 47 Rem Set Sercos Phase to 4 Sercos Phase 4 End if End Sub 170 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B APPENDIX B NON HOMOGENOUS GROUPS Non homogenous groups consist of different axes both rotary and linear A feature was added to support the definition of velocities for non homogenous groups the setup rotary and linear axes are declared The system determines if it is a linear or rotary dominant group For example in SCARA robot there are two rotary axes for the first and second joints and another rotary axis for the last joint roll There is only one linear axis the Z axis Such a system is rotary dominant Another example is the OCP system which is an XY Gantry system with the last two axes taken from the SCARA Here there are two linear X amp Y axes and another linear Z axis with just one rotary axis roll In this case the system is linearly dominant Axis setup
94. KOLLMORGEN SERVOSTAR MC 55 005 03 Revision Firmware Version 5 0 0 Record of Manual Revisions Revision Date Description of Revision 0 3 1 1999 Preliminary issue for review 1 5 14 1999 Initial release 2 6 5 2000 New PCI and stand alone models new firmware features 3 8 31 2001 New firmware features D 5 11 2005 Update examples E 6 20 2005 Updated firmware version and dates 1999 2005 Danaher Motion All rights reserved Printed in the USA DANAHER MOTION is a registered trademark of Danaher Corporation Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication Specifications are subject to change without notice Danaher Motion provides this information AS IS and disclaims all warranties express or implied including but not limited to implied warranties of merchantability and fitness for a particular purpose It is the responsibility of the product user to determine the suitability of this product for a specific application SERVOSTAR GOLDLINE Motors MOTIONLINK Motioneering BASIC Moves Development Studio Kollmorgen API and MC BASIC are trademarks of the Kollmorgen Corporation VxWorks is a trademark of Wind River Visual Basic Visual C Windows Windows 95 Windows NT are trademarks of Microsoft Corporation Safety alert symbols used in this document are Warnings alert users to potential physi
95. Key Features The MC s camming features are Camming supports motion in both directions The master runs indefinitely in either positive or negative direction without accumulation of error Cam tables are driven by an axis position command an axis position feedback or an encoder brought in through the SERVOSTAR s external encoder input It is driven by either physical or simulated axes Cam tables are two dimensional The points may be irregularly spaced Linear interpolation is used between points 108 RevE M SS 005 031 Danaher Motion 06 2005 Master Slave 5 3 2 5 3 3 5 3 4 M SS 005 03 Cam profiles do not need to return to the original position at the end of the profile Cam tables are calculated either off line and stored or on the fly Cams cycle either indefinitely or are specified to cycle a specific number of times Multiple cams are defined and linked together automatically The master position is processed through the master slave gear ratio GEARRATIO Issued incremental moves are summed with the cam profile to form the slave position command GEARRATIO In camming you set the proportional constant between the master and slave with lt axis gt GEARRATIO If GEARRATIO 1 the table is matched one to one to the master axis If it is less than one the table is driven at a speed slower than the master is moving For example to run the table at half the speed of the master Al GearRatio 0 5 Drive cam
96. LS Output Position Feedback More switch positions can be added To have the PLS in the above example turn back off at 200 simply add a second position at 200 as shown below 100 200 PLS Output Position Feedback You can add any number of positions For example to extend the above example to turn back on at 400 and off again at 600 add positions 3 and 4 as 400 and 600 as shown below Position Feedback M SS 005 03 RevE 151 Input Output 10 3 3 10 3 4 10 3 5 10 3 6 152 06 2005 Danaher Motion There is no explicit limit to the number of positions you can have in a PLS but the PLS positions must be increasing monotonic Position2 must be greater than Position1 Position3 must be greater than Position2 etc Repetition Interval PLSREPEAT allows you to repeat the same PLS after a fixed number of counts For example the figure below shows a PLS that turns on at 0 off at 10 and has a PLSREPEAT value of 100 100 90 0 10 100 110 200 210 PLS Output Position Feedback Polarity PLSPOLARITY allows you to control the polarity of the PLS output The initial polarity may be specified as 1 or 0 indicating that the output is set to 1 or 0 after the PLS is enabled and when the axis is located between the first and second PLS positions If the axis position when the PLS is enabled is not located within this segment the output polarity is set to 0 or 1 according to the current po
97. MC provides numerous types of I O It includes more than 40 I O points as standard plus the SERVOSTAR drive includes 5 1 points per drive In addition you can input an external encoder through any SERVOSTAR drive The I O can be extended to include PC104 cards from a variety of suppliers STANDARD I O The MC includes 23 inputs and 20 outputs as standard on the MC These are accessed with the system properties DIN 1 through DIN 23 and DOUT 1 through DOUT 20 System Din 1 System Dout 5 System Dinl System Din System Dout 0xfe For information concerning the properties of the signals that connect to these inputs and outputs refer to the SERVOSTAR MC Installation Manual SOFTWARE I O The MC provides virtual software I O in addition to the standard I O The primary purpose of software I O is to place a large group of I O where it can be read from and written to as blocks in the MC s dual port RAM Virtual inputs are delivered from the host over DPRAM where virtual outputs are stored in the DPRAM and retrieved by the host This is much faster than reading or writing individual I O points one at a time This allows efficient communication between a machine controller such as a VB program or a software PLC and the MC program For more information about virtual software I O refer to the SERVOSTAR MC Manual Bit oriented Software I O Software is used in the MC program just like standard I O Standard inputs are
98. Manual All implementation models of the SERVOSTAR MC are functionally equivalent for servo motion control OPERATING SYSTEM The SERVOSTAR MC is based on the VxWorks RealTime Operating System RTOS providing a stable platform for the SERVOSTAR s software VxWorks is produced by Wind River Systems Incorporated VxWorks is continuously evolving providing a clear path for future upgrades to the MC MC BASIC LANGUAGE COMPILER The MC uses a language interpreter that semi compiles commands so they typically execute in less than 5 microseconds MC BASIC is true BASIC It has familiar commands such as FOR NEXT IF THEN PRINTUSING PEEK and POKE as well as common string functions such as CHR INSTR MID and STRINGS It allows arrays up to 10 dimensions with support for double precision floating point math MC BASIC is extended to provide support for functions required for motion systems control e g point to point moves circular and linear interpolation camming and gearing In addition there is support for multi tasking and event driven programs Gearing and camming have the versatility required for motion control You can slave any axis to any master You can enable and disable gearing at any time The gear ratio is expressed as a double precision value The MC also supports simulated axes which can be master or slave in gearing and camming applications and incremental moves run by any axis master or slave at any
99. Move FeedAxis End Program capture position 10 StartType IMMED This example generates the next profile Velocity Command Second Registration move Mark executed Original move 3000 7 RPM Processing 0 Time The move starts and the registration mark is detected about 40 of the way to the end After a small amount of processing time the second move is loaded over the current move The axis comes to rest at a fixed offset after the registration mark Rev E 101 Single Axis Motion 06 2005 Danaher Motion 4 2 4 4 2 5 102 The more accurately the position is determined the more accurate the cut is with respect to the registration mark If the process is feeding material at 10 ft s and the capture accuracy is 3 microseconds the mark is 10 ft sec 3 us 3 225e 5 ft or about 0 0004 in The original line was set to go much farther than the actual resultant move This technique is commonly used because you can monitor the end position and if the move is completed before the registration mark is detected it indicates the mark was missed Gating Many applications require motion to be gated to an external switch In these cases you need to start a move after the gating input transitions with as little delay as possible One way you can accomplish this on the MC is by starting the move with events containing synchronized motion For example Program Attach MainAxis Move MainAxis
100. NALFACTOR or lt axis gt PEXTFAC The process is identical to setting position units for an encoder The external position and velocity factors are only effective for cases when the SERCOS telegram is configured to transmit the external encoder Do not access PEXT using IDNVALUE because the encoder values coming into the drive are subject to rollover The MC continuously monitors these values and adjusts the value when a rollover is detected The values accessed via the SERCOS service channel cannot be monitored for rollover Also external position units are not in effect The MC provides the external velocity through the lt axis gt VELOCITYEXTERNAL or lt axis gt VEXT This variable contains the accumulated encoder movement per millisecond and is also updated every SERCOS cycle when the SERCOS telegram is configured to transmit the external encoder The MC allows you to control the units of VELOCITYEXTERNAL with lt axis gt VELOCITYEXTERNALFACTOR or axis VEXTFAC The process is identical to setting position units except that axis VEXTFAC can only be input as an encoder signal LIMITS This section outlines the many types of limits you can impose on the MC System These limits help protect the machine from excessive excursions of travel speed and torque There are three types of limits in the SERVOSTAR System MC Generator Limits MC Realtime Limits Drive Limits Limits can be imposed in several ways First some limits
101. NG 16 CLEARMOTION CMOT CLOSE 0 CONTINUE or CONT 1 ENDMOTION or EMOT 3 ERRORLEVEL 2 EXTERNAL 1 FALL 2 FALSE 0 FAULTLEVEL 1 FLIP 2 GEAR 1 GENERATORCOMPLETED or GCOM 3 HALT 0 HOMING 10 DN_CAPTURE1ENABLE 405 DN_CAPTURE1POSITIVELATCHED 409 DN_CAPTURE1NEGATIVELATCHED 410 MMEDIATE or IMMED 1 NPOSITION or INPOS 2 LEFTY 1 MAXDOUBLE 1 797693134862311 308 MAXLONG 2147483647 MINDOUBLE 1 797693134862311 308 MINLONG 2147483648 MULTIPLE 1 VARIABLES NEGATIVE 1 NEXTMOTION or NMOT 2 NOFLIP 1 NOOVERLAP 0 NOTELEVEL 3 OFF 0 ON 1 ONPATH 2 OPEN 1 OVERLAP 1 3 14159265359 POSITIVE 1 RESTART 1 RIGHTY 2 RISE 1 SILENTLEVEL 0 SUPERIMMEDIATE or SIMM 5 SYNC 4 TASK_ERROR 4 TASK IGNORE 1 TASK INCORRECT 9 TASK INTERRUPTED 0x200 TASK KILLED 10 TASK LOCKED 0x100 TASK READY 7 TASK RUNNING 1 TASK STOPPED 2 TRACK 3 TRUE 1 You must declare a variable in MC BASIC before you can it In the declaration you define variable name scope and variable type MC BASIC supports Long for integer values Double for floating point values and String for ASCII character strings RevE M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio M SS 005 03 Besides these basic types MC BASIC also supports Structure like variables and some MC BASIC specific types such as poi
102. PTIONS 0 AS 1 CONNECT 1 212 25 84 100 6002 PRINT 1 HELLO INPUTS LOC 1 1 CLOSE 1 MC As TCP SERVER When acting as a server the MC endlessly waits for a connection from the remote host Use ACCEPT when the MC acts as server ACCEPT binds a socket to a specified port and waits for a connection Simultaneous ACCEPTs on the same port are not allowed ACCEPT blocks the execution of the calling task until a connection is established To unblock the task waiting in ACCEPT close the corresponding socket with CLOSE In addition killing a task KILLTASK blocked in ACCEPT closes the socket and releases the task The following example illustrates a typical procedure of waiting for a connection from a remote host and sending and receiving data OPENSOCKET OPTIONS 0 AS 1 ACCEPT 1 20000 PRINT 1 HELLO INPUTS LOC 1 1 CLOSE 1 Send Receive Data Serial and TCP communication use the same commands to send and receive data After establishing communication over TCP or after configuring the serial port communication parameters send and receive data regardless the communication type Data flow differences are communication speed and the size of the input and output buffers TCP IP communication uses larger communication buffers RECEIVE DATA The input buffer of the serial ports is a fixed512 bytes size User communication allows receiving strings using INPUT To check if data is ready at the in
103. Position Phaser Several slaves can be connected to the same master but the position correction is set per slave PHASER is a slave command and its effects do not harm other slaves connected to the same master Directly disconnection of the slave SLAVE OFF automatically stops PHASER Profiler PHASER is a type of MOVE so all the command s rules and limitations are imported As an input PHASER gets the maximum offset added or subtracted from the master position The offset value is equivalent to the target position of MOVE The rate at which the offset changes is determines by the profiler Similar to MOVE the profiler is calculated according to the slave s motion properties ACCELERATION DECELERATION and JERK All changes in these values must be performed in the nodal context so the slave s property definitions are not effected Comparing PHASER and MOVE Properties MOVE PHASER Element Axis or group Slaved axis only Position Target Maximum offset Ratio factor None Translation factor between master units and slave units Kinematics properties All All STARTTYPE All types All types special relevance is IMMEDIATE Rev E 141 PHASER 8 1 2 8 1 3 8 1 4 142 06 2005 Danaher Motion Execute PHASER is a slave command although it acts on the master signal In the command like MOVE the slave axis and offset value are essential With PHASE
104. Program attach move jl pmin j2 pmin 0 0 while ismoving sleep 1 End While Print Plotting the workspace move jl pmin 0 0 0 move 131 0 0 0 move jl pmax j2 pmax 0 0 detach End Program Robot Configurations In robot models there are several joint points representing the same robot end effector position for each location point To uniquely select between different joint coordinates there are configuration flags For SCARA kinematics there is only one configuration flag available the arm flag It indicates either lefty 1 32 pcmd gt 0 or righty 2 32 pcmd gt 0 A value of 1 lefty means that the joint coordinates having a positive second joint are taken to represent the given location The current configuration of the robot is returned by ARMFBK The value can be 1 or 2 depending on the position feedback value of the second joint ARMFBK determines the movement s target position It can be automatic 0 lefty 1 or righty 2 When a movement with a Cartesian target position is given the joint coordinates of the target position are selected according to ARMFBK If it is zero automatic the current robot configuration is used ARMFBK PUMA models traditionally use three configuration flags arm elbow and wrist ACMD ECMD WCMD Another use of configuration flags is in the conversion function TOJOINT This function translates the given location point into joint point It receives two arguments The
105. R there is a new factor ratio that translates between slave and master units The additional properties that can be determined are the smoothness of change profiler type STARTTYPE and kinematics Al mastersource a2 pcmd Al slave CAM Phase al 10 ratio 1 slave and master has the same units Cancel PHASER can be divided into two stages the convergence and constant stages Stopping the convergence stage is by a special stop command The value reached at the end of stopping is the maximum offset that is added instead of the original offset value The maximum offset value is queried with MAXIMUMOFFSET see the SERVOSTARO MC Reference manual To cancel the second stage where the offset reaches its final value insert a new PHASER with a complementary correction value Serial PHASER PHASER is inserted into the movements buffer During the convergence stage of PHASER no other movements are allowed A new movement or an additional PHASER is held until the maximum offset is reached Executing a new motion during the convergence stage can be accomplished only with STARTTYPE IMMEDIATE You can trace the convergence stage with ISMOVING like tracing other type of movements see the SERVOSTAR MC Reference manual RevE M SS 005 031 Danaher Motion 06 2005 GENERIC ELEMENTS 9 9 1 55 005 03 GENERIC ELEMENTS Writing complex multi axis applications requires high level software organization Avoid code repetition b
106. Rev E 65 Project 3 6 10 3 7 66 06 2005 Danaher Motion Jerk Units It is also necessary to define the jerk factor even if you always use the smooth factor The smooth factor automatically defines the jerk value from the velocity and acceleration values but it is a value before factors therefore totally invalid values of jerk internally can be computed At least set Jfac Afac 1000 and it should work lt axis gt JERKFACTOR specifies the conversion factor between your jerk units and the internal units counts per msec axis JERKFACTOR must contain the conversion factor for both the position dimension and the time dimension ACCELERATION PROFILE The MC provides smooth controlled acceleration profiles to reduce vibration and wear on the machine and to allow high acceleration rates The SERVOSTAR MC allows you to independently control acceleration and deceleration to further reduce vibration For detailed information any listed commands refer to the SERVOSTAR MC Reference Manual ACCELERATION and DECELERATION control the acceleration rates The following lines of code entered at the terminal window or in your program change the acceleration rates for Axis A1 Al Acceleration 1000 Al Deceleration 1000 Do not enter these commands yet Acceleration units should be set before these values are entered You can impose limits which constrain the time during which acceleration and deceleration occurs The motion i
107. Rev E M SS 005 031 Danaher Motion 06 2005 Project M SS 005 03 Care should be taken to set PEMAX to a value that matches the needs of the application When the actual position following error PE exceeds PEMAX motion stops If the motion is stopped when this condition is detected the axis is disabled During normal operation occasional occurrences of position error overflow usually indicates a malfunction of the machine such as a worn or broken part or a need for lubrication You should set the maximum position error well outside the boundaries of normal machine operation or nuisance errors occur when the machine is running During installation position error overflow frequently occurs because the system is unstable In this case the motor runs away even though zero velocity is commanded Set POSITIONERRORMAX to a reasonably small value before powering the system up For example you might set it to a few revolutions of the motor or a few inches or centimeters for linear systems This way if the tuning is unstable the system is less likely to cause a problem Setting PEMAX to a very large number prevents the Position Error Overflow error from detecting an unstable system and consequently the motor is able to run away The proportional position loop is the simplest position loop The next figure shows a block diagram of a proportional position loop Position GP Drive Command nches min Velocity inches E mil Com
108. Shared lt var gt as PLS in Config Prg or at the terminal You must name the PLS specify the axis that drives the PLS and name an output to be controlled by the PLS For example Common Shared MyPLS as PLS Al System Dout 1 sets up MyPLS as a PLS driven by axis A1 connected to SYSTEM DOUT 1 The output can be a digital output SYSTEM DOUT 1 through DOUT 20 or it be one of the virtual outputs SYSTEM VOUT 1 through VOUT 32 After the Common Shared var PLS executes the PLS is disabled Properties of the PLS are set as A single PLS position exists at 0 The initial output polarity is 1 PLSREPEAT is set to 0 The hysteresis is set to 0 These properties may be set explicitly as long as the PLS remains disabled You can check which output is associated with a given PLS using PLSOUTPUT Create the PLS data structure and define PLS positions The number of defined positions is not explicitly limited A call to CREATEPLSDATA creates an array of n positions that stores the position data The array is 1 based and an error is generated if you attempt to access an index outside of the array bounds For example CreatePLSData 4 MyPLS MyPLS PLSPosition 1 MyPLS PLSPosition 2 As a short form you can use PPOS in place of PLSPOSITION MyPLS Ppos 3 2000 MyPLS Ppos 4 2200 1000 1100 You cannot change PLS positions when the PLS is enabled Position values must be increasing monotonically Set the polarity PLSPOL
109. Shared sample_int as Long Dim Shared sample_real as Double e a eu ee aa a Mtr ta ama Fa SSDs aA il es SSA ate eee rem Main Task Begins Here Program Attach Al Attach to axes Call AxisSetup up all axes Call SercosSetup Bring up SERCOS ring rem Auto generated sample program starts here rem Sample program remove single quote marks at beginning of rem lines to run program Sys En on Enable the system Al En on Enable Axis A1 1 Al StartType Immediate Sleep 1000 Sleep one second M SS 005 03 RevE 167 Appendix 06 2005 Danaher Motion Sys Motion Allow system motion E Al Motion on Allow motion in axis A1 For sample_int 1 10 Loop 10 times rem Move Al to 5 position unit s 3 Move A1 5 Absolute 0 Sleep 2000 Sleep two seconds rem Move 1 back to start t Move A1 5 Absolute 0 i Sleep 2000 Sleep two seconds L Next sample int Print Sample program completed Sys Motion off Disable motion in system Sys En off Disable system rem Auto generated sample program end here Detach Al Detach from axes End Program Sub SercosSetup rem If ring is not up If Sercos Phase lt gt 4 Then Sercos Phase 0 Bring the ring all the way down Sercos Baudrate 4 baudrate to 4 Mbaud rem Set Drive Addre
110. Step MyGroup StartType GCOM MyGroup VelocityCruise 1000 Move MyGroup 1200 400 Rev E 133 Groups 6 10 5 134 06 2005 Danaher Motion MyGroup StartType is set to GCOM The second move begins after the first move is complete You must use STARTTYPE GCOM when chaining a move after non zero velocity end move You cannot use STARTTYPE IMMED or SIMM because the new move overrides the old move When the movement ends with non zero final velocity the next movement is started at the endpoint of the first movement or immediately if STARTTYPE of the next movement is IMMED or SIMM You can combine non zero velocity end moves to produce profiles with as many steps as needed However there are a few restrictions STARTTYPE for all non zero velocity end moves that is VELOCITYFINAL lt gt 0 must be GCOM VELOCITYCRUISE and VELOCITYFINAL must be positive PFINAL of the succeeding move must be far enough in front of PFINAL of the current move so the profile is possible with the acceleration limits An error is generated if this rule is violated The end position or the end velocity of a move in progress can be changed by setting STARTTYPE IMMED and issuing the second move This move command cancels the current move For example issuing a move without changing the velocity yGroup StartType IMMED Move MyGroup 1150 400 Sleep 3000 ove MyGroup 1150 800 As a second example if you wanted to change the cruise velocity
111. TACH from the controlling task Program Attach A1 Rev E 85 Single Axis Motion 06 2005 Danaher Motion 86 If no other task is attached to the axis the axis is immediately attached If another task has already attached the axis an error is generated A TRY CATCH can be used to wait for an axis to be unattached As long as the task has the axis attached no other task can control the axis When a task is finished with an axis it should detach the axis Detach Al If you issue DETACH while profile motion for that axis is in progress DETACH delays execution until that motion is complete If a task ends with Some axes still attached all axes are automatically detached One exception for the requirement that an axis be attached is if the motion command is issued from the terminal window In this case assuming the axis is not attached by any other task the axis is automatically attached to the terminal window for the duration of the motion command Enable the drive by typing the following commands in the terminal window System Enable ON Al Enable Enable is also necessary for asimulated axis although there is no drive connected There are two other signals that are required to enable the drive DRIVEON and HALTRESTART These signals are normally ON These signals are provided to comply with SERCOS They are seldom used in MC programs If you do turn either of these off you will need to turn them back on before
112. able the Axis At this point camming is enabled However you Al Enable ON Al Slave OFF must enable the drive to see motion Camming cannot be enabled if the axis is ina relative or absolute move or during STOP Enabling camming when gearing is enabled or when an absolute move is being executed generates an error Disabling or enabling the drive does not affect whether gearing is enabled To disable camming set SLAVE to OFF Disable camming When camming is disabled the velocity of the slave axis is decelerated to zero at the rate of lt axis gt DECELERATIONMAX lt axis gt DMAX Issuing JOG or STOP for the axis disables camming Issuing STOP turns camming off immediately The velocity of the axis is decelerated to zero at the rate set by lt axis gt DECELERATIONMAX If JOG command is issued camming on that axis is disabled immediately and the cam profile ramps to zero at the rate lt axis gt DEC The JOG profile ramps up at the rate specified by lt axis gt ACC For a short time the axis profile is the sum of these two profiles as shown below This profile is removed K when ramp speed reaches zero Ramp Cam speed to zero Slave Axis Profile JOG Profile After the camming profile goes to zero the profile is controlled wholly by the JOG profile Disabling the master or slave does not disable camming Camming remains active and the slave position is commanded accordingly when re ena
113. ables of different type in one variable Definition Since a structure is a user defined data type it must first be defined Structure type definition can be done only in the Config prg file before the PROGRAM block at the declaration level using the following syntax TYPE structure type name element name AS element type OF robot type END TYPE This block defines the name of the structure type and the names types and array sizes of the various structure elements fields Data types supported as structure elements are long double string and points JOINT and LOCATION Array elements can only have a single dimension The maximum structure block can include 100 longs 100 doubles 100 strings 100 points JOINTs and or LOCATIONS 10 long type arrays 10 double type arrays 4 string type arrays and 2 point type arrays JOINTs and or LOCATIONS The total size of the MC Basic structure is limited The maximum number of each type of element is fixed Trying to define more structure elements than allowed results in a translation error An array of structures may have up to 10 dimensions Declare You must declare a structure before you can use it If you want to declare a structure variable you must first declare a structure data type and then use this data type structure to declare the variable The structure data type definition can be done in the Config prg file only with the following syntax before the PROGRAM t
114. accessed with SYSTEM DIN 1 through DIN 23 and virtual inputs are accessed with SYSTEM VIN 1 through VIN 32 Standard outputs are accessed with SYSTEM DOUT 1 through DOUT 20 and virtual outputs are accessed with SYSTEM VOUT 1 through VOUT 32 You can use software I O to start events just as with standard I O Programmable limit switches can use software outputs just as with standard outputs Here is an example OnEvent SoftwareInputEvent System VIn 1 ON System VOut 1 OFF If System VOut 4 ON RevE 149 Input Output 10 2 2 10 3 10 3 1 150 06 2005 Danaher Motion Long Word Oriented Software The entire word 32 bits of software input and output is accessed when a bit position is not included in the reference to the input or output variable So the following statement is valid System VOut System VIn This statement copies the virtual software input to the output The physical input and output variables are used in this manner Be careful when assigning virtual I O to physical I O because there are fewer physical bits than there are virtual bits There are only 20 bits of physical output but the virtual output variable can have 32 bits PLS PROGRAMMABLE LIMIT SWITCH A Programmable Limit Switch PLS monitors position feedback on any axis real or simulated A PLS offers more flexibility than a limit switch as it allows many trip points and can be reconfigured on the fly A PLS toggles the state of a
115. ach global variable can be stored in a file The variable and its value are stored in same syntax as it is defined in the program You can select a data type to be stored If a data type is selected the SAVE command stores only global variables of that data type If file with same name already exist its extension is renamed to bak and new file is created Loading the file overwrites the values of the saved global variables You can save all the points related to some type of robot For example SAVE file Myfile prg type location robottype xyzr SAVE file Myfile prg type all LOAD Myfile prg M SS 005 03 RevE 187 Appendix 06 2005 Danaher Motion Group Point Properties Following modal only and read only group properties of the point data type exist DEST DEST_JOINT Target point of the movement START START_JOINT Starting point of the movement HERE POSITIONFEEDBACK or PFB Actual point of the robot feedback SETPOINT POSITIONCOMMAND or PCMD Actual point of the robot group SINGLE ELEMENT ASSIGNMENT Syntax for assigning a single element of a structure variable name structure element lt expression gt In Functions Structures can be passed to functions and subroutines both by reference and by value Also an entire array of structures can be passed by reference to a function or subroutine Structures can also serve as returned values of functions However the s
116. alues for payload and arm radius where reduction begins overall 10096 reduction value per robot group per joint 10096 reduction values Since payload is static varying only with tool change this is easily accomplished in the application Use the following two mechanisms for Cartesian profiles Cartesian Velocity Adaptation CVA is according to the direction and position of the movement in the working space For each path a point closest to the origin 0 0 is found and the Cartesian velocity of the whole motion is reduced according to the values of joint velocities at that point Cartesian Acceleration Deceleration Jerk Adaptation CADJA where values of jerk acceleration and deceleration are reduced according to the relative distance from the point of origin in reference to the maximum radius of the robot The reduction INERTIATHRESHOLD is active only from a certain distance radius The maximum reduction value is defined at the final point the fully stretched arm For all points between these two values INERTIATHRESHOLD 100 the reduction value is linearly interpolated Acceleration is reduced according to the initial point of the movement Deceleration is reduced according to the final point of the movement The jerk value is reduced according to the average of the two reduction values for initial and final point M SS 005 03 Rev E 179 Appendix 06 2005 Danaher Motion Limitations are Reduction factors are not allo
117. am MC BASIC automatically checks the type of compliance between the function declaration and the function call Any mismatch in number of parameters in parameters and returned value types causes an error during program loading Automatic type casting applies only for long and double returned values and by value parameters For example Function LongReturnFunc As Long LongReturnFunc String type mismatch in returned value End Function Function LongReturnFunc As Long LongReturnFunc 43 7 valid type casting in returned value End Function A function can be recursive can call itself The following example defines a recursive function to calculate the value of N FUNCTION Factorial ByVal N As Long As Double By declaring N to be long this truncates floating point numbers to integers The function returns a Double value If N 3 then This statement stops the recursion Factorial N 01 0 11 1 21 2 Else Factorial N Factorial N 1 Recursive statement End If END FUNCTION When writing a recursive function you must have an IF statement to force the function to return without the recursive call being executed Otherwise the function never returns once it is called 2 4 LIBRARIES 38 Some applications repeatedly use the same subroutines and functions Such subroutines and functions can be gathered into a library file The library file can be imported to another task with IMPORT on the lib file
118. an axis for telegram type 7 you must modify the SERCOSSETUP subroutine which is generated as part of the BASIC Moves auto setup program You need to take the following steps Set SERCOS PHASE to 0 and set the baud rate Set the axis PEXTFAC of the axis with external encoder Set the drive addresses DRIVEADDRESS Set the axis MASTERSOURCE GEARRATIO and slave properties of the slave axis Set Sercos Phase to 2 Configure the axis for Telegram Type 7 using IDN 15 Configure the AT for VFB PFB and PEXT IDNs 40 51 53 Configure the MDT for VCMD PCMD IDNs 36 47 Set SERCOS PHASE to 4 See SERCOS Setup Subroutine in Appendix A for a sample subroutine M SS 005 03 RevE 77 Project 3 12 4 3 12 5 78 06 2005 Danaher Motion Cyclic vs Non Cyclic Communication SERCOS communicates across the fiber optic ring with two types of data cyclic and non cyclic Cyclic data are sometimes referred to as real time and are updated at a regular rate SERCOS update rate The SERVOSTAR system supports update rates from 1 millisecond The MC requires that the cyclic data include position and velocity command transmitted from the controller and position and velocity feedback transmitted from the drives These data must be updated once each SERCOS update Non cyclic data are updated irregularly and on a demand basis via the service channel The service channel is roughly equivalent to a 9600 baud serial link between the drives and th
119. and Run Task buttons on the tool bar By default tasks are loaded from the host PC to the MC at a low priority Priority 16 When you select Run Task the project s main task is started at the lowest priority Priority 16 You can change the priority of the main task by selecting View gt Project Manager gt Options and then changing the priority in the bottom of the window If you structure your software so that the main program loads all other tasks the Run Project button starts your machine Preemptive Multi tasking amp Priority Levels Because many tasks share one processor you must carefully design your system so tasks get processing resources when they need them You do not want the operator interface taking all the resources when you need fast response to a realtime event The operating system provides system resources based on two criteria task priority level and time slice When you create a program you must select the task priority level MC BASIC allows you to specify 16 levels of priority The task with the highest priority takes all the system resources it can use fact no task of a lower priority receives any resources until all tasks of higher priority relinquish them Most systems have one main task that runs at a medium priority and perhaps a background task that runs at a low priority with a few high priority tasks At every time slice the MC re evaluates which task has the highest priority and assigns r
120. and Since the command can be issued from the terminal you can observe the operation of the machine at a variety of speeds without modifying your program All axes on an are controlled with SYSTEM VELOCITYOVERRIDE SYSTEM VORD For example System VelocityOverride 25 immediately reduces the velocity commands of all currently executing MOVEs and JOGs any subsequent commands to 25 of the current values Since the velocities are controlled by VORD the acceleration rates of all axes are proportionally adjusted The final positions of MOVEs are not affected If you want to override the velocity of a single axis rather than the entire machine you can use axis VORD VELOCITYOVERRIDE lt axis gt VORD It is used in the same way as SYSTEM VORD except it applies only to one axis axis VORD can be applied to as many or as few axes as desired and the amount of override specified for one axis is independent of the others If you use SYSTEM VORD and axis VORD simultaneously the axis speed is reduced by the product of both override properties as shown below System VOrd 66 Reduce entire system to 2 3 speed MainAxis VOrd 50 Reduce MainAxis to 1 3 speed In this example the entire system is reduced to 6696 and the MainAxis is reduced to 5096 of the system speed which is 3396 There is a delay of 5 samples until the velocity start to change that to insure a smoothness velocity exchange MOTION EXAMPLES This s
121. andlerMode is one the default value the error will affect the entire system by stopping all motion idling all tasks that have attached elements and turning off System Motion flag Setting this property to zero results in limiting the Motion stop and task idling to the erroneous task itself Queries the number of the last system error and returns only the error number Controls which errors are printed according to the severity of the error Only asynchronous errors are printed Synchronous errors are not affected Returns the size of the Flash disk Reads the value of one of eight double type DPRAM variables written by the host Reads the value of one of eight long type DPRAM variables written by the host Returns information found during system power up Performs a test on the SERCON chip cycle time The result is the average cycle time found in a 500 ms test Queries or sets the IP address and subnet mask for the Ethernet interface Queries or sets the system jerk exchange rate Queries and sets one or more of the three general purpose LEDs In order to read or write into a single LED LED number should be specified as System LED lt LED numbers Returns the size in bytes of the largest block of free memory Reads or writes to one of eight double type DPRAM variables available for use by the MC Reads or writes to one of the long type DPRAM variables available for use by the MC Enables and disables Motion commands Rev
122. any tasks running concurrently with and independently of each other The project is stored in multiple files one file for each task Tasks are routines that run simultaneously with many other tasks Projects also include other files such as cam tables and record files Projects are controlled from the BASIC Moves BMDS software BMDS automatically sets up a separate directory for each project For detailed information on any commands listed within this section refer to the SERVOSTAR MC Reference Manual For clarity a project is managed by BMDS and conveniently handles a group of logically coupled files programs CAM tables etc while the MC deals with separate files PRG CAM etc The Motion controller does not keep project files in the Flash and it is not aware of logical coupling of files and programs PROJECT STRUCTURE Project files include tasks and cam tables Each project can contain three types of tasks General purpose task An optional configuration task Config Prg to declare groups programmable limit switches PLS cams global variables and load of global libraries An optional autoexec task Autoexec Prg to automatically start the application on power up Required Multiple Optional General Autoexec Purpose Optional Task Tasks Configuration Task TASKS The three types of tasks are general purpose tasks configuration tasks and autoexec tasks Each type of task is outlined below
123. are enabled with POSITIONMINENABLE and POSITIONMAXENABLE Position Units are discussed above Position limits are checked two ways First they are checked in the motion generator If you command a position move beyond the position limits an error is generated and the move does not start Second they are checked each SERCOS update cycle generally 2 or 4 ms If the axis is moving and crosses the position limit this generates an error If the axis has already stopped because the position limits were crossed the MC does allow you to back out In other words you can enter commands that move the axis back within the limits The axis will move without generating errors Position limits are continuously checked only when the drive is in master slave mode Some conditions may occasionally result in the motor moving outside PMIN or PMAX limits which are not detected by the MC SERCOS loop instability may also cause position errors You can control whether the MC watches either one or both of the limits in position limit To do this set POSITIONMINENABLE and POSITIONMAXENABLE to either ON or OFF Al PositionMinEnable ON Al PositionMaxEnable ON or you can use the short forms Al PMinEn Al PMaxEn The default state of PMINEN and PMAXEN is off You must enable them to use these limits You should limit the maximum position error your system tolerates You do this by setting axis POSITIONERRORMAX lt axis gt PEMAX ON ON
124. are imposed by the MC and others by the SERVOSTAR drive Limits can be checked in realtime or they can be checked only for subsequent actions MC Generator limits affect subsequent commands to the motion generator For example if you change an acceleration limit this has no effect on the current motion command but it applies to subsequent motion commands If the axis is not in a jog or acting as a slave then POSITIONMIN and POSITIONMAX position limits are checked only at the beginning of the move Rev E 69 Project 3 9 1 70 06 2005 Danaher Motion The MC checks realtime limits each SERCOS update cycle Changes in these limits affect current operations VELOCITYFEEDBACK is checked against VELOCITYOVERSPEED in every SERCOS cycle Drive limits are imposed by the SERVOSTAR CD drive Changes in these limits affect current operations For example ILIM limits the peak current that is output by the drive These limits are imposed independently of the position and velocity commands issued by the controller Position Limits There are several limits in the MC related to position POSITIONMIN or PMIN POSITIONMAX or PMAX POSITIONMIN PMIN and POSITIONMAX PMAX place minimum and maximum limits on the position feedback for an axis Set the limits with Al PositionMin 10 Al PositionMax 200 5 or you can use the short form Al PMin 10 1 200 5 Position limits must be enabled before they can operate Limits
125. ariables to certain sections of code MC BASIC supports three scopes global task and local Task variables can be read from or written to anywhere within the task where it is defined but not from outside the task Local variables can only be used within their declaration block i e program subroutine or function blocks The Scope of a variable is implicitly defined when a variable is declared using the keywords Common Shared and Dim Global variables can be defined within the system configuration task Config Prg within a task files Prg files before the program block within library files Lib files before the first subroutine or function block or from the terminal window of BASIC Moves To declare a variable of global scope use the Common Shared instruction Task variables are defined within a task or a library To declare a variable of task scope use the Dim Shared instruction All Dim Shared commands must appear above the Program statement in task files In library files all Dim Shared commands must appear above the first block of subroutine or function The values of variables declared with Dim Shared persist as long as the task is loaded which is usually the entire time the unit is NOTE operational This is commonly referred to as being static Local variables are defined and used within a program a subroutine or a function To declare a local variable use the Dim instruction The Dim command for local variables must
126. ase them step by step until the desired results are obtained NOTE High values of FITERFACTOR lead to robot instability A FITERFACTOR significantly influences the synchronization 192 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B Relative Approach Relative tracking algorithm slave 5 The system moves the initial before tracking robot position lt robot gt SETPOINT in the same direction as the tracking object position Once synchronization is achieved the robot moves synchronously on the same relative position to the moving object at the moment of approach start slave 0 It is your responsibility to add the appropriate movement and bring the robot position to the object In this algorithm the two parameters are used differently FILTERFACTOR defines the threshold needed to end the approach phase and Switch to the track phase As this parameter gets bigger the approach phase lasts less time but the transition moment becomes jerkier DAMPINGFACTOR tunes the prediction part of the algorithm Larger values correspond to longer approach phases Smaller values make the approach phase shorter algorithm becomes unstable with small DAMPINGFACTOR values A Due to non linear effects kineamtics velocity limitations etc the Low values of DAMPINGFACTOR lead to robot instability NOTE M SS 005 03 Rev E 193 Appendix 06 2005 Danaher Motion CUSTOMER SUPPORT Danaher Motion products are available world wide through a
127. at the beginning of the task Then each public subroutine and function defined in the imported library file can be called within the importing task RevE M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio M SS 005 03 An MC BASIC library is an ASCII file containing only the subroutines and functions code The file does not have a main program part The name of a library file must have the extension LIB The format of a library file is Declarations of static variables PUBLIC SUB lt sub_name gt declaration of variables local to the sub program sub code END SUB PUBLIC FUNCTION lt function_name gt AS lt return_type gt declaration of variables local to the function program function code END FUNCTION The Public keyword allows a subroutine or a function to be called from within the importing task These subroutines and functions are visible from outside the scope of the library Subroutines and functions declared without the Public keyword can only be used inside the scope of the library They are PRIVATE library functions For example PUBLIC SUB public_sub END SUB SUB private END SUB The subroutine private sub can be used only inside the library i e by other subroutines and functions of the library public sub can be used in any user task program file another library file importing the library However the same library can be imported by multiple task
128. atchDog timer WDDELETE deletes the WatchDog timer WDDELETE is seldom used in normal operation because once a WatchDog timer is started it is seldom stopped intentionally RevE M SS 005 031 Danaher Motion 06 2005 Error Handling 11 2 1 WatchDog Setup To set up the MC to enable the WatchDog follow these steps 1 Create new task solely for the WatchDog Use BASIC Moves with File New 2 Define a local variable as a Long For the example below we use My Var 3 Initialize the WatchDog timer in the main program Store the return value of the initialization step in the local variable from Step 1 4 Write an event inside the task to reset the WatchDog timer The event is fired with fast I O SYSTEM VIN 1 to 32 5 Set the task to run infrequently so it does not consume more computational resources than necessary The following example demonstrates a WatchDog timer task Dim Shared MyVar as Long Program Event which runs once for each WatchDog cycle OnEvent WDevent System Vin 1 1 ScanTime 4 Check every 4th cycle WDCycle MyVar Cycle the WatchDog System Vin 1 0 Reset the WatchDog bit End OnEvent EventOn WDEvent Enable the Wdog Event MyVar WDInit 5 Set Wdog time for 5 Wdog cycles or 100 ms WDCycle MyVar You must cycle the Wdog once to begin While 1 1 Infinitely loop so event will be active Sleep 1e6 Use sleep to conserve CPU time End While End Program With this example the Watc
129. ation Serial The installation package includes the Virtual NIC device driver which is started automatically by Basic Moves Development Studio No special configuration is required Refer to the SERVOSTAR MC Installation Manual for additional information MC BASIC The MC is programmed in MC BASIC Motion Control BASIC a version of the BASIC programming language enhanced for multi tasking motion control If you are familiar with BASIC you already know much of MC BASIC For detailed information on any of the commands including examples used in MC BASIC refer to the SERVOSTAR MC Reference Manual RevE 11 BASIC Moves Development Studio 06 2005 Danaher Motion 2 21 2 2 2 12 To develop your application on the MC you must install BASIC Moves Development Studio Refer to the software installation section of the SERVOSTAF MC Installation Manual for detailed instructions Instructions Instructions are the building blocks of BASIC Instructions set variables call functions control program flow and start processes such as events and motion In this manual we will use the terms instruction and command interchangeably For detailed information on any of the instructions including examples refer to the SERVOSTAR MC Reference Manual Syntax is the set of rules that must be observed to construct a legal command that is acommand the MC can recognize MC BASIC is line oriented The end of the line indicates the end
130. ation controls it all The figure below shows the various possible options SERVOSTAR MC Standard I O SERVOSTAR Auxillary Mezzanine Bus I1 SERCOS The SERCOS interface developed in the mid 1980 s provides an alternative to the analog interface for communicating between motion controllers and drives In 1995 SERCOS became an internationally accepted standard as IEC 1491 and later was continued to standard IEC 61491 The popularity of SERCOS has been steadily growing All signals are transmitted between controller and drives on two fiber optic cables This eliminates grounding noise and other types of Electro Mechanical Conductance EMC and Electro Mechanical Interference EMI Rev E 3 Overview 1 6 1 7 1 8 06 2005 Danaher Motion Because SERCOS is digital it can transmit signals such as velocity and position commands with high resolution The SERVOSTAR and accompanying drives SERVOSTAR CD series support 32 bit velocity commands This provides a much higher resolution than can be achieved with the analog interface The most common SERCOS functions are provided in such a way that you do not have to be an expert to gain the benefits API DanaherMotion s Kollmorgen API is a software package that allows you to communicate with the SERVOSTAR MC from popular programming languages such as Visual Basic The API provides complete access to all the elements of your system across dual port ram
131. b name 1 etc Declaration of variables local to the sub program sub program code END SUB PUBLIC SUB sub name n etc Declaration of variables local to the sub program sub program code END SUB The PUBLIC keyword allows a subroutine to be called from within any MC task These subroutines are visible from outside the scope of the library Sub routines declared without the PUBLIC keyword can only be used inside the scope of the library They are PRIVATE library functions For example PUBLIC SUB public sub etc eto END SUB SUB private sub etc END SUB The subroutine private_sub can be used only inside the library The public sub can be used in any program file by importing the library into it The scope of the library is the task that imports it However you can import the library into each of multiple tasks A library file is used like any other program file You can send a library file to the Flash disk and you can retrieve it or delete it In order to use a library file in a program the library must first be loaded into memory LOAD MyLibrary lib To unload the library enter UNLOAD MyLibrary lib If a program or library task references a subroutine in a library the program or library task must be unloaded from memory before the library can be unloaded After a library is loaded in memory it must then be imported into a program IMPORT must be p
132. be entered immediately below the Program Sub or Function statement Local variables cannot be declared within event blocks and events cannot use local variables declared within the program Rev E 15 BASIC Moves Development Studio Danaher Motion 2 2 4 Data Types MC BASIC has two numeric data types Long and Double Long is the only integer form supported by MC BASIC Long and Double are MC BASIC s primitive data types 06 2005 Type Description Range Long 32 bit signed integer 2 147 483 648 MinInteger to 2 147 483 647 Maxinteger Double Double precision floating point 1 79769313486223157 E 308 about 16 places of accuracy MC BASIC provides the string data type which consists of a string of ASCII coded characters MC Basic strings are dynamic Reallocation of memory for new strings is preformed through a simple assignment of the string variable and there is no need to specify the length of the new string A full complement of string functions is provided to create and modify strings Type String Description ASCII character string no string length limit Range 0 to 255 ASCII code MC BASIC has two point data types JOINT and LOCATION A point variable is related to a robot type Robot type examples XY two axes XY table XYZ three axes XYZ system XYZR three cartesian axes roll etc Type Description Range Joint A set
133. bled A fault is generated when the drive is re enabled if the distance between the slave position and the command from the cam table is greater than POSITIONERRORMAX Be cautious when re enabling a cammed slave axis if a large position error exists The motor rapidly upon enable to immediately correct this error Rev E 117 Master Slave 06 2005 Danaher Motion Step 6 Read Dynamic Information There are numerous read only properties regarding the operation of the cam Axis Properties lt axis gt ACTIVECAM provides the name of the cam being executed by that axis Cam Properties lt cam gt CAMCYCLE provides the number of cycles the cam has executed If the cam master is moving forward the current cam ends at the completion of the cycle where CAMCYCLE CYCLE When the cam master is moving backward the current cam ends at the completion of the cycle where CAMCYCLE 0 lt cam gt CAMINDEX provides the current index within the current cam table For example if there are 100 points in the table and the cam is half complete CAMINDEX 50 lt cam gt MASTERDATA is used with CAMINDEX to provide the value of the master position of the current index within the cam For example if the current cam table master position range is 10 to 10 and the position is in the middle of the range CAM1 MASTERDATA CAMINDEX 0 00 CAM1 MASTERDATA CAMINDEX is not equivalent to the position of the master signal lt axis gt PFB because
134. bles loaded It deallocates all defined variables and user programs Reset Tasks does not disable motors or reset outputs Reset Tasks is only issued from the terminal Queries or sets the system acceleration exchange rate Queries or sets the name of the auto start task The default auto start task is Autoexec Prg Assignment of an empty string prevents auto start task run Returns the average realtime load on the CPU This is the average realtime load measured during a 0 5 second interval Returns the number of system clock ticks This is the clock run by the VxWorks Operating System One clock tick corresponds to 1 millisecond Returns the type and model of the CPU that was found during the system s power up Supports only Intel AMD and Cyrix processors Queries or sets the date The date is entered as a character string and must be enclosed between double quotes The parameters Day Month and Year must be separated with the slash character RevE 25 BASIC Moves Development Studio 26 System DecelerationRate System DIn System DipSwitch System DiskFreeSpace System DoubleFormat System DOut System Enable System Error System ErrorHandlerMode System ErrorNumber System ErrorPrintLevel System FlashDiskSize System HostDouble System Hostlnteger System Information System IPAddressMask System JerkRate System Led System MaxMemBlock System MCDouble System MCInteger System Motion 06 2005 Danahe
135. cal danger or harm Failure WARNING to follow warning notices could result in personal injury or death gt Cautions direct attention to general precautions which if not followed could result in personal injury and or equipment damage CAUTION P Notes highlight information critical to your understanding or use of NOTE the product Danaher Motion 06 2005 Table of Contents Table of Contents 1 OVERVIEW ONE 1 1 1 SYSTEM HARDWARE 2 1 2 OPERATING SYSTEM 1 3 MC BASIC LANGUAGE COMPILER VF MO chasse S 3 LE SERCOS M 3 1 6 4 lox AMULPEIASRINU 4 1 8 E D RR 4 1 8 1 SERIAL COMMUNICATION cerent treten tenerte tnt teneret ntn 5 1 8 2 TCP IP COMMUNICATION 6 1 8 3 SEND RECEIVE DATA ete Eee an Exe ea 8 BASIC MOVES DEVELOPMENT STUDIO 11 2 TR 5COMMUNIGATION tekst e e totis 11 2 2 DACHBA SI n 11 2 2 1 2 212 2 2 3 2 2 4 2 2 5 2 2 6 2 2 7 2 2 8 AUTOMATIC CONVERSION OF DATA TYPES 0 0 0 0 60 20 2 2 9 MATH FUNGTIONS
136. cams are incremental with respect to starting position lt cam gt SLAVEDATA used with CAMINDEX to give the value of the slave position for the current index of the cam As with CAMVALUE CAM1 SLAVEDATA CAMINDEX is not equivalent to lt axis gt PCMD because the two may be offset from each other 118 RevE M SS 005 031 Danaher Motion 06 2005 Master Slave 5 4 5 4 1 5 4 2 5 4 3 M SS 005 03 SIMULATED AND MASTER SLAVE AXES Simulated axes are used to enhance machine control They typically are with gearing and camming Three common uses are 1 To act as fixed speed masters for slaved axes 2 monitor physical axes 3 synchronize slaved axes Fixed Speed Masters The most common use for a simulated axis is as a fixed speed master axis for geared or cammed axes This is used for testing or as part of normal operation The simulated axis is normally set to a fixed speed using JOG Slave axes are driven without a physical motor For example if you want to view cam table you can use a simulated axis running at a fixed speed In a sense the simulated axis provides the ideal condition where the master speed is precisely fixed This can allow you to fine tune cams and carefully inspect the synchronization of geared axes Fixed speed simulated axes and cams are combined to allow you to produce virtually any profile you need for a machine You need only load the profile cam table and drive the axis with a f
137. can also be passed as by value parameters of system or user defined functions and subroutines PRINT lt function_name gt lt par_I gt lt par_n gt variable name lt function_name gt lt par_I gt lt par_n gt IF lt function_name gt lt par_I gt lt par_n gt gt 10 THEN 2 LOG lt function_name gt lt par_I gt lt par_n gt M SS 005 03 RevE 37 BASIC Moves Development Studio 06 2005 Danaher Motion Parentheses are not used in function CALL if no parameters are passed Parameters either scalar or array passed to the function are used within the code of the function Declare variable names and types of parameters in the declaration line of the function Parameters can be passed by reference or by value The default is by reference Arrays can only be passed by reference Trying to pass a whole array by value results in a translation error On the other hand array elements can be passed by reference and by value To set up the return value assign the return value to a virtual local variable with the same name as the function somewhere within the code of the function This local variable is declared automatically during function declaration and the function uses it to obtain the return value There is no explicit limit on the number of functions allowed in a task All functions must be located following the main program and must be contained wholly outside of the main progr
138. capture input lt axis gt In3 Returns the state of the drive digital input 3 ON or OFF lt axis gt In3Mode Specifies the functionality of the drive digital input 3 The value 16 keyword capturing selects the capture input Homing Most machine axes need to establish a soft home reference position This user specified homing program is generally run with the power up cycle of the machine or with a manual mode The soft home reference position 0000 is established by a homing program for the hard home plus any marker pulse for the integrity between the controller and axis mechanics with HOMEOFFSET the distance from the hard home The hard home position on a direct drive axis is usually assigned by the once per revolution marker pulse of the encoder incremental sine encoder or ENDAT encoder or the zero crossing position of a resolver see HOMETYPES However for the machine axis with a gear ratio geared belted or ball screw etc a more complicated procedure is required for the relationship integrity between the controller and axis mechanics of the homing program In these cases it is common to place a micro switch or proximity switch on the axis for the indication of the hard home reference position This home position switch is placed on one end of the axis inside the mechanical end of the travel limits of the axis with the switch tripping mechanism designed such that switch circuit is closed on one side of the hard
139. ch other For example if you are using the MC to interface to the operator you will usually use a separate task to execute the interface code Another example is when two parts of a machine are largely independent of each other There is usually some control required between tasks as one task may start or stop another If a machine is simple to control you should try to keep the entire program in one task in addition to Config Prg If you do need to use multi tasking you should keep a highly structured architecture Kollmorgen recommends that you limit use of the main task for axis and group set up machine initialization and controlling the other tasks Normal machine operation should be programmed in other tasks For example Main Prg might be limited to setting up axes and then starting Pump Prg Conveyor Prg and Operator Prg Do not split control of an axis or group across tasks You can put control for multiple axes in one task Ideally you should use multiple tasks for machines where different sections operate more or less independently You can also use tasks to implement different operational modes Multi tasking is a powerful tool but it carries a cost It is easy to make errors that are difficult to find When multiple tasks are running concurrently complex interaction is difficult to understand and recreate Limit the use of tasks to situations where they are needed Do not create a task as a substitute for an event handler
140. d detach the group Detach MyGroup If a task ends all attached groups and axes are automatically detached One exception for the requirement that a group be attached is if the motion command is issued from the terminal window In this case assuming the group is not attached by any other task the group is automatically attached to the terminal window for the duration of the motion ENABLE Now enable the drives by typing the following in the terminal window System Enable ON MyGroup Enable ON Rev E 125 Groups 6 9 3 6 9 4 126 06 2005 Danaher Motion Motion Flags The last step in preparing a system for motion is to turn the motion flags ON There are two motion flags the system motion flag and the motion flags of each axis within the group For example System Motion ON 1 Motion A2 Motion A3 Motion There is a motion flag for the group that can be used to enable motion for all axes in the group In many applications a hardware switch should be tied to the motion flag The MC does not have a hardware motion input but you can use events to create this function The following example demonstrates a task that uses external SYSTEM DIN 1 to control the system motion flag Program MotionSwitch OnEvent MOTION_ON System DIN 1 ON System Motion ON End OnEvent OnEvent MOTION_OFF System DIN 1 OFF System Motion OFF End OnEvent End Program STOP STOP stops group motion in the motio
141. defines the group behavior Each axis must be declared whether it is linear or rotary by setting POSITIONROLLOVERENABLE to either zero 0 for linear or one 1 for rotary Kinematics In non homogenous groups commanded velocity is always given according to the group dominancy type If the group is linearly dominant the velocity VCRUISE VFINAL is in linear units mm sec The other non linear axes are checked in the preparation phase of the movement The velocity in these axes cannot exceed the maximum value If it does the overall group velocity is reduced There is only one exception to this rule This is when a group movement is issued with only one axis in motion and all the others are stopped Then the given value of the velocity is taken directly in the units for that axis For example having movement on the third axis of the SCARA robot the velocity value is in mm sec The same is true for both acceleration and jerk values for group interpolated motion COORDINATE SYSTEMS Having different world and joint coordinates make the robot kinematics unique The world coordinates are normally perceived as working coordinates of an application Usually there is some form of Cartesian coordinate system originating in the robot base Another set of coordinates is added for the orientation of the end effector gripper etc The orientation of a body in space is normally described by three angles Depending on the number of degrees of fr
142. der input of axis A1 type A2 MasterSource 1 For this function to work the axis must be configured in SERCOS to run on telegram 7 and PEXT must be selected as one of the data elements communicated back from the drive If the axis has to be controlled instead of adding a simulated master it can follow an internal clock This makes the master a type of TIMEPULSE Set the GEARRATIO to a low value less then zero and increase its value step by step to avoid exceeding velocity limit Rev E 105 Master Slave 5 2 5 2 1 5 2 2 106 06 2005 Danaher Motion For optimal performance the master axis should have an axis number less than the slave axis If the slave axis is A1 and the master axis is A2 an additional time cycle is inserted in the motion If the master velocity override is changed the slave velocity is changed accordingly In a relative move the slave moves according to its new velocity override VELOCITYOVERRIDE has no effect on the master signal for a slaved axis It also has no effect on the gear ratio or cam table VELOCITYOVERRIDE modifies the velocity of incremental moves added onto geared or cammed motion GEARING When two axes are geared the position command of the slave is proportional to the master signal as shown below Master Axis PCMD Slave Axis MasterGearRatio Gearing works in both directions of master travel The term proportional is applied loosely The off
143. derstand and to debug For example you could enter Later you can query the velocity with ConveyorAxis VelocityFeedback The axis name may only be changed into the configuration program Config Prg You cannot print the axis name at any time Drive Address You must specify the drive address property of the axis Simulated axes do not have drive addresses and do not require this property to be assigned This assigns the physical address dip switch setting on the SERVOSTAR drive to the axis defined in the SERVOSTAR MC If we wanted to assign the drive with address 5 to axis 1 we type the following command into the terminal window of the BASIC Moves Developer Studio or in our program Al Dadd 5 Assign drive address 5 to axis 1 The short form DADD of axis property DRIVEADDRESS is used in the example Axis DriveAddress property should meet to the drive hardware address configuration Most axis properties and constants have short forms that can speed typing and ease the programming effort Refer to the SERVOSTAR MC Reference Manual for more information Starting Position Before we get started here you must Install and tune drives Follow the process for installing and tuning all drives according to the SERVOSTAR MC Installation Manual Run MOTIONLINK to select your motor type and tune the axis to your satisfaction Install and check out your MC Install and check out your SERVOSTAR MC according to the SERVOSTAR MC Installa
144. e ScanTime is in cycles of the SERCOS update rate This is normally 2 or 4 milliseconds Setting ScanTime to 5 configures the system to check the event condition every 10 or 20 milliseconds depending on your update rate For example OnEvent System Din 2 ON ScanTime 5 RevE M SS 005 031 Danaher Motion 06 2005 Project 3 5 2 3 5 3 3 5 4 3 5 5 3 5 6 3 5 7 M SS 005 03 Events can either be controlled from within the task in which they reside or from the terminal The main program or any subroutine can issue EventOn to enable the OnEvent command or EventOff to disable it OnEvents cannot be controlled from other tasks EventOn EventOn enables OnEvent The syntax of EventOn is EventOn Event Name EventOn must come after the definition of the OnEvent EventOff EventOff disables OnEvent The syntax of EventOff is EventOff Event Name Refer to the SERVOSTAR MC Reference Manual for information additional information about OnEvent EventOn and EventOff EventList EventList provides a complete list of all events in all tasks with their name the task name the priority whether the event is armed and current status EventList is valid only from the terminal window For example EventList the result is something like the following line for each task Name Owner Task1 Edge 1 Status 1 Scan 1 Priority 5 Action Stop where edge 1 indicates the event is armed that is t
145. e The parameters are stored in the drive but not in the controller So if you need to replace a drive in the field you must reconfigure that drive with MOTIONLINK One benefit of SERCOS is that it allows you to download all drive parameters via the SERCOS link each time you power up If you need to replace a SERVOSTAR drive you do not need to configure it with MOTIONLINK This is a significant advantage when maintenance people unfamiliar with the design of the system do drive replacement For this reason Danaher Motion recommends that you configure your systems to download all parameters on power up BASIC Moves provides a utility that reads all pertinent IDNs after the unit is configured and the ring is up and stores them in a task you automatically download each power up Loops The SERVOSTAR system supports three main loop types Standard position loop Dual feedback position loop Velocity loop The MC sends position and velocity commands each SERCOS update cycle The operation of the MC is hardly affected by the loop selection because the loop selection is made in the drive RevE 81 Project 3 13 1 3 13 2 06 2005 Danaher Motion Standard Position Loop Position loop is the standard operating mode of the SERVOSTAR system For position operation set the position loop gain to a value greater than zero Typically you set up the position loop using MOTIONLINK See the SERVOSTAR MC Installation Manual for more informati
146. e 119 GROUPS e 121 121 6 2 DELETEGROUP HE RI EX 421 6 3 etn DO Oe a e P DEED Hd 121 6 3 1 ACCELERATION AND DECELERATION eerte tenete 121 6 4 POSITION siniestro 122 6 4 1 VECTOR 122 6 4 2 SCALAR 122 6 5 VELOCITY 6 6 LIMITS 123 6 6 1 GENERATOR iat 123 6 6 2 REARLTIME oer nne AE SERE RO ERE ERR r GERNE E SOR CAR Rd 123 Rev E M SS 005 03 Danaher Motion 06 2005 Table of Contents 6 6 3 POSITION wide FO r AREA BYE En E 123 6 6 4 VELOCITY c 124 6 72 ACCELERATION tiU OSA ENS RSE i 124 6 8 VELOCITY ACCELERATION DECELERATION AND JERK 5 124 6 9 MOTION Ro 125 6 9 1 ATTACH TASK AND AKIS ope t REPRE He 125 6 9 2 125 6 9 3 MOTION FLAGS 20200 reserve re oer eve aa ESTER PEN NO VE e eE 126 6 9 4 STOP d etm e deae p eee eei 126 6 9 5 6 9 6 6 9 7 6 9 8 6 9 9 6 10 MOVE CONTROL secet eet ATHE ee C REY SEA RN eee es 131 6 10 1 SETTLING TIME rere ei ree eo de e La a e OD WO EXER L a 132 6 10 2
147. e above example can be done more conveniently Move Groupl 500 500 VCruise 2000 StartType SYNC Move AuxAxis 100 VCruise 1000 StartType SYNC SyncStart Groupl AuxAxis You can synchronize as many groups and axes as you want including simulated axes Since each SYNCSTART specifies the groups and axes it synchronizes you can independently synchronize multiple sets of groups and axes Clear A Pending Move If you have loaded a synchronized move in the motion generator and need to delete it use SYNCCLEAR For example if you entered the following command in the above sequence before issuing SYNCSTART SyncClear Groupl The Group1 move is deleted Changing GROUP1 STARTTYPE only affects subsequent moves You must use SYNCCLEAR to clear pending synchronized moves SYNCCLEAR has no effect once the move is executing In this case you stop the move as you would a non synchronized move VELOCITY OVERRIDE The MC provides the ability to speed up or slow down all motion commands This can be applied to an entire machine at once an entire group or to individual axes independently This capability is used extensively in machine development You can adjust the entire machine speed with a single command Because the command can be issued from the terminal you can observe machine operation at a variety of speeds without modifying your program All axes on the MC are controlled with SYSTEM VELOCITYOVERRIDE SYS VORD For example
148. e controller except that it is transferred on the fiber optic cable along side the cyclic data Using the service channel you can request data from the drive or set a parameter that resides in the drive Each SERVOSTAR drive has points You can use the service channel to access this I O or you can use a Telegram type 7 to configure the as cyclic data The service channel is non deterministic Consequently non cyclic data transmits considerably slower than cyclic data IDNs SERCOS commands are organized according to an Identification Number or IDN SERCOS defines hundreds of standard IDNs which support configuration and operation Manufacturers such as Danaher Motion provide IDNs specific to their products IDNs are numbered Standard IDNs are from 1 to 32767 although only several hundred are used to date and manufacturer IDNs are numbered from 32768 to 65535 If you are using a SERVOSTAR drive you normally use only a few IDNs for special functions e g for querying drive I O or changing the peak current of a drive SERCOS requires that you define every IDN used on each drive The SERVOSTAR system eliminates most of this step because the MC automatically defines all necessary IDNs for SERVOSTAR drives This process would otherwise be tedious as there are quite a few IDNs that must be defined Most requests from the service channel are responded to immediately For example when you set the digital to analog converter DAC
149. e for the translation pure position interpolation VELOCITYTRANS ACCELERATIONTRANS JERKTRANS and one for the orientation rotation interpolation VELOCITYROT ACCLERATIONROT JERKROT These parameter are used only for Cartesian interpolation MOVES and CIRCLE These parameters have no influence on joint interpolated motion MOVE because it is not a world space interpolation The two sets of parameters define the straight line motion Which parameter is dominant for the motion depends on the movement If most of the movement is in translational position change and the orientation change is much smaller the translational part is taken Conversely the rotational parameters define the movement 176 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B The following graph shows MOVES as seen in joint space XY XY 3D 3p 10 0 XD 20 30 55 005 03 RevE 177 Appendix 06 2005 Danaher Motion The following graph shows MOVE as seen in joint space XY The following graph shows MOVES as seen in world space x a d a al 20 304 30 40 0 X0 W 30 There are four commands to make point to point movement in robot groups There are two commands to interpolate the motion MOVE and MOVES and two commands to define the target point JOINT and LOCATION The total combi
150. e for writing at end of file Use APPEND to add new lines at the end of the original contents of the file Use WRITE to overwrite the previous or to create a new file Rev E 47 BASIC Moves Development Studio 06 2005 Danaher Motion 2 9 2 2 9 3 2 9 4 48 OPEN INPUT CLOSE LOC See Serial port TELL Returns current file pointer offset from the beginning of the file Value has meaning only for SEEK to move the file pointer within a file SEEK Moves file pointer to specified location Use with TELL File operations example program dim pos as long dim dl as double dim sl as string create file for writing Open test prg mode w as 1 print 41 1 2345 close 1 append to existing file Open test prg mode a as 1 print 41 PI close 1 read from file Open test prg mode r as 1 how many characters in the file print File contains loc 1 characters sl input 1 convert from string to double 1 1 51 201 save current file pointer pos tell 1 input 1 rewind file seek 1 pos input 1 close 1 end program Output File contains 31 characters 1 234500000000000e 00 3 141592653590000 00 3 141592653590000e 0 RevE M SS 005 031 Danaher Motion 06 2005 Project 3 3 1 3 2 3 2 1 55 005 03 PROJECT A project is all the software written for an application The projects in MC BASIC are multi tasking They consist of m
151. e in radians Round X Returns the integer nearest to X If X falls exactly between two integers for example 1 5 return the even integer So 1 5 and 2 5 round to 2 55 005 03 RevE 23 BASIC Moves Development Studio 2 2 10 24 06 2005 Danaher Motion String Functions Beginning with version 3 0 MC BASIC supports all the common string functions supported in standard BASIC For detailed information on any of the string functions including examples refer to the SERVOSTAR MC Reference Manual ASC S I BINS X CHR X HEX X INSTR I SS S LCASE S LEFT S X LEN S LTRIM S MID S I X RIGHT S X RTRIM S SPACE X STR X STRING X S Y UCASE S VAL S Returns an ASCII character value from within a string S at position Returns the string representation of a number X in binary format without the Ob prefix Returns a one character string corresponding to a given ASCII value X Returns the string representation of a number X in hexadecimal format without the Ox prefix Returns the position of the starting character of a substring SS in a string S Returns a copy of the string S passed to it with all the uppercase letters converted to lowercase Returns the specified number X of characters from the left hand side of the string S Returns the length of the string S Returns the right hand part of a string S after removing any blank spaces at the beginn
152. e performed with DELETEVAR or DELETEGROUP Hardware or software reset RESET ALL is required Dim Shared Gen Axes List 32 As Generic Axis Gen Axes List 1 A1 Gen Axes List 2 A2 Gen Axes List 3 A3 Gen Axes List 4 4 Gen Axes List l1 Error 7039 Syntax Error Module Translator Gen Axes List 4 Gen Axes List 1 3 Error 7039 Syntax Error Module Translator If Gen Axes List 3 Gen Axes List 2 Then gt Syntax Error M M DeleteGroup Gen Group Gen Group is a global generic group Error 7039 Syntax Error Module Translator M SS 005 03 Rev E 145 GENERIC ELEMENTS 9 1 4 Functions Generic elements can 06 2005 Danaher Motion be defined by reference in MC Basic functions and subroutines Axes or groups passed as arguments could be either real or generic For example axis setup can be encapsulated in a subroutine In this example the subroutine arguments are real axes Sub AxisSe PFac AMax DMax Acc Dec End Sub Call 55 Call 55 Call 55 Call 55 tUp Ax As Generic Axis 0x8000 Ax PFac 1000 Ax VFac 1000 Ax AFac 1000 290 1500 Ax Amax Ax Amax Ax DMax etUp A1 etUp A2 etUp A3 etUp A4 An entire array of generic elements can be passed by reference to functions and subrouti Sub AxesLi Dim ia For i AxLi AxLi AxLi AxLi Next
153. e safety enhancement is provided by not allowing motion on an axis to restart without the task that stopped the motion issuing a PROCEED The path control is provided by lt axis gt PROCEEDTYPE PROCEEDTYPE can be set in one of three modes CONTINUE NEXT MOTION and CLEARMOTION The key rules of operation are 1 When a task stops the motion of axes to which it is attached PROCEED is allowed but not required 2 When STOP is issued from the terminal window and the axis being stopped is attached to a task motion is stopped and the task is suspended upon execution of the next motion or DETACH The task and the motion it commands can restart only after PROCEED is issued from the terminal window Motion is commanded from the terminal window before PROCEED is issued 3 When STOP is issued from one task and the axis being stopped is attached to another task motion is stopped and the task is suspended upon execution of the next motion or DETACH The task and the motion it commands restart only after PROCEED is issued from the task that stopped motion Motion cannot be commanded from the task that stopped motion 4 When STOP is issued from the terminal window for a command given from the terminal window the motion is stopped and cannot proceed In this case the only available proceed type is CLEARMOTION from the terminal There are three ways for PROCEED to restart motion Use PROCEEDTYPE to specify how the motion generator should proce
154. e tracks as two axes X and Y The coordinate translation is done automatically when using the robot coordinate System as a base for the position calculation The moving frame coordinate system is the same as the tracking robot The master source is independent in the moving frame type The group master is used as an input position to follow Tracking Tracking starts when the tracking process flag is enabled which assumes that the object has passed the sensor Tracking actually starts when the relevant object enters the operation region and ends when it leaves the frame During its motion in the frame the moving frame position is re calculated every sample The position is based on the frame boundary limits and the scaling ratio in moving frame units To this basic formula a correction term is added to correct a delay of 1 2 samples between the trigger from the sensor to the start of the operation Due to the discretization of the SERCOS samples this delay causes a gap in the position Moving Frame The input position is the current moving fame position The input position master source is usually taken as an external source external encoder simulated axis or even another moving frame position If the master source is another moving frame e g TCP coordinates of any other kinematics with more than 2 axes the offset transformation between the tracking kinematics and the tracked kinematics is considered In the implementation state of g
155. e variables are not allowed in logical expressions The terms logical and Boolean are considered interchangeable Logical expressions are evaluated from left to right They are evaluated only far enough to determine the result So in A And And C if Ais 0 false the result is false without evaluating B or C Precedence dictates which operator is executed first If two operators appear in an expression the operator with higher precedence is executed first For example multiplication has a higher precedence than addition The expression 1 2 3 is evaluated as 7 2 3 1 not9 2 1 3 The minus sign in the math operators table below is sometimes confusing since it shows up twice in the table once with a high precedence unary negation and once with low precedence subtraction binary minus This difference in precedence is intuitive 5 6 only makes sense if the negation is executed first The tables that follow list different types of operators The entries in the tables are listed in order of precedence the higher in the table the higher the operator precedence Also the tables themselves are arranged in order of precedence with respect to one another Math operators have the highest precedence So all math operations are executed before any other type of operator is executed Finally any time you need to change the standard precedence use parentheses Parentheses have the highest precedence of all
156. ection provides a few examples that apply the motion control techniques discussed in this chapter to common machine functions Position Capture Many drives including all current SERVOSTAR drives implement the position capture functionality commonly used in homing and registration procedures Starting with version 3 0 the MC uses the SERCOS procedure mechanism to accomplish positioning While position capture is a drive based function the MC provides various commands to control the capture procedure SERVOSTAR drives provide three digital inputs IN 1 IN 2 and IN 3 any one of which can be designated for the capture trigger signal The command properties provided in the MC are lt axis gt Capture Position capture is executed once the SERCOS relevant procedure IDN 170 has been started lt axis gt Capture encapsulates this process and starts and stops the capture procedure It takes the value 1 to start or 0 to stop the procedure respectively Rev E M SS 005 031 Danaher Motion 06 2005 Single Axis Motion 4 2 2 M SS 005 03 lt axis gt In1 Returns the state of the drive digital input 1 ON or OFF axis InIMode Specifies the functionality of the drive digital input 1 The value 16 keyword capturing selects the capture input axis In2 Returns the state of the drive digital input 2 ON or OFF axis In2Mode specifies the functionality of the drive digital input 2 The value 16 keyword capturing selects the
157. ed ProceedType Continue This causes the motion generator to continue the motion command that was stopped followed by the pending motion in the stopped buffer ProceedType NextMotion This causes the motion generator to abort the current move and go directly to the move in the stopped motion buffer ProceedType ClearMotion This clears the motion buffer All motion commands in the stopped motionbuffer are aborted This is the default Move MOVE is the most common of point to point moves The basic move is a three segment motion Accelerate Go from zero speed to VelocityCruise Cruise Continue at VelocityCruise Decelerate from VelocityCruise to VelocityFinal The critical part of a three segment move is starting the deceleration at the right time so that the motor speed becomes zero if VELOCITYFINAL 0 just as the position command reaches the final position For example the following command Move ConveyorAxis 100 VCruise 2000 produces the next profile RevE M SS 005 031 Danaher Motion 06 2005 Single Axis Motion 4 1 8 1 4 1 8 2 M SS 005 03 Velocity Command 2000 RPM 0 Acce Cruise Decel Time POSITION FINAL AND INCREMENTAL VERSUS ABSOLUTE MOVES POSITIONFINAL the end of a move is always specified in MOVE The meaning of PFINAL depends on ABSOLUTE ABS This allows point to point moves to be specified two ways Absolute Moves Absolute TRUE Final position is specif
158. ed axes of those parameters initialize the group s values In this case a note is returned and can be seen only if SYS MOTION ASSISTANCE is on The jerk properties JERK JERKFACTOR JERKMAX and SMOOTHFACTOR are applicable in group motion to obtain smooth motion control VELOCITY ACCELERATION DECELERATION AND JERK RATES GROUP VELOCITYRATE defines the group velocity maximum scaling factor from 0 1 to 100 independent of acceleration deceleration or jerk GROUP VELOCITYRATE may be modal or nodal GROUP ACCELERATIONRATE defines the group acceleration maximum scaling factor from 0 1 to 100 independent of velocity deceleration or jerk GROUP ACCELERATIONRATE may be modal or nodal GROUP DECELERATIONRATE defines the group deceleration maximum scaling factor from 0 1 to 100 independent of velocity acceleration or jerk GROUP DECELERATIONRATE may be modal or nodal GROUP JERKRATE defines the group maximum Jerk scaling factor from 0 1 to 100 independent of velocity acceleration or deceleration GROUP JERKRATE may be modal or nodal Rev E M SS 005 031 Danaher Motion 06 2005 Groups 6 9 6 9 1 6 9 2 M SS 005 03 For example Common Shared Grl as Group AxisName Al AxisName A2 Grl VRate VelocityRate 50 Grl ARate AccelerationRate 70 Grl DRate AccelerationRate 80 Grl JRate JerkRate 60 MOTION A group is controlled by the motion generator This software device receives commands from MC tasks and produces
159. ee if the object file is in use It is your responsibility to ensure that the object is not unloaded as long as there tasks and libraries that refer to the object Consider following example both the program TASK1 PRG and TASK2 PRG use the same function from object module Doload my obj o load TASK1 PRG gt send my obj o send updated version of object file Doload my obj o gt load TASK2 PRG In this example TASK1 PRG references the oldest instance of my obj o while TASK2 PRG references the recent version 44 Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio 2 6 SEMAPHORES Semaphores are the basis for synchronization and mutual exclusion The difference is that the mutual exclusion semaphore is created as full or 1 while the synchronization semaphore is empty 0 If the semaphore is used for protecting mutual resources it is taken before accessing the resource and releases at the end A synchronization semaphore is given by the producer and taken consumed by the consumer A A semaphore is created as full NOTE Global semaphore are defined with COMMON SHARED in CONFIG PRG or from the command line Since a semaphore s purpose is to protect data among tasks there is no meaning to local semaphores A semaphore is given released by SEMAPHOREGIVE and taken consumed by SEMAPHORETAKE It is possible to specify a time out of up to 5000 ms SEMAPHORETAKE acquires a semaphore and
160. eedom motors used to actuate the orientation joints they could be unequal The world space coordinates are given by its position part X XY or XYZ tupple in most cases In general it could be anything from sphere coordinates to cylindrical system The orientation component can use many forms for describing orientation The most used coordinate system for orientation angles are Euler angels yaw pitch and roll The Euler angles can have two or more variations according to the order of the accepted rotations XYX XZX etc The joint space of a robot is a relatively simple concept A joint coordinate is a number uniquely describing the position of a robot segment relative to the previous robot segment If the joint connecting the segment is rotary the joint coordinates are in degrees of the rotation angle If it is linear the joint coordinates are the linear displacement millimeters 55 005 03 RevE 171 Appendix 06 2005 Danaher Motion The concept of joint coordinates is an n tupple number Each number represents the coordinate of the specific joint The world coordinates are supported by different built in types XY XYZ XYZR that describe each of the different world space representations Theoretically there can be different world space descriptions for the same or same dimensional world coordinates Each robot has its default world space type Different robots could have same world space types as long as they have same number
161. ent Studio Returns a comma separated list of the axes names defined in the system If wildcards are used the query returns the proper axes Lists all the breakpoints in the task loaded to memory This query returns a list of the cam table names defined in the system If wildcards are used the query returns the proper existing cam names Lists all files that exist on the RAM disk and on the Flash disk The File Specification may contain the and wildcard characters in order to refine the list When invoked without a parameter all the files are listed Displays the log file containing the last 64 errors that occurred in the system Clears the error log file Lists the names of the existing events and their states If a task name precedes EventList only events belonging to the specified task are listed Lists the names of the groups defined in the system Each group name is followed by a list of the axes names that are part of that group Returns a list of the PLS names defined in the system If wildcards are used the query returns the correct existing PLS data Sets the file password and toggles the password protection state Reset All removes all tasks variables and system variables from program memory All external outputs are turned off and all drives are disabled Reset All runs Config prg not Autoexec prg Reset All is only issued from the terminal Reset Tasks removes all tasks from memory but leaves system varia
162. es Errors and faults are printed and logged while notes are only printed You can use LOGGER to exceptions directly to the logger bypassing any error handler The exception can be logged with the following command Logger lt Exception name gt For example 11 4 5 Query You can query exception numbers and messages but changing these parameters is forbidden The exception number and text are set during exception definition and stay constant until the exception is deleted or the defined task is killed For example gt MyError num 20007 gt MyError Msg My Error 11 4 6 Print Exceptions are printed and logged with timestamp task name and line number severity and other error attributes In contrast to internal predefined errors an exception number is not constant and may vary from time to time from task load to task load Also the error log may keep exceptions from tasks not in memory and there is no way to associate an exception number with its message The error logger keeps exception messages in RAM and files 11 4 7 Limitations VARLIST and SAVE do not show exceptions WATCH is not supported Arrays of exceptions not supported Definition of exceptiosn in subroutines is not supported Arithmetical operations are not supported for exceptions Comparing exceptions makes sense only if the application developer explicitly gives exception numbers If the MC assigns exception numbers the result is un
163. es TCP IP API sockets TCP IP provides multi thread communications The same physical link Ethernet is shared between several applications This way the MC can connect to BASIC Moves and one or more intelligent I O devices The MC supports both client and server roles for TCP IP communications The TCP IP client connects to a remote system which waits for a connection while the TCP IP server accepts a connection from a remote system Usually the MC serves as client while interfacing to an intelligent connected to the LAN and as a server when working toward remote host like a software PLC The MC uses Realtek RTL8019AS Ethernet NIC at a bit rate of 10 M bps SETUP TCP communication starts by opening a socket either to connect to a remote computer remote host or accept a connection from a remote host Use CONNECT or ACCEPT depending on the MC functionality client or server OPENSOCKET creates a TCP socket and assigns the socket descriptor to the specified device handle The socket is created with OPTIONS NO DELAY send data immediately 1 Otherwise the data is buffered in the protocol stack until the buffer is full or a time out is reached This improves responsiveness when small amounts of data are sent This option is recommended for interactive applications with relatively small data transfer Otherwise OPTIONS 0 OPENSOCKET OPTIONS 1 AS 41 OPENSOCKET assigns a device handle to the communication port as OPEN
164. ese two vector types is considered an expression Each expression related command and manipulation such as print commands mathematical operators etc can be applied for the joint and location vectors While executing a vector expression each vector element is pushed separately into the stack as a double type expression by executing the left side of the JOINT or LOCATION node Long type vector elements are converted to double type expressions in the coordinate node after the execution of the expression at the right side of each coordinate node 182 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B Execution of the right side of the JOINT or LOCATION node results in pushing the number of the vector elements into the stack as a long type constant The point s subtype determined by the shape of the vector s brackets is pushed to the stack as a long type constant by executing the third side of the JOINT LOCATION node Vectors Vectors are actually constant points at which a list of 2 to 10 coordinates is written between curly brackets In location vectors the curly brackets are preceded by the sign A coordinate can be any type of expression constant variable mathematical expression function call etc of long or double type Long type coordinates are automatically converted to doubles Unlike point variables vectors are not related to robot types and characterized merely by their size number of coordinates
165. esources to it The BASIC Moves terminal window relies on the MC command line task which runs at priority 2 If you start a task with priority 1 the terminal will not be available until the task is complete or idle Consequently you will not be able to communicate with the MC and you may have to power down the system to recover the terminal window You can optionally set the priority of a task when you start it For example StartTask Aux Prg Priority 6 The default priority of events is 1 highest and the default priority of programs is 16 Time Slice is a method by which the operating system divides up resources when multiple tasks share the same priority level The MC provides the first task with one time slice the next time slice goes to the second the next to the third and so on The time slice is currently one millisecond duration This method is sometimes called round robin scheduling Inter Task Communications and Control Tasks can control one another In fact any task can start continue idle or kill any other task regardless of which task has the higher priority For detailed information on these commands refer to the SERVOSTAR MC Reference Manual RevE 57 Project 06 2005 Danaher Motion StartTask starts tasks from the main task For testing you can use STARTTASK from the terminal window DanaherMotion recommends you do not use STARTTASK in AutoExec Prg The syntax of STARTTASK is StartTask lt TaskName g
166. ession1 statements be executed if SelectExpression Expression 1 Case Expression2 statements to be executed if SelectExpression Expression2 Case Is RelationalOperator Expression3 statements to be executed if the condition is true Case Expression4 To Expression5 statements to be executed if SelectExpression is between values Case Else statements to be executed if none of the above conditions are End Select where SelectExpression is a Long Double or String expression in Case To if Expression4 gt 5 the case is never true no error is flagged Select Case block The following example puts all four types of cases together Program Dim N as Long Select Case N Case 0 Print Case 1 Print N 1 Case is 10 Print N 10 Case is 0 No requirement for statements after Case Case 5 TO 9 Print N is between 5 and 9 Case Else Print N is 2 3 or 4 End Select End Program 0 D For Next statements allow you to define loops in your program The syntax IS For counter Start To End Step Size Loop Statements Next where If Size is not defined it defaults to 1 The loop is complete when the counter value exceeds End For positive Size this occurs when counter End For negative Size when counter lt End Counter Start End and Size may be Long or Double 55 005 03 RevE 31 BASIC Moves Development Studio 06 2005 Danahe
167. f milliseconds RevE 91 Single Axis Motion 06 2005 Danaher Motion 4 1 8 3 92 Velocity 0 Time Ideally settling time allows the motor to move to approach zero position error However you must allow for the condition where the position error never quite reaches zero On the MC you specify how low you consider to be low enough with axis POSITIONERRORSETTLE lt axis gt PESETTLE CutAxis PESettle 0 01 After the motion generator has completed a move which ends with zero speed it actively monitors the position error on the axis to see when it is between PESETTLE In some applications you must ensure that the position error remains below PESETTLE for a specified period of time before the axis is considered settled The MC allows you to specify this time period with axis TIMESETTLE given in milliseconds TIMESETTLEMAX sets the maximum time allowed for the axis to settle If the position error exceeds PESETTLE during this time the timer is reset If position error is within the PESETTLE range for the time specified by TSETTLE the axis ISSETTLED flag is TRUE 1 Otherwise it is FALSE 0 POINT TO POINT MOVES When the motion buffer is empty point to point moves begin immediately If you need to delay the start of the next motion command you have two options use DELAY to insert a fixed delay time or use STARTTYPE to delay depending on a condition Use DELAY to force the motion
168. f printed expressions PrintU The number is 4 j1 j2 The number is 1 The number is 2 By specifying the number of digits to print data can be printed in tabular form since the number of places printed will not vary with the value of the number PrintU Keep numbers to a fixed length with PrintUsing EEEE 100 Be aware that if the number requires more digits than you have allocated it overruns the space PrintU Overrun 44 1000000 Takes 7 spaces for 1 000 000 even though PrintU allocates only 2 For printing of double type expressions formatted printing also enables to control precision i e number of digits printed after the decimal point PrintU Print PI with 3 digits after decimal point 3 14159 M SS 005 03 Prints only digits after the decimal point while rounding the Pl s value to 3 142 You can also precede the 4 signs with a to force PrintU to output a sign character or Normally the sign is printed for negative numbers not positive numbers Finally you can terminate the format string with to force the number to print in exponential format PrintU Exponential format 100 Prints 1 02 You must include exactly four characters for this format to work Be aware that while PRINT and PRINTUSING allow you to print out many expressions on a single line these expressions are not synchronized to each other The values can and usual
169. f the first point with each element of the second point The result is a point 1 2 2 4 2 1 2 MULTIPLICATION The point multiplication operator is used like any other data type It multiplies each element of the first point with a number You can only multiply a point with a single number one dimensional number The result is a point 22 2 4 gt 4 8 DIVISION The point division operator is used like any other data type It divides each element of the first point with a number You can only divide a point with a single number one dimensional number The result is a point 2 4 2 2 412 2 2 4 2 1 0 5 COMPOUND Is an operator specific for points which should be operated between two locations of the same size or robot type 56 5 104 7 89 5 0 0 104 7 0 5 gt 56 5 209 4 89 LIMITATIONS MOD modulus power logic and bitwise operators cannot be used for points Points cannot be used as condition in flow control statements and event definitions Points cannot be recorded M SS 005 03 Rev E 185 Appendix 06 2005 Danaher Motion Points in Functions Point variables can be passed to functions and subroutines both by reference and by value An entire array of points can also be passed by reference to a function or subroutine On the other hand point properties and vectors can only be passed by value Points can also serve as return values of functions However
170. fer No motion executes Default value STOPTYPE ABORT Current motion stops immediately but does not need a PROCEED to start the next motion Only the current motion is stopped the following commands are generated MOVE MOVE for groups is almost identical to a MOVE for axes There are two differences First POSITIONCOMMAND POSITIONFEEDBACK and PFINAL are group size vectors Second the profile including ACCELERATION and DECELERATION applies to all axes in the group For example MyGroup VCruise 2000 Move MyGroup 100 100 moves to position 100 100 with a cruise velocity of 2000 You can override the following axis properties as part of a MOVE ABSOLUTE STARTTYPE ACCELERATION ACCELERATIONRATE DECELERATION DECELERATIONRATE SMOOTHFACTOR VELOCITYCRUISE VELOCITYRATE JERK JERKRATE PFINAL end of a move is always specified in MOVE However the meaning of PFINAL depends on lt group gt ABSOLUTE This allows point to point moves to be specified two ways ABSOLUTE TRUE Final position is specified as actual group position at the end of the move The final position equals PFINAL INCREMENTAL ABSOLUTE FALSE Final position is referenced to the start position The final position is the sum of PFINAL and PCMD at the start of the move So xyTableGroup Absolute TRUE Move xyTableGroup 100 200 moves xyTableGroup to position 100 200 RevE 127 Groups 6 9 7 128 06 2005 Danaher Motion On the ot
171. fill that space For example for a five element array you enter CreateCamData 5 1 MasterData 1 10 M1 SlaveData 1 20 MasterData 2 20 SlaveData 2 40 MasterData 3 30 SlaveData 3 60 MasterData 4 4 SlaveData 4 MasterData 5 SlaveData 5 0 0 8 5 1 This is similar to building a static cam table difference is that this cam table is never stored to or loaded from flash Step 3 Initialize Other Elements Initialize other elements of the cam CAM1 Next CAM2 CAM1 Previous CAM1 Cycles 3 Step 4 Initialize the Axis Initialize the elements of the axis related to camming Set FIRSTCAM to the first cam the axis follows Al FirstCam CAM1 Set the master position within the cam at the point where you wish to start For example you may have a cam table where the master position goes from 0 to 100 00 but the correct starting position for the cam might be 33 333 so you enter Al FirstCamOffset 33 333 FIRSTCAMOFFSET must be within the range of the master position Remember that FIRSTCAMOFFSET defaults to 0 If the master range does not include zero an error is generated if you do not set FIRSTCAMOFFSET Set GEARRATIO and name the source of the master signal Al GearRatio 1 00 Al MasterSource 2 Finally set SLAVE to Al Slave CAM 116 Rev E M SS 005 031 Danaher Motion M SS 005 03 06 2005 Master Slave Step 5 En
172. first and the third motions together The main parameter in this type of blending CP It specifies the distance from the target point on which the blending second motion begins CP is dimensional It is expressed in group position units The system automatically limits this value to half the segments length 5 e E NO E e ce Mut NE When the second movement is received too late during the deceleration phase or when the current motion causes excessive values of acceleration and velocity blending between two movements is ignored For Move to Move blending use Pos start I direction direction For Move and Circle blending use Pos start I direction cos I 1 rot start sin I rot normal For Circle and Circle blending use Pos center cos 1i rot start sin Ii rot normal cos I 1 rot start sin I rot normal 6 9 9 1 SUPERPOSITION Superposition blends motions at any point of time starting from the initial point of the movement up to the target This blending mode is not limited by the combined actions of the two motions It is your responsibility not to blend together motions that in combination produce velocities or accelerations outside of allowable system limits However each individual motion is limited by the usual kinematics constrains VMAX AMAX DMAX JMAX This blending method is also able to swap movements when the second is finished before the first In t
173. g BASIC Moves automatically displays the data recorded on the MC during operation BASIC Moves provides all the tools you need for developing and debugging your application When you start Basic Moves your first action is to select a method for communicating with your MC Select SSHIC communication method Communicate using 9 Serial Port Ethernet Make this the default communication method OK Cancel If you are using either a PCI or ISA model MC choose SA PCI Bus If you are using a Stand alone model MC select either Serial Port or Ethernet communication method configured for your system For more information concerning communication with the stand alone MC refer to the Software Installation section of the SERVOSTAR MC Installation Manual COMMUNICATION Communicating with a stand alone MC is not as automatic as is comunicating with a PCI or ISA plug in MC Assuming you have properly configured the communication method during installation of the BASIC Moves Development Studio on your host computer there are still some operating procedures you may need to perform Ethernet f you configured Ethernet communications subsequent communication with the MC is automatically enabled and no further intervention is needed unless you change the Ethernet network environment If your network environment changes you may need to edit the IP address file Refer to the SERVOSTAR MC Installation Manual for additional inform
174. g Shift Left SHL Binary long Shift Right SHR Binary long Negation is simply placing a minus sign in front of a constant or variable to invert its arithmetic sign Modulo division produces the remainder of an addition For example 82 Mod 5 is equal to 2 the remainder of 82 5 If the first operand is negative the resultant value is negative 2 The sign of the result is determined by the sign of the first operand and the sign of the second operand has no effect The relative precedence of exponentiation and negation may seem somewhat counter intuitive The following examples illustrate the actual behavior Common shared D as double D 1 D 2 1 1 2 SE In the second section of the above example exponentiation is performed first then negation is performed Common shared D as double D 1 D 2 1 1 the example above the sign is taken as a relational operator i e Is D 1 The relation is True or 1 D 2 1 2 0 In the example above the sign is taken as a relational operator i e Is D 2 1 2 Again the exponentiation is performed first and then the relation is evaluated as False or 0 The operator when used with strings performs concatenation of strings In points addition and subtraction operators can be used between points of the same type and size or between a point and a long or double type scalar On the other
175. gram types define different sets of data to be exchanged in the AT and MDT There are seven standard telegrams in SERCOS The simplest telegram is Type 0 which defines only the service channel No data are transferred in the cyclic data The most complex type is Telegram Type 7 which allows the user to configure which data are in the cyclic data all telegrams equally support the service channel The other telegrams Types 1 through 6 define different combinations of position velocity and current in the AT and MDT The uses only Telegram Types 5 and 7 for data communication Normally the relies on the SERCOS telegram type 5 In Telegram Type 5 position and velocity feedback are transmitted by the drive in the AT cyclic data and position and velocity command are transmitted by the MC in the MDT cyclic data These four components are the only motion data transmitted in the cyclic data Telegram type 5 works well unless you need to have the external encoder position brought in with the cyclic data This is necessary when you want to slave an axis to the external encoder In this case you need to configure a Type 7 telegram When you need to bring an external encoder position from a drive to the MC in realtime cyclic data you must configure a telegram type 7 for the drive This telegram must contain all the motion data found in telegram type 5 position and velocity in both the AT and MDT with the external encoder position added To set up
176. grams and subroutines For programs use Program End Program Use Sub End Sub keywords for subroutines 2 3 1 Program The Program End Program keywords mark the boundary between the variable declaration section and the main program Each task must have only one Program keyword which ends with the End Program keyword Another option is the Program Continue Terminate Program block In this case the program is automatically executed after loading and automatically unloaded from memory when it ends Import of libraries Declaration of global and static variables PROGRAM END PROGRAM Local functions and subroutines 2 3 2 Subroutine Parameters either scalar or array passed to the subroutine are used within the code of the subroutine The declaration line for the subroutine SUB lt name gt is used to declare names and types of the parameters to pass Parameters are passed either by reference or by value ByVal The default method is to pass parameters by reference Whole arrays are passed only by reference Trying to pass a whole array by value results in a translation error However array elements can be passed both by reference and by value The syntax for a subroutine is SUB name lt par_1 gt as lt type_1 gt lt par_n gt as lt type_n gt END SUB par name of array variable par n name of array variable dimension of an array without specifying the bounds means o
177. hDog must be reset every fifth cycle every 100 ms to avoid a fault 11 2 2 Cycle the WatchDog The last step in using the MC WatchDog is to issue watch cycle commands from the host PC These are issued more frequently than the specified maximum cycle time in WDINIT For example if the maximum cycles are specified as 5 equivalent to 100 ms reset the WatchDog every 50 or 60 ms In Visual Basic this is as simple as setting the fast I O to 1 based on a 50 ms timer 11 2 3 Reset the WatchDog You can reset the WatchDog directly from the host PC using WDCYCLE This is simpler than the method presented above because you need not generate a task However this is not normally recommended because it is much slower than the fast I O method as it requires 15 to 20 ms to pre compile commands issued directly from the API to the MC However should you decide to use the direct method you need only use the following steps directly from the 1 Create a global variable 2 Initialize the WatchDog timer 55 005 03 RevE 161 Error Handling 11 3 11 4 11 4 1 06 2005 Danaher Motion 3 Reset the WatchDog with an API command based on a timer Run the following Visual BASIC code once upon initialization Include KMAPI BAS in your project KMExecuteCmd MC MyVar WDInit 5 KMExecuteCmd MC WDCycle MyVar 4 Run the following Visual BASIC code from a timer set for 50 ms KMEXecuteEmd WDCycle MyVar UEA
178. he condition is false so that the condition becoming true will fire the OnEvent status 1 means the event is enabled EventDelete Deletes the specified event The event does not respond to the specified condition until the task is executed again and the event is enabled Events at Start up Events are normally triggered by the OnEvent condition changing from false to true So a single transition in the condition is required to run OnEvent One exception to this is start up At start up if the condition is true OnEvent executes once even if there has not been a transition Program Flow and OnEvent You can use GoTo commands within an OnEvent block of code However because OnEvent interrupts the main program you cannot use GoTo to branch out of the event handler or into the event handler You cannot place OnEvent End OnEvent in the middle of program flow commands e g For Next If Then etc You cannot declare or use local variables inside an OnEvent block RevE 61 Project 3 6 3 6 1 3 6 2 62 06 2005 Danaher Motion SETTING UP AXES In this section we set up the axes in the system We will discuss units for position velocity and acceleration We discuss how the SERVOSTAR MC s acceleration profile works We talk about how to set up limits for axes We conclude with a discussion of a few advanced topics an overview of SERCOS simulated axes and dual loop position control Axis Definition The MC i
179. her hand xyTableGroup Absolute FALSE Move xyTableGroup 100 200 moves xyTableGroup a distance of 100 200 units from the start position ABSOLUTE defaults to INCREMENTAL You can change ABSOLUTE any time although the effect does not take place until you issue the next MOVE CIRCLE The MC supports 2 axis circular interpolation with CIRCLE In CIRCLE you specify Group name Angle to rotate in degrees positive counter clockwise along with Center of the circle CIRCLECENTER or CTR Target point TARGETPOINT along with another point on the arc CIRCLEPOINT Circle xyTable Angle 90 CircleCenter 0 0 or Circle xyTable CirclePoint 10 20 TargetPoint 100 200 A 2 axis circle is generated in a specified plane with incremental movement in the third axis That generate a 3 axis circle movement but not helical Circle xyTable CirclePoint 10 20 10 TargetPoint 100 200 20 circleplane xy In the above example the circle is implemented in the XY plane along with the incremental change of the Z axis Optionally you can override the following group properties with CIRCLE ABSOLUTE ACCELERATION ACCELERATIONRATE DECELERATION DECELERATIONRATE JERK JERKRATE SMOOTHFACTOR STARTTYPE VELOCITYCRUISE VELOCITYMAX VELOCITYRATE For example you can enter the following absolute and incremental circular moves Circle xyTable Angle 90 CTR 0 0 Absolute False The value of ANGLE is not limited to 36
180. his case there is continuous blending of the first and the third movements Although this is a feature it must be taken into consideration when designing blending paths Using BLENDINGFACTOR you define the beginning blending second motion point anywhere on the first movement path It is dimensionless cy using a percentage of the path where the blending starts A zero value of BLENDINGFACTOR designatess full blending while 100 designates no blending 130 Rev E M SS 005 031 Danaher Motion 06 2005 Groups For example Dim Shared blen_value As Long Program Attach xyTable 2 0 BlendingMethod BlendingFactor StartType GCom For blen_value 100 To 80 Step 5 Move xyTable 0 10 Abs 1 Vcruise 100 BlendingFactor blen_value Move xyTable 10 20 Abs 1 Vcruise 100 BlendingFactor blen_value Move xyTable 20 10 Abs 1 Vcruise 100 BlendingFactor blen_value Move xyTable 10 0 Abs 1 Vcruise 100 BlendingFactor blen_value Next Detach xyTable End Program 6 10 M SS 005 03 results in the following profile 20 00 p 18 004 16 00 14 00 12 004 10 00 PCM 8 004 A2 0 00 rrr T T T T 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 A1 PCMD The following are blending limitations Blending type of the first movement defines the actual connection path although the second movement has a different definition The second movement can blend with the current movement alth
181. hly increased while in the trapezoidal profile the acceleration is increases in one sample Setting the acceleration increasing smoothness is done using SMOOTHFACTOR Jog When you want to command the motor to move at a constant velocity independent of the current position use JOG Velocity can be negative to produce motion in the reverse direction For example Jog ConveyorAxis 2000 produces this profile Velocity Command 2000 rpm Accel Cruise Time You can optionally limit the amount of time JOG runs using TIMEJOG TIMEJOG must be placed on the same line with JOG TIMEJOG is specified in milliseconds and includes acceleration time Deceleration starts when the time expires When TIMEJOG is 1 JOG continues indefinitely TIMEJOG defaults to 1 For example Jog ConveyorAxis 2000 TimeJog 1000 produces the profile below Rev E M SS 005 031 Danaher Motion 06 2005 Single Axis Motion 4 1 6 4 1 7 M SS 005 03 Velocity Command 2000 RPM Jog time 1s Accel Cruise 1 see Time The following axis properties can be overridden as part of JOG TIMEJOG ACCELERATION DECELERATION SMOOTHFACTOR JERK VELOCITYRATE ACCELERATIONRATE DECELERATIONRATE JERKRATE Stop STOP stops motion in the motion buffer In the command you must specify the axis For example Stop ConveyorAxis Normally STOP is set to stop motion immediately at the rate of DECELERATIONMAX H
182. ic DNS Suffix Description b Giant Steps Virtual miniport Physical Address 00 02 1B D1 A5 FC DHCP Enabled 4 6 e e a x os a x 2 decks wo ue xm 2 Subnet Mask 4 gt d s ox wo 259 255 255 0 Default Gateway DNS Servers M SS 005 03 RevE 5 Overview 1 8 1 2 1 8 2 1 8 2 1 06 2005 Danaher Motion OPEN SERIAL PORT Configurate the serial port with OPEN Set the following port properties BaudRate baud rate of the device set to a specified value Parity enable disable parity detection When enabled parity is odd or even DataBits number of data bits StopBit number of stop bits Xonoff sets raw mode or S Q flow control protocol mode optional parameter disabled by default For example OPEN COM2 BUADRATE 9600 PARITY 0 DATABITS 8 STOPBIT 1 AS 41 Opens 2 at 9600 bps baud rate No parity 8 bit data 1 stop bit OPEN assigns a device handle to the communication port Any further references to the communication port uses the device handle number The device handle range is 1 255 To change the communication parameters close the serial port and reopen it using the new parameters For more information see PRINT and INPUTS TCP IP Communication Use TCP IP communication with other computers and intelligent I O devices over the Ethernet network MC BASIC us
183. ied as actual motor position at the end of the move The final position is equal to PFINAL Incremental Absolute FALSE Final position is referenced to the start position The final position is equal to the sum of PFINAL and PCMD from the start of the move So CutAxis Absolute TRUE Move CutAxis 100 moves CutAxis to position 100 On the other hand CutAxis Absolute FALSE Move CutAxis 100 moves CutAxis a distance of 100 units from the current position ABSOLUTE defaults to FALSE You can change ABSOLUTE at any time although the effect does not take place until you issue the next MOVE SETTLING TIME The MC actively watches to see if axes are settled into position In almost all applications the motor position feedback is slightly delayed from the position command After a move is complete some time is required for the actual position to settle out to the commanded position this time is called settling time Consider the point to point move shown below The VELOCITYCOMMAND VCMD is shown in solid line and VELOCITYFEEDBACK VFB is shown in thin line The area between the two curves is the following error As you can see it takes a small amount of time at the end of the move for VFB to settle out to zero The actual amount of time required for this varies from one system to another Higher bandwidth systems have shorter settling times but all systems need some time to settle Typical times range from a few milliseconds to tens o
184. ifferences in velocity and position drop below certain thresholds Higher values of these parameters assure faster approaches Both robot s position and orientation coordinates are taken into account A system offers two different approach algorithms One is the absolute tracking algorithm and the other is the relative tracking algorithm Both are based on internal closed prediction PD position loop using position and velocity differences as success criteria Use the absolute tracking algorithm in simple slow motion tracking with minimal initial distance of the robot from the tracking object Use the relative tracking algorithm in all other cases Besides differences in approaching algorithms there is also difference in the way both algorithms are used Absolute Approach Absolute tracking algorithm slave z 3 The system automatically moves the robot position lt robot gt SETPOINT toward the tracking object position moving gt Once synchronization is achieved both positions are equal In this algorithm two parameters influence the approaching behavior moving frame FILTERFACTOR and moving frame gt DAMPINGFACTOR between the moving frame and the robot is less than half of the product between acceleration and the square of the sampling period NOTE 1 2 AT A The requirement to enter the tracking phase is that the position error approaching phase behavior Use small values in the beginning and incre
185. ime error has occured CONTINUETASK retries the line which caused the error The error must be corrected before the task continues This command is issued from any task or the terminal window The syntax of ContinueTask is ContinueTask lt TaskName gt For example ContinueTask TASK1 PRG KillTask aborts the execution of a task The program pointer is left on the line at which the task was stopped The first action of KILLTASK is to kill and delete all events associated with the task This is done to ensure that no event initiates an action after KILLTASK was executed KILLTASK is issued from the terminal window The syntax of the KillTask is KillTask lt TaskName gt For example KillTask TASK1 PRG RevE M SS 005 031 Danaher Motion 06 2005 Project 3 4 4 3 4 5 M SS 005 03 Monitoring Tasks From the Terminal For detailed information on these commands refer to the SERVOSTAR MC Reference Manual TASK STATUS provides the current state of any task You can query TASK STATE from the terminal window You cannot use TASK STATUS from within a program The syntax for TASK STATUS is 2 lt TaskName gt Status For example TASK1 PRG Status TASKLIST returns the state and priority of all tasks loaded in the system You can query TASKLIST only from the terminal window For example if you type A typical result is TaskName TASK1 PRG Status sstep Priority 16 TaskName DO PRG Status suspend Priority 4 Re
186. ime is incurred Rev E M SS 005 031 Danaher Motion 06 2005 Master Slave 5 2 3 M SS 005 03 Set the proportional constant between the master and slave with lt axis gt GEARRATIO Al GearRatio 0 5 Slave goes half the speed of master GEARRATIO is a double precision floating point number that is set to less than zero to reverse the direction of the slave Incremental Moves The MC supports incremental moves with gearing The profile of the slave axis is the sum of two profiles the gearing profile and the profile of the incremental move Master Rati Position Slave Axis Profile Incremental move You can use incremental moves with and without gearing Issuing an absolute move with gearing enabled generates an error If you issue STOP to a geared axis executing incremental moves gearing is turned off immediately and the velocity commanded from gearing ramps to zero at lt axis gt DECELERATIONMAX However the termination of the incremental move profile and subsequent launch of JOG is subject to axis STOPTYPE Issuing JOG when gearing with an incremental move is similar to issuing JOG with just gearing The main difference is that the launch of the JOG profile is subject to axis STARTTYPE If STARTTYPE is IMMEDIATE IMMED or SUPERIMMEDIATE SIMM the jog begins immediately The speed from the incremental move ramps up or down to the specified jog speed accord
187. imited by this requirement RevE 109 Master Slave 110 06 2005 In the unusual case that the master position is located exactly on one of the master position points the slave position is the corresponding point of the master slave point pair When the master is located between two points the MC uses linear interpolation to calculate the position Cam tables are incremental in one aspect and absolute in another Within the cam table the positions are absolute Suppose you want a cam table with 5 points with each point of the master separated by 10 units and slave positions separated by 20 units The table with the assumed name CAM1 IS Danaher Motion CAM1 1 10 20 CAM1 2 20 40 CAM1 3 30 60 CAM1 4 40 80 CAM1 5 50 100 The master and slave positions are absolute within the table This method is not a valid way of entering cam table items but it is an illustration of the table entries Creating cam tables is covered later Cam tables are incremental with reference to the start point The start position in a cam table is always offset to the master and slave positions when the cam table is enabled The operation of the table above is identical to the table below where the point pairs are adjusted to allow the first point to change from 10 20 to 0 0 CAM1 1 0 0 CAM1 2 10 20 CAM1 3 20 40 CAM1 4 30 60 CAM1 5 40 80 Cam tables can be specified to command net motion The
188. ines To set up position units determine how many counts are in one of your selected units For example suppose you had this system Desired units inches Rotary motor as opposed to linear motor 2000 line Encoder 3 1 gearbox 5 turn per inch ball screw Determine POSITIONFACTOR number of counts per inch 1 inch 5 turns on the screw 15 turns into the gearbox 15 2000 lines 15 2000 4 counts 120 000 counts POSITIONFACTOR is set to the number of counts per inch 120000 Al PositionFactor 120000 For a second example let s change the first example from encoder to resolver change the ball screw and use meters for the units Desired units meters Rotary motor Resolver 65536 counts per revolution 3 1 gearbox 2 turn cm ball screw Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 6 8 3 6 9 Determine POSITIONFACTOR number of counts per meter 1 meter 200 turns on the screw 600 turns into the gearbox 600 65536 counts 39 321 600 counts POSITIONFACTOR is set to the number of counts per meter 39321600 If you use the BASIC Moves auto setup program provide the motor resolution and number of motor rotations per unit movement and BASIC Moves calculates the math Velocity Units Velocity units convert MC internal velocity units counts mSec to your units They are controlled using VELOCITYFACTOR or VFAC Normally velocity units are either the position units per second or per minute
189. ing Returns the specified number of characters X from the string 5 starting at the character at position Returns the specified number of characters X from the right hand side of the string S Returns the left hand part of a string S after removing any blank spaces at the end Generates a string consisting of the specified number X of blank spaces Returns the string representation of a number X Creates a new string with the specified number X of characters each character of which is the first character of the specified string argument S or the specified ASCII code Y Returns a copy of the string S passed to it with all the lowercase letters converted to uppercase Returns the real value represented by the characters in the input string S Rev E M SS 005 031 Danaher Motion 2 2 11 System Commands The following commands provide information about the system You can issue these commands at any time either from task terminal or the CONFIG PRG file with some exceptions For detailed information on any of the system commands including examples refer to the SERVOSTAR MC M SS 005 03 Reference Manual AxisList BreakPointList CamList Dir ErrorHistory ErrorHistoryClear EventList GroupList PlsList ProgramPassword Reset All Tasks System AccelerationRate System AutostartTask System AverageLoad System Clock System CpuType System Date 06 2005 BASIC Moves Developm
190. ing to either axis DEC or axis ACC If STARTTYPE is GCOM SYNC or INPOS the jog profile is delayed The following example issues JOG with an immediate start STARTTYPE IMMEDIATE Jog A1 100 TimeJog 5000 Sleep 2000 Al StartType IMMED Jog A1 200 The resulting profile is Jog command issued and Incremental starts immediately move starts aN 200 RPM Jog speed ramp to geared speed 2 seconds 4 seconds RevE 107 Master Slave 06 2005 Danaher Motion This next example shows the previous example but with the starting after the incremental move is complete STARTTYPE GCOM Jog Al 100 TimeJog 5000 Sleep 2000 Al StartType GCOM Jog A1 200 The resulting profile for this is Jog command issued Incremental move starts Incremental move ends Jog starts Geared Speed ramp to geared ar k speed 200 RPM Jog speed 2 seconds 4 seconds 5 3 CAMMING Camming is an extension of gearing It can be thought of as gearing where the gear ratio varies according to the master position The master position optionally runs through a gear ratio and drives the input to a cam table The cam table is a list of point pairs which map the master position to the slave position The output of the cam table provides the slave axis position The operation of camming looks like Master AXIS MasterGearRatio CAM Table 5 3 1
191. ish End While Axis Velocity Limits There are several limits in the MC related to velocity VelocityOverspeed VelocityMax Acceleration Deceleration VELOCITYOVERSPEED defines an absolute motor velocity limit When this limit is exceeded an error is generated and the axis is brought to an immediate stop VELOCITYOVERSPEED is in MC velocity units and is set any time It is checked every SERCOS update cycle For example Al VelocityOverspeed 4000 VELOCITYMAX VMAX sets the maximum speed that the motion generator can command VELOCITYMAX is MC velocity units and is only set from the terminal window or in the configuration file Config Prg It is checked at the beginning of each move For example Al VelocityMax 5000 Two limits control acceleration and deceleration which themselves limit the velocity transients on acceleration profiles These properties may be set from the terminal or in a user task or any other context These are ACCELERATIONMAX and DECELERATIONMAX ACCELERATIONMAX is the upper limit for acceleration in motion commands It is in MC acceleration units ACCELERATIONMAX is set the BASIC Moves auto setup program when you start a new project DECELERATIONMAX is the upper limit for deceleration in motion commands It is in MC acceleration units DECELERATIONMAX is set up in the BASIC Moves auto setup program when you start a new project VELOCITY ACCELERATION AND JERK RATE PARAMETERS Axis Veloci
192. iting While 1 globalA globalA 1 produce some data semGive syncSemaphore sleep 100 End While End program Example of Consumer common shared syncSemaphore as semaphore defined in config prg common shared globalA as long defined in config prg Program While 1 If SemTake syncSemaphore 5000 1 Then Print A is globalA End if End While End program VIRTUAL ENTRY STATION Virtual Entry Station VES allows a CLI like approach to the system from any task or library VES permits access to virtually any system property The application developer must take into account that in the contrast to regular programs and libraries the string is passed to VES and are interpreted and translated at run time Execution takes much more time than the equivalent line in the program The response of VES is ASCII an string which could be immediately printed or assigned to any string variable Since VES involves translation and then interpretation the result could also be an error message To distinguish between a normal response and an error VES gives either a or E prefix to the output Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio 2 8 2 9 2 9 1 55 005 03 VES Example Program Dim s2 as string Dim sl as string S2 sys time S1 VesExecute 52 Print sl S1 VesExecute sys time Print sl End program incorrect returns syntax error Output
193. its is to set PFAC 1 which can be thought of as 1 simulated unit eg 1 meter 1 inch Set VFAC to PFAC 1000 for units per second or set to PFAC 60000 for units per minute such as rpm Set AFAC to VFAC 1000 such as meters per second Most axis properties do work with simulated axes including Position properties command feedback final Velocity properties command feedback cruise maximum Acceleration and deceleration Acceleration maximum and deceleration maximum In addition you can move jog gear and cam simulated axes The following axis properties do not work with simulated axes Position error and velocity error assume to be zero Velocity Overspeed Tuning parameters External position and velocity RevE M SS 005 031 Danaher Motion 06 2005 Single Axis Motion 4 4 1 4 1 1 M SS 005 03 SINGLE AXIS MOTION SERVOSTAR supports three main types of motion Single axis motion Master Slave motion Multiple axes motion A motion generator controls all motion in the MC This software device receives commands from MC tasks and produces position and velocity commands for the drives every servo cycle The two main single axis motion commands are JOG and MOVE The MC also provides ways to synchronize the execution of motion commands as well as changing motion profiles on the fly In addition the MC provides multiple modes for starting and stopping motion All motion commands are subject to inherent s
194. ixed speed simulated axis Monitor Physical Axes Simulated axes are used to monitor physical axes for machine control by slaving a simulated axis to a physical axis and monitoring the position and or velocity of the simulated axis For example if you slave a non rotary simulated axis to a rotary physical axis you can monitor the total distance the physical axis has traveled because any variable from a simulated axis can be used to fire events You can generate events based on the simulated axis The position feedback of a simulated axis can drive a Programmable Limit Switch PLS to add more monitoring flexibility Synchronize Slave Axes Many machines have multiple slaved axes that are controlled as a group Normally synchronization is maintained when these axes share a single physical axis as a master However on some machines there are special modes of operation where a physical axis cannot provide all the necessary functions Consider a machine where a minimum speed must be maintained on the slave axes even if the master axis stops In this case you can insert a simulated axis between the physical master and slave drives To do this slave a simulated axis to the physical master and then slave the other axes to the simulated axis Use events to tell when the physical axis is above or below the minimum and use JOG to keep the simulated axis above the desired minimum to keep the slave axes moving even if the physical master stops Rev E
195. joint actually represents one or several axes of the group according to the given coupling matrix If the group has no coupling matrix defined the joint is a direct representation of the axis of the same ordinal number in the group as the joint index To introduce another term the shadow axis of a joint is the axis with the same ordinal number in the group as the joint index For example if a group consists of axes A2 A3 A4 the shadow axis of the joint J1 is A2 Normally all joint properties are a direct representation have the same value of shadow axis properties independent of whether the coupling matrix is defined or not The only exceptions are properties related to joint position PCMD PFB VCMD VFB CCMD CFB PMAX and PMIN These are unique for each joint Current positions and velocities are obtained according to the given coupling matrix They are computed each time a query of these values is issued PCMD etc They read only and do not represent any specific internal variable Symmetrically the same properties when queried from a group 291 return lists of joint property values according to the coupling matrix The movement s target positions MOVE or CIRCLE of group movements are treated analogously coupling matrix On the other hand the joint s position limits PMAX and PMIN are added to the joints The position limit of the joint and the position limit of the shadow axis are not related
196. k You can configure your system to automatically configure the drives after each power up If a drive needs to be replaced all re configuration is automatically done Reliable Connections SERCOS uses fiber optic connections to eliminate the tens or even hundreds of hard wired connections between the drives and the controller This eliminates many possibilities for intermittent or reversed connections Access to Drive SERCOS provides complete access to drive data For the SERVOSTAR drive you can even record variables realtime in the drive and send the data via SERCOS to your PC using MOTIONLINK Axis Modularity SERCOS relies on the drive to connect to most external signals related to an individual drive feedback device limit switches and registration sensors When an axis is added to a system most of the wiring associated with the axis connects directly to the drive This minimizes the changes to system wiring required to support adding or removing drives Rev E 75 Project 3 12 1 3 12 2 76 06 2005 Danaher Motion Communication Phases In SERCOS one master controller and many drives are connected with the fiber optic cable to form a communication ring SERVOSTAR MC SERCOS Ring SERVOSTAR SERVOSTAR SERVOSTAR Drive 1 Drive 2 Drive 3 The master attempts to establish communication in a step by step process This process is referred t
197. l STbl gt Structure types match STa2 STal gt Error structure type mismatch Elements A structure element is addressed through the structure s name and the arrow sign For example lt structure_name gt gt lt element_name gt Structure elements are handled almost like regular variables Structure elements are printed assigned participate in mathematical operations and string type elements are concatenated to other strings They can also serve as arguments of system functions SIN UCASES etc used in logic statements and as conditions of flow control statements and event definitions For example Common Shared ST As STRUCT PRINT ST gt LongElm1 ST gt LongElm2 21 2 ST LongArrElm 1 UCASES String Element Is ST StringElm IF ST gt LongElml gt 0 THEN SELECT CASE ST LongElm2 System Elements There are several system elements axes groups cam tables PLSs conveyers and compensation tables These are not regular data types but are more like user interfaces of the system s internal memory or internal function calls You cannot handle them as a whole in expressions Each System element has a set of properties which is accessed through syntax resembling data elements of a structure using the point character Rev E 19 BASIC Moves Development Studio 06 2005 Danaher Motion 2 2 6 2 2 7 2 2 8 20 Despite the syntax properties not data elements since a sys
198. laced at the beginning of the program code before any other command or declaration IMPORT MyLibrary lib The syntax for calling a library subroutine or function from a task is the same as the syntax for calling a local subroutine from the task You do not need to specify which library file contains the subroutine you want to call because you can not import two library files that contain the same library function name User defined Functions MC BASIC allows you to define your own functions to be used in programs in the same manner as using BASIC s pre defined functions User defined functions are composed with multiple lines and are recursive can call itself Unlike BASIC s system functions the Scope of user defined functions is limited to the task in which it is defined Rev E M SS 005 031 Danaher Motion 06 2005 Project Functions are different from subroutines in one respect Functions always return a value to the task that called the function Otherwise functions and subroutines use the same syntax and follow the same rules of application and behavior Because funtions return a value you can use functions expressions i e tangent sin x cos x or If Sgn x Or Sgn y Then The syntax for defining a function is Function lt name gt ByVal p 1 as type 1 ByVal p gt as type gt As function type local variable declaration function code END function You can pass parameters either
199. libraries can be called from everywhere i e terminal and other tasks without first being imported by the calling task IMPORT cannot be applied to global libraries LOAD GlobLib lib Config Prg LOADGLOBAL GlobLib lib In terminal IMPORT GlobLib lib gt Error In task or library The syntax for calling a global library s subroutine or function from either the terminal or task is the same as the syntax for calling a subroutine or function of a regular imported library Because of the wide recognition scope of global public functions and subroutines the names of such subroutines and functions cannot be used for another function or subroutine variable motion element etc As in regular libraries subroutines and functions declared without the PUBLIC keyword can only be used inside the scope of the library A global library cannot be unloaded if there are task files PRG loaded in memory To unload a global library all Prg files must first be unloaded If a global library file is unloaded and then reloaded from either the terminal or a task it becomes a regular library which must be imported before use C FUNCTIONS The MC offers users an outstanding option to incorporate applications written in C or C into an MC Basic task You can write your algorithm in C C compile it with a GNU compiler download it into a target program and call the code from a program written in MC Basic or directly from the command line
200. linquishing Resources When tasks of different priorities compete for processor time the highest priority task always takes all the resources it needs However tasks of high priority can relinquish computer resources under some conditions In these cases tasks of lower priority run until the high priority tasks again demand the resources There are three conditions under which a task relinquishes resources when the task is terminated when the task is suspended or when the task is idled For detailed information on these commands refer to the SERVOSTAR MC Reference Manual A task terminates when it is finished executing If a task starts with NUMBEROFLOOPS greater than zero the task executes the specified number of times and terminates The task relinquishes all resources Terminated tasks remain loaded in the system and can be restarted One task can terminate another task by issuing KILLTASK A task relinquishes all resources after the kill command Killed tasks remain in the System and can be restarted Tasks relinquish processing resources temporarily when they are suspended A task is suspended when it is waiting for a resource or is delayed Suspended tasks still monitor events as long as the event priority is higher than the task priority Never run a task at a higher priority level than any of its events Use SLEEP to delay a task for a specific period of time This command can only be issued from within the task One task canno
201. llow you to control multiple axes as a single mechanism With groups the position command and feedback signals are no longer single values but instead are vectors with two or three elements Velocity and acceleration no longer apply to a motor but instead apply to the combination of two or three motors moving in concert Some applications require high accuracy in position so compensate for mechanical inaccuracies in the system is required The MC allows you to define a table of corrections for one or more axes This table defines a correction to the positioned command given to the axes depending on its location or other axes locations This correction is achieved every SERCOS cycle The compensation table is usually created by high accuracy tools and is then used by the MC to correct small inaccuracies The correction can also take affect when the target axis is part of a group Specification The compensation table is constructed from N axes for which compensation is defined The number of rows in the table will be k1 k2 kn where 1 through kn are the number of correction points defined for the axes A1 through An respectively The source positions in source axis position units must be equally spaced and monotonously increasing while the compensations in target user position units are the corrections added to the target axes A compensation table 3 axes source on 3 axes target is shown below
202. llows the Program keyword This is where task execution begins when you start a task OnError section The OnError section responds to errors generated by the task allowing your program to automatically respond to error conditions and where possible gracefully recover and restart the machine There is at most one OnError section for each task and it is normally written just before the OnEvent section OnEvent section This section contains optional blocks of code that respond to realtime changes such as a motor position changing or an input switch turning on The main program can contain code to automatically respond to events This reduces the effort required to make tasks respond quickly and easily to realtime events Event handlers begin with the OnEvent and end with End OnEvent keywords One OnEvent End OnEven keyword combination is required for each realtime event Event handlers must be contained wholly within the main program Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 2 2 3 2 3 M SS 005 03 Optional subroutines Each task can have any number of subroutines Subroutines are component parts of the task and consequently they can only be called from within the task If you want to call the same subroutine from two tasks place one copy in each task Configuration Task The name of the configuration task is Config Prg The configuration task is used for declaration of number of axes global variables a
203. lue greater than 0 the ring is scanned during communication phase 1 The scan value indicates the highest drive address for which to scan For example if the value is set to 5 the ring is scanned for drives at addresses up to 5 Sercos scan 0 Do not scan the ring Sercos scan 5 Scan for drives up to address 5 Set SERCOS PHASE to the desired phase of communication see Enabling and Communication Phases Normally the command stream outlined in the procedure below is sufficient to bring up the ring Because it takes time to bring up the SERCOS ring you may want to speed the process by changing the phase only when it is at some phase other than 4 Most IDNs have numeric values After these IDNs are defined you can read their values with IDNVALUE To do this you must specify the drive address IDN and the IDN element For example you can enter IDNValue 5 104 7 This lists the value of IDN 104 element 7 for the drive at address 5 IDNVALUE is only executed in SERCOS communication phases 3 and 4 as cyclic data or in phases 2 3 or 4 via the service channel some restrictions apply for writing to an IDN For a complete listing of IDNs supported by the SERVOSTAR drive refer to the SERVOSTAR MC Installation Manual IDNs have numeric values and you can write to most of them with the WRITEIDNVALUE command To do this specify the drive address IDN and the value For example you can enter WritelDNValue Drive 5 IDN 10
204. ly do come from different servo cycles If you are monitoring motion and need the command to be synchronized you must use Record Normally printing of longs is done in decimal format To change printing to Hexadecimal format type System PrintMode HEX Rev E 29 BASIC Moves Development Studio 06 2005 Danaher Motion 2 2 13 30 To change printing to Binary format type To restore printing to Decimal format enter System PrintMode DECIMAL Printing double floating point numbers is not affected by System PrintMode As an alternative to PrintMode you can place the keywords Decimal Hex or Binat the end of Print or PrintUsing to print expressions in these formats Subsequent print instructions PRINT PRINTU and PRINTUSING are not affected INPB INPW PEEKB and PEEKW return long values If you query any of these functions while decimal the result is misleading Change to Hex or Bin for the correct result System DoubleFormat defined from the configuration file sets the double number printing format for print of double type numbers System DoubleFormat 1 print in Floating point format 132 555 System DoubleFormat 0 print in Exponential format 1 325550000000000e 02 Program Sys DoubleFormat 1 End Program Sys DoubleFormat Flow Control Flow control is the group of instructions that control the sequence of execution of all other instructions For detailed
205. mand inches min Position Feedback inches As you can see the velocity command is proportional to the following error Large velocity commands need large following error limits At first the units of inches min mil may seem confusing The following error for an acceleration with a typical proportional loop is shown in the next figure Velocity Command 4000 RPM n 4 error recovered 0 Time The good news about 10096 feed forward is that it eliminates steady state following error The bad news is that the system overshoots when subjected to acceleration or deceleration In some cases this is not an issue because the system may always transition smoothly or some overshoot is acceptable Rev E 71 Project 72 06 2005 Danaher Motion In many cases 100 feed forward is not acceptable In these cases you can reduce the feed forward to reduce overshoot The larger the feed forward gain the greater reduction is seen steady state following error Most systems can tolerate the overshoot generated by feed forward gains of 50 Acceleration feed forward allows the use of 100 velocity feed forward with no overshoot Acceleration feed forward works by adding current equivalent to the torque required to accelerate a fixed load Acceleration feed forward effectively cancels the torque generated by the inertia changing speed This is why this technique is sometimes called inertial feed forward Acceleration feed forwa
206. me delay of two SERCOS cycle times 2 ms from when MOVE is issued until the feedback position is received When the MC calculates position error it automatically accounts for the communication delay In most circumstances the two cycle time delay is correct However if microinterpolation is enabled in the drive the feedback position is delayed an additional one or more cycle times To manage position error problems the MC provides a number of axis and group properties relating to position error axis POSITIONERRORDELA Y new in firmware version 3 0 allows you to specify the number of SERCOS cycle times to apply when calculating position error The default is two The MC allows you to set up any axis in your system as a rotary axis Rotary axes are often used for mechanical mechanisms that repeat after a fixed amount of rotation Rev E 67 Project 68 06 2005 Danaher Motion For example a motor driving a rotating table is often configured as a rotary axis In this case the table units are set up as degrees and the units of the axis are set to repeat after 360 In that way the position repeats after every rotation of the table rather than continuing to increase indefinitely The key to the rotary mode is setting rollover position POSITIONROLLOVER or PROLLOVER correctly and accurately Consider this example where the axis drives a rotary table through a 5 3 gearbox Desired units Degrees Desired repeat 360 Gearbo
207. me object Robots must be of the same type as the world frame of the object in the tracking process dimension and robot type The process is completed in one of two ways disable tracking or send no new triggers There are two different concepts of NDOF s one for the robot which means the number of motors driving it and one for the moving frame which means the number of external position sources assigned to it These two numbers can be different Only the object type dimension and type of the moving frame must match the robot s world frame Window Declaration Limit the region by one or more pairs of points depending on the number of degrees of freedom of the element to be tracked For every degree of freedom a pair of points defines its region limits The boundaries are the upstream lower limit and the downstream the upper limit The lower and upper limits are referred to the trigger point The lower limit is closer to the trigger point than the upper limit Moving direction is from upper to lower While the object is inside the working frame every change of conveyor movement direction is tracked The only limitation is that region limits must be relative to the trigger position so the upstream is closest to the trigger An object might enter from the downstream limit To correct this error add a direction flag to the trigger to indicate if the region limits are inverse The moving frame is divided into components For example an XY tabl
208. mum joint velocity Movements near the limits of the working space are farther from the robot origin and have higher robot inertia Lower acceleration must be applied to avoid exceeding the maximum joint values You must know at least two values threshold of arm radius where reduction begins and end point of reduction at straight arm for all joints Limits must be considered for the joint The whole Cartesian path and all Cartesian interpolation types straight circular via must be considered Since joint velocity acceleration or jerk values cannot be exceeded take the minimum of the commanded Cartesian values VTRAN ATRAN DTRAN JERKTRAN VROT AROT DROT and JERKROT and account for the values in joint space VCRUISE ACC DEC JERK Cruise velocity cannot vary Use a constant cruise value Leave the principal profile acceleration and deceleration phase as it is Acceleration and deceleration cannot vary during the constant ACC DEC phase Use the highest acceleration in Cartesian space possible that allows constant ACC DEC phases without exceeding joint values Acceleration and deceleration may differ and must be considered separately mostly in long distance moves where conditions vary widely for start and destination position The same restrictions apply to JERK Acceleration deceleration and jerk reduction must be calculated and anticipated depending on payload and arm radius The parameters for a simple scheme are threshold v
209. n IEC 1491 supported by many companies around the world SERCOS replaces analog connections with digital high speed fiber optic communication Danaher Motion supports 2 4 8 16 Mbit s baud rate speeds Danaher Motion selected the SERCOS interface because of numerous technical advantages Determinism SERCOS provides deterministic communication to all drives The communication method provides complete synchronization between controller and axes and among all axes International Standard SERCOS is the only digital communication method for motion control supported by an international body It is the only standard with motion control products provided by a wide base of companies Reduced Wiring Between Drive And Controller SERCOS greatly reduces wiring between controller and drives While analog and PWM amplifiers require 10 to 15 connections per drive SERCOS requires only two fiber optic cables between the controller and the drive Noise Because SERCOS is based on fiber optics electromagnetic noise is greatly reduced The controller is electrically isolated from drives and feedback devices as well as from limit switches and other I O wired through the drives Most grounding and shielding problems notorious for the difficulties they cause during installation of analog motion control systems are eliminated Simplifying Replacement SERCOS allows you to download configuration parameters for all drives simultaneously via the SERCOS networ
210. n generator waits for these conditions before starting the second move Start Moves When the motion buffer is empty group moves begin immediately If you need to delay the next motion you have two options You can either use DELAY to insert a fixed delay time or STARTTYPE to delay depending ona condition Use DELAY to force the motion generator to wait a fixed period of time between moves The motion element xyTableGroup must be specified in DELAY For example Move xyTableGroup 100 100 Delay xyTableGroup 1000 Move xyTableGroup 200 500 forces a 1 second delay between the two moves DELAY has units of milliseconds and must be greater than zero DELAY differs from SLEEP in that SLEEP delays program execution and DELAY delays only the motion generator DELAY is forced to the STARTTYPE mode RevE M SS 005 031 Danaher Motion 06 2005 Groups 6 10 3 6 10 4 M SS 005 03 If you want to delay the start of a new move until a condition has been met use axis STARTTYPE There are four choices StartType GeneratorCompleted or GCOM When STARTTYPE GCOM the new move starts as soon as the motion generator completes the current move s motion StartType InPosition or INPOS When STARTTYPE INPOS the motion generator delays executing the new motion until the current move completes and the position error settles to near zero StartType Immediate IMMED or Superlmmediate SIMM When STARTTYPE IMMED or SIMM the new move
211. n be defined with the following declaration Dim common shared lt name gt as lt severity gt lt ASCII message gt lt num gt 162 where Parameter Description Remarks Severity Note Error Num Integer number 20001 20499 which will optional parameter be assigned to exception This parameter is optional if omitted the system will assign some value in range 20500 20999 MC will report an error if number given by the application developer is already used ACII Msg ASCII text that will appear at error history and error message For example Dim shared Errorl as Note Emergency 20001 Dim shared Error2 as Note Fault 20002 Common shared MyNote as Note My Note Common shared MyError as Error My Error Rev E M SS 005 031 Danaher Motion 06 2005 Error Handling If the exception number is not specified the system associates exceptions with some numeric value which can be queried However the system will not guarantee that this value is the same from load to load Do not make any assumption about this number It is a mechanism to maintain the exception database 11 4 2 Deletion All exceptions declared at task level are lost when the task is killed The exception declared at the system level Common Shared can be deleted if not in use similar to numeric variables For example 11 4 3 Assertion The application asserts throws an exception from within an application The System
212. n buffer In the command you must specify the group Stop GroupA Normally STOP is set to stop motion immediately at the rate of DECELERATIONMAX However you can modify the effects of STOP with STOPTYPE lt group gt STOPTYPE can take four values STOPTYPE IMMED Stop group immediately at DECELERATIONMAX on each axis The current path of the n movement is not preserved STOPTYPE ENDMOTION Stop group at the end of the current motion STOPTYPE ONPATH Stop group immediately Keep the stopping trajectory on the current motion path STOPTYPE ABORT Stop the current motion immediately without the ability to restore the stopped movements STOPTYPE defaults to IMMED If STOPTYPE ENDMOTION the current move is completed before STOP is executed If STOPTYPE ONPATH STOP is executed so the group stays on the path Stopping is according to the current movement s deceleration and not at maximum deceleration to remain on the path RevE M SS 005 031 Danaher Motion 06 2005 Groups 6 9 5 6 9 6 M SS 005 03 PROCEED After a STOP you must PROCEED to clear the motion buffer You can use PROCEEDTYPE to specify which way the motion generator should continue PROCEEDTYPE CONTINUE The motion generator continues the stopped command until complete PROCEEDTYPE NEXTMOTION The motion generator aborts the current move and goes directly to the stopped move in the motion buffer PROCEEDTYPE CLEARMOTION Clears the motion buf
213. n extensive authorized distributor network These distributors offer literature technical assistance and a wide range of models off the shelf for the fastest possible delivery Danaher Motion sales engineers are conveniently located to provide prompt attention to customer needs Call the nearest office for ordering and application information and assistance or for the address of the closest authorized distributor If you do not know who your sales representative is contact us at Danaher Motion 203A West Rock Road Radford VA 24141 USA Phone 1 540 633 3400 Fax 1 540 639 4162 Email customer support danahermotion com Website www DanaherMotion com 194 RevE M SS 005 03
214. nation of these gives four options LOCATION target JOINT target Cartesian Interpolation MOVES 400 400 0 0 MOVES 45 45 0 0 Joint Interpolation MOVE 400 400 0 0 MOVE 45 45 0 0 CONTOURING Contouring connects different motions by defining the final velocity for each movement This way the motion does not stop at the segment It is continued with the next motion This method is applicable in one axis applications but has several drawbacks that become more prominent in multi axis applications The angle between the movements direction must be zero Otherwise a jump in velocity occurs It is not possible to connect arc with linear segments without a jump in acceleration You must calculate the achievable final velocities on each segment to stop after the last segment 178 Rev E M SS 005 03 Danaher Motion 06 2005 Appendix B Cartesian Profile For kinematics parameters of straight line MOVES motion velocity acceleration deceleration different joint parameters are obtained depending on where in the robot working space the starting line is positioned The further from the origin the smaller joint velocities are obtained Contrary to that the closer to the origin the point is the smaller the inertia and higher the acceleration To optimally exploit robot capabilities execute motions nearer to the origin with smaller Cartesian velocities to avoid exceeding the maxi
215. ncludes three major parts acceleration phase constant velocity cruise phase and deceleration phase Time based Acceleration Deceleration is the motion interface in which the duration of the acceleration deceleration phases during the movement is defined These duration times will be used internally to calculate proper motion parameters to meet the time requirements as accurate as possible axis group TIMEACCELERATION and lt axis group gt TIMEDECELERATION can be used for time based definition Jerk is the first derivative of acceleration Fast moves usually generate large amounts of jerk Having a large amount of jerk in a motion profile can excite machine resonance frequencies and thereby cause unnecessary wear and noise Some motion controllers simplify motion profiles by instantaneously changing the acceleration command which implies a very high level of jerk The MC allows you to limit the amount of jerk in all profiles by using the axis properties SMOOTHFACTOR or JERKFACTOR Specify trapezoidal profiles by setting SMOOTHFACTOR SMOOTH to zero If you want a smoother acceleration increase the SMOOTHFACTOR from 1to a maximum of 100 If SMOOTHFACTOR is large greater than 50 it can increase the acceleration time by one or more orders of magnitude Using lt gt and lt axis gt JERK to limit velocity changes produces acceleration profiles that remove the high frequency components of torque that
216. nd other constructs such as cam tables programmable limit switches PLS and group The key to understanding the configuration task is that all data and constructs shared across tasks must be declared in the configuration task Refer to the following figure SERVOSTAR MC Project Configuration Tas ERLE Variable Declaration System NumberAxes 2 Optional Common Shared IG as Long Common Shared XGlobal 10 as Long Program A1 AxisName X Axis A2 AxisName Y Axis End Program The configuration task can contain a program Axes can be renamed here AutoExec Task The AutoExec task AutoExec Prg is executed once on power up just after the Configuration Task Use AutoExec to start power up logic For example you might want to use AutoExec to start a task that sets the outputs to the desired starting values That way the outputs are set immediately after the MC boots usually sooner than the PC For safety considerations we do not recommend starting of motion from the AutoExec task Motion should be started by explicit operator s request either by I O or communication link from host PC Set the AutoExec task to run on power up To do this add the keyword Continue to the Program command Do not include OnError or OnEvent sections in the AutoExec Limit the AutoExec task to starting other tasks in the system Refer to the next figure Rev E 51 Project 3 3 52 06 2005 Danaher Mo
217. ne or more SUB CalculateMean x as DOUBLE TheMean as LONG DIM sum as DOUBLE DIM I as LONG FOR i 1 to 100 sum sum x i 1 NEXT i TheMean 1 sum 100 END SUB SUB PrintMean ByVal Mean as LONG PRINT Mean Value Is Mean END SUB CALL CalculateMean XArray TheMeanArray Pass entire array by reference CALL PrintMean TheMeanArray 1 Pass a single array element by value 36 RevE M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio When a variable is passed by reference whether the variable is local to the task or global the address of the variable is passed to the subroutine which changes the value of the original variable if the code of the subroutine is written to do this When a variable is passed by value ByVal a local copy of the value of the variable is passed to the subroutine and the subroutine cannot change the value of the original variable There is no explicit limit on the number of subroutines allowed in a task All subroutines must be located following the main program and must be contained wholly outside the main program Subroutines can only be called from within the task where they reside Subroutines may be recursive can call itself Use CALL to execute a subroutine with the following syntax CALL lt subroutine_name gt lt par_1 gt lt par_n gt Parentheses are not used in subroutine CALL if no parameters are passed MC BASIC automatically checks
218. ng after a move has been commanded After the MOVE CIRCLE profile is complete the MC waits TIMESETTLEMAX milliseconds for settling If the position error remains above PESETTLE an error is generated RevE 123 Groups 6 6 4 6 7 6 8 124 06 2005 Danaher Motion ISSETTLED is a binary ON or OFF property that indicates if the group is settled To be settled the motion profile must be complete and the orthogonal combination of axis position errors must be below POSITIONERRORSETTLE The time condition must also be satisfied Velocity There is one group limit in the MC related to velocity VELOCITYMAX VMAX sets the maximum speed the motion generator can command the group This property is checked at the beginning of each move For example Group VelocityMax 5000 The actual executing velocity is also limited according to the group s axes velocity limitations The maximum allowed axes velocity is initialize group velocity In this case a note is returned and can be seen only if SYS MOTIONASSISTANCE is on ACCELERATION Three limits control acceleration deceleration and jerk which limit the velocity transients on acceleration profiles ACCELERATIONMANX is the upper limit for acceleration in MC acceleration units DECELERATIONMAX is the upper limit for deceleration in MC acceleration units The actual executing acceleration and deceleration are limited also according to the group s axes limitations The maximum allow
219. nge a specific target value Compl targetdata 1 23 3 Set new compensation value of index 23 of Axisl Compl sourcedata 2 24 Read the source value index 23 of Axisl Activate After defining the correction table turn it ON OFF with COMPACTIVE Before activating a check is performed to insure that the table is valid the points are evenly spaced and increasing After validation and enabling the target axis positions of the target axes are corrected using the value calculated from the compensation table If a target axis is disabled the correction takes effect only after the axis is enabled A jump may occur when the compensation procedure starts from a point other than the start point of the table A jump may also occur if the compensation process is disabled NOTE before reaching the end of the table Query Actual Positions The actual positions are return by COMPPCMD and These properties can be operated as the master source for a slave geared or cammed PCMD and PFB return the command and feedback positions without compensation Multi Dimensional Correction In the following example the correction is performed on several axes In the described system there are three axes X Y Z The X Y Z position corrections are determined according to the location of the X Y and Z axes Rev E 139 Compensation Tables 06 2005 Danaher Motion The table is composed from 4 9 3 entries for X Y Z a
220. nsure that the response to the first move is complete before moving to the second The MC does this automatically through STARTTYPE when executing MOVE commands as is discussed in the Single Axis Motion section of this manual You must set TSETTLE gt 0 or POSITIONERRORSETTLE is ignored TIMESETTLE or TSETTLE defines the amount of time the position error must be lower than the value of PESETTLE before the move is considered settled After the move profile is complete and the position error is less than POSTIONERRORSETTLE the MC waits TIMESETTLE milliseconds for settling If the position error goes above POSITIONERRORSETTLE during that time the timer resets ISSETTLED is a logical TRUE or FALSE property that indicates if the axis is settled To be settled the motion profile must be complete and the position error must be below POSITIONERRORSETTLE for a period of TIMESETTLE milliseconds Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 9 2 3 10 M SS 005 03 ISMOVING is a property that indicates the state of the motion profiler The valid range of values is from 1 to 3 with the following meaning 1 element is a slave gear or cam unless an incremental move is issued in which instance the following values are valid 0 element is not moving 1 element is accelerating 2 element is at constant velocity phase cruise 3 element is decelerating Example While al ismoving gt 0 wait for profiler to fin
221. nt Axes have numerous properties such as acceleration and deceleration These properties are normally set directly ConveyorAxis Acc 100 This setting is permanent It persists until the next time the property is assigned a value For convenience the MC also supports override values where the property is set as part of a command In this case the setting is used only for the current command Rev E 87 Single Axis Motion 06 2005 Danaher Motion 4 1 4 4 1 5 88 For example ConveyorAxis Acc 100 Jog ConveyorAxis 1000 ACC 10 Even though the acceleration rate of the conveyor axis is specified at 100 in the first line JOG accelerates at 10 the override value Motion commands that do not specify an override acceleration rate accelerate at the permanent value Override values are used extensively in motion commands The values that can be overridden are specified below as well as in the SERVOSTAR MC Reference Manual Acceleration Profile The single axis motion commands MOVE and JOG produce acceleration curves that are limited by ACCELERATION ACC DECELERATION DEC SMOOTHFACTOR SMOOTH Limit ACCELERATION and DECELERATION to less than the acceleration capabilities of the motor and load SMOOTH helps limit or reduce mechanical wear on the machine by smoothing motion There are two types of acceleration profiles sinus curve profile and trapezoidal profile In the sinus profile the acceleration is smoot
222. nt numbers to integers The function returns a Double value If N lt 3 then This statement stops the recursion Factorial 01 0 1 1 21 2 Else Factorial N Factorial N 1 Recursive statement End If END FUNCTION When writing a recursive function you must have an IF statement to force the function to return without the recursive call being executed Otherwise the function never returns once it is called 3 4 MULTI TASKING The MC supports multi tasking You can have multiple tasks running independently sharing a single computer A task is a section of code that runs in its own context Microsoft Windows is a multi tasking system If you open Explorer and Word at the same time they run nearly independently of each another M SS 005 03 RevE 55 Project 56 06 2005 Danaher Motion In this case both Explorer and Word have their own contexts They share one computer but run as if the other were not present There is inter task communication If you double click on a document in the file manager it launches Word to edit the file you clicked With MC BASIC you can use different tasks to control different operational modes one for power up one for set up one for normal operation and another for when problems occur Like Windows each task can run independently of the others and you can prescribe interactions between tasks Multi tasking is used when you want multiple processes to run largely independent of ea
223. nts Joints and Locations generic motion elements Axes and Groups and UEAs user error assertions Errors and Notes DeleteVar deletes a global variable Since variable name can include wildcards a single DELETEVAR can be used to delete more than one variable DeleteVar intl DeleteVar int Deletes all variables starting with int Current values of global variables both scalar and arrays be stored in a Prg file in assignment format within an automatically executable Program Continue Terminate Program block Obligatory parameters of SAVE are the name of storage file and type of stored variables could be all types Optional parameters are robot type for point variables variable name which may include wildcards and mode of writing to storage file overwriting or appending Variable types available for storage through SAVE are longs doubles strings joints and locations but not structures user defined exceptions nor generic motion elements Save File IntFile Prg Type All VariableName int Save all variables starting with int in IntFile Prg overwrite file Save File Points Prg Type Joint RobotType XYZR Mode Append Append all joint type points with XYZR robot type to Points Prg file Scope defines how widely a variable can be accessed The broadest scope is global A global variable can be read from any part of the system software Other scopes are more restrictive limiting access of v
224. number For the current SERCON version query from the terminal with System SERCONversion It returns 22 For SERCON 410B Version or gt 16 For SERCON 816 Version M SS 005 03 Rev E 79 Project 80 06 2005 Danaher Motion Sercos CycleTime is used to either set or query the SERCOS communications cycle time rate of updating cyclic data rate with which to the desired phase of communication see Cyclic vs Non Cyclic Communication This property is only set in SERCOS communication phases 0 1 and 2 transferred from the MC to drives during phase 2 and becomes active in phase 3 sercos cycletime 2000 sercos cycletime Sercos NumberAxes is used for querying the actual number of SERCOS drives detected on the ring This value is generated during communication phase 1 when the SERCOS driver scans the ring for drives or when the the drive addresses are explicitly set sercos numberaxes Sercos Power is used to set or query the SERCOS transmission power The transmission power is governed by the SERCON interface chip and is set to one of six levels Setting the power level too high drives the fiber optic receiver into saturation and causes communication errors This value should not have to change unless a very long cable is being used gt 10 meters Level 6 is the highest power Sercos power 3 sercos power Sercos Scan indicates to the SERCOS driver whether to scan the ring for drives If the property is set to a va
225. o as bringing up the ring Each step is defined in SERCOS as a phase In order to bring up the ring the system must proceed successfully through five phases 0 through 4 The MC simplifies this process by allowing you to specify at which phase you want the ring In most cases you simply need to set the SERCOS property phase to 4 The main exception to this is when configuring telegram Type 7 to include external encoder data which requires that you first set the phase to 2 and then to 4 In phase 0 the master establishes synchronization by passing the Master Synchronization Telegram MST to the first drive That drive passes it to the next and so on until it is returned to the master indicating that the ring is complete After the master determines that 10 MST telegrams have been passed through the ring phase 0 is complete In phase 1 the master sends the Master Data Telegram MDT Each drive is addressed individually and each drive responds with an Amplifier Telegram AT When all drives have responded phase 1 is complete In phase 2 all drives are configured through a series of IDNs First the communication parameters are sent Then the drives are configured for operation Up to this point all data have been sent via the service channel In phase 3 the cyclic data channel is established Configuration is completed and verified Phase 4 is normal SERCOS operation SERCOS PHASE automatically moves the SERCOS ring through each
226. of the instruction Whitespace spaces and tabs within the statement line and blank lines is ignored by the Basic interpreter You can freely use indentation to delineate block structures in your program code for easier readability The maximum allowed length of a line is 80 characters MC BASIC is case insensitive Commands variable names filenames and task names may be written using either upper case or lower case letters The only exception is that when printing strings with the Print and PrintUsing commands upper and lower case characters can be specified Syntax uses the following notation indicates the contents are required indicates the contents are optional for the command Example lines of text are shown in Courier type font and with a border X 1 Type There are many types of instructions comments assignments memory allocation flow control task control and motion For detailed information on any of the commands including examples refer to the SERVOSTAR MC Reference Manual Comments allow you to document your program Indicate a comment with either the Rem command or a single apostrophe You can add comments to the end of an instruction with either Rem or an apostrophe Rem This is a comment This is a comment too 1 This comment is added to the line X 1 1 REM This is a comment too Use comments generously throughout your program They are an asset when you need support from others
227. oken at the declaration level TYPE variable name variable name as type variable name as type lt of gt robot type END TYPE This block defines the new element names of the structure type The different types supported for the structure are long double string and points The maximum structure block is defined as 100 longs 100 doubles 100 strings 100 points Syntax COMMON SHARED DIM SHARED variable name AS variable name or COMMON SHARED DIM SHARED variable name index AS variable name arrays of structure where the second variable name the structure type Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio 2 2 4 1 4 2 2 4 1 5 2 2 5 55 005 03 For example In config file gt Type X Type as Long Length as Long End Type In application file gt Dim shared 51 as X Program 251 gt End program Do not define the size of the structure data type The size of the structure is constant If you declare more structure elements than allowed a translation error is generated Assignment The assignment of a structure uses the following syntax variable name expression where expression is of structure type Whole structure assignment is allowed only if both structures are of the same structure type For example Dim STal As Type 1 Dim STb1 As Type 1 Dim STa2 As Type 2 STa
228. on Dual feedback Position Loop Dual feedback position loop compensates for non linearity in mechanical systems inaccuracy from gears belt drives or lead screws or backlash from gears and lead screws Dual feedback position loop adds a second feedback sensor usually a linear encoder to the system so the load position is directly determined Unfortunately the load sensor cannot be the sole feedback sensor in most systems Relying wholly on the load sensor usually causes machine resonance that severely affects system response Dual feedback position loop forms a compromise uses the load sensor for position feedback accuracy is critical and uses the motor sensor for velocity feedback low compliance required This is the dual feedback position loop shown below Velocity Feed Command Forward Position Position N Velocity Command Loop Loop inches Position from Velocity from load sensor motor sensor The additional hardware for dual feedback position loop is a second encoder connected to the drive which is running dual feedback position loop You configure the drive for dual feedback position loop operation using MOTIONLINK See the SERVOSTAF MC Installation Manual for more information The SERVOSTAR MC does not close the servo loops and is not directly involved in dual feedback position loop operation In a sense the MC is not aware that the drive is operating in dual feedback position loop Ho
229. on 06 2005 Appendix B Once all axes are set up groups contain these axes You must have the same user units on all axes Set the group scaling factors There is no position factor for the group Instead PFAC for each axis is used MOVE gl 1 2 3 vcruise 10 Target coordinates are given to each axis and translated into encoder resolver counts using PFAC for each axis VCRUISE is not related to any axis Group factors VFAC AFAC and JFAC are used The group velocity is expressed in position user units per seconds To have system units properly working set the unit factors PFAC VFAC AFAC and JFAC of each axis to millimeters degrees seconds and set group units to seconds lt group gt vfac 1 1000 lt group gt afac vfac 1000 lt group gt jfac afac 1000 COUPLING In many robotics applications mechanical construction introduced mechanical coupling between the axes In such cases two or more motors move only one joint So activating only one motor causes motion in two axes joints There are many examples of such mechanical setups Usually when the motors are dislocated for the joints they are actuating When the motor actuating second joint is placed before the first joint the second joint is moved by the motions of the first and second motors Typical examples of such applications are displaced motors of a robotic arm PUMA moving the robot arm via chains or belts Differential gearing on the last robot segment displace
230. on applications frequently use this function IMMEDIATE is constant equal to 1 This command incurs a system delay of 5 SERCOS cycle times each execution This time is required to blend the previous move with the new move StartType Superlmmediate Simm SUPERIMMEDIATE is a variation of IMMEDIATE The main difference is that SUPERIMMEDIATE eliminates the 5 SERCOS cycles delay by doing pre calculation online rather than offline in the motion manager SUPERIMMEDIATE is constant equal to 5 The numbers of SUPERIMMEDIATE changes at a time in the system is limited by the load of the system and the type of move SUPERIMMEDIATE is best used for short high speed movements When chaining multiple moves which all end at zero speed you normally want STARTTYPE INPOS This forces the motion generator to wait for the position to settle out before starting the next move If the position profile starts too soon on the second move the motor may never come to rest For example the next figure shows this problem when STARTTYPE is incorrectly set to GCOM rather than INPOS Velocity Motor does aot stop 7 Time As you can see the motor speed never gets to zero because the second move takes the velocity command positive before the velocity feedback settles to zero Normally the desired performance is for the velocity to reach zero before the second move starts To do this the controller needs to wait for the axis
231. onous errors Synchronous errors are not affected Terminal Context Terminal context is similar to task context as commands are processed similarly The error action is different from a task as there is no interpreter to be idled when an error occurs WATCHDOG The MC provides a WatchDog timer to help determine if the host PC connection is operational To use the WatchDog configure the MC to expect WatchDog messages During normal operation the host PC must reset the WatchDog timer before the end of the specified interval to avoid a WatchDog fault Normally the WatchDog is cycled indirectly through fast I O WDCYCLE directly resets the WatchDog but this is not recommended because it requires 15 to 20 ms per WatchDog cycle Given that WatchDog timers are often reset every 100 ms this implies that the WatchDog function could consume 15 to 20 of the MC processor time Events triggered by the fast can avoid this problem The following commands configure the MC to expect WatchDog cycles WDINIT establishes a WatchDog timer When selecting the reset time it should be long enough that the WatchDog function does not consume undue amounts of processing time The time also should be short enough so that if the communication link between MC and host is lost the MC can shut the axes down in a timely manner Different applications require different times but 100 to 1000 ms lt Cycles gt 5 to 50 are commonly used WDCYCLE cycles the W
232. ons MC BASIC provides a large assortment of mathematical functions All take either numeric type as input Double and Long and all but Int and Sgn produce Double results Int and Sgn produce Long results For detailed information on any of the math functions including examples refer to the SERVOSTAR MC Reference Manual Abs x Returns the absolute value of X Acos x Returns the arc cosine of X X is assumed to be in radians Asin x Returns the arc sine of X X is assumed to be in radians Atan2 Y X Returns the inverse tangent of Y X in radians The range of the result is between PI radians 180 Atan2 is an improvement over ATN Y X in that it works correctly if X is zero and if X lt 0 Atn X Returns the inverse tangent of X in radians The range of the result is between 2 radians 90 Cos X Returns the cosine of X X is assumed to be in radians Exp X Returns ex Int X Returns the largest long value less than or equal to a numeric expression for example Int 12 5 returns 12 Int 12 5 returns 13 Log X Returns the natural logarithm of X X must be gt 0 If you want the base 10 log use Y LOG X LOG 10 Sgn X Returns the arithmetic sign of X If X gt 0 return 1 If X lt 0 return 1 If X 0 return 0 Returns the sine of is assumed to be in radians Sqrt X Returns the positive square root of X X must be 0 Tan X Returns the tangent of X X is assumed to b
233. osition feedback you can use position or posistion external At the end of acam cycle the cam ends or transitions to the next cycle The next cycle simply repeats the current cam or is another cam The number of times a cam is repeated is controlled by lt cam gt CYCLES Other cams are linked in automatically with NEXT and PREVIOUS When the master is moving forward the cam position feedback counts up The cycle ends when the master position is greater than the last entry in the cam table Then the cam moves to the next cycle Similarly when the master is counting down the cycle ends when master PFB is less than the first entry in the table The cam moves to the previous cycle It all depends on whether the table is increasing or decreasing If there is no NEXT or PREVIOUS cam cycle camming is disabled and the slave axis stops Whether or not the cam cycle repeats and the number of times it should repeat is specified in lt cam gt CYCLES You can enter 1 to indicate that the cam runs once and does not repeat 1 to indicate the cam runs indefinitely or use a positive numberto indicate the number of times the cycle runs RevE 111 Master Slave 06 2005 Danaher Motion For example suppose you want a cam to run four cycles as shown below Slave tion 1 Cycle2 Cycle3 Cycle4 Master position You would use the following line 1 4 Run caml four cycles If you wan
234. ough its blending method was not defined In this case blending occurs according to the Second movement Throughout the whole blending process sine acceleration or velocity trapeze profiles are used However mixing profile types is not allowed In the next example no blending is ignored BlendingMethod x BlendingFactor BlendingMethod 0 BlendingFactor BlendingMethod x BlendingFactor The Position Command Generator PCG has two working modes single and double When is in single mode only one profiler call per sample is allowed This is identical to no blending When PCG is in double mode there are two profiler calls per sample that actually execute the motion superposition If the profiler of the second motion is in Profiler Following mode the profiler of the first movement leads both movements Use DOUBLEMODE to detect double mode interpolation during blending Move CONTROL This section reviews options the MC provides for controlling group MOVEs and CIRCLEs Rev E 131 Groups 6 10 1 6 10 2 132 06 2005 Danaher Motion Settling Time The MC actively watches to determine if the groups are settled into position In most applications the group position feedback is slightly delayed from the position command After a move is complete some time is required for the actual position to settle out to the commanded position This time is called settling time Ideally settling time allows the
235. our program If you issue print commands from the terminal window they print to the terminal window If you issue them from your program they print to the BASIC Moves Message Log You can view the message log by selecting Window Message Log Within programs PRINT allows you to suppress the carriage return at the end of a line by terminating the command with a comma or a semicolon Semicolon and comma have no effect when added to the end of print commands from the terminal window Print Hello Print world Hello world When commas are added to print command as separators between expressions a tabular space is placed between the expressions in the printed outcome Print Hello Print world Hello world Prints Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio On the other hand expressions separated by a semicolon or a space in the print command are printed adjacently Print 1 2 fi 2 Print 1 2 12 Print 1 2 12 PrintUsing introduces formatting for printing You can control the format and the number of digits that print For example by using the sign and the decimal point you can specify a minimum number of characters to be printed PrintU The number is f f j1 j2 The number is 1 2 Be aware that using a single format to print more than one expression will result in repetition of any text written within string format according to the number o
236. overwrites the current move This is used when making realtime changes to the profile such as changing the end point of the current move without bringing the system to rest For example registration applications frequently use this function StartType Sync When STARTTYPE SYNC the motion is synchronized with SYNCSTART Chain Moves When chaining multiple moves which all end at zero speed you normally want STARTTYPE INPOS This forces the motion generator to wait for the position error to become small before starting the next move If the position profile starts on the second move too soon the motor may never come to rest Normally the desired performance is for the velocity to go to zero before the second move starts This is the case where STARTTYPE INPOS The ending speed of a MOVE defaults to zero However you can specify a speed other than zero as the end speed To do this axis FEDDCUDXEDSAT For exampl When the final velocity is not specified the movement terminates with zero velocity If you specify a non zero final velocity the smoothness of the motion is your responsibility If there no movement commands to chain the system stops motion with automatic braking and displays a message Multi Step Moves Combining non zero end point moves in the motion buffer produces multi step moves For example REM First Step MyGroup VelocityCruise 2000 Move MyGroup 100 400 VelocityFinal 1000 Second
237. ow Operators like and specify how to combine the variables and constants Expressions are used in almost all commands An expression has one of two syntax forms operand binary operator operand unary operator operand An operand can be a constant 123 4 variable name X or another expression Most operators are binary they take two operands but some are unary taking only one operand So 5 5 is a valid expression It has the unary minus also called negation and a single operand There are two types of expressions algebraic and logical or Boolean Algebraic expressions are combinations of data and algebraic operators The results of all algebraic operations are converted to double precision floating point after executing the expression Automatic Conversion of Data Types If the assignment of an expression is an integer the expression is still evaluated in double precision For example Common Shared I as Long 6 33 2 79 RevE M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio M SS 005 03 The value of the expression 6 33 2 79 is converted from double to long when the value 17 is copied into In the conversion to long the number is truncated to the integer portion of the floating point value Logical expressions are combinations of data and logical operators For example X1 And 2 is a logical expression data and results of logical elements are type Long Doubl
238. owever there are a few restrictions 1 STARTTYPE for all non zero end point moves VELOCITYFINAL lt gt 0 must be GCOM 2 VELOCITYCRUISE and VELOCITYFINAL are always positive The direction is set by target position Rev E 95 Single Axis Motion 06 2005 Danaher Motion 4 1 8 4 96 3 PFINAL of the succeeding move must be far enough in front of PFINAL of the current move that the profile is possible with the acceleration limits The generated profile always reaches the target position If the acceleration and smooth limitations prevent attaining the required final velocity the motion is terminated with the final velocity as close as possible to the required value You can change the end position or velocity of a move that is in progress You do this by setting STARTTYPE IMMED and issuing the second move For example if you want to issue a move wait a few seconds change the end position without changing the velocity For this you would write CutAxis StartType Immed CutAxis Absolute On Move CutAxis 150 Sleep 3000 Move CutAxis 100 This generates the profile shown below Velocity Command Second move executed Original 3000 RPM 3 seconds Time gt As a second example if you wanted to change the cruise velocity without changing the end position you would write CutAxis StartType IMMED Move CutAxis 150 Sleep 3000 Move CutAxis 150 VCruise 1500 You can change the final posi
239. owever you can modify the effects of STOP with STOPTYPE STOPTYPE can take three values StopType Immediate or IMMED Stop axis immediately at DECELERATIONMAX rate StopType EndMotion Stop axis at end of current motion command and clear buffered motion StopType Abort Stop the current motion immediately without ability to restore the stopped movements Only the current motion command is stopped the commands coming after are generated STOPTYPE defaults to IMMED If STOPTYPE ENDMOTION the current move is completed before STOP is executed For JOG with TIMEJOG 1 continue indefinitely STOPTYPE ENDMOTION has no meaning because JOG never ends During STOP the current and pending movements in the buffer are stored to allow recovery of these movement using PROCEED STOP uses the modal maximum deceleration and maximum jerk STOPTYPE is overridden as part of a STOP Proceed When a task stops motion in axes it has attached restarting the motion is simple The logic is contained inside the task However when motion is stopped from another task the situation is more complex For example the system should prevent any task from restarting the motion except the task that stopped it To control the restarting of motion after a STOP the MC supports PROCEED RevE 89 Single Axis Motion 06 2005 Danaher Motion 4 1 8 90 PROCEED has two purposes to enhance safety and to allow motion to continue along the original path Th
240. ows an option on the condition Use While to execute while the condition is true or Until to execute while the condition is false The syntax of the Do Loop is Do statements LOOP While Until Condition where The statements are executed at least once Statements are optional If none are included Do Loop acts as a delay 32 RevE M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio 2 2 13 1 55 005 03 For example Dim Shared i as Long Program i 0 Do Print i Loop Until i End Program or equivalently you can use Loop While Dim Shared i as Long Program i 0 Do 1 1 Print i Loop While i lt 10 End Program GoTo unconditionally redirects program execution The syntax is GoTo Label1 Label1 where Label is a valid label within the same task as the GoTo The label must be on a separate line You can only branch within a Program Event Function or Subroutine You can GoTo a label placed within a program block If Then For Next Select Case While End While and Do Loop only if the GoTo and label are within the same block If the program is within a program block you cannot GoTo a label outside that block Avoid GoTo wherever possible History has shown that excessive use of GoTo makes programs harder to understand and debug Use the other program control statements whenever possible ERROR TRAPPING There are four ways to specify catch
241. pe Currently the following kinematics models are available 1 regular group no kinematic model default value 2 PUMA 6 axis XYZYPR X Y Z Yaw Pitch Roll 4 SCARA 4 axis XYZR X Y Z Roll 6 DELTA 4 axis XYZR X Y Z Roll COMMON SHARED scara AS GROUP AxNm al AxNm a2 AxNm a3 AxNm a4 Model 4 This automatically defines a robot with a SCARA kinematics model Contrary to the regular groups that need only the axis to be enabled you must set the robot parameters and configure them The robot parameters needing to be set differs from robot to robot For the SCARA robot these are Set all axes with all standard kinematics parameters Define the roll over properties Set all user units factors for the entire group VFAC AFAC JFAC Set segment lengths and joints orientations for each robotic link Set kinematics of regular groups VELOCITY ACCELERATION JERK etc Set kinematics of Cartesian motions VTRAN VROT etc Issue CONFIGGROUP Only after setting all these and successfully executing CONFIGGROUP can the robot be moved Otherwise an error is returned stating that the group is not configured The important difference between the regular groups those with default model value 1 and the robot is the necessity of executing CONFIGGROUP In robot groups no motion is allowed before the robot is configured Model value automatically defines the default robot world space descriptor For model 4 SCAR
242. position and velocity commands for each drive in the group every SERVO cycle The two group motion commands are MOVE and CIRCLE The MC also provides synchronization of the execution of motion commands as well as changing motion profiles on the fly and blending a followed movement In addition the MC provides multiple modes for starting and stopping motion Several conditions must be met before the MC generates group motion 1 controlling task must ATTACH to the controlled group 2 All axes in the group must be ENABLEd 3 system and axis motion flags must be ENABLEd You can declare a group from every context However using Config prg in most applications requires this to only be done once Al Name xAxis A2 Name yAxis Common Shared xyTable as Group AxisName xAxis AxisName yAxis Attach Task and Axis Before a task can send motion commands to a group the group must be attached to the task This prevents other tasks from attempting to control the group To attach a group issue an ATTACH from the controlling task Attach MyGroup If no other task is attached to the group and no axis from the group is attached the group is immediately attached Otherwise an error is generated As long as the task has the group attached no other task can control the group or axes within the group The axes belonging to the group cannot be controlled independently from other tasks When a task is finished with a group it shoul
243. predictable 6 library can assert an exception defined as DIM SHARED or COMMON SHARED Realize that exceptions defined in the library do not have constant numbers if numbers were not assigned explicitly 164 RevE M SS 005 031 Danaher Motion 06 2005 Appendix A APPENDIX A SAMPLE NESTING PROGRAM Dim Shared 1 As Long Dim Shared 2 As Long Dim Shared As Long Dim Shared I4 As Long Dim Shared I5 As Long Program Do If I1 0 Then First If Then If 2 0 Then Second If Then While I3 5 First While X Print x x gz 2T3 1 For I4 1 to Step 2 First For statement Print I4 14 For 5 4 to 10 Second For statement Print 5 I5 Sleep 50 To slow task down Next I5 Next I4 End While End If Else 1320 While I3 5 Second While I3 I341 Select Case I3 Case 1 Print I3 1 Case 2 Print I3 2 Case 3 Print I3 3 Case Else Print is not 1 2 or 3 End Select End While End If 1 141 Loop Until 11 gt 1 End Program M SS 005 03 RevE 165 06 2005 Danaher Motion SUBROUTINE EXAMPLE Dim Shared var_x As Double Dim Shared var_y As Long Dim Shared array_z 2 2 As Double Dim Shared rows As Long Dim Shared columns As Long Program REM initialize variables var_x 29 3172 var y 5 rows 2 colums 2 array z 1 1 1 2125 6 REM specification of program optional code CALL OrdinarySubroutine var x var y
244. put buffer use LOC The following example checks the number of bytes available at the input buffers and reads all the available data gt 10 1 11 STRING VAR INPUTS 11 1 STRING VAR Hello World Rev E M SS 005 031 Danaher Motion 06 2005 Overview 1 8 3 2 55 005 03 If INPUT requests reading a data length larger than available data the command returns only the available data gt LOC 1 11 STRING VAR INPUT 20 1 gt STRING_VAR Hello World LOC can be used within the INPUTS STRING VAR INPUTS LOC 1 1 A partial read of the input buffer is allowed This way several calls to INPUT empty the input buffer LOC 1 11 STRING VAR INPUTS 3 1 gt STRING_VAR Hel gt 10 1 8 INPUTS 8 1 STRING VAR lo World When calling INPUT the system does not wait for data If the input buffer is empty the command returns without any return value LOC 1 0 STRING VAR INPUTS 10 1 len STRING VAR 0 SEND DATA PRINT and PRINTUSING send data over the serial port Both commands use the same formatting as PRINT and PRINTUSING PRINT and PRINTUSING appends a carriage return ASCII A value 13 and line feed ASCII value 10 characters at the end of each message To print a message without the terminating carriage return and line feed characters use a semicolon at the NOTE end
245. r Motion For example For I 2 TO 5 Print I I Prints 2 3 4 5 Next I For 4 TO 2 STEP 0 5 Print I TI Prints 4 0 3 5 3 0 2 5 2 0 Next While End While allows looping dependent on a dynamic condition For example you may want to remain in a loop until the velocity exceeds a certain value The syntax of While is While Condition statements to execute as long as condition is true End While where The condition is evaluated before any statements are executed If the condition is initially false no statements are executed Statements are optional If none are included While End While acts as a delay You can have any number of statements including zero to be executed For example Program While A2 VelocityFeedback 1000 Print Axis 2 Velocity Feedback still under 1000 End While End Program Using the While or Do Loop the CPU repeatedly executes the While block even if the block is empty This is sometimes a problem These commands do not relinquish system resources to other tasks If you want to free up CPU resources during a While block or Do Loop include the Sleep command within the block as follows Program While A1 VCmd lt 1000 Sleep 1 End While End Program The Do Loop is similar to While except that the statement block is executed before the first evaluation of the condition With the Do Loop the statement block are always executed at least once Do Loop also all
246. r Motion Queries or sets the system deceleration exchange rate Returns the value of one or more of the 23 digital inputs System DIn returns the values of the individual bits in the system input word In order to read the value of a single input bit bit number should be specified as System DIn lt bit numbers Returns the value of one or more of the eight DIPswitch inputs System DipSwitch returns the values of the eight individual bits in the DIPswitch byte In order to read the value of a single input bit bit number should be specified as System DipSwitch lt bit number Returns the amount of free space on the flash disk Queries and sets the printing format of Doubles Zero value stands for d ddddddddddddddde dd style with precision of 15 digits after the decimal point 1 relates to the ddd ddd style if the exponent is between 4 and 5 and to d de dd style otherwise Setting can be done only in Config Prg file and therefore requires system reset through RESET All or hardware reset Queries and sets the value of one or more of the 20 digital outputs System DOut sets or returns the values of the individual bits in the system output word In order to read or write into a single output bit bit number should be specified as System DOut bit number Enables and disables the system Queries the last system error message Determines the scope of the effect of an error occurring in task context When the value of System ErrorH
247. r communication with BASIC Moves over API tasks cannot access it to eliminate interference with BMDS communications Use DIPswitch bit 8 to configure this port DIP Switch bit 8 state ON default COM is reserved for communication with the host and cannot be used by any other application OFF COM is available for user communication When DIPswitch bit 8 is ON the MC s firmware prints boot status messages from COM using the following serial communication parameters Baudrate 9600 bps Parity none Stopbits 1 Databits 8 State ON of DIPswitch read as 0 For example Switches 6 amp 8 are OFF All others are ON sys dipswitch bin NOTE 0610100000 gt WITH HOST When DIPswitch 8 is ON the MC can communicate with the host via serial port This mode of communication requires Virtual Miniport driver which is installed during setup of BMDS The driver simulates Ethernet connection over serial interface using following fixed parameters Baudrate 115200 bps Parity None Stopbits 1 Databits 8 IP address 192 1 1 101 Subnet mask 255 255 255 0 All the parameters are fixed and cannot be modified If the driver is installed correctly and BMDS is running it appears in the list of Ethernet adapters as shown below C gt ipconfig 11 Ethernet adapter Local Area Connection 5 Connection specif
248. r functions only as a pipe and is not responsible for the correctness of the applied profiler No system limits are checked except for position error and feedback velocity limitation While running under this mode no other movements are allowed Command points are written through the standard Fast Data DPRAM interface and transmitted into the controller The DPRAM is scanned every SERCOS cycle and the command is executed There can be up to eight 8 axes in the system operating in pipe mode The Fast Data interface can be configured in one of two communication protocols using SYS PIPEMODE 1 sending position command only 2 sending both position and velocity commands When the system s pipe mode uses only position commands the controller computes the current velocity Depending on the pipe mode configuration the controller limits the number of axes that can be operated in this mode When system uses only position command eight 8 axes can operate When using both position and velocity values only four 4 axes can operate DATA STRUCTURE The host CPU passes position and velocity commands via a data structure through the Fast Data DPRAM The API maps the data to SYS HOSTDOUBLE The SERCOS operation mode of every drive connected to an axis working in Pipe Mode must be configured Position Velocity Torque The drive operation mode is selected through a status word written in SYS VIN A Only drive modes previously configured in the
249. r to limits placed on axes Limits can be imposed in two ways they can be checked realtime or they can be checked only for subsequent actions Generator Generator limits affect subsequent commands to the motion generator For example if you change an acceleration limit this affects subsequent motion commands but has no effect on the current motion Realtime The MC checks realtime limits each SERCOS update cycle For example exiting position error of every axis is monitored each SERCOS cycle Position Position limits are imposed solely by the axes and are checked at the beginning of every movement If one of the target s points exceeds its limit the whole movement is rejected There are no group position limits There are also several limits in the MC related to position Set POSITIONERRORMAX to the total position error the system can tolerate during operation maximum square root of the sum of squares MyGroup PEMax 1 0 Set POSITIONERRORSETTLE to the total position error the system can tolerate to be considered in position MyGroup PositionErrorSettle 1 0 TIMESETTLE TSETTLE is the amount of time required before an axis is considered settled POSITIONERROR lt POSITIONERRORSETTLE After a MOVE CIRCLE profile is complete the MC waits for POSITIONERROR lt POSITIONERRORSETTLE for TIMESETTLE milliseconds before setting ISSETTLED TIMESETTLEMAX TSETTLEMAX defines the amount of time allowed for settli
250. rd works only when the inertia load is proportional to the axis acceleration It does not work with axes that are coupled such as non rectangular robots It also does not work well when the axis inertia varies However for most applications acceleration feed forward reduces overshoot and following error significantly To use acceleration feed forward use MOTIONLINK or set the acceleration feed forward scaling constant from the MC Acceleration feedforward is IDN 348 For an axis A1 the correct line of code is WriteIDNValue Drive Al DriveAddress IDN 348 Value 1000 The valid range for this value is 0 to 2000 The purpose of the acceleration feed forward is to zero the following error during constant acceleration The automatic design user gain 1000 gives good results Fine tune this value by applying trapezoidal trajectory and find the user gain that yields the minimum following error during the acceleration and deceleration lt axis gt POSITIONERRORSETTLE defines what level of position error is considered close enough to zero to be settled For example you can use Al PositionErrorSettle 0 01 or you can use the short form Al PESettle 0 01 to specify that the position error must be below 0 01 units to be considered settled POSITIONERRORSETTLE is used when the motion controller must determine when an axis is close enough to the final end point of a move to be considered settled This is commonly used between moves to e
251. re Rev E 99 Single Axis Motion lt axis gt HomeDistanceMax lt axis gt HomeType lt axis gt HomeOffset lt axis gt HomePolarity lt axis gt HomeReturn lt axis gt HomeStatus lt axis gt HomeVelocity 06 2005 Danaher Motion Specifies the maximum distance from the point at which the homing process began in either direction that an axis is allowed to travel in order to find the hard home position switch transition Specifies the homing latch type 0 Switch marker1 switch2 marker Sets the soft home position to position 0000 within the MC after HOMEOFFSET specified distance has been traveled from the hard home position micro or prox switch etc When maintenance on an axis effects the integrity between the controller programs and the mechanical axes e g replacement of the homing switch it is the value of HOMEOFFSET that is adjusted for the re establishment of the integrity Actual programs are not effected once the HOMEOFFSET has been adjusted See HOMEDISTANCE when there is more than one program that needs to repeatedly start from different positions Specifies the homing switch edge1 rising edge2 falling edge Specifies whether the axis assigns and adjusts to the proper position feedback for the home position as the axis travels through the home switch transition or go home back to the switch after the first switch transition for the minimization of any position lag error any HOMEOFFSET or HOME
252. returns before timeout or does not acquire a semaphore and returns after timeout Mutual exclusion semaphores are taken and given by the same task Synchronization semaphores are given by one task and taken by another task NOTE 2 6 1 Mutual Exclusion Semaphores Mutual exclusion semaphores lock resources by taking a semaphore Another task s competing for the same resource is blocked until the semaphore is released Example of a mutually exclusive semaphore common shared comMutex as semaphore defined in config prg Program Open COM2 BaudRate 9600 Parity 0 DataBits 8 StopBit 1 As 1 While 1 take semaphore lock serial port If SemTake comMutex 5000 1 Then Print 1 11 Print 41 world SemGive comMutex unlock serial port End if End While End program M SS 005 03 Rev E 45 BASIC Moves Development Studio 06 2005 Danaher Motion 2 6 2 2 7 46 Synchronization Semaphores Synchronization semaphores are essential in producer consumer applications where task A prepares some data while task B consumes it In this case the semaphore may eliminate constant polling for ready data and save considerable CPU resources Example of Producer common shared syncSemaphore as semaphore defined in config prg common shared globalA as long defined in config prg Program Dim dummy as long Semaphore is created as full flush it before first use dummy semTake syncSemaphore no wa
253. roup as a master source phase 3 the offset must be taken into consideration in TRIGGER or other alternative The tracking element and the moving frame must have the same kinematics system It is impossible to track a different kinematics system 55 005 03 RevE 191 Appendix 06 2005 Danaher Motion The orientation is composed of two components the master source if there is one and the orientation change due to movement On the path if the new position command is known the new orientation can be calculated Tracking Process The tracking process consists of two phases approach where the robot position catches the moving frame position and track when both positions are synchronized lt robot gt HERE and lt moving frame gt HERE The two phases are differentiated by the value of ISMOVINGFRAMESYNCHRONIZED These are pure internal process phases over which you have no control They are shown here to provide a better understanding of the implemented algorithms The robot motion is determined by modal values of velocity acceleration and jerk both for rotation and translation ATRAN VTRAN DTRAN JTRAN VROT AROT DROT JROT These values are taken during moving frame assignment when element MASTERFRAME is assigned Later changing these values does not affect the approaching process For groups that do not have a kinematics model usual kinematics values are used VCRUISE ACC and JERK This phase is complete when both d
254. rty MOVE consists two different command behaviors Move Group and Move Axis Move Group moves the whole group together All the axes within the group start and end the motion at the same time Move Group stays within the kinematics limits VELOCITY ACCELERATION JERK of the group and axes The group limits are taken and imposed on the group motion aggregate space XY XYZ The axis limits are imposed only proportionally to the ratio of the axis motion to the whole group motion If axis X is moving halfway toward axis Y only half the limit values are used The total time of the motion is the time required for the slowest axis to accomplish the movement Here the slowest axis is the one with the largest path velocity ratio and not necessary the axis with smallest maximum velocity because if such an axis has no movement to make it is not the slowest axis On the other hand Move Axis checks only the limits of the specified axis and is independent of the limits of any group using this axis Profiler preparations can additionally reduce the motion parameter This is typical for short movements where the given cruise velocity cannot be reached due to existing limitations of ACCELERATION and JERK Joints Joints are virtual axes Joints give the illusion of only one axis both from the language point of view and looking at the physical movement of the coupled axis The joint is analogous to an axis Joints are denoted as J1 J2 etc Each
255. ry You cannot query a whole structure or you receive a translation error lt variable_name gt gives a translation error SINGLE ELEMENT QUERY Syntax for querying a single element of a structure variable name structure element For example Common shared 51 as X declaration of a default structure 51 gt 1 Sl Length 2 251 Translation Error S1 gt Type Operators You cannot use operators with structures It is possible to use operators for the single elements of the structure Pass Structure A structure can be passed by value and reference like any other data type Example1 Program Dim sl as X Call Sub1 S1 251 gt End program Sub Subl X as X X gt 1 End Sub Example2 Program Dim sl as X Call Sub1 S1 251 gt End program Sub Subl X as X X gt 1 End Sub M SS 005 03 RevE 189 Appendix 06 2005 Danaher Motion Limitations A whole structure cannot be printed Mathematical logic and bitwise operators cannot be used for whole structures A whole structure cannot be used as a condition in flow control statements and event definitions A whole structure cannot be recorded For example Common Shared VAR1 As STRUCT Common Shared VAR2 As STRUCT PRINT VAR1 gt Error VAR2 VARI 100 gt Error IF VAR2 gt VAR1 THEN gt Error WHILE VAR2 gt Error CONVEYER TRACKING A moving frame s variable
256. s simultaneously A library file is handled like any other program file A library file can be sent to the Flash disk or retrieved and deleted from Flash disk To use a library file in a program the library must first be loaded into memory from either the terminal or another task LOAD MyLib lib To unload the library enter UNLOAD MyLib lib If a program or library task references a subroutine or a function of a library the program or library task must be unloaded from memory before the library can be unloaded After a library is loaded in memory it must then be imported into a program IMPORT must be placed at the beginning of the program code before any other command or declaration IMPORT MyLib lib The syntax for calling a library subroutine or function from the importing task is the same as the syntax for calling a local subroutine or function There is no need to specify which library file contains the called subroutine or function because a task cannot import two libraries defining subroutines or functions with identical names Rev E 39 BASIC Moves Development Studio 06 2005 Danaher Motion 2 4 1 2 5 2 5 1 40 Global Libraries Global libraries are library files LIB which instead of being loaded from either the terminal or another task are loaded from the configuration file Config Prg Another option is loading from terminal using LOADGLOBAL PUBLIC subroutines and functions defined in such
257. s and enter the following line in that task Program CamMaker CreateCamData 5 1 This allocates five data points for CAM1 Essentially two arrays of size 5 are created that are named CAM1 MASTERDATA and CAM1 SLAVEDATA Calculate the point pairs to use in MC BASIC Build loops and iterate through the array The array is 1 based and you receive an error if you go outside the bounds of this array For this example the points are simply loaded MasterData SlaveData 1 2 SlaveData 2 40 MasterData 3 30 SlaveData 3 MasterData 4 SlaveData 4 MasterData 5 SlaveData 5 Finally store the table on the flash disk If you use StoreCamData MyCam Cam Caml 114 RevE M SS 005 031 Danaher Motion 06 2005 Master Slave 5 3 6 2 5 3 7 M SS 005 03 This stores the cam as MyCam Cam in flash memory The name of the file follows the 8 3 format The filename cannot have more than 8 characters in the main part and 3 characters in the extension The cam data file must have the cam extension This file can be loaded at any time using LOADCAMDATA If you created the cam storage Common Shared lt gt as Cam delete it with DeleteCam Cami A cam table cannot be deleted if it is in use or if the task that it is attached to is loaded DYNAMIC TABLES Cam tables can be calculated dynamically This allows you to build a cam profile based on events that occur during operation such a
258. s oriented around axes An axis is a combination of a drive a motor and some portions of the MC The diagram below shows an MC axis SERVOSTAR MC User Program Axis 1 Axis 2 Axis 3 Motion Motion Motion Generator Generator Generator L SERVOSTAR SERVOSTAR SERVOSTAR Drive 1 Drive 2 Drive 3 Motor 1 Motor 2 Motor 3 Axis 1 Each axis has a set of properties that are defined by the MC These properties are used in the calculation of position and velocity commands monitoring limits and stores configuration data for the axis The MC sends commands to the drive and the drive controls the motor All these components together form an axis of motion Axis Name The MC automatically sets up all your axes according to their addresses A1 A2 and so on until A32 the maximal number of axes is limited by User Autorization Code by manufacturer You access axis properties by preceding the property name with the axis name and a period For example each axis has a property VELOCITYFEEDBACK which provides the current velocity of that axis You can query the VELOCITYFEEDBACK value with the command in the BASIC Moves terminal Al VelocityFeedback Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 6 3 3 6 4 3 6 5 M SS 005 03 You can rename the axis It is usually worthwhile to name the axes according to their function It makes your program easier to un
259. s the current position or speed of an axis This process is identical to the process of creating a static cam table from MC BASIC except you do not place the data in Flash Instead you use the cam table directly Operating Cams Now that you know the concepts of camming you need to know the step by step process to use one Throughout this section CAM1 is our example The entire process is shown in the figure below Allocate Cam Memory global Common Shared Cam as CAM Dynamic Cam Allocate Cam Cam Table data memory Table with CreateCamD ata Load cam data file from SERVOSTAR MC flash with Flash Calculate 1 LoadCamData cam data point pairs Initialize Cam Cam1 Next Cam2 Cam1 Prev Cam Cam1 Cycles 3 Initialize Axes Al FirstCam Cam1 Al MasterSource A2 A FirstCam Offsets 0 Cam Al MasterSlaveGearRatio 1 Al Enable RevE 115 Master Slave 06 2005 Danaher Motion Step 1 Allocate Space Allocate space for the cam with Common Shared lt var gt as Cam All cams are global so this line must be located in Config Prg For example Common Shared CAM1 as Cam Step 2 Load Cam Data This can be accomplished in two ways For a static cam data array which has been calculated and stored in the MC use LOADCAMDATA LoadCamData MyCam Cam 1 or dynamically calculate the cam This is a two step process First create space for the data array and then
260. s the last motor roll from the end effector and both the fifth and sixth motors introduce motions on the sixth and with joint Staubli RX series Staubli RX pair axes a5 a6 j6 pemd 5 BOSCH SCARA pair axes a3 a4 33 a3 pcmd 18 3 a4 pcmd PUMA a2 a3 and a4 j4 pomd a2 pcmd ta3 pcmd a4 pcmd Scaling and Rotation 31 707 1 al pcmd 707 1 a2 pcmd j2 707 1 al pcmd 707 1 a2 pcmd Orthogonal Correction 31 10000 1 32 2 91 al pcmd 10000 a2 pcmd Group joints are standard in the MC s firmware covering coupling examples given above MOTION ELEMENTS The MC is a multi axis and multi group system In many aspects groups and axes are the same For example both have properties like AMAX VMAX VCRUISE Another common aspect is the movement in both of them MOVE moves both axes and groups Although there are motion commands that are group only CIRCLE MOVES or axis only JOG when moving an axis separately it is not possible to move the group containing the same axis and vice versa The axis is active in a group ATTACH and DETACH work the same way You cannot attach an axis when its group is already attached So we can denote both axes and groups using one term motion element M SS 005 03 RevE 173 Appendix 06 2005 Danaher Motion There are some properties that are axis or group only properties For example DRIVEADDRESS is an axis only prope
261. sabling a PLS also helps conserve CPU resources Delete a PLS Delete a PLS to remove it from the system only when the PLS is disable and there are no tasks in memory For example DeletePLS MyPLS EXTERNAL ENCODERS The MC supports external encoders encoders not connected to an axis controlled by the MC These encoders are connected to the system using the external encoder input of any SERVOSTAR drive in the system You can access the encoder periodically with IDNValue Axis DriveAddress 53 7 Query external encoder position Rev E M SS 005 031 Danaher Motion 06 2005 Input Output 10 5 10 5 1 10 5 2 55 005 03 If you are using the encoder for master slave operation or in a way that requires the value of the signal be updated to the MC every SERCOS cycle you must configure the telegram for that axis as Telegram type 7 You also must specify that external position must be included in the telegram This command is only available when in communication phase of 2 or higher PC104 If you need more I O than the 23 digital inputs and 20 digital outputs that the MC provides there is an optional PC104 bus This lets you install PC104 compatible cards to provide additional I O ports Because the PC104 bus is an extension for the MC this configuration is often called a mezzanine bus The MC supports the full PC104 mechanical specification for as many as two PC104 cards Adding these cards generally increases by
262. se CPU time to the parent task or any other task In this sense OnEvents are similar to interrupt calls They run to completion before execution returns to the main program An OnEvent must have a higher priority than its parent task to ensure that when an event occurs it interrupts its parent task and runs to completion The rules are valid for a single process that is the parent task and its events while events of the respective tasks in the system share the CPU among themselves OnEvent The syntax of OnEvent is OnEvent EventName Condition Priority EventPriority ScanTime time where EventName is any legal name that is otherwise not used in the task Condition is any logical expression such as System Dout 1 1 The event fires on transitions of the condition from false to true Priority is an integer from 1 highest to 16 lowest If not entered priority defaults to 1 The priority should always be higher than the priority of the task or the event never runs Time is an integer indicating the number of cycles between each scan Time defaults to 1 In this example an event is set up to move axis X axis to 10000 counts each time an input goes high OnEvent MOVE_ON_TRIGGER System Din 1 ON Move X axis 10000 End OnEvent Normally event handlers run at a high priority so that once the event occurs they run to completion In most cases this code should be very short as it usually takes all resources until it is complet
263. set between the master and slave axes is saved at the time gearing is enabled and is maintained throughout gearing Enable Gearing To enable gearing set MASTERSLAVE to GEAR Al Slave GEAR Enable gearing Enabling gearing during an absolute or relative move generates an error An error is also generated if an attempt is made to enable gearing during camming Incremental moves are allowed when gearing is enabled and during gearing Disable Gearing To disable gearing set SLAVE to OFF Al Slave OFF Disable gearing When gearing is disabled the velocity of the slave axis is decelerated to zero at the rate of lt axis gt DECELERATIONMAX DMAX Disabling an axis does not automatically disable gearing You do not need to enable gearing again when the axis is re enabled However issuingJOG or STOP for the axis disables gearing STOP turns gearing off immediately The velocity of the axis is decelerated to zero at the rate set by axis DMAX For JOG gearing is disabled immediately and the movement is controlled by the JOG profile If the master axis RTK RealTime Kernel or software code is executed before the slaves RTK i e if axislist displays the master before displaying the slave and the master source is PCMD there is no delay in execution If the master source is a feedback PFB or PEXT there is a system delay of 1 SERCOS cycle time If the slave RTK is executed before the master RTK an additional delay of 1 cycle t
264. sition so that when the axis reaches the first segment the output polarity is as indicated The default value for polarity is 0 Hysteresis The MC allows you to apply hysteresis around switch points Hysteresis provides a margin in the switching between PLS positions to accommodate noise in the PLS axis Set the hysteresis greater than the noise on the axis typically 5 or 10 counts of encoder is sufficient less is required for resolver Systems If you have a hysteresis of 0 01 position units each transition of PLS position is moved forward 0 005 units for positive motion and backward 0 005 units for negative motion If the axis driving the PLS is stopped directly on a PLS position and the inherent noise on the axis is less than the hysteresis the PLS state does not change due to this noise Enable and Disable PLSENABLE enables or disables the PLS s After being defined a PLS is disabled The output is fixed when the PLS is enabled The PLS output is set to the defined initial state when the PLS is enabled Rev E M SS 005 031 Danaher Motion 06 2005 Input Output 10 3 7 10 3 8 Step 1 Step 2 Step 3 M SS 005 03 PLS Output State Query the digital output associated with the PLS to query the state of the PLS output For example assume the PLS output is assigned to SYSTEM DOUT 1 To determine the output state of the PLS query the state of SYSTEM DOUT 1 8ys Dout 1 011 Set Up Declare the PLS with Common
265. sitive while object module loader is case sensitive so write the name of a C function in capital letters within the C code MC prototypes of C functions and C function calls through the MC are not case sensitive Parameters can be passed by value and by reference Few object files may be incrementally linked together The general syntax for the MC prototype of a C function is IMPORT C Function Name AS lt type gt BYVAL AS lt type gt AS type A parameter passed by value has the BYVAL prefix A parameter passed by reference has no prefix Prototypes do not include parameter names A C function prototype with no parameters is written with empty parentheses IMPORT C Function Name AS type A C function prototype with no returned value a void function is written as IMPORT C Function Name AS type BYVAL AS type A C function accepts any combination of double long and string type parameters The parameters may be passed by value or by reference The returned value may be long double string or none for C functions with void returned value Examples of prototypes and implementation MC Basic Prototype C Implementation import c cFunc LV As Long int CFUNC_LV void import c cFunc DV As double double CFUNC_LV void import c SV As string char CFUNC LV void import c cFunc VV void CFUNC_VV void import c cFunc LL ByVal As Long As
266. sk1 Prg Try Load Task1 Prg Catch 4033 File does not exist Print Task not found Catch 6007 Task must be killed first KillTask Task1 Prg Unload Task1 Prg Load Taskl Prg Catch Else Print Error while loading Taskl Prg Finally Print Caught error Taskl prg Error End Try The OnError block is designed to trap and process both synchronous and asynchronous errors in a task OnError traps errors not trapped by the Try Finally mechanism within the task For more details see Error Handling section Only one instance of OnError may exist in a program The syntax for OnError block is OnError Catch Error Number statements to be executed Catch Is lt RelationalOperator gt Error Number statements to be executed Catch Error Number1 To Error Number2 statements to be executed Catch Else statements to be executed End OnError 34 Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio An example of an OnError block designed to stop motion in case of a motion error OnError Catch 3001 To 3999 Motion errors System Motion 0 Al Enable 0 VESExecute System Motion 1 Al Enable 1 Print Caught a Motion error ThisTask Prg Error Catch Else Print Caught a non Motion error ThisTask Prg Error End Onerror The OnSystemError block is designed to trap and process both synchronous and asynchronous errors in all tasks as well as errors that occur within the context of
267. specified system output when an axis position reaches any of the defined positions of the PLS Some of the features of a PLS are Multiple position specifications Multiple PLSs per axis PLS pattern repetition Position hysteresis Enabling and disabling of PLSs The system output may be digital or soft fast data PLS positions are defined in an array that allows you to change individual values of PLS positions This array must be increasing monotonic There is no limit of the number of positions or PLSs that can be defined The initial output polarity is specified with PLSPOLARITY The output state is set when the PLS is enabled Enable and Disable After being defined a PLS is disabled output pattern is not generated The output is set when the PLS is enabled The output is set to the defined initial state PLS properties are changed only when the PLS is disabled Each enabled PLS requires CPU resources Conserve those resources by disabling the unused PLS s PLSENABLE controls the status of the PLS MyPLS PlsEnable ON OFF PLSENABLE queries the status of a PLS MyPls PlsEnable if MyPLS PlsEnable OFF or drives events EventOn MyEvent MyPLS PlsOutput ON Rev E M SS 005 031 Danaher Motion 06 2005 Input Output 10 3 2 Switch Positions The basic mechanism of the PLS is the switch position s where the PLS output changes state The figure belows shows a PLS output with one switch position at 100 100 P
268. sses Al Dadd 1 Sercos Phase 4 Bring ring all the way up End If End Sub Continued on next 168 RevE M SS 005 03 Danaher Motion 06 2005 Appendix A fem Henen a ease rem Axis Set up Routine Automatically Generated by Project Wizard a Sub AxisSetup If Sercos Phase 4 then Al enable off sure axis is disabled End If PFac 65536 Revolutions VFac Al PFac 1000 Revolutions second AFac 1 1000 1000 Revolutions second second AMax 10000 DMax 10000 1 Dec 1 JMax 5 Al DMax 1 100 1 1 2 VCruise 50 01 Displacement 0 StartType GCom Absolute 1 Sercos Phase gt 0 then only modify simulated property in phase 0 Al Simulated off End If If Sercos Phase 4 then Al enable on reenable axis End If End Sub SERCOS Setup Subroutine The following example modifies the SERCOSSetup subroutine from the BASIC Moves auto setup program Sub SercosSetup Rem Setup Axis A1 for Telegram Type 7 with PExt in Cyclic Data Rem Setup Axis 2 to Slave to Axis 1 PExt Rem If the ring is up skip this process If Sercos Phase 4 Then Rem Set Sercos Phase to 0 and set the baud rate Sercos Phase 0 Sercos Baudrate 4 for 4 MBaud Rem Set the drive addresses Al DriveAddress 1 A2
269. start and end points of the cam table are different The reason cam tables are incremental or decremental with regard to starting points is to allow a cam table to generate net motion while allowing it to be called many times in succession Consider the following graph that shows just such a cam table with net motion executed for four cycles Slave position Cycle 1 Cycle 2 Cycle 3 Cycle 4 Each successive cycle ratchets the slave position up The starting position in the table cannot be equal to the actual slave position or the cam slave position which is fixed in the cam table and the actual slave position which is ratcheting up each cycle does not match for more than one cycle The distance to be moved is specified indirectly through the cam table data The total displacement of one cycle of the master is the master position of the last point pair less the master position of the first divided by GEARRATIO RevE M SS 005 031 Danaher Motion 06 2005 Master Slave 5 3 5 55 005 03 In many applications you must ensure that this quantity is precise or the master appears to creep over time The MC uses double precision math 16 digits of accuracy for cam calculations Use the MC to calculate mathematical expressions to obtain the greatest possible precision For example if GEARRATIO 1 3 use the MC to calculate the value rather than rounding a previously calculated value MasterGearRatio 1 3
270. statements Exact Value Logical Condition Range and Else The syntax used is Catch Error_Number statements to execute if error Error Number had occurred Catch Is lt RelationalOperator gt Error Number statements to execute if the condition is true Catch Error Number To Error Number2 statements to execute if error number is between values Catch Else statements to execute if all other errors had occurred where The number of Catch statements is not explicitly limited Error Numbers can only be long type numeric values In Catch To if Error Number1 Error Number2 the catch statement is never true and no error is flagged Rev E 33 BASIC Moves Development Studio 06 2005 Danaher Motion Catch statements are used within three types of error trapping blocks The Try block is designed to trap synchronous errors within task context For more details see the Error Handling section There is no explicit limitation on the number of Try blocks instances in a program The syntax for a Try block is Try code being examined for synchronous errors Catch Error_Number statements to be executed Catch Is lt RelationalOperator gt Error_Number statements to be executed Catch Error Number1 To Error Number2 statements to be executed Catch Else statements to be executed Finally statements to be executed if an error was trapped End Try An example of a Try block designed to catch errors in the loading process of Ta
271. stead of reading it into a string type variable Convert the incoming data to a numeric value to get its ASCII value DIM SHARED TEMP 10 AS DOUBLE FOR IDX 1 TO LOC 1 TEMP IDX ASC INPUTS 1 1 NEXT IDX The figure below gives a general description of the TCP IP communication for both the client and host Server Client TCP connection en Socket __ Listen to specific Op open socket port and accept Connect to specific connection uec port and specific IP oe address Accept Connect v v Read Read v Write Write v Read Read v v Write Write 25 2 Close Close TCP connection close socket CLOSE CONNECTION CLOSE closes the connection and releases the device handle CLOSE 1 Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio 2 2 1 2 2 55 005 03 BASIC MOVES DEVELOPMENT STUDIO BASIC Moves Development Studio BMDS provides Windows based project control for each application BASIC Moves Development Studio supports development for multi tasking and also provides numerous tools and wizards to simplify programming the MC BASIC Moves also provides modern debugging features such as allowing task control by visually setting breakpoints watch variables and single steppin
272. stem For example Common Shared JointXYZ As Joint Of XYZ Common Shared JointXYZR As Joint Of XYZR Common Shared LocXYZ As Location Of XYZ JointXYZ LocXYZ gt Error type mismatch Variables Two new variable types are defined for point variables in the translator LOCATION and JOINT For the translator a point variable differs from any other type of variable Long Double etc only by its type A point variable is inserted to the expression tree as a variable leaf The variable leaf retains data related to the point variable including its context system program or local its offset taken from the symbol table and its type LOCATION or JOINT also taken from the symbol table DECLARATION When declaring a point variable data corresponding to this variable is entered into the correct symbol table depending on whether it is a system variable a program variable or a local variable A point variable is defined in the symbol table by its name its type LOCATION or JOINT and an offset of the data segment Each offset of the data segment corresponds to the address of the point variable The robot type string is sent to a special function that gives the robot type value and the number of coordinates Constant Points Constant points are location or joint vectors with an undefined robot type The constant point s subtype is defined by the shape of its brackets for location for joint In the translator each of th
273. t cam to run the same table an indefinite number of times use 1 1 the cam indefinitely When two cam tables are interconnected in a double linked chain only one cam table is active at a time This enables changes in the other chained cam table by controlling the cycle time parameter of the active cam table Setting its value to 1 results an infinity periodic of the active cam After updating all the relevant values in the chained table set the active table cycle to 1 At the end of the current period the two tables are exchanged and the chained cam table is generated You can monitor the number of cycles run with axis CAMCYCLE When the master is moving forward CAMCYCLE counts up When CAMCYCLE reaches CYCLE the axis transitions to the next cam if there is one Similarly when the master is running backward and CAMCYCLE reaches 0 the cycle transitions to the previous cam if there is one The MC allows you to specify multiple cam tables at the same time The maximum number of cam tables is 256 The MC allows you to link cam tables together using two properties of the current cam table NEXT and PREVIOUS These properties allow automatic transition from one cam table to another without the accumulation of error in the master or slave positions To link one table to another assign NEXT and PREVIOUS to the desired cam table For example StartCam Next ForwardCam StartCam Previous ReverseCam The
274. t Priority lt Level gt NumberOfLoops Loop Count A NOL is a short form for NumberOfLoops NOTE where Level is a long with value between 1 and 16 If Level is not entered it defaults to 16 the lowest priority Priority 1 is the highest priority Loop Count is either 1 indicating unlimited number of loops or between 1 and 32768 indicating the number of times the task is executed If Loop Count is not entered it defaults to 1 For example StartTask Taskl Prg Priority 8 NumberOfLoops 1 1 forever StartTask Main Prg NOL 1 Main once 58 IdleTask stops the task at the end of the line currently being executed and idles all its events An idled task can be continued using CONTINUETASK or terminated using KILLTASK IDLETASK does not stop motion currently being executed This is significant because all the events are idled and cannot respond to an axis motion Tasks can be idled explicitly by other tasks but cannot idel itself This command is issued from a task or the terminal window The syntax of IdleTask is IdleTask lt TaskName gt For example IdleTask TASK1 PRG Tasks that have been idled with IDLETASK are restarted only with CONTINUETASK The command continues an idled task from the point at which it was stopped or continues task execution after a break point has been reached It is frequently used to restart tasks from the ONERROR error handler If a run t
275. t issue a SLEEP for another task SLEEP causes the task to relinquish resources until the sleep time has expired Idled tasks relinquish resources In this case resources are relinquished until another task revokes the idle by issuing a CONTINUETASK Delete Task Library deletes a file from the Flash Disk Only filesnot loaded into RAM can be deleted Files that are protected by a password may not be deleted For example Delete FILE1 PRG Rev E 59 Project 3 5 3 5 1 60 06 2005 Danaher Motion EVENT HANDLER The main program can contain sections which automatically handle events This reduces the programming effort required to make tasks respond quickly and easily to realtime events Event handlers begin with OnEvent and end with End OnEvent and occur just after the Program keyword After OnEvent is loaded turn the event On with EventOn just after the End OnEvent keyword enable immediately However you can enable and disable OnEvent at any time using EventOn and EventOff Multiple OnEvents can be written sequentially The MC system can support up to 64 events The number of OnEvent s in a single task is not restricted so a task may have from 0 to 64 OnEvent s It is important to understand that OnEvents are different from ordinary tasks OnEvents are preemptive within the task That is an OnEvent runs until complete and the program execution returns to the main program While an OnEvent is executing it does not relea
276. table at half speed The master turns two units to drive the table one unit GEARRATIO is a double precision floating point number To reverse the direction of the slave enter the ratio as a negative number Its value is changeable during camming but it has to be done carefully to avoid a position jump in the slave value due to large differences between the old and new value Incremental Moves With incremental moves to the slave the profile from the incremental move is summed with the profile for gearing to form the slave position Cam Tables A cam table is a list of master slave point pairs that define a one to one mapping of the master to the slave axis You specify the number of point pairs It may be as large or as small as the application requires The following is a typical cam table CAM1 1 10 20 CAM1 2 20 40 CAM1 3 30 60 CAM1 4 40 80 CAM1 5 50 100 In cam tables the position of both the master and slave are in the position units of the respective axes The individual points in the table are given at irregular intervals This is useful if the cam profile has long smooth sections and sharp turns Irregular intervals allow you to use a few points for the smooth section and many for the sharp turns Although the interval of master position is irregular it must always be greater than zero The master position must be monotonically increasing or decreasing in the cam table The slave position is not l
277. te by coordinate operations Only points of the same subtype and same world space can be combined Special syntax is used for point constants a list of values separated by commands inside squared brackets denote points If it is preceded by pound sign it is a location DIM AS LOCATION OF XYZR C 0 0 0 0 DIM I AS JOINT OF XYZR I 0 0 0 0 USER UNITS The MC gives you the freedom to change and choose different units Robot models have less flexibility Due to a tight relation between joint and world space you must define joint position units in millimeters or degrees and all time units in seconds so both world space and joint space are compatible units The units of world space are automatically set to millimeters degrees seconds Each axis has four scaling factors and JFAC These translate encoder resolver counts into user position units inches millimeters or revolutions They also specify what time units are used in position derivations VEL ACC JERK As the position factor defines the ratio between counts and user position units the rest of the factors define the ratio between milliseconds and user time units Typically you have lt axis gt pfac lt axis gt vfac pfac 1000 if in seconds lt number of counts per user position units gt lt axis gt afac vfac 1000 if in seconds lt axis gt jfac afac 1000 if in seconds 172 RevE M SS 005 03 Danaher Moti
278. ted Without flow control program execution is limited to processing the line immediately following the current command Examples of flow control include GOTO FOR NEXT and IF THEN MC BASIC is a multi tasking language in which many tasks can run concurrently Generally tasks run independently of each other However tasks can control each other using inter task control instructions One task can start idle or terminate another task Most commands are started and finished immediately For example this line is executed completely before this line is started For general programming one command is usually finished before the next command starts Effects of these commands do not persist beyond the time required to execute them However the effects of many other commands persist long after the execution of the command In general programming for example the effects of opening a file or allocating memory persist indefinitely In real time systems persistence is more complicated because the duration of persistence is less predictable Consider a command that specifies a 1 000 000 counts move on an axis named A2 Move A2 1000000 0 Y 2 The MC does not wait for the 1 000 000 move to be complete before executing Y 2 Instead the first command starts the motion and then the MC continues with the next line Y 2 The move continues well after the move command has been executed Persistence can affect programs For e
279. tem element and its properties are not located on a continuous block of memory All properties return a value so they can be printed combined in expressions and passed by value to functions and subroutines Many properties are also writable and can be assigned like variables Unlike variables properties do not have a fixed address in memory and cannot be passed by reference Data types of properties are Long Double String Joint and Location For axis A1 and cam table Cam1 and a long type variable named Var1 Al Enable Query Al Enable 1 Set read write property Al PositionCommand Query Al PositionCommand 0 Syntax Error read only property Varl Caml Cycle Query Caml Cycle 1 Set read write property Varl Caml Inuse Query Caml Inuse 1 Syntax Error read only property Units Many variables have associated units This include variables which contain quantities of position velocity acceleration and time Some units are fixed For example time is always in milliseconds MC BASIC allows you to define units of position velocity and acceleration independently In the next chapter we will discuss how to set up units Expressions Expressions are combinations of operators and value returning entities such as variables constants function calls which are all calculated into a value In MC Basic expressions can also contain unique entities like element properties see above and system properties see bel
280. ter import c CFUNC LL ByVal As Long As Long import c CFUNC DD ByVal As Double As Double import CFUNC_SS ByVal As String As String A Single By Reference Parameter import c CFUNC LRL As Long As Long import c CFUNC DRD As Double As Double import c CFUNC SRS As String As String Multiple By Value Parametrs import c CFUNC LVALP ByVal As double ByVal As Long ByVal As String As Long import c CFUNC VVALP ByVal As String ByVal As double ByVal AS Long Multiple By Reference Parameters import c CFUNC DREFP As String Long As Double As Double import c CFUNC VREFP As Long As Double As String Mixed Parameters import c CFUNC VMIXP ByVal As Long As Double ByVal As String As String As Long ByVal As double AS Long 42 Rev E M SS 005 031 Danaher Motion 06 2005 BASIC Moves Development Studio M SS 005 03 Example of test c No Parameters int CFUNC_LV void return 1 double CFUNC DV void return 2 2 char SV void return SV void CFUNC_VV void int fd open tyCo 1 2 0 fdprintf fd VV r n close fd Single By Value Parameter int CFUNC_LL int L L L 1 return L double CFUNC_DD double D D D 2 2 return D char CFUNC_SS char 5 5 55 return 5 A Single By Reference Parameter int CFUNC_LRL int L L L 3 return L double CFUNC DR
281. the version number of the SERCON chip Returns the serial number of the MC Controls query or set printing of service messages ON or OFF Queries or sets the current time of day Hours minutes and seconds are each specified using two digits The MC uses 24 hour clock notation Time is entered as a character string and must be enclosed between double quotes The parameters Hours Minutes and Seconds must be separated with colon characters Returns the user authorization code Queries or sets the system velocity override Queries or sets the system velocity exchange rate Returns the value of one or more of the 32 virtual inputs System VIn returns the values of the individual bits in the system input word In order to read the value of a single input bit bit number should be specified as System VIn lt bit numbers Queries and sets the value of one or more of the 32 virtual outputs System VOut sets or returns the values of the individual bits in the system output word In order to read or write into a single output bit bit number should be specified as System VOut bit numbers Checks the correct operation and timeout of the WatchDog After the test has finished the MC must be rebooted The test returns either the WD timeout in ms when executed successfully or an error in case of a test failure Lists the names and states of loaded tasks Returns a list of the variable names defined in the System Returns informa
282. time RevE M SS 005 031 Danaher Motion 06 2005 Overview 1 4 1 5 M SS 005 03 Camming links master and slave axes by a cam table Camming has all the features of gearing plus the cam table can have any number of points The cam points are in x y format so spacing can be provided independently Multiple tables can be linked together allowing you to build complex cam profiles from simpler tables There is a cycle counter that lets you specify how many cycles to run a cam before ending The MC supports multi tasking with up to 256 tasks running at up to 16 different priority levels Each task can generate OnEvent s for code that you want executed when events occur such as switches tripping a motor crossing a position or just about any combination of factors VO The MC provides 23 optically isolated inputs and 20 optically isolated outputs as standard features in addition to limit switches and other drive I O points that are connected directly to the drives and transferred to the MC via SERCOS Additionally each SERVOSTAR drive provides hardware for six points three digital inputs one digital output a 14 bit analog input and a 12 bit analog output An auxiliary encoder can also be connected to any SERVOSTAR drive If you need more I O the MC includes a PC104 bus Each MC can accommodate as many as two PC104 cards You can also add I O to your PC bus or other field buses such as DeviceNet and ProfiBus and your applic
283. tion SERVOSTAR MC Project Optional Configuration B Autoexec Task Task Program Continue LoadTask SeilO Prg StariTask SeilO Prg Autoexec End Program PROGRAM DECLARATIONS You must declare the start of programs and subroutines For programs use the Program End Program keywords Use Sub End Sub keywords for subroutines The Program End Program keywords mark the boundary between the variable declaration section and the main program Each task must have only one Program keyword and end with the End Program keyword Program Standard form of program command code for program End Program The AutoExec task which must be loaded and run automatically at power up must have CONTINUE following Program You pass parameters either scalar or array to the subroutine which can then be used in the code of the subroutine In the declaration line for the subroutine SUB name you declare the variable names and types of the parameters to pass Parameters are passed either by reference or by value ByVal The default method is to pass parameters by reference Arrays are passed only by reference When you pass a variable whether the variable is local to the task or is global by reference you pass the address of the variable to the subroutine which changes the value of the variable if the code of the subroutine is written to do this When you pass a variable by value ByVal a copy of the
284. tion cruise velocity and final velocity of any move that is executing However you must observe a few rules 1 STARTTYPE must be IMMED or SIMM 2 Direction is set according to the target position For Jog according to the sign of the velocity 3 New and old VELOCITYCRUISE and VELOCITYFINAL must be positive in case of move command 4 Ifthe succeeding move changes PFINAL or VFINAL it must remain possible to create the profile with the axis acceleration limits SYNCHRONIZING MULTIPLE AXES The MC is abile to synchronize many single axis MOVES so they all start simultaneously This is useful when you have multiple axes with moves that are largely independent but must start at the same time It is also useful for coordinating more than three axes Group motion which is covered later provides tighter coordination but with one movement profile Rev E M SS 005 031 Danaher Motion 06 2005 Single Axis Motion M SS 005 03 Synchronization is controlled with STARTTYPE SYNCSTART SYNC The feature works by allowing you to load the motion generator with a motion command but delaying the generation of motion until a SYNCSTART command is issued For example the following sequence Move MainAxis 300 VCruise 1200 StartType Sync Sleep 1000 Program delayed between Move Commands Move AuxAxis 100 VCruise 1000 StartType Sync SyncStart MainAxis AuxAxis generates the following profiles 2000 Main amp xis
285. tion Manual Wire all O connect the fiber optic ring and follow the procedures in the SERVOSTAR MC Installation Manual to check out the wiring Install BASIC Moves Development Studio Install BASIC Moves Development Studio after reviewing the BASIC Moves User s Manual We use the terminal screen here extensively Remember any commands typed in the terminal window are lost when you power down Enter these commands in your MC program to be recalled at power up BASIC Moves Auto Setup Program BMDS automatically generates a setup program each time you open a new project BMDS first requests information regarding units and preferences for each axis in the system Then it generates a program with most of the setup for your application The auto setup program has four sections a short task variable declaration an example program which generates simple motion a SERCOS setup subroutine and an axis setup subroutine The variable declaration section provides one or two examples of variable declarations for a task Rev E 63 Project 3 6 6 3 6 7 64 06 2005 Danaher Motion The motion program cycles axis A1 10 times Most of this main program is commented out because this code enables the drive and generates motion commands Remove the single quote comment markers for the program to run These lines are commented out because to ensure that it is safe to operate your machine before executing this program This includes tuning your a
286. tion pertaining to the version of BASIC Moves Development Studio loaded into your MC Rev E 27 BASIC Moves Development Studio 2 2 12 28 06 2005 Danaher Motion With End With Simplifies blocks of code which set a number of parameters on the same motion element axis or group After a With is encountered all parameters where the element is not specified are assumed to belong to the element specified in the With With is valid in Configuration Task or Terminal contexts The scope of a configuration With is global whereas the scopes of both terminal and task With s are limited to terminal and task respectively To put off the With s effect use End With A task With must be followed by the End With thus creating a closed With block A With block must be closed within the same block it was opened i e Program Sub and Function blocks For example 5000 5000 1 Al Vord Al VCruise 3000 1 10 Al PESettle 0 01 Move A1 100 Can be simplified using With With A1 VMax 5000 Vord 5000 VCruise 3000 PEMax 10 PESettle 0 01 Move 100 End With Printing MC BASIC provides unformatted and formatted printing using the PRINT and PRINTUSING commands For detailed information on any of the print commands including examples refer to the SERVOSTAR MC Reference Manual The Print command short form is used to print expressions from the terminal window or from y
287. tions such as a text editor spread sheets Excel or mathematical programs MatLab For spreadsheets create a new sheet with two columns and one row for each point pair Do not include a row for headings and do not include any other information within the sheet The first element of each row is the master position The second is the corresponding slave position The master position must increase or decrease with each point pair as long as it is monotonic Its value cannot change directions i e increase and then decrease or stay the same When the table is complete save to a Comma Separated Variable or CSV file This is a text file format with one line for each point pair and commas between the master and slave values For a five point cam table the CSV file looks like 10 20 20 40 30 60 40 80 50 100 When you add the CSV file to your project BASIC Moves converts it to a cam table and stores it in the MC When building a cam table using MC BASIC first globally allocate cam storage Use Common Shared var as Cam Common Shared CAM1 as Cam Here CAM is used as the name Replace CAM1 with any legal MC name The easiest way is to include this line in Config Prg and reboot the MC The alternative is to enter this at the terminal window Remember that the effect of this line persists only until the MC resets Using MC BASIC create storage for the table of point pairs First select a task to calculate the point pair
288. tor Operators Like any other data type you can use operators for points The system only defines the equal operator plus minus multiplication and division Operations between points can only be performed between points of the same type and robot type or size All operations can also be performed between points and long or double type expressions ASSIGNMENT Point variables and read write properties can be assigned by point variables vectors and point properties compatible in type and size or robot type 184 Rev E M SS 005 03 Danaher Motion 06 2005 Appendix B QUERY Point variables properties and vectors return a value so they can all be queried through printing or assignment into a compatible point variable or read write property Common Shared SCARA As Group Axnm 1 Axnm 2 Axnm Axnm 4 Model 4 Common Shared PointVarl As Joint Of XYZR Dim Shared PointVar2 As Joint Of XYZ Dim PointArr 4 As Joint Of XYZR PointVarl PointArr 2 PointVar2 23 4 60 42 PointArr 1 SCARA PositionCommand SCARA Tool 10 20 30 0 PRINT PointVar2 SCARA Tool 100 3 20 gt 23 4 60 42 10 20 30 0 100 3 20 PLUS The point plus operator is used like any other data type It adds each element of the first point with each element of the second point The result is a point 1 2 2 4 gt 3 6 MINUS The point minus operator is used like any other data type It subtracts each element o
289. tructure type of an argument or a returned value must match function declaration Dim Shared ARG1 As Type 1 Dim Shared ARR ARG 4 5 As Type 1 Dim Shared ARG2 As Type 2 FUNCTION MyStructFunc BYVAL Parl AS Type 1 Par2 AS Type 2 AS Type 1 Il Par2 gt Error structure type mismatch Parl gt Structure types match MyStructFunc MyStructFunc END FUNCTION j SUB MySub Arr Par AS Type 1 END SUB ARR ARG 2 3 MyStructFunc ARG1 ARG2 gt Structure types match ARR_ARG 2 3 MyStructFunc ARG1 ARG1 gt Error structure type mismatch CALL MySub ARR_ARG Common Shared ST As STRUCT Common Shared LongVar As Long FUNCTION MyFunc BYVAL Parl AS LONG Par2 AS LONG AS STRUCT MyFunc LongElm2 10 MyFunc JointElm 1225354 5743429 END FUNCTION Il FUNCTION NoParamFunc AS STRUCT END FUNCTION ST MyFunc ST gt LongElm1 LongVar ST MyFunc ST gt LongElm1 ST LongElm2 gt Error structure element passed reference MyFunc ST LongElm1l LongVar LongElm2 gt Error addressed through function call LongVar NoParamFunc LongElm2 gt Error addressed through function call 188 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B A function can return a structure variable like any other data type For example Dim Shared A as X Program Dim Sl as X 51 MyFunc 1 End Program Function MyFunc il as long as X MyFunc gt Type 1 End Function Que
290. tyRate defines the axis velocity maximum scaling factor from O 1 to 100 persents independently of acceleration deceleration or jerk axis VelocityRate may be modal or nodal Axis AccelerationRate defines the axis acceleration maximum scaling factor from 0 1 to 100 persent independently of velocity deceleration or jerk axis AccelerationRate may be modal or nodal Rev E 73 Project 3 11 3 11 1 3 11 2 3 11 3 74 06 2005 Danaher Motion Axis DecelerationRate defines the axis deceleration maximum scaling factor from 0 1 to 100 persent independently of velocity acceleration or jerk lt axis gt DecelerationRate may be modal or nodal Axis JerkRate defines the axis Jerk maximum scaling factor from 0 1 to 100 persents independently of velocity acceleration or deceleration lt axis gt JerkRate may be modal or nodal For example Al VRate 50 VelocityRate 50 Al ARate 70 AccelerationRate 70 Al DRate 80 AccelerationRate 80 Al JRate 60 JerkRate 60 VERIFY SETTINGS Now you can check the system using the MC MOVE command This command is discussed in detail later For right now use it to verify some of the settings above First enable your drive Enabling Enable the drive with the following commands System Enable ON Al Enable ON After the SERCOS phase is set to 4 the drive can be enabled This condition is indicated with an 5 on the front of each SERVOSTAR amplifier
291. uffer produces multi step moves For example Program Attach Al Call AxisSetup Call SercosSetup Sys En On Al En On Sys Motion On Al Motion On Al Abs Off Al StartType Gcom Do Two step Move Move Al 100 VCruise 20 VFinal 10 Move Al 100 VCruise 10 VFinal 0 Wait for move to complete and axis to settle out While Al IsSettled 0 Sleep 10 Sleep in loop to keep from overloading CPU resources End While Disable detach and exit 1 Off Detach Al End Program produces the following profile Velocity Command 2000 RPM 1000 4 4 PCMD 0 4 Accely Cruise 4 Decel Cruise Time In the above example A1 STARTTYPE GCOM The second move begins when the first move is generated You must use STARTTYPE GCOM when chaining a non zero end point move to another move You cannot use STARTTYPE IMMED or SIMM because the new move immediately overwrites the old move You cannot use STARTTYPE INPOS because you want the second part of the profile to begin immediately after the first The delay from waiting for INPOS adds error if the second move is incremental For any move type the move may be delayed indefinitely because moving motors never come in position unless the system is specifically tuned to do that You can combine non zero end point moves to produce profiles with as many steps as you need H
292. ulating ratios that cannot be represented precisely in decimal notation In the example using the full accuracy of the MC about one part in 1014 the motor would have to travel about 3x1011 revolutions to accumulate one degree of error That is equivalent to 88 years of continuous rotation at 6000 rpm SERVOSTAR drives provide interface hardware to accept an external or auxiliary encoder This encoder is in addition to the primary position feedback device You will need to set up the SERCOS telegram to support this External position is frequently used in master slave operations gearing and camming where the system is slaved to an external signal such as a line operated motor Rev E M SS 005 031 Danaher Motion 06 2005 Project M SS 005 03 The MC provides the external position through the axis property POSITIONEXTERNAL or PEXT This variable contains the accumulated encoder movement of the drive s external encoder input It is updated every SERCOS cycle You can access PEXT two ways realtime or on a as needed basis To access PEXT on an as needed based issue IDNVALUE For example Dim Shared StorePExt as Double StorePExt IDNValue 1 53 7 This gets PEXT in counts not user units You can access PEXT in realtime by properly configuring the telegram for the axis with the external encoder The SERVOSTAR MC allows you to control the units of the POSITIONEXTERNAL This is controlled with lt axis gt POSITIONEXTER
293. value of the local variable is passed to the subroutine The subroutine cannot change the value of the local variable The syntax for defining a subroutine is SUB lt name gt ByVal lt 1 as type 1 ByVal p n as type gt local variable declaration subroutine code END SUB There is no explicit limit on the number of subroutines allowed in a task All subroutines must be located following the main program and must be contained wholly outside the main program Subroutines can only be called from within the task where they reside Subroutines may be recursive call itself RevE M SS 005 031 Danaher Motion 06 2005 Project Use CALL to execute a subroutine CALL lt subroutine gt lt p_l gt lt p_n gt where lt subroutine gt is the name of the subroutine lt p_1 gt lt p_n gt are the subroutine parameters Parentheses are not used in a subroutine if no parameters are passed MC BASIC automatically checks the type of compliance between the subroutine declaration and the subroutine call Any type mismatch causes an error during program loading Automatic casting applies to numericc variables types For example suppose MySub is a subroutine that takes a Long parameter In this case the following scenario applies CALL MySub 3 3432 The double value 3 3432 is demoted to the Long value 3 CALL MySub a Error is a string there is a type mismatch Call MySub 3 4
294. w you to write your program to respond to errors 11 1 1 1 ONERROR The OnError block is handled like an event handler An event handler lets your program respond to events The OnError block allows your program to catch errors OnError overrides default system error action if OnError traps error Main program execution is stopped while the OnError block is executing and must be resumed if that is desired An example of this is shown later in this section Add an OnError code block to your program between the Program and End Program section of your program The number of Catch statements in an OnError block is not explicitly limited Catch Else may optionally be used If you want a task to resume after an error has occurred use CONTINUETASK You can use GoTo within the error handler However because OnError interrupts the main program you cannot use GoTo to branch outside the error handler You cannot place an OnError block in the middle of program flow The scope of OnError is that of the task withing which it is contained It only handlers errors that occur within that task 58 Rev E M SS 005 031 Danaher Motion 06 2005 Error Handling 11 1 1 2 TRY FINALLY 11 1 2 Unlike an OnError block the Try Finally block may appear anywhere in the main program section of the task It can be used to take specific action with relation to a particular area of your program code This type of error handler
295. wed for individual axes only for groups The CVA works only for MOVES amp PASS THRUGH CADJA works only for MOVES amp PASS THRUGH In PASS THROUGH only the first and last point are treated Both methods work only for SCARA kinematics Working Envelope Robot working space is determined by the position limits of each joint The working space all reachable positions is limited by the working envelope of the robot From the outer side it is limited by the arc made rotating the first joint with a fully stretched arm 32 pcmd 0 This is the maximum radius of reachable points RMAX It is an internal value computed each time the robot is configured CONFIGGROUP Points given outside this radius are rejected with the error message Point Too Far The other limit is the small circle with the radius RMIN This circle is obtained by rotating the first joint with a maximally folded second joint not more then 180 degrees This radius is additionally enlarged by the robot s base size and the attached end effector mechanism to prevent the robot from colliding with itself The minimal working envelope radius RMIN is available to the user contrary to RMAX Danaher Motion recommends setting this value for each application according to the physical setup of the robot If a point is given inside RMIN an error message is returned For example XY 180 RevE M SS 005 03 Danaher Motion 06 2005 Appendix B
296. wever when setting up the feedback system you must configure your units for the external encoder not the motor feedback device In addition you must also tell the MC to monitor the external encoder for position error This is done with lt axis gt FEEDBACK For example Al Feedback External Set the axis feedback to the load 82 Rev E M SS 005 031 Danaher Motion 06 2005 Project 3 13 3 3 14 M SS 005 03 Velocity Loop For some applications the motor must be under velocity loop control Maintaining a position is not important The advantage is that the motor is more responsive typically 3 to 5 times faster in settling time When you configure an axis for velocity loop you more or less fool the drive by setting gains to disable the position loop You need to set the position loop gain to zero and the feed forward gain to 100 This produces the following servo loop Velocity Command 100 Position i Velocity Command X A Loop Velocity Feedback Since a lot of position error can accumulate in velocity loop it is best to configure the system to have such a large maximum position error that it never realistically generates an error SIMULATED AXES A simulated axis is an axis that exists only inside the MC Simulated axes have most of the functions of physical axes including profile generators units position and velocity commands and feedback signals and limits However simulated
297. x 5 3 Feedback 2000 line encoder For this example first set position units to degrees 1 degree 1 360 revolution of table 5 3 1 360 revolution of the motor 2000 5 3 1 360 lines 4 2000 5 3 1 360 counts 40000 1080 After setting these units you must enable the rotary mode and set the rollover to 360 as follows Al PositionFactor 40000 1080 Al PositionRollover 360 Al PositionRolloverEn Enable Rotary Motion In this case the feedback position is always between 0 and 360 You can still command long moves say 10 000 degrees However when the motor comes to rest the feedback is read as less than 360 When using rotary mode in applications where the motor turns continuously in one direction it is important to take advantage of all available accuracy in the MC This is because inaccuracy is accumulated over many revolutions of the motor For example we could have rounded A1 POSITIONFACTOR in the above example to 37 037 which is accurate to 1 part in 1 000 000 However after 10 000 revolutions 2000 rpm for just 5 minutes that 1 part in a 1 000 000 would have accumulated to a few degrees This means that if the table position is 100 degrees it might read as 97 In other words the table appears to drift In the example above the math is exact until the MC performs the division Because the MC calculates with double precision about 14 places of accuracy you should use MC math when calc
298. xample you may not want to start one move until the previous move is complete In general you need access to persistent processes if you are to control your program according to their state of execution As you will see later MC BASIC provides this access RevE 13 BASIC Moves Development Studio 2 2 3 2 2 3 1 06 2005 Danaher Motion Constants and Variables All constant variable and system element names must start with an alphabetical character a z A Z and may be followed with up to 31 alphabetical characters numbers 0 9 and underscores _ Keywords may not be used as names For detailed information on any of the constants and variables including examples refer to the SERVOSTAR MC Reference Manual CONSTANTS Constants are numbers which are written as ordinary text characters for example 161 Constants can be written in decimal or in hexadecimal HEX To write a constant in hex precede it by a 0x for example OxF is the hex representation of 15 decimal The MC provides numerous literal constants reserved words with a fixed value You can use these constants anywhere in your program to make your code more intuitive and easier to read For example Al Motion ON turns on the A1 property Motion This is more intuitive to read than Al Motion 1 although the effect is identical 2 2 3 1 1 Literal Constants Table 2 2 3 2 14 ABORT 4 ABOVE 2 BELOW 1 2 CAPTURI
299. xes respectively Common shared compl as comp This declares a table in the system CreateComp compl 4 9 3 Compl minposition 1 0 1 Setting min for the X Compl maxposition 1 9 Setting max for the Compl minposition 2 1 1 Setting min for the Y Compl maxposition 2 2 Setting max for the Y Compl minposition 3 3 Setting min for the Z Compl maxposition 3 3 12 Setting max for the Z CompSet compl axl ax2 ax3 on axl ax2 ax3 Declare before target data definition Compl TargetData 1 1 0 01 Setting the target Comp1 TargetData 3 3 9 4 0 02 Setting the target Comp1 CompActive 1 From now on any movement on any of the axes in the table generates compensation 140 RevE M SS 005 031 Danaher Motion 06 2005 PHASER 8 8 1 1 M SS 005 03 PHASER The purpose of PHASER is to amplify or attenuate the master input value before entering the cam table or before multiplying by the gear ratio The master slave connection is achieved either by a cam table or through gearing A typical problem in camming is an offset in the master position that has to be compensated for before translating the value with a cam table PHASER adds a correction to the master position This avoids unexpected jumps at the slave position By immediately adding the maximum correction value there is a dynamically computation of the correction from zero to the maximum value Mast Position p CAM Table Slave
300. xes properly to assure stable motion control Refer to the SERVOSTAR MC Installation Manual for more information The third section of the auto setup program is a SERCOS setup subroutine This subroutine brings up the SERCOS ring in preparation for the drives being enabled The final section of the auto setup program is the axis setup subroutine This subroutine loads axis properties for units and limits Refer to Appendix A for a Sample Nesting Program User Units The MC supports user units with one floating point conversion factor for each of six types of properties position velocity acceleration jerk external position and external velocity lt axis gt DIRECTION is applied as a multiplier to the units conversion factors The movement factors POSITIONFACTOR VELOCITYFACTOR ACCELERATIONFACTOR are only assigned positive values and DIRECTION determines their sign DIRECTION can take one of two values 1 for forward direction or 1 for reverse direction MC units allow you to work in units that are convenient All unit types are independent so position units are inches velocity units are feet min and acceleration is Units are changed only when the axis is disabled Position Units Position units are controlled by POSITIONFACTOR or PFAC The MC internal units are encoder counts for encoder based systems or 65536 counts per revolution for resolver based systems Encoder counts are four times encoder l
301. xis VMax 290 By recurring assignments generic elements have the ability to change their pointed axis or group as many times as desired Gen Axis A2 Gen Axis ElementID 2 A2 VMax 360 Gen Axis VMax 360 The left side assigned element of the assignment statement cannot be a real axis or group It must always be a generic element Syntax Error Module Translator Rev E M SS 005 031 Danaher Motion 06 2005 GENERIC ELEMENTS The right side element of the assignment statement can be either generic or a real A group cannot be assigned to a generic axis and an axis cannot assign a generic group Common Shared Gen_Group As Generic Group Gen_Axis Gl Error 7067 Wrong input type Module Translator Gen Group 1 Error 7067 Wrong input type Module Translator Joint axes cannot be used in either sides of assignment statement Gen Group jl 1 Error 7039 Syntax Error Module Translator Gen Axis G1 j1 Error 7039 Syntax Error Module Translator 9 1 3 Limitations Generic elements cannot be printed Arithmetic logic and bitwise operators cannot be applied on generic elements Generic elements cannot be used as conditions in flow control statements and event definitions Generic elements cannot be recorded Generic elements cannot be structure elements Generic element cannot serve as parameters of C functions Deletion of global generic element cannot b
302. y encapsulating blocks of code into functions or subroutines Code blocks of setup or query properties which can be applied for all or at least several groups or axes in the system and can be assembled into functions and subroutines For example if there are a number of identical motors in the system their setup is the same Write the following lines only once instead of repeating them for each axis 0x8000 1 1000 1 1000 1 1000 290 1500 1 1 Al DMax Another example is writing common procedures as subroutines or functions that can later be applied in any system independently of how many axes or groups are defined For example switching on an output when an axis reaches its target While Al IsMoving lt gt 0 Sleep 1 End While Sys Dout 1 1 ELEMENTID Depending on the system configuration the MC can have several axes or groups defined These motion elements are actually user interfaces of the system s internal memory or internal function calls They are pointers to actual groups and axes During system configuration Sys NumberAxes n and group definitions each axis and group receives a unique element identifier Axes get successive element identifiers ranging from 1 to 32 according to axis number Groups get successive identifiers ranging from 33 to 64 according to declaration order You cannot change these element identifiers The value of the element
303. ynchronous and synchronous errors occur in this context A specific line of code causes synchronous errors An asynchronous error that occurs in a task is not associated with a particular line of program code A good example of an asynchronous error caused by a task is a following error This occurs due to a difference between commanded position and actual position This error may occur when an element being commanded to move comes up against a mechanical obstacle The following figure shows the process flow that occurs in the task context RevE 157 Error Handling 06 2005 Danaher Motion Task error System error Command line error Internal Action Idle task Internal Action Internal Action Log Log Display error A Yes End On Error defined OnSystemError defined TRY defined No ves Yes Was trapped Was trapped No Was trapped Default error Action Yes Yes Yes 4 4 Display error User error code User error code User error code T zm During the internal error action the synchronous error is logged in the MC and the task is idled The default system error handler stops all motion and all attached tasks In the figure above there are two mechanisms for trapping and dealing with errors OnError and Try Finally blocks These two error handling mechanisms allo
304. ype at the declaration of it but you define the type of robot related to the point This gives the point a dimension M SS 005 03 Rev E 183 Appendix 06 2005 Danaher Motion Point Assignment Point assignment uses the following syntax variable name exprl expr2 expr3 exprn for location for joint The expression can be a constant or other vector variable of the same robot type but the size of the right side of the expression must equal the left side If you try to assign a point with a point of other robot type an error is received Single Coordinate Point Assignment The syntax for assigning a single coordinate of a point is lt variable_name gt lt expression gt lt expression gt Point Query The syntax for querying a point is lt variable_name gt Single Coordinate Point Query The syntax for querying a single coordinate of a point is lt variable_name gt lt expression gt Example1 Common shared P1 as location of XYZR declaration of a vector global Pl 1 2 3 4 assign the whole vector Pl 1 2 return a translation error P1 read the whole vector P1 2 read the second coordinate of the vector Example2 Common shared P2 5 as location XYZ declare a global array of vectors P2 1 1 2 3 assign the whole vector P2 2 5 2 return a translation error P2 1 read the whole vector P2 2 2 read the second value of the vec
305. ystem delays due to SERCOS communications One cycle time is required to transmit a command A second cycle time is required to receive the position feedback Thus the minimum system delay is 2 SERCOS cycles If microinterpolation is enabled in the drive there is an additional delay of 1 cycle time Additional indeterminate delays may result from the servo system dependent on drive tuning and kinetics of the mechanical system MOTION GENERATOR The basis of all motion in the MC is the motion generator When you issue a motion command such as JOG or MOVE to an axis a motion generator is created in software That motion generator controls the position and velocity commands of the axis specified in the move command At regular intervals normally 2 or 4 ms the motion generator updates these commands At the end of motion the motion generator is terminated The figure below shows the normal operation of a motion generator AT PCMD Single axis motion Axis A1 generator VECES Ne 22 Motion Conditions Several conditions must be met before the MC generates motion The controlling task must attach to the controlled axis The controlled axis must be enabled The system and axis motion flags must be enabled Before a task can send motion commands to an axis the axis must be attached to the task Attaching is also required for gearing This prevents other tasks from attempting to control the axis To attach an axis issue AT

Kollmorgen M-SS-005-03 User's Manual

Contents

Download Pdf Manuals

Related Search

Related Contents