Benutzeranleitung / Produktwartung VIX250IM des Produzenten Parker Hannifin
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Pa r t No: 1600.324.01b February , 2004 ( F or s oftwa r e r e v i s i on 2.0 onwa r d s ) V i X250IM V i X500IM Stepper Drives User Guide.
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IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion contr ol equipment is installed and operated in s uch a way that all applic able safety requirements ar e met.
Product Type: ViX250IM, ViX500IM The above product is in compliance with the requirements of directives • 73/23/EEC Low Voltage Directive • 93/68/EEC CE Marking Directive • 89/336/EEC Electromag.
Contact Addresses For engineering For engineering assistance in Euro pe: assistance in German y Parker Hannifin plc Parker Hannifin GmbH Electromechanical Elect romechanical Automation Automation 21 Balena Close P. O. Box: 77607-1720 Poole, Dorset Robert-Bosc h-Str.
CONTENTS i Contents 1. Introduction............................................................................................................. 1 2. Mechanical Installation .............................................................................
ii VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Latest Chang es Sheet This page lis ts important changes occur ring imm ediately before publ ication or betw een issue updates:.
1. INTRODUCTI ON 1 1. Intr oduction Product Description Available in tw o current rati ngs, these microstepper indexer driv es employ an optimi sed digital fiel d oriented current loop to provi de low speed smoothness coupled w ith high speed torque.
2 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Product Variants Digital m icrostepper indexer driv es are available i n two current ratings with tw o interface options. Table 1-1 li sts the possible combinations: Product Code Description ViX500IM 5.6A RMS (8A peak) microstepper indexer driv e with an RS232 control inter face ViX250IM 2.
1. INTRODUCTI ON 3 Fit Kits A fit kit is avai lable for ViXIM drives: VIX-KIT Part Number Quantity Description 1650.937.01 1 Information sheet 5004.023 1 Plastic bag 5006.211 1 Product label 0405.811 1 10-way Flange plug strip 0405.961 1 9-way D- type plug 0405.
4 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Further In formation This user guide contai ns all the necessary i n formation for the effective use of this dr ive.
2. MECHANICAL INSTALLATION 5 2. Mec hanical Installation Installation Requirements Environment ViX drives oper ate in a temperature range of 0 ° to 40 ° C wi th natural convection, or 50 ° C Max with for ced-air cool ing (see Har dware Reference) , at normal level s of humidity (5-95% non-condensing).
6 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 dri ves share the same dim ensions, shown in Figure 2-1. 4,5 98.5 (with connector) 21 4,5 88,1 42 3 10.
2. MECHANICAL INSTALLATION 7 Drive Mounti ng Opti ons If you require a D IN-Rai l mounting Vi X drive use the optional DIN-Rail clip adapter bracket shown in Figure 2- 2. Viewed from the back of the DIN rail Allow 10mm for release 57.2mm 131.2mm 16mm Figure 2-2.
8 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Mounting Mechani cal Considerati ons Keep motors securel y fixed in position at al l times. Do not test a motor/driv e combination without fir st securing the motor – see the Safety Warning at the front of thi s user guide.
3. ELECTRICAL INSTALLATION 9 3. Electrical Installation Installati on Safety Requi rements ViX stepper dri ves meet the requir ements of both the European LVD & EMC directi ves when installed accordi ng to the instructions given w ithin this secti on.
10 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Power Supply Connections Power dri ves from a DC supply derived from an isol ating transformer or a DC power supply (See Power Supply Options later in this section). Note: Pin 10 is at the top of the connector X1 and pin 1 at the bottom.
3. ELECTRICAL INSTALLATION 11 WARNING The drive HV supply input is not reverse polarity protected. Reverse polarity connections will damage the drive. Current and Capaci tance A supply must have a mi nimum amount of capaci tance to support a drive at peak power draw.
12 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 0 0 0.5 1.0 1.5 10 20 30 40 50 ViX500 with SY563 0 0 0.2 0.4 0.6 0.8 10 20 30 40 50 ViX250 with SY562 0 0 1.0 2.0 3.0 4.0 10 20 30 40 50 ViX500 with SY873 0 0 0.1 0.2 0.3 0.4 10 20 30 40 50 ViX250 with SY561 0 0 1.
3. ELECTRICAL INSTALLATION 13 XL-PSU Power Supply The XL-PSU is a 250W , power factor corrected, switched m ode power supply. Designed for direct operati on from worl d wide single phase AC input voltages, the suppl y is capable of powering up to tw o ViX250 drives ( see note 1) without the need for an EMC mains input fil ter (see note 2).
14 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE XL-PSU Supply/Dr i ve Connections When used to supply up to two dr ives the power suppl y can be wired as show n in Figure 3-3. -DC +24V P1 P2 N L MAINS INPUT 1 10V-230V~ 50/60 Hz 250V A Power Supply Unit XL GND EXT .
3. ELECTRICAL INSTALLATION 15 XL-PSU Mounting Information Mount the supply vertically, near the drives it will supply. Both the top 4.5mm diameter fixing hole and the bottom two 4.5m m width fixi ng slots should be used. Allow a mi nimum free space of 50mm both below and above its case and 10mm free space on both sides.
16 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W (80V/14A) for use w ith ViX and XL series dr ives. The supply requir es a suitably rated transformer suppl ying 50V AC RMS for the HV and 20V AC RM S for the +24V DC.
3. ELECTRICAL INSTALLATION 17 EMC Installatio n These EMC instal lation recomm endations are based on the expertise acquired duri ng the development of compl iant applications, w hich Parker believes are typi cal of the way, a driv e or drives m ay be used.
18 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Input (line) Output (load) LOAD LINE + - Star earth point to the metal backplane Power wiring conduit DC Supply Lead length restriction (less than 1 met.
3. ELECTRICAL INSTALLATION 19 Motor Connections to the Dr i ve The recommended w ire size for Vi X250IM/500IM motor cables, of length less than 20m , is 1mm 2 . For m otor cable lengths greater than 20m (up to a m a ximum of 50m) use a wir e size of 2.
20 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Note that the motor cabl e routing wit hin the equipment cabinet shoul d be kept at least 300mm away from I/O cables car rying control signals. All motor connections must be made using a hi gh quality braided-screen cable.
3. ELECTRICAL INSTALLATION 21 Motor Selection Usually optimum performance will be obtained when the current rating of the motor is between 1 and 1.5 times the dr ive rating. D rives can be de-r ated to accommodate motors with lower current ratings (using vari able MC wi thin the MOTOR command), how ever the high speed torque will be reduced.
22 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Large Motors The l a r gest r e co mm ended m o tor s i ze i s a 34 - f r a m e 3 - stack. P l ease contact Pa r k er i f you wish to use a lar ger frame motor.
3. ELECTRICAL INSTALLATION 23 Custom Motor Set Up Within screen 2 of Guided stepper initialisation , clicking upon the Setup custom button will open the window show n in Figure 3-7. Figure 3-7. EASI-V Custom Motor Configuration Window Motor the general name/num ber for the motor.
24 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The Other Parameters Tab Selecting the Other param eters tab gives you access to the screen shown in Figure 3- 8. Figure 3-8. EASI-V Custom Motor Other Parameters In-position time (IT) Digital I/O The decimal number required by the IC system variable to configure the input/output state of the drive.
3. ELECTRICAL INSTALLATION 25 Figure 3-9. EASI-V Custom Motor Limits/home Parameters Limit i nputs Four radi o buttons used to configure the lim it inputs. Limit switches Selection of normally closed or normal ly open limit switches. Home enabled Enable/disabl e the HOME comm and.
26 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Voltage Ratings Motors wi th a withstand voltage rating from phase to earth of 1000V AC should be used. An insulation wi thstand rating of 500V AC is acceptable if an i solating transfor mer wi th earthed screen is used to power the system, and X1 pin9 (0V/GND) input is earthed, as specified.
3. ELECTRICAL INSTALLATION 27 X2 X3 X1 X4 X5 ST HV FB 24-80V DC +HV 0V / GND -HV Earth PE 24V DC 10 9 8 7 6 5 4 3 2 1 X1 Power & Motor 0V (GND 24v DC) Motor Gnd Motor phase (A+) Motor phase (A-) M.
28 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Description X1 Connector X1 is the main pow er and motor connector . Both HV, +24V and the motor phase connections are made to X1. Connector Type The mating connector for X1 is a Wiel and 8213B/10F, part number 25.
3. ELECTRICAL INSTALLATION 29 X2 Connector X2 provides the pri mary input connections for the motor feedback device. This is the input that should be used for positi on maintenance and stall detecti on functions. Connector Type Connector type is a hi gh-density 15-way D -type socket.
30 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Overtemperat ure Sensor Standard Parker stepper motors do not use an over -temperature sensor, however when using custom motor s provision i s made for the connection of either a therm al switch or thermistor device.
3. ELECTRICAL INSTALLATION 31 Baud Rate Use system variable BR to alter the baud rate of serial communications. Any change made to the baud rate will only take effect following a save (SV) and system reset or power cycle.
32 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RS232 Connecting Leads R S232 cab l es can be o r de r ed f r om Pa r k er. Va r i ous l engths a r e ava il ab l e as li s ted i n Table 3-9. Part Number Length RS232-EASI-0250 2. 5m RS232-EASI-0500 5.0m RS232-EASI-0750 7.
3. ELECTRICAL INSTALLATION 33 Inputs Depending Upon the State of System Variable EI Connector Pin X4 EI=0 EI=1 EI=2 12 STEP+ CW+ A+ 7 STEP- CW- A- 13 DIR+ CCW+ B+ 8 DIR- CCW- B- Outputs Depending Upon.
34 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Figure 3-13 show s the input characteristi c. +10V -10V Commanded velocity Volts Velocity (rps) Dead band Figure 3-13. Analogue Differential Input Characteristic An analogue deadband can be set, using system variable ‘ AB ’ .
3. ELECTRICAL INSTALLATION 35 X5 Connector X5 is the user Input/Output connector. Connector Type Connector type is a hi gh-density 15-w ay D-type plug.
36 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Inputs Inputs can be configured using the Easi- V graphic interface or by wri ting directly to the IC system variable. By adjusting the user input configuration, you can set the input switching level threshold and you can set the i nternal input resistor to be a pull -up or a pull -down.
3. ELECTRICAL INSTALLATION 37 User Outputs User outputs can be configur ed using the Easi-V graphic interface or by writing directly to the IC system variable. By adjusting the user output configuration, you can set the output to source or sink cur rent.
38 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Bits 0 to 4 control the input r esistor pull-down/pull- up of inputs 1 to 5 (SWA setting). Setting a bit to a ‘ 1 ’ sets the input r e sistor to be a pull-up to +24V, a ‘ 0 ’ sets the resistor to be a pull-dow n.
3. ELECTRICAL INSTALLATION 39 Fault Output The fault output is an independent N PN open-coll ector output which i s normall y ‘ low ’ , active ‘ high ’ . The output ratings ar e +30V maximum in the OFF condition and 15m A maximum in the ON condition.
40 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RJ45 Interfaces Positioned beneath the dri ve are two RJ45 com munication interfaces X6 and X7. The two interfaces provi de support for Canbus, RS485 ( using the Field Expansion Module) and dai sy chain ports for m ulti-axis RS232 connections between dri ves.
3. ELECTRICAL INSTALLATION 41 FEM1 CAT5 cable colours X6 CANopen/RS485 1 RX+ /TX+ RS485 White/Orange 2 RX- /TX- RS485 Orange 3 CAN H White/Green 4 RS232 Gnd Blue 5 RS232 Gnd Whi te/Blue 6 CAN L Green .
42 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Daisy Chain Drives can be ‘ daisy-chained ’ for RS232/RS485* operation as show n below. Using this arrangement the drive connected to the controlling PC, via its front panel D-type connector, becomes axis #1.
3. ELECTRICAL INSTALLATION 43 To maintain the integr ity of the EMC screeni ng, all RS232 and RS485 connections must be made via the dri ve ’ s X3 D-type connector. RJ45 Connecting Leads R J 45 li nk cab l es can be o r de r ed f r om Pa r k er. Va r i ous l engths a r e ava il ab l e as li s ted i n Table 3-13.
44 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE.
4. CONTROL OF VIX DRIVES 45 4. Contr ol of ViX Drives Overview This section intr oduces you to the operation of the ViX stepper drive, the im plementation of motion control m oves and the way commands are used. Basi c controller oper ation is described together with the code structure.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 46 during up-l oading/down-l oading of program s. Declari ng labels in the comm and line, before any START code, makes the most effici ent use of the available mem ory. If you then up-load the program to a PC and later down-load the same program the declarations will have been lost.
4. CONTROL OF VIX DRIVES 47 Structure The code example of an absolute posi tioning move shown i n Figure 4-1 demonstrates how to write code that fol lows the block structur e.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 48 Finally, cal l individual moves from the mai n part of the program : 1MOVE2: ; define progr am label “ move2 ” 1W(PA ,0) ; zero position absolute 1M.
4. CONTROL OF VIX DRIVES 49 LOOP Command The block structure of the code l ends itself to perfor ming repetiti ve operations, using the LOOP command. The comm and can be used to call a parti cular labell ed block of code for either a specifi ed number of tim es or continuously.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 50 Reserved System Labels Certain pr e-defined label s are recognised by the control ler as containing code used for common operati ons. If event triggered code i s enabled (ARM 1), the code entered for these common operations will be automatically run when the event occurs.
4. CONTROL OF VIX DRIVES 51 The conditions under which the FAULT label is called will vary depending upon the fault itself and the condition of vari ous other commands and com mand parameter s.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 52 Example The following exam ple shows the use of a FAULT label withi n a program. 1ARM11 ;enable auto-run on power- up & enable fault routine 1SV ;save the settings 1START: ;start of program 1ARM11 ;re-enable auto-run & faul t in case ‘ K ’ command sent .
4. CONTROL OF VIX DRIVES 53 Start Label The system label START: introduces the drive ’ s setup and initi alisation code. W ith ARM enabled the code is automatically executed at system start-up*. Consequently the code needs to be saved with ARM 1X set.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 54 Use of the LSEL Command You can let user inputs call programmed routines by the use of special label names and associated user input num bers. By including the code you w ish to action, foll owing a pre- defined input label, will enable your code to be run when the defined user input is activated.
4. CONTROL OF VIX DRIVES 55 Upon receipt of a vali d numeric i nput pattern the controller runs the associated routine. For example, binar y pattern 3 causes routine L3 to run. Thi s routine must finish (reach the EN D command) befor e the inputs can be automatically scanned again.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 56 Table of System Variables Table 4-2 lists system variables in alphabetic order together with their read/write status and range of values stored.
4. CONTROL OF VIX DRIVES 57 Var Name R W Range/default value FB Fieldbus Baud Refer to CANopen user guide FC Fieldbus Control Refer to CANopen user guide FN Fieldbus Node ID Refer to CANopen user guide FP Fieldbus Protocol Y Y Refer to C ANopen user guide HF Home Fin al velocity Y Y Sets the final veloci ty of the home move Range: 0.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 58 Var Name R W Range/default value ST Status of indexing Y N See below ST1 Status of indexing Y N First byte of 32-bit ST vari able ST2 Status of indexing.
4. CONTROL OF VIX DRIVES 59 CQ Command Queuing Enable command queui ng in mode incr emental/absolute to buffer each command wai ting for the previous comm and to complete, before issui ng the next. In certain circ umstances, disable this sequenti al operation, for example if you need to generate a trigger pulse part way through a move.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 60 EI Description System parameter EI, controls encoder i nputs (connector X4) as defined in Table 4-4. X4 EI=0 EI= 1 EI=2 12 STEP+ CW+ A+ 7 STEP- CW- A- 13 DIR+ CCW+ B+ 8 DIR- CCW- B- Table 4-4. Encoder Input Configuration CAUTION De-energise the drive before changing EI and EO.
4. CONTROL OF VIX DRIVES 61 ES Description System variabl e ES controls the requi red polarity of signal on the enable/shutdow n_bar input (X4 pin 11). The defaul t value of ES is zero ( ES=0), therefore to enable the dri ve connect X4 pin 11 to X4 pin 4 (0V) .
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 62 You do not have to wait for the IP flag to be set at the end of ever y move, but its use improves positi oning accuracy. Example Use thi s code after each G command to improve posi tioning. 1MI ; mode incem ental 1W(CQ,0) ; turn off comm and queuing 1G ; start the move 1T0.
4. CONTROL OF VIX DRIVES 63 PA Description PA reports the actual position of the motor shaft, assum ing a primary encoder is fitted. Although PA is marked as being read only it will accept the value 0 to be written to it for resetting purposes. If you per form a W(PA,0) system variables PF, PE and PT will also be set to 0.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 64 RM Description Reports a 1 if a r egistration m ove is being actioned. RV Description Reports the revisi on of software being used by the controller. SC S-Curve configuration To reduce the amount of jerk (rate of change of acceler a tion or deceleration) wi thin a move, enable SC.
4. CONTROL OF VIX DRIVES 65 SN Description reserved . ST Description See reporting of status bi ts in Reporting the Status of Variables . TT Description The trigger ti meout can be set or read using TT. If a ti meout occurs status bit 8 is set high. Note: Setting a value of 0.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 66 Bit Number Bit Tested Status Information 1 ST1.1 C ommand processi ng paused 2 ST1.2 Loopi ng (command executing) 3 ST1.3 W ait for trigger (input) 4 ST1.4 Running program 5 ST1.5 Goi ng home 6 ST1.6 W aiting for delay timeout 7 ST1.
4. CONTROL OF VIX DRIVES 67 Fault Status Reporting Faults are classifi ed into two groups: Drive Faul ts DF (har dware faults present i n the drive) or User Faults UF (user pr ogram faults) Drive Faults Hardware drive faults will cause the drive output stage to be turned OFF (de-energised).
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 68 Bit Bit Tested Stop Type DF Information 1 DF 1.1 Composite faul t 2 DF 1.2 K T +/-15V suppl y rail 3 DF 1.3 K R Motor HV under -voltage trip point reached 4 DF 1.4 K R Motor HV over -voltage tri p point reached 5D F 1 .
4. CONTROL OF VIX DRIVES 69 Drive Fault Byte Reporting In exactly the same way as the status vari able, the drive faul t status can be reported a byte at a time, using DFn wi thin a read command. User Faults User faults can be caused by pr ogramming errors , such as issuing a GO comm and when the drive is de-energised.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 70 User Fault Byte Reporting In exactly the same way as the status vari able, the user fault status can be repor ted a byte at a time, using UFn wi thin a read command. For example to r ead or test the first 8 bits (fir st byte) of the UF vari able status word, use UF1.
4. CONTROL OF VIX DRIVES 71 Reporting System Information During Code Development Whilst developing a program using EASI-Tools, it is likely that certain blocks of code when downloaded to the drive will return an *E error code.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 72 Conditional Code The flow of a motion control program will depend upon the position of the motor in combination wi th the value of particular inputs and comm ands.
4. CONTROL OF VIX DRIVES 73 Conditional Code Example The following code i s a good example of how the conditional IF statem ent can be used for fault diagnosis w ithin the FAULT label .
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 74 Motion Control Using the EASI Command Set Move Types Mechanical movement results from the motion of a motor shaft. By controlling the velocity, acceleration, distance and di rection of the motor, di fferent move profiles can be created for particular applications.
4. CONTROL OF VIX DRIVES 75 Motor Direction & Positiv e Motion A positive dir e ction command usually produces clockw ise (CW) rotati on of the motor shaft when viewed fr om the shaft end*.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 76 Trapezoi dal Pr ofile A trapezoidal m ove profile resul ts when the defined velocity, you have pr ogrammed, i s attained before the motor shaft has moved half of the specified di stance.
4. CONTROL OF VIX DRIVES 77 Once a valid registr ation mark has been detected the registration m ove is performed using the move parameter s taken from the previ ously defined profi le* (profil e_number in the command param eters). At the end of the regi stration move the user pr ogram GOSUBs to the code immedi ately followi ng the REG label.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 78 A successful registration will cause the code, following the registration move, to jump to the REG label, fr om which nor mal program operati on can continue. Before you can perform a registrati on move, the followi ng code elements must be in pl ace: 1.
4. CONTROL OF VIX DRIVES 79 Homing The term ‘ hom ing ’ refers to an autom atic return to a mechanical r eference position whi ch is usually performed when the system is first powered up. All subsequent moves will then be relative to this reference positi on.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 80 Homing Configur ati on Command The command all ows you to define the mechani cal edge of the home switch at w h ich you wish home to be.
4. CONTROL OF VIX DRIVES 81 Go Home Command The go home command ( GH) is used to return to the refer ence home position. Issuing a GH command will cause motion in a direction defined by the HOME configuration command.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 82 If the negative edge of the home swi tch is selected in the homing configur ation command a simil ar motion path woul d be followed, but finishing on the other si de of the home switch, as shown in Figure 4- 9.
4. CONTROL OF VIX DRIVES 83 Final Direction of Travel Note that no matter wher e motion starts from, that is fr om positive si de of the home switch, in the home switch r egion or from the negative si.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 84 system will respond as if a limit has been hit in the ‘ normal ’ manner, that is, whi lst not performi ng a homing move.
4. CONTROL OF VIX DRIVES 85 associated flags are cleared. The program will also be aborted if you are already on a limit and you request motion i n a direction whi ch takes you further on to that li mit.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 86 Limit Switches The drive has two l imit inputs, the positive l imit i nput and the negative lim it input. When wiring the l imit switches it is essenti a l to check that a positive direction comm and produces motion towards the posi tive lim it switch.
4. CONTROL OF VIX DRIVES 87 Using Closed Loop Operation Closed loop r efers to the operation of a stepper motor/drive wher e the position of the stepper motor shaft is m easured and compared with the comm anded position.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 88 position using the 1R (PA) comm and. Now, rotate the encoder shaft i n the same positive direction by about hal f a turn. Again read the encoder position, whic h should be greater than the first readi ng, indicating that the encoder count is increasi ng for positive m o tion.
4. CONTROL OF VIX DRIVES 89 At the end of the main move the control ler waits unti l the in position time delay and the settle time (i f programm ed) have timed out, at this point the encoder count is r ead.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 90 Settle Time When Position Maintenance is enabled all moves will track actual position against commanded positi on. Position Maintenance al lows the in-position signal to be held off for a settle-tim e, the value of which can be pr ogrammed i n the command param eters.
4. CONTROL OF VIX DRIVES 91 Stall Detection Stall detection is only possible if an encoder is fitted to the motor or load. A stal l is repor ted when the error between the commanded posi tion and the actual positi on, determined by the encoder, exceeds the value set in the er ror window of the STALL command.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 92 Scaling Using scale a llows ‘ user-fri endly ’ settings of distance, velocity and acceleration to be defi ned in user units, r ather than units requir ed by the drive.
4. CONTROL OF VIX DRIVES 93 You can use SCALE in combinati on with other com mands such as LOADENC, STALL or POSMAIN. The exact mi x of commands together wi th the source of the feedback, and the type of programm ing steps used are presented in Table 4-9.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 94.
5. EASI-V SOFTWARE 95 5. Easi-V Software Computer Requir ements To be able to run Easi- V software, necessary for the control and programming of the Vi X, you will require an IBM ™ compatibl e PC running W indows 95/98/2000/XP ™ , NT4 or M E.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 96 Installati on Procedure This procedure takes you qui ckly through the steps necessary to i nstall Easi-V on your PC. The entire install ation process takes less than 10 mi nutes. Before starting the instal lation, terminate al l applicati ons currently running.
5. EASI-V SOFTWARE 97 6. Once you have selected a destination for Easi -V or have decided to use the default directory, sel e ct NEXT to begin file transfer. 7. Once Easi-V has been loaded, the screen will display a message dialogue box, stating ‘ Setup is com plete.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 98 Figure 5-3. Easi-V Product Selection Selecting Product fr om the U tilities menu will also display the product selection screen.
5. EASI-V SOFTWARE 99 Menu Overview File Fili ng Operations Creates a new edi tor file, or .pr g program file Opens an existing editor file or program Save an editor fil e Save an editor fil e specifi.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 100 Terminal Terminal on-l ine operations Configure the ser ial comm unications Open/close the termi nal (after testing the connecti on) Configure test but.
5. EASI-V SOFTWARE 101 Utilities Menu Options Selecting Options displ ays a single screen wi th three tabs: • General • Drive setti ngs • Country Use General to select the following set-up opti .
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 102 Terminal Menu Sel ecti ons Terminal menu selections control the setup and configuration of communication betw een a PC and driv e. Communicating wi th a Dr i ve The default settings of a new dr ive from pow er-up are R S232 communicati ons with an address setting of #1.
5. EASI-V SOFTWARE 103 Select the required confi guration and, click OK. Then, again from the Ter minal m enu select Connect to start communi cations. Every time C onnect is issued the comm unications.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 104 Utilities Men u Selections Utilities menu selections control the way drives are setup and configured for use with a particular motor type. The menu offers two levels of setup, depending upon the skill and experience of the operator .
5. EASI-V SOFTWARE 105 From the drop- down menu select your motor type or perform a custom set-up. Press ‘ Next ’ to select Motor Standby current and In-position settling Time values. This screen allow s the selection of the motor standby current (MS ) and the In-position settling time (IT).
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 106 Encoder feedback must be selected to allow stall detection or position maintenance. Press ‘ Next ’ to select the required limits. This screen allow s the selection of the + & - li mits and the type of limit switch used.
5. EASI-V SOFTWARE 107 This screen allow s the configuration of the home switch. Press ‘ Next ’ to configure the dri ve ’ s user inputs and outputs. Configure the drive ’ s user inputs and outputs and setup the following encoder inputs or the simulated encoder outputs.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 108 This screen allow s the setup of all the drive ’ s contr o ls not available on other screens. Press ‘ Next ’ to complete the setup process and to generate a setup program . This screen signals the end of the guided setup process.
5. EASI-V SOFTWARE 109 NOTE ANY CHANGES TO THE MOTOR TYPE NUMBER MUST BE FOLLOWED BY A SAVE (SV) AND RESET (Z) OR CYCLING POWER TO THE DRIVE. TIP Create a setup progr am first, r ather than download immediatel y, because if changes are required i t ’ s easier to edit a saved program.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 110 Drive settings / Setup This facility gives easy access to setting system variables in a more direct manner than Guided Driv e Setup.
5. EASI-V SOFTWARE 111 Status The Utilities menu axis Status provides a convenient method of examining the double word status bits. The tool gives access to the status of User Faults, Status bits and Drive Faults using a series of tabs, as shown i n Figure 5-7.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 112 Downloading and Upl oadi ng Pr ograms A drive pr ogram that exists w ithin an active edi t window can be downl oaded to the drive by selecting Download from the Utilities menu. Following the usual communication checks, the program will download to the drive ’ s internal mem ory.
5. EASI-V SOFTWARE 113 A program may also be uploaded from a drive, a useful facility if a drive needs to be swapped between axes. To upload a program select Upload from the Utilities menu. An upload dialogue box will be displayed, allowing you to specify the name and address of the program to be upl oaded.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 114 Confirming Drive Operation With the dri ve and motor correctly wi red and the serial connection made to a PC running Easi-V softwar e, the operation of.
6. COMMAND REFERENCE 115 6. Command Reference Command Description Each command has a sim ple 1 to 7 character name usual ly an abbreviation of its full descriptive titl e. Listed commands are in alphabetic or der with any non-alphabetic symbol s appearing last.
116 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE aGOSUB(label) Label parameter Command name Address prefix aLIMITS(parameter1,2,3, parameter4 ) Parameters 1,2,3 & optional parameter 4 Command name Address prefix Figure 6-2. Parameter Commands Attention [1] Terminate al l commands wi th a carriage return.
6. COMMAND REFERENCE 117 Immediate Only Immediate onl y commands are: C, K, S, R(RB) , R(UF), R(DF ) and R(ST) The controller acts upon these com mands as soon as they are received.
118 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Can’t be used in labelled block Means it is not possi ble to include the command withi n a labelled pr ogram block. Saved by SV A command that has the proper ty of being ‘ saved by SV ’ means data associated with that command is capable of being stored in non-volatile memory.
6. COMMAND REFERENCE 119 A Acceleration/Deceleration Syntax Units Range of ‘ n ’ D e fault See also aAn see SCALE 0.01 to 99999.99 10 AA AD SCALE Description This command will set both the acceleration and deceleration rates of the motor to the same value.
120 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE AD Deceleration Syntax Units Range of ‘ n ’ D e fault See also aADn See SCALE 0.01 to 99999.99 10 A AA SCALE Description The AD command will set or report the programmed linear deceleration rate of the motor.
6. COMMAND REFERENCE 121 ARM Enable label triggered code Syntax Units Range of ‘ n & m ’ Default See also aARMnm - 0 or 1 01 START label FAULT label The ARM command allows you to enable (arm) or disable the START l abel. It also enables/disabl es the FAULT label.
122 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The code following the START label will be run at power up: 1START: ;start label 1T0.5 ;delay 1ON 1LIMITS(3,0,0) ;disable limits 1PROFILE1(100,.
6. COMMAND REFERENCE 123 C Continue Syntax Units Range of ‘ n ’ D e fault See also aC - - - PS Description The C (conti nue) command causes a user command to r esume execution followi ng a pause command.
124 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE D Distance Syntax Units Range of ‘ n ’ Default See also aDn See SCALE -2,147,483,647 to 2,147,483,647 - M SCALE Description The D command will set or report the programmed move distance. The value program med is only used for preset moves.
6. COMMAND REFERENCE 125 Declare Declare Syntax Units Range of ‘ n ’ Def a ult See also aDeclare(label) - - - CLEAR Description All l abels, apart from STAR T, REG, NOREG & FAULT need to be decl ared at the beginning of the progr am using a DECLARE command.
126 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE E Enable/Disable Communications Syntax Units Range of ‘ n ’ D e fault See also aEn - 0 or 1 1 - Description The E comm and disables or re- enables serial communicati ons. E1 turns command comm unications ON, whilst E0 turns it OFF.
6. COMMAND REFERENCE 127 EXIT Exit from loop Syntax Units Range of ‘ n ’ Default See also aEXIT - - - LOOP Description The EXIT command will terminate a loop function at the end of a label.
128 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FOLLOW Configure following Syntax aFOLLOWon/off(source,mode,scale) Description The Configur e Following command is used to setup fol lowing, allowing an axis to copy movement fr om another drive. The source parameter speci fies the device to follow.
6. COMMAND REFERENCE 129 Note Only mode 1 is implemented at present. Do not use mode absolute (MA) while following. Do not perform a go home (GH) while following. If you hit a limit whilst following, movement is immediately stopped and following disabled*.
130 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FRATE Feed Rate Override Syntax Units Range of ‘ n ’ D e fault See also aFRATEn - 0 or 1 0 M Description Feed Rate Overr ide, the FRATE command, is used together with the analogue input to scale the peak veloci ty of the drive (V) .
6. COMMAND REFERENCE 131 G Go Syntax Units Range of ‘ n ’ D e fault See also aG - - - PS S K M Description Issuing a G comm and starts motion using the parameters speci fied by the V, A or AA/AD, and D com mands or via the PROFILE and U SE commands.
132 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE GH Go Home Syntax Units Range of ‘ n ’ D e fault See also aGH - - - HOME S K Description The go home comm and instructs the controller to search for the hom e position as defined by the hom e input switch.
6. COMMAND REFERENCE 133 1END 1MOVE1: 1USE(1) ; use the move pr ofile 1 1G 1O(XX1) ; turn output 3 on 1T0.1 ; wait for 100m S 1O(XX0) ; turn output 3 off 1END 1MOVE2: 1USE(2) ; use the move pr ofile 2 1G 1T1 ; pause for settle time 1TR(IP,=,1) 1END Note If you exceed the number of nesting levels the program will halt and return a *E .
134 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE GOTO GO TO routine Syntax Units Range of ‘ n ’ Default See also aGOTO(label) - - - GOSUB Description The GOTO comm and continues user program execution from the label specified.
6. COMMAND REFERENCE 135 H Change direction Syntax Units Range of ‘ n ’ D e fault See also aHn - + - or blank + D, LOOP Description The H comm and changes the direction of moti on. Specifying H+ sets the direction to clockw ise, H- counter clockwise, and H al one reverses the current dir ection.
136 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Note CAUTION The USE command or the D command will re-define the move direction each time it is executed. To set up a loop to go CW ( clockwise) then CCW (counter clockw ise), make sur e the D or USE comm and is outside of the LOOP otherwise the direction will be the same each time around the loop.
6. COMMAND REFERENCE 137 HOME Configure Homing Syntax aHOMEon/off(reference_edge,home_type,direction_&_velocity, acceleration/deceleration,mode) Description The Configur e Homing command is used to setup hom ing prior to the use of the GH (Go Home) command.
138 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE In mode 0, when the home posi tion is reached, the absol ute position of the controller i s set to 0. The incremental position reports the di stance moved to reach the home position. (system variable PI).
6. COMMAND REFERENCE 139 IF Test condition Syntax aIF(system_variable,relat ion,value) Description The IF comm and compares the specified system variable wi th the specified value using the specified relation . If the condi tion is met, the next line of code is executed otherwi se it is ski pped.
140 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE IS Input Status Syntax Units Range of ‘ n ’ D e fault See also aIS - - - O Description The IS command r eports the status of the configurable user inputs when configured as pull -down (non- inverting) inputs.
6. COMMAND REFERENCE 141 K Kill Syntax Units Range of ‘ n ’ D e fault See also aK - - - S, PS, KILL Description Issuing a KILL will command motion to stop at limit deceleration rate. The command will then zero the position error to remove torque from a stalled load.
142 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LIMITS Configure limit inputs Syntax aLIMITS(mask,type,mode, LD ) Description The LIMITS command al lows the user to define whether the LIM +/- inputs are used as lim it inputs or user i nputs via the LIM_ MASK .
6. COMMAND REFERENCE 143 To report the curr ent configuration of the li mits, type ................................................................... 3LIMITS The response, using the above example .......... *LM1 TP1 M0 LD100.0 See also IS AD KILL Notes The default value of LIMITS type field i s 1, that is normally closed.
144 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LOADENC LoadEnc settings Syntax aLOADENCon/off Description This command al lows a user to specif y di stances in load mov ement steps when used w ith a load mounted encoder connected to X2.
6. COMMAND REFERENCE 145 LOOP Repeat user code Syntax aLOOP(label,cycles) Description The LOOP comm and repeatedly calls a labelled block of code a number of times specified by the cycles par ameter, the range bei ng 0 to 65000. Note: If the number of cycles is set to 0 the loop will continue indefinitely.
146 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LSEL Label Select Syntax aLSELon/off(code,inputs,execution, type ) Description The label sel ect command all ows the code follow ing a label having the.
6. COMMAND REFERENCE 147 The range of input code patterns i s given below. Selecti ng a BCD code restricts the number of input codes detected (1 to 9 and 11 to 19).
148 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The main code configures the l abel select command to detect a binary code on 5 inputs ( all high gives deci mal 31), and i f detected, to continuously run the code at l abel L31. Use binary m ode for PLC control and BCD for contr o l via a thumwheel.
6. COMMAND REFERENCE 149 M Mode Syntax Units Range of ‘ n ’ D e fault See also aMn - see below - FRAT E Description The mode comm and sets up the mode of operation of the controller.
150 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Summary of m icrostepper modes Mode Source Enable/Energise Limits MA TG Enable Local MB ANA I/P Enable Local MC TG Enable Local MI TG Enable Local MP ENC I/P Energise/Shutdown Remote Key: TG – Trajectory Gener ator (internal command r eference) ANA I/P – ANA1+, ANA1- analogue input on X4.
6. COMMAND REFERENCE 151 MOTOR Motor Settings Syntax aMOTOR(T ype,Current,Resolution,M ax_vel,%thirdharmonic,Resistance, Inductance) Description This comm and describes the characteristics of the motor being used to the rest of the drive. The par ameters used are: Type – 0 to 1023 number code Current – RMS continuous m otor current ( 0.
152 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered, can be used in labell ed block, saved by SV Note [1] The motor command can take up to 12 seconds to finish execution.
6. COMMAND REFERENCE 153 OFF Shutdown motor power Syntax Units Range of ‘ n ’ D e fault See also aOFF - - OFF ON Description Issuing an OFF com mand de-energi ses the drive to shutdown the m otor power. The controll er responds to move commands that are issued after an OFF with *E.
154 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE ON Turn ON motor power Syntax Units Range of ‘ n ’ D e fault See also aON - - - OFF Description Issuing an ON com mand energises the drive and clear s the current state of the drive fault r egisters.
6. COMMAND REFERENCE 155 POSMAIN Position maintenance Syntax aP OSMAINon/off(dead_band_ range, output , settletime ) Description POSMAIN must use an encoder connected to X2 to monitor the system ’ s actual position. The com mand enables position m aintenance.
156 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered, can be used in labell ed block, saved by SV Example 1POSMAIN1( 10,3) ; Enable position m aintenance. Allow ; a 10 step dead band window and set o/p 3 ; when withi n the desired range 1POSMAIN1( 20) ; Enable position m aintenance.
6. COMMAND REFERENCE 157 PROFILE Define move profile Syntax aPROFILEnumber(AA,AD,D,V) Description The PROFILE command sets up a tabl e of move profiles i n the controller memory.
158 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Profile number 12 Acceleration 200 150 Deceleration 200 200 Distance 1500 4800 Velocity 25 45 The move parameter s specified by Profil e 2 may be used (that is, copied to profile 0) with the statement .
6. COMMAND REFERENCE 159 PS Pause Syntax Units Range of ‘ n ’ D efault See also aPS - - - C Description The PS (pause) command causes imm ediate command execution to cease until a C (c ontinue) comm and is issued. The comm and is useful as a debug aid when testing small trial code blocks.
160 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE REG Registration move Syntax aREG on/off(edge,profile_numbe r, hold_off_distance , registration window,output ) Description The REG command, once tur ned ON, defines a registration move.
6. COMMAND REFERENCE 161 Example 2START: 2PROFILE1(10,10,40000,5) 2PROFILE2(20,20,20000,10) 2REG1(1,1,10000) 2USE(2) 2G 2END 2REG: 2O(XX1) ; Turn output 3 on : increm ent batch counter 2T0.
162 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RFS Return to factory settings Syntax Units Range of ‘ n ’ D e fault See also aRFS - - - SV Description Issuing an RFS comm and initialis es the controller to factor y default settings. The drive must be de- energised (OFF) for RFS to be executed.
6. COMMAND REFERENCE 163 S Stop Syntax Units Range of ‘ n ’ D e fault See also aS - - - PS, K Description Use the S command to bring motion to a controlled stop. The command will use the current value of decel eration as specifi ed by either the imm ediate A or AD comm ands or the current pr ofile being used.
164 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE SCALE Scale settings Syntax aSCALEon/off(SCLA,S CLD,S CLV , PEU) Description This comm and allows a user to specify Acceleration, D istance and Velocity in their own chosen uni ts.
6. COMMAND REFERENCE 165 Exampl e: Suppose we hav e a motor attached to a linear table. The motor r esolution has been set to 4000 steps per rev . The linear table has a load mounted 10um encoder and is 0.5m long . It takes 80 motor revs to mov e the table its complete length.
166 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE STALL Stall detect Syntax aSTALLon/off(error_ window,mode, output ) Description The STALL comm and is used to enable stall detect. To use thi s command an encoder must be connected to X2 to monitor the system ’ s actual positi on.
6. COMMAND REFERENCE 167 Note [1] The error w indow is m easured in motor steps w ith LOADENC and SCALE disabled, load steps w ith LOADENC enabled, and user steps wi th SCALE enabled. [2] If scaling is enabled, the value given in the error window will remain the same, but is now i n user units.
168 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE STATUS STATUS of Drive Syntax Units Range of ‘ n ’ D e fault See also aSTATUS - - - Description Use this command to check the state of a dri ve. It is intended for set- up purposes rather than for use when a program is runni ng.
6. COMMAND REFERENCE 169 STOP STOP Input Syntax aS TOPon/off(mode) Description The STOP Input comm and determines the ‘ stop input ’ functionality of input 1. When input 1 is acti ve, IS = 1XXXX. The on/off parameter enables/disables the stop input taking the values 1 for ON and 0 for OFF and has a default value of OFF.
170 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE SV Save configuration Syntax Units Range of ‘ n ’ D e fault See also aSV - - - Z Description When the SV command is issued, the current controller system variables and user programs are stored in non volatile memory.
6. COMMAND REFERENCE 171 T Time delay Syntax Units Range of ‘ n ’ D e fault See also aTn seconds 0.05 to 10 none IF Description The T comm and pauses program executi on for the time specifi ed by the delay parameter. Tim ing resolution is to within 50m s increments.
172 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE TR Wait for trigger Syntax aTR(system_variable,relat ion,value) Description The TR comm and pauses command execution unti l the trigger condi tion is met. The trigger condi tion is met i f the relation between system_variable and value is true.
6. COMMAND REFERENCE 173 USE Use Syntax Units Range of ‘ n ’ Default See also aUSE(profile) - 1 to 8 - PROFILE Description The USE command copi es the pre-defined profile to the curr ent move parameters.
174 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE W Write system variable Syntax aW(syst em_variable,value) Description The W comm and allows you to set a specified system variable to a particular value . Refer to the table of system variables for more information.
6. COMMAND REFERENCE 175 # Set comms address remotely Syntax Units Range of ‘ n ’ Default See also a#n - 1 to 255 0 - Description This com mand ( # ) all o ws you to set the unit address via software.
176 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE “ “ Quote command Syntax Units Range of ‘ n ’ Default See also a “ “ -- - - Description Use QUOTE to send m essages to other drives or displays.
6. COMMAND REFERENCE 177 System Variables Var Name R W Range/default value AB Analogue Deadband Y Y 0 to +255, default = 0 AI Analogue Input Y N -2047 to + 2047 AO Analogue Offset Y Y -2047 to +2047, .
178 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Var Name R W Range/default value FB Fieldbus Baud Refer to CANopen user guide FC Fieldbus Control Refer to CANopen user guide FN Fieldbus Node ID Refer.
6. COMMAND REFERENCE 179 Var Name R W Range/default value ST Status of indexing Y N See below ST1 Status of indexing Y N First byte of 32-bit ST variable ST2 Status of indexing Y N Second byte of 32-b.
180 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faul ts Bit Bit Tested Stop Type DF Information 1 DF 1.1 Composite faul t 2 DF 1.2 K T +/-15V supply rail 3 DF 1.3 K R Motor HV under -voltage trip point reached 4 DF 1.4 K R Motor HV over -voltage tri p point reached 5D F 1 .
6. COMMAND REFERENCE 181 Status Bits Bit Number Bit Tested Status Information 1 ST1.1 C ommand processi ng paused 2 ST1.2 Loopi ng (command executing) 3 ST1.3 W ait for trigger (input) 4 ST1.4 Running program 5 ST1.5 Goi ng home 6 ST1.6 W aiting for delay timeout 7 ST1.
182 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Faults Bit Number Bit Tested UF Information 1 UF1.1 Val ue is out of range 2 UF1.2 Incor rect command syntax 3 UF1.3 Last l abel already in use 4 UF1.4 Label of this name not defined 5 UF1.5 M issing Z pulse when hom ing 6 UF1.
6. COMMAND REFERENCE 183 Command List Command Description A Acceleration /Decelera tion AA Acceleration AD Decelera tion ARM Enable event trigger ed code C Continue CLEAR Clear user code D Distance DE.
184 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Command Description POSMAIN Position mai ntenance PROFILE Define move profi le PS Pause R Report system parameter REG Registration m ove RFS Return to .
7. MAINTENANCE & TROUBLESHOOTING 185 7. ViX Maintenance and T r oubleshooting Maintenance ViX drive systems do not require any routine maintenance, but occasional checking of the following poi nts is recommended. Motor inspection Periodical ly check the motor to ensur e that the mounting bolts and coupli ngs are tight.
186 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Pr obl ems When attempting a C onnect from the Term inal menu, if the connection fails w ith the followi ng error m essage: Figure 7-1. Communications Failure Error M essage Check the followi ng: 1.
7. MAINTENANCE & TROUBLESHOOTING 187 Drive LED I ndi cators X3 X1 X4 ST HV FB 10 10 11 9 6 15 6 1 1 1 5 5 Red Feedback fault with no HV Orange HV OK and feedback fault Green HV OK Colour Function .
188 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Complete LED Diagnosti cs An EASI-V version of this table is available for quick on-line viewing. LED Colour(s) Flash rate Functional description HV gr.
7. MAINTENANCE & TROUBLESHOOTING 189 Forcing a Har dwar e RFS Pin 2 of serial communications D -type connector X3 is for use as a hardwar e method of forcing a retur n to factory settings. It may be used when i t is not possible to per form an OFF or RFS com mand.
190 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faul ts The followi ng notes give you a better understanding of w hat is happening within the dri ve when a particul ar drive faul t is reported. The expl anations assume a ViX drive indexer firmwar e revision of V2.
7. MAINTENANCE & TROUBLESHOOTING 191 Vio over-voltage Over-voltage will mean that the 24V supply is out of tolerance. Indexed motion will be stopped instantly and the drive will then de-energise. If there is a user program running and the fault label is armed it will be run.
192 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Incompatible firmware revision The FPGA firmw are code contained in FLASH m emory is not com patible with the controller hardware and the dr ive cannot be used.
7. MAINTENANCE & TROUBLESHOOTING 193 A note about “ Controll ed stop ” . A controlled stop will be attempted if the trajectory generator was commanding motion at the time of the fault. If the commanded motion was due to following, then the indexer will disable following, th at is there will b e no ramp d own of velo city.
194 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Returning the System If a drive modul e is found to be faulty, you should contact your Parker Autom ation Technology Centre or the machinery manufactur er who supplied the product. Equipment for repair should NOT be returned directly to Parker without prior authorisation.
8. HARDWARE REFERENCE 195 8. Har dware Ref erence Drive Specification – ViX250IM, ViX500IM Functional Specifi cation Parameter Value Amplifier type MOSFET chopper User r esolution Freely progr ammab.
196 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Indexer Specification Parameter Value Command Inter face Position range +/- 2,147,483,647 steps Velocity range 0.
8. HARDWARE REFERENCE 197 Drive Environment Specification Parameters All drive types Environment Pollution degree 2, Instal lation category II Operating temper ature range 0 to 50 ° C ambient 0 to 40 ° C natural convection 40 ° C to 50 ° C airfl ow is requi red through the drive at better than 0.
198 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE.
APPENDIX A 199 Appendix A Discrete Power Suppl y Recommendati ons If the XL_PSU is not being used i ndividual Vi X drives can be power ed from transformer /bridge rectifi e r power supplies of the type shown in Figur e A-1.
200 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The size of transform er required for a stepper drive installation depends ver y much on the application and on the m aximum shaft power deliv ered by individual motors.
APPENDIX B Motor Wiring Identification Tables The following tables supply serial and parallel connection information for a range of different motor types. MAKE TYPE A+ A- B- B+ NOTES Parker SY Series 8-Lead Blue Green Red Brown Link White & Black Link Grey & Yellow 56-T.
APPENDIX B MAKE TYPE A+ A- B- B+ NOTES Parker SY Series 8-Lead Blue Green Red Brown Link Brown & White Link Black & Red Link Blue & Grey Link Yellow & Green 56-T.
INDEX 20 3 Inde x # # set address remotely , 175 + +24V fuse rating, 17 +24V supply connections, 17 +24V supply lead l ength restrictions, 17 A A acceleration deceler ation, 119 A to D converter, 33 A.
INDEX 20 4 Drive cooling, 5 dissipation, 5 fault reporti ng, 68 Driv e fault byte reporting, 69 Drive faul ts, 67, 190 Drive i nspection, 185 Drive setti ngs / setup, 110 Drive types, 2 E E enable/dis.
INDEX 20 5 mode 1, 80 mode selection, 80 modes, 80 switch considerati ons, 79 HOME, 137 definition of ter ms, 79 Home switch too narrow, 81 Homing operations, 79 Housing mater ial, 197 Humidity, 197 I.
INDEX 20 6 Motor mounti ng precautions, 8 MOTOR settings, 151 Motors 4 lead, 21 6 lead, 21 8 lead, 21 voltage rating, 21, 26 Move types, 74 Moves absolute preset, 74 continuous, 74 incremental pr eset.
INDEX 20 7 Registration exam ple, 78 Registration output, 77 Report comm ands that can be saved, 71 Reset to RS232 mode, 31 Returning the system, 194 RFS return to factory settings, 162 RJ45 connectin.
INDEX 20 8 U UF byte, 69 Uploading pr ograms, 112 USE, 173 USE command, 55 User fault byte reporting, 70 clear conditions, 70 test example, 70 User fault descr iptions, 69 User fault r eporting, 69 Us.
CUSTOMER FEEDBACK 20 9 Customer Feedbac k If you have spotted any errors, om issions or inconsistent inform ation within thi s user guide please let us know. Either use this page (or a photocopy) to describe the err or and Fax. it to the number given bel ow.
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X2 X3 X1 X4 X5 ST HV FB 24-80V DC +HV 0V / GND -HV Earth PE 24V DC 10 9 8 7 6 5 4 3 2 1 X1 Power & Motor 0V (GND 24v DC) Motor Gnd Motor phase (A+) Motor phase (A-) Motor phase (B+) Motor phase (B.
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