Camming User Guide

Camming User Guide
Copley Camming User Guide
P/N 95-00501-000
Revision 2
June 2008
Copley Camming User Guide
.
TABLE OF CONTENTS
About This Manual ................................................................................................................................................................................ 5
1:
Operational Overview.................................................................................................................................................................. 7
1.1: Host System Requirements .................................................................................................................................................... 8
1.2: Camming Operation ............................................................................................................................................................... 9
1.3: Monitoring Camming Moves ................................................................................................................................................. 10
2:
Camming Setup ......................................................................................................................................................................... 11
2.1: Start CME 2.......................................................................................................................................................................... 12
2.2: Configure CME 2 Basic Setup for Camming Mode ............................................................................................................... 13
2.3: Configure Camming Parameters .......................................................................................................................................... 14
2.4: Load the Cam Tables ........................................................................................................................................................... 16
3:
Cam Tables ................................................................................................................................................................................ 17
3.1: Cam Table Specifications and Guidelines ............................................................................................................................ 18
3.2: Overview of the Tables Tab .................................................................................................................................................. 20
3.3: Cam Table Procedures......................................................................................................................................................... 22
4:
Application and Connection Examples.................................................................................................................................... 25
4.1: Conveyer Camming Application Example ............................................................................................................................. 26
4.2: Connection Examples........................................................................................................................................................... 27
5:
Camming Configuration via ASCII............................................................................................................................................ 31
5.1: Camming Mode Variables .................................................................................................................................................... 32
6:
Camming Control via Indexer Program ................................................................................................................................... 35
6.1: Indexer Camming Function................................................................................................................................................... 36
6.2: Camming Internal Master Function....................................................................................................................................... 37
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Table of Contents
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Copley Camming User Guide
Copley Controls Corp.
ABOUT THIS MANUAL
Overview and Scope
This manual describes the use of the Copley Controls Camming feature, and its setup
through Copley Controls CME 2 amplifier commissioning software. Thus, this book is
intended to be used as an addendum to the CME 2 User Guide.
It is assumed that before the Camming feature is configured and operated, the amplifier
will have been set up and tuned using CME 2 software.
Related Documentation
Documents of related interest include:
•
CME 2 User Guide (describes the use of CME 2 amplifier commissioning software to
set up and tune the amplifier)
• Copley Indexer Program User Guide (describes use of Indexer Program to create
motion control sequences)
• Copley ASCII Interface Programmer’s Guide (describes how to send ASCII format
commands over an RS232 serial bus to set up and control one or more amplifiers).
• Copley Amplifier Parameter Dictionary (describes all Copley Controls amplifier
parameters)
Links to these publications, along with hardware manuals and data sheets, can be found
under the Documents heading of
http://www.copleycontrols.com/Motion/Downloads/index.html
Copley Controls software and related information can be found on:
http://www.copleycontrols.com/Motion/Products/Software/index.html
Comments
Copley Controls Corporation welcomes your comments on this manual. See
http://www.copleycontrols.com for contact information.
Copyrights
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Copley
Controls Corporation.
Xenus, Accelnet, Stepnet, Accelus, and Junus are registered trademarks of Copley
Controls Corporation.
CME 2 is a registered trademark of Copley Controls Corporation.
Windows NT, 2000, XP, and Vista are trademarks or registered trademarks of the
Microsoft Corporation.
Document Validity
We reserve the right to modify our products. The information in this document is subject
to change without notice and does not represent a commitment by Copley Controls
Corporation. Copley Controls Corporation assumes no responsibility for any errors that
may appear in this document.
Copley Controls Corp.
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About this Manual
Copley Camming User Guide
1.1.1: Product Warnings
Observe all relevant state, regional, and local safety regulations when installing and using
Copley Controls amplifiers. For safety and to assure compliance with documented system
data, only Copley Controls Corporation should perform repairs to amplifiers.
!
DANGER
Hazardous voltages.
Exercise caution when installing and adjusting Copley Controls amplifiers.
Risk of electric shock.
High-voltage circuits are connected to mains power on certain Copley Controls
amplifiers.
Risk of unexpected motion with non-latched faults.
After the cause of a non-latched fault is corrected, the amplifier re-enables the PWM
output stage without operator intervention. In this case, motion may re-start
unexpectedly. Configure faults as latched unless a specific situation calls for nonlatched behavior. When using non-latched faults, be sure to safeguard against
unexpected motion.
Latching an output does not eliminate the risk of unexpected motion with nonlatched faults.
Associating a fault with a latched, custom-configured output does not latch the fault
itself. After the cause of a non-latched fault is corrected, the amplifier re-enables
without operator intervention. In this case, motion may re-start unexpectedly.
Using CME 2 or serial commands may affect or suspend CAN operations.
When operating the amplifier as a CAN node, the use of CME 2 or ASCII serial
commands may affect CAN operations in progress. Using such commands to initiate
motion may cause CAN operations to suspend.
CAN operations may restart unexpectedly when the commanded motion is stopped.
Use equipment as described.
Operate amplifiers within the specifications provided in the relevant hardware manual
or data sheet.
Failure to heed these warnings can cause equipment damage, injury, or death.
1.1.2: Revision History
Revision
Date
1
July 2006
2
June 2008
DECO #
Comments
Initial publication.
16707
Various updates, including updated Web page references.
.
6
Copley Controls Corp.
CHAPTER
1: OPERATIONAL OVERVIEW
Topics include:
Host System Requirements (p. 8).
Camming Operation (p. 9).
Monitoring Camming Moves (p. 10)
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Operational Overview
Copley Camming User Guide
1.1: Host System Requirements
1.1.1: Computer and Operating System
Minimal hardware requirements:
• CPU: 400 MHZ.
• RAM: 128 MB.
Operating Systems Supported: Windows NT, 2000, XP, Vista.
1.1.2: Software
Copley Controls CME 2 software, Version 5.1 or higher.
1.1.3: Serial Communications
For each PC-to-amplifier connection via serial port: One serial communication cable.
See amplifier data sheet for part numbers.
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Copley Controls Corp.
Copley Camming User Guide
Operational Overview
1.2: Camming Operation
Camming allows Copley amplifiers to synchronize the motion of an axis (the Cam Slave)
to the motion or commands of an external device (the Cam Master).
A Cam Master can be an encoder, a PLC, or any device that generates electronic pulses
to indicate the position of the Master axis. (In place of an external Master, the amplifier
can generate Master position pulses with its own Internal Generator.)
A Cam Slave is an axis controlled by a Copley amplifier.
1.2.1: Cam Tables and Controls
A user defines camming moves by populating Cam Tables. Each Cam Table line contains
a Cam Master Position and a corresponding Slave Position.
The user also configures the Cam Trigger and the source of the Master input.
Cam Table position values are entered in counts. (Note that because the value of a count
is system dependent, a Master count and a Slave count may not have the same distance
equivalent.)
Master and Slave Position values are relative to the positions of the Master and Slave at
trigger time.
NOTE: Normally, Cam Tables are stored in the amplifier’s flash memory, allowing the
Cam Tables to be uploaded once and persist between power cycles.
In applications where flash storage is not appropriate or optimal, up to 16 Cam Tables can
be loaded into and run from amplifier RAM instead. For more information, see the
CANopen Programmer’s Manual.
1.2.2: Control Diagram
As shown below, when the Cam Trigger is activated, the amplifier receives position data
(counts) from the Master Input and interprets the active Cam Table to command the Slave
position loop. When the Master reaches a programmed Master position, the Slave axis
reaches the corresponding Slave position. The position loop uses linear interpolation to
drive the Slave axis smoothly from point to point.
Commanded
(Master)
Position
Profile
Velocity
Camming Position Loop
Velocity Feed Forward (Vff)
Master
Input
Trigger
Logic
Offset
Delay
Logic
Slave
Position
Generator
Following
Error
+
Gain
Multiplier
Commanded
Velocity
+
+
Position Proportional Gain (Pp)
-
Cam
Trigger
Signal
Programmed
Cam Offset
Cam
Table
Limited
(Slave)
Position
Actual Position
Note that during camming, profile velocity, acceleration, deceleration, and Aff have no
effect. The only limiting variables are the current limits and the velocity limit in the velocity
loop.
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Operational Overview
Copley Camming User Guide
1.3: Monitoring Camming Moves
To monitor the Cam Master position in the CME 2 Scope tool or Control Panel, use the
Commanded position variable. To monitor the Cam Slave position, use the Limited
position variable. For an example, see Scope Trace of a Sample Camming Move below.
Another useful variable to monitor is the Event Status Misc.: In Motion flag.
1.3.1: Scope Trace of a Sample Camming Move
Following is a trace of a simple camming move shown in the CME 2 Trace Viewer tool.
Scope Channel 1 (green) traces Commanded position, representing the Cam Master
position. Channel 2 (white) traces Limited position, representing the Cam Slave position.
Channel 6 (red) traces IN 2, which was used as the Cam Trigger.
The Cam Table that was interpreted to control this move is shown below:
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Copley Controls Corp.
CHAPTER
2: CAMMING SETUP
This chapter shows how to use CME 2 to prepare the amplifier to run camming profiles.
Perform the steps outlined below. Details follow in the chapter.
1
Start CME 2 (p. 12).
2
Configure CME 2 Basic Setup for Camming Mode (p. 13).
3
Configure Camming Parameters (p. 14).
4
Load the Cam Tables (p. 16).
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Camming Setup
Copley Camming User Guide
2.1: Start CME 2
1
Double-click the CME 2 shortcut icon on the Windows desktop to start CME 2.
2
If communications were set up
already…
If communications were not set up…
…the CME 2 Main Screen opens. If there are
multiple ports, the Copley Neighborhood root will be
selected as shown below:
…see the screen below:
Select the desired amplifier. For instance:
In this case, see the Copley Controls
CME 2 User Guide.
After an amplifier has been selected, the CME 2 Main Screen looks similar to this:
If the Basic Setup options have not been chosen, the Basic Setup screen opens.
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Copley Camming User Guide
Camming Setup
2.2: Configure CME 2 Basic Setup for Camming Mode
1
Click the Basic Setup tool to open the open the Basic Setup screen:
2
Click Change Settings to start the Basic Setup wizard. Use the Back and
Next buttons to navigate screens. Screen details vary depending on amplifier model
and mode selection.
3
Verify the settings on the Motor Options and Feedback Options screens. See the
Copley Controls CME 2 User Guide for more information.
4
Click the Next button to display the Operating Mode Options screen.
5
Set Operating Mode to Position.
6
Set Command Source to Camming.
7
Set Digital Input Source:
To control camming with an external master using two of the amplifier’s digital input
lines (typically IN 9 and IN 10), set Digital Input Source to High Speed Inputs.
To control camming with an external master using the amplifier’s secondary encoder
inputs, set Digital Input Source to Multi-mode Port.
To control camming with the amplifier’s Internal Generator, set Digital Input Source to
High Speed Inputs.
8
Verify settings on the Miscellaneous Options screen.
See the Copley Controls CME 2 User Guide for more information.
9
Click Finish to close the screen.
10
If you are following the setup procedure described at the beginning of this chapter,
proceed to Configure Camming Parameters (p. 14).
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Camming Setup
Copley Camming User Guide
2.3: Configure Camming Parameters
2.3.1: Configuration Procedure
1
14
Click Camming to open the Camming screen:
2
Enter values for the Camming Parameters described on p. 15
(including the Active Cam Table parameter).
3
If you are following the setup procedure described at the beginning of this chapter,
proceed to Load the Cam Tables (p. 16) and make sure that the Active Cam Table
assigned in the previous step has been saved to flash.
Copley Controls Corp.
Copley Camming User Guide
Camming Setup
2.3.2: Camming Parameters
Parameter
Description
Control Input
Specifies the type of digital control:
Pulse and Direction: One input takes a series of pulses as motion step commands,
and another input takes a high or low signal as a direction command.
Pulse Up / Pulse Down: One input takes each pulse as a positive step command, and
another takes each pulse as a negative step command.
Quadrature: A/B quadrature commands from a master encoder (via two inputs) provide
velocity and direction commands.
Increment
position on
Rising Edge: Increment position on the rising edge of the input pulse.
Falling Edge: Increment position on the falling edge of the input pulse.
(For Pulse and Direction or Pulse Up / Pulse Down control only.)
Invert
Command
When selected, inverts commanded direction.
Internal Master
When set, an internal pulse generator is used to generate the Camming master pulses
at the rate specified in the counts/s field.
Trigger Type
Controls how execution of a Cam Table is triggered.
None (Continuous): The active Cam Table is repeated continuously.
Use Master (Secondary) Encoder Index: The active Cam Table is executed when the
amplifier receives an index pulse from the camming master encoder. Index pulses
received during execution are ignored.
Use Input, Edge: The active Cam Table begins executing on the rising edge of the
designated input pin. Trigger input transitions received during execution are ignored.
Use Input, Level: The active Cam Table repeats continuously as long as the
designated input is high.
Active Cam
Table
Selects the Cam Table that the amplifier will execute when the camming trigger is
activated.
Offset
Forward: A delay (in Master counts) applied before the Cam Table is executed when
the Master is moving forward.
Reverse: A delay (in Master counts) applied before the Cam Table is executed when
the Master is moving in reverse.
Startup
Camming takes Control on startup: Camming takes control of the amplifier on
amplifier startup.
CVM takes control on startup: The Copley Virtual Motion (CVM) Indexer program
takes control of the amplifier on amplifier startup. This makes it possible to use the
Indexer program to home the amplifier before putting the amplifier under Camming
control.
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Camming Setup
Copley Camming User Guide
2.4: Load the Cam Tables
1
Click on Camming screen Tables tab.
2
Import any externally generated Cam Tables as instructed in
Import an Externally Created Table (p. 22).
As needed, use CME 2 to create and edit tables as instructed in
Create a New Table with CME 2 (p. 23) and
Edit Table Values with CME (p. 24).
3
4
Save all Cam Tables to amplifier flash memory.
Close the screen. If you have followed the setup procedure described at the beginning
of this chapter, the amplifier is now ready to execute Cam Tables.
ALTERNATE:
A .cct file can be downloaded directly to amplifier flash by selecting
File->Restore Cam Tables from the CME 2 Main Screen. All Cam Tables in amplifier
flash will be replaced by the tables in the .cct file. This table loading method can be used
even when CME 2 is locked by the Tools->CME 2 Lock/Unlock control.
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Copley Controls Corp.
CHAPTER
3: CAM TABLES
Contents include:
1
Cam Table Specifications and Guidelines (p. 18).
2
Overview of the Tables Tab (p. 20).
3
Cam Table Procedures (p. 22)
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Camming Setup
Copley Camming User Guide
3.1: Cam Table Specifications and Guidelines
A Cam Table contains a progression of Master Position values paired with corresponding
Slave Position values. Tables can be created, viewed, and edited directly within the
Tables tab of the CME 2 Camming screen. They can also be created using external tools,
saved as ASCII text files (such as .txt or .csv), and then imported into CME 2.
NOTE: Normally, Cam Tables are stored in the amplifier’s flash memory, allowing the
Cam Tables to be uploaded once and persist between power cycles. In applications where
flash storage is not appropriate or optimal, up to 16 Cam Tables can be loaded into and
run from amplifier RAM instead. For more information, see the CANopen Programmer’s
Manual.
3.1.1: Cam Table Storage Limits
The amplifier can hold up to 10 Cam Tables. The total number of Master/Slave position
value pairs that can be distributed across all 10 tables is 3,000 for ACM ACJ, ACP, XSL,
STP, and STM model amplifiers and 3,960 for AMP, AEP, XSJ, ADP, XTL, and STX
model amplifiers. The maximum number of value pairs per table varies as described
below, but the grand total of all tables can not exceed 3,000 or 3,960 respectively.
The number of Cam Table lines is limited by the amount of CVM memory space available
in the amplifier. Management of each populated Cam Table requires a certain amount of
that memory space. Also, Cam Tables share that space with Copley Virtual Machine
(CVM) programs. Therefore, the maximum number of Cam Table lines will decrease if
more than one Cam Table is populated or if CVM programs are stored in the amplifier.
The Camming screen Tables tab displays the percentage of amplifier memory used as
described in CVM Memory Usage (p. 21).
3.1.2: Master/Slave Position Value Rules
•
•
•
•
All position values must be whole numbers (no fractional values) in counts.
All Master Position values must be positive and increasing, and
thus, only the first line may contain a zero for the Master Position value.
The difference between successive master values must be less than 16384.
The difference between successive slave values must be less than 32768.
3.1.3: Externally Created Table Files
Data format:
Line Syntax:
Syntax examples:
18
ASCII. No header line allowed in file.
<Master Position value><delimiter><Slave Position value><new line>
Where delimiter is a comma, a space, or a tab character, and all values conform
to the Master/Slave Position Value Rules.
Comma-separated
Space-separated
0,0
00
5,2
52
10,13
10 13
15,42
15 42
File name:
An externally created table file must not have a .cct filename extension (which is
reserved for table files saved by CME 2.) There are no other special restrictions
on file names. File name extension (for instance, .csv for comma separated
values) is optional.
File location:
May be stored anywhere. Default location is the CamTables folder in the CME 2
installation directory (typically c:\Program Files\Copley Motion\CME
2\CamTables).
Copley Controls Corp.
Copley Camming User Guide
Camming Setup
3.1.4: Programming Note: Small Master Increments and Slow Master Input
The combination of very small Cam Table Master Position increments and a camming
Master Input speed that is slower than the amplifier’s servo loop cycle can generate
undesired resonance. Here is an example of the problem, and how it was solved.
The original Cam Table specified a new Slave Position for every count of the Master
Position, as shown below.
Original Cam Table
Table Master
Slave
Line #
0
0
0
1
1
10
2
2
50
3
3
120
4
4
220
The amplifier was programmed to use its Internal Master. The Master speed was set to
1,000 counts/second. The amplifier’s servo loop sampled the Master Position at the rate
of 3,000 samples per second, or at 3 times the update speed of the Master.
Thus, as shown in A below, the Camming interpolator would read the same Master
Position for three servo loop sample cycles in a row. With no change in the Master
Position, no update was commanded for the Slave Position.
On the fourth cycle, the new Master Position was read. The amplifier would abruptly drive
the Slave axis to the corresponding Slave Position as per the Cam Table.
As shown in B below, the problem was solved by increasing the Master speed and each
programmed Master Position by a factor of 10.
Because the speed and Master Position changes were proportional, both configurations
drove the Slave to the programmed positions at the same time, but the increased Master
Speed in B allowed for 3 times as many Master Position increments, resulting in a
smoother profile.
Servo
Cycle
Cam
Table
Line #
0
0
B
Master Input:
10,000 counts/sec
Master
Slave
Master
Slave
0
0
0
0
1
0
0
3
3
2
0
0
7
7
3
1
1
10
10
10
4
1
10
13
23
5
1
10
17
37
2
50
20
50
7
2
50
23
73
8
2
50
27
97
3
120
30
120
10
3
120
33
153
11
3
120
37
187
4
220
40
220
6
9
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A
Master Input:
1,000 counts/sec
2
3
4
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Camming Setup
Copley Camming User Guide
3.2: Overview of the Tables Tab
3.2.1: Viewing the Tables Tab
1
2
If necessary, Start CME 2 (p. 12).
Click Camming to open the Camming screen. Click the Tables tab.
Menu Bar
Master/Slave position values
Green next to table number
indicates that table is populated
Highlight a table number
to display that table
Control Bar
3
20
See Cam Tables Menu Bar, Cam Tables Tool Bar, and CVM Memory Usage (p. 21) for
more details.
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Copley Camming User Guide
Camming Setup
3.2.2: Cam Tables Menu Bar
Menu
File
Selection
Description
New Table
Creates a new table at position indicated by the highlighted table
number. See Create a New Table with CME 2 (p. 23).
Save Cam Table
Data
Saves contents of all cam tables from PC ram to a disk file, with a
filename extension of .cct.
Restore Cam Table
Data
Restores tables from disk file to PC ram. Results depend on format
and content of the disk file.
From a .cct file, all tables are restored.
From an ASCII file created by an external application and containing
a single table of data, that one table is restored.
See Import an Externally Created Table (p. 22).
NOTE: Tables restored from disk will not be accessible to the
amplifier until saved to amplifier flash memory.
See Cam Tables Tool Bar, below.
Edit
Insert Line Before
Insert a line in the table before the currently selected line.
Insert Line After
Insert a line in the table after the currently selected line.
Delete Current Line
Delete the currently selected line from the table.
3.2.3: Cam Tables Tool Bar
Click on any of the tools in the toolbar to access the tools described below.
Icon
Name
Description
Create new table
Creates a new table at position indicated by the highlighted table
number. See Create a New Table with CME 2 (p. 23).
Save all cam tables
to disk
Saves contents of all cam tables from PC ram to a disk file, with a
filename extension of .cct.
Restore cam tables
from disk
Restores tables from disk file to PC ram. Results depend on format
and content of the disk file.
From a .cct file, all tables are restored.
From an ASCII file created by an external application and containing
a single table of data, that one table is restored.
See Import an Externally Created Table (p. 22).
NOTE: Tables restored from disk will not be accessible to the
amplifier until saved to amplifier flash memory, as described below.
Save all cam tables
to amplifier flash
memory
Saves all Cam Tables, as currently held in PC RAM and viewable in
the Tables tab, to the amplifier’s flash memory.
Restore all cam
tables from amplifier
flash memory
Replaces the tables currently held in the PC’s RAM with the tables
last saved to amplifier flash memory.
Deletes the
highlighted cam
table from amplifier
flash and PC
Deletes the highlighted table form the amplifier’s flash memory and
the PC’s RAM memory. The deleted table cannot be recovered.
3.2.4: CVM Memory Usage
The percentage shown in CVM memory usage
is the sum of:
•
•
The percentage of total amplifier flash memory currently occupied by CVM programs
The percentage of total amplifier flash memory that would be occupied by the Cam
Tables presently held in PC ram and represented on the CME 2 Camming Tables tab.
The percentage changes as Cam Tables are created, deleted, and edited.
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Camming Setup
Copley Camming User Guide
3.3: Cam Table Procedures
3.3.1: Import an Externally Created Table
1
Create a table that meets the Cam Table Specifications and Guidelines (p. 18).
2
If necessary, Start CME 2 (p. 12).
3
4
Highlight the number of the Cam Table into which you will import the data. For instance,
Cam 0:
5
Click the Restore cam tables from disk tool to open the Restore Cam Table
from Disk screen. Highlight the name of the file containing the data you wish to
import, and click Open. The box next to the name turns green, and the table is
populated, as shown in the example below:
6
Click Save all camming tables to amplifier flash memory before attempting to
run the new table. Note that this will save all tables to flash memory.
7
22
Click Camming to open the Camming screen. Click the Tables tab.
Close the screen.
Copley Controls Corp.
Copley Camming User Guide
Camming Setup
3.3.2: Create a New Table with CME 2
1
If necessary, Start CME 2 (p. 12).
Click Camming to open the Camming screen. Click the Tables tab.
2
3
4
Highlight the number of the Cam Table you wish to create. For instance, Cam 0:
Click the Create new cam table tool. See the prompt:
5
Enter the number of lines (equal to the number of Master/Slave position pairs).
Click OK.
6
Enter the Master/Slave position values, observing Cam Table Specifications and
Guidelines (p. 18). Click in a field to enter or modify a value. Standard mouse and
keyboard editing techniques are available.
7
8
Click Save all camming tables to amplifier flash memory before attempting to
run the new table. Note that this will save all tables to flash memory.
Close the screen.
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Camming Setup
Copley Camming User Guide
3.3.3: Edit Table Values with CME 2
1
2
Click Camming to open the Camming screen. Click the Tables tab.
3
Highlight the number of the Cam Table you wish to edit. For instance, Cam 0:
4
Edit using standard keyboard and mouse techniques. Note that if you begin typing
immediately, the numbers you enter will be inserted in front of any existing numbers.
5
6
24
If necessary, Start CME 2 (p. 12).
Click Save all camming tables to amplifier flash memory before attempting
to run the modified table. Note that this will save all tables to flash memory.
Close the screen.
Copley Controls Corp.
CHAPTER
4: APPLICATION AND CONNECTION
EXAMPLES
Contents include:
Conveyer Camming Application Example (p. 26)
Connection Examples (p. 27).
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Application and Connection Examples
Copley Camming User Guide
4.1: Conveyer Camming Application Example
Here, Camming helps synchronize a Slave axis to the variable speed of a conveyer. The
Cam Master is an encoder that monitors the conveyer speed. The Cam Slave is a
ServoTube motor used to push defective products off the conveyer.
Legend
Picture (Top View)
Cam Slave: A ServoTube motor driven by a Copley Controls amplifier.
Cam Master: An encoder on the conveyer belt. Connected through the Slave
amplifier’s secondary encoder interface or digital inputs.
Encoder Defect
Slave
(Master) sensor
Axis
(Trigger)
Amplifier
Cam Trigger: Defect sensor. Connected to a digital input on the amplifier.
See Differential Master, Digital Input Trigger (p. 28) for a connection example.
Conveyer
Normal product
Defective product
Event/Status
Master
Slave
Defective product activates Cam trigger via sensor. Cam
Table execution begins. The Master and Slave positions,
relative to trigger positions, are both zero.
0
0
Master has moved 10 counts from trigger position. As
programmed in Cam Table, Slave has moved 10 counts
from where it was when the trigger activated.
10
10
Slave continues to move in response to Master
movement as programmed in the Cam Table, knocking
the defective product off the conveyer.
20
40
60
50
70
60
90
90
120
60
150
0
Slave moves back to zero position, as programmed.
Cam Table will remain inactive until another defective
product is sensed. .
26
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Copley Camming User Guide
Application and Connection Examples
4.2: Connection Examples
4.2.1: PLC Master
Here, two of the amplifier’s programmable inputs are used to receive Master position and
direction information (pulse and direction, pulse up/pulse down, or quadrature). Another
digital input is used for the Camming trigger.
Control
(e.g., PLC)
Outputs
Amplifier
Master Position and Direction Data
Programmable
Digital Inputs
Trigger
To operate correctly with this combination of connections, be sure the amplifier and
camming configuration includes the following settings:
Amplifier Basic Setup Screen
Parameter
Value
Position Loop
Input
Camming Single Ended
Camming Config Screen
Parameter
Value
Control Input
Choose one of the following as appropriate: Pulse and Direction, Pulse Up / Pulse
Down, or Quadrature.
Trigger Type
Use Input <input number>, Edge or Level.
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Application and Connection Examples
Copley Camming User Guide
4.2.2: Differential Master, Index Trigger
Here, the secondary encoder interface is used to receive position and direction data from
an encoder. The encoder index pulse (X) is used for the Camming trigger.
Amplifier
A
Encoder
Secondary
Encoder
Interface
A
B
B
X
X
To operate correctly with this combination of connections, be sure the amplifier and
camming configuration includes the following settings:
Amplifier Basic Setup Screen
Parameter
Value
Position Loop
Input
Camming Differential
Camming Config Screen
Parameter
Value
Control Input
Quadrature.
Trigger Type
Use Master (Secondary) Encoder Index
4.2.3: Differential Master, Digital Input Trigger
Here, the amplifier’s secondary encoder interface is used to receive position and direction
data from an encoder. A programmable digital input receives an external trigger.
Amplifier
A
Encoder
Secondary
Encoder
Interface
A
B
B
Control
Trigger
Programmable
Digital Input
To operate correctly with this combination of connections, be sure the amplifier and
camming configuration includes the following settings:
Amplifier Basic Setup Screen
Parameter
Value
Position Loop
Input
Camming Differential
Camming Config Screen
Parameter
Value
28
Control Input
Quadrature.
Trigger Type
Use Input <input number>, Edge or Level.
Copley Controls Corp.
Copley Camming User Guide
Application and Connection Examples
4.2.4: Internal Master with External Trigger
Here, the amplifier’s Internal Master is used as the Cam Master. A programmable digital
input receives the trigger.
Control
(e.g., PLC)
Output
Amplifier
Trigger
Programmable
Digital Input
Internal Master
To operate correctly with this combination of connections, be sure the amplifier and
camming configuration includes the following settings:
Amplifier Basic Setup Screen
Parameter
Value
Position Loop
Input
Camming Single Ended
Camming Config Screen
Parameter
Value
Control Input
Internal Master
Trigger Type
Use Input <input number>, Edge or Level.
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Application and Connection Examples
30
Copley Camming User Guide
Copley Controls Corp.
CHAPTER
5: CAMMING CONFIGURATION VIA ASCII
The Copley ASCII Interface is a set of ASCII format commands and variables that can be
used to operate and monitor Copley Controls amplifiers over an RS-232 serial connection.
This chapter describes the ASCII Interface variables that can be used to configure
camming operation.
NOTES:
•
•
These descriptions are intended to be used as an addendum to the
Copley ASCII Interface Programmer’s Guide. Consult that book before attempting to
use the variables described below.
The ASCII interface does not support the downloading of Cam Tables to the amplifier.
Thus, even when using the ASCII Interface to configure camming, it is necessary to
use CME 2, as described in this book, to save Cam Tables into the amplifier.
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Camming Configuration via ASCII
Copley Camming User Guide
5.1: Camming Mode Variables
Variable ID
Bank
Description
0x24
RF
Desired state:
0 = Disabled
25 = Camming Mode, Servo
35 = Camming Mode, Stepper
0xa8
RF
Digital Command Configuration.
See Digital Command Configuration Variable, 0xa8 (p. 32).
0x105
RF
Camming Configuration.
See Camming Configuration Variable, 0x105 (p. 33).
0x106
RF
Camming Offset, Forward. Units: Master command counts
0x107
RF
Camming Offset, Reverse. Units: Master command counts
0x109
RF
Camming Internal Generator Velocity. Units: 0.1 counts / second
5.1.1: Digital Command Configuration Variable, 0xa8
32
Bits
Description
0-7
Not used for camming, set to zero
8,9
Command type
Code
Type
0
Step & Direction mode.
1
Separate up & down counters.
2
Quadrature encoder input.
10,11
Reserved.
12
If set, command pulses are counted on rising edge.
If clear, command pulses are counted on falling edge.
No effect if quadrature command type is used.
13
If set, invert commanded direction.
14-15
Selects source of digital position input command.
Value
Description
0
Single ended high speed inputs.
1
Multi-mode encoder port.
2
Differential high speed inputs.
3
Motor encoder port.
Copley Controls Corp.
Copley Camming User Guide
Camming Configuration via ASCII
5.1.2: Camming Configuration Variable, 0x105
Bits
Description
0-3
Number of the Cam Table to use (0-9).
4
Reserved
5
If set, exit table in forward direction.
6
If set, use the internal generator.
If clear, use digital command input as configured 0xa8.
The internal generator runs at constant velocity programmed in variable 0x109.
7
If set, run tables stored in RAM. If clear, use tables stored in the flash file system..
8-11
Input number to use as trigger. Note: a value of 0 selects input 1, value of 1 selects
input 2, etc.
12-13
Camming trigger type:
Code
Type
0
None (Continuous): The active Cam Table is repeated continuously.
1
Use Input, Edge: The active Cam Table begins executing on the rising edge
of the input pin selected by bits 8-11.
2
Use Input, Level: The active Cam Table will run as long as the input selected
by bits 8-11 is high.
3
Use Master (Secondary) Encoder Index: The active Cam Table is executed
when the amplifier receives an index pulse from the Master encoder. Index
pulses received during execution are ignored.
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Camming Configuration via ASCII
34
Copley Camming User Guide
Copley Controls Corp.
CHAPTER
6: CAMMING CONTROL VIA INDEXER
PROGRAM
The Copley Indexer program is an amplifier control program that runs on the Copley
Virtual Machine (CVM) program. The Indexer Program includes functions that can be
used to set camming configuration parameters.
The Indexer Program function descriptions that follow are intended to be used as an
addendum to the Copley Controls Indexer Program User Guide. Consult that book before
attempting to use the Indexer Program functions.
Camming Control via Indexer Program
Copley Camming User Guide
6.1: Indexer Camming Function
6.1.1: Indexer Camming Function Overview
This function is used to change the operating mode of the amplifier to camming and to
configure the camming mode.
6.1.2: Add a Camming Configuration Step to a Sequence
1
On the CME 2 Main screen, click CVM Control Program to open the
Indexer Program screen.
2
Click Add New Step on the Program tab to open Indexer Functions.
3
Click Mode: Camming to select the function. Click Add to add it to the sequence.
The Indexer Program tab displays Camming configuration settings.
4
Choose appropriate values for the parameters, as described in
Camming Parameters (p. 15). Enter number values directly or enter the number
(R0-R31) of an Indexer Program register. See Using Registers to Pass Values to
Functions in the Copley Indexer Program User Guide.
6.1.3: Camming Function Notes
•
•
The velocity of internal master pulse can be reset using the Camming Internal Master
function.
The amplifier will stay in the camming mode of operation until another indexer function
changes it or the amplifier is reset or power cycled.
Errors
A sequence error will occur if this function is executed when:
•
•
•
•
36
The amplifier is hardware disabled.
The amplifier is faulted.
Motor phasing is not initialized.
A register is used for the Internal Master Velocity and it contains an illegal value.
Copley Controls Corp.
Copley Camming User Guide
Camming Control via Indexer Program
6.2: Camming Internal Master Function
6.2.1: Camming Internal Master Function Overview
This function is used to change the velocity of the Camming Internal Master.
6.2.2: Add a Camming Internal Master Step to a Sequence
1
On the CME 2 Main screen, click CVM Control Program to open the
Indexer Program screen.
2
Click Add New Step on the Program tab to open Indexer Functions.
3
Click Mode: Camming Internal Master to select the function. Click Add to add it to the
sequence.
The Indexer Program tab displays Camming Internal Master settings.
4
Enter a velocity. Enter the velocity directly or enter the number
(R0-R31) of an Indexer Program register. See Using Registers to Pass Values to
Functions in the Copley Indexer Program User Guide.
6.2.3: Camming Internal Master Function Notes
Errors
A sequence error will occur if this function is executed when:
•
A register is used for the Internal Master Velocity and it contains an illegal value.
Copley Controls Corp.
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Copley Camming User Guide
P/N 95-00501-000
Revision 2
June 2008
2006-2008
Copley Controls Corporation
20 Dan Road
Canton, MA 02021 USA
All rights reserved
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